Manual Absolute Encoder with EtherCAT Firmware revision number from 5.02 Baumer Hübner GmbH Max-Dohrn-Str. 2+4 D-10589 Berlin Phone +49 (0)30 690 03 - 0 Fax +49 (0)30 690 03 -104 [email protected] www.baumer.com Contents Page 1 1.1 1.2 Introduction.....................................................................................................................................4 Scope of delivery ..............................................................................................................................4 Product assignment..........................................................................................................................4 2 Safety and operating instructions ................................................................................................5 3 Encoder operating parameters .....................................................................................................7 4 4.1 4.2 4.3 4.4 4.5 4.5.1 4.6 Encoder data...................................................................................................................................8 PDO (Process Data Object) .............................................................................................................8 SDO (Service Data Objects).............................................................................................................9 Parameterization ............................................................................................................................18 Free Run Mode (default) ................................................................................................................19 Distributed Clocks Mode ................................................................................................................20 Activation Distributed Clocks under TwinCAT ................................................................................20 Network management ....................................................................................................................22 5 5.1 5.1.1 5.1.2 5.2 5.2.1 5.2.2 5.3 5.4 Terminal assignment and commissioning.................................................................................24 Electrical connection ......................................................................................................................24 Initialising under TwinCAT system manager ..................................................................................24 Terminal assignment ......................................................................................................................25 Display elements ............................................................................................................................26 State indicator.................................................................................................................................26 Link/Activity indicator......................................................................................................................26 Cycle times .....................................................................................................................................27 Configuration 10 Byte PDO / 4 Byte PDO / 2 Byte PDO by TwinCAT............................................28 BUDE_Manual-EtherCAT_EN.doc 24.10.2011/bja 2/28 Baumer Hübner GmbH Berlin, Germany Disclaimer of liability The present manual was compiled with utmost care, errors and omissions reserved. For this reason Baumer Huebner GmbH rejects any liability for the information compiled in the present manual. Baumer Huebner GmbH nor the author will accept any liability for direct or indirect damages resulting from the use of the present information. At any time we should be pleased receiving your comments and proposals for further improvement of the present document. Registered trademarks TwinCAT is a trademark of the company BECKHOFF Industrie Elektronik. These and other names applied in the present manual that at the same time are registered trademarks are not correspondingly marked. Having omitted the respective marking does not necessarily imply that the names are not registered trademarks or that there are no existing patents and protected patented designs. BUDE_Manual-EtherCAT_EN.doc 24.10.2011/bja 3/28 Baumer Hübner GmbH Berlin, Germany 1 Introduction 1.1 Scope of delivery Please check the delivery upon completeness prior to commissioning. Depending on encoder configuration and part number delivery is including: • Basic encoder with EtherCAT bus cover • CD with describing file and manual (also available as download in the Internet). 1.2 Product assignment Shaft encoder Product Product family AMG 11 E13 AMG 11 - Singleturn AMG 11 E29 AMG 11 - Multiturn Hollow / Endshaft encoder Product Product family HMG 11 E13 HMG 11 - Singleturn HMG 11 E29 HMG 11 - Multiturn BUDE_Manual-EtherCAT_EN.doc 24.10.2011/bja 4/28 Baumer Hübner GmbH Berlin, Germany 2 Safety and operating instructions Supplementary information • This manual is intended as a supplement to already existing documentation (catalogues, data sheets and assembly instructions). They are placed on the delivered CD or can be downloaded at www.baumer.com. • The manual must be read without fail before initial commissioning of the equipment. Intended purpose of the equipment • The encoder is a precision measurement device. It is used to determine angular positions and revolutions, and to prepare and supply measured values in the form of electrical output signals for control systems. Encoders may only be used for this purpose. Commissioning • Encoders may only be installed and assembled by suitably qualified experts. • Observe the operating instructions of the machine manufacturer. Safety remarks • Prior to commissioning the equipment, check all electrical connections. • If installation, electrical connection or any other work performed at the encoder or at the equipment is not correctly executed, this can result in a malfunction or failure of the encoder. • Steps must be taken to exclude any risk of personal injury, damage to the plant or to the operating equipment as a result of encoder failure or malfunction by providing suitable safety precautions. • Encoders must not be operated outside the limited values specified in the product information (see detailed product documentation). Failure to comply with the safety remarks can result in malfunctions, personal injury or damage to property. Transport and storage • Only ever transport or store encoders in their original packaging. • Never drop encoders or expose them to major vibrations. Assembly • Avoid impacts or shocks on the housing and shaft. • Avoid any twist or torsion on the housing. • Do not open the encoder or make any mechanical changes to it. The shaft, ball bearings, glass disc or electronic components can be damaged. In this case, safe and reliable operation cannot be guaranteed. BUDE_Manual-EtherCAT_EN.doc 24.10.2011/bja 5/28 Baumer Hübner GmbH Berlin, Germany Electrical commissioning • Do not make any electrical changes at the encoder. • Do not carry out any wiring work when the encoder is under power supply. • Never plug or unplug the electrical connection when the encoder is under power supply. • Ensure that the entire plant is installed in line with EMC/EMI requirements. The installation environment and wiring affect the electromagnetic compatibility of the encoder. Install the encoder and supply cables separately or at a long distance from cables with high interference emissions (frequency converters, contactors etc.) • When working with consumers with high emitted interference provide separate encoder supply voltage for the encoder. • Completely shield the encoder housing and connecting cable. • Connect the encoder to the protective earth (PE) using shielded cable. The braided shield must be connected to the cable gland or plug. Ideally, aim at bilateral connection to protective earth (PE), the housing via the mechanical assembly, the cable shield via the downstream devices. In case of earth loop problems, earth on one side only as a minimum requirement. Failure to observe these instructions can result in malfunctions, material damage or personal injury! Disposal • Dispose of encoder components in accordance with locally applicable legislation. BUDE_Manual-EtherCAT_EN.doc 24.10.2011/bja 6/28 Baumer Hübner GmbH Berlin, Germany 3 Encoder operating parameters Description of operating parameters Table: operating parameters (factory default) Product AMG 11 E13 AMG 11 E29 HMG 11 E13 HMG 11 E29 Resolution per turn 0x6001 Decimal 8192 8192 8192 8192 Hex 2000 2000 2000 2000 Bit 13 13 13 13 Number of turns 0x6502 Decimal 1 65536 1 65536 Hex 1 10000 1 10000 Measuring range 0x6002 Bit 0 16 0 16 Decimal 8192 536870912 8192 536870912 Hex 2000 20000000 2000 20000000 Bit 13 29 13 29 The enabled scaling functionality in CoE is prerequisite for further user-specific parameterization such as resolution, total measuring range, direction of rotation and preset. See chapter: SDO (Service Data Objects) BUDE_Manual-EtherCAT_EN.doc 24.10.2011/bja 7/28 Baumer Hübner GmbH Berlin, Germany 4 Encoder data 4.1 PDO (Process Data Object) Depending on the configuration, the encoder will provide the following process data (input data): XML file BAUMER Group absolute EtherCAT encoders.xml PDO Mapping 10Byte PDO: (default) 4 Byte Position value 2 Byte Warnings 4 Byte System Time Product code 20 Applied in version V5.02 and up or 4Byte PDO: (configurable) 4 Byte Position value 25 2Byte PDO: (configurable) 2 Byte Position value 30 10Byte PDO (Default) Value Position value Data type UDINT Warnings UINT System Time UDINT Explanation Current absolute encoder position value. For range-related information refer to „Encoder operating parameters“ Warnings Bit 2: 1 Lithium battery power low Bit 4: 1 Excess shaft turns during power-off Bit 5: 1 Incorrect encoder configuration Present system time, resolution in ns 4Byte PDO Value Position value Data type UDINT Explanation Current absolute encoder position value. For range-related information refer to „Encoder operating parameters“ Data type UINT Explanation Current absolute encoder position value. For range-related information refer to „Encoder operating parameters“ 2Byte PDO Value Position value The configuration 4Byte PDO / 2Byte PDO allows for shorter cycle times. Cycle times are configuration-related, see chapter cycle times BUDE_Manual-EtherCAT_EN.doc 24.10.2011/bja 8/28 Baumer Hübner GmbH Berlin, Germany 4.2 SDO (Service Data Objects) SDOs access is in the TwinCAT System Manger under tab CoE - Online (CANopen over EtherCAT). Since there is a large variety of CANopen device and application profiles they may be applied in EtherCAT slaves. EtherCAT encoders provide partial implementation of the CANopen DS406 encoder device profile. Please consider that every CoE access (mailbox communication) will shortly interrupt generation of encoder input data for the time of mailbox communication. With short cycle times in Distributed Clocks Mode this may imply that not in every Sync cycle a new position is detected. BUDE_Manual-EtherCAT_EN.doc 24.10.2011/bja 9/28 Baumer Hübner GmbH Berlin, Germany Object list Detailed explanations on the most important SDO objects Object 0x1000 Device Type SubIndex 0 Data type Unsigned 32 Access ReadOnly Default Multiturn: 0x00020196 Singleturn: 0x00010196h EEPROM No Significance Information on device profile and device type Values Object 0x1008 Device Name SubIndex 0 Data type VISIBLE_STRING Access ReadOnly Default According to connected basic encoder "GXMMW_H","GXAMW_H” EEPROM No Significance Device name in ASCII Values Object 0x1009 Hardware Version SubIndex 0 Data type VISIBLE_STRING Access ReadOnly Default EEPROM No Significance Hardware version in ASCII Values Object 0x100A Manufacturer Software Version SubIndex 0 Data type VISIBLE_STRING Access ReadOnly Default EEPROM No Significance Software version in ASCII Values Object 0x1010 SAVE Application Parameter Object 0x1010 is utilized to save device-specific objects (0x6000..0x6FFF) out of RAM into non-volatile memory (EEPROM). To prevent inadvertent saving operations the signature „save“ must be written into object 0x1010 Subindex 0. Signature ISO 8859 BUDE_Manual-EtherCAT_EN.doc 24.10.2011/bja MSB e 0x65 LSB v a 0x76 0x61 1702257011 10/28 s 0x73 character hex dez Baumer Hübner GmbH Berlin, Germany Object 0x1011 RESTORE Application Parameter Object 0x1011 restores ROM default in device-specific objects (0x6000..0x6FFF) both in RAM and EEPROM. To prevent any inadvertent restore, the signature „load“ must be written in object 0x1011 Subindex 0. Signature MSB ISO 8859 d 0x64 LSB a o 0x61 0x6F 1684107116 l 0x6C character hex dez Object 0x1018 Identity Object SubIndex 0 Data type Unsigned 8 Access ReadOnly Default 4 EEPROM No Significance Maximum supported subindex Values 4 = Maximum supported subIndex SubIndex 1 Data type Unsigned 32 Access ReadOnly Default Ech EEPROM No Significance VendorID for Baumer IVO GmbH & Co. KG assigned by CiA Values 0xEC (in the Internet under www.can-cia.de) SubIndex 2 Data type Unsigned 32 Access ReadOnly Default 0x0A GXMMW_H ; EEPROM No Significance Product Code 0x0B GXAMW_H Values SubIndex 3 Data type Unsigned 32 Access ReadOnly Default EEPROM No Significance Revision no. Values SubIndex 4 Data type Unsigned 32 Access ReadOnly Default EEPROM No Significance Serial no. Values BUDE_Manual-EtherCAT_EN.doc 24.10.2011/bja 11/28 Baumer Hübner GmbH Berlin, Germany Object 0x1A00 TxPDO1 Mapping SubIndex 0 Data type Unsigned 8 Access ReadOnly Default EEPROM No Significance Maximum supported subindex Values 3 SubIndex 1 Data type Unsigned 32 Access ReadOnly Default EEPROM No Significance Position value Values 0x6004 SubIndex 2 Data type Unsigned 16 Access ReadOnly Default EEPROM No Significance Warnings Values 0x6505 SubIndex 3 Data type Unsigned 32 Access ReadOnly Default EEPROM No Significance System time Values 0x2000 BUDE_Manual-EtherCAT_EN.doc 24.10.2011/bja 12/28 Baumer Hübner GmbH Berlin, Germany Object 0x1C33 SM (Sync Manager) Input Parameter SM3 Data Type Access Description 0 Unsigned 8 ReadOnly SM Input Parameter - Maximum supported Subindex 32 1 Unsigned 16 ReadOnly Sync Mode - 0x00 Free Run (not synchronized) Sub Measurand Values Index 0x03 DC SYNC1, synchronized with SYNC1 Event 2 Unsigned 32 ReadOnly Cycle time Nanoseconds ns SYNC0/SYNC1 cycle time 3 Unsigned 32 ReadOnly Shift time Nanoseconds ns Shift time from SYNC1 until input data 4 Unsigned 16 ReadOnly Sync modes - latch (absolute position) supported 0x0009 Free run supported Synchronous supported DC SYNC1 Dynamic Cycle times 5 Unsigned 32 ReadOnly Minimum cycle time Nanoseconds ns Minimum cycle time supported 6 Unsigned 32 ReadOnly Calc and copy time Nanoseconds ns Calculation and copy time of process data out of local memory into SyncManager BUDE_Manual-EtherCAT_EN.doc 24.10.2011/bja 13/28 Baumer Hübner GmbH Berlin, Germany Device-specific objects Object 0x6000 Operating parameters SubIndex 0 Data type Unsigned 16 Access ReadWrite Default 0 , scaling OFF, CW EEPROM Yes Significance Operating parameters Values Bit 0: direction of rotation 0 CW 1 CCW Entries ≠ default values are only effective with scaling ON (0x6000). Bit 2: scaling ON/OFF 0 scaling disabled. Encoder provides raw data (less offset). 1 scaling enabled. Encoder provides position values under consideration of scaling factor and offset ². Example: Value 0x0004 -> scaling on, CW This object allows for enabling the scaling functionality which is a precondition for further user-specific parameterization such as resolution, total measuring range, direction of rotation and preset. See chapter parameterization. The above parameters will be preliminarily saved in the volatile RAM memory and can optionally be saved non-volatile in EEProm using object SAVE Application Parameter (0x1010). Please note that with scaling ON the input data (TxPDO) will be produced much more slowly, i.e. PLC cycle times for encoder readout should be correspondingly enlarged. See chapter cycle times. Object 0x6001 Measuring units per revolution SubIndex 0 Data type Unsigned 32 Access ReadWrite Default 0x2000 = 8192 = 13bit GXxMW_H 0x1000 = 4096 = 12bit GCxMW_H 0x40000 = 262144 = 18bit GBxMW_H, GDxMW_H EEPROM Yes Significance Optional number of steps per revolution. Values 1..n.. max. number of steps per revolution (0x6501) Entries ≠ default values are only effective with enabled scaling function (0x6000). In general, when writing on this object any previously saved offset (0x6509) will be cleared (value = 0). BUDE_Manual-EtherCAT_EN.doc 24.10.2011/bja 14/28 Baumer Hübner GmbH Berlin, Germany Object 0x6002 Total measuring range SubIndex 0 Data type Unsigned 32 Access ReadWrite Default 0x20000000 = 536870912 = 29bit GXMMW_H 0x2000 = 8192 = 13bit GXAMW_H 0x10000000 = 268435456= 28bit GCMMW_H 0x1000 = 4096 = 12bit GCAMW_H 0x80000000 = 2147483648 = 31bit ² GBMMW_H, GDMMW_H 0x40000 = 262144 = 18bit GBAMW_H, GDAMW_H EEPROM Yes Significance Total measuring range in steps optionally programmable. Consequence: Number of revolutions = total measuring range / resolution The maximum resolution (0x6502) must not be exceeded since otherwise the selected total resolution range is too wide and will be rejected. Values 1..n.. max. total measuring range in steps (0x 6502) Entries ≠ default values are only effective with enabled scaling function (0x6000). ² with disabled scaling 32 bit Writing in these object will clear any previously saved offset (0x6509, value = 0) Important for multiturn encoder operation: Continuous operation will be automatically supported where required. Consequently, no specific relationship between total measuring range and measuring units per revolution must be observed in the parameterization. With enabled continuous operation and during power off, the encoder shaft may be turned up to ¼ of the maximum permissible turns. Any excess turn may entail void position values which will be signaled by a warning and call for a new referencing operation. Non-continuous operation allows for an unlimited number of turns during power-off. Proceed as below to find out whether your parameterization enables continuous operation: • The „maximum possible number of turns“ provided by the encoder (depending on the configuration: 16 bits = 65536 or 13 bits = 8192) is multiplied by the parameterized measuring units per revolution. • The result is devided by parameterized total measuring range. • A remainder in the result (fractional digits) means continuous operation enabled. BUDE_Manual-EtherCAT_EN.doc 24.10.2011/bja 15/28 Baumer Hübner GmbH Berlin, Germany Example: Parameterization with disabled continuous operation: Max. possible number of turns 65536 (16 bits multiturn) Measuring units per turn : 3600 Total measuring range 29.491.200 (8192 x 3600) Calculation: 65536 x 3600 / 29.491.200 = 8 (no remainder) Example: Parameterization with enabled continuous operation: Max. possible number of turns 65536 (16 bits multiturn) Measuring units per turn 3600 Total measuring range 100.000 Calculation: 65536 x 3600 / 100.000 = 2359 remainder 29600 Object 0x6003 Preset value SubIndex 0 DatenTyp Unsigned 32 Zugriff ReadWrite Default 0 EEPROM Yes Beschreibung Optionally programmable position value. In this operation an offset value is calculated and saved in object 0x6509. Werte 0..actual total measuring range (0x6002) -1 Entries ≠ default values are only effective with enabled scaling function (0x6000). Object 0x6004 Position value SubIndex 0 Data type Unsigned 32 Access ReadOnly Default EEPROM No Significance Value of actual position in steps Values 0..actual total measuring range (0x6002) -1 Object 0x6501 Max. measuring units per revolution (max. resolution in steps) SubIndex 0 Data type Unsigned 32 Access ReadOnly Default 0x2000 = 8192 = 13bit GXxMW_H 0x1000 = 4096 = 12bit GCxMW_H 0x40000 = 262144 = 18bit GBxMW_H, GDxMW_H EEPROM No Significance Maximum singleturn resolution in steps Values BUDE_Manual-EtherCAT_EN.doc 24.10.2011/bja 16/28 Baumer Hübner GmbH Berlin, Germany Object 0x6502 Number of distinguishable revolutions SubIndex 0 Data type Unsigned 32 Access ReadOnly Default 0x10000 = 65536= 16bit EEPROM No Significance Maximum number of revolutions Values With singleturn encoders =0, otherwise according to basic encoder Object 0x6505 (Warnings) SubIndex 0 Data type Unsigned 16 Access ReadOnly Default 0 EEPROM No Significance Warnings Values Multiturn encoder Bit 2: 1 Lithium battery voltage low Bit 4: 1 Excess shaft turns during power off Bit 5: 1 inappropriate sensor configuration Object 0x6509 Offset SubIndex 0 Data type Unsigned 32 Access ReadOnly Default 0 EEPROM Yes Significance Value is calculated upon writing on object Preset (0x 6003) Values BUDE_Manual-EtherCAT_EN.doc 24.10.2011/bja 17/28 Baumer Hübner GmbH Berlin, Germany 4.3 Parameterization Proceed as below for user-specific parameterization of direction of rotation, resolution, total resolution, preset: Object 0x6000 Operating parameters Scaling: ON Bit 2 = 1 Rotation: Bit 0 = 0 CW , 1=CCW N Mutiturn Y Object 0x6002 Total measuring range Object 0x6001 Measuring units per revolution Object 0x6003 Preset, Referencing N Y N Saved nonvolatile Y Object 0x1010 SAVE Value :0x65766173 End Examples: Scaling ON in object 0x6000 Scaling OFF OFF ON ON Rotation CW CCW CW CCW BUDE_Manual-EtherCAT_EN.doc 24.10.2011/bja CW = clockwise = increasing values with clockwise shaft rotation Value 0x6000 0x0000 0x0001 0x0004 0x0005 CCW = counterclockwise = increasing values with counterclockwise shaft rotation Reference: when looking at flange 18/28 Baumer Hübner GmbH Berlin, Germany 4.4 Free Run Mode (default) In "Free Run" mode, a local timer interrupt of the application controller will trip the local cycle which in Free Run is independent of communication cycle and/or master cycle. The encoder will generate the process data in asynchronous cyclic manner. Fig.: Wireshark Network session, encoder input data BUDE_Manual-EtherCAT_EN.doc 24.10.2011/bja 19/28 Baumer Hübner GmbH Berlin, Germany 4.5 Distributed Clocks Mode Distributed clocks mode enables exactly the same time with all bus users. The encoder can be utilized and configurated as reference clock for synchronisation purposes of both other users and master. Thus a high-precision time base is available throughout the network. The encoder generates process data synchronously to a Sync Signal. The local cycle will be tripped once SYNC0/SYNC1 Event has been received. Prior to receiving the next SYNC0/SYNC1 Event the process data frame must be completely processed by the slave. 4.5.1 Activation Distributed Clocks under TwinCAT Important: • Enable SYNC0 and SYNC1. • Ever proceed any cycle time modification in the SYNC0 settings only. • Do not alter any SYNC1 settings. BUDE_Manual-EtherCAT_EN.doc 24.10.2011/bja 20/28 Baumer Hübner GmbH Berlin, Germany Fig.: Local cycle synchronized with SYNC0/SYNC1 Sync 0 Event Sync 0 Event 1C33:3 Shift time time Sync 1 Event Sync 1 Event 1C33:6 Calc and copy time 1C33:5 Minimum Cycle time 1C33:2 Cycle time SSI CLK SPI SS Input Latch Cycle times corresponding to configuration, see chapter Cycle times BUDE_Manual-EtherCAT_EN.doc 24.10.2011/bja 21/28 Baumer Hübner GmbH Berlin, Germany 4.6 Network management The encoder’s State Machine can be switched in the TwinCAT System Manager under tab Online. EtherCAT State Machine The EtherCAT State Machine (ESM) will control the state of the EtherCAT slave with state-related access and execution of several functionalities. Specific commands by the EtherCAT master are required in each state during slave bootup. The states of an EtherCAT slave are: • Init • Pre-Operational • Safe-Operational and • Operational • Boot (not supported) After bootup each EtherCAT slave will be in state Op. BUDE_Manual-EtherCAT_EN.doc 24.10.2011/bja 22/28 Baumer Hübner GmbH Berlin, Germany Init Initial state of EtherCAT slave after switch on. There is neither mailbox nor process data communication. The SyncManager channels 0 and 1 for mailbox communication are being initialized by the EtherCAT master. Pre-Operational (Pre-Op) The EtherCAT slave will verify proper mailbox initialising when changing from Init to Pre-Op. Pre-Op enables mailbox communication but not process data communication. The EtherCAT master will initialize the SyncManager channels (up from 2) for the process data, the FMMU channels and PDO mapping or SyncManager PDO assignment, provided the slave supports configurable mapping. Furthermore, the process data transmission settings as well as clamp-specific parameterization- other than default and where appropriate - are transmitted in Pre-Op state Safe-Operational (Safe-Op) Upon changing from Pre-Op to Safe-Op, the EtherCAT slave will verify whether the SyncManager channels for process data communication and the Distributed Clock settings are valid. Prior to confirming Safe-Op, the slave will copy the current input data into the related DP-RAM areas of the EtherCAT Slave Controller (ESC). In Safe-Op both mailbox and process data communication are enabled, however the slave will keep its outputs safe (not relevant to encoder). Cyclic update of input data. Operational (Op) Process data and mailbox communication is in Op state. Cyclic update of input data. Boot (for firmware update): not supported. BUDE_Manual-EtherCAT_EN.doc 24.10.2011/bja 23/28 Baumer Hübner GmbH Berlin, Germany 5 Terminal assignment and commissioning 5.1 Electrical connection Assignment – M12 connector Follow also the instructions of the respective supplier. - Press mating connector softly into the plug. - Turn mating connector carefully until the code mark is interlocking the corresponding space provided by the plug. Insert bushing completely. Tighten the nut as far as possible. 5.1.1 Initialising under TwinCAT system manager • The included XML file must be copied into the respective directory: ..\TwinCAT\Io\EtherCAT Start TwinCAT system manager Then proceed as described below. • • 3 1 2 4 5 6 7 BUDE_Manual-EtherCAT_EN.doc 24.10.2011/bja 24/28 Baumer Hübner GmbH Berlin, Germany EtherCAT devices should appear like in screen below 5.1.2 Terminal assignment Bus cover EtherCAT Status-Anzeige Status display DUO-LED Link/Activity Anzeige/display LED 1 x M12 connector (male), a-coded Pin 1 2 3 4 2 x M12 connector (female), D-coded Assignment UB (10...30 VDC) N.C. GND N.C. BUDE_Manual-EtherCAT_EN.doc 24.10.2011/bja Pin 1 2 3 4 25/28 Assignment TxD+ RxD+ TxDRxD- Baumer Hübner GmbH Berlin, Germany 5.2 Display elements 5.2.1 State indicator The bus cover provides a DUO LED (green/red) operating in line with EtherCAT Indicator Specification V0.91. DUO-LED green RUN State RUN State Off Blinking Single Flash On Status INIT PRE-OPERATIONAL SAFE-OPERATIONAL OPERATIONAL Flickering INITIALISATION or BOOTSTRAP Double Flash Triple Flash Quadruple Reserved Reserved Reserved Description The device is in state INIT The device is in state PRE-OPERATIONAL The device is in state SAFE-OPERATIONAL The device is in state OPERATIONAL The device is booting and has not yet entered the INIT state, or the device is in state BOOTSTRAP.Firmware download operation in progress Reserved for future use Reserved for future use Reserved for future use Category Mandatory Mandatory Mandatory Mandatory Optional reserved reserved reserved DUO-LED red ERR State ERR State Error Off No error Flickering Booting Error Booting Blinking Invalid Configuration Single Flash Unsolicited State Change Double Flash Triple Flash Quadruple Flash On 5.2.2 Application Watchdog Timeout Reserved Reserved PDI Watchdog Timeout Description The EtherCAT communication of the device is in working condition Error was detected. INIT state reached, but Parameter "Change" in the AL status register is set to 0x01:change error Example Category Mandatory Checksum Error in Flash Memory. Optional State change commanded General Configuration Error by master is impossible due to register or object settings. Slave device application has changed the EtherCAT Synchronisation Error, state autonomously: device enters SafeParameter "Change" in the Operational automatically. AL status register is set to 0x01:change/error. An application watchdog Sync Manager Watchdog timeout has occurred. timeout Reserved for future use Reserved for future use A PDI Watchdog timeout Application controller is not has occurred responding any more Mandatory Mandatory Mandatory Reserved Reserved Optional Link/Activity indicator One LED each for input and output. Link Yes Yes No Activity No Yes Not applicable State of Link/Activity indicator On Flickering Off Note: All LED´s are “off“ if the encoder is under power supply but not yet connected to Ethernet. BUDE_Manual-EtherCAT_EN.doc 24.10.2011/bja 26/28 Baumer Hübner GmbH Berlin, Germany 5.3 Cycle times Cycle times relate to the following settings: • • • Basic encoder type Scaling on/off (0x6000 Bit 22) Configuration 10 byte PDO/ 4 byte PDO/ 2 byte PDO Scaling ON: 0x6000 22 =1; Scaling OFF: 0x6000 22 =0; Chart on cycle times All times in ns 10 Byte PDO (default) 0x1C33:3 Shift time 21300 41800 25000 41000 33600 50600 0x1C33:5 Minimum cycle time Scaling OFF Scaling ON 214500 419500 234000 413000 217000 419000 233000 410000 228000 416000 245000 423000 0x1C33:6 Calc and copy time Scaling OFF Scaling ON 188700 393700 185200 364200 183000 385000 183000 360000 185400 373400 185400 363400 Basic encoder Device name GCAM GCMM GXAM GXMM GBAM GBMM 4 Byte PDO 0x1C33:3 Shift time 21300 41800 25000 41000 33600 50600 0x1C33:5 Minimum cycle time Scaling OFF Scaling ON 74500 279500 92000 271000 76000 278000 92000 269000 86000 274000 104000 282000 0x1C33:6 Calc and copy time Scaling OFF Scaling ON 48700 253700 43200 222200 42000 244000 42000 219000 43400 231400 44400 222400 Basic encoder Device name GCAM GCMM GXAM GXMM GBAM GBMM 2 Byte PDO 0x1C33:3 Shift time 21300 41800 25000 41000 33600 50600 0x1C33:5 Minimum cycle time Scaling OFF Scaling ON 62500 267500 85000 264000 68000 270000 84000 261000 78000 266000 96000 274000 0x1C33:6 Calc and copy time Scaling OFF Scaling ON 36700 241700 36200 215200 34000 236000 34000 211000 35400 223400 36400 214400 Basic encoder Device name GCAM GCMM GXAM GXMM GBAM GBMM Note: Setting 2 byte PDO means input data will be limited to 2 bytes, no matter what the maximum total encoder resolution is. BUDE_Manual-EtherCAT_EN.doc 24.10.2011/bja 27/28 Baumer Hübner GmbH Berlin, Germany 5.4 Configuration 10 Byte PDO / 4 Byte PDO / 2 Byte PDO by TwinCAT Default encoder configuration is 10 Byte PDO. As an option, the encoder configuration may be changed to 4 Byte PDO or 2 Byte PDO to enable shorter cycle times where appropriate (see chapter cycle times). Example: How to alter the 10 Byte PDO configuration (default) to 4 Byte PDO 1 mark 2 Right mouse button EEProm update Choose configuration OK Wait until EEprom writing cycle has been finalized Switch off and on the device OFF/ON, File new, device search using F5 BUDE_Manual-EtherCAT_EN.doc MB706.E – 11A1 – Firmware version 5.02 24.10.2011 / bja 28/28 Baumer Hübner GmbH P.O. Box 12 69 43 · D-10609 Berlin, Germany Phone: +49 (0)30/69003-0 · Fax: +49 (0)30/69003-104 [email protected] · www.baumer.com Technical modification reserved