Pepperl+Fuchs ENA58IL B21 Series Manual
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Pepperl+Fuchs ENA58IL B21 Series Manual

Absolute rotary encoders with ethercat interface
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FACTORY AUTOMATION
MANUAL
Absolute Rotary Encoders
With EtherCAT Interface

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Summary of Contents for Pepperl+Fuchs ENA58IL B21 Series

  • Page 1 FACTORY AUTOMATION MANUAL Absolute Rotary Encoders With EtherCAT Interface...
  • Page 2 Absolute Rotary Encoders With regard to the supply of products, the current issue of the following document is ap- plicable: The General Terms of Delivery for Products and Services of the Electrical Indus- try, published by the Central Association of the Electrical Industry (Zentralverband Elektrotechnik und Elektroindustrie (ZVEI) e.V.) in its most recent version as well as the supplementary clause: "Expanded reservation of proprietorship"...

  • Page 3: Table Of Contents

    Absolute Rotary Encoders Introduction................. 5 Declaration of Conformity............6 CE Conformity ..................6 Safety ................... 7 Symbols Relevant to Safety ..............7 Intended Use ..................7 General Safety Instructions ..............7 Introduction................. 8 Using This Manual ................8 Absolute Rotary Encoders ..............8 Communication via EtherCAT .............
  • Page 4 Absolute Rotary Encoders Communication objects according to device profile DS-406..15 6.2.1 Object 6000h: Operating parameters ..........16 6.2.2 Object 6001h: Measuring units per revolution ........17 6.2.3 Object 6002h: Total measuring range in measuring units ....17 6.2.4 Object 6003h: Preset value ..............17 6.2.5 Object 6004h: Position value ............18 6.2.6...

  • Page 5: Introduction

    Absolute Rotary Encoders Introduction Introduction Congratulations You have chosen a device manufactured by Pepperl+Fuchs. Pepperl+Fuchs develops, produces and distributes electronic sensors and interface modules for the market of automation technology on a worldwide scale. Symbols used The following symbols are used in this manual: Note! This symbol draws your attention to important information.

  • Page 6: Declaration Of Conformity

    Absolute Rotary Encoders Declaration of Conformity Declaration of Conformity CE Conformity This product was developed and manufactured under observance of the applicable European standards and guidelines. Note! A declaration of conformity can be requested from the manufacturer.

  • Page 7: Safety

    User modification and or repair are dangerous and will void the warranty and exclude the manufacturer from any liability. If serious faults occur, stop using the device. Secure the device against inadvertent operation. In the event of repairs, return the device to your local Pepperl+Fuchs representative or sales office. Note! Disposal Electronic waste is hazardous waste.

  • Page 8: Introduction

    Absolute Rotary Encoders Introduction Introduction Using This Manual This manual describes how Pepperl+Fuchs absolute rotary encoders equipped with a EtherCAT interface are integrated into a EtherCAT network. The manual is valid for the following types of absolute rotary encoder: ES*58-...EC...
  • Page 9 Absolute Rotary Encoders Introduction Ease of handling EtherCAT is easy to use in comparison to classic fieldbus systems. Address assignment is carried out automatically. Network tuning is not required. Built-in diagnostics with error localization make the detection of errors very easy. Similarly, no switch configuration or complex processing of MAC or IP addresses is needed as in the case of industrial Ethernet.

  • Page 10: Project Planning Using Device Description

    Absolute Rotary Encoders Introduction 4.3.2 Project Planning Using Device Description You can carry out the project planning of the absolute rotary encoder using the TwinCAT EtherCAT master/system manager. The properties of the absolute rotary encoder are described in a device description file, the ESI file (EtherCAT Slave Information), based on XML. You must integrate the appropriate ESI file in the project planning tool.

  • Page 11: Installation

    Absolute Rotary Encoders Installation Installation Electrical Connection The absolute rotary encoder is connected to the field environment via the "Power" connector along with "ECAT in" and "ECAT out" for the EtherCAT connection. Connector and pin assignment Power ECAT in, ECAT out Connector plug, M12 x 1, 4-pin, A- Connector socket, M12 x 1, 4-pin, D- Connection...

  • Page 12: Led Indicators

    Absolute Rotary Encoders Installation LED Indicators The absolute rotary encoder features 4 LED indicators for displaying the operating status and diagnosis information in the case of a fault. The LEDs indicate the following behavior, depending on their function: Flashing Figure 5.1 LED indicator with ENA58IL-R*** EtherCAT as an example Port LEDs Color...

  • Page 13: Instructions For Mechanical And Electrical Installation

    Absolute Rotary Encoders Installation Instructions for Mechanical and Electrical Installation Note! More installation-relevant information on technical data, mechanical data, and available connection lines for the relevant absolute rotary encoder types "ES*58-...EC...", "and "EV*58- ...EC..." as well as "ENA58IL-...B21..." (EtherCAT) can be found in the corresponding datasheet.
  • Page 14 Do not allow the rotary encoder to fall or expose it to strong vibrations. The rotary encoder is a precision instrument. Rotary encoders from Pepperl+Fuchs are robust; however, they should nevertheless be protected against damage from the environment by taking appropriate protective measures. In particular, the devices must not be installed in a location where they could be misused as a handle or climbing aid.

  • Page 15: Data Model For The Device Configuration

    Absolute Rotary Encoders Data Model for the Device Configuration Data Model for the Device Configuration Communication objects according to communication profile DS-301 The EtherCAT application layer communication protocol is based on the CANOpen communication profile according to CiA DS-301 and is called "CANOpen over EtherCAT", or "CoE "...

  • Page 16: Object 1008H: Manufacturer Device Name

    Absolute Rotary Encoders Data Model for the Device Configuration 6.1.3 Object 1008h: Manufacturer device name This object specifies the manufacturer-specific device name for the EtherCAT absolute rotary encoder. Subindex Description Data type Default Access Manufacturer String P+F EtherCAT device name 6.1.4 Object 1009h: Hardware version This object specifies the status of the hardware version of the absolute rotary encoder.

  • Page 17: Communication Objects According To Device Profile Ds-406

    Absolute Rotary Encoders Data Model for the Device Configuration Communication objects according to device profile DS-406 With the protocol "CANOpen over EtherCAT (CoE)," EtherCAT enables the use of the entire CANOpen profile family. CANOpen describes the properties of devices in the device profiles. The supported parameters according to device profile DS 406 for rotary encoders are described below.

  • Page 18: Object 6001H: Measuring Units Per Revolution

    Absolute Rotary Encoders Data Model for the Device Configuration Bit structure of operating parameters Use MS MS MS MS R MD SFC CD CS Manufacturer-specific function (not available) Reserved for future applications Measuring direction (not available) SFC Scaling function (0 = enable, 1 = disable) Commissioning diagnostics control (not available) Code sequence (0 = clockwise, 1 = counterclockwise) 6.2.2...

  • Page 19: Object 6003H: Preset Value

    Absolute Rotary Encoders Data Model for the Device Configuration Note! The ESI file contains a default value of 1000h for the object. You must adapt this value to the specific rotary encoder value using the project tool. To do so, observe the information on the nameplate of the rotary encoder and the type code in the corresponding datasheet.

  • Page 20: Object 6501H: Singleturn Resolution

    Absolute Rotary Encoders Data Model for the Device Configuration 6.2.7 Object 6501h: Singleturn resolution This object specifies the maximum possible number of measuring steps per revolution. The value that is written in object 6001h must be smaller than or equal to the value defined in object 6501h.

  • Page 21: Configuring The Rotary Encoder Using Twincat

    Absolute Rotary Encoders Configuring the Rotary Encoder Using TwinCAT Configuring the Rotary Encoder Using TwinCAT Introduction The following pages provide an example of how to configure a Pepperl + Fuchs absolute rotary encoder using the "TwinCAT" project planning and development environment from Beckhoff. Version "TwinCAT 3 XAE"...
  • Page 22 Absolute Rotary Encoders Configuring the Rotary Encoder Using TwinCAT Integrate Absolute Rotary Encoder in TwinCAT 3 Prerequisite: An ESI file from the absolute rotary encoder is available in C:\TwinCAT\3.1\Config\IO\EtherCAT. 1. Start TwinCAT XAE. Figure 7.1 2. In the project folder explorer within the "E/A" element, select the entry "Devices", and activate by right-clicking on the "Scan"...
  • Page 23 Absolute Rotary Encoders Configuring the Rotary Encoder Using TwinCAT However, not all devices can be found automatically, therefore the following message appears: Figure 7.2 3. Confirm this message with "OK", the scan is then started. If the scan agent recognizes an Ethernet port with an installed TwinCAT real-time driver, this is displayed as a device.
  • Page 24 Absolute Rotary Encoders Configuring the Rotary Encoder Using TwinCAT The EtherCAT device is created and a scan for other participants/slaves, so-called boxes, is suggested. Figure 7.4 5. Confirm this message with "Yes" to establish the EtherCAT absolute rotary encoder and, where appropriate, other connected devices.
  • Page 25 Absolute Rotary Encoders Configuring the Rotary Encoder Using TwinCAT Figure 7.5 The EtherCAT absolute rotary encoder found is now displayed in the project folder as entry "Box 1 (P+F EtherCAT)." At the same time, the message "Activate Free Run" appears. 6.
  • Page 26 Absolute Rotary Encoders Configuring the Rotary Encoder Using TwinCAT Figure 7.6 The menu "TwinCAT Project 1" is displayed. 8. Enter a name for your absolute rotary encoder in this project. For example, "Box 1 (P+F EtherCAT)" has been entered here. 9.
  • Page 27 Absolute Rotary Encoders Configuring the Rotary Encoder Using TwinCAT Configure Parameters The CoE interface is the parameter management for EtherCAT devices. The CoE parameters (CoE object directory) of the EtherCat absolute rotary encoder are displayed in the now open window. For example purposes, changing the "Position value”, index 6004, is described.
  • Page 28 Absolute Rotary Encoders Configuring the Rotary Encoder Using TwinCAT The entry dialog box for setting the preset value is displayed. Figure 7.8 2. Enter the value "5000" and confirm by clicking "OK."...
  • Page 29 Absolute Rotary Encoders Configuring the Rotary Encoder Using TwinCAT The preset value "5000" is transferred to the absolute rotary encoder and is taken as the new position value. Figure 7.9...
  • Page 30 Absolute Rotary Encoders Configuring the Rotary Encoder Using TwinCAT Note! If the preset value or other parameters are to be permanently transferred, you must still store the parameter "Store Application Parameters" in object 1010h. 3. Double-click on the object "1010 Store Application Parameters." Figure 7.10...
  • Page 31 Absolute Rotary Encoders Configuring the Rotary Encoder Using TwinCAT 4. Object 1010h is already prepopulated with the value "0x65766173", allowing you to store the parameters by simply clicking "OK." Figure 7.11...
  • Page 32 Absolute Rotary Encoders Configuring the Rotary Encoder Using TwinCAT Note! As there is no external EtherCAT master and the PC/laptop is used as the EtherCAT master in this example, an additional task is required. 5. To do so, navigate to the "SYSTEM" element in the project folder explorer and select the entry "Tasks."...
  • Page 33 Absolute Rotary Encoders Configuring the Rotary Encoder Using TwinCAT 6. In the dialog, activate the type "TwinCAT Task with Image" and confirm this with "OK." Figure 7.13 7. Now activate the option "Auto-start" for the newly created task. Thus, this task is started automatically with each restart of TwinCAT.
  • Page 34 Absolute Rotary Encoders Configuring the Rotary Encoder Using TwinCAT 8. In the project folder explorer, navigate to the entry “Inputs” under the newly created task (in this case task 2) and right-click to select "Add New Item .." Figure 7.15...
  • Page 35 Absolute Rotary Encoders Configuring the Rotary Encoder Using TwinCAT 9. In the dialog box for the inputs, select data type "DWORD" and confirm the selection by clicking "OK." Figure 7.16 10.Now click the newly created variable (in this case Var 24) in the project folder window.
  • Page 36 Absolute Rotary Encoders Configuring the Rotary Encoder Using TwinCAT Figure 7.17 11.In the TwinCAT project window, click "Linked to.." 12.In the window that opens, "Variables link Var 24 (input)," select the entry for "Position value" (here "Position value > IB 39.0, UDINT [4.0].") 13.Confirm the entry with "OK."...
  • Page 37 Twinsburg, Ohio 44087 · USA Tel. +1 330 4253555 E-mail: sales@us.pepperl-fuchs.com Asia Pacific Headquarters Pepperl+Fuchs Pte Ltd. Company Registration No. 199003130E Singapore 139942 Tel. +65 67799091 E-mail: sales@sg.pepperl-fuchs.com www.pepperl-fuchs.com Subject to modifications / DOCT-6100 Copyright PEPPERL+FUCHS • Printed in Germany 06/2018...

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