Manual - TWK-ELEKTRONIK GmbH
Contents
1. If the so called free run is now also activated the I O data are cyclically exchanged and can be monitored in the TwinCAT TwinCAT System Manager y Activate Free Run L we Clicking onto the CRK s Inputs displays the absolute encoder s input data Unbenannt TwinCAT System Manager File Edit Actions View Options Help Dee ein np Sot A OBC cB SYSTEM Configuration Name Online Type BA PLC Configuration ei position_value OXOD1DEA43 1108547 UDINT B E 1 0 Configuration E BB 1 0 Devices Ge Device 1 EtherCAT la Device 1 Image amp Device 1 Image Info Inputs E Outputs HQ InfoData Term 1 EK1100 UB Box 6 CRK T Inputs Control HQ weiste HQ InfoData ef Mappings Date 10 09 2013 Page 17 of 18 document no CRK 11780 EE TWK ELEKTRONIK If you click onto the CRK itself instead the following screen s register takes you to the absolute encoder s configuration and parameterisation Unbenannt TwinCAT System Manager File Edit Actions View Options Help Dee o BES MS Di AA A 2Q ce BM SYSTEM Configuration BM PLC Configuration General EtherCAT Process Data Startup CoE Online Online SMA 1 0 Configuration 5 88 1 0 Devices Name Box 6 CRK EM Device 1 EtherCAT Dee CAK amp x A0IERA03EL1 xxx la Device 1 Image la Device 1 Image Info Comment H t Inputs E l Outputs H InfoData w Term 1 EK1100 SR Box 6 CRK z QT Inputs EI Di2. ora o The object 6500 depicts the operating status of the absolute encoder The bits have the same meaning as in the object 6000 O al Oo oO Zs 5 5 2 Object 6501 Singleturn resolution Index Sub Name Datatype Access Range Value Default 6501 00 singleturn_resolution Unsigned32 4096 8192 fF Specifies the maximum resolution which can be set 5 5 3 Object 6502 Number of distinguishable revolutions Datatype Access Range Value Default _ 6502 number _of_distinguishable_re Unsigned16 ro 4096 volutions Specifies the maximum number of revolutions 5 5 4 Object 6503 Alarms Bit Meaning Collective error for further information see object 2000 state_value Chapter 5 3 1 5 5 5 Object 6504 Supported alarms Index Sub Name Datatype Access Range Value Default _ 00 supported_alarms Unsigned16 8000 En 0 14 Collective error 5 5 6 Object 6509 Offset index Sub Name Datatype Access Range Value Default 6509 00 offset value orses o o See object 6003 pre set Chapter 5 4 4 The values in brackets are valid for encoders with 13 Bit resolution Date 10 09 2013 Page 15 of 18 document no CRK 11780 EE TWK ELEKTRONIK 6 TwinCAT system manager 6 1 Installation der XML Datei Copy the downloaded XML file to the Twincat lo Ethercat directory Start the TwinCAT system manager 6 2 Online commissioning Ifth
3. 00 largest supported subindex Unsigneds m 1 By writing load hex 0x64616F6C in sub index 1 the parameters default values are loaded into the EE PROM and become immediately active Following execution the value is reset to 1 Date 10 09 2013 Page 10 of 18 document no CRK 11780 EE 5 2 7 Object 1018 Identity Object Index Sub Name Datatype Access RangelValue Default 1018 00 largest_supported_subindex Unsigned8 Lor 4 Unsigned32 ono product_code Unsigned32 0x1000 Unsigned32 ESCHER Unsigned32 Soul 5 2 8 Object 1600 Receive PDO mapping Index Sub Name Datatype Access RangelValue Default 1600 00 largest_supported_subindex Unsigned8 ro 14 receive_mapping_object Unsigned32 0x20010010 PF The encoder receives the control byte index 0x2001 as PDO 5 2 9 Object 1A00 Transmit PDO mapping Index Sub Name Datatype Access Range Value Default 1400 00 largest supported_subindex Unsigneds ro 1 fo transmit_mapping_object Unsigned32 0x60040020 PF The encoder transmits the position value index 0x6004 as PDO 5 2 10 Object 1012 Sync manager channel 2 process data output Index Sub Name Datatype Access Range Value Default 1012 00 Inter d RxPDOs Unsigneda m receive_assign_object Unsigned16 0x1600 PF 5 2 11 Object 1013 Sync manager channel 3 process data input Index Sub Na
4. 0 0 2001 control_value ROP 00000 0 Date 10 09 2013 Page 18 of 18 document no CRK 11780 EE
5. 009 Manufacturer hardware version unssnseniintneisn sieso a 10 5 2 4 Object 100A Manufacturer software version ae 10 2 2 9 Object 1010 Store Patamelers nunnnnn ee a A kaeaea 10 32 6 Object 1011 Restore default parametro 10 gt 27 Object 1010 dent ODOC an ea a a a E ae 11 2 2 8 Object 1600 Receive PDO MAPPING una dela 11 5 2 9 Object 1A00 Transmit PDO Map pig E 11 5 2 10 Object 1012 Sync manager channel 2 process data output 11 5 2 11 Object 1013 Sync manager channel 3 process data input amonmomomomsos 11 5 3 Manufacturer Specific parameters oooococccicccicccccnnccnoconoconnncnnn ran 12 5 3 1 Object 2000 Slale Valle usina ea 12 5 2 2 Object 2001 Control Valle nn ee 12 5 4 Standardised device parameters nn 13 5 4 1 Object 6000 Operating Parameters nina a ea 13 5 4 2 Object 6001 Measuring units per revolution unse 13 5 4 3 Object 6002 Total measuring range in measuring units useseserssensenennennnnennnnenannnennnnn 13 3 44 480 0125 00 1 gt sto 14 9 4 0 Object 6004 e een nennen 14 5 5 Standardised device ie 15 5 9 1 Object6500 OPEN ET 15 2 5 2 Object 6501 Singlelum resolution ee SSEbaeEe 15 Date 10 09 2013 Page 3 of 18 document no CRK 11780 EE 5 5 3 Object 6502 Number of distinguishable revolutions ursusssenssensennnersennennnennnnnnennnnnn 15 2 9 4 Object 6503 AMS ein AAN AA 15 29 9 K ler SUDDONE alaMS A Eege 15 9 9 6 Object 63909 D
6. 02 VAR totalmeasuring_rangeinmeasuring_units Unsigned32 rw 6003 VAR presetvalue_______________ Unsigned32 rw 6004 6500 6501 6502 6503 VAR 6504 6509 rw ro ro ro Date 10 09 2013 Page 9 of 18 document no CRK 11780 EE 5 2 Communication parameters al 2 1 Object 1000 Device type Data type Access Range Value device_type Unsigned32 0x20196 2 2 Object 1008 Manufacturer device name Data type Range Value Sma o 2 gt al wech o oO CO fi o o O a e N a N F x x 5 2 3 Object 1009 Manufacturer hardware version Data type Access Range Value manufacturer _hardware_version String Contains the current manufacturer hardware version e g 2 00 1009 5 2 4 Object 100A Manufacturer software version Index Sub Name Datatype Access RangelValue Default 00 manufacturer_ software version Sting ro J Contains the current manufacturer software version e g 3 00 5 2 5 Object 1010 Store parameters Index Sub Name Datatype Access RangeNalue Default 1010 00 largest supported subindex Unsigned o 1 Writing save hex 0x65766173 in sub index 1 leads to the failsafe saving of the parameters in the EEPROM Following execution the value is reset to 1 5 2 6 Object 1011 Restore default parameters Index Sub Name J Datatype Access RangeWalue Default 1600
7. Error in the flash the parameters have been set to default values e memar ion power supply ofon Collective error 5 3 2 Object 2001 Control value The bits have the following meanings A flank change from 0 to 1 sets the previously programmed pre set value CoE parameter 6003 Default value 0 The scaling must be switched on to set the pre set value CoE parameter 6000 Also see Chapter 5 4 Additionally saving the pre set offset value via the object 1010 is not necessary Access to the control word is only possible via a PDO In the object directory it is read only Date 10 09 2013 Page 12 of 18 document no CRK 11780 EE 5 4 Standardised device parameters Those parameters marked with rw in this chapter can be set by the user To store the parameters in a failsafe manner in the encoder s EEPROM the save command must then be executed under the object 1010 See Chapter 5 2 5 5 4 1 Object 6000 Operating parameters Index Sub Name LU Datatype Access Range Value Default 00 operating_value Unsigned32 nm 0 1 4 5 pn Code sense KS Ascending position value on clockwise rotation of the shaft viewed in the direction of the shaft CCW Ascending position value on counter clockwise rotation of the shaft viewed in the direction of the shaft Scaling off The absolute encoder operates with the default values of the resolution total number of steps and pre set offset parameter
8. IS inneren 15 6 TWIRGAT system Manage lisina iii 16 6 1 Installation Ger XML Datej na na eae aaa aa A EA aa E Eit 16 6 2 Online COMMISSION sons seen ne ee 16 Date 10 09 2013 Page 4 of 18 document no CRK 11780 EE 1 Safety instructions 1 1 Scope of validity This user manual applies exclusively to the following rotary encoders with PROFIsafe interface CRKxx xxxxR4096C1M01 TRKxx xxxxxxR4096C 1MKO1 1 2 Documentation The following documents must be noted The owner s system specific operating instructions This user manual Data sheet number CRK11778 or TRK12825 The pin assignment enclosed with the device Installation instruction TZY 10206 enclosed with the device 1 3 Proper use TWK ELEKTRONIK GmbH s rotary encoders and linear transducers are used to record rotary and linear posi tions and make their measured values available as an electric output signal As part of a system they must be connected to the downstream electronics and must only be used for this purpose 1 4 Commissioning The relevant device must only be set up and operated using this document and the documentation specified in point 1 2 e Protect the device against mechanical damage during installation and operation e The device must only be commissioned and set up by a specialist electrician e Do not operate the device outside of the limit values which are specified in the data sheet e Check all electrical connections before commissioni
9. TWK Absolut encoder with EtherCAT interface R ocument no CRK 11780 EE Accompanying data sheet TRK 12825 or CRK 11778 Date 10 09 2013 EtherCAT user manual TWK ELEKTRONIK GmbH D 40041 Dusseldorf Tel 49 211 96117 0 info twk de Heinrichstrasse 85 Postbox 10 50 63 Fax 49 211 637705 www twk de COPYRIGHT The Operating Instructions CRK 11780 is owned by TWK ELEKTRONIK GMBH and is protected by copyright laws and international treaty provisions O 2013 by TWK ELEKTRONIK GMBH POB 10 50 63 m 40041 D sseldorf m Germany Tel 49 211 63 20 67 m Fax 49 211 63 77 05 info twk de m www twk de EtherCAT ist eine eingetragene Marke und patentierte Technologie lizenziert durch die Beckhoff Automation GmbH Deutschland Date 10 09 2013 Page 2 of 18 document no CRK 11780 EE Table of contents 1 Safety INSTUCHONS 5 2 General usan atera 6 3 Installation instructions ze 6 3 1 Connection via M12 connect aan eh 6 32 EIER AT IO lt lios 6 3 3 Add Ee E 7 34 Status LEDS ai Ada 7 e lt P e o ee 7 4 Process Gala CNN eps 8 4 1 Position data format DOSINOM value A di ida dencia 8 42 Control word data format control Valle unsere 8 5 Programming and diagnosis CANopen over EtherCAT ooooooonccccccncccccncncnonnnnnanannnnaaannnos 9 3 1 Overview OF the object directory nee nennen 9 5 2 Communication Darameiers cnn nr 10 ee Te 10 5 2 2 Object 1008 Manufacturer device namens asien aneinander 10 5 2 3 Object 1
10. d switch port In contrast to the EDP networks which are usual today hubs are not permissible and a standard switch is only permitted directly to the rear of the master the first subscriber must then possess a MAC address For wiring purposes we recommend pre assembled data cables with M12 connectors moulded on at both ends These can be ordered from us in various lengths see data sheet CRK11778 Terminating resistors are not necessary Date 10 09 2013 Page 6 of 18 document no CRK 11780 EE 3 3 Addressing Manually setting the subscriber address is not necessary It is assigned automatically by the EtherCAT master in accordance with the physical sequence in the bus 3 4 Status LEDs Four LEDs are housed in the absolute encoder s connecting cap These have the following meanings Link Link iio Activity1 Activity2 Description sn ES greenired green green greenon on Operational red flashing Impermissible parameter or pre set value Brief flickering on the part of the red status NS LED after switching on the voltage indicates the absolute encoder s booting process 3 5 XML file An XML file to integrate the absolute encoder into a project planning tool is available for download on our website www twk de under documentation This describes the features of the EtherCAT subscriber in the standardised XML format After integrating the XML file into the project planning tool e g TwinCAT Sys
11. e Chapter 5 4 Additionally saving the pre set offset value via object 1010 is not necessary les le Date 10 09 2013 Page 8 of 18 document no CRK 11780 EE 5 Programming and diagnosis CANopen over EtherCAT In the case of CANopen over EtherCAT all parameters and diagnostic information are located in what is called the object directory By specifying their index and sub index they can be modified or read there with the SDO Service Data Object message The object directory is sub divided into the following areas Communication parameters Index 1000 1FFF Manufacturer specific parameters Index 2000 5FFF Standardised device parameters Index 6000 9FFF Refer to the following tables for a description of the individual parameters and diagnostic information 5 1 Overview of the object directory Object Name Datatype Access Communication Profile Area 1000 1008 1009 ro 100A ro 7010 RECORD aere parameters ______ 10M RECORD restore default parameters 1018 RECORD identity object 1600 RECORD receive PDO_mapping 1A00 RECORD transmit PDO_mapping P1612 _ RECORD sync manager RXPDO assign mw 1013 _ RECORD sync manager TxPDO seg mw DOE ae ENS ME NE Manufacturer Specific Profile Area A PEA PA Standardised Device Profile Area 6000 VAR operating parameters Unsigned16 rw 6001 VAR measuring units per revolution Unsigned32 rw 60
12. e system is connected and capable of running reading in the bus structure online is the simplest option This procedure is described here examplarily for the encoder CRK Create a new project mark I O devices and click onto the wand Unbenannt TwinCAT System Manager File Edit Actions View Options Help DABA SOR MS Sale a AREA EA BM SYSTEM Configuration pier open Type BM PLC Configuration a BA 1 0 Configuration BY 1 0 Devices 8 Mappings Confirm the followin note with OK TwinCAT System Manager A HINT Not all types of devices can be found automatically TwinCAT should then locate your network card Confirm this with OK 1 new I O devices found MDevice 1 Ebert AT LAN Verbindung A4SUSTeK Broadcom 440x 10 100 Integrate Select All Unselect All Date 10 09 2013 Page 16 of 18 document no CRK 11780 EE TWK ELEKTRONIK After confirming the following dialogue with Yes all connected devices should be located In this case the EtherCAT master device 1 a Beckhoff bus terminal with I O modules and the TWK CRK absolute encoder ce BR SYSTEM Konfiguration BA SPs Konfiguration OMA EA Konfiguration y Scan for boxes E EH E A Ger te JS Ger t 1 EtherCAT TwinCAT System Manager la Ger t 1 Prozessabbild la Ger t 1 Prozessabbild fH QT Eing nge Ausg nge HQ InfoData w Klemme 1 EK1100 QB Box 6 CRK 8 Zuordnungen
13. mber of steps and are displayed as the parameter value Example Desired total number of steps 20 480 Desired resolution 4096 The values in brackets are valid for encoders with 13 Bit resolution Date 10 09 2013 Page 13 of 18 document no CRK 11780 EE Desired number of revolutions 5 Next highest 2 revolution number 8 The following results from this Actual total number of steps 32 768 Actual resolution 4096 5 4 4 Object 6003 Preset Data type eem E Default ae Unsigned32 total No a steps 1 This parameter can be used to set the absolute encoder s position value to any arbitrary value within its total number of steps The value entered here is output directly as the new position value The difference between the displayed and the internal position value is stored as the offset in object 6509 Before changing the pre set value scaling must be switched on via object 6000 bit 2 The pre set value can also be set via the PDO control_ value in the I O data traffic See Chapter 5 3 2 5 4 5 Object ati a Position Data type on GN Default ee Sub reme tame Unsigned32 total No y steps 1 This value is the position value and is output via the PDOs See Chapter 4 Date 10 09 2013 Page 14 of 18 document no CRK 11780 EE 5 5 Standardised device diagnosis 5 5 1 Object 6500 Operating status Datatype Access RangelValue Default operating_status Unsignedio m
14. me J Datatype Access RangelValue Default 1613 00 number d TxPDOs Unsigneda o 01 transmit_assign_object Unsigned16 0x1A00 PF Date 10 09 2013 Page 11 of 18 document no CRK 11780 EE 5 3 Manufacturer specific parameters 5 3 1 Object 2000 State value index Sub Name Datatype Access RangaValue Default 2000 00 state value umsignedio ro oms o The object 2000 displays detailed parameterisation errors and information An entry in state_value is displayed by the highest value bit in the object 6503 Alarms Chapter 5 5 4 The red status LED also flashes in addition to the current green status Also see Chapter 3 4 The bits have the following meanings Remedy Impermissible bits set in the parameter Re write the parameter with permissible values operating_parameters object 6000 Impermissible value in the parameter Re write the parameter with permissible values measuring_units_per_revolution Object 6001 Impermissible value in the parameter total_ Re write the parameter with permissible values measuring_range_in_measuring_units object 6002 Due to a current error the save_all_parameters First rectify the error which was present prior function has not been carried out to save_all_ parameters Then execute the command again Impermissible value in the parameter preset Re write the parameter with permissible values object 6003 5
15. ng the system Date 10 09 2013 Page 5 of 18 document no CRK 11780 EE 2 General The CRK electro optical absolute encoders are designed for direct connection to the EtherCAT industrial Ether net system Use of the CANopen over EtherCAT message CoE enables parameters and diagnostic data to be handled as usual in the case of CANopen The EtherCAT specifications can be obtained from the EtherCAT Technology Group ETG www ethercat org 3 Installation instructions 3 1 Connection via M12 connector The M01 type absolute encoders have separate connectors for the supply and the EtherCAT system Device connectors M12x4 D coded socket Bus in M12x4 D coded socket Bus out M12x4 A coded pins 24 V voltage supply View of the rear of the encoder see data sheet CRK11778 for connector assignment UB L A1 L A2 NS 3 2 EtherCAT wiring The physical characteristics of the interface are based on the 100BASE TX Ethernet standard in accordance with ISO EC 8802 3 As a result of this The EtherCAT cable must at least meet the requirements according to CAT5 The max cable length between two subscribers may be 100 m Setting the baud rate is not possible necessary In the case of EtherCAT the network topology normally has a linear structure However tree structures or branch off lines may also be implemented by means of bus modules with an integrate
16. s Editing of the parameters is blocked on The absolute encoder operates with the values last stored for the parameters Editing of the parameters is enabled 31 Notused fT 5 4 2 Object 6001 Measuring units per revolution Index Sub Name Datatype Access Range Value Default 6001 K measuring_units_per_revolution Unsigned32 1 4096 4096 8192 This parameter can be used to set the absolute encoder s resolution in steps per revolution Before changing the resolution scaling must be switched on via object 6000 bit 2 5 4 3 a 6002 Total u aa range in measuring units Data type re Range Value Default ES Sub Name aM measuring_range_in_ Unsigned32 1 16777216 16777216 measuring_units 33554432 This parameter can be used to set the absolute encoder s total number of steps The total number of steps is the product of the resolution and the number of revolutions Before changing the resolution scaling must be switched on via object 6000 bit 2 Note It must be noted that internal calculation of the number of revolutions within the encoder is carried out in powers of 2 Irrespective of this requirement the user can programme the desired total number of steps and the desired resolution according to the application If necessary the absolute encoder makes use of the next highest power of 2 during calculation In this case the values are designated as the actual resolution or the actual total nu
17. sabled HQ Control The CoE online register accesses the parameter and diagnostic data All parameters identified with RW can be changed The description of the parameters can be found in Chapter 4 After changing the parameters do not forget to save them in a failsafe manner via parameter 1010 General EtherCAT Process Data Startup CoE Online Online Auto Update Single Update C Show Offline Data GE Add to Startup Index Name Flags Value 1000 device_type RO 0x000201 96 131478 1008 manufacturer_device_name RO CAKxx12R12C1 xx 1009 manufacturer_hardware_version RO 01 00 1004 manufacturer_software_version RO 01 01 1010 0 store_parameters RO gt 1 lt 1011 0 restore_default_parameters RO LE 1018 0 identity_object RO gt 4 lt 1600 0 R PDO1 RO am ied 1400 0 TxPDO1 RO gt 1 lt 10120 RxPDO_assign RO Sal 1013 0 TxPDO_assign RO gt 1 lt 6000 operating_parameters Aw 00000 0 6001 measuring_units_per_rewolution Aw 000001000 4096 6002 total_measuring_range_in_measuring AW 001000000 16777216 6003 preset_value DW Ox00000000 0 6004 position_value ROP 0x0010E 443 1108547 6500 operating_status RO 0x0000 0 6501 singletum_resolution RO 0x00001000 4096 6502 number_of_distinguishable_revolutions AO 01000 4096 6503 alarms RO 0x0000 0 6504 supported_alarms RO 0x8000 32768 6509 offset_value RO 0x00000000 0 2000 state_value RO 0x000
18. tem Manager from Beckhoff the absoluteencodercanbeintegratedoff lineintothebus However accesstotheparametersanddiagnosticinformation CANopen over EtherCAT is only possible after reading these out online from the absolute encoder See Chapter 6 Date 10 09 2013 Page 7 of 18 document no CRK 11780 EE 4 Process data exchange The absolute encoder transmits its position 4 bytes and receives a control word 2 bytes as process data ob jects PDO The data format is as follows 4 1 Position data format position_value Byte 0 Byte 1 Byte 2 Byte 3 Bytes 716 5 4 3 2 1 0 15 14 13 12 11 10 9 5 23f22121f20 10 18 17 16 31 30 29 28 27 26 25 24 po BR bit positionvalue gt gt gt 32 bit position_value The positions are depicted in Intel format Little Endian The absolute encoder s counting direction resolution and total number of steps can be changed via the CoE parameters 6000 6001 and 6002 Failsafe storage of the modified parameters is carried out via the CoE parameter 1010 See Chapter 5 2 5 and Chapter 5 4 4 2 Control word data format control_value Byteo Byte 1 Bytet z ejs 4 sl2 1 To hsjrasjizjnho ole A6bitcontrol value 16 bit control_value Bit Meaning Comment gt gt gt Set pre set A flank change from 0 to 1 sets the previously programmed pre set value CoE parameter 6003 Default value 0 Scaling must be switched on to set the pre set value CoE parameter 6000 Also se
Download Pdf Manuals
Related Search