8 Operating the measuring device
8.5 Parameter description
8.5.1 Main menu
Operating the measuring device
8.5 Parameter description
8.5.1 Main menu
The measured value is shown in the display by default.
With the pushbutton you can switch from the measured value display to the bar graph level display. You can scroll within the main menu using the and pushbuttons.
Press the pushbutton for at least 2 seconds to switch to the menu.
Display Description
Measured value Display of measured value in mm
Bar graph level Displays the level (attenuation value) as a bar graph Numerical level Displays the level (attenuation value) as a numeric value
→ See also Page 29, Table 5.
Temperature Displays the internal temperature of the measuring device Operating hour
counter Displays the operating hours
Warnings Displays the pending warnings. If there is a warning pending, the PWR LED flashing orange. If there are no warnings pend-ing, no warnings are displayed.
→ See also Page 70, Chapter 11.2, list of possible warn-ings.
Error Displays the pending warnings. If there is an error pending, the PWR LED begins flashing red. If there are no errors pending, no errors are displayed.
→ See also Page 70, Chapter 11.2, list of possible errors.
Table 8: Main menu
8.5.2 “SwVers” menu
The “SwVers” menu displays all information relating to the software.
The “SwVers” menu is accessed via the following menu path:
Main menu → → Menu → → SwVers
Press the pushbutton to display the “App-uC” parameter.
You can scroll within the menu using the and pushbuttons. Press the pushbutton to display the relevant parameter value.
Parameter Description
App-uC Displays the version of the application processor FPGA Displays the version of the field programmable gate array Com-uC Displays the version of the communication processor Table 9: “SwVers” menu
Operating the measuring device
8.5.3 “HwVers” menu
The “HwVers” menu displays all information relating to the hardware.
The “HwVers” menu is accessed via the following menu path:
Main menu → → Menu → → SwVers → → HwVers Press the pushbutton to display the “HwVers” parameter.
Parameter Description
HwVers Displays the version number Table 10: “HwVers” menu
8.5.4 “more” menu
In the “more” menu you can activate or deactivate the advanced menu view.
The “more” menu is accessed via the following menu path:
Main menu → → Menu → → more
Press the pushbutton. The option that is currently set is displayed.
Options Description Yes/
No Activate or deactivate advanced menu view Options
• Yes
• No
Factory setting
• No Table 11: “more” menu
Operating the measuring device
8.5.5 “MFx On” menu
In this menu you can activate or deactivate the MF1 multifunctional input/
output and the MF2 multifunctional output.
The “MFx On” menu is accessed via the following menu path:
Main menu → → Menu → → more → → MFx On.
Press the pushbutton. The option that is currently set is displayed.
Requirement for display
• “more” menu: “Yes” option Options Description Enable/
Disable Activates or deactivates the MF1 multifunctional input/output and MF2 multifunctional output.
Options
• Enable: MF1 multifunctional input/output and MF2 multi-functional output are activated.
• Disable: MF1 multifunctional input/output and MF2 multi-functional output are deactivated.
Factory setting
• Disable Table 12: “MFx On” menu
Operating the measuring device
8.5.6 “MF1” menu
In this menu and its submenus you can configure the MF1 multifunctional input/output.
The “MF1” menu is accessed via the following menu path:
Main menu → → Menu → → more → → MFx On → → MF1
Press the pushbutton to display the “ActSta” parameter.
You can scroll within the menu using the and pushbuttons. Press the pushbutton to display the relevant parameter value.
Requirement for display
• “more” menu: “Yes” option
• “MFx On” menu: “Enable” option Parameter Description
ActSta Select the level or signal edge of the MF1 multifunctional input/output.
Options
• ActLow: LOW level with active output (NC – normally closed) or activation of input at falling signal edge
• ActHi: HIGH level with active output (NO – normally open) or activation of input at rising signal edge
Factory setting
• ActLow
Functn Select function for multifunctional input/output. The corre-sponding submenu for the chosen function is displayed.
Options
• Dist: MF1 is used as a distance switch output.
• Speed: MF1 is used as a speed switch output.
• Srvice: MF1 is used as a service output.
• LsrOff: MF1 is used as an input for switching off the laser.
• Preset: MF1 is used as an input for activating the preset (overwriting the offset).
Offset = preset value – current measured value Factory setting
• Dist Dist/Speed
Srvice/LsrOff/
Preset
The corresponding submenu is displayed depending on the function selected for the “Functn” parameter. See the relevant table for the parameter description.
No further submenu is displayed for the “LsrOff” option. If the MF1 multifunctional input is active, the laser is switched off.
Count Counts the switching events of the multifunctional input/out-put.
You can reset the counter by switching the distance measuring device off and on again.
Operating the measuring device
8.5.7 “MF1 – Dist” submenu
In this submenu you can configure the MF1 multifunctional output as a distance switch output.
The “Dist” menu is accessed via the following menu path:
Main menu → → Menu → → more → → MFx On → → MF1 → → ActSta → → Functn → → Dist
Requirements for display
• “more” menu: “Yes” option
• “MFx On” menu: “Enable” option
• “Functn” function: “Dist” option Parameter Description
Limit Sets the distance-based switching threshold Hysteresis Sets hysteresis for the switching threshold Table 14: “MF1 – Dist” submenu
inactive active
Limit Hyst
Dist.
Fig. 24: Representation of the “Dist.” function Limit: Distance-based switching threshold Hyst: Hysteresis for switching threshold Dist: Measured distance
Operating the measuring device
8.5.8 “MF1 – Speed” submenu
In this submenu you can configure the MF1 multifunctional output as a speed output.
The “Speed” menu is accessed via the following menu path:
Main menu → → Menu → → more → → MFx On → → MF1 → → ActSta → → Functn → → Speed
Requirements for display
• “more” menu: “Yes” option
• “MFx On” menu: “Enable” option
• “Functn” parameter: “Speed” option Parameter Description
Limit Sets speed switching threshold. The digital output is activated when the actual speed exceeds the set speed. The switching hysteresis is fixed at ± 0.1 m/s.
Adjustment range 0.0–9.9 m/s Factory setting
• 0 [mm]
Sign Select the direction of motion to be monitored Options
• + / –: If the set speed in a specific direction is exceeded, the digital output is activated.
• +: If the set speed is exceeded with increasing distance, the digital output is activated.
• –: If the set speed is exceeded with decreasing distance, the digital output is activated.
Factory setting
• + / –
Table 15: “MF1 – Speed” submenu
Operating the measuring device
8.5.9 “MF1 – Srvice” submenu
In this submenu you can configure the MF1 multifunctional output as a service output. You can activate (On) or deactivate (Off) multiple options.
The “Srvice” menu is accessed via the following menu path:
Main menu → → Menu → → more → → MFx On → → MF1 → → ActSta → → Functn → → Srvice
Requirements for display
• “more” menu: “Yes” option
• “MFx On” menu: “Enable” option
• “Functn” parameter: “Srvice” option Parameter Description
WrnLsr Activates or deactivates the warning message when the aging of the laser means that the measuring device is nearly due to be replaced.
WrnLvl Activates or deactivates the warning message when the atten-uation value is not reached, e.g., due to contamination.
Options
• On
• Off
Factory setting
• On
WrnTemp Activates or deactivates the warning message when the internal temperature of the measuring device is outside the permissible limits.
WrnPlb Activates or deactivates the warning message when the mea-sured value is implausible. This may be caused by an errone-ous measured value, obstruction of the light beam, optical interference, or electrical interference.
Options
• On
• Off
Factory setting
• On
Operating the measuring device
“MF1 – Srvice” submenu
(cont.) Parameter Description
NotRdy Activates or deactivates the warning message when the laser is not ready for operation. This may be due to a hardware error or it may be because the laser is switched off. This warning message is also issued during initialization.
Options
• On
• Off
Factory setting
• On
Heat Activates or deactivates the warning message when the heating is switched on. This parameter is only displayed on measuring devices with the “Heating” option.
Options
• On
• Off
Factory setting
• On
Table 16: “MF1 – Srvice” submenu
8.5.10 “Preset” submenu – move to initialization position
Description The “Preset” function enables automated initialization of storage and retrieval systems and other rail vehicles in case of maintenance, commis-sioning, or replacement.
During initialization, the desired output value is set (preset) at a defined position (initialization position).
In this submenu you can configure the MF1 multifunctional input for the preset function.
NOTE!
When activating the “Preset”, the output of measured val-ues of the distance measuring device will be temporarily unavailable. We recommend carrying out the “Preset”
while the machine is at a standstill or running at very low speeds. The maximum activation number is typically around 10,000 cycles.
Operating the measuring device
“MF1 – Preset” submenu Main menu → → Menu → → more → → MFx On → →
MF1 → → ActSta → → Functn → → Preset Requirements for display
• “more” menu: “Yes” option
• “MFx On” menu: “Enable” option
• “Functn” parameter: “Preset” option Parameter Description
sPrset The preset is adopted as an initialization value. If the MF1 multifunctional input is activated, the preset is used.
Adjustment range
• –300,000 … +300,000
Because the display can only handle six digits, only negative values down to “–99999” can be input via the display.
Factory setting
• 10
Table 17: “MF1 – Preset” submenu
Setting the preset 1. Select the “Preset” function for the MF1 multifunctional input.
2. Enter the desired initialization value for the “Preset” parameter.
3. Move the vehicle to the initialization position.
4. Activate the MF1 multifunctional input, e.g., using a proximity switch, a photoelectric sensor, or a switch.
5. The output value of the distance measuring device corresponds to the set value for “Preset” at the initialization position.
Operating the measuring device
8.5.11 “MF2” menu
In this menu and its submenus you can configure the MF2 multifunctional output.
The “MF2” menu is accessed via the following menu path:
Main menu → → Menu → → more → → MFx On → → MF1 → → MF2
Press the pushbutton to display the “ActSta” parameter.
You can scroll within the menu using the and pushbuttons. Press the pushbutton to display the relevant parameter value.
Requirement for display
• “more” menu: “Yes” option
• “MFx On” menu: “Enable” option Parameter Description
ActSta Selects the level of the MF2 multifunctional output.
Options
• ActLow: LOW level with active output (NC – normally closed)
• ActHi: HIGH level with active output (NO – normally open) Factory setting
• ActLow
Functn Select function for multifunctional output. The corresponding submenu for the chosen function is selected.
Options
Srvice The corresponding submenu is displayed depending on the function selected for the “Functn” parameter. See the relevant table for the parameter description.
Count Counts the switching events of the multifunctional output.
You can reset the counter by switching the distance measuring device off and on again.
Table 18: “MF2”menu
“MF2 – Srvice” submenu This submenu corresponds to the “Srvice” submenu in the “MF1” menu.
→ See Page 48, Table 16.
“MF2 – Dist” submenu This submenu corresponds to the “Dist” submenu in the “MF1” menu.
→ Page 45, Table 14.
Operating the measuring device
8.5.12 “Offset” menu
In this menu you can set an offset.
The “Offset” menu is accessed via the following menu path:
Main menu → → Menu → → more → → MFx On → → (MF1 → → MF2 → →) Offset
Press the pushbutton. The offset that is currently set is displayed.
Requirement for display
• “more” menu: “Yes” option
Value Description
Offset Specify the offset. The offset is added to the internally deter-mined measured value. The offset is applied to all outputs and to what is shown on the display.
If the “Preset” function was activated, the offset is overwritten by triggering the preset input.
Adjustment range
• –600,000 … +300,000 mm Factory setting
• 0 [mm]
Table 19: “Offset” menu
8.5.13 “SpecFu” menu
In this menu you can set special functions.
The “SpecFu” menu is accessed via the following menu path:
Main menu → → Menu → → more → → MFx On → → (MF1 → → MF2 → →) Offset → → SpecFu
Press the pushbutton to display the “AvgDst” parameter.
You can scroll within the menu using the and pushbuttons.
Requirement for display
• “more” menu: “On” option
Value Description
AvgDst Select filter depth for the distance measurement values.
Options
Operating the measuring device
“SpecFu” menu
(cont.) Parameter Description
AvgSpd Select filter depth for the measured speed values.
Options
MsrDir Defining the measuring direction:
If the measuring direction is positive “+”, the distance output value is equal to the internal distance value measured by the measuring module. If the measuring direction is negative “-”, the internal distance value is multiplied by a factor of “-1”.
The change in direction affects both the output value for the distance and the output value for the speed.
Options
• +
•
-Factory setting
• +
ErrRej Select time for error suppression. During this time, the old measured value is output. If there is still no valid measured value once the time selected for the parameter “ErrRej” has elapsed the value “0” is output.
Options
• 200 ms: The error/warning is reported when the error is indicated for longer than 200 ms.
• 50 ms: The error/warning is reported when the error is indi-cated for longer than 50 ms.
• Off: The error/warning is reported immediately and without delay.
Factory setting
• 200 ms
Heat Requirement for display
• Only for DL100-xxHxxxxx variants with heating
In this menu you can set the temperature at which the heating turns on. The hysteresis is fixed at 2 K.
Adjustment range
• –10 … +40 °C Factory setting
• –10 °C Table 20: “SpecFu” menu
Operating the measuring device
“SpecFu” menu
(cont.) Parameter Description
FMode Requirement for display
• Only for DL100-xxxBxxxx variants with frequency changeover Select the frequency range. Frequency changeover may be necessary in cases of multiple distance measuring devices be-ing arranged in parallel. → See also Page 26, Chapter 6.4.
Options
• Mode 1
• Mode 2
• Mode 3 Factory setting
• Mode 1
Reset Perform a reset. → See Page 53, Chapter 8.6.
Table 21: “SpecFu” menu
8.6 Performing a reset
1. Select the “Reset” parameter in the “SpecFu” menu.
→ See Page 51, Chapter 8.5.13.
2. Press the pushbutton.
3. The confirmation prompt “Sure?” appears.
4. Press the pushbutton to reset the measuring device to its initial state. Press the pushbutton to cancel the process.
EtherCAT® interface
9 EtherCAT
®interface
9.1 ESI file
In order to easily connect EtherCAT® slave devices to an EtherCAT® master, there must be an ESI file for each EtherCAT® slave device. This file is in an XML format and contains information on the following features of the DL100 Pro EtherCAT®.
• Information about the device manufacturer
• Name, type, and version number of the device
• Type and version number of the protocol to be used for this device
• Default parameters of the DL100 Pro EtherCAT® and default configura-tion of the process data
9.2 CANopen over EtherCAT
®(CoE)
EtherCAT® defines only one new protocol for the transfer layer. It does not define a separate user or device protocol. EtherCAT® is able to transfer dif-ferent existing and tested user and device protocols through the EtherCAT® protocol (tunneling).
For the drive systems, CANopen over EtherCAT® (CoE), for example, is rele-vant. This protocol is supported by the DL100 Pro EtherCAT®. The CoE pro-tocol enables the use of all CANopen profiles and therefore also the use of the DS-406 Class 1 encoder profile. The objects of the encoder profile that are implemented in the DL100 Pro EtherCAT® are specified in Section 9.3.
The EtherCAT® protocol provides two different transfer types for the trans-mission. These two transfer types are the mailbox telegram protocol for acyclical data and the process data telegram protocol for the transfer of cyclical data.
Mailbox telegram protocol
This transfer type is used to transfer the service data objects (SDOs) de-fined under CANopen. These are transferred to SDO frames in EtherCAT®. Service data objects form the communication channel through which device parameters are transmitted (e.g., programming the encoder resolu-tion). The transmission of these parameters is acyclic (i.e., takes place just once when starting up the network).
Process data telegram protocol
This transfer type is used to transfer the process data objects (PDOs) de-fined under CANopen, which are used to exchange cyclical data. These are transferred to PDO frames in EtherCAT®.
The process data objects are used for rapid and efficient exchange of re-al-time data (e.g., I/O data, setpoint values or actual values).
EtherCAT® interface
9.3 Object directory overview
The following objects are supported by the DL100 Pro:
Index
[hex] Subindex
[hex] Name Data type Access Value range
Min. Max. Default
1000h Device type Unsigned32 const - - 80196h
1001h Error Register Unsigned8 ro - - 0
1008h Manufacturer
Device Name String const - - DL100
1009h Manufacturer
Hardware Version Unsigned8
array[8] const - - Serial number,
8x ASCII
100Ah Manufacturer
Software Version String const - -
-1018h Identity Object
0h Number of Entries Unsigned8 ro - - 4
1h Vendor Id Unsigned32 ro - - 1000056h
2h Product Code Unsigned32 ro - - 00005800h
3h Revision Number Unsigned32 ro - -
-4h Serial Number Unsigned32 ro - -
-1600h Receive PDO 1
Mapping [4006h]
“Command”
Unsigned16 rw 0 1 0
1A00h Transmit PDO 1
Mapping [6004h]
“Distance”
Unsigned ro - -
-1A03h Transmit PDO 4
Mapping [6030h]
“Velocity”
Signed16 ro - -
-1A04h Transmit PDO 5
Mapping [4007h]
“Error & Status”
Unsigned16 ro - -
-1C00h Sync Manager
Communication Type
- ro - -
-1C12h Sync Manager 2
PDO Assignment - rw - -
-1C13h Sync manager 3
PDO assignment - rw - -
-2000h Distance Signed32 ro –300 m
(depend-ing on variant) +600 m (depending on variant)
-2001h Velocity Signed32 ro - -
-2002h Time stamp Unsigned32 ro 0 231-1 0
2003h Level Signed16 ro –127 0 0
4000h Distance
Reso-lution Unsigned8 rw 2
EtherCAT® interface
Index
[hex] Subindex
[hex] Name Data type Access Value range
Min. Max. Default
4001h Velocity
Resolu-tion Unsigned8 rw 1
4002h Device Product
Code String const - -
-4003h Software Versions
0h Number of Entries Unsigned8 const - - 3
1h Application
Con-troller String const - -
-2h FPGA String const - -
-3h Communication
Controller String const - -
-4004h Device
Tempera-ture Signed8 ro Dependent on
device profile
-4005h Laser Operating
Hours Unsigned32 ro 0 2³1-1
-4006h Command Unsigned8 ro 0
4007h Errors & Status Unsigned16 ro - - 0
4008h Setup MF1/2 struct rw - - See details
4009h Distance Static
Preset Signed32 rw - - 0
400Ah Special Functions struct rw - - See details
6000h Operating
Param-eters Unsigned16 rw - - 0
6003h Preset value Unsigned32 rw 0 300,000 0
6004h Position Value Unsigned32 ro 0 +600 m
(depending on variant)
0
6005h Linear Encoder
Measuring Step Settings 0h Number of
Ele-ments Unsigned32 ro - - 2
1h Position
Measur-ing Step Unsigned32 rw - - 100000d
2h Speed Measuring
Step Unsigned32 rw - - 100d
6030h Speed Value
0h Number of
Avail-able Channels Signed16 ro - - 1
1h Speed Value
Channel 1 Signed16 ro 215-1 215-1 0
EtherCAT® interface
Index
[hex] Subindex
[hex] Name Data type Access Value range
Min. Max. Default
6502h Number of
Distinguishable Revolutions
Unsigned16 ro - - 1
6507h Profile and
Soft-ware Version Unsigned32 ro - - 3
6508h Operating Time Unsigned32 ro 0 231-1 0
6509h Offset value Signed32 ro 300,000 300,000 0
9.4 Detailed description
Object 1000h – Device Type The object describes the device type.
• Bytes 0 … 1 (0196h = 406d) represent the CiA 406 device profile.
• Bytes 2 … 3 (008h = 8d) represent the overall profile of an absolute linear encoder
Object 1001h – Error Register The error register indicates the error status of the device. An assigned bit indicates that a corresponding error has occurred.
Bit Mandatory/optional Description Supported
0 Mandatory General error Yes
1 Optional Current error No
2 Optional Voltage error No
3 Optional Temperature error Yes
4 Optional Communication error (buffer
overflow) Yes
5 Optional Error specific to device profile No
6 Optional Reserved (always 0) No
7 Optional Manufacturer-specific error Yes
Object 1008h – Manufacturer Device
Name Name of the product family: DL100
Object 1009h – Manufacturer
Hard-ware Version In delivered state, corresponds to the serial number. In case of repairs, the hardware version may change.
Object 100Ah – Manufacturer
Soft-ware Version Specification of software version of the application controller.
Format: Vxxx.xxx.xxx ([primary].[secondary].[rev]).
EtherCAT® interface
Object 1018h – Identity Object The object contains general data on the slave.
Subindex Name Description
0h Number of Entries Specification of the number of subindices within the object 1018h.
1h Vendor ID The vendor ID (1000056h) uniquely identifies the manufacturer and is issued by CiA.
1h Vendor ID The vendor ID (1000056h) uniquely identifies the manufacturer and is issued by CiA.