Datalogic Profibus AMT58 13x12 PB Series Manuale utente

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Datalogic Automation S.r.l.

Via Lavino, 265

40050 - Monte S. Pietro

Bologna - Italy

international laws. Copying, or altering of this document is prohibited without express written consent from

Datalogic Automation S.r.l.

Datalogic and the Datalogic logo are registered trademarks of Datalogic S.p.A. in many countries, including the

U.S.A. and the E.U.

All brand and product names mentioned herein are for identification purposes only and may be trademarks or

registered trademarks of their respective owners.

Datalogic shall not be liable for technical or editorial errors or omissions contained herein, nor for incidental or

consequential damages resulting from the use of this material.

07/05/14

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INDEX

1 - Safety summary ..................................................................................................................................... 1

2 - Identification ............................................................................................................................................ 3

3 - Mounting instructions ............................................................................................................................. 4

3.1 Solid shaft encoders ............................................................................................................ 4

3.1.1 Customary installation .................................................................................................... 4

3.1.2 Installation using fixing clamps (optional kit code ST-58-KIT) ......................................... 4

3.1.3 Installation using a mounting bell (code ST-58-FLNG) ................................................... 5

3.2 Hollow shaft encoders ......................................................................................................... 6

3.2.1 AMT58-H15 .................................................................................................................... 6

4 - Electrical connections ............................................................................................................................ 6

4.1 Connection cap ................................................................................................................... 7

4.2 Ground connection .............................................................................................................. 8

4.3 Connection cap with PGs (Figure 1) ................................................................................... 8

4.4 Connection cap with M12 connectors (Figure 1) ................................................................. 9

4.5 Connection of the shield .................................................................................................... 10

4.6 Node address: DIP A (Figure 1) ........................................................................................ 10

4.7 Baud rate .......................................................................................................................... 11

4.8 Bus termination (Figure 1) ................................................................................................. 12

4.9 Diagnostic LEDs (Figure 1) ............................................................................................... 13

5 - Quick reference .................................................................................................................................... 14

5.1 Configuring the encoder via Siemens STEP7 ................................................................... 14

5.1.1 Importing GSD file ........................................................................................................ 14

5.1.2 Adding a node to the project ......................................................................................... 16

5.1.3 Encoder configuration parameters ............................................................................... 17

5.2 Reading the diagnostic information ................................................................................... 25

5.3 Setting the Preset value .................................................................................................... 27

6 - Profibus interface ................................................................................................................................. 28

6.1 GSD file ............................................................................................................................. 28

6.2 Classes of the Device profile ............................................................................................. 29

6.3 Operating modes ............................................................................................................... 29

6.4 DDLM_Set_Prm ................................................................................................................ 31

6.4.1 Byte 10 - Operating parameters ................................................................................... 31

Code sequence .................................................................................................................. 32

Class 2 functionality ........................................................................................................... 32

Scaling function .................................................................................................................. 32

6.4.2 Bytes 11 - 12 ................................................................................................................ 33

Counts per revolution ......................................................................................................... 33

6.4.3 Bytes 13 … 16 .............................................................................................................. 34

Total resolution ................................................................................................................... 34

6.5 DDLM_Chk_Cfg ................................................................................................................ 37

6.6 DDLM_Data_Exchange..................................................................................................... 38

Position .............................................................................................................................. 38

Preset ................................................................................................................................. 38

6.7 DDLM_Slave_Diag ............................................................................................................ 40

6.8 "Red zone" ........................................................................................................................ 41

7 – Default parameters list .......................................................................................................... 43

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Subject index

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Typographic and iconographic conventions

In this guide, to make it easier to understand and read the text the following typographic

and iconographic conventions are used:

• parameters and objects both of the device and the interface are coloured in ORANGE;

• alarms are coloured in RED;

• states are coloured in FUCSIA.

When scrolling through the text some icons can be found on the side of the page: they are

expressly designed to highlight the parts of the text which are of great interest and

significance for the user. Sometimes they are used to warn against dangers or potential

sources of danger arising from the use of the device. You are advised to follow strictly the

instructions given in this guide in order to guarantee the safety of the user and ensure the

performance of the device. In this guide the following symbols are used:

This icon, followed by the word WARNING, is meant to highlight the

parts of the text where information of great significance for the user can

be found: user must pay the greatest attention to them! Instructions

must be followed strictly in order to guarantee the safety of the user and

a correct use of the device. Failure to heed a warning or comply with

instructions could lead to personal injury and/or damage to the unit or

other equipment.

This icon, followed by the word NOTE, is meant to highlight the parts of

the text where important notes needful for a correct and reliable use of

the device can be found. User must pay attention to them! Failure to

comply with instructions could cause the equipment to be set wrongly:

hence a faulty and improper working of the device could be the

consequence.

This icon is meant to highlight the parts of the text where suggestions

useful for making it easier to set the device and optimize performance

and reliability can be found. Sometimes this symbol is followed by the

word EXAMPLE when instructions for setting parameters are

accompanied by examples to clarify the explanation.

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Preliminary information

This guide is designed to describe the technical characteristics, installation and use of the

Profibus encoders of the AMT58-PB series. For any further information please refer to the

product datasheet.

To make it easier to read the text, this guide is divided into two main sections.

In the first section general information concerning the safety, the mechanical installation

and the electrical connection as well as tips for setting up and running properly and

efficiently the unit are provided.

In the second section, entitled Profibus Interface, both general and specific information is

given on the Profibus interface. In this section the interface features and the parameters

implemented in the unit are fully described.

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1 - Safety summary

Safety

 Always adhere to the professional safety and accident prevention

regulations applicable to your country during device installation

and operation;

 installation and maintenance operations have to be carried out by

qualified personnel only, with power supply disconnected and

stationary mechanical parts;

 device must be used only for the purpose appropriate to its design:

use for purposes other than those for which it has been designed

could result in serious personal and/or the environment damage;

 high current, voltage and moving mechanical parts can cause

serious or fatal injury;

 warning ! Do not use in explosive or flammable areas;

 failure to comply with these precautions or with specific warnings

elsewhere in this manual violates safety standards of design,

manufacture, and intended use of the equipment;

 Datalogic Automation s.r.l. assumes no liability for the customer's

failure to comply with these requirements.

Electrical safety

 Turn off power supply before connecting the device;

 connect according to explanation in section “4 - Electrical

connections”;

 in compliance with the 2004/108/EC norm on

electromagnetic compatibility, following precautions must

be taken:

- before handling and installing, discharge electrical charge from

your body and tools which may come in touch with the device;

- power supply must be stabilized without noise, install EMC filters

on device power supply if needed;

- always use shielded cables (twisted pair cables whenever

possible);

- avoid cables runs longer than necessary;

- avoid running the signal cable near high voltage power cables;

- mount the device as far as possible from any capacitive or

inductive noise source, shield the device from noise source if

needed;

- to guarantee a correct working of the device, avoid using strong

magnets on or near by the unit;

- minimize noise by connecting the shield and/or the connector

housing and/or the frame to ground. Make sure that ground is not

affected by noise. The connection point to ground can be situated

both on the device side and on user’s side. The best solution to

minimize the interference must be carried out by the user.

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Mechanical safety

 Install the device following strictly the information in the section “3

- Mounting instructions”;

 mechanical installation has to be carried out with stationary

mechanical parts;

 do not disassemble the encoder;

 do not tool the encoder or its shaft;

 delicate electronic equipment: handle with care; do not subject the

device and the shaft to knocks or shocks;

 respect the environmental characteristics declared by

manufacturer;

 unit with solid shaft: in order to guarantee the maximum

reliability over time of the mechanical parts, we recommend a

flexible coupling to be installed to connect the encoder and the

installation shaft; make sure the misalignment tolerances of the

flexible coupling are respected;

 unit with hollow shaft: the encoder can be mounted directly on a

shaft whose diameter has to respect the technical characteristics

specified in the purchase order and clamped by means of the

collar and the fixing plate into which an anti-rotation pin has to be

inserted.

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2 - Identification

Device can be identified through the ordering code and the serial

number printed on the label applied to its body. Information is listed in

the delivery document too.

Please always quote the ordering code and the serial number when

reaching Datalogic Automation s.r.l. for purchasing spare parts or

needing assistance.

For any information on the technical characteristics of the product

refer to the technical catalogue.

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3 - Mounting instructions

WARNING

Installation has to be carried out by qualified personnel only, with

power supply disconnected and mechanical parts compulsorily in

stop.

Never force the rotation of the shaft manually, it could cause

irreparable damage!

3.1 Solid shaft encoders

• Mount the flexible coupling 1 on the encoder shaft;

• fix the encoder to the flange 2 (or to the mounting bell) by means

of screws 3;

• secure the flange 2 to the support (or the mounting bell to the

motor);

• mount the flexible coupling 1 on the motor shaft;

• make sure the misalignment tolerances of the flexible coupling 1

are respected.

3.1.1 Customary installation

a [mm] b [mm] c [mm] d [mm]

AMT58 36 H7 48 - -

3.1.2 Installation using fixing clamps (optional kit code ST-58-KIT)

a [mm] b [mm] c [mm] d [mm]

AMT58 36 H7 - 67 -

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3.1.3 Installation using a flange (code ST-58-FLNG)

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3.2 Hollow shaft encoders

3.2.1 AMT58-H15

 Mount the encoder on the motor shaft using the reducing sleeve 8

(if supplied). Avoid forcing the encoder shaft;

 fasten the fixing plate 4 to the rear of the motor using two M3

cylindrical head screws 5;

 fix the collar 3 to the encoder shaft (apply threadlocker to screw 3).

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4 - Electrical connections

WARNING

Electrical connection has to be carried out by qualified personnel

only, with power supply disconnected and mechanical parts

compulsorily in stop.

4.1 Connection cap

WARNING

Do not remove or mount the connection cap with power supply

switched ON. Damage may be caused to internal components.

The terminal connectors for connecting the power supply and the

BUS IN and BUS OUT cables as well as the dip-switches meant to

set the node ID and activate the termination resistance are located

inside the encoder connection cap. Thus you must remove the

connection cap to access any of them.

NOTE

Be careful not to damage the internal components when you perform

this operation.

To remove the connection cap loosen the two screws 1.

Please be careful with the internal connector.

Always replace the connection cap at the end of the operation.

Take care in re-connecting the internal connector. Tighten the screws

1 using a tightening torque of approx. 2.5 Nm.

WARNING

You are required to check that the encoder body and the connection

cap are at the same potential before replacing the connection cap!

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4.2 Ground connection

Minimize noise by connecting the shield and/or the connector

housing and/or the frame to ground. Make sure that ground is not

affected by noise. The connection point to ground can be situated

both on the device side and on user’s side. The best solution to

minimize the interference must be carried out by the user. You are

advised to provide the ground connection as close as possible to the

encoder. We suggest using the ground point provided in the cap (see

Figure, use 1 TCEI M3 x 6 cylindrical head screw with 2 tooth lock

washers).

4.3 Connection cap with PGs (Figure 1)

Figure 1

Connection cap is fitted with three PG9 cable glands for bus-IN, bus-

OUT connections as well as power supply connection. The bus

cables can be connected directly to the terminal connectors located

in front of each cable gland.

We recommend Profibus-DP certificated cables to be used. Core

diameter should not exceed Ø 1,5 mm (0.06 inch).

Terminal connector Description

- 0 VDC Supply voltage

+

+10VDC +30VDC Supply

voltage

B Profibus B (Red)

A Profibus A (Green)

PG

Shield

1

Connect the cable shield to cable gland.

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4.4 Connection cap with M12 connectors (Figure 1)

Connection cap is fitted with three M12 connectors with pin-out in

compliance with the Profibus standard. Therefore you can use

standard Profibus cables commercially available.

Power supply

M12 connector

A coding

(frontal side) male

Pin Function

1 +10VDC +30VDC

3 0 VDC GND

4

1

Shield

Case

1

Shield is also connected to pin 4 to allow the connection of the

shield even if the plug connector has a plastic case.

Profibus signals

M12 connector

B coding

(frontal side) male

(BUS IN)

female

(BUS OUT)

Pin Function

1 n.c.

2 Profibus A (Green)

3 n.c.

4 Profibus B (Red)

5 n.c.

Case Shield

n.c. = not connected

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4.5 Connection of the shield

Disentangle and shorten the shielding 1 and then bend it over the

part 2; finally place the ring nut 3 of the connector. Be sure that the

shielding 1 is in tight contact with the ring nut 3.

4.6 Node address: DIP A (Figure 1)

WARNING

Power supply must be turned off before performing this operation!

The node address must be set

via hardware using the DIP A

dip-switches located inside the

connection cap.

Allowed addresses are from 0 to

125. The default value is 1.

The node address must be

entered also in the software

interface, please refer to section “5.1.2 Adding a node to the project”

on page 16.

Turn the power supply off and set the node number in binary value:

consider that: ON=1, OFF=0

bit 1

LSB

2 3 4 5 6 7

MSB

8

not

used

2

0

2

1

2

3

2

4

2

5

2

6

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Example

Set node number = 25:

25

10

= 0001 1001

2

(binary value)

bit 1 2 3 4 5 6 7 8

2

0

2

1

2

3

2

4

2

5

2

6

ON OFF OFF ON ON OFF OFF OFF

Set node number = 55:

55

10

= 0011 0111

2

(binary value)

bit 1 2 3 4 5 6 7 8

2

0

2

1

2

3

2

4

2

5

2

6

ON ON ON OFF ON ON OFF OFF

NOTE

After having set the device address, please check the bus

termination switch position (see section “4.8 Bus termination (Figure

1)” on page 12).

4.7 Baud rate

The baud rate is set by the Master via software during the

configuration of the node (Slave).

This device supports the following baud rates (they are listed in the

.GSD file too):

9.6 kbit/s, 19.2 kbit/s, 93.75 kbit/s, 187.5 kbit/s, 500 kbit/s, 1.5 Mbit/s,

3 Mbit/s, 6 Mbit/s, 12 Mbit/s.

The following table shows the maximum transmission rates in

relation to permissible line length:

Baud rate [Kbit/s] 9,6 19,2 93,75 187,5 500 1500 12000

Max. cable length

1200 m

4000 ft

1200 m

4000 ft

1200 m

4000 ft

1000

m

3300 ft

400 m

1300 ft

200 m

660 ft

100 m

330 ft

To set the baud rate please refer also to section “5.1.2 Adding a node

to the project” on page 16.

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4.8 Bus termination (Figure 1)

A bus termination resistance is provided inside

the connection cap. This has to be activated

as line termination on the last device in the

transmission line.

Use the RT Switch to activate or deactivate

the bus termination.

RT Description

1 = 2 = ON

Activated: if the encoder is the last device

in the transmission line

1 = 2 = OFF

Deactivated: if the encoder is not the last

device in the transmission line

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4.9 Diagnostic LEDs (Figure 1)

Two LEDs located in the rear side of the connection cap are

designed to show the operating or fault status of the Profibus-DP

interface.

Fault (red)

Power

(green)

Event

OFF OFF

Power supply is turned off or hardware

breakdown not recognized

OFF ON

Correct function (communication is on,

the device is sending / receiving

messages)

OFF Flashing

The encoder is operating within the

limits of the “Red Zone”, for any

information see section “6.8 "Red zone"”

ON Flashing Configuration parameters are not valid

ON OFF Transmission time-out error

Flashing ON Bus communication failure

Flashing Flashing Flash memory error, unrestorable error

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5 - Quick reference

5.1 Configuring the encoder via Siemens STEP7

5.1.1 Importing GSD file

Profibus encoders are supplied with their own GSD file AMT58-xxx-

13x12-PB (see the enclosed documentation, if supplied, or click

Datalogic website).

WARNING

Install the AMT58_Vx.GSx in the AMT58 series multiturn encoders

GSD installation file is further available in both Italian (.GSI) and

English (.GSE) versions (texts and comments are in the supported

language).

WARNING

For AMT58 multiturn encoders the default value preset by Datalogic

in the Counts per revolution item of the AMT58-xxx-13x12-PB GSD

file is 4096 (12 bits); for this reason, if you have a 25-bit multiturn

encoder and you want to use the overall resolution, you must set the

Counts per revolution item to 8192 (13 bits). See EXAMPLE 2 on

page 20.

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