Manual Absolute Encoder with for ATD Absolute Encoder Series Document version 1.62 EtherCAT® is registered trademark and patented technology, licensed by Beckhoff Automation GmbH, Germany. Baumer Thalheim GmbH & Co. KG Hessenring 17 DE-37269 Eschwege Phone + 49 (0)5651 9239-0 Fax + 49 (0)5651 9239-80 info@baumerthalheim.com www.baumer.com 05.11 Subject to modification in technic and design.
Document History Version 1.0 1.1 1.2 1.3 1.4 1.5 1.55 1.60 1.61 1.62 EtherCAT 2011-10-04/rnik Comments Official Release Single turn timing differences added Customer driven changes on error behavior Synchronous diagnosis principle Max resolution values changed Update to other product codes KPA Studio Setup Revised version Max resolution values changed No scaling function control 2/42 Baumer Thalheim GmbH & Co.
Content 1 DOCUMENT DESCRIPTION ...........................................................................................................................7 2 DEVICE OPERATION BASICS .......................................................................................................................8 2.1 POWER SUPPLY ............................................................................................................................................9 2.2 OPERATING TEMPERATURE RANGE ...............
7 SYSTEM SET UP WITH THE TWINCAT SOFTWARE ............................................................................... 31 7.1 7.2 8 SYSTEM SET UP WITH CAT STUDIO.NET SOFTWARE.......................................................................... 38 8.1 8.2 9 FREE RUN/SYNC0 INIT ............................................................................................................................... 31 DISTRIBUTED CLOCKS MODE INIT ..............................................................
Tables TABLE 1 ECAT CONNECTOR PIN OUT DESCRIPTION .....................................................................................................8 TABLE 2 POWER SUPPLY CONNECTOR PINNING ...........................................................................................................8 TABLE 3 OPERATING/STORAGE TEMPERATURE RANGE ............................................................................................. 10 TABLE 4 RUN STATE STATUS .............................................
Abbreviations Abbreviation ECAT DC PREOP SAFEOP OP TBD SDO PDO DPRAM RAM MT ST SII Description EtherCAT Distributed Clock Pre-Operational Safe Operational Operational To be defined Service Data Object Process Data Object Dual Port RAM Random Access Memory Multi turn encoder device Single turn encoder device Slave Information Interface Literature Ref LIT[00] LIT[01] LIT[02] LIT[03] LIT[04] LIT[05] LIT[06] LIT[07] EtherCAT 2011-10-04/rnik Literature Data sheet ATD 4B A 4 Y11 absolute encoder with hollow s
1 Document Description This document describes how absolute encoders ATD*B***Y*** are operated in an ECAT environment. For more device specific information about encoder physics, datasheet and ordering information please refer to LIT[00], LIT[07] or direct to info@baumerthalheim.com. Software and Hardware requirements on the host side are not part of this document.
2 Device Operation Basics The encoder device may be operated with a cable length of maximum 100 m between two bus devices (assumption cable CAT5e or better). Different bus topologies are possible: Line, Tree or Star configurations may be implemented. A maximum of 65535 devices may be connected to the bus. Picture 1 Line bus topology example ECAT devices don’t need any hardware configuration prior connection to the bus e.g. device address.
The ECAT controller state machine has four possible states: INIT, PREOP, SAFEOP and OP mode. Those states and the transition between states are managed via AL Control/Status register. Picture 3 Encoder SW layer diagram 2.
min temperature max temperature -20°C 85°C1 Table 3 Operating/Storage Temperature Range 2.3 ECAT Communication modes The encoder supports three communication modes: Asynchronous (Free run) Synchronous to SM Read event DC Sync Communication mode heavily impacts the encoder real time capability, system timing behavior and the system resource workload of the Masters. For systems with high real time requirements such as for closed loop applications the DC sync mode may be used.
Link/Activity OUT (gelb) ERROR (rot) RUN (grün) Link/Activity IN (gelb) Picture 5 LED arrangement (ATD4 exemplary) The RUN State LED behaves according to LIT[04] for devices with Input data only: RUN STATE State description OFF INIT State Blinking PREOP State Single Flash SAFE Operational State ON OPERATIONAL State Table 4 Run State Status The AL Status register contains four Information Blocks: AL State: contains the AL state of the device (INIT, PREOP, SAFEOP, OP) Error Indication: gives the informati
ATD2 synchronous 0x0002 0002 Table 5 Sync Manager configuration 1-Buffer Mode 2.3.2.1 Buffered Mode (3-Buffer Mode) In this mode both sides, ECAT master and ESC are able to access the buffer at the same time. The consumer (master) gets always the latest consistent dataset from the producer (slave). In this mode consumer and producer may access the buffer all the time without timing restrictions. This mode is used for the Free Run mode because this is an unsynchronized mode. 2.3.2.
Index SubIndex 1000 Name Type Deafult Value Device Type U32 / R 1008 Device Name U32 / R 1009 100A 1018 : 00 01 02 Hardware Version Software Version Identity Vendor Id Product Code U32 / R U32 / R U8 / R U32 / R U32 / R 03 04 1A00 : 00 01 1C00 : 00 01 02 03 04 1C12 1C13 : 00 01 1C33 : 00 01 02 03 04 05 06 6000 6001 6002 6003 6004 6500 6501 6502 Revision Number Serial Number Transmit PDO Mapping Sub Index 002 Sync Manager Communication Type Sub Index 001 Sub Index 002 Sub Index 003 Sub Index 004
Sub Description Index 01 Vendor Id for Baumer Thalheim GmbH & Co KG 02 Product Cod for ATD*B***Y*****/**ECM12 03 Revision Number of Device Modules (B,S) 04 Serial Number Table 9 Identity Value 0x0000 0204 0x**** **** 0x0000 **** 0x**** **** 2.4.1.2 Product Code Product Code Encoder Type 0x0001 0001 ATD4B***Y***15/16ECM12 0x0001 0002 ATD4B***Y***17ECM12 0x0002 0001 ATD2B***Y***14/16ECM12 0x0002 0002 ATD2B***Y***17ECM12 Table 10 Product Code codification 2.4.1.
Encoders devices does not support dynamic object dictionary. Some of the values under this object are dependent of the encoder operation mode (Sync or DC) and also dependent of the resolution. This means timing data is only true for: 1. Scaling Function Control disabled SFC=0 2.
This object data will be stored non-volatile after any change. This register may only be changed in case of ECAT state PREOP or SAFEOP. 2.4.1.8 Object 0x6001 Units per Revolution This object indicates the number of distinguishable steps per revolution. The 0x6001 object is a RW register that may be changed if sfc is enabled. The default value gives the Encoder single turn resolution (e.g. 215 = 0x8000).
2.4.1.11 Object 0x6004 Position Value This object gives the Encoder Position Value and reflects the process data: 31 30 16 15 0 216 Multi turn position value 215 Single turn position value Table 17 Position Value data alignment example (15/16 Bit) 0 2.4.1.12 Object 0x6500 Operating Status This object provides the operating status of the encoder. It gives information on the encoder internal programmed parameters. It reflects the object 0x6000 2.4.1.
0x2 0x4 Optic chip (ADC, EEPROM, SI) 0x8 Temperature error (over / under) Table 20 Manufacturer specific warnings 2.4.1.18 Object 0x6508 Operating Time This object provides the devices operating time. It will be incremented in steps of 0.1 h. Operating time periods of less than 0.1h are not counted. 2.4.1.19 Object 0x6509 Offset Value This object provides the offset value. The offset value is calculated via the preset object input data (0x6003) and shifts the position value with the calculated value.
3 Encoder Initialization Encoder initialization may differ from encoder version to version however general customizing steps are common for all variants. 3.1 Encoder Parameter Changes If the encoder output resolution should be changed the bit sfc in the object 0x6000 must be enabled. Else changes in the resolution e.g. total resolution or single turn resolution are not accepted by the Encoder. Minimum system cycle time performance in DC mode decreases if sfc is enabled.
3.2 Error handling All errors and warnings are forwarded by the encoder via emergency messages. Those messages are dispatched by the encoder automatically. System warnings are such, but not exclusive like listed under 2.4.1.17. Also ECAT specific communication (e.g. SM init mismatch, etc) errors are forwarded via the mailbox emergency message.
3.2.1.3 Warnings The encoder supports four classes of warnings: Low Battery: The internal battery charge is checked one time after power up, if the capacity is low this warning bit will be set. High/Low-Temperature: This warning bit will be set if the temperature of the ADC exceeds the data specified under 2.2. Short time exceeding is not registered by this system. Continuous temperature overrun may lead to position errors.
In case that the Sync Manager is enabled the values for the Watchdog register are as follows: ESC Register Name ESC Register Address Init Values Watchdog divider 0x0400 2498 Watchdog Time Process Data 0x0420 1000 Table 23 Sync Manager Watchdog Init The Watchdog divider gives the number of 25 MHz tics (minus 2) that represents the basic watchdog increment (2498 = 100 µs).
3.2.2.4 Error diagnostics (RED LED) Generic encoder errors or state transition errors are signalized to the user via ERROR State LED, supported LED states are: ERROR STATE State description OFF No Error Blinking Invalid Configuration Single Flash Unsolicited state change ON Watchdog Table 26 Error State Status 3.2.2.5 Working Counter In 1-Buffer mode (please refer to 2.3.2.2) the master may check the working counter value.
4 Encoder Family Overview Proper identification of product may be done via evaluation of the Device Name string (Object 0x1008). Another possibility is to read out the Device Type, Product Code and Resolution Data fields to have an exact device description. 4.
Asynchronous Timing In Asynchronous (Free Run) mode the encoder position data will be sampled asynchronous to the ECAT frame. In this mode the encoder data sampling frequency (fs) is about 11 kHz. The position data sample point may have a typical total jitter of 92µs. The following diagram shows the relationship between data read accesses to DPRAM (from the master point of view) at the ECAT controller and data sample and update to DPRAM from the slave (encoder).
5 Sync to SM event Timing In the this operating mode the process data will be sampled and copied subsequently into the Sync Manager buffer every time the data has been read out by the master, this means that the sampled data is synchronous to the read out events of the master. One disadvantage of this mode is that for large cycle times the data may be relative old for a RT system; however data is synchronized to the masters readout event.
At Operating temperature = 20°C, State = OP Name Min Jitter (J) 0 Cycle Time (sfc = 0/1) 62,50 Table 30 Sync to SM event timing specification EtherCAT 2011-10-04/rnik Typ 6,90 27/42 Max 10 64.000 µs µs Baumer Thalheim GmbH & Co.
6 DC Timing The exact data sampling time while DC mode depends on the sum of the two parameters: 0x1C33:3 (= Shift Time) and Tjs (Jitter on sampling time). The minimum cycle time depends on the setting of the Scaling Function Control bit. The time the encoder needs (from the SYNC0 signal point) to be able to put process data into the DPRAM can be estimated by adding the Shift Time and the Calc and Copy Time (Table 31 Calc and Copy Time). 6.
CycleTime 1C33:02 SYNC0 event (n) SYNC0 event (n+x) MIN CycleTime 1C33:05 D Um Master Slave S J C&C PD sampling Shift Time 1C33:03 Picture 12 Timing Diagram for DC or Sync Communication type D Um S J C&C : Delay time of the EtherCAT slave to transfer data (approx. 600n + 5ns x L[m]) : Shift time that is adjusted internally by the master.
n n+1 Picture 13 Sample point (n) to consecutive sample (n+1) point jitter ( CH1: SYNC, CH2: SAMPLE) for a multi turn device Upper scope window: CH1: not_DC_Sync0 signal CH2: Sample + Calc & Copy signal. Lower scope window: Zoom of upper window in the area marked by the two gray bars [] on Upper. EtherCAT 2011-10-04/rnik 30/42 Baumer Thalheim GmbH & Co.
7 System Set up with the TwinCAT Software In this chapter a short introduction for encoder device operation within a generic office PC environment is described. System setup standard 3 GHz DELL office PC D-Link Fast Ethernet Adapter TwinCAT V2.10.00 (Build 1313) 7.1 Free Run/Sync0 Init STEP A Start the TwinCAT System Manager software: Press F5 Key.
Confirm dialog with OK STEP B: Choose CoE – Online Choose: Online – via SDO Information, All Objects, Confirm. If the *.xml is stored under \\TwinCAT\Io\EtherCAT\xxx.xml the: Offline - from Device Description it is also possible to get the encoder Dictionary offline. This step is necessary only for SII memory <= 128 Bytes EtherCAT 2011-10-04/rnik 32/42 Baumer Thalheim GmbH & Co.
7.2 Distributed Clocks Mode Init All initialization points described in the previous chapter have to be done before starting this Init EtherCAT 2011-10-04/rnik 33/42 Baumer Thalheim GmbH & Co.
STEP C : Choose DC -> Advanced Settings Choose Smart View -> Write E2PROM EtherCAT 2011-10-04/rnik 34/42 Baumer Thalheim GmbH & Co.
Choose sync mode (content depends on XML File that is used and may differ from picture): Confirm with OK Reset encoder (Power on / off 10 sec min) Repeat STEP A Change Operation Mode to Distributed Clock EtherCAT 2011-10-04/rnik 35/42 Baumer Thalheim GmbH & Co.
Set Up Cycle Time Confirm with OK EtherCAT 2011-10-04/rnik 36/42 Baumer Thalheim GmbH & Co.
Append a PLC Project (*.tpy file) Attach Variable From the Menu Actions choose Activate Configuration Confirm the next three dialogs EtherCAT 2011-10-04/rnik 37/42 Baumer Thalheim GmbH & Co.
Start the PLC Task. HINT : If no PLC Task is started the TwinCAT System Manager will start cyclic data transfer e.g. Position Values will not be updated by the encoder. 8 System Set up with CAT Studio.NET Software In this chapter a short description of device operation with a generic office PC environment using the KPA ECAT Studio.NET and the ECAT Master Win 32 software follows. System setup: standard 3 GHz DELL office PC D-Link Fast Ethernet Adapter EtherCAT Studio Version 1.9.16.
On the following Window choose Accept After this step Master should be running at INIT state. Choose State on Master and change to Operational EtherCAT 2011-10-04/rnik 39/42 Baumer Thalheim GmbH & Co.
Process Data can be seen under Slave>Variables CoE Online Data may be checked under Slave>CoE-Online Possible Encoder errors are showed under the Emergency register EtherCAT 2011-10-04/rnik 40/42 Baumer Thalheim GmbH & Co.
8.2 Distributed Clock Mode For Distributed Clock Setup the Master and Slave have to be detached. After this: 1)The Distributed Clock at Master has to be enabled 2)The Distributed Clock at the Slave has to be enabled (please refer to following picture) After this State Change may be done following the prior state change procedure. EtherCAT 2011-10-04/rnik 41/42 Baumer Thalheim GmbH & Co.
9 EtherCAT Conformance Test The EtherCAT Encoder Family was subjected to a EtherCAT Conformance Test (Version 1.20.0.0), the result was satisfactory. Picture 14 EtherCAT Conformance Test (Version 1.20.0.0) result. EtherCAT 2011-10-04/rnik 42/42 Baumer Thalheim GmbH & Co.
