AMS 335i - SensorGruppen

AMS 335i - SensorGruppen
AMS 335i
en 03-2014/12 50113356
We reserve the right to
make technical changes
Optical Laser Measurement System
CANopen
TECHNICAL DESCRIPTION
© 2014
Leuze electronic GmbH + Co. KG
In der Braike 1
D-73277 Owen - Teck / Germany
Phone: +49 7021 573-0
Fax: +49 7021 573-199
http://www.leuze.com
[email protected]
Leuze electronic
AMS 335i
AMS 335i
The main menus
AMS 335i 120
Leuze electronic
GmbH & Co. KG
SW: V 1.3.0
HW:1
SN: -----------------------
Device information - main menu
Network information
Address:
-Baud rate: ---- kbit/s
Status:
Operational
Network information - main menu
IO1 LSR PLB
IO2 TMP ATT
ERR
Status- and measurement data - main
menu
This menu item contains detailed information on
• Device model,
• Manufacturer,
• Software and hardware version,
• Serial number.
No entries can be made via the display.
Explanations of address, baud rate, status.
No entries can be made via the display.
Device buttons:
Navigate
upward/laterally
Navigate
downward/laterally
ESC
ESCAPE
leave
1
CAN
+ 87.000m
ENTER
confirm
• Display of status-, warning-, and error messages.
• Status overview of the switching inputs/outputs.
• Bar graph for the reception level.
• Activated interface.
• Measurement value.
No entries can be made via the display.
See "Indicators in the display" on page 38.
Parameter
Parameter handling
CANopen
Position value
I/O
Other
Parameter - main menu
Language selection
o Deutsch
English
o Español
o Français
o Italiano
Language selection - main menu
Service
Status messages
Diagnostics
Expanded diagnostics
Service - main menu
• Configuration of the AMS.
See "Parameter menu" on page 43.
Input of values
100
<-|0123456789
save
Standard ----- Unit
63 |
|
Delete character
Enter digit
Save input
• Selection of the display language.
See "Language selection menu" on page 47.
• Display of status messages.
• Display of diagnostic data.
No entries can be made via the display.
See "Service menu" on page 47.
Table of contents
1
General information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
1.1
Explanation of symbols . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
1.2
Declaration of conformity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
1.3
Description of functions AMS 335i . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
2
Safety . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
2.1
Intended use . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
2.2
Foreseeable misuse. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
2.3
Competent persons . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
2.4
Disclaimer. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
2.5
Laser safety notices. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
3
Fast commissioning / operating principle . . . . . . . . . . . . . . . . . . . 12
3.1
3.1.1
3.1.2
Mounting the AMS 335i . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
Mounting the device . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
Mounting the reflector. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
3.2
Connecting the voltage supply . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
3.3
Display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
3.4
AMS 335i on the CANopen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
4
Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
4.1
4.1.1
4.1.2
4.1.3
Specifications of the laser measurement system . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
General specifications AMS 335i . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Dimensioned drawing AMS 335i . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Type overview AMS 335i . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5
Installation and mounting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
5.1
Storage, transportation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
5.2
5.2.1
5.2.2
5.2.3
Mounting the AMS 335i . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Optional mounting bracket . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Parallel mounting of the AMS 335i . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Parallel mounting of AMS 335i and DDLS optical data transmission. . . . . . . . . . . . . . . .
19
21
22
23
5.3
5.3.1
5.3.2
5.3.3
Mounting the AMS 335i with laser beam deflector unit. . . . . . . . . . . . . . . . . . . . . . . . .
Mounting the laser beam deflector unit With integrated mounting bracket . . . . . . . . . . .
Dimensioned drawing of US AMS 01 deflector unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Mounting the US 1 OMS deflector unit without mounting bracket . . . . . . . . . . . . . . . . .
24
24
25
26
AMS 335i
14
14
16
17
1
Table of contents
6
Reflectors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
6.1
General information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
6.2
6.2.1
6.2.2
6.2.3
6.2.4
6.2.5
Description of the reflective tape. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
Specifications of the self-adhesive foil . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
Specifications of the reflective tape on a metal plate . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
Dimensioned drawing of reflective tape on a metal plate . . . . . . . . . . . . . . . . . . . . . . . . . 29
Specifications of heated reflectors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
Dimensioned drawing of heated reflectors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
6.3
Selecting reflector sizes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
6.4
6.4.1
6.4.2
6.4.3
Mounting the reflector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
General information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
Mounting the reflector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
Table of reflector pitches . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
7
Electrical connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
7.1
Safety notices for the electrical connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
7.2
PWR – voltage supply / switching input/output . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
7.3
CANopen BUS IN . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
7.4
CANopen BUS OUT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
7.5
Service. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
8
Display and control panel AMS 335i . . . . . . . . . . . . . . . . . . . . . . . 40
8.1
Structure of the control panel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
8.2
8.2.1
8.2.2
8.2.3
Status display and operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
Indicators in the display. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
LED status displays . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
Control buttons . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
8.3
8.3.1
8.3.2
8.3.3
8.3.4
Menu description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
The main menus . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
Parameter menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
Language selection menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
Service menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
8.4
Operation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50
9
CANopen interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52
9.1
9.1.1
9.1.2
General information on CANopen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52
Topology . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52
Bus line (trunk line). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52
2
AMS 335i
Table of contents
9.1.3
Stub lines (drop lines) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53
9.2
9.2.1
Address assignment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54
Entering the address via the display. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54
9.3
9.3.1
Baud rate setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
Entering the baud rate via the display/panel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
9.4
CANopen electrical connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56
9.5
Communication mechanisms of the AMS 335i on CAN. . . . . . . . . . . . . . . . . . . . . . . . .
9.5.1
Device profile of the AMS 335i . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.5.2
Object directories . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.5.3
EDS file . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.5.4
SDOs and PDOs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.5.5
Default 11 Bit - Identifier distribution . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.5.6
The communication-specific objects according to DS301, DS406 and
manufacturer-specific61
9.5.7
Detailed description of CANopen-specific object area . . . . . . . . . . . . . . . . . . . . . . . . . .
9.5.8
AMS 335i-specific object area . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.5.9
Objects of the AMS 335i from the DS406 class 1 encoder profile . . . . . . . . . . . . . . . . . .
57
57
57
58
58
60
62
67
86
10
Diagnostics and troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . 88
10.1
10.1.1
10.1.2
10.1.3
Service and diagnostics in the display of the AMS 335i . . . . . . . . . . . . . . . . . . . . . . . .
Status messages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Expanded diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10.2
10.2.1
General causes of errors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90
Power LED . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90
10.3
10.3.1
Interface errors. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90
BUS LED . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90
10.4
Status display in the display of the AMS 335i . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90
11
Type overview and accessories . . . . . . . . . . . . . . . . . . . . . . . . . . 92
11.1
11.1.1
Type key . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92
Type overview AMS 335i (CANopen) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92
11.2
Overview of reflector types . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93
11.3
11.3.1
11.3.2
11.3.3
11.3.4
11.3.5
11.3.6
Accessories . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Accessory mounting bracket . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Accessory deflector unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Accessory M12 connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Accessory terminating resistor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Accessory ready-made cables for voltage supply . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Accessory ready-made cables for CANopen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
AMS 335i
88
88
89
89
93
93
93
93
94
94
95
3
Table of contents
12
Maintenance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97
12.1
General maintenance information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97
12.2
Repairs, servicing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97
12.3
Disassembling, packing, disposing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97
4
AMS 335i
General information
1
General information
1.1
Explanation of symbols
The symbols used in this operating manual are explained below.
Attention!
This symbol precedes text messages which must strictly be observed. Failure to comply with
this information results in injuries to personnel or damage to the equipment.
Attention Laser!
This symbol warns of possible danger caused by hazardous laser radiation.
Notice!
This symbol indicates text passages containing important information.
1.2
Declaration of conformity
The AMS 335i absolute measuring optical laser measurement system was designed and
manufactured in accordance with applicable European directives and standards.
Notice!
The Declaration of Conformity for these devices can be requested from the manufacturer.
The manufacturer of the product, Leuze electronic GmbH + Co. KG in D-73277 Owen/Teck,
possesses a certified quality assurance system in accordance with ISO 9001.
C
UL
US
LISTED
Leuze electronic
AMS 335i
5
TNT 35/7-24V
The AMS series is "UL LISTED" according to American and Canadian safety standards and
fulfills the requirements of Underwriter Laboratories Inc. (UL).
General information
1.3
Description of functions AMS 335i
The AMS 335i optical laser measurement system calculates distances to fixed as well as
moving system parts. The distance to be measured is calculated according to the principle
of the propagation time of radiated light. Here, the light emitted by the laser diode is reflected
by a reflector onto the receiving element of the laser measurement system. The AMS 335i
uses the "propagation time" of the light to calculate the distance to the reflector. The high
absolute measurement accuracy of the laser measurement system and the fast integration
time are designed for position control applications.
With the AMS 3xxi product series, Leuze electronic makes available a range of internationally relevant interfaces. Note that each interface version listed below corresponds to a
different AMS 3xxi model.
AMS 304i
AMS 348i
AMS 355i
AMS 358i
AMS 335i
AMS 338i
AMS 308i
AMS 384i
AMS 301i
AMS 300i
6
AMS 335i
Leuze electronic
Safety
2
Safety
This sensor was developed, manufactured and tested in line with the applicable safety standards. It corresponds to the state of the art.
2.1
Intended use
The AMS is an absolute measuring optical laser measurement system which allows
distance measurement of up to 300m against a reflector.
Areas of application
The AMS is designed for the following areas of application:
•
•
•
•
•
•
Positioning of automated, moving plant components
Travel and lifting axes of high-bay storage devices
Repositioning units
Gantry crane bridges and their trolleys
Lifts
Electroplating plants
CAUTION
Observe intended use!
TNT 35/7-24V
 Only operate the device in accordance with its intended use. The protection of personnel and the device cannot be guaranteed if the device is operated in a manner not
complying with its intended use.
Leuze electronic GmbH + Co. KG is not liable for damages caused by improper use.
 Read the technical description before commissioning the device. Knowledge of this
technical description is an element of proper use.
NOTICE
Comply with conditions and regulations!
 Observe the locally applicable legal regulations and the rules of the employer's liability
insurance association.
Attention
For UL applications, use is permitted exclusively in Class 2 circuits according to NEC
(National Electric Code).
Leuze electronic
AMS 335i
7
Safety
2.2
Foreseeable misuse
Any use other than that defined under "Intended use" or which goes beyond that use is
considered improper use.
In particular, use of the device is not permitted in the following cases:
• Rooms with explosive atmospheres
• Circuits relevant to safety
• For medicinal purposes
NOTICE
Do not modify or otherwise interfere with the device.
 Do not carry out modifications or otherwise interfere with the device.
The device must not be tampered with and must not be changed in any way.
The device must not be opened. There are no user-serviceable parts inside.
Repairs must only be performed by Leuze electronic GmbH + Co. KG.
2.3
Competent persons
Connection, mounting, commissioning and adjustment of the device must only be carried
out by competent persons.
Prerequisites for competent persons:
• They have a suitable technical education.
• They are familiar with the rules and regulations for occupational safety and safety at
work.
• They are familiar with the technical description of the device.
• They have been instructed by the responsible person on the mounting and operation
of the device.
Certified electricians
Electrical work must be carried out by a certified electrician.
Due to their technical training, knowledge and experience as well as their familiarity with
relevant standards and regulations, certified electricians are able to perform work on electrical systems and independently detect possible dangers.
In Germany, certified electricians must fulfill the requirements of accident-prevention regulations BGV A3 (e.g. electrician foreman). In other countries, there are respective regulations that must be observed.
8
AMS 335i
Leuze electronic
Safety
2.4
Disclaimer
Leuze electronic GmbH + Co. KG is not liable in the following cases:
•
•
•
•
2.5
The device is not being used properly.
Reasonably foreseeable misuse is not taken into account.
Mounting and electrical connection are not properly performed.
Changes (e.g., constructional) are made to the device.
Laser safety notices
ATTENTION LASER RADIATION – LASER CLASS 2
Never look directly into the beam!
 Never look directly into the laser beam or in the direction of reflecting laser beams.
If you look into the beam path over a longer time period, there is a risk of injury to the
retina.
 Do not point the laser beam of the device at persons!
 Interrupt the laser beam using a non-transparent, non-reflective object if the laser
beam is accidentally directed towards a person.
 When mounting and aligning the device, avoid reflections of the laser beam off reflective surfaces!
 CAUTION! The use of operating or adjusting devices other than those specified here
or carrying out of differing procedures may lead to dangerous exposure to radiation.
 Adhere to the applicable legal and local regulations regarding protection from laser
beams.
 The device must not be tampered with and must not be changed in any way.
There are no user-serviceable parts inside the device.
Repairs must only be performed by Leuze electronic GmbH + Co. KG.
Leuze electronic
AMS 335i
9
TNT 35/7-24V
The device satisfies the requirements of IEC 60825-1:2007 (EN 60825-1:2007) safety
regulations for a product in laser class 2 as well as the U.S. 21 CFR 1040.10 regulations
with deviations corresponding to "Laser Notice No. 50" from June 24th, 2007.
Safety
NOTICE
Affix laser information and warning signs!
Laser information and warning signs are attached to the device (see figure 2.1):
In addition, self-adhesive laser warning and information signs (stick-on labels) are supplied
in several languages (see figure 2.2).
 Affix the laser information sheet to the device in the language appropriate for the place
of use.
When using the device in the US, use the stick-on label with the "Complies with
21 CFR 1040.10" notice.
 Affix the laser information and warning signs near the device if no signs are attached
to the device (e.g., because the device is too small) or if the attached laser information
and warning signs are concealed due to the installation position.
Affix the laser information and warning signs so that they are legible without exposing
the reader to the laser radiation of the device or other optical radiation.
A
B
C
A Laser aperture
B Laser warning sign
C Laser information sign with laser parameters
Figure 2.1:
10
Laser apertures, laser warning signs
AMS 335i
Leuze electronic
Safety
Figure 2.2:
Leuze electronic
LASERSTRAHLUNG
NICHT IN DEN STRAHL BLICKEN
Max. Leistung (peak):
4 mW
Impulsdauer:
18 μs
Wellenlänge:
655 nm
LASER KLASSE 2
DIN EN 60825-1:2008-05
RADIAZIONE LASER
NON FISSARE IL FASCIO
Potenza max. (peak):
4 mW
Durata dell'impulso:
18 μs
655 nm
Lunghezza d'onda:
APARRECCHIO LASER DI CLASSE 2
EN 60825-1:2007
LASER RADIATION
DO NOT STARE INTO BEAM
Maximum Output (peak):
4 mW
Pulse duration:
18 μs
Wavelength:
655 nm
CLASS 2 LASER PRODUCT
EN 60825-1:2007
RAYONNEMENT LASER
NE PAS REGARDER DANS LE FAISCEAU
Puissance max. (crête):
4 mW
Durée d`impulsion:
18 μs
655 nm
Longueur d`onde:
APPAREIL À LASER DE CLASSE 2
EN 60825-1:2007
AVOID EXPOSURE – LASER RADIATION
IS EMITTED FROM THIS APERTURE
EXPOSITION DANGEREUSE – UN RAYONNEMENT
LASER EST ÉMIS PAR CETTE OUVERTURE
RADIACIÓN LÁSER
NO MIRAR FIJAMENTE AL HAZ
4 mW
Potencia máx. (peak):
18 μs
Duración del impulso:
655 nm
Longitud de onda:
PRODUCTO LÁSER DE CLASE 2
EN 60825-1:2007
RADIAÇÃO LASER
NÃO OLHAR FIXAMENTE O FEIXE
4 mW
Potência máx. (peak):
18 μs
Período de pulso:
655 nm
Comprimento de onda:
EQUIPAMENTO LASER CLASSE 2
EN 60825-1:2007
LASER RADIATION
DO NOT STARE INTO BEAM
4 mW
Maximum Output (peak):
18 μs
Pulse duration:
655 nm
Wavelength:
CLASS 2 LASER PRODUCT
IEC 60825-1:2007
Complies with 21 CFR 1040.10
䉏⏘戟⺓
▎䦃展⏘㧮
㦏⮶戢⒉᧤⽿⋋᧥
厘⑁㖐兼㢅梃
㽱栎
伊䉏⏘ℶ❐
GB7247.1-2012
TNT 35/7-24V
50125612-01
4 mW
18 μs
655 nm
Laser warning and information signs – supplied stick-on labels
AMS 335i
11
Fast commissioning / operating principle
3
Fast commissioning / operating principle
Notice!
Below, you will find a short description for the initial commissioning of the AMS 335i.
Detailed explanations for the listed points can be found throughout the handbook.
3.1
Mounting the AMS 335i
The AMS 335i and the corresponding reflector are mounted on two mutually opposing,
plane-parallel, flat walls.
Figure 3.1:
Schematic illustration of mounting
Attention!
For error-free position measurement, there must be an unobstructed line-of-sight between
the AMS 335i and the reflector.
3.1.1
Mounting the device
The laser is mounted using 4 screws (M5).
Alignment is performed using 2 adjustment screws. Adjust so that the laser light spot is positioned at the center of the reflector. The alignment is to be secured with the knurled nut and
locked with the M5 nut.
Further information can be found in chapter 5.2 and chapter 5.3.
3.1.2
Mounting the reflector
The reflector is mounted using 4 screws (M5). The reflector is angled using the spacer
sleeves included. Incline the reflector by approx. 1°.
Detailed information can be found in chapter 6.4.
12
AMS 335i
Leuze electronic
Fast commissioning / operating principle
3.2
Connecting the voltage supply
The laser measurement system is connected using M12 connectors. The voltage supply is
connected via the PWR M12 connection.
Detailed information can be found in chapter 7.
3.3
Display
Once the laser measurement system is supplied with voltage, the device status as well as
the measured position values can be read on the display. The display automatically switches
to the display of the measurement values.
Use the up/down buttons
of data and parameters.
to the left of the display to read and change a wide range
Depending on connected interface, the network address must be configured via the display.
Detailed information can be found in chapter 8.
3.4
AMS 335i on the CANopen
Install the EDS file corresponding to the AMS 335i … in your planning tool/the control (e.g.,
TwinCAT).
Notice!
The AMS 335i is configured in the planning tool/control by means of the EDS file. If the
AMS 335i has been assigned an address in the planning tool, the address (Node ID) is to
be set on the AMS 335i via the control panel/display. Only if the addresses are the same
between the AMS 335i and the control can communication be established.
After all parameters have been set in the planning tool/control, the download to the
AMS 335i takes place. The set parameters are now stored on the AMS 335i.
Afterwards, all changed AMS 335i parameters should be stored in the control upon startup. This aids in retaining the parameters during device exchanges, as they a re now also
stored centrally in the control.
Each time a connection is established between the control and the AMS 335i, these parameters are now transferred again to the AMS 335i. Note that this function must be supported
by the control.
The CANopen baud rate is defined for the entire network in the planning tool/control.
The baud rate is set on the AMS 335i via the control panel/display.
Only if the baud rates are the same is communication with the AMS 335i possible.
Detailed information can be found in chapter 9.
Leuze electronic
AMS 335i
13
TNT 35/7-24V
You can find the EDS file at www.leuze.com.
Specifications
4
Specifications
4.1
Specifications of the laser measurement system
4.1.1
General specifications AMS 335i
Measurement data
Measurement range
Accuracy
Consistency 1)
Light spot diameter
Measurement value output
Integration time
Resolution
Temperature drift
Ambient temperature sensitivity
Air pressure sensitivity
Traverse rate
Electrical data
Supply voltage Vin 2)
Current consumption
Optical data
Transmitter
Laser class
Interfaces
CANopen (baud rate in kbit/s)
Vendor ID
Device type
AMS 335i 40 (H) AMS 335i 120 (H) AMS 335i 200 (H) AMS 335i 300 (H)
0.2 … 40m
± 2mm
0.3mm
≤ 40mm
0.2 … 120m
± 2mm
0.5mm
≤ 100mm
0.2 … 200m
± 3mm
0.7mm
≤ 150mm
0.2 … 300m
± 5mm
1.0mm
≤ 225mm
1.7ms
8ms
adjustable, see chapter of the individual interfaces
≤ 0.1mm/K
1ppm/K
0.3ppm/hPa
≤ 10m/s
18 … 30VDC
without device heating: ≤ 250mA / 24VDC
with device heating: ≤ 500mA / 24VDC
laser diode, red light, wavelength 650 … 690nm
2 acc. to EN 60825-1, CDRH
20 / 50 / 125 (default) / 250 / 500 / 800 / 1000
0x121H or 289 Dec
0x00080196 (absolute linear encoder)
Operating and display elements
Keyboard
Display
LED
4 buttons
monochromatic graphical display, 128 x 64 pixels
2 LEDs, two-colored
14
AMS 335i
Leuze electronic
Specifications
Inputs/outputs
Quantity
Input
Output
2, programmable
protected against polarity reversal
max. 60mA, short-circuit proof
Mechanical data
Housing
Optics
Weight
Protection class
cast zinc and aluminum
glass
approx. 2.45kg
IP 65 acc. to EN 60529 3)
Environmental conditions
Operating temperature
without device heating
with device heating
Storage temperature
Air humidity
Mechanical/electrical loading capacity
Vibrations
Noise
Shock
EMC
5)
acc. to EN 60068-2-6
acc. to EN 60060-2-64
acc. to EN 60068-2-27
acc. to EN 61000-6-2 and EN 61000-6-4 5)
Statistical error: 1 sigma; minimum switch-on time: 2min.
For UL applications: only for use in "Class 2" circuits acc. to NEC.
With screwed-on M12 plugs or mounted caps.
With devices with heating, the switch on/off area of the internal heating can be extended to prevent
condensation from forming. A 100% prevention of the formation of condensation cannot be guaranteed due to the limited heating capacity of the AMS 335i.
This is a Class A product. In a domestic environment this product may cause radio interference, in
which case the operator may be required to take adequate measures.
The AMS 335i is designed in accordance with safety class III for supply with
PELV (protective extra-low voltage).
Leuze electronic
AMS 335i
15
TNT 35/7-24V
1)
2)
3)
4)
-5°C … +50°C
-30°C … +50°C 4)
-30°C … +70°C
max. 90% rel. humidity, non-condensing
Specifications
4.1.2
Dimensioned drawing AMS 335i
A
A
B
C
D
A M5 screw for alignment
B Knurled nut with WAF4
hexagon socket and M5 nut for securing
C Optical axis
D Zero point of the distance to be measured
Figure 4.1:
16
Dimensioned drawing AMS 335i
AMS 335i
Leuze electronic
Specifications
4.1.3
Type overview AMS 335i
AMS 335i (CANopen)
Type designation
AMS 335i 40
AMS 335i 120
AMS 335i 200
AMS 335i 300
AMS 335i 40 H
AMS 335i 120 H
AMS 335i 200 H
AMS 335i 300 H
Part no.
50113693
50113694
50113695
50113696
50113697
50113698
50113699
50113700
Type overview AMS 335i
TNT 35/7-24V
Table 4.1:
Description
40m operating range, CANopen interface
120m operating range, CANopen interface
200m operating range, CANopen interface
300m operating range, CANopen interface
40m operating range, CANopen interface, integrated heating
120m operating range, CANopen interface, integrated heating
200m operating range, CANopen interface, integrated heating
300m operating range, CANopen interface, integrated heating
Leuze electronic
AMS 335i
17
Installation and mounting
5
Installation and mounting
5.1
Storage, transportation
Attention!
When transporting or storing, package the device so that it is protected against collision and
humidity. Optimum protection is achieved when using the original packaging. Heed the required environmental conditions specified in the technical data.
Unpacking
 Check the packaging for any damage. If damage is found, notify the post office or shipping
agent as well as the supplier.
 Check the delivery contents using your order and the delivery papers:
• Delivered quantity
• Device type and model as indicated on the nameplate
• Brief manual
The name plate provides information as to what AMS 335i type your device is. For specific
information, please refer to chapter 11.1.1.
Name plates
Figure 5.1:
Device name plate using the AMS 300i as an example
Notice!
Please note that the shown name plate is for illustration purposes only; the contents do not
correspond to the original.
 Save the original packaging for later storage or shipping.
18
AMS 335i
Leuze electronic
Installation and mounting
If you have any questions concerning your shipment, please contact your supplier or your
local Leuze electronic sales office.
 Observe the applicable local regulations when disposing of the packaging materials.
5.2
Mounting the AMS 335i
A
A M5 screw for alignment
B Knurled nut and nut
with WAF4 hexagon
socket for securing
C Optical axis
A
B
C
Mounting the device
The AMS 335i and the corresponding reflector are mounted on two mutually opposing,
plane-parallel, flat walls or system parts. For error-free position measurement, there must
be an unobstructed line-of-sight connection between the AMS 335i and the reflector.
Use M5 screws to fasten the laser measurement system. Secure the screws with a toothed
lock washer to protect against loosening caused by vibrations.
Leuze electronic
AMS 335i
19
TNT 35/7-24V
Figure 5.2:
Installation and mounting
Aligning the laser light spot in the center of the reflector
The laser light spot has to be aligned so that it always hits the center of the opposing
reflector, both at close range as well as at the maximum measurement distance. To align,
use the two M5 Allen screws ("A" in figure 5.2). When aligning please ensure that the
knurled nut and the lock nut ("B" in figure 5.2) are opened wide.
Attention!
To prevent the laser measurement system from moving out of alignment during continuous
operation, subsequently hand-tighten the knurled nut and counterlock with the nut with
WAF4 hexagon socket ("B" in figure 5.2). Knurled nut and nut must not be tightened until
alignment has been completed.
Attention!
The device must not be opened. Failure to comply will render the guarantee void. Warranted
features cannot be guaranteed after the device has been opened.
20
AMS 335i
Leuze electronic
Installation and mounting
5.2.1
Optional mounting bracket
A mounting bracket for mounting the AMS 335i on a flat, horizontal surface is available as
an optional accessory.
MW OMS/AMS 01
Part no.:
50107255
TNT 35/7-24V
Type designation:
A
Laser beam
Figure 5.3:
Leuze electronic
Optional mounting bracket
AMS 335i
21
Installation and mounting
5.2.2
Parallel mounting of the AMS 335i
Definition of the term "parallel spacing"
As shown in figure 5.4, dimension X describes the "parallel spacing" of the inner edges of
the two laser light spots on the reflector.
Reflector 1
Reflector 2
X
Figure 5.4:
Minimum parallel spacing X between adjacent AMS 335i
The diameter of the light spot increases with distance.
AMS 335i 40 (H) AMS 335i 120 (H) AMS 335i 200 (H) AMS 335i 300 (H)
Max. measurement distance
Light spot diameter
40m
120m
200m
300m
≤ 40mm
≤ 100mm
≤ 150mm
≤ 225mm
Thus, the center-to-center spacing of the two AMS 335i devices with respect to one another
can be calculated as a function of the maximum measurement distance.
To define the minimum parallel spacing between two AMS 335i, it is necessary to distinguish
between three different arrangements of AMS 335i and reflectors.
The AMS 335i are mounted stationary and in parallel on one plane.
Both reflectors move independently of one another at different distances to the
AMS 335i.
Minimum parallel spacing X of the two laser light spots:
X = 100mm + (max. measurement distance in mm x 0.01)
The AMS 335i are mounted stationary and in parallel on one plane.
Both reflectors move in parallel at the same distance to the AMS 335i.
Measurement distance up to 120m: minimum parallel spacing X ≥ 600mm
Measurement distance up to 200m: minimum parallel spacing X ≥ 750mm
Measurement distance up to 300m: minimum parallel spacing X ≥ 750mm
22
AMS 335i
Leuze electronic
Installation and mounting
The reflectors are mounted stationary and in parallel on one plane.
Both AMS 335i move independently of one another at different or the same distances to the reflectors.
Measurement distance up to 120m: minimum parallel spacing X ≥ 600mm
Measurement distance up to 200m: minimum parallel spacing X ≥ 750mm
Measurement distance up to 300m: minimum parallel spacing X ≥ 750mm
Notice!
Please note that when the AMS 335i are mounted in a mobile manner, travel tolerances could
cause the two laser light spots to move towards each other.
Take the travel tolerances of the vehicle into account when defining the parallel spacing of
adjacent AMS 335i.
5.2.3
Parallel mounting of AMS 335i and DDLS optical data transmission
TNT 35/7-24V
The optical data transceivers of the DDLS series and the AMS 335i do not interfere with one
another. Depending on the size of the used reflector, the DDLS can be mounted with a
minimum parallel spacing of 100mm to the AMS 335i. The parallel spacing is independent
of the distance.
Leuze electronic
AMS 335i
23
Installation and mounting
5.3
Mounting the AMS 335i with laser beam deflector unit
General information
The two available deflector units are used for the 90° deflection of the laser beam,
see "Accessory deflector unit" on page 93.
Attention!
The deflector units are designed for a maximum range of 40m.
Longer distances on request.
5.3.1
Mounting the laser beam deflector unit With integrated mounting bracket
The AMS 335i is screwed onto the mechanism of the US AMS 01 deflector unit. The mirror
can be mounted for three deflection directions:
1.
2.
3.
Upward beam deflection
Beam deflection to the left
Beam deflection to the right
The deflector unit is mounted on plane-parallel, flat walls or plant components. For errorfree position measurement, there must be an interruption-free line-of-sight between the
AMS 335i… and the deflection mirror as well as between the mirror and the reflector.
Use the M5 screws to mount the deflector unit. Secure the screws with a toothed lock
washer to protect against loosening caused by vibrations.
Figure 5.5:
24
Mounting variants of the US AMS 01 laser beam deflector unit
AMS 335i
Leuze electronic
Installation and mounting
Dimensioned drawing of US AMS 01 deflector unit
TNT 35/7-24V
5.3.2
A
Laser beam
Figure 5.6:
Leuze electronic
Dimensioned drawing of US AMS 01 deflector unit
AMS 335i
25
Installation and mounting
5.3.3
Mounting the US 1 OMS deflector unit without mounting bracket
The US 1 OMS deflector unit and the AMS 335i are mounted separately.
Notice!
When mounting, make certain that the laser light spot of the AMS 335i is aligned in the center
of the deflection mirror.
Height of the spring in
non-preloaded state
A Mirror
Figure 5.7:
Photo and dimensioned drawing of the US 1 OMS deflector unit
Alignment of the laser light spot on the reflector is performed as described in chapter 5.2.
26
AMS 335i
Leuze electronic
Reflectors
6
Reflectors
6.1
General information
The AMS 335i measures distances against a reflective tape specified by Leuze electronic.
All provided specifications for the AMS 335i, such as the operating range or accuracy, can
only be achieved with the reflective tape specified by Leuze electronic.
The reflective tapes are available as adhesive tapes, affixed to a metal plate and with an
integrated heater especially for use at low temperatures. Reflective tapes with heating have
the designation "Reflective tape …x…-H", where "H" is an abbreviation for the heating
variant.
The reflective tapes/reflectors must be ordered separately. The choice of size is left to the
user. In chapter 6.3, recommendations on reflector size are provided as a function of the
distance that is to be measured. In any case, the user must check to determine whether the
recommendation is suitable for the respective application.
6.2
Description of the reflective tape
The reflective tape consists of a white, microprism-based reflective material. The microprisms are protected with a highly transparent, hard protective layer.
The reflective tapes are provided with a protective foil that can easily be pulled off. This must
be removed from the reflector before the complete system is put into operation.
Leuze electronic
AMS 335i
27
TNT 35/7-24V
Under certain circumstances, the protective layer may lead to surface reflections. The
surface reflections can be directed past the AMS 335i by positioning the reflective tape at
a slight incline. The inclination of the reflective tape/reflectors is described in chapter 6.4.2.
The required pitch can be found in table 6.1 "Reflector pitch resulting from spacer sleeves"
on page 36.
Reflectors
6.2.1
Specifications of the self-adhesive foil
Part
Type designation
Reflective tape
200x200-S
Reflective tape
914x914-S
Part no.
50104361
50104362
50108988
Foil size
200x200mm
500x500mm
914x914mm
Recommended application temperature for adhesive tape
+5°C … +25°C
Temperature resistance,
affixed
-40°C … +80°C
Mounting surface
Cutting the tape
Cleaning
The mounting surface must be clean, dry and free of grease.
Cut with a sharp tool, always on the side of the prism structure.
Do not use any agents that act with a grinding effect. A conventional household
detergent can be used as a cleaning agent. Rinse with clear water and dry the
surface.
Storing the foil
6.2.2
Reflective tape
500x500-S
Store in a cool and dry place.
Specifications of the reflective tape on a metal plate
The reflective tape is affixed to a metal plate. Included with the metal plate are spacers for
positioning at an incline - for avoiding surface reflections - (see chapter 6.4.2 "Mounting the
reflector").
Part
Type designation
Reflective tape
500x500-M
Reflective tape
914x914-M
Part no.
50104364
50104365
50104366
Foil size
200x200mm
500x500mm
914x914mm
Outer dimensions of the
metal plate
250x250mm
550x550mm
964x964mm
0.8kg
4kg
25kg
Weight
Cleaning
Storing the reflector
28
Reflective tape
200x200-M
Do not use any agents that act with a grinding effect. A conventional household
detergent can be used as a cleaning agent. Rinse with clear water and dry the
surface.
Store in a cool and dry place.
AMS 335i
Leuze electronic
Reflectors
6.2.3
Dimensioned drawing of reflective tape on a metal plate
Always align the TOP marking
with the AMS connections!
(chapter 6.4.2)
Dimensioned drawing of reflectors
Part
Reflective tape (mm)
Reflector plate (mm)
xL
yL
XL
YL
L
Reflective tape 200x200-M
200
200
250
250
214
Reflective tape 500x500-M
500
500
550
550
514
Reflective tape 914x914-M
914
914
964
964
928
Leuze electronic
AMS 335i
TNT 35/7-24V
Figure 6.1:
29
Reflectors
6.2.4
Specifications of heated reflectors
The reflective tape is affixed to a heated, thermally insulated base. The insulation results in
a very high energetic efficiency.
Only the reflective tape is kept at the specified temperature by the integrated heater.
Through the insulation on the back, the generated heat cannot be transferred via the steel
construction. Energy costs are greatly reduced in the case of continuous heating.
Part
Type designation
Part no.
Reflective tape
200x200-H
Reflective tape
500x500-H
Reflective tape
914x914-H
50115020
50115021
50115022
Voltage supply
230VAC
Power
100W
600W
1800W
Current consumption
~ 0.5A
~ 3A
~ 8A
Length of the supply line
2m
Size of the reflective tape
200x200mm
500x500mm
914x914mm
Outer dimensions of the base
material
250x250mm
550x550mm
964x964mm
0.5kg
2.5kg
12kg
Weight
Temperature control
Controlled heating with the following switch-on and switch-off temperatures, measured at the reflector surface.
Switch-on temperature
~ 5°C
Switch-off temperature
~ 20°C
Operating temperature
-30°C … +70°C
Storage temperature
-40°C … +80°C
Air humidity
Cleaning
Max. 90%, non-condensing.
Do not use any agents that act with a grinding effect. A conventional household detergent can be used as a cleaning agent. Rinse with clear water and
dry the surface.
Storing the reflector
30
Store in a cool and dry place.
AMS 335i
Leuze electronic
Reflectors
6.2.5
Dimensioned drawing of heated reflectors
Always align the TOP marking
with the AMS connections!
(chapter 6.4.2)
6
2
6,
TOP
YL ± 1
L ± 0,5
90
115
Reflective tape
XL ± 1
L ± 0,5
2000
Connection hood
yL ± 1
5
18
XL ± 1
TNT 35/7-24V
Si cable
3 x 0.75mm²
Figure 6.2:
Dimensioned drawing of heated reflectors
Part
Reflective tape (mm)
Insulated base plate (mm)
xL
yL
XL
YL
L
Reflective tape 200x200-H
200
200
250
250
214
Reflective tape 500x500-H
500
500
550
550
514
Reflective tape 914x914-H
914
914
964
964
928
Leuze electronic
AMS 335i
31
Reflectors
6.3
Selecting reflector sizes
Depending on system design, the reflector can be mounted so that it travels on the vehicle
or it can be mounted at a fixed location.
Attention!
The reflector sizes shown below are a recommendation from Leuze electronic for on-vehicle
mounting of the AMS 335i. For stationary mounting of the AMS 335i, a smaller reflector is
generally sufficient for all measurement distances.
On the basis of the system planning and design, always check whether mechanical travel
tolerances may require the use of a reflector larger than that which is recommended. This
applies, in particular, when the laser measurement system is mounted on a vehicle. During
travel, the laser beam must reach the reflector without interruption. For on-vehicle mounting
of the AMS 335i, the reflector size must accommodate any travel tolerances that may arise
and the associated "wandering" of the light spot on the reflector.
Overview of reflector types
Recommended reflector sizes
AMS 335i selection
(Operating range in m)
32
Recommended
reflector size
(H x W)
Type designation
…-S = Self-adhesive
…-M = metal plate
…-H = heating
Part no.
AMS 335i 40 (max. 40m)
200x200mm
Reflective tape 200x200-S
Reflective tape 200x200-M
Reflective tape 200x200-H
50104361
50104364
50115020
AMS 335i 120 (max. 120m)
500x500mm
Reflective tape 500x500-S
Reflective tape 500x500-M
Reflective tape 500x500-H
50104362
50104365
50115021
AMS 335i 200 (max. 200m)
749x914mm
914x914mm
Reflective tape 749x914-S
Reflective tape 914x914-M
Reflective tape 914x914-S
Reflective tape 914x914-H
50104363
50104366
50108988
50115022
AMS 335i 300 (max. 300m)
749x914mm
914x914mm
Reflective tape 749x914-S
Reflective tape 914x914-M
Reflective tape 914x914-S
Reflective tape 914x914-H
50104363
50104366
50108988
50115022
AMS 335i
Leuze electronic
Reflectors
6.4
Mounting the reflector
6.4.1
General information
Self-adhesive reflective tapes
The reflective tapes of the "Reflective tape …x…-S" self-adhesive series must be affixed
to a flat, clean and grease-free surface. We recommend using a separate metal plate, which
is to be provided on-site.
As described in table 6.1, the reflective tape must be angled.
Reflective tapes on metal
The reflective tapes of the "Reflective tape …x…-M" series are provided with corresponding
mounting holes. Spacer sleeves are provided in the packet for achieving the necessary pitch
angle. For further information see table 6.1.
Heated reflectors
The reflective tapes of the "Reflective tape ...x...-H" series are provided with corresponding
mounting holes. Due to the voltage supply affixed on the rear, the reflector cannot be
mounted flat. Included in the package are four distance sleeves in two different lengths. Use
the distance sleeves to achieve a base separation to the wall as well as the necessary pitch
for avoiding surface reflection. For further information see table 6.1.
The reflector is provided with a 2m-long connection cable for supplying with 230VAC.
Connect the cable to the closest power outlet. Observe the current consumptions listed in
the specifications.
Attention!
6.4.2
Mounting the reflector
The combination of laser measurement system and reflective tape/reflector is mounted so
that the laser light spot hits the tape as centered as possible and without interruption.
For this purpose, use the alignment elements provided on the AMS 335i… (see chapter 5.2
"Mounting the AMS 335i"). If necessary, remove the protective foil from the reflector.
Attention!
The "TOP" label mounted on the reflectors should be aligned the same as the connections
of the AMS 335i.
Example:
If the AMS 335i is mounted so that the M12 connections are on the top, the "TOP" label of
the reflector is also on the top. If the AMS 335i is mounted so that the M12 connections are
on the side, the "TOP" label of the reflector is also on the side.
Leuze electronic
AMS 335i
33
TNT 35/7-24V
Connection work must be carried out by a certified electrician.
Reflectors
Notice!
The reflector must be angled. To do this, use the spacer sleeves. Angle the reflectors so that
the surface reflections of the foil seal are deflected to the left, right or upwards, chapter
6.4.3 gives the correct pitch with respect to the reflector size and, thus, the length of the
spacers.
Reflective tapes …-S and …-M
Pitch approx. 1°
Direct reflection from the
triad structure
Deflected surface reflection due to
the pitch of the reflective tape
Figure 6.3:
Reflector mounting
Pitch approx. 1°
Spacer sleeves
Figure 6.4:
34
Pitch of the reflector
AMS 335i
Leuze electronic
Reflectors
Reflective tapes …-H
Pitch approx. 1°
Direct reflection from the
triad structure
Deflected surface reflection due to
the pitch of the reflective tape
Figure 6.5:
Mounting of heated reflectors
TNT 35/7-24V
Pitch approx. 1°
Spacer sleeves
Figure 6.6:
Leuze electronic
Pitch of the heated reflector
AMS 335i
35
Reflectors
6.4.3
Table of reflector pitches
Reflector type
Pitch resulting from spacer sleeves 1)
Reflective tape 200x200-S
Reflective tape 200x200-M
Reflective tape 200x200-H
2 x 5mm
2 x 15mm
Reflective tape 500x500-S
Reflective tape 500x500-M
Reflective tape 500x500-H
2 x 20mm
2 x 10mm
2 x 15mm
2 x 25mm
Reflective tape 749x914-S
2 x 20mm
Reflective tape 914x914-S
Reflective tape 914x914-M
2 x 20mm
Reflective tape 914x914-H
1)
2 x 15mm
2 x 35mm
Spacer sleeves are included in the delivery contents of reflective tape …-M and …-H
Table 6.1:
Reflector pitch resulting from spacer sleeves
Notice!
Reliable function of the AMS 335i and, thus, max. operating range and accuracy can only
be achieved with the reflective tape specified by Leuze electronic. No function can be guaranteed if other reflectors are used!
36
AMS 335i
Leuze electronic
Electrical connection
7
Electrical connection
The AMS 335i laser measurement systems are connected using variously coded M12
connectors. This ensures unique connection assignments.
Notice!
The corresponding mating connectors and ready-made cables are available as accessories
for all cables. For further information, see chapter 11 "Type overview and accessories".
BUS IN
M12 connector
(A-coded)
BUS OUT
M12 socket
(A-coded)
PWR / IOs
M12 connector
(A-coded)
Leuze SERVICE
M12 socket
(A-coded)
Figure 7.1:
Safety notices for the electrical connection
Attention!
Before connecting the device, be sure that the supply voltage agrees with the value printed
on the name plate.
The device may only be connected by a qualified electrician.
Ensure that the functional earth (FE) is connected correctly. Unimpaired operation is only
guaranteed when the functional earth is connected properly.
If faults cannot be corrected, the device should be removed from operation and protected
against possible use.
Attention!
For UL applications, use is permitted exclusively in Class 2 circuits according to NEC (National Electric Code).
The laser measurement systems are designed in accordance with safety class III for supply
by PELV (protective extra-low voltage with reliable disconnection).
Notice!
Protection class IP65 is achieved only if the connectors and caps are screwed into place!
Leuze electronic
AMS 335i
37
TNT 35/7-24V
7.1
Connections of the AMS 335i
Electrical connection
Described in detail in the following are the individual connections and pin assignments.
7.2
PWR – voltage supply / switching input/output
PWR (5-pin plug, A-coded)
GND 3
FE
PWR
Pin
Name
Remark
I/O 1
2
1
VIN
Positive supply voltage +18 … +30VDC
2
I/O 1
Switching input/output 1
3
GND
Negative supply voltage 0VDC
4
I/O 2
Switching input/output 2
4
I/O 2
5
FE
Functional earth
M12 plug
(A-coded)
Thread
FE
Functional earth (housing)
1 VIN
5
Table 7.1:
Pin assignment PWR
Further information on configuring the input/output can be found in chapter 8 and chapter 9.
7.3
CANopen BUS IN
BUS IN (5-pin plug, A-coded)
BUS IN
CAN_H
4
DRAIN 1
5
2
M12 plug
(A-coded)
Table 7.2:
38
CAN_L
3
Pin
Name
Remark
1
Drain
Shield
2
NC
Not used
3
NC
Not used
4
CAN_H
Data signal CAN_H
5
CAN_L
Data signal CAN_L
Thread
FE
Functional earth (housing)
Pin assignments for CANopen BUS IN
AMS 335i
Leuze electronic
Electrical connection
7.4
CANopen BUS OUT
BUS OUT (5-pin socket, A-coded)
BUS OUT
Pin
Name
CAN_H
1
Drain
Shield
4
2
NC
Not used
CAN_L
3
5
1 DRAIN
2
M12 socket
(A-coded)
Table 7.3:
7.5
Remark
3
NC
Not used
4
CAN_H
Data signal CAN_H
5
CAN_L
Data signal CAN_L
Thread
FE
Functional earth (housing)
Pin assignments for CANopen BUS OUT
Service
Service (5-pin socket, A-coded)
Pin
Name
Remark
RS232-TX
2
1
NC
Not used
2
RS232-TX
Transmission line RS 232/service data
3
GND
Voltage supply 0VDC
4
RS232-RX
Receiving line RS 232/service data
5
NC
Not used
Thread
FE
Functional earth (housing)
NC 1
5
3 GND
4
NC
RS232-RX
M12 socket
(A-coded)
Table 7.4:
TNT 35/7-24V
SERVICE
Service pin assignments
Notice!
The service interface is designed only for use by Leuze electronic!
Leuze electronic
AMS 335i
39
Display and control panel AMS 335i
8
Display and control panel AMS 335i
8.1
Structure of the control panel
LED
Status display
Bus/interface info
LED
Bar graph
Distance measurement value
Control buttons
Figure 8.1:
Structure of the control panel using the AMS 304i PROFIBUS device variant as an example
Notice!
The figure is for illustration purposes only and does not correspond to AMS 335i with respect
to bus/interface info.
8.2
Status display and operation
8.2.1
Indicators in the display
Status and warning messages in the display
40
IO1
Input 1 or output 1 active:
Function depending on configuration.
IO2
Input 2 or output 2 active:
Function depending on configuration.
AMS 335i
Leuze electronic
Display and control panel AMS 335i
LSR
Warning - laser prefailure message:
Laser diode old, device still functional, exchange or have repaired.
TMP
Warning - temperature monitoring:
Permissible internal device temperature exceeded / not met.
PLB
Plausibility error:
Implausible measurement value. Possible causes: light beam interruption, outside
of measurement range, permissible internal device temperature considerably
exceeded or traverse rate >10m/s.
Depending on the configuration, either zero or the last valid measurement value is
output at the interfaces.
ATT
Warning received signal:
Laser outlet window or reflector soiled or fogged by rain, water vapor or fog. Clean
or dry surfaces.
ERR
Internal hardware error:
The device must be sent in for inspection.
Bar graph
Indicates the strength of the received laser light.
The center bar represents the ATT warning threshold. The distance value remains
valid and is output at the interfaces.
If no bar graph is available, the PLB status information appears at the same time.
The measurement value has thus been assessed as being implausible. Depending
on the configuration, either zero or the last valid measurement value is output at the
interfaces.
An activated CANopen interface is indicated by the presence of Node ID (bus address) and
the "CAN" ID in the display. If the CANopen interface is deactivated, the Node ID and CAN
ID are hidden from view.
IO1 LSR
IO2 TMP
ERR
PLB
ATT
Bus address
CAN ID
1
CAN
+ 87.000m
Maximum position value
Maximum position value
The measured position value is displayed in the configured unit of measurement.
+87.000m
With the metric setting, the measurement value is always displayed in meters
with three decimal places.
+87.0in
With the inch setting, the measurement value is always displayed in inches
with one decimal place.
Leuze electronic
AMS 335i
41
TNT 35/7-24V
Interface info
Display and control panel AMS 335i
8.2.2
LED status displays
PWR LED
Off
Device OFF
- No supply voltage
Flashing green
Power LED flashes green
- No measurement value output
- Voltage connected
- Self test running
- Initialization running
- Boot process running
Green continuous light
Power LED green
- AMS 335i ok
- Measurement value output
- Self test successfully finished
- Device monitoring active
Red flashing
Power LED flashes red
- Device ok but warning message (ATT, TMP, LSR)
set in display
- Light beam interruption
- Plausibility error (PLB)
Red continuous light
Power LED red
- No measurement value output; for details, see
Display
Orange continuous light
Power LED orange
- Parameter enable active
- No data on the host interface
BUS LED
Off
LED off
- No voltage supply
- Bus ok
42
AMS 335i
Leuze electronic
Display and control panel AMS 335i
Flashing green
LED flashes green
- “PRE-OPERATIONAL” state
- “STOPPED” state
Green continuous light
LED is green
- “OPERATIONAL” state
Flashing red
LED flashes red
- Invalid configuration
Red continuous light
LED red
- No bus connection
Flashing green/red
LED flashes green/red
- Bus error
- Time out
- RX /TX Buffer overflow
- Termination error
-
Control buttons
ESC
Up
Navigate upward/laterally.
Down
Navigate downward/laterally.
ESC
Exit menu item.
ENTER
Confirm/enter value, change menu levels.
TNT 35/7-24V
8.2.3
Navigating within the menus
The menus within a level are selected with the up/down buttons
The selected menu item is activated with the enter button
Press the ESC button
ESC
.
.
to move up one menu level.
When one of the buttons is actuated, the display illumination is activated for 10min.
Leuze electronic
AMS 335i
43
Display and control panel AMS 335i
Setting values
If input of a value is possible, the display looks like this:
Delete character
100
Enter digit
<-|0123456789 save
Default ----------------- unit
126
|
|
Save
Use the
and
buttons to set the desired value. An accidental, incorrect entry can
be corrected by selecting <-| and then pressing .
Then use the
buttons to select Save and save the set value by pressing
.
Selecting options
If options can be selected, the display looks like this:
o OFF
ON
Default ----------------- unit
OFF
|
|
Select the desired option with the
8.3
Menu description
8.3.1
The main menus
buttons. Activate the option by pressing
.
After voltage has been applied to the laser, device information is displayed for several
seconds. The display then shows the measurement window with all status information.
Device information - main menu
AMS 335i 120
Leuze electronic
GmbH & Co. KG
SW: V 1.3.0
HW:1
SN: ---------------
This menu item contains detailed information on
• Device model,
• Manufacturer,
• Software and hardware version,
• Serial number.
No entries can be made via the display.
Network information
Address:
--Baud rate:
---- kbit/s
Status:
Init, PRE, OP
44
AMS 335i
Network information - main menu
• Explanations of address, baud rate, status.
No entries can be made via the display.
Leuze electronic
Display and control panel AMS 335i
PLB
ATT
1
CAN
+ 87.000m
Status and measurement data - main menu
• Display of status-, warning-, and error messages
• Status overview of the switching inputs/outputs.
• Bar graph for the reception level.
• Link.
• Measurement value. No entries can be made via the display.
See "Indicators in the display" on page 40.
Parameter
Parameter handling
CANopen
Maximum position value
I/O
Other
Parameter - main menu
Language
selection
o Deutsch
o English
o Español
o Français
Language selection - main menu
Service
Status messages
Diagnostics
Expanded diagnostics
Service - main menu
• Configuration of the AMS.
See "Parameter menu" on page 45.
• Selection of the display language.
See "Language selection menu" on page 49.
• Display of status messages.
• Display of diagnostic data.
No entries can be made via the display.
See "Service menu" on page 49.
Notice!
The rear cover of this manual includes a fold-out page with the complete menu structure.
It describes the menu items in brief.
8.3.2
Parameter menu
Parameter handling submenu
The following functions can be called up in the Parameter handling submenu:
• Lock and enable parameter entry
• Set up a password
• Reset the AMS 335i to default settings.
Table 8.1:
Level 3
Parameter
enabling
Leuze electronic
Parameter handling submenu
Level 4
Level 5
Selection/configuration option
Description
Standard
ON / OFF
The standard setting (OFF) prevents unintended parameter changes.
With parameter enabling activated (ON), the display is inverted. In this
state, it is possible to change parameters manually.
OFF
AMS 335i
45
TNT 35/7-24V
IO1 LSR
IO2 TMP
ERR
Display and control panel AMS 335i
Table 8.1:
Parameter handling submenu
Level 3
Level 4
Password
Level 5
Selection/configuration option
Description
Standard
Activate
password
ON / OFF
To enter a password, parameter enabling must be activated.
If a password is assigned, changes to the AMS 335i can only be made
after the password is entered.
The master password 2301 bridges the individually set password.
OFF
Password
entry
Configuration option of a four-digit numerical password
Parameters to
default
By pressing the enter button
after selecting
Parameters to default, all parameters are reset to their standard settings without any further security prompts.
In this case, English is selected as the display language.
Additional important information on parameter handling can be found at the end of the
chapter.
CANopen submenu
Table 8.2:
Level 3
CANopen submenu
Level 4
Level 5
Selection/configuration option
Description
Standard
Activation
ON / OFF
ON
Node ID
Value range 1 - 127
1
Baud rate
20kbit/s / 50kbit/s / 125k/bit/s / 250k/bit/s / 500k/bit/s /
125kbit/s
800k/bit/s /1000k/bit/s
Selection of the baud rate for serial communication. The baud rate specifies the speed of data transmission. It must be the same at the transmission and reception sides to enable communication.
Position resolution
0.01mm / 0.1mm / 1mm / 10mm / free resolution
1mm
The measurement value can be displayed in these resolutions.
The value of the free resolution is determined in the "Position value" submenu in the "Value of free resolution" parameter.
Velocity resolution
1mm / 10mm / 100mm / 1000mm / free resolution
1mm/s
The current velocity can be displayed in these resolutions.
The value of the free resolution is determined in the "Velocity value" submenu in the "Value of free resolution" parameter.
Position value submenu
Notice!
The parameters named under position value are to be set via the EDS file of the AMS 335i.
If parameters from the position value submenu are changed via the display, these may be
overwritten via a startup sequence stored in the control.
46
AMS 335i
Leuze electronic
Display and control panel AMS 335i
Table 8.3:
Level 4
Level 5
Selection/configuration option
Description
Standard
Measurement
unit
Metric/Inch
Specifies the units of the measured distances
Metric
Count direction
Positive/Negative
Positive
Positive: The measurement value begins at 0 and increases with increasing distance.
Negative: The measurement value begins at 0 and decreases with
increasing distance. Negative distance values may need to be compensated with an offset or preset.
Offset
Output value=measurement value+offset.
0mm
The resolution of the offset value is independent of the selected "Resolution position" and is entered in mm or inch/100. The offset value is
effective immediately following entry. If the preset value is activated, this
has priority over the offset. Preset and offset are not offset against each
other.
Preset
The preset value is accepted by means of teach pulse. The teach pulse 0mm
can be applied to a hardware input of the M12 PWR connector. The hardware input must be appropriately configured. See also configuration of
the I/Os.
Free resolution
value
The measurement value can be resolved in increments of 1/1000 within 1000
the 5 … 50000 value range. If, e.g., a resolution of 0.875mm per digit
is required, the parameter is set to 875.
In the activated interface, the measurement value display must also be
set to "free resolution" ("Resolution position" parameter).
Error delay
ON / OFF
ON/100 ms
Specifies whether, in the event of an error, the position value immediately
outputs the value of the "Position value in the case of error" parameter
or the last valid position value for the configured error delay time.
Position value in
the case of error
Last valid value / zero
Zero
Specifies which position value is output after the error delay time elapses.
TNT 35/7-24V
Level 3
Position value submenu
I/O submenu
Table 8.4:
I/O submenu
Level 3
Level 4
I/O 1
Port configuration
Switching
input
Switching
output
Leuze electronic
Level 5
Selection/configuration option
Description
Standard
Input/Output
Defines whether I/O 1 functions as an output or input.
Output
Function
No function/preset teach/laser ON/OFF
No function
Activation
Low active/High active
Low active
Function
Pos. limit value 1 / Pos. limit value 2 / Velocity / Intensity (ATT) / Plausibility (PLB),
Temp. (TMP) / Laser (LSR) / Plausibility (PLB) / Hardware (ERR)
hardware (ERR)
The individual functions are "ORed" on the selected switching output.
Activation
Low active/High active
AMS 335i
Low active
47
Display and control panel AMS 335i
Table 8.4:
I/O submenu
Level 3
Level 4
I/O 2
Port configuration
Switching
input
Switching
output
Limit values
Upper pos.
limit 1
Lower pos.
limit 1
Upper pos.
limit 2
Lower pos.
limit 2
Level 5
Selection/configuration option
Description
Standard
Input/Output
Defines whether I/O 2 functions as an output or input.
Output
Function
No function/preset teach/laser ON/OFF
No function
Activation
Low active/High active
Low active
Function
Pos. limit value 1 / Pos. limit value 2 / Velocity / Intensity (ATT) / Intensity (ATT),
Temp. (TMP) / Laser (LSR) / Plausibility (PLB) / Hardware (ERR)
Temp. (TMP),
The individual functions are "ORed" on the selected switching out- Laser (LSR)
put.
Activation
Low active/High active
Low active
Activation
ON / OFF
OFF
Limit value Value input in mm or inch/100
input
0
Activation
OFF
ON / OFF
Limit value Value input in mm or inch/100
input
0
Activation
OFF
ON / OFF
Limit value Value input in mm or inch/100
input
0
Activation
OFF
ON / OFF
Limit value Value input in mm or inch/100
input
0
Other submenu
Table 8.5:
Level 3
Level 4
Level 5
Selection/configuration option
Description
Standard
Heating control
Standard (10°C … 15°C)/Extended (30°C … 35°)
Standard
Defines a switch-on/switch-off range for the heating control.
The extended switch-on/switch-off range for heating may provide relief
in the event of condensation problems.
There is no guarantee that no condensation will occur on the optics in the
extended switch-on/switch-off range due to the limited heating capacity.
This parameter is available as standard, but functions only for devices
with integrated heating (AMS 335i… H).
Display illumination
10 minutes/ON
10min.
Display illumination is switched off after 10 minutes or, if the parameter
is set to "ON", illumination is always on.
Display contrast
Weak/Medium/Strong
The display contrast may change at extreme temperature values. The
contrast can subsequently be adapted using the three levels.
Medium
57.6kbit/s / 115.2kbit/s
The service interface is only available to Leuze internally.
115.2kbit/s
Service RS232
48
Other submenu
Baud rate
AMS 335i
Leuze electronic
Display and control panel AMS 335i
Table 8.5:
Level 3
Other submenu
Level 4
Level 5
Format
8.3.3
Selection/configuration option
Description
Standard
8,e,1 / 8,n,1
The service interface is only available to Leuze internally.
8,n,1
Language selection menu
Language
selection
o Deutsch
English
o Español
o Français
There are 5 display languages available:
•
•
•
•
•
German
English
Spanish
French
Italian
The AMS 335i is delivered from the factory with the display preset to English.
Notice!
To change the language, no password needs to be entered nor must password enabling
be activated. The display language is a passive operational control and is, thus, not a function parameter, per se.
8.3.4
Service menu
Service
Status messages
Diagnostics
Expanded diagnostics
A more detailed description of the individual functions can be found in chapter 10.
Leuze electronic
AMS 335i
49
TNT 35/7-24V
When operating the AMS 335i on the CANopen, the language configured in the EDS file is
used in the display.
Display and control panel AMS 335i
8.4
Operation
Described here is an operating process using parameter enabling as an example.
Parameter enabling
During normal operation parameters can only be viewed. If parameters are to be changed,
the ON menu item in the Parameter -> Parameter handling -> Parameter enable
menu must be activated. To do this, proceed as follows:
In the main menu, press the enter button to enter the
Parameter menu.
Parameter
Parameter handling
CANopen
Maximum position value
I/O
Other
Use the
buttons to select the Parameter
handling menu item.
Press the enter button to enter the Parameter
handling menu.
Parameter handling
o Parameter enabling
o Password
 Parameters to default
In the Parameter handling menu, use the
buttons to select the Parameter enabling
menu item.
Press the enter button to enter the Parameter
enabling menu.
Parameter enabling
o OFF
o ON
In the Parameter enabling menu, use the
buttons to select the ON menu item.
Press the enter button to switch on parameter
enabling.
Parameter enabling
o OFF
ON
ESC
The PWR LED illuminates orange; the display is
inverted. You can now set the individual parameters
on the display.
Press the ESC button twice to return to the Parameter menu.
ESC
Viewing and editing parameters
As long as parameter enabling is activated, the entire AMS 335i display is inverted.
As long as parameter enabling is activated, communication between control and AMS 335i
is interrupted. The continued networking via BUS OUT is retained.
50
AMS 335i
Leuze electronic
Display and control panel AMS 335i
Notice!
If a password was stored, parameter enabling is not possible until this password is entered,
see "Password for parameter enabling" below.
Password for parameter enabling
Parameter entry on the AMS 335i can be protected with a password. With the AMS 335i,
the password is defined via the EDS file (class 100, instance 1). Thus, the password cannot
be changed by means of display entry.
To activate parameter enabling via the display (e.g., for changing an address), the password
defined in the EDS file must be entered. If parameter enabling has been activated after
successfully entering the password, parameters can temporarily be changed via the display.
After deactivating the parameter enable, all changes made to the display are overwritten by
the start-up sequence that may be stored in the control (see above). If a new password has
been assigned, this, too, is overwritten by the password defined in the EDS file.
Notice!
TNT 35/7-24V
The master password 2301 can enable the AMS 335i at any time.
Leuze electronic
AMS 335i
51
CANopen interface
9
CANopen interface
9.1
General information on CANopen
9.1.1
Topology
Termintator
Tap
Termintator
Trunk Line
Drop
Line
Figure 9.1:
Bus topology
The CAN bus is a serial 2-wire bus system to which all participants are connected in parallel
(i.e., using short drop lines). To avoid reflections, the bus must be terminated with a terminating resistor of 120ohm at each end of the trunk line. Terminating resistors are also
required for very short trunk line cable lengths.
If the AMS 335i is the last participant in the trunk line, the trunk line can be terminated via
the M12 bus OUT connection. For this purpose, Leuze electronic offers an M12 terminating
resistor, see chapter 11 "Type overview and accessories".
9.1.2
Bus line (trunk line)
For CAN, the maximum cable length of the trunk line is predominantly limited by the signal
propagation time. The multi-master bus-access process (arbitration) requires that the
signals are present virtually simultaneously at all nodes/participants. Therefore, the cable
length of the trunk cable must be adapted to the baud rate.
Baud rate
1Mbit/s
800kbit/s
500kbit/s
250kbit/s
125kbit/s
50kbit/s
20kbit/s
52
Bus length
< 20m
< 50m
< 100m
< 250m
< 500m
< 1000m
< 2500m
AMS 335i
Leuze electronic
CANopen interface
9.1.3
Stub lines (drop lines)
If possible, drop lines should be avoided because they cause signal reflections as a matter
of principle. Generally, the reflections caused by drop lines are not critical, however, if the
following drop line lengths are not exceeded.
Baud rate
1Mbit/s
800kbit/s
500kbit/s
250kbit/s
125kbit/s
50kbit/s
20kbit/s
Length of drop line
< 1m
< 1m
< 1m
< 10m
< 20m
< 50m
< 50m
Total length of all drop lines
< 5m
< 25m
< 25m
< 50m
< 100m
< 250m
< 250m
Attention!
Drop lines must not be fitted with terminating resistors. If the AMS 335i is integrated into a
drop line, the M12 bus OUT connection must not be terminated.
Termintator
Tap
Tap
Tap
Termintator
Trunk Line
TNT 35/7-24V
Drop
Line
Figure 9.1:
Prohibited networking within a drop line
Attention!
AMS 335i should not be networked with each other within a drop line. The max. permissible
cable length of a drop line must not be exceeded. Taps and multi-taps permit a wide range
of topologies.
Leuze electronic
AMS 335i
53
CANopen interface
9.2
Address assignment
Notice!
The participant-specific address for CANopen is also called the Node ID. Throughout this
handbook, the term "address" is used, which is identical to "Node ID".
Each participant connected to CANopen is assigned its own address (Node ID).
Up to 127 participants can be connected to one network. The addresses range from 1 to
127. The address 0 is usually reserved for the CANopen master.
Notice!
The "Layer Setting Services (LSS)" function is not supported by the AMS 335i. For this reason, the address must be set manually via the display/panel of the AMS.
9.2.1
Entering the address via the display
To enter the address via the display, proceed as follows:
 Activate parameter enabling.
 Select the CANopen submenu.
 Select the Node ID menu item.
 Enter an address between 1 and 127.
 Save the address with Save.
 Deactivate parameter enabling.
Notice!
Basic operation of the display is described in chapter 8. To set the address, parameter enabling must be activated.
Attention!
The laser measurement system is deactivated on the CANopen when parameter enabling is
activated, e.g. for address assignment.
If the AMS 335i is connected directly in the trunk line and networked with further participants
via Bus Out, these participants remain active even after the parameter enable has been activated.
The AMS 335i is reactivated on CANopen after parameter enabling is exited.
54
AMS 335i
Leuze electronic
CANopen interface
9.3
Baud rate setting
The AMS 335i supports the following baud rates:
•
•
•
•
•
•
•
1Mbit/s
800kbit/s
500kbit/s
250kbit/s
125 kbit/s
50kbit/s
20kbit/s
The default setting of the AMS 335i is 125kbit/s.
The "Layer Setting Services (LSS)" function is not supported by the AMS 335i. The baud
rate must be set manually via the display of the AMS.
9.3.1
Entering the baud rate via the display/panel
To enter the baud rate via display/panel, proceed as follows:
 Activate parameter enabling.
 Select the CANopen submenu.
 Select the baud rate menu item.
 Activate the desired baud rate.
 Deactivate parameter enabling.
Notice!
Attention!
The laser measurement system is deactivated on the CANopen when parameter enabling is
activated, e.g. for baud rate setting.
If the AMS 335i is connected directly in the trunk line and networked with further participants
via Bus Out, these participants remain active even after parameter enable has been activated.
The AMS 335i is reactivated on CANopen after parameter enabling is exited.
Leuze electronic
AMS 335i
55
TNT 35/7-24V
Basic operation of the display is described in chapter 8. To set the baud rate, parameter
enabling must be activated.
CANopen interface
9.4
CANopen electrical connection
BUS IN
CAN_H
4
5
DRAIN 1
BUS OUT
CAN_H
CAN_L
4
CAN_L
3
3
M12 plug
(A-coded)
M12 socket
(A-coded)
BUS IN (5-pin plug, A-coded)
Name
1
Drain
2
3
4
BUS OUT (5-pin socket, A-coded)
Pin
Name
Shield
1
Drain
NC
Not used
2
NC
Not used
NC
Not used
3
NC
Not used
CAN_H
Data signal CAN_H
4
CAN_H
5
CAN_L
Data signal CAN_L
5
CAN_L
Thread
FE
Thread
FE
Figure 9.1:
1 DRAIN
2
2
Pin
5
Remark
Functional earth (housing)
Remark
Shield
Data signal CAN_H
Data signal CAN_L
Functional earth (housing)
CANopen - electrical connection
If the laser measurement system is the last subscriber in the network, the BUS OUT connection must be connected to a terminator plug, see "Accessory terminating resistor" on
page 94..
Notice!
For contacting BUS IN and BUS OUT, we recommend our ready-made CANopen cable (see
chapter 11.3.6 "Accessory ready-made cables for CANopen").
56
AMS 335i
Leuze electronic
CANopen interface
9.5
Communication mechanisms of the AMS 335i on CAN
In a CANopen network, all participants have in principle equal privileges. Each participant
can initiate its data transmission independently. Here, the arbitration specified by the CIA
controls the access of the individual participants to the network. Generally, each CAN participant listens in on the bus. The transmission process is started only if the bus is not occupied
by another CAN participant. When transmitting, the current bus status is always compared
to the own transmitted frame.
If several participants start a transmission simultaneously, the arbitration process decides
which participant gains access to the network next. The individual participants are integrated into a prioritization scheme via their bus address and the type of data to be transmitted (index address of the data). Process data (PDOs) of a device are transmitted with a
higher priority than, for example, variable objects (SDOs) of a device.
The node address of the participant is another criterion for prioritizing a participant in the
network. The smaller the node address, the higher the priority of the participant in the
network.
Since every participant compares its own priority with that of the other participants at the
time of bus access, the participants with low priority discontinue their transmission activities
immediately. The participant with the highest priority obtains temporary access to the bus.
The arbitration process controls the access of all participants so that even participants with
a low priority have access to the bus.
9.5.1
Device profile of the AMS 335i
CANopen describes the characteristics of participants in so-called profiles. The AMS 335i
communicates according to the specifications in profile "DS406" class 1.
The profile defines the accesses to an absolute linear encoder.
9.5.2
Object directories
All process data and parameters are stored as objects in the AMS 335i. The object directory
of the AMS 335i is the compilation of all process data and parameters of the AMS.
An object directory is structured such that some objects within a device profile (DS406 for
the AMS 335i) are mandatory while others are freely definable and stored in the manufacturer-specific object area.
The objects are uniquely identified using an index addressing scheme. The structure of the
object directory, the assignment of the index numbers, as well as some mandatory entries
are specified in the CIA standard DS301 for CANopen.
Leuze electronic
AMS 335i
57
TNT 35/7-24V
The AMS 335i is designed as a slave participant and cannot take on master functionality.
CANopen interface
9.5.3
EDS file
For the user, the object directory of the AMS 335i is stored as an EDS file (Electronic Data
Sheet).
The EDS file contains all objects with index, sub-index, name, data type, default value,
minimum and maximum, and access privileges.
The EDS file describes the entire functionality of the AMS 335i.
9.5.4
SDOs and PDOs
The data exchange in CANopen distinguishes between service data objects (SDOs), which
are used for transmitting the service data (parameters) from and to the object directory, and
process data objects (PDOs), which are used to exchange the current process states.
9.5.4.1 SDOs
By using SDOs, all entries of the object directory can be accessed. Within one SDO call,
only one object can be accessed at any one time. For this reason, a service data telegram
must have a protocol structure which describes the exact target address by means of index
and sub-index addressing. SDO telegrams place a part of the SDO addressing into the user
data area. Eventually, a user data area with a width of 4 bytes out of the possible 8 bytes
of user data remains for each SDO telegram.
The target address always responds to SDO transfers.
In the following, the index and sub-index address of the AMS 335i parameters and variables
can be found in the individual object descriptions.
9.5.4.2 PDOs
PDOs are a grouping of objects (variables and parameters) from the object directory. A
maximum of 8 bytes of user data from various objects can be mapped into one PDO.
A PDO can be received and evaluated by each participant (node). The model is referred to
as the producer-consumer procedure.
Since there is no protocol structure in the telegram of a PDO, the participants in the network
for whom these data are intended must know how the user data in the data area of the PDO
are structured (which data are stored where in the user data area).
58
AMS 335i
Leuze electronic
CANopen interface
• Event-controlled data transfer
Here, the data of a node are transmitted as a message whenever a change to the present state occurs.
• Polling with remote frames
The CAN node which has been defined as master in the network requests the desired
information via query (via remote frame). The participant which has this information
(or the required data) responds by sending the requested data.
• Synchronized mode
CANopen permits simultaneous querying of inputs and states of different participants
and the simultaneous change of outputs or states. For this purpose, one uses the synchronization telegram (SYNC) transmitted by a master.
The SYNC telegram is a broadcast to all network devices with high priority and without
data content. Generally, the master sends the SYNC telegram cyclically.
Participants working in synchronized mode read their data when receiving the SYNC
message and then transmits them immediately afterwards as soon as the bus permits
this (see explanation regarding arbitration process).
As the SYNC process can very quickly lead to high bus loads, another distinction is
made between "event-controlled synchronization" and a "timer synchronization".
• Time-controlled transmission
In this case, the transmission of a PDO is triggered when an adjustable time period
has elapsed. The time-controlled transmissions are set individually for each PDO via
the so-called "inhibit time" or an "event timer". The respective parameters can be
found in the objects 1800h to 1803h for the corresponding PDOs.
• Node monitoring
Heartbeat and guarding mechanisms are available for failure monitoring of the
AMS 335i. This is particularly important for CANopen, as the AMS 335i may not
respond regularly in the event-controlled operating mode. In case of guarding, the participants are cyclically queried for their state via data request telegrams (remote frame).
In case of heartbeat, the nodes transmit their state themselves.
Heartbeat and guarding / life time are standard communication objects from the
DS301 CANopen specification. The corresponding objects here are:
- Heartbeat 1017h
- Guarding / Life time factor 100Ch and 100Dh
Leuze electronic
AMS 335i
59
TNT 35/7-24V
The exchange of process data is supported by the AMS 335i via the following accesses:
CANopen interface
9.5.5
Default 11 Bit - Identifier distribution
The AMS 335i sends an 11-bit identifier. 29-bit identifiers can neither be received nor transmitted by the AMS 335i.
The node address (address of the AMS 335i) is an integral part of the 11-bit identifier. The
default identifier and the node address yield the COB-ID. Its value is used to determine the
prioritization during arbitration.
Notice!
Identifiers with low values have a higher priority under arbitration.
Example:
If the same objects, e.g. PD01 (rx), are queried by several AMS 335i in a CANopen network,
the AMS with the smallest node address has the highest priority under arbitration.
The table printed below shows the values of the individual functions in the CANopen arbitration process.
As can been see from the table, synchronization and emergency objects have the highest
priority. Next in line are the PDOs, and the SDOs have the lowest priority.
Identifier 11 Bit (binary)
00000000000
00010000000
0001xxxxxxx
0011xxxxxxx
0100xxxxxxx
0101xxxxxxx
0110xxxxxxx
0111xxxxxxx
1000xxxxxxx
1001xxxxxxx
1010xxxxxxx
1011xxxxxxx
1100xxxxxxx
1110xxxxxxx
xxxxxxx = node address 1 - 127
60
Identifier
dec.
0
128
129 - 255
385 - 511
513 - 639
641 - 767
769 - 895
897 - 1023
1025 - 1151
1153 - 1279
1281 - 1407
1409 - 1535
1537 - 1663
1793 - 1919
Identifier hex.
Function
0
80
81 - FF
181 - 1FF
201 - 27F
281 - 2FF
301 37F
381 - 3FF
401 - 47F
481 - 4FF
501 - 57F
581 - 5FF
601 - 67F
701 - 77F
Network management
Synchronization
Emergency
PDO1 (tx)
PDO1 (rx)
PDO2 (tx)
PDO2 (rx)
PDO3 (tx)
PDO3 (rx)
PDO4 (tx)
PDO4 (rx)
SDO transmit
SDO receive
NMT Error Control
AMS 335i
Leuze electronic
CANopen interface
9.5.6
The communication-specific objects according to DS301, DS406 and
manufacturer-specific
Overview: CANopen-specific object area of the AMS 335i
The following overview table shows the CANopen-specific communication objects from
DS301 supported by the AMS 335i. The manual describes only those objects for which
AMS 335i-specific configurations can be made. All other objects are standard objects of
the CANopen specification. These objects are described in DS301.
Object address in hex
1000
1001
100C
100D
1017
1018
1800
1801
1802
1803
1A00
1A01
1A02
1A03
CANopen-specific object area
Device type
Error register
Guard time
Life time factor
Producer heartbeat time (required for heartbeat mechanism)
Identity object (contains general information regarding the device)
PDO 1 properties (asynchronous position value and state)
PDO 2 properties (synchronous position value and state)
PDO 3 properties (asynchronous velocity value and state)
PDO 4 properties (synchronous velocity value and state)
TPDO 1 asynchronous position value and state
TPDO 2 synchronous position value and state
TPDO 3 asynchronous velocity value and state
TPDO 4 synchronous velocity value and state
Overview: manufacturer-specific object area of the AMS 335i
AMS 335i-specific object area
Maximum position value
Static preset
Dynamic preset
Position limit value 1
Position limit value 2
Velocity
Velocity limit value 1
Velocity limit value 2
Velocity limit value 3
Velocity limit value 4
Velocity limit value dynamic
Velocity status
I/O 1
I/O 2
Status and control laser ON/OFF
Error handling procedures
Other
TNT 35/7-24V
Object address in hex
2000
2001
2002
2010
2011
2020
2021
2022
2023
2024
2025
2026
2050
2051
2060
2070
2300
Overview: encoder-specific object area of the AMS 335i
Object address in hex
6000
6004
6500
6501
Leuze electronic
Objects of the AMS 335i from the DS406 class 1 encoder profile
Operating parameters
Maximum position value
Operating status
Resolution measurement value
AMS 335i
61
CANopen interface
9.5.7
Detailed description of CANopen-specific object area
9.5.7.1 Object 1000h Device type
The object describes the AMS 335i device type.
Index
Subindex
(hex)
(hex)
1000
--
Name
Data type
Device type
Access
u32
Value range
Remark
Minimum
Maximum
Default
--
--
00080196 h
ro
Device profile 196h
Encoder type 8h
Object data structure
Byte
Bit
7
6
5
Remark
4
0
1
2
3
3
2
1
0
196 h
Device profile (196h)
8h
Encoder type (8h)
Device profile
The 196h = 406d classification describes the profile of an encoder. Accordingly, the
AMS 335i is integrated into the profile definition of an encoder.
The AMS 335i is a class 1 encoder acc. to profile 406d
Encoder
The 8h = 8d classification describes the AMS 335i as an absolute linear encoder
9.5.7.2 Object 1001h Error register
This object contains the error register for the AMS 335i. The AMS 335i maps the internal
ERR error (see object 2060 status and control) in this byte to bit 0.
The bit 0 is set when the "ERR" errors of the AMS 335i are pending or if, for example, the
initialization of the AMS 335i fails.
Index
Subindex
(hex)
(hex)
1001
--
Name
Data type
Access
Error register
u8
ro
Value range
Remark
Minimum
Maximum
Default
--
--
0
--
Object data structure
Byte
0
62
Bit
7
x
6
x
5
x
4
x
Remark
3
x
AMS 335i
2
x
1
x
0
0
Error register
Leuze electronic
CANopen interface
9.5.7.3 Object 100Ch Guard time
This object is used to configure the device monitoring by the NMT master (node guarding)
together with the life time factor. The monitoring period is specified in milliseconds. If 0 is
entered (default of the AMS 335i), the process is deactivated.
Index
Subindex
(hex)
(hex)
100C
--
Name
Data type
Access
Guard time
u16
rw
Value range
Remark
Minimum
Maximum
Default
0
65535
0
Guard time is deactivated via Default 0
9.5.7.4 Object 100Dh Life time factor
This object must be discussed in connection with object 100Ch. It represents a value that
yields the lifetime when multiplied by the guard time.
If 0 is entered (default of the AMS 335i), the process is deactivated.
Index
Subindex
(hex)
(hex)
100D
--
Name
Data type
Access
Life time
u8
rw
Value range
Remark
Minimum
Maximum
Default
0
255
0
Life time is deactivated via Default 0
9.5.7.5 Object 1017h Producer heartbeat time
This object defines the cycle time as a multiple of milliseconds with which the AMS 335i
sends heartbeat messages into the CANopen network. If the producer heartbeat time is not
used, it is set to the value 0 (zero). By default, the time for the AMS 335i is set to 0 (zero),
which means that the AMS 335i does not send a cyclical heartbeat signal.
Subindex
(hex)
(hex)
1017
--
Name
Producer
heartbeat
time
Data type
u16
Access
Value range
Remark
Minimum
Maximum
Default
0
65536
0
rw
Producer heartbeat
time is deactivated
via Default 0
9.5.7.6 Object 1018h Identity object
This object contains general specifications about the AMS 335i.
Index
Subindex
(hex)
(hex)
1018
Leuze electronic
Name
Data type
Access
Value range
Minimum
Maximum
Default
01
Vendor ID
u 32
ro
--
--
121 h
Manufacturer ID
number
02
Product
code
u 32
ro
--
--
02 h
Product designation
AMS 335i
Remark
63
TNT 35/7-24V
Index
CANopen interface
9.5.7.7 Objects 1800h - 1803h Communication parameter process data objects (PDOs)
9.5.7.8 Objects 1A00h - 1A03h Process data objects TPDOs
The AMS 335i provides four transmit process data objects (TPDOs).
The TPDOs describe which objects are mapped (integrated) into the TxPDO and define the
access (synchronous/asynchronous) to these objects.
•
•
•
•
TPDO1 asynchronous position value and state, object address 1A00h
TPDO2 synchronous position value and state, object address 1A01h
TPDO3 asynchronous velocity value and state, object address 1A02h
TPDO4 synchronous velocity value and state, object address 1A03h
The communication parameters of the PDOs are defined via fixed objects.
In these objects one specifies the synchronous or asynchronous access, a possible inhibit
time for the PDO object on the CAN network, and an event timer.
• PDO1 communication parameters for asynchronous position value and state, object
address 1800h
• PDO2 communication parameters for synchronous position value and state, object
address 1801h
• PDO3 communication parameters for asynchronous velocity value and state, object
address 1802h
• PDO4 communication parameters for synchronous velocity value and state, object
address 1803h
The asynchronous transmission (TPDO1 and TPDO3) is controlled by the event timer in
PDOx property objects 1800h and 1803h.
The synchronous transmission (TPDO2 and TPDO4) is initiated via a SYNC telegram (80h)
sent by the master, and via PDOx property objects 1801h to 1803h.
9.5.7.9 Object 1800h PDO1
Communication parameters for asynchronous transmission of position and state.
Index
Subindex
(hex)
(hex)
1800
01
02
03
04
05
Name
COB-ID for
TPDO1
Transmission type
Inhibit time
Reserved
Event timer
Data type
Access
u 32
ro
Value range
Minimum
Maximum
--
--
Remark
Default
180h + Node ID
u8
rw
--
--
254
u 16
rw
0
1000
0
254 = asynchronous
Inhibit time
u 16
rw
0
65535
0
Event timer
Attention!
The inhibit timer can only be written to if the PDO has previously been set to "PDO invalid".
This is done by setting bit 31 of the COB-ID for the respective PDO to 1, setting the inhibit
time to the desired value, and then resetting bit 31 to 0 (=PDO valid). This applies to all 4
PDOs!
64
AMS 335i
Leuze electronic
CANopen interface
9.5.7.10 Object 1A00h TPDO1
Asynchronous transmission of position and state.
Index
Subindex
(hex)
(hex)
1A00
01
02
Name
Data type
Maximum
position
value
Position
value status
Access
Value range
Remark
Minimum
Maximum
Default
u 32
ro
--
--
6004 00 20
Position value from
object 6004
u 32
ro
--
--
2060 01 20
Status from
object 2060
Data structure TPDO1 for the asynchronous transmission of the position values
and the position state
Byte
Bit
7
0
1
2
3
4
5
6
7
6
5
Remark
4
3
2
1
0
LSB
Position values
see object description 6004h
MSB
Status
see object description 2060h
sub-index 01
9.5.7.11 Object 1801h PDO2
Communication parameters for synchronous transmission of position and state.
Subindex
(hex)
(hex)
1801
01
02
03
04
05
Name
COB-ID for
TPDO1
Transmission type
Inhibit time
Reserved
Event timer
Data type
Access
Value range
Remark
Minimum
Maximum
u 32
ro
--
--
u8
rw
--
--
1
u 16
rw
0
1000
0
1 = cyclical +
synchronous
Inhibit time
u 16
rw
0
65535
0
Event timer
Default
280h + Node ID
9.5.7.12 Object 1A01h TPDO2
Synchronous transmission of position and state.
Index
Subindex
(hex)
1A01
(hex)
01
02
Leuze electronic
Name
Data type
Access
Value range
Maximum
position
value
Position
value status
u 32
ro
Minimum
--
Maximum
--
Default
6004 00 20
u 32
ro
--
--
2060 01 20
AMS 335i
Remark
Position value from
object 6004
Status from
object 2060
65
TNT 35/7-24V
Index
CANopen interface
Data structure TPDO2 for the synchronous transmission of the position value
and the position state
Byte
Bit
7
0
1
2
3
4
5
6
7
6
5
Remark
4
3
2
1
0
LSB
Position data
see object description 6004h
MSB
Status
see object description 2060h
sub-index 01
9.5.7.13 Object 1802h PDO3
Communication parameters for asynchronous transmission of velocity and state.
Index
Subindex
(hex)
(hex)
1803
01
02
03
04
05
Name
Data type
Access
u 32
ro
COB-ID for
TPDO1
Transmission type
Inhibit time
Reserved
Event timer
Value range
Minimum
Maximum
--
--
Remark
Default
380h + Node ID
u8
rw
--
--
254
u 16
rw
0
1000
0
254 = asynchronous
Inhibit time
u 16
rw
0
1000
0
Event timer
9.5.7.14 Object 1A02h
TPDO3 Asynchronous transmission of velocity and state.
Index
Subindex
(hex)
(hex)
1A02
Name
Data type
01
Velocity
value
int 32
02
Status
velocity
value
u 16
Access
Value range
Remark
Minimum
Maximum
Default
ro
--
--
2020 04 20
velocity value from
object 2020
sub-index 04
ro
--
--
2026 00 10
Status from
object 2026
Data structure TPDO3 for the asynchronous transmission of the velocity values
and the velocity state
Byte
Bit
7
6
5
4
Remark
3
0
1
2
3
66
MSB
AMS 335i
2
1
0
LSB
Velocity value
see object description 2020h
sub-index 04
Status
see object description 2026h
sub-index 01
Leuze electronic
CANopen interface
9.5.7.15 Object 1803h PDO4
Communication parameters for synchronous transmission of velocity and state.
Index
Subindex
(hex)
(hex)
1804
01
02
03
04
05
Name
Data type
Access
u 32
ro
COB-ID for
TPDO1
Transmission type
Inhibit time
Reserved
Event timer
Value range
Minimum
Maximum
--
--
Remark
Default
480h + Node ID
u8
rw
--
--
1
u 16
rw
0
1000
0
1 = synchronous +
cyclical
Inhibit time
u 16
rw
0
65535
0
Event timer
9.5.7.16 Object 1A03h
TPDO3 Synchronous transmission of velocity and state.
Index
Subindex
(hex)
(hex)
Name
Data type
01
Velocity
value
int 16
02
Status
velocity
value
u 16
1A03
Access
Value range
Remark
Minimum
Maximum
Default
ro
--
--
2020 04 20
velocity value from
object 2020
sub-index 04
ro
--
--
2026 00 10
Status from
object 2026
Data structure TPDO4 for the synchronous transmission of the velocity value
and the velocity state
Bit
7
6
5
4
Remark
3
2
1
0
1
2
3
9.5.8
MSB
0
LSB
TNT 35/7-24V
Byte
Velocity value
see object description 2020h
sub-index 04
Status
see object description 2026h
sub-index 01
AMS 335i-specific object area
9.5.8.1 Object 2000h Position value
The object position value describes the following entries:
•
•
•
•
•
•
Sign for negative position values
Unit of the position value: metric or inch
Resolution of the position value
Counting direction of the position value
A possible offset value
Value for the free resolution
Leuze electronic
AMS 335i
67
CANopen interface
Index
Subindex
(hex)
(hex)
2000
Name
Data type
Access
Value range
Minimum
Remark
Maximum
Default
01
Sign
u8
rw
0
1
0
02
Measurement unit
u8
rw
0
1
0
03
Resolution
u8
rw
0
6
4
04
Count
direction
u8
rw
0
1
0
05
06
Offset value int 32
Free resoluu 16
tion value
0 = two's complement
1 = sign + quantity
0 = metric
1 = inch (in)
Value 1 = 0.001
Value 2 = 0.01
Value 3 = 0.1
Value 4 = 1
Value 5 = 10
Value 6 = free resolution
0 = positive
1 = negative
rw
-999999
999999
0
for further remarks,
see below
see remarks below
rw
5
50000
1000
see remarks below
Sub-index 03 resolution
The resolution in mm or inch/100, in accordance with the unit selected.
The value for the free resolution must be set in index 06.
Sub-index 04 counting direction
Attention!
The DS406 encoder specification prescribes that the counting direction can be set in
object 6000 bit 3. Object 2000 sub-index 04 and object 6000 bit 3 overwrite each other.
The count direction changes the sign during velocity measurement.
A suitable offset is to be selected so that only positive values are transferred.
Counting direction positive:
0m
+100m
0m
-100m
Counting direction negative:
Sub-index 05 offset value
The offset value in mm or inch/100, in accordance with the unit selected.
Output value = measurement value+offset.
If the preset value has been activated by a corresponding trigger signal, the preset value
has priority over the offset value.
68
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CANopen interface
Preset value and offset value are not offset against each other. The resolution of the offset
value is independent of the position value resolution selected. The offset value is active
immediately without any further release.
Sub-index 06 free resolution
Free resolution in mm/1000 or inch/100000, in accordance with the unit selected.
The "free resolution" parameters from sub-index 03 and the "value free resolution" from
sub-index 06 are mutually dependent. The value of the free resolution is multiplied by mm/
1000 or inch/100000 in accordance with the unit selected. The multiplication product is then
the free resolution that has been set.
9.5.8.2 Object 2001h Static preset value
The static preset value is a parameter that is not changed after the handover of the system
to the end user. It is configured during commissioning and remains unchanged thereafter.
A preset value can be entered into the object. The preset value is activated with "preset
teach" and deactivated with "preset reset". After preset teach, the current position value is
offset against the configured preset value. After preset reset, the original measurement value
is displayed.
Subindex
Name
Data type
(hex)
(hex)
2001
01
Preset value
static
int 32
02
Preset
settings
u8
Access
Value range
Remark
Minimum
Maximum
Default
rw
-999999
999999
0
rw
0
2
0
Preset value, in mm
or in/100 depending on the unit
selected
Value 1 =
preset teach
Value 2 =
preset reset
9.5.8.3 Object 2002h Dynamic preset value
The dynamic preset value can be adapted permanently via the control.
The dynamic preset value is activated with "preset teach" and deactivated with "preset
reset". After preset teach, the current position value is offset against the configured preset
value. After preset reset, the original measurement value is displayed.
Index
Subindex
(hex)
(hex)
2002
01
Preset value
static
int 32
02
Preset
settings
u8
Leuze electronic
Name
Data type
Access
Value range
Remark
Minimum
Maximum
Default
rw
-999999
999999
0
rw
0
2
0
AMS 335i
Preset value, in mm
or in/100 depending on the unit
selected
Value 1 =
preset teach
Value 2 =
preset reset
69
TNT 35/7-24V
Index
CANopen interface
9.5.8.4 Object 2010h Position limit value range 1
The position limit value range 1 object defines a distance range with lower and upper limits.
If the measured value lies outside the configured range, the corresponding status bits are
set in objects 2050h, 2051h and 2060h.
Index
Subindex
(hex)
(hex)
2010
01
02
03
Name
Enable position limit
value 1
Lower position limit
value 1
Upper position limit
value 1
Data type
Access
Value range
Remark
Minimum
Maximum
Default
u8
rw
0
1
0
0 = deactivated
1 = activated
int 32
rw
-999999
999999
0
see remarks below
int 32
rw
-999999
999999
0
see remarks below
Sub-index 02h / Sub-index 03h
The lower and upper position limit values are entered in mm or inch/100 according to the
unit selected.
9.5.8.5 Object 2011h Position limit value range 2
The position limit value range 2 object defines a distance range with lower and upper limits.
If the measured value lies outside the configured range, the corresponding status bits are
set in objects 2050h, 2051h and 2060h.
Index
Subindex
(hex)
(hex)
2011
01
02
03
Name
Data type
Access
Value range
Minimum
Enable position limit
u8
value 2
Lower position limit
int 32
value 2
Upper position limit
int 32
value 2
Remark
Maximum
Default
rw
0
1
0
0 = deactivated
1 = activated
rw
-999999
999999
0
see remarks below
rw
-999999
999999
0
see remarks below
Sub-index 02h / Sub-index 03h
The lower and upper position limit values are entered in mm or inch/100 according to the
unit selected.
9.5.8.6 Object 2020h Velocity
Outputs the current velocity with the configured resolution. The unit (metric or inch) is set
in object 2000 sub-index 02 and also applies to the velocity. If no change is made in
object 2000 sub-index 02, the AMS 335i uses the metric default setting.
The sign of the velocity is dependent on the count direction in object 2000 sub-index 04.
In the default setting a positive velocity is output when the reflector moves away from the
AMS 335i. When the reflector moves towards the AMS 335i, negative velocities are output.
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CANopen interface
If the "negative" count direction is configured in object 2000 sub-index 04, the velocity signs
are reversed.
The integration time for the velocity averages all velocity values calculated during the
selected period to yield a velocity value. This average velocity value is output via the interface.
Index
Subindex
(hex)
(hex)
2020
Name
Data type
Access
Value range
Minimum
Maximum
Remark
Default
01
Velocity resolution
u8
rw
1
5
1
02
Integration
time velocity
u8
rw
0
6
3
03
Free resolution velocity
u16
rw
5
50000
1000
04
Velocity
value
int 32
ro
-999999
999999
--
Value 1: = 1
Value 2: = 10
Value 3: = 100
Value 4: = 1000
Value 5 = free resolution
Unit ms
Value 0: = 2
Value 1: = 4
Value 2: = 8
Value 3: = 16
Value 4: = 32
Value 5: = 64
Value 6: = 128
The configured
value is multiplied
by
mm/1000/s or in/
100000/s.
see below
Sub-index 01h
The current velocity output occurs with the configured resolution. The unit (metric or inch)
is set in object 2000 sub-index 02 and also applies to the velocity.
Leuze electronic
AMS 335i
71
TNT 35/7-24V
The velocity value is mapped into process data objects 1A02h and 1A03h.
CANopen interface
9.5.8.7 Object 2021h Configuration velocity monitoring 1
Objects 2021h to 2024h permit the comparison between the current velocity as measured
by the AMS 335i and a limit stored in the respective object.
Notice!
Notice regarding velocity monitoring 1 - 4 and dynamic velocity monitoring
If position start and position end are identical, velocity monitoring is not activated.
If a direction-dependent limit value check is activated via the direction selection parameter,
the values of position start and position end also define the direction. The check is always
performed from position start to position end. For example, if the range start is "5500"
and the range end is "5000", the direction-dependent check is only performed in the direction from "5500" to "5000". The limit value is not active in the opposite direction.
If the check is independent of direction, the order of position start and position end is irrelevant. Depending on the selected switching mode, if the value is above or below the defined
limits, the limit value status in object 2026h is set and, if configured, the switching output is
set via object 2050h or 2051h.
Notice!
The explanations given above on the “Position start” and “Position end” parameters apply
analogously for objects 2022h through 2025h.
Index
Subindex
(hex)
(hex)
2021
01
02
03
04
05
72
Name
Limit value
check
Velocity limit
value 1
Hysteresis of
velocity limit
value 1
Monitoring
from position start
Monitoring
to position
end
Data type
Access
Value range
Minimum
Maximum
Default
u8
rw
0
7
0
see below
u16
rw
0
20000
0
mm/s or
(in/100)/s
u16
rw
0
20000
100
mm/s or
(in/100)/s
int 32
rw
-999999
999999
0
mm or
in/100
int 32
rw
-999999
999999
0
mm or
in/100
AMS 335i
Remark
Leuze electronic
CANopen interface
Sub-index 01
Bit 0: switching mode
0 = upon exceeding the velocity
1 = upon falling below the velocity limit
Bit 1: direction selection
0 = direction independent velocity monitoring
1 = direction dependent velocity monitoring
Bit 2: velocity monitoring
0 = deactivated
1 = activated
Bit 3 - Bit 7: reserve
9.5.8.8 Object 2022h Configuration velocity monitoring 2
Notice!
Further explanations on the “Position start” and “Position end” parameters see chapter
9.5.8.7 "Object 2021h Configuration velocity monitoring 1".
Subindex
(hex)
(hex)
2022
01
02
03
04
05
Name
Limit value
check
Velocity limit
value 1
Hysteresis of
velocity limit
value 1
Monitoring
from position start
Monitoring
to position
end
Data type
Access
Value range
Remark
Minimum
Maximum
Default
u8
rw
0
7
0
see below
u 16
rw
0
20000
0
mm/s or
(in/100)/s
u 16
rw
0
20000
100
mm/s or
(in/100)/s
i 32
rw
-999999
999999
0
mm or
in/100
i 32
rw
-999999
999999
0
mm or
in/100
TNT 35/7-24V
Index
Sub-index 01
Bit 0: switching mode
0 = upon exceeding the velocity
1 = upon falling below the velocity limit
Bit 1: direction selection
0 = direction independent velocity monitoring
1 = direction dependent velocity monitoring
Leuze electronic
AMS 335i
73
CANopen interface
Bit 2: velocity monitoring
0 = deactivated
1 = activated
Bit 3 - Bit 7: reserve
9.5.8.9 Object 2023h Configuration velocity monitoring 3
Notice!
Further explanations on the “Position start” and “Position end” parameters see chapter
9.5.8.7 "Object 2021h Configuration velocity monitoring 1".
Index
Subindex
(hex)
(hex)
2023
01
02
03
04
05
Name
Limit value
check
Velocity limit
value 1
Hysteresis of
velocity limit
value 1
Monitoring
from position start
Monitoring
to position
end
Data type
Access
Value range
Remark
Minimum
Maximum
Default
u8
rw
0
7
0
see below
u 16
rw
0
20000
0
mm/s or
(in/100)/s
u 16
rw
0
20000
100
mm/s or
(in/100)/s.
int 32
rw
-999999
999999
0
mm or
in/100
int 32
rw
-999999
999999
0
mm or
in/100
Sub-index 01
Bit 0: switching mode
0 = upon exceeding the velocity
1 = upon falling below the velocity limit
Bit 1: direction selection
0 = direction independent velocity monitoring
1 = direction dependent velocity monitoring
Bit 2: velocity monitoring
0 = deactivated
1 = activated
Bit 3 - Bit 7: reserve
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CANopen interface
9.5.8.10 Object 2024h Configuration velocity monitoring 4
Notice!
Further explanations on the “Position start” and “Position end” parameters see chapter
9.5.8.7 "Object 2021h Configuration velocity monitoring 1".
Index
Subindex
(hex)
(hex)
2024
01
02
03
04
05
Name
Limit value
check
Velocity limit
value 1
Hysteresis of
velocity limit
value 1
Monitoring
from position start
Monitoring
to position
end
Data type
Access
Value range
Remark
Minimum
Maximum
Default
u8
rw
0
7
0
see below
u 16
rw
0
20000
0
mm/s or
(in/100)/s
u 16
rw
0
20000
100
mm/s or
(in/100)/s.
int 32
rw
-999999
999999
0
mm or
in/100
int 32
rw
-999999
999999
0
mm or
in/100
Sub-index 01
Bit 0: switching mode
0 = upon exceeding the velocity
1 = upon falling below the velocity limit
Bit 1: direction selection
TNT 35/7-24V
0 = direction independent velocity monitoring
1 = direction dependent velocity monitoring
Bit 2: velocity monitoring
0 = deactivated
1 = activated
Bit 3 - Bit 7: reserve
Leuze electronic
AMS 335i
75
CANopen interface
9.5.8.11 Object 2025h Configuration dynamic velocity monitoring
Notice!
Further explanations on the “Position start” and “Position end” parameters see chapter
9.5.8.7 "Object 2021h Configuration velocity monitoring 1".
Index
Subindex
(hex)
(hex)
2025
01
02
03
04
05
Name
Limit value
check
Velocity limit
value 1
Hysteresis of
velocity limit
value 1
Monitoring
from position start
Monitoring
to position
end
Data type
Access
Value range
Remark
Minimum
Maximum
Default
u8
rw
0
7
0
see below
u 16
rw
0
20000
0
mm/s or
(in/100)/s
u 16
rw
0
20000
100
mm/s or
(in/100)/s.
int 32
rw
-999999
999999
0
mm or in/100
int 32
rw
-999999
999999
0
mm or in/100
Sub-index 01
Bit 0: switching mode
0 = upon exceeding the velocity
1 = upon falling below the velocity limit
Bit 1: direction selection
0 = direction independent velocity monitoring
1 = direction dependent velocity monitoring
Bit 2: velocity monitoring
0 = deactivated
1 = activated
Bit 3 - Bit 7: reserve
9.5.8.12 Object 2026h Velocity status
Index
Subindex
(hex)
(hex)
2026
--
Name
Data type
Access
Velocity
status
u 16
ro
Value range
Remark
Minimum
Maximum
Default
--
--
--
see below
Bit 0: velocity measurement error
0 = ok
1 = error
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CANopen interface
Bit 1: movement status
0 = no movement
1 = movement
Bit 2: movement status
0 = positive direction
1 = negative direction
Bit 3: velocity limit value status 1
0 = limit value maintained
1 = limit value violated
Bit 4: velocity limit value status 2
0 = limit value maintained
1 = limit value violated
Bit 5: velocity limit value status 3
0 = limit value maintained
1 = limit value violated
Bit 6: velocity limit value status 4
0 = limit value maintained
1 = limit value violated
Bit 7: velocity limit value status dynamic
0 = limit value maintained
1 = limit value violated
TNT 35/7-24V
Bit 8: velocity comparison limit value 1
0 = comparison inactive
1 = comparison active
Bit 9: velocity comparison limit value 2
0 = comparison inactive
1 = comparison active
Bit 10: velocity comparison limit value 3
0 = comparison inactive
1 = comparison active
Bit 11: velocity comparison limit value 4
0 = comparison inactive
1 = comparison active
Bit 12: velocity comparison limit value dynamic
0 = comparison inactive
1 = comparison active
Leuze electronic
AMS 335i
77
CANopen interface
9.5.8.13 Object 2050h Configuration I/O 1
Index
Subindex
(hex)
2050
(hex)
--
Name
Data type
Access
I/O1
u 32
rw
Value range
Minimum
--
Maximum
--
Remark
Default
--
see below
The settings in "bold" correspond to the default settings
Bit 0: function of the I/O 1 connection at PWR M12
0 = input
1 = output
Bit 1: activation
If I/O 1 is defined as input (see bit 0):
0 = 1 - 0 transition
1 = 0 - 1 transition
If I/O 1 is defined as output (see bit 0):
0 = low active (the output is set to 0 if the event occurs)
1 = high active (the output is set to 1 if the event occurs)
Bit 2 - Bit 7: reserve
0 = reserve
1 = NC
Notice!
Bit 8 to bit 23 set the output via an "OR" logic.
Bit 8: position limit value 1
If the position value lies outside of configured limit value 1, the output is set.
0 = OFF
1 = ON
Bit 9: position limit value 2
If the position value lies outside of configured limit value 2, the output is set.
0 = OFF
1 = ON
Bit 10: velocity limit value
If the velocity value lies outside of the configured values, the output is set. Monitoring from
objects 2021h to 2025h is "OR" linked to this bit.
0 = OFF
1 = ON
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CANopen interface
Bit 11: intensity monitoring (ATT)
If the intensity of the received signal falls below the predefined limit value, the output is set.
0 = OFF
1 = ON
Bit 12: temperature monitoring (TMP)
If the internal device temperature lies outside the predefined limit values, the output is set.
0 = OFF
1 = ON
Bit 13: laser prefailure monitoring (LSR)
If the laser power falls below the predefined limit value, the output is set.
0 = OFF
1 = ON
Bit 14: plausibility monitoring (PLB)
If implausible measurement values are diagnosed, the output is set.
0 = OFF
1 = ON
Bit 15: hardware error (ERR)
If a hardware error is diagnosed, the output is set.
0 = OFF
1 = ON
0 = reserve
1 = NC
Bit 24 - Bit 26: function of the I/O 1, if this has been defined as an input
Value 000 =
Value 001 =
Value 010 =
no function
Preset teach, valid for static (object 2001) and dynamic (object 2002)
preset
laser OFF. Laser diode is switched off
Bit 27 - Bit 31: reserve
0 = reserve
1 = NC
9.5.8.14 Object 2051h Configuration I/O 2
Index
Subindex
(hex)
2051
(hex)
--
Leuze electronic
Name
Data type
Access
I/O2
u32
rw
Value range
Minimum
--
AMS 335i
Maximum
--
Remark
Default
--
see below
79
TNT 35/7-24V
Bit 16 - Bit 23: reserve
CANopen interface
The settings in "bold" correspond to the default settings
Bit 0: function of the I/O 2 connection at PWR M12
0 = input
1 = output
Bit 1: activation
If I/O 2 is defined as input (see bit 0):
0 = 1 - 0 transition
1 = 0 - 1 transition
If I/O 2 is defined as output (see bit 0):
0 = low active (the output is set to 0 if the event occurs)
1 = high active (the output is set to 1 if the event occurs)
Bit 2 - Bit 7: reserve
0 = reserve
1 = NC
Notice!
Bit 8 to bit 23 set the output via an "OR" logic.
Bit 8: position limit value 1
If the position value lies outside of configured limit value 1, the output is set.
0 = OFF
1 = ON
Bit 9: position limit value 2
If the position value lies outside of configured limit value 2, the output is set.
0 = OFF
1 = ON
Bit 10: velocity limit value
If the velocity value lies outside of the configured values, the output is set. The monitoring
from objects 2021h to 2025h are "OR" linked to this bit.
0 = OFF
1 = ON
Bit 11: intensity monitoring (ATT)
If the intensity of the received signal falls below the predefined limit value, the output is set.
0 = OFF
1 = ON
Bit 12: temperature monitoring (TMP)
If the internal device temperature lies outside the predefined limit values, the output is set.
0 = OFF
1 = ON
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CANopen interface
Bit 13: laser prefailure monitoring (LSR)
If the laser power falls below the predefined limit value, the output is set.
0 = OFF
1 = ON
Bit 14: plausibility monitoring (PLB)
If implausible measurement values are diagnosed, the output is set.
0 = OFF
1 = ON
Bit 15: hardware error (ERR)
If a hardware error is diagnosed, the output is set.
0 = OFF
1 = ON
Bit 16 - Bit 23: reserve
0 = reserve
1 = NC
Bit 24 - Bit 26: function of the I/O 2, if this has been defined as an input
Value 000 =
Value 001 =
Value 010 =
no function
Preset teach, valid for static (object 2001) and dynamic (object 2002)
preset
laser OFF. Laser diode is switched off
Bit 27 - Bit 31: reserve
TNT 35/7-24V
0 = reserve
1 = NC
9.5.8.15 Object 2060h status and control AMS 335i
In sub-index 01, the object provides the following status messages of the AMS 335i.
•
•
•
•
•
•
•
•
•
•
•
Laser status ON/OFF
Preset status ON/OFF
Preset teach activated/not activated
Monitoring lower position limit value 1
Monitoring upper position limit value 1
Monitoring lower position limit value 2
Monitoring upper position limit value 2
Intensity (ATT)
Temperature (TMP)
Laser (LSR)
Plausibility (PLB)
In sub-index 02, the laser diode can be switched OFF/ON.
Leuze electronic
AMS 335i
81
CANopen interface
Index
Subindex
(hex)
2060
(hex)
01
02
Name
Data type
Access
Status
Laser
ON/OFF
u32
u8
ro
rw
Value range
Minimum
-0
Maximum
-1
Remark
Default
-0
see below
0 = laser ON
1 = laser OFF
Explanations on sub-index 01
Bit 0: hardware error (ERR)
0 = ok
1 = hardware error (ERR)
Bit 1 - Bit 3: reserve
0 = reserve
1 = NC
Bit 4: monitoring lower position value 1
0 = OK
1 = value less than limit
Bit 5: monitoring upper position value 1
0 = OK
1 = value exceeded
Bit 6: monitoring lower position value 2
0 = OK
1 = value less than limit
Bit 7: monitoring upper position value 2
0 = OK
1 = value exceeded
Bit 8: laser status
0 = OK
1 = laser OFF
Bit 9: preset status
0 = preset inactive
1 = preset active
Bit 10: preset teach (toogle bit)
This bit toggles on each teach event of a preset value
Bit 11 - Bit 12: reserve
0 = reserve
1 = NC
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CANopen interface
Bit 13: intensity (ATT)
If the intensity of the received signal falls below the predefined limit value, the warning is set.
0 = ok
1 = warning
Bit 14: temperature (TMP)
If the internal device temperature lies outside the predefined limit values, the warning is set.
0 = OK
1 = warning
Bit 15: laser (LSR)
If the laser power falls below the predefined limit value, the warning is set.
0 = OK
1 = warning
Bit 16: plausibility (PLB)
If implausible measurement values are diagnosed, the error is set.
0 = OK
1 = error
Bit 17 - Bit 31: reserve
0 = reserve
1 = NC
9.5.8.16 Object 2070h Behavior of the AMS 335i in the case of error
Subindex
(hex)
(hex)
2070
01
02
03
04
Name
Position value in
the case of error
and delay for
error ON/OFF
Position error
message delay
Position value in
the case of error
and delay for
error ON/OFF
Error delay time
- velocity
Data
type
Access
Value range
Remark
Minimum
Maximum
Default
u8
rw
0
13
13
see below
u16
rw
100
1000
100
Delay of the error
message in ms
u8
rw
0
13
13
see below
u16
rw
200
1000
200
Explanation on sub-index 01
Bit 0: position value in the case of error
0 = last valid value
1 = zero
Leuze electronic
AMS 335i
83
TNT 35/7-24V
Index
CANopen interface
Bit 1: static 0
Bit 2: suppress position state
0 = OFF
1 = ON
Bit 3: error delay position
0 = OFF
1 = ON
Explanation on sub-index 03
Bit 0: velocity value in the case of error
0 = last valid value
1 = zero
Bit 1: static 0
Bit 2: suppress velocity state
0 = OFF
1 = ON
Bit 3: error delay velocity
0 = OFF
1 = ON
9.5.8.17 Object 2300h Other
Index
Subindex
(hex)
(hex)
2300
Name
Data type
Access
Value range
Minimum
Remark
Maximum
Default
01
Display
language
selection
u8
rw
0
4
0
02
Illumination
duration
display
u8
rw
0
1
0
03
Display
contrast
u8
rw
0
2
1
04
Password
activation
u8
rw
0
1
0
05
Password
u16
rw
0000
9999
0000
06
Heating
control
u8
rw
0
1
0
0 = English
1 = German
2 = Italian
3 = Spanish
4 = French
0 = off after
10min.
1 = always on
0 = low
1 = medium
2 = high
0 = OFF
1 = ON
Setting of a
4-digit password
see below
Notice!
Password activation must be set to ON.
84
AMS 335i
Leuze electronic
CANopen interface
Explanation on sub-index 06 "heating control"
0 = Standard (10°C … 15°C)
1 = Extended (30°C … 35°C)
Notice!
The sub-index 06 is available as standard, but functions only for devices with integrated heating (AMS 335i … H).
TNT 35/7-24V
Sub-index 06 defines a switch-on/switch-off range for the heating control. The extended
switch-on/switch-off range for heating may provide relief in the event of condensation problems. There is no guarantee that no condensation will occur on the optics in the extended
switch-on/switch-off range due to the limited heating capacity.
Leuze electronic
AMS 335i
85
CANopen interface
9.5.9
Objects of the AMS 335i from the DS406 class 1 encoder profile
CANopen describes the characteristics of participants in so-called profiles.
The AMS 335i communicates according to the specifications in profile "DS406" class 1.
For class 1, it is mandatory to describe the following objects.
9.5.9.1 Object 6000h Operating parameters
Index
Subindex
(hex)
(hex)
6000
--
Name
Data type
Operating
parameters
Access
u16
Value range
Remark
Minimum
Maximum
Default
0
8
0
rw
0= positive counting direction, see
below
Bit 0 - Bit 2
not used
Bit 3: counting direction
0 = positive - the measurement value increases with increasing distance.
1 = negative - the measurement value decreases with increasing distance.
Counting direction positive:
0m
+100m
0m
-100m
Counting direction negative:
Bit 4 - Bit 15: reserve
9.5.9.2 Object 6004h Position value
Index
Subindex
(hex)
(hex)
6004
--
Name
Data type
Maximum
position
value
Access
int 32
Value range
Remark
Minimum
Maximum
Default
-999999
999999
--
ro
see below
Object 6004h contains the position value for process data objects (PDOs) 1A00h (TPDO1)
and 1A01h (TPDO2).
Byte
Bit
7
0
1
2
3
86
6
5
4
Remark
3
2
1
0
LSB
Maximum position value
MSB
AMS 335i
Leuze electronic
CANopen interface
9.5.9.3 Object 6500h Display of operating status from object 6000
Index
Subindex
(hex)
(hex)
6500
--
Name
Data type
Access
Operating
parameters
u16
ro
Value range
Remark
Minimum
Maximum
Default
--
--
--
see below
Bit 0 - Bit 2
not used
Bit 3: counting direction
0 = positive - the measurement value increases with increasing distance.
1 = negative - the measurement value decreases with increasing distance.
Bit 4 - Bit 15: reserve
9.5.9.4 Object 6501h Measurement step
Index
Subindex
(hex)
(hex)
6501
--
Name
Data type
Access
Measurement steps
u32
ro
Value range
Remark
Minimum
Maximum
Default
--
--
--
see below
The resolution set in object 2000h sub-index 03 is specified in multiples of 0.001μm (1nm)
in object 6501.
Example:
TNT 35/7-24V
If the default resolution in object 2000h is set to 1mm, the resolution for object 6501 is
converted to value 1 000 000. (1 000 000 x 1/1 000 000 = 1).
Leuze electronic
AMS 335i
87
Diagnostics and troubleshooting
10
Diagnostics and troubleshooting
10.1
Service and diagnostics in the display of the AMS 335i
In the main menu of the AMS 335i, expanded "Diagnostics" can be called up under the
Service heading.
Service
Status messages
Diagnostics
Expanded diagnostics
From the Service main menu, press the enter button
level.
to access the underlying menu
Use the up/down buttons
to select the corresponding menu item in the selected level;
use the enter button
to activate the selection.
Return from any sub-level to the next-higher menu item by pressing the ESC button
10.1.1
ESC
.
Status messages
The status messages are written in a ring memory with 25 positions. The ring memory is
organized according to the FIFO principle. No separate activation is necessary for storing
the status messages. Power OFF clears the ring memory.
Status messages
1: - / - / 2: - / - / 3: - / - / -
Basic representation of the status messages
n: Type / No. / 1
Meaning:
n:
memory position in the ring memory
Type:
type of message:
I = info, W = warning, E = error, F = severe system error
No:
internal error detection
1:
frequency of the event (always "1", since no summation occurs)
The status messages within the ring memory are selected with the up/down buttons
.
The enter button can be used to call up detailed information on the corresponding status
messages with the following details:
88
AMS 335i
Leuze electronic
Diagnostics and troubleshooting
Detailed information about a status message
Type:
type of message + internal counter
UID:
Leuze internal coding of the message
ID:
description of the message
Info:
not currently used
Within the detailed information, the enter button
action menu with the following functions:
•
•
•
•
can be pressed again to activate an
Acknowledge message
Delete message
Acknowledge all
Delete all
10.1.2 Diagnostics
The diagnostics function is activated by selecting the Diagnostics menu item. The ESC
button
deactivates the diagnostics function and clears the contents of the recordings.
ESC
The recorded diagnostic data are displayed in 2 fields. In the upper half of the display, status
messages of the AMS and the bar graph are displayed. The lower half contains information
that assists in a Leuze-internal evaluation.
Pos. act.:
Pos. min.:
Pos. max.:
PLB
ATT
----------------------
Use the up/down buttons
to scroll in the bottom half between various displays. The
contents of the scrollable pages are intended solely for Leuze for internal evaluation.
The diagnostics have no influence on the communication to the host interface and can be
activated during operation of the AMS 335i.
10.1.3 Expanded diagnostics
The Expanded diagnostics menu item is used for Leuze-internal evaluation.
Leuze electronic
AMS 335i
89
TNT 35/7-24V
IO1 LSR
IO2 TMP
ERR
Diagnostics and troubleshooting
10.2
General causes of errors
10.2.1
Power LED
See also chapter 8.2.2.
Error
Possible error cause
No supply voltage connected
Hardware error
Light beam interruption
Plausibility error
Hardware error
PWR LED "OFF"
PWR-LED "flashes red"
PWR-LED "static red"
Table 10.1:
10.3
10.3.1
Measure
Check supply voltage.
Send in device.
Check alignment.
Traverse rate >10m/s.
For error description, see display,
It may be necessary to send in the device.
General causes of errors
Interface errors
BUS LED
For further information on the LED status displays, see chapter 8.2.2 "LED status displays".
Error
BUS LED "OFF"
BUS-LED "flashes red"
BUS LED "static red"
Bus LED "flashes green/
red"
Table 10.2:
10.4
Possible error cause
Power off on AMS 335i
Invalid configuration
No bus connection
- Bus error
- Time out
- RX /TX Buffer overflow
- Termination error
Bus error
Status display in the display of the AMS 335i
Display
Possible error cause
Laser beam interruption
Laser spot outside of reflector
PLB
Measurement range for maximum distance
(implausible measurement exceeded
values)
Velocity greater than 10m/s
Ambient temperature far outside of the permissible
range (TMP display; PLB)
90
Measure
Check supply voltage.
AMS 335i
Measure
Laser spot must always be incident on the reflector.
Traverse rate < 10m/s?
Restrict traversing path or select AMS with larger
measurement range.
Reduce velocity.
Select AMS with heating or ensure cooling.
Leuze electronic
Diagnostics and troubleshooting
Display
Possible error cause
Reflector soiled
Glass lens of the AMS soiled
ATT
Performance reduction due to snow, rain, fog, con(insufficient received signal
densing vapor, or heavily polluted air (oil mist, dust)
level)
Laser spot only partially on the reflector
Protective foil on the reflector
Ambient temperatures outside of the specified
TMP
range
(operating temperature outside of specification)
LSR
Laser diode warning
ERR
Hardware error.
Laser diode prefailure message
Indicates an uncorrectable error in the hardware
Measure
Clean reflector or glass lens.
Optimize usage conditions.
Check alignment.
Remove protective foil from reflector.
In case of low temperatures, remedy may be an
AMS with heating.
If temperatures are too high, provide cooling or
change mounting location.
Send in device at next possible opportunity to have
laser diode replaced. Have replacement device
ready.
Send in device for repair.
Notice!
Please use chapter 10 as a master copy should servicing be required.
Cross the items in the "Measures" column which you have already examined, fill out the following address field and fax the pages together with your service contract to the fax number
listed below.
Customer data (please complete)
Device type:
Company:
Contact partner / department:
TNT 35/7-24V
Phone (direct):
Fax:
Street / No:
ZIP code/City:
Country:
Leuze Service fax number:
+49 7021 573 - 199
Leuze electronic
AMS 335i
91
Type overview and accessories
11
Type overview and accessories
11.1
Type key
AMS 3 xx i yyy H
Heating option
Sensing distance
H=
40
120
200
300
i=
00
01
04
08
35
38
48
55
58
84
AMS
Interface
11.1.1
Type overview AMS 335i (CANopen)
Type designation
AMS 335i 40
AMS 335i 120
AMS 335i 200
AMS 335i 300
AMS 335i 40 H
AMS 335i 120 H
AMS 335i 200 H
AMS 335i 300 H
Table 11.1:
92
With heating
Max. operating range in m
Max. operating range in m
Max. operating range in m
Max. operating range in m
Integrated fieldbus technology
RS 422/RS 232
RS 485
PROFIBUS DP / SSI
TCP/IP
CANopen
EtherCAT
PROFINET RT
DeviceNet
Ethernet/IP
Interbus
Absolute Measuring System
Description
40m operating range, CANopen interface
120m operating range, CANopen interface
200m operating range, CANopen interface
300m operating range, CANopen interface
40m operating range, CANopen interface, integrated heating
120m operating range, CANopen interface, integrated heating
200m operating range, CANopen interface, integrated heating
300m operating range, CANopen interface, integrated heating
Part no.
50113693
50113694
50113695
50113696
50113697
50113698
50113699
50113700
Type overview AMS 335i
AMS 335i
Leuze electronic
Type overview and accessories
11.2
Overview of reflector types
Type designation
Reflective tape 200x200S
Reflective tape 500x500S
Reflective tape 914x914S
Reflective tape 200x200M
Reflective tape 500x500M
Reflective tape 914x914M
Reflective tape 200x200H
Reflective tape 500x500H
Reflective tape 914x914H
Table 11.2:
11.3
Description
Reflective tape, 200x200mm, self-adhesive
Part no.
50104361
Reflective tape, 500x500mm, self-adhesive
50104362
Reflective tape, 914x914mm, self-adhesive
50108988
Reflective tape, 200x200mm, affixed to aluminum plate
50104364
Reflective tape, 500x500mm, affixed to aluminum plate
50104365
Reflective tape, 914x914mm, affixed to aluminum plate
50104366
Heated reflective tape, 200 x 200mm
50115020
Heated reflective tape, 500 x 500mm
50115021
Heated reflective tape, 914 x 914mm
50115022
Overview of reflector types
Accessories
11.3.1 Accessory mounting bracket
Table 11.3:
Description
Mounting bracket for mounting the AMS 335i to horizontal surfaces
Part no.
50107255
Accessory mounting bracket
TNT 35/7-24V
Type designation
MW OMS/AMS 01
11.3.2 Accessory deflector unit
Type designation
US AMS 01
US 1 OMS
Table 11.4:
Description
Part no.
Deflector unit with integrated mounting bracket for the AMS 335i.
50104479
Variable 90° deflection of the laser beam in various directions
Deflector unit without mounting bracket for simple 90° deflection of the laser beam 50035630
Accessory deflector unit
11.3.3 Accessory M12 connector
Type designation
KD 01-5-BA
KD 01-5-SA
KD 095-5A
Table 11.5:
Leuze electronic
Description
M12 connector, A-coded socket, 5-pin, BUS IN
M12 connector, A-coded plug, 5-pin, BUS OUT
M12 connector, A-coded socket, 5-pin, Power (PWR)
Part no.
50040097
50040098
50020501
Accessory M12 connector
AMS 335i
93
Type overview and accessories
11.3.4
Accessory terminating resistor
Type designation
TS 01-4-SA
Description
120 ohm M12 terminating resistor for CANopen BUS OUT
Table 11.6:
11.3.5
Part no.
50040099
Accessory terminating resistor
Accessory ready-made cables for voltage supply
Contact assignment/wire color of PWR connection cable
PWR connection cable (5-pin socket, A-coded)
VIN 1
PWR
Pin
Name
Core color
I/O 1
2
1
VIN
brown
2
I/O 1
white
3
GND
blue
4
I/O 2
black
5
FE
gray
Thread
FE
bare
5
4
I/O 2
3 GND
FE
M12 socket
(A-coded)
Specifications of the cables for voltage supply
Operating temperature range
in rest state: -30°C … +70°C
in motion: -5°C … +70°C
Material
sheathing: PVC
Bending radius
> 50mm
Order codes of the cables for voltage supply
Type designation
K-D M12A-5P-5m-PVC
Description
M12 socket, A-coded, axial plug outlet, open cable end,
cable length 5m
K-D M12A-5P-10m-PVC M12 socket, A-coded, axial plug outlet, open cable end,
cable length 10m
94
AMS 335i
Part no.
50104557
50104559
Leuze electronic
Type overview and accessories
11.3.6 Accessory ready-made cables for CANopen
Contact assignments of CANopen connection cable
CANopen connection cable (5-pin socket/plug, A-coded)
BUS OUT
Pin
Name
Core color
Remark
CAN_H
4
1
Drain
-
Shield
2
NC
-
Not used
3
NC
-
Not used
4
CAN_H
white
Data signal CAN_H
5
CAN_L
blue
Data signal CAN_L
Thread
FE
-
Functional earth (housing)
5
DRAIN 1
CAN_L
3
2
M12 socket
(A-coded)
BUS IN
CAN_H
4
CAN_L
3
5
1 DRAIN
2
M12 plug
(A-coded)
Operating temperature range
in rest state: -40°C … +80°C
in motion: -5°C … +80°C
Material
the lines comply with the CANopen requirements,
free of halogens, silicone and PVC
Bending radius
> 80mm, suitable for drag chains
Leuze electronic
AMS 335i
TNT 35/7-24V
Specifications of the CANopen connection cable
95
Type overview and accessories
Order codes of CANopen connection cable
Type designation
KB DN/CAN-2000-BA
KB DN/CAN-5000-BA
KB DN/CAN-10000-BA
KB DN/CAN-30000-BA
KB DN/CAN-2000-SA
KB DN/CAN-5000-SA
KB DN/CAN-10000-SA
KB DN/CAN-30000-SA
KB DN/CAN-1000-SBA
KB DN/CAN-2000-SBA
KB DN/CAN-5000-SBA
96
Remark
M12 socket for BUS IN, axial connector, open cable end,
cable length 2m
M12 socket for BUS IN, axial connector, open cable end,
cable length 5m
M12 socket for BUS IN, axial connector, open cable end,
cable length 10m
M12 socket for BUS IN, axial connector, open cable end,
cable length 30m
Part no.
50114692
M12 plug for BUS OUT, axial connector, open cable end,
cable length 2m
M12 plug for BUS OUT, axial connector, open cable end,
cable length 5m
M12 plug for BUS OUT, axial connector, open cable end,
cable length 10m
M12 plug for BUS OUT, axial connector, open cable end,
cable length 30m
50114693
M12 plug + M12 socket for CANopen, axial connectors,
cable length 1m
M12 plug + M12 socket for CANopen, axial connectors,
cable length 2m
M12 plug + M12 socket for CANopen, axial connectors,
cable length 5m
50114691
AMS 335i
50114696
50114699
50114701
50114697
50114700
50114702
50114694
50114698
Leuze electronic
Maintenance
12
Maintenance
12.1
General maintenance information
With normal use, the laser measurement system does not require any maintenance by the
operator.
Cleaning
In the event of dust build-up or if the (ATT) warning message is displayed, clean the device
with a soft cloth; use a cleaning agent (commercially available glass cleaner) if necessary.
Also check the reflector for possible soiling.
Attention!
Do not use solvents and cleaning agents containing acetone. Use of such solvents could
blur the reflector, the housing window and the display.
12.2
Repairs, servicing
Attention!
Access to or changes on the device, except where expressly described in this operating manual, are not authorized.
The device must not be opened. Failure to comply will render the guarantee void. Warranted
features cannot be guaranteed after the device has been opened.
 Contact your Leuze distributor or service organization should repairs be required.
The addresses can be found on the inside of the cover and on the back.
Notice!
When sending the laser measurement systems to Leuze electronic for repair, please provide
an accurate description of the error.
12.3
Disassembling, packing, disposing
Repacking
For later reuse, the device is to be packed so that it is protected.
Notice!
Electrical scrap is a special waste product! Observe the locally applicable regulations regarding disposal of the product.
Leuze electronic
AMS 335i
97
TNT 35/7-24V
Repairs to the device must only be carried out by the manufacturer.
Index
A
Accessories . . . . . . . . . . . . . . . . . . . . . . . . .
Accessory deflector unit . . . . . . . . . . . . . . .
Accessory M12 connector . . . . . . . . . . . . .
Accessory mounting bracket . . . . . . . . . . . .
Accessory ready-made cables . . . . . . . . . .
Accessory terminating resistor . . . . . . . . . .
Accuracy . . . . . . . . . . . . . . . . . . . . . . . . . . .
Air humidity . . . . . . . . . . . . . . . . . . . . . . . . .
Alignment . . . . . . . . . . . . . . . . . . . . . . . . . . .
F
92
93
93
93
94
94
14
15
20
B
BUS LED . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
C
CANopen BUS IN connections . . . . . . . . . .
CANopen interface . . . . . . . . . . . . . . . . . . .
Cleaning . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Connections
CANopen BUS OUT . . . . . . . . . . . . . . . .
PWR IN . . . . . . . . . . . . . . . . . . . . . . . . . .
Service . . . . . . . . . . . . . . . . . . . . . . . . . .
Control buttons . . . . . . . . . . . . . . . . . . . . . .
Control panel . . . . . . . . . . . . . . . . . . . . . . . .
Count direction . . . . . . . . . . . . . . . . . . . . . .
38
52
97
39
38
39
43
40
68
D
Declaration of conformity . . . . . . . . . . . . . . . 5
Deflector unit
Maximum ranges . . . . . . . . . . . . . . . . . . 24
With integrated mounting bracket . . . . . 24
Without mounting bracket . . . . . . . . . . . 26
Deflector unit US 1 OMS
Dimensioned drawing . . . . . . . . . . . . . . . 26
Deflector unit US AMS 01
Dimensioned drawing . . . . . . . . . . . . . . . 25
Description of functions . . . . . . . . . . . . . . . . . 6
Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . 88
Dimensioned drawing of AMS 3xxi . . . . . . . 16
Display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
G
General causes of errors . . . . . . . . . . . . . . . 90
H
Heated reflectors
Dimensioned drawing . . . . . . . . . . . . . . . 31
Specifications . . . . . . . . . . . . . . . . . . . . . 30
I
Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
Interface errors . . . . . . . . . . . . . . . . . . . . . . . 90
Interface info in display . . . . . . . . . . . . . . . . . 41
Internal hardware error . . . . . . . . . . . . . . . . . 41
L
LSR status display . . . . . . . . . . . . . . . . . . . . 91
M
Main menu
Device information . . . . . . . . . . . . . . . . . . 44
Language selection . . . . . . . . . . . . . . . . . 45
Network information . . . . . . . . . . . . . . . . 44
Parameter . . . . . . . . . . . . . . . . . . . . . . . . 45
Service . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
Maintenance . . . . . . . . . . . . . . . . . . . . . . . . . 97
Measurement range . . . . . . . . . . . . . . . . . . . 14
Measurement value output . . . . . . . . . . . . . . 14
Menus
Language selection menu . . . . . . . . . . . . 49
Main menu . . . . . . . . . . . . . . . . . . . . . . . . 44
Parameter menu . . . . . . . . . . . . . . . . . . . 45
Service menu . . . . . . . . . . . . . . . . . . . . . . 49
Mounting . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
with laser beam deflector unit . . . . . . . . . 24
Mounting bracket(optional) . . . . . . . . . . . . . . 21
Mounting distances . . . . . . . . . . . . . . . . . . . 22
N
E
EDS file . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
Electrical connection . . . . . . . . . . . . . . . . . . 37
Safety notices . . . . . . . . . . . . . . . . . . . . . 37
Expanded diagnostics . . . . . . . . . . . . . . . . . 89
Explanation of symbols . . . . . . . . . . . . . . . . . 5
98
Fast commissioning . . . . . . . . . . . . . . . . . . . 12
Name plates . . . . . . . . . . . . . . . . . . . . . . . . . 18
AMS 335i
Leuze electronic
Index
O
Operating principle . . . . . . . . . . . . . . . . . . . . 12
Operating temperature . . . . . . . . . . . . . . . . . 15
Operation . . . . . . . . . . . . . . . . . . . . . . . 40, 50
Overview of reflector types . . . . . . . . . . . . . . 93
P
Packaging . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
Parameter enabling . . . . . . . . . . . . . . . . 50, 51
Parameter menu
CANopen . . . . . . . . . . . . . . . . . . . . . . . . . 46
I/O . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
Maximum position value . . . . . . . . . . . . . 46
Other . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48
Parameter handling . . . . . . . . . . . . . . . . . 45
Plausibility error . . . . . . . . . . . . . . . . . . . . . . 41
Prefailure message . . . . . . . . . . . . . . . . . . . . 41
PWR LED . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
TMP . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91
Status display in the display . . . . . . . . . . . . 90
Status displays . . . . . . . . . . . . . . . . . . . . . . 42
Status messages . . . . . . . . . . . . . . . . . . . . . 88
Storage . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
Storage temperature . . . . . . . . . . . . . . . . . . 15
Supply voltage . . . . . . . . . . . . . . . . . . . . . . . 14
Surface reflections . . . . . . . . . . . . . . . . . . . . 34
Symbols . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
T
Temperature monitoring . . . . . . . . . . . . . . .
Terminator plug . . . . . . . . . . . . . . . . . . . . . .
Transport . . . . . . . . . . . . . . . . . . . . . . . . . . .
Troubleshooting . . . . . . . . . . . . . . . . . . . . . .
Type overview . . . . . . . . . . . . . . . . . . . . 17,
41
56
18
88
92
Q
Quality assurance . . . . . . . . . . . . . . . . . . . . . . 5
R
Received signal . . . . . . . . . . . . . . . . . . . . . . . 41
Reflective tape
Dimensioned drawing . . . . . . . . . . . . . . . 29
Specifications . . . . . . . . . . . . . . . . . . . . . 28
Reflector . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
Mounting . . . . . . . . . . . . . . . . . . . . . . . . . 33
Pitch . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
Size . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
Type overview . . . . . . . . . . . . . . . . . . . . . 32
Repair . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97
S
Sensing distance . . . . . . . . . . . . . . . . . . . . . 92
Servicing . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97
Specifications . . . . . . . . . . . . . . . . . . . . . . . . 14
Dimensioned drawing . . . . . . . . . . . . . . . 16
General specifications . . . . . . . . . . . . . . . 14
Reflective tapes . . . . . . . . . . . . . . . . . . . . 27
Status and measurement data - main menu 45
Status- and warning messages . . . . . . . . . . 40
Status display . . . . . . . . . . . . . . . . . . . . . . . . 40
ATT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91
ERR . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91
PLB . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90
Leuze electronic
AMS 335i
99
Menu structure AMS 335i
Level 1
Level 2
: selection
Level 3
: selection
ESC
: back
Level 4
: selection
ESC
: back
Level 5
: selection
ESC
: back
Selection/configuration option
: selection
ESC
: selection
: back
Detailed information on
: activate
ESC
: back
Device information
page 42
Network information
page 42
Status- and measurement data
page 42
Parameter
Parameter handling
Parameter enabling
Password
CANopen
ON / OFF
Activate password
ON / OFF
Password entry
Configuration option of a four-digit numerical password
Parameters to default
All parameters are reset to their factory settings
Activation
ON / OFF
page 43
page 44
Node ID
Maximum position value
Baud rate
20kbit/s / 50kbit/s / 125kbit/s / 250kbit/s / 500kbit/s / 800kbit/s / 1Mbit/s
Position resolution
0.01mm / 0.1mm / 1mm / 10mm / free resolution
Velocity resolution
1mm / 10mm / 100mm / 1000mm / free resolution
Measurement unit
Metric/Inch
Count direction
Positive/Negative
Offset
Value input:
Preset
Value input
Error delay
ON / OFF
Position value in the case of error
Last valid value / zero
Free resolution value
I/O
I/O 1
5 …50000
Port configuration
Switching input
Switching output
I/O 2
Input/Output
Function
No function/preset teach/laser ON/OFF
Activation
Low active/High active
Function
Pos. limit value 1 / Pos. limit value 2 / Velocity / Intensity (ATT) / Temp. (TMP) /
Laser (LSR) / Plausibility (PLB) / Hardware (ERR)
Activation
Low active/High active
Port configuration
Switching input
Switching output
Limit values
page 44
Upper pos. limit 1
Lower pos. limit 1
Upper pos. limit 2
Lower pos. limit 2
Input/Output
Function
No function/preset teach/laser ON/OFF
Activation
Low active/High active
Function
Pos. limit value 1 / Pos. limit value 2 / Velocity / Intensity (ATT) / Temp. (TMP) /
Laser (LSR) / Plausibility (PLB) / Hardware (ERR)
Activation
Low active/High active
Activation
ON / OFF
Limit value input
Value input in mm or inch/100
Activation
ON / OFF
Limit value input
Value input in mm or inch/100
Activation
ON / OFF
Limit value input
Value input in mm or inch/100
Activation
ON / OFF
Limit value input
Value input in mm or inch/100
page 45
Menu structure AMS 335i
Other
Heating control
Standard/extended (10°C … 15°C/30°C … 35°C)
Display background
10 minutes/ON
Display contrast
Service RS232
Weak/Medium/Strong
Baud rate
57.6kbit/s / 115.2kbit/s
Format
8,e,1 / 8,n,1
Deutsch / English / Español / Français / Italiano
page 47
Status messages
Number of readings, reading gates, reading rate / non-reading rate etc.
page 47
Diagnostics
Exclusively for service purposes by Leuze electronic
Expanded diagnostics
Exclusively for service purposes by Leuze electronic
Language selection
Service
page 46
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