pdf, (623,65 Кб)

pdf, (623,65 Кб)
Datalogic Automation S.r.l.
Via Lavino, 265
40050 - Monte S. Pietro
Bologna - Italy
© 2014 Datalogic Automation S.r.l. TUTTI I DIRITTI RISERVATI. Protetto nei limiti massimi consentiti dalla legge
degli Stati Uniti d'America e internazionale. Sono vietate la copia o le modifiche di questo documento senza la previa
autorizzazione scritta da parte di Datalogic Automation S.r.l.
Datalogic and the Datalogic logo are registered trademarks di Datalogic S.p.A. in many countries, including the U.S.A.
and the E.U.
Tutti i marchi e i nomi di prodotti qui citati servono al solo scopo di identificazione e possono essere marchi o marchi
registrati dei propri rispettivi proprietari.
Datalogic non risponde di eventuali errori tecnici o tipografici o di omissioni qui contenuti, né di danni accidentali o
conseguenti dall'uso di questo materiale.
07/05/14
INDEX
1. 1 - Safety summary .................................................................................................. 1 2. Identification ............................................................................................................. 3 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 3.1.3 Installation using a mounting bell (code ST-58-FLNG) ...................................... 5 3.2 Hollow shaft encoders.............................................................................................. 6 3.2.1 AMT58-H15........................................................................................................ 6 4. Electrical connections .............................................................................................. 7 4.1 Connection cap ........................................................................................................ 7 4.2 Ground connection................................................................................................... 8 4.3 Connection cap with PGs ......................................................................................... 8 4.4 Connection cap with M12 connectors ...................................................................... 9 4.5 Connection of the shield .......................................................................................... 9 4.6 RT Bus termination ................................................................................................ 10 4.7 Diagnostic LEDs .................................................................................................... 10 4.9 Node number: DIP B .............................................................................................. 12 5. Quick reference...................................................................................................... 13 5.1 Hardware resolution ............................................................................................... 13 5.1.1 Procedure to set hardware resolution .............................................................. 13 5.2 Using the default settings ....................................................................................... 15 6. CANopen® interface .............................................................................................. 16 6.1 EDS file .................................................................................................................. 16 6.2 Operation states..................................................................................................... 16 6.2.1 Initialization state ............................................................................................. 17 6.2.2 Pre-operational state ........................................................................................ 17 6.2.3 Operational state.............................................................................................. 17 6.2.4 Stopped state ................................................................................................... 17 6.3 Communication objects .......................................................................................... 18 6.3.1 Pre-defined connection set .............................................................................. 18 6.4 NMT objects ........................................................................................................... 19 6.5 Boot-up objects ...................................................................................................... 19 PDO1 Cyclic mode: cyclic transmission ................................................................. 20 PDO2 and PDO3 SYNC mode: synchronous transmission ................................... 20 PDO4 Cyclic mode: cyclic transmission ................................................................. 20 6.7 SDO objects ........................................................................................................... 21 6.7.1 Command ........................................................................................................ 22 6.8 Object dictionary .................................................................................................... 23 6.8.1 Standard objects (DS 301) ............................................................................... 23 1000-00 Device type .............................................................................................. 23 1001-00 Error register ............................................................................................ 23 1003 Pre-defined error field ................................................................................... 23 1005-00 COB_ID SYNC message ......................................................................... 23 1008-00 Name of device manufacturer .................................................................. 24 1009-00 Hardware version ..................................................................................... 24 100A-00 Software version ...................................................................................... 24 100C-00 Guard time .............................................................................................. 24 100D-00 Life time factor ......................................................................................... 24 1011-01 Restore default parameters ..................................................................... 25 1015-00 Inhibit time EMCY .................................................................................... 26 1018 Identification object ....................................................................................... 26 1800 PDO1 parameters ......................................................................................... 26 1802 PDO3 parameters ......................................................................................... 27 1803 PDO4 parameters ......................................................................................... 28 1A00-01 PDO1 mapping parameter....................................................................... 28 1A01-01 PDO2 mapping parameter....................................................................... 28 1A02-01 PDO3 mapping parameter....................................................................... 28 1A03-01 PDO4 mapping parameter....................................................................... 28 2104-00 Limit switch min. ...................................................................................... 29 2105-00 Limit switch max. ..................................................................................... 29 3000-00 Baud rate ................................................................................................. 29 3001-00 Node-ID ................................................................................................... 31 3005-00 Velocity format ......................................................................................... 31 3006-00 Velocity value........................................................................................... 31 6000-00 Operating parameters .............................................................................. 32 Code sequence ...................................................................................................... 32 Scaling function...................................................................................................... 32 Limit switch min...................................................................................................... 32 Limit switch max..................................................................................................... 32 6001-00 Counts per revolution ............................................................................... 32 6002-00 Total resolution ........................................................................................ 33 6003-00 Preset value ............................................................................................. 34 6200-00 Cyclic time ............................................................................................... 35 6500-00 Operating states ...................................................................................... 35 Code sequence ...................................................................................................... 35 Scaling function...................................................................................................... 35 Limit switch min...................................................................................................... 36 Current operating state .......................................................................................... 36 6501-00 Hardware counts per revolution ............................................................... 36 6502-00 Hardware number of turns ....................................................................... 36 6504-00 Supported alarms .................................................................................... 36 6506-00 Supported warnings ................................................................................. 36 6507-00 Profile and software version..................................................................... 36 6508-00 Operating time ......................................................................................... 37 6509-00 Offset value.............................................................................................. 37 650A-01 Manufacturer offset value ........................................................................ 37 650B-00 Serial number .......................................................................................... 37 6.9 Warning objects ..................................................................................................... 38 6.10 Emergency objects .............................................................................................. 38 7. Setting-up .............................................................................................................. 40 Subject index
1 1000-00 Device type .............................. 23
1001-00 Error register ............................ 23
1003 Pre-defined error field ................... 23
1005-00 COB_ID SYNC message ......... 23
1008-00 Name of device manufacturer .. 24
1009-00 Hardware version..................... 24
100A-00 Software version...................... 24
100C-00 Guard time .............................. 24
100D-00 Life time factor......................... 24
1010-01 Store parameters ..................... 25
1011-01 Restore default parameters ..... 25
1014-00 COB-ID EMCY ......................... 26
1015-00 Inhibit time EMCY .................... 26
1018 Identification object ....................... 26
1800 PDO1 parameters ......................... 26
1801 PDO2 parameters ......................... 27
1802 PDO3 parameters ......................... 27
1803 PDO4 parameters ......................... 28
1A00-01 PDO1 mapping parameter ...... 28
1A01-01 PDO2 mapping parameter ...... 28
1A02-01 PDO3 mapping parameter ...... 28
1A03-01 PDO4 mapping parameter ...... 28
2 2104-00 Limit switch min. ...................... 29
2105-00 Limit switch max. ..................... 29
3 3000-00 Baud rate ................................. 29
3001-00 Node-ID ................................... 31
3005-00 Velocity format ......................... 31
3006-00 Velocity value........................... 31
6 6000-00 Operating parameters .............. 32
6001-00 Counts per revolution............... 32
6002-00 Total resolution ........................ 33
6003-00 Preset value ............................. 34
6004-00 Position value .......................... 35
6200-00 Cyclic time ............................... 35
6500-00 Operating states ...................... 35
6501-00 Hardware counts per revolution
............................................................ 36
6502-00 Hardware number of turns ....... 36
6504-00 Supported alarms .................... 36
6506-00 Supported warnings ................. 36
6507-00 Profile and software version..... 36
6508-00 Operating time ......................... 37
6509-00 Offset value.............................. 37
650A-01 Manufacturer offset value ........ 37
650B-00 Serial number .......................... 37
C COB-ID of PDO1.................................... 26
COB-ID of PDO4.................................... 28
COB-ID of the PDO2.............................. 27
COB-ID of the PDO3.............................. 27
Code sequence ................................ 32; 35
Current operating state .......................... 36
F Flash memory error................................ 38
I Initialization ............................................ 17
L Last error occurred................................. 23
Limit switch max..................................... 32
Limit switch min................................ 32; 36
N Node guarding error ............................... 38
Number of current errors ........................ 23
O Operational ............................................ 17
P Pre-operational ...................................... 17
Previous errors occurred ........................ 23
Product number ..................................... 26
R Revision number .................................... 26
S Scaling function ............................... 32; 35
Stopped ................................................. 17
T Transmission type ...................... 26; 27; 28
V Vendor number ...................................... 26
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;
alarms are coloured in RED;
states are coloured in FUCSIA.
When scrolling through the text some icons can be found on the side of the page: they are
expressly designed to highlight the parts of the text which are of great interest and
significance for the user. Sometimes they are used to warn against dangers or potential
sources of danger arising from the use of the device. You are advised to follow strictly the
instructions given in this guide in order to guarantee the safety of the user and ensure the
performance of the device. In this guide the following symbols are used:
This icon, followed by the word WARNING, is meant to highlight the
parts of the text where information of great significance for the user can
be found: user must pay the greatest attention to them! Instructions
must be followed strictly in order to guarantee the safety of the user and
a correct use of the device. Failure to heed a warning or comply with
instructions could lead to personal injury and/or damage to the unit or
other equipment.
This icon, followed by the word NOTE, is meant to highlight the parts of
the text where important notes needful for a correct and reliable use of
the device can be found. User must pay attention to them! Failure to
comply with instructions could cause the equipment to be set wrongly:
hence a faulty and improper working of the device could be the
consequence.
This icon is meant to highlight the parts of the text where suggestions
useful for making it easier to set the device and optimize performance
and reliability can be found. Sometimes this symbol is followed by the
word EXAMPLE when instructions for setting parameters are
accompanied by examples to clarify the explanation.
Preliminary information
This guide is designed to describe the technical characteristics, installation and use of the
CANopen encoders of the AMT58 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.
In the second section, entitled CANopen Interface, both general and specific information is
given on the CANopen interface.
In this section the interface features and the objects implemented in the unit are fully
described.
AMT58x-CB CANopen®
1. 1 - Safety summary
Safety
 Always adhere to the professional safety and accident prevention
regulations applicable to your country during device installation and
operation;
 installation and maintenance operations have to be carried out by
qualified personnel only, with power supply disconnected and stationary
mechanical parts;
 device must be used only for the purpose appropriate to its design: use
for purposes other than those for which it has been designed could
result in serious personal and/or the environment damage;
 high current, voltage and moving mechanical parts can cause serious or
fatal injury;
 failure to comply with these precautions or with specific warnings
elsewhere in this manual violates safety standards of design,
manufacture, and intended use of the equipment;
 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;
 connect according to explanation in section “4 – Electrical
connections”.
 in compliance with the 2004/108/EC norm on electromagnetic
compatibility, following precautions must be taken:
- before handling and installing, discharge electrical charge from your
body and tools which may come in touch with the device;
- power supply must be stabilized without noise, install EMC filters on
device power supply if needed;
- always use shielded cables (twisted pair cables whenever possible);
- avoid cables runs longer than necessary;
- avoid running the signal cable near high voltage power cables;
- mount the device as far as possible from any capacitive or inductive
noise source, shield the device from noise source if needed;
- to guarantee a correct working of the device, avoid using strong
magnets on or near by the unit;
- minimize noise by connecting the shield 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.
1
AMT58x-CB CANopen®
Mechanical safety
 Install the device following strictly the information in the section “3 –







2
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;
delicate electronic equipment: handle with care; do not subject the
device and the shaft to knocks or shocks;
respect the environmental characteristics declared by manufacturer;
unit with solid shaft: in order to guarantee maximum reliability over time
of mechanical parts, we recommend a flexible coupling to be installed to
connect the encoder and user's shaft; make sure the misalignment
tolerances of the flexible coupling are respected;
unit with hollow shaft: the encoder can be mounted directly on a shaft
whose diameter has to respect the technical characteristics specified in
the purchase order and clamped by means of the collar and, when
requested, the anti-rotation pin.
AMT58x-CB CANopen®
2. Identification
Device can be identified through the ordering code and the serial
number printed on the label applied to its body.
Information is listed in the delivery document too.
Please always quote the ordering code and the serial number when
reaching Datalogic Automation s.r.l. for purchasing spare parts or
needing assistance.
For any information on the technical characteristics of the product
refer to the technical catalogue.
3
AMT58x-CB CANopen®
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;
 fix the encoder to the flange 2 (or to the mounting bell) by means
of screws 3;
 secure the flange 2 to the support (or the mounting bell to the
motor);
 mount the flexible coupling 1 on the motor shaft;
 make sure the misalignment tolerances of the flexible coupling 1
are respected.
3.1.1 Customary installation
AMT58
a [mm] b [mm] c [mm] d [mm]
36 H7
48
-
3.1.2 Fissaggio con graffe (codice ST-58-KIT)
AMT58
4
a [mm] b [mm] c [mm] d [mm]
36 H7
67
-
AMT58x-CB CANopen®
3.1.3 Installation using a flange (code ST-58-FLNG)
5
AMT58x-CB CANopen®
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;
 fix the collar 3 to the encoder shaft (apply threadlocker to screw 3).
6
AMT58x-CB CANopen®
4. Electrical connections
WARNING
Power supply must be turned off before performing any electrical
connection!
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 (CC-CB connection cap) as well as the
dip-switches meant to set the baud rate and the node ID and activate
the termination resistance are located inside the encoder connection
cap. Thus you must remove the connection cap to access any of
them.
NOTE
Be careful not to damage the internal components when you perform
this operation.
To remove the connection cap loosen the two screws 1.
Please be careful with the internal connector.
Always replace the connection cap at the end of the operation.
Take care in re-connecting the internal connector. Tighten the
screws 1 using a tightening torque of approx. 2.5 Nm.
WARNING
You are required to check that the encoder body and the connection
cap are at the same potential before replacing the connection cap!
7
AMT58x-CB CANopen®
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. You are advised to provide the ground connection as close
as possible to the encoder. We suggest using the ground point
provided in the cap (see Figure, use 1 TCEI M3 x 6 cylindrical head
screw with 2 tooth lock washers).
4.3 Connection cap
The connection cap is fitted with two PG9 cable glands for bus-IN,
bus-OUT and supply voltage connections. The bus cables can be
connected directly to the terminal connectors in front of each cable
gland. It is recommended to use CANbus certificated cables.
Core diameter should not exceed Ø 1,5 mm (0.06 inches).
Clamp
+
G
L
H
PG
1
2
8
Description
0 VDC
Supply voltage
+10VDC +30VDC
Supply voltage
1
CAN GND
CAN Low
CAN High
2
CAN Shield
CAN GND is the 0V reference of CAN signals, it is not connected to
0VDC supply voltage.
Connect cable shield to cable gland.
AMT58x-CB CANopen®
4.4 Connection cap with M12 connectors
The connection cap has two M12 connectors with pin-out in
compliance with CANopen® standard. Therefore you can use
standard CAN cables commercially available.
M12 connector
A coding
(frontal side)
M12
Case
11
male
female
(BUS IN)
(BUS OUT)
Description
CAN Shield
+10Vdc +30Vdc Supply
voltage
3
0 Vdc Supply voltage
4
CAN High
5
CAN Low
CAN Shield is also connected to pin 1 to allow the
connection of the shield even if the plug connector
has a plastic case.
2
1
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.
9
AMT58x-CB CANopen®
4.6 RT Bus termination
WARNING
Power supply must be turned off before performing this operation!
A bus termination resistance is provided in the connection cap and
has to be activated as line termination in the last device of the
transmission line.
Use RT Switch to activate or deactivate the bus termination.
RT
Description
Activated: if the encoder is the last device
1 = 2 = ON
in the transmission line
Deactivated: if the encoder is not the last
1 = 2 = OFF
device in the transmission line
4.7 Diagnostic LEDs
Two diagnostic LEDs located in the rear side of the connection cap
are designed to show the operating or fault status of the CANopen®
interface.
GREEN LED
ON
Single flash
Blinking
Description
Encoder is in Operational state
Encoder is in Stopped state
Encoder is in Pre-Operational state
RED LED
ON
Double flash
Single flash
Blinking
OFF
Description
The CAN controller is switched off
Node guarding error
Max. number of warning errors
Generic error or Flash memory error
No error
During initialization, device carries out a hardware test to check LEDs
operation. Both LEDs light up.
10
AMT58x-CB CANopen®
4.8 Baud rate: DIP A
WARNING
Power supply must be turned off before performing this operation!
Transmission rate can be set either via hardware or via software.
If DIP A bit 4 = ”OFF” the bit rate is set through object 3000-00 Baud
rate in the “Object Dictionary” and can be modified using SDO
messages.
If DIP A bit 4 = ”ON” the bit rate is set by DIP A.
DIP A:
Set binary value of transmission rate considering that: ON=1, OFF=0.
bit
1 LSB
20
2
21
3 MSB
22
4
ON/OFF
Available baud rate values:
Decimal value
0
1
2
3
4
5
6
7
Binary value
000
001
010
011
100
101
110
111
Baud rate
20 Kbit/s
50 Kbit/s
100 Kbit/s
125 Kbit/s
250 Kbit/s
500 Kbit/s (default)
800 Kbit/s
1000 Kbit/s
Example
Set 250Kbit/s:
410 = 1002 (binary value, see table above)
bit
1
20
OFF
2
21
OFF
3
22
ON
4
23
ON
Set 500Kbit/s:
510 = 1012 (binary value, see table above)
bit
1
20
ON
2
21
OFF
3
22
ON
4
23
ON
11
AMT58x-CB CANopen®
4.9 Node number: DIP B
WARNING
Power supply must be turned off before performing this operation!
Node number can be set both via hardware or via software.
Allowed node addresses range between 1 and 127.
The default value is 1.
If all bits of DIP B are ”OFF” node number is set through object 300100 Node-ID of the “Object Dictionary” and can be modified using
SDO messages.
If one bit at least of DIP B is set to “ON” the node number is set
through DIP B.
DIP B:
Set the node number in binary value: ON=1, OFF=0
bit
1
LSB
20
2
3
4
5
6
21
22
23
24
25
7
8
MSB not used
26
Example
Set node number = 25:
2510 = 0001 10012 (binary value)
bit
1
20
ON
2
21
OFF
3
4
5
22
23 24
OFF ON ON
6
25
OFF
7
26
OFF
8
OFF
Set node number = 55:
5510 = 0011 01112 (binary value)
bit
1
2
3
0
1
2
2
22
ON ON ON
4
5
6
3
4
2
2
25
OFF ON ON
7
26
OFF
8
OFF
WARNING
If baud rate and node number are set via software, master device
has to detect the baud rate of the slave (scanning of baud rate) when
the encoder is being installed. Once communication has been
activated new baud rate and node number values can be set (objects
3000-00 Baud rate and 3001-00 Node-ID). After having set new
values, transmit a Reset node command and then save parameters
(object 1010-01 Store parameters).To avoid conflict between
Slaves, this operation has to be carried out when one only device is
connected to the network.
12
AMT58x-CB CANopen®
5. Quick reference
5.1 Hardware resolution
WARNING
Make sure the physical resolution of the encoder matches the set
resolution.
Different resolutions may be set if the encoder and the connection
cap have been ordered / supplied separately.
Examples
AMT58 12/4096
6501-00 Hardware counts per revolution = 4096,
6502-00 Hardware number of turns = 4096.
AMT58 13/4096
6501-00 Hardware counts per revolution = 8192,
6502-00 Hardware number of turns = 4096.
6501-00 Hardware counts per revolution object is described on
page 40.
6502-00 Hardware number of turns object is described on page 36.
If the hardware resolution does not match the ordering code (see
encoder label) then it is compulsory to set the hardware resolution
(for any information on reading the hardware resolution refer to
section “5.2 Using the default settings”).
Please note that the parameters 6001-00 Counts per revolution
and 6002-00 Total resolution refer to the scaling function, anyway
the unit can run properly only if the hardware resolution is set
correctly.
5.1.1 Procedure to set hardware resolution
ID = node identifier.
Step 1 - Access to the configuration (object 3002h)
NOTE
To avoid unintentional access, this object is not listed in the EDS file.
Master  Encoder
COB-ID Cmd Index
600+ID
23 02 30
Sub
00
41
Process data
4B 49 4C
Encoder  Master
COB-ID Cmd Index
580+ID
60 02 30
Sub
00
00
Process data
00 00 00
13
AMT58x-CB CANopen®
Step 2 - Set object 6501-00 Hardware counts per revolution
See resolution table below in the page for B0, B1, B2 and B3 values.
Master  Encoder
COB-ID Cmd Index
600+ID
23 01 65
Sub
Process data
00 B0 B1 B2 B3
Encoder  Master
COB-ID Cmd Index
580+ID
60 01 65
Sub
00
Process data
00 00 00 00
Step 3 - Set object 6502-00 Hardware number of turns
See resolution table below in the page for B4, B5, B6 and B7 values.
Master  Encoder
COB-ID Cmd Index
600+ID
23 02 65
Sub
Process data
00 B4 B5 B6 B7
Encoder  Master
COB-ID Cmd Index
580+ID
60 02 65
Sub
00
Process data
00 00 00 00
Step 4 - Send a Reset node command
Master  Encoder
Slave
COB-ID
Cmd
ID
000
81
ID
Step 5 - Store parameters (object 1010-01 Store parameters)
Master  Encoder
COB-ID Cmd Index
600+ID
23 10 10
Sub
01
73
Process data
61 76 65
Encoder  Master
COB-ID Cmd Index
580+ID
60 10 10
Sub
01
00
Process data
00 00 00
Table of resolutions
Encoder type
AMT58 12/4096
AMT58 13/4096
14
steps/rev.
n° rev.
B0 B1 B2 B3 B4 B5 B6 B7
00 10 00 00 00 10 00 00
00 20 00 00 00 10 00 00
AMT58x-CB CANopen®
5.2 Using the default settings
Using the default settings provided by the manufacturer, you can
switch on the device and read immediately its position.
Follow the instructions below to:
 read the device resolution;
 set the operational mode;

read the current position (cyclic mode and/or sync mode).
Default Baud rate and Node-ID are:
Baud rate = 500 Kbit/s
Node-ID = 1
Read resolution revolution 6501-00 Hardware counts
revolution
Master  Encoder
COB-ID
Cmd
Index
Sub
Process data
601
40
01 65 00
Encoder  Master
COB-ID
Cmd
Index
Sub
Process data
581
43
01 65 01 A0 A1 A2 A3
steps/rev. = ( (A3<<24) | (A2<<16) | (A1<<8) | A0 )
per
Read number of revolutions 6502-00 Hardware number of turns
Master  Encoder
COB-ID
Cmd
Index
Sub
Process data
601
40
02 65 00
Encoder  Master
COB-ID
Cmd
Index
Sub
Process data
581
43
02 65 01 B0 B1 B2 B3
N. rev. =( (B3<<24) | (B2<<16) | (B1<<8) | B0 )
Set cyclic time 6200-00 Cyclic time (100 ms = 64h)
Master  Encoder
COB-ID
Cmd
Index
Sub
Process data
600+ID
2B
00 62 00 64 00
Encoder  Master
COB-ID
Cmd
Index
Sub
Process data
580+ID
60
00 62 00 00 00
Set Operational mode
Master  Encoder
COB-ID
Cmd
Node
000
01
01
Read the position every 100 ms
Encoder  Master
COB-ID
Byte 0
Byte 1
181
Low
…
Byte 2
…
Byte 3
High
15
AMT58x-CB CANopen®
6. CANopen® interface
Datalogic encoders are always slave devices and comply with
“Device profile for encoders”, Class 2.
For any omitted information, refer to the “CiA Draft Standard 301”
and “CiA Draft Standard 406” documents available at www.cancia.org.
6.1 EDS file
CANopen® encoders are supplied with their own EDS file AMT58xxx-13x12-CB
(see
enclosed
documentation
or
click
www.datalogic.com).
EDS file has to be installed on CANopen® master device.
6.2 Operation states
CANopen® devices are designed to operate using different states.
Transition from one state to another is made by sending specific
NMT messages (see Figure below).
(1)
Initialization
(2)
Boot-up message
(6)
Preti
(3)
l
(5)
(4)
(6)
Stopped
(6)
(4)
(5)
(3)
Operational
(1)
(2)
(3)
(4)
(5)
(6)
16
Power on
Initialization carried out, boot-up message is
automatically
NMT message: Start remote node
NMT message: Enter pre-operational
NMT message: Stop remote node
NMT message: Reset node or Reset communication
sent
AMT58x-CB CANopen®
6.2.1 Initialization state
This is the first state the CANopen® device enters after power is
turned on or after a hardware reset. As soon as the basic CANopen®
device initialization is carried out, device reads and loads the
parameters saved on EPROM, sends a boot-up message and then
switches automatically to Pre-operational state.
6.2.2 Pre-operational state
In this state communication between master and slave is possible
using SDO messages. They allow working parameters to be set.
Slave cannot send PDO messages.
To switch slave device to Operational state master must send a Start
remote node command using a NMT message.
6.2.3 Operational state
In this state slave device is active and all communication objects are
available. Slave device can use the parameters available in the
“Object dictionary” and is allowed to send process data using PDO
messages. “Object dictionary” can be accessed using SDO
messages. To switch slave device to Pre-operational state master
must send an Enter pre-operational command using a NMT
message.
6.2.4 Stopped state
In this state slave device is forced to interrupt communication with
the Master (except node guarding, if active).
Communication using PDO and SDO messages is not allowed.
To switch slave device to Pre-operational or Operational state master
must send the specific commands Enter pre-operational or Start
remote node using a NMT message.
17
AMT58x-CB CANopen®
6.3 Communication objects
Four different kinds of communication messages are used in a
CANopen® network:
 Network management NMT protocol: NMT protocols are used to
issue state machine change commands (i.e. to start and stop the
devices), detect remote device boot-ups and error conditions.
 Process Data Objects PDO protocol: used to process real time
data (transmission of process data in real time).
 Service Data Objects SDO protocol: used to set and read values
from the object dictionary of a remote device.
 Special Function Objects:
- SYNC: synchronization message used by master to enable
slaves devices to transmit process data (encoder position and
velocity).
- Emergency: error messages are triggered by each error event.
- Nodeguard: used to request the state of the slave.
Relation between device states and communication objects:
Initial.
NMT
PDO
SDO
SYNC
EMCY
Boot-up
Node guard
Pre-oper.
X
Stopped
X
X
Operat.
X
X
X
X
X
X
X
X
X
X
6.3.1 Pre-defined connection set
Master  Slave broadcast
Type of COB
Function code
COB-ID (hex)
(Object)
(binary)
NMT
0000
000
SYNC
0001
080
peer-to-peer transmission
EMERGENCY
0001
PDO 1 (tx)
0011
PDO 2 (tx)
0101
PDO 3 (tx)
0111
PDO4 (tx)
1001
SDO (tx)
1011
SDO (rx)
1100
Node guard
1110
Boot-up
1110
081 - 0FF
181 - 1FF
281 - 2FF
381 - 3FF
481 - 4FF
581 - 5FF
601 - 67F
701 - 77F
701 - 77F
The type of COB (tx or rx) is viewed from the slave device.
18
AMT58x-CB CANopen®
6.4 NMT objects
NMT structure:
COB-ID (11 bit)
Node
Func.code
ID
0000
0
2 CAN Data Bytes
Command
Slave ID
NMT Func.
Slave ID
If Slave ID = 00h, the NMT message is issued to all network nodes.
NMT Function:
Command
01 hex
02 hex
80 hex
81 hex
82 hex
NMT Function
Start remote node
Stop remote node
Enter pre-operational
Reset node
Reset communication
State node
Operational
Stopped
Pre-operational
Pre-operational
Pre-operational
6.5 Boot-up objects
Boot-up message structure:
COB-ID(hex)
700+Node ID
1 CAN Data Bytes
00
19
AMT58x-CB CANopen®
6.6 PDO objects
PDO (tx) messages are always made up of 4 CAN Data Bytes and
are used by the encoder to transmit the position value and/or the
velocity value.
PDO structure:
IDENTIFIER
COB-ID(hex)
F.C.
Node-ID
4 CAN Data Bytes
Byte 0 Byte 1 Byte 2
Byte 3
Low
…
…
High
position value (with PDO1, PDO2, PDO3)
velocity value (with PDO4)
PDO1 Cyclic mode: cyclic transmission
Encoder uses the PDO1 message to transmit the position value
cyclically, i.e. periodically and independently from the Master.
The interval between two issues is set in the object 6200-00 Cyclic
time. To activate (or deactivate) cyclic mode it is necessary to set to
0 (or 1) the most significant bit of COB-ID used by PDO1 (object
1800 PDO1 parameters, sub 1).
PDO2 and PDO3 SYNC mode: synchronous transmission
Transmission of position value is managed by the Master by sending
a SYNC message.
SYNC message is a high-priority COB transmitted by the Master to
request the position value of the encoder.
If several nodes (encoders) are connected to the network, the Master
receives the position values from the slaves respecting the Node
number order.
The encoder can be programmed to send a reply after a set number
of SYNC messages by setting a counter.
The PDO message will be transmitted after having received the set
number of SYNC messages.
For PDO2 the value of the counter must be set in object 1801 PDO2
parameters, sub 2.
For PDO3 refer to object 1802 PDO3 parameters, sub 2.
SYNC transmission mode can be enabled (or disabled) by setting to
0 (or 1) the most significant bit (MSB) of COB-IB used by PDO
(objects 1801 PDO2 parameters / 1802 PDO3 parameters, sub1).
PDO4 Cyclic mode: cyclic transmission
Encoder uses the PDO4 message to transmit the velocity value
cyclically, i.e. periodically and independently from the Master.
The interval between two issues is set in the object 6200-00 Cyclic
time. To activate (or deactivate) the cyclic mode it is necessary to set
to 0 (or 1) the most significant bit of COB-ID used by PDO4 (object
1803 PDO4 parameters, sub 1).
NOTE
Several transmission modes can be active at the same time.
20
AMT58x-CB CANopen®
6.7 SDO objects
SDO messages are used to set and read values from the object
dictionary of the encoder.
These parameters are described in the “Object dictionary” section.
4 bytes at the most are used for CAN data, other 4 bytes are used for
Command, Index and Sub-index fields. SDO messages are always
followed by confirmation. It follows that when Master sends a SDO
message to Slave, slave always sends a reply (and a warning,
should an error occur).
SDO structure:
IDENTIFIER
COB-ID(hex)
F.C Node.
ID
Com
Index
Sub
Data
0
1
from 4 to 8 CAN data bytes
2
3
4
5
Com
Index
Sub
1byt
e
LSB MSB
1byt
e
6
7
…
MSB
Data
LSB
…
command
parameter index
parameter sub-index
parameter value
21
AMT58x-CB CANopen®
6.7.1 Command
The command byte contains the type of telegram transmitted to the
CAN network.
Three types of telegram are available:
 Set: to send configuration parameters to a device;
 Req: used by master to read data from a device;
 Warnings: used by slave to send error messages to master (e.g.
Index does not exist, …).
Comman
d
22h
23h
2Bh
2Fh
22
COB
COB type
Data length
Set
Set
Set
Set
M  S request
M  S request
M  S request
M  S request
not spec.
4 byte
2 byte
1 byte
60h
40h
Set
Req
S  M confirmation
M  S request
0 byte
0 byte
42h
43h
4Bh
4Fh
41h
Req
Req
Req
Req
Req
80h
Warning
S  M reply
not spec.
S  M reply
4 byte
S  M reply
2 byte
S  M reply
1 byte
S  M reply segmented SDO
S  M reply
4 byte
AMT58x-CB CANopen®
6.8 Object dictionary
In the following pages the objects implemented are listed and
described as follows:
Index-subindex Object name
[data types, attribute]


Index and subindex are expressed in hexadecimal notation.
Attribute:
ro = read only access
rw = read and write access
Unsigned16 data type:
Process data bytes
byte 4
LSByte
byte 5
MSByte
Unsigned32 data type:
byte 4
LSByte
Process data bytes
byte 5
byte 6
…
…
byte 7
MSByte
6.8.1 Standard objects (DS 301)
1000-00 Device type
[Unsigned32, ro]
Default = 0001 0196h = singleturn encoder, DS 406
0002 0196h = multiturn encoder, DS 406
1001-00 Error register
[Unsigned8, ro]
Should an error occur, bit 0 in this object will be set to "1".
Default = 00h
1003 Pre-defined error field
This object contains the last four errors which generated an
emergency message.

00 Number of current errors [Unsigned8, rw]
(write 00h to delete the error history)
 01 Last error occurred [Unsigned32, ro]
 02-04 Previous errors occurred [Unsigned32, ro]1005-00 COB_ID
SYNC message
[Unsigned32, rw]
Default = 0000 0080h
23
AMT58x-CB CANopen®
1008-00 Name of device manufacturer
[String, ro]
It shows the name of the device manufacturer.
Default = “Datalogic Automation Srl”
1009-00 Hardware version
[String, ro]
It shows the hardware version of the device.
100A-00 Software version
[String, ro]
It shows the software version of the device.
100C-00 Guard time
[Unsigned16, rw]
It contains the Guard time expressed in msec (milliseconds).
Object 100C-00 Guard time is used in the “Node guarding protocol”
controlled by the master. For more details see section “6.11 Node
guarding protocol”.
Default = 0000h
100D-00 Life time factor
[Unsigned8, rw]
Object 100D-00 Life time factor is used in the “Node guarding
protocol” controlled by the master. For more details see section “6.11
Node guarding protocol”.
Default = 00h
24
AMT58x-CB CANopen®
1010-01 Store parameters
[Unsigned32, rw]
Use this object to save all parameters on non-volatile memory.
Write "save" (ASCII code in hexadecimal form) in the data bytes:
Master  Encoder
Cm
COB-ID
Index
d
600+ID
23 10 10
Sub
01
Data bytes
73
61
76
65
Encoder  Master (confirmation)
Cm
COB-ID
Index
Sub
Data bytes
d
580+ID
60 10 10 01 00 00 00 00
1011-01 Restore default parameters
[Unsig32, rw]
This object allows the operator to restore all parameters to default
values (default values are set at the factory by Datalogic Automation
engineers to allow the operator to run the device for standard
operation in a safe mode).
Write "load" (ASCII code in hexadecimal form) in the data bytes and
then issue a Reset node command:
Master  Encoder
COB-ID
Cmd
Index
600+ID
23
11 10
Sub
01
6C
Data bytes
6F 61 64
Encoder  Master (confirmation)
COB-ID
Cmd
Index
Sub
Data bytes
580+ID
60
11 10 01 00 00 00 00
Master  Encoder (Reset node)
COB-ID
Cmd Slave ID
000
81
ID
Encoder  Master (Boot-up)
COB-ID
Cmd
700+ID
00
NOTE
Save default values using the store parameters function (see object
1010-01Store parameters).
25
AMT58x-CB CANopen®
1014-00 COB-ID EMCY
[Unsigned32, rw]
This object defines the COB-ID used for sending emergency
messages (EMCY).
If the node address is set using the internal dip-switches (i.e. at least
one dip-switch for setting the node has HIGH logic level = 1), when
the power is turned on, this object is always forced to the default
value. Otherwise, if the node address is set via software (i.e. all dipswitches for setting the node have LOW logic level = 0) it retains the
set value, unless a software procedure for setting a new address is
forced at power on.
Default = 0000 0080h+NodeID
1015-00 Inhibit time EMCY
[Unsigned16, rw]
Inhibit time of the emergency messages (EMCY) expressed in
multiples of 100 µs. When set to 0, this function is disabled.
Default = 0000h
1018 Identification object
 01 Vendor number [Unsigned32, ro]
 02 Product number [Unsigned32, ro]
 03 Revision number [Unsigned32, ro]
1800 PDO1 parameters
PDO1 message is used by default for cyclic transmission of the
position value.
See object 6200-00 Cyclic time to set the cyclic timer.
 01 COB-ID of PDO1 [Unsigned32, rw]
If the node address is set using the internal dip-switches (i.e. at
least one dip-switch for setting the node has HIGH logic level =
1), when the power is turned on, this object is always forced to
the default value. Otherwise, if the node address is set via
software (i.e. all dip-switches for setting the node have LOW logic
level = 0) it retains the set value, unless a software procedure for
setting a new address is forced at power on.
Default = 4000 0180h+NodeID (no RTR, COB-ID)
 02 Transmission type [Unsigned8, rw]
Default = FEh (cyclic transmission)
26
AMT58x-CB CANopen®
1801 PDO2 parameters
PDO2 message is used by default for synchronous transmission of
the position value.
 01 COB-ID of the PDO2 [Unsigned32, rw]
If the node address is set using the internal dip-switches (i.e. at
least one dip-switch for setting the node has HIGH logic level =
1), when the power is turned on, this object is always forced to
the default value. Otherwise, if the node address is set via
software (i.e. all dip-switches for setting the node have LOW logic
level = 0) it retains the set value, unless a software procedure for
setting a new address is forced at power on.
Default = 4000 0280h+NodeID (no RTR, COB-ID)
 02 Transmission type [Unsigned8, rw]
Default = 01h(synchronous transmission at each SYNC
command)
Position value is transmitted after a set number of SYNC
commands.
Interval in SYNC commands must be set in object 1801 PDO2
parameters, sub 2.
1802 PDO3 parameters
PDO3 message is used by default for synchronous transmission of
the position value.
 01 COB-ID of the PDO3 [Unsigned32, rw]
If the node address is set using the internal dip-switches (i.e. at
least one dip-switch for setting the node has HIGH logic level =
1), when the power is turned on, this object is always forced to
the default value. Otherwise, if the node address is set via
software (i.e. all dip-switches for setting the node have LOW logic
level = 0) it retains the set value, unless a software procedure for
setting a new address is forced at power on.
Default = C000 0380h+NodeID (disable, no RTR)
 02 Transmission type [Unsigned8, rw]
Default = 01h (synchronous transmission at each SYNC
command).
Position value is transmitted after a set number of SYNC
commands.
Interval in SYNC commands must be set in object 1802 PDO3
parameters, sub 2.
27
AMT58x-CB CANopen®
1803 PDO4 parameters
PDO4 is used by default for cyclic transmission of the velocity value.
See object 6200-00 Cyclic time to set the cyclic timer.
 01 COB-ID of PDO4 [Unsigned32, rw]
If the node address is set using the internal dip-switches (i.e. at
least one dip-switch for setting the node has HIGH logic level =
1), when the power is turned on, this object is always forced to
the default value. Otherwise, if the node address is set via
software (i.e. all dip-switches for setting the node have LOW logic
level = 0) it retains the set value, unless a software procedure for
setting a new address is forced at power on.
Default = C000 0480h+NodeID (no RTR, COB-ID)
 02 Transmission type [Unsigned8, rw]
Default = FEh (cyclic transmission)
NOTE
- Transmission of PDO1, PDO2, PDO3 and PDO4 messages can be
enabled (or disabled) by setting to “0” (or “1”) the most significant bit
(MSB) used by PDO (object 180xh, sub1).
- Cyclic transmission or synchronous transmission can be modified
by setting the object 180xh sub 2:
01h: synchronous transmission at each SYNC command;
02h: synchronous transmission after two SYNC commands;
…
FEh: cyclic transmission.
1A00-01 PDO1 mapping parameter
[Unsig32, rw]
This object contains the mapped position value of the encoder
according to DS406 device profile.
Default = 6004 0020h
1A01-01 PDO2 mapping parameter
[Unsig32, rw]
See object 1A00-01 PDO1 mapping parameter
1A02-01 PDO3 mapping parameter
[Unsig32, rw]
See object 1A00-01 PDO1 mapping parameter
1A03-01 PDO4 mapping parameter
[Unsig32, rw]
This object contains the mapped velocity value of the encoder
according to the manufacturer profile.
Default = 3006 0020h
28
AMT58x-CB CANopen®
6.8.2 Manufacturer specific objects
2104-00 Limit switch min.
[Unsigned32, rw]
This object can be used to set the lowest software limit switch (-).
If the encoder position is below the value set in this object, bit 12 of
object 6500-00 Operating states will be set to 1.
To enable this function set bit 12 of object 6000-00 Operating
parameters to 1.
Default = 0000 0010h
2105-00 Limit switch max.
[Unsigned32, rw]
This object can be used to set the highest software limit switch. (+).
If the encoder position is higher than the value set in this object, bit
13 of object 6500-00 Operating states will be set to 1.
To enable this function set bit 13 of object 6000-00 Operating
parameters to 1.
Default = 003F FFF0h
3000-00 Baud rate
[Unsigned8, rw]
This object is meant to set the baud rate (transmission rate)
according to the following table:
Data byte
00h
01h
02h
03h
04h
05h
06h
07h
Baud rate
20 Kbit/s
50 Kbit/s
100 Kbit/s
125 Kbit/s
250 Kbit/s
500 Kbit/s (default)
800 Kbit/s
1000 Kbit/s
The bit rate is set through object 3000-00 Baud rate only if bit 4 in
DIP A is set to ”OFF”. If bit 4 in DIP A is set to ”ON”, the bit rate is set
by DIP A. For any further information refer to section “4.8 Baud rate:
DIP A”.
To change the baud rate value you have to:
set the object 3000-00 Baud rate;
send a Reset node command (or Reset communication
command);
 save the parameter;
 set the Master to the new baud rate.
Default = 05h


29
AMT58x-CB CANopen®
Master  Encoder
COB-ID
Cmd
600+ID
2F
Index
00
30
Sub
00
Data byte
see table
Encoder  Master (confirmation)
COB-ID
Cmd
Index
Sub
580+ID
60
00
30
00
Data byte
00
Master  Encoder (Reset node)
COB-ID
Cmd
Slave ID
000
81
ID
Set the master device to the new baud rate:
Encoder  Master (Boot-up with new baud rate)
COB-ID
Cmd
700+ID
00
NOTE
To save the new Baud rate value execute the store parameters
function (see object 1010-01 Store parameters).
When the power is turned off, parameters not saved will be lost.
30
AMT58x-CB CANopen®
3001-00 Node-ID
[Unsigned8, rw]
This object defines the node identifier of the device.
The node number is set through the object 3001-00 Node-ID only if
all bits of DIP B are set to ”OFF”. If one bit at least of DIP B is set to
“ON” the node number is set through DIP B. For any further
information refer to “4.9 Node number: DIP B”
To change the Node-ID value you have to:
 set the object 3001-00 Node-ID;
 send a Reset node command;
 save the parameter.
Default = 01h
Master  Encoder
COB-ID
Cmd
Index
600+ID
2F
01
30
Sub
00
Encoder  Master (confirmation)
COB-ID
Cmd
Index
Sub
580+ID
60
01
30
00
Data byte
new Node-ID
Data byte
00
Master  Encoder (Reset node)
COB-ID
Cmd
Slave ID
000
81
old ID
Encoder  Master (Boot-up with new Node-ID)
COB-ID
Cmd
700+ID
00
NOTE
To save the new Node-ID value execute the store parameters
function (see object 1010-01 Store parameters).
When the power is turned off, parameters not saved will be lost.
3005-00 Velocity format
[Unsigned8, rw]
This attribute defines the engineering units for the velocity value.
00h = steps/s:
number of steps per second (default);
01h = rpm: revolutions per minute.
3006-00 Velocity value
[Unsigned32, ro]
This attribute shows the current speed detected by the position
sensor and calculated every 100 ms.
Value is transmitted according to the settings in the object 1803
PDO4 parameters.
31
AMT58x-CB CANopen®
6.8.3 Device profile objects (DS 406)
6000-00 Operating parameters
[Unsigned16, rw]
Bit
Function
bit = 0
0
Code sequence
CW (clockwise)
1
2
3…11
12
13
14…15
Scaling function
Limit switch min.
Limit switch max.
not used
disabled
not used
disabled
disabled
not used
bit = 1
CCW (counter
clockwise)
enabled
enabled
enabled
Default = 0000h
Code sequence
It defines whether the position value output by the transducer
increases when the encoder shaft rotates clockwise (CW) or
counterclockwise (CCW). When Errore. L'origine riferimento non è
stata trovata. = 0, the position value increases when the encoder
shaft rotates clockwise; on the contrary, when Code sequence = 1,
the position value increases when the encoder shaft rotates
counterclockwise. CW and CCW rotations are viewed from shaft end.
Scaling function
If disabled the device uses its own physical resolution (see objects
6501-00 Hardware counts per revolution and 6502-00 Hardware
number of turns); if enabled it uses the resolution set in objects
6001-00 Counts per revolution and 6002-00 Total resolution with
the following relation:Transmitted position =
6001-00 Counts per revolution
6501-00 Hardware counts per
revolution
 real position  6002-00
Total resolution
WARNING
Every time you enable the scaling function and/or change the scaling
values (see objects 6001-00 Counts per revolution and 6002-00
Total resolution) then you are required to set a new preset value
(see object 6003-00 Preset value) and finally save the new
parameters (see object 1010-01 Store parameters).
Limit switch min.Limit switch max.
It allows to enable / disable the function of the objects 2104-00 Limit
switch min. and 2105-00 Limit switch max.
For further information see on page 29.
6001-00 Counts per revolution
[Unsig32, rw]
32
AMT58x-CB CANopen®
This object sets a custom number of distinguishable steps per
revolution.
Enabled if bit 2 Scaling function in the object 6000-00 Operating
parameters = “1”.
To avoid counting errors, check that
6501-00 Hardware counts per
revolution
= integer value.
6001-00 Counts per revolution
Allowed values are equal to or lower than 6501-00 Hardware counts
per revolution ( (see encoder label).
WARNING
Every time you change the value in this object then you are required
to set a new preset value (see object 6003-00 Preset value) and
finally save the new parameters (see object 1010-01 Store
parameters).
6002-00 Total resolution
[Unsigned32, rw]
This object sets a custom number of distinguishable steps over the
total measuring range.
Enabled if bit 2 Scaling function in the object 6000-00 Operating
parameters = ”1”.
Allowed values are equal to or lower than Total hardware
resolution (6501-00 Hardware counts per revolution * 6502-00
Hardware number of turns, see encoder label).
WARNING
Every time you change the value in this object then you are required
to set a new preset value (see object 6003-00 Preset value) and
finally save the new parameters (see object 1010-01 Store
parameters).
33
AMT58x-CB CANopen®
Example
Multiturn encoder AMT58-xxx-13x12-CB
Resolution is:
 Hardware counts per revolution:
 Hardware number of turns:
 Total hardware resolution:
6501-00 Hardware counts per
revolution= 8192 (213)
6502-00 Hardware number of
turns = 4096 (212)
= 16777216 (224)
2048 counts/rev.  1024 turns are required:
 Enable scaling function: 6000-00 Operating parameters, bit 2 = “1”
 Counts per revolution: 6001-00 Counts per revolution = 2048
(0000 0800h)
 Total resolution:
6002-00 Total resolution = 2048*1024 =
2097152 (0020 0000h)
NOTE
We suggest values which are power of 2 (2n: 2, 4, …, 2048, 4096,
8192,…) to be set in the objects 6001-00 Counts per revolution and
6002-00 Total resolution to avoid counting errors.
If 6001-00 Counts per revolution and/or 6002-00 Total resolution
values change, then the 6003-00 Preset value must be updated to
the new resolution. A new 6003-00 Preset value value is also
required.
6003-00 Preset value
[Unsigned32, rw]
This object allows to set the encoder position to a Preset value.
Preset function is meant to assign a certain value to a desired
physical position of the encoder shaft.
Default = 0000 0000h
NOTE
 If the scaling function is disabled (see bit 2 Scaling function in
the object 6000-00 Operating parameters), 6003-00 Preset
value must be lower than “Total hardware resolution” (6501-00
Hardware counts per revolution * 6502-00 Hardware number
of turns).
 If the scaling function is enabled (see bit 2 Scaling function in
the object 6000-00 Operating parameters), 6003-00 Preset
value must be lower than 6002-00 Total resolution.
34
AMT58x-CB CANopen®
6004-00 Position value
[Unsigned32, ro]
This object contains the position value, transmitted value is
calculated considering the scaling values. Value is transmitted
cyclically or synchronously according to the settings in the objects
1800 PDO1 parameters, 1801 PDO2 parameters and 1802 PDO3
parameters.
6200-00 Cyclic time
[Unsigned16, rw]
Cyclic timer value is used in asynchronous transmission mode to set
the interval between two PDO issues. Parameter value is in
milliseconds.
Default = 0000h
6500-00 Operating states
[Unsigned16, ro]
Bit
0
1
2
3…11
12
13
14
15
Function
Code sequence
bit = 0
bit = 1
Clockwise
CCW
not used
Disabled
Enabled
Scaling function
not used
posit. > 2104posit. > 2104Limit switch min.
00 Limit switch 00 Limit switch
min.
min.
posit. < 2105posit. < 2105Limit switch max.
00 Limit switch 00 Limit switch
max.
max.
not used
Stopped /
Operational
Current operating state
Pre-operational
Code sequence
It shows whether the code sequence is set to clockwise (CW) or
counterclockwise (CCW). To set the code sequence to either CW or
CCW you must set the bit 0 Code sequence of the object 6000-00
Operating parameters to 0 / 1.
Scaling function
It shows whether the scaling function is disabled or enabled. To
disable / enable the scaling function you must set the bit 2 Scaling
function of the object 6000-00 Operating parameters to 0 / 1.
35
AMT58x-CB CANopen®
Limit switch min.
If the encoder position is over the value set in the object 2104-00
Limit switch min., bit 12 of this object is set to “0”.
If the encoder position is below the value set in the object 2104-00
Limit switch min., bit 12 of this object is set to “1”.
To enable this function set the bit 12 Limit switch min. of the object
6000-00 Operating parameters to "1".
Limit switch max.
If the encoder position is below the value set in the object 2105-00
Limit switch max., bit 13 of this object is set to “0”.
If the encoder position is over the value set in the object 2105-00
Limit switch max., bit 13 of this object is set to “1”.
To enable this function set the bit 13 Limit switch max. of the object
6000-00 Operating parameters to "1".
Current operating state
It shows the current operating state of the unit. For further
information on the available states see “6.2 Operation states”.
bit 15 = 0: Stopped or Pre-operational state;
bit 15 = 1: Operational state.
6501-00 Hardware counts per revolution
[Unsigned32, ro]
This object defines the physical number of distinguishable steps each
turn given by the hardware.
To set a custom resolution see object 6001-00 Counts per
revolution
6502-00 Hardware number of turns
[Unsig16, ro]
This object defines the physical number of distinguishable turns
given by the hardware.
Total hardware resolution = 6501-00 Hardware counts per
revolution * 6502-00 Hardware number of turns.
To set a custom number of turns see objects 6001-00 Counts per
revolution and 6002-00 Total resolution.
6504-00 Supported alarms
[Unsigned16, ro]
Default = 0000h (Alarms not supported).
6506-00 Supported warnings
[Unsigned16, ro]
Default = 0000h (Warnings not supported).6507-00 Profile and
software version
[Unsig32, ro]
Contains the profile and software version.
36
AMT58x-CB CANopen®
Profile version for encoders = 3.1
Software version = 1.1
Default = 0301 0101h
6508-00 Operating time
[Unsigned32, ro]
Default = FFFF FFFFh (not used)
6509-00 Offset value
[Integer32, ro]
This object contains the Offset value. This value is the difference
between the physical position of the encoder and the position relating
to the preset value (see object 6003-00 Preset value).
Default = 0000 0000h
650A-01 Manufacturer offset value
[Integer32, ro]
This object contains the manufacturer offset value. This is the
difference between the physical zero position of the encoder (zero
set mechanically) and the zero position set by the manufacturer (zero
set via software).
Default = 0000 0000h
650B-00 Serial number
[Unsigned32, ro]
Default = FFFF FFFFh (not used)
NOTE
To save new parameters execute the store parameters function (see
object 1010-01 Store parameters).
When the power is turned off or in case of Reset node and Restore
node commands, parameters not saved are lost.
37
AMT58x-CB CANopen®
6.9 Warning objects
For the complete list and meaning of the warning messages please
refer to “SDO abort codes” section in “CiA Draft Standard 301”
document available at www.can-cia.org.
6.10 Emergency objects
Emergency (EMCY) objects are issued by the device when an
internal error occurs.
EMCY structure:
IDENTIFIER
COB-ID(hex)
see object
1014-00
COBID
EMCY
0
1
Error code
LSB
MSB
Available error codes:
1000h = Node guarding error
5530h = Flash memory error
38
CAN Data Byte
2
3…7
Error Subregister
Specific code
01
00…00
AMT58x-CB CANopen®
6.11 Node guarding protocol
At system boot the “Node guarding protocol” is disabled; this protocol
is enabled automatically as soon as the master device sends a RTR
message (Remote Transmission Request) the first time.
Master
request
Guard
time
response
request
Slave
RTR
NodeGuard.
RTR
Node
life time
time
Node guarding
event
Life guarding
event
100C-00 Guard time: interval between two RTR messages.
Node life time:
maximum time available for the encoder to
receive a RTR message.
Node life time = 100C-00 Guard time * 100D-00 Life time factor.
“Node guarding” is enabled if Node life time * 0.
If the slave does not receive a RTR message before the Node life
time has expired, it warns activating a “Life Guarding Event”.
Furthermore the red LED starts flashing so indicating the Node
guarding error, objects 1001-00 Error register and 1003 Predefined error field are updated and an error message is sent.
To reset the error send a Reset node command.
39
AMT58x-CB CANopen®
7. Setting-up
Here following are some examples of transmission between Master
and Slave devices.
A generic “ID” value is used to indicate the encoder address; Master
address is always 0. All values are expressed in hexadecimal
notation.
Set Operational, Pre-operational state
NMT message
Operational:
Pre-operational:
Master  Slave
COB-ID
Cmd
000
01
000
80
Node
ID
ID
Set resolution per revolution 6001-00 Counts per revolution
(210=0000 0400h)
Master  Encoder (Set request)
COB-ID
Cmd
Index
Sub
Process data
600+ID
23
01 60 00 00 40 00 00
Encoder  Master (Set confirmation)
COB-ID
Cmd
Index
Sub
Process data
580+ID
60
01 60 00 00 00 00 00
Set total resolution 6002-00 Total resolution (224=0100 0000h)
Master  Encoder (Set request)
COB-ID
Cmd
Index
Sub
Process data
600+ID
23
02 60 00 00 00 00 01
Encoder  Master (Set confirmation)
COB-ID
Cmd
Index
Sub
Process data
580+ID
60
02 60 00 00 00 00 00
Set operating parameters 6000-00 Operating parameters (Code
sequence: CW, Scaling function: enabled, Limit switch min. /
Limit switch max.: disabled)
Master  Encoder (Set request)
COB-ID
Cmd
Index
Sub
Process data
600+ID
2B
00 60 00 04 00
Encoder  Master (Set confirmation)
COB-ID
Cmd
Index
Sub
Process data
580+ID
60
00 60 00 00 00
-
40
AMT58x-CB CANopen®
Set the preset value 6003-00 Preset value (preset = 1000 = 03E8h)
Master  Encoder (Set request)
COB-ID
Cmd
Index
Sub
Process data
600+ID
23
03 60 00 E8 03 00 00
Encoder  Master (Set confirmation)
COB-ID
Cmd
Index
Sub
Process data
580+ID
60
03 60 00 00 00 00 00
Set Sync counter 1801 PDO2 parameters, sub 2 (n = 5 = 05h)
Master  Encoder (Set request)
COB-ID
Cmd
Index
Sub
Process data
600+ID
2F
01 18 02 05
Encoder  Master (Set confirmation)
COB-ID
Cmd
Index
Sub
Process data
580+ID
60
01 18 02 00
Disable Sync mode 1801 PDO2 parameters, sub 1
Read COB-ID used by PDO2:
Master  Encoder (Req request)
COB-ID
Cmd
Index
Sub
Process data
600+ID
40
01 18 01
Encoder  Master (Req reply)
COB-ID
Cmd
Index
Sub
Process data
580+ID
43
01 18 01 B0 B1 B2 B3
COB-ID used by PDO2 = ( (B3<<24) | (B2<<16) | (B1<<8) | B0 )
set the most significant bit to 1:
B3 |= 0x80;
Set new COB-ID used by PDO2 (1801 PDO2 parameters, sub 1):
Master  Encoder (Set request)
COB-ID
Cmd
Index
Sub
Process data
600+ID
23
01 18 01 B0 B1 B2 B3
Encoder  Master (Set confirmation)
COB-ID
Cmd
Index
Sub
Process data
580+ID
60
01 18 01 00 00 00 00
41
AMT58x-CB CANopen®
Enable Cyclic mode
Set cyclic time 6200-00 Cyclic time (100 ms = 64h)
Master  Encoder (Set request)
COB-ID
Cmd
Index
Sub
Process data
600+ID
2B
00 62 00 64 00
Encoder  Master (Set confirmation)
COB-ID
Cmd
Index
Sub
Process data
580+ID
60
00 62 00 00 00
Read COB-ID used by PDO1 (1800 PDO1 parameters, sub 1):
Master  Encoder (Req request)
COB-ID
Cmd
Index
Sub
Process data
600+ID
40
00 18 01
Encoder  Master (Req reply)
COB-ID
Cmd
Index
Sub
Process data
580+ID
43
00 18 01 B0 B1 B2 B3
COB-ID used by PDO1 = ( (B3<<24) | (B2<<16) | (B1<<8) | B0 )
set the most significant bit to 0:
B3 &= 0x7F;
Set new COB-ID used by PDO1 (1800 PDO1 parameters, sub 1):
Master  Encoder (Set request)
Cm
COB-ID
Index
Sub
Process data
d
600+ID
23 00 18 01 B0 B1 B2 B3
Encoder  Master (Set confirmation)
COB-ID
Cmd
Index
Sub
Process data
580+ID
60
00 18 01 00 00 00 00
NOTE
To save new parameters execute the store parameters function (see
object 1010-01 Store parametersErrore. L'origine riferimento non
è stata trovata.).
When the power is turned off or in case of Reset node and Restore
node commands, parameters not saved will be lost.
42
AMT58x-CB CANopen®
8 – Default parameters list
Default values are expressed in hexadecimal notation.
Parameters list
1000-00 Device type
1001-00 Error register
1003 Pre-defined error field 1005-00 COB_ID SYNC message
1008-00 Name of device
manufacturer
1009-00 Hardware version 100A-00 Software version 100C-00 Guard time
100D-00 Life time factor
1014-00 COB-ID EMCY
1015-00 Inhibit time EMCY
1018 Identification object 1800 PDO1 parameters, sub 1
1800 PDO1 parameters, sub 2
1801 PDO2 parameters, sub 1
1801 PDO2 parameters, sub 2
1802 PDO3 parameters, sub 1
1802 PDO3 parameters, sub 2
1803 PDO4 parameters, sub 1
1803 PDO4 parameters, sub 2
1A00-01 PDO1 mapping parameter
1A01-01 PDO2 mapping parameter
1A02-01 PDO3 mapping parameter
1A03-01 PDO4 mapping parameter
2104-00 Limit switch min.
2105-00 Limit switch max.
3000-00 Baud rate
3001-00 Node-ID
3005-00 Velocity format
6000-00 Operating parameters
6001-00 Counts per revolution –
6002-00 Total resolution 6003-00 Preset value
6200-00 Cyclic time
6500-00 Operating states
6504-00 Supported alarms
6506-00 Supported warnings
6507-00 Profile and software version
6508-00 Operating time
6509-00 Offset value
650A-01 Manufacturer offset value
650B-00 Serial number
Default values
0x00010196
0x00020196
0x00
0x00000080
DATALOGIC AUTOMATION SRL*
0x0000
0x00
NODEID+0x00000080
0x0000
NODEID+0x40000180
0xFE
NODEID+0x40000280
0x01
NODEID+0xC0000380
0x01
NODEID+0xC0000480
0xFE
0x60040020
0x60040020
0x60040020
0x36000020
0x00000010
0x003FFFF0
0x05
0x01
0x00
0x0000
0x00000000
0x0000
0x0000
0x0000
0x0000
0x03010101
0xFFFFFFFF
0x00000000
0x00000000
0xFFFFFFFF
* Text string
43
www.datalogic.com
Was this manual useful for you? yes no
Thank you for your participation!

* Your assessment is very important for improving the work of artificial intelligence, which forms the content of this project

Download PDF

advertisement