Right to technical changes and errors reserved. 2011-11 D-0 2R-23 5E C (1 .1)
Absolute rotary encoder
GEL 235EC
EtherCAT® fieldbus interface
Device manufacturer and publisher: Lenord, Bauer & Co. GmbH
Dohlenstraße 32
46145 Oberhausen ● Germany
Phone: +49 208 9963–0 ● Fax: +49 208 676292 Internet: www.lenord.de ● E-Mail: [email protected]
Lenord + Bauer Table of contents
Table of contents
1 About this document ... 5
1.1 Scope ... 5
1.2 Target group ... 5
1.3 Numerical data ... 5
1.4 Symbols and marks ... 5
2 Identification of the absolute rotary encoder ... 7
3 Instructions for preventing damage and malfunctions ... 8
3.1 Designated use ... 8
3.2 Instructions for operating company and manufacturer ... 8
3.3 Changes and modifications ... 8
3.4 Repairs ... 8
3.5 General sources of hazards ... 8
3.5.1 Electrostatic discharge ... 8
3.5.2 Mating connector ... 9
3.5.3 Cable routing ... 9
3.6 EMC instructions ... 9
4 Connection and display elements ... 10
5 Integration of the absolute rotary encoder ... 11
5.1 Offline configuration ... 11
5.2 Network scan ... 12
6 CoE object list ... 15
6.1 Communication parameters in accordance with DS-301 ... 15
6.2 EtherCAT® parameters ... 18
6.3 Manufacturer-specific parameters ... 18
6.4 Absolute rotary encoder parameters in accordance with DS 406 ... 19
6.4.1 General parameters ... 19
Lenord + Bauer Scope 1 About this document
1 About
this
document
This description is part of the bus cover and provides the necessary information for the safe operation of the absolute rotary encoder on the EtherCAT®(1) bus.
The CANopen over EtherCAT (CoE) protocol is supported.
The basic EtherCAT® functions are to be found in the specification (www.ether-cat.org). The encoder profile implemented is based on the CiA draft standard DS-406 (www.canopen.org).
Read the manual carefully prior to connecting the absolute rotary encoder to the fieldbus.
Keep the manual for the service life of the bus cover. Ensure the manual is always available to the personnel.
Pass the manual on to the subsequent owner or user of the device. Add all supplements provided by the manufacturer of the device.
1.1 Scope
This description applies only to the absolute rotary encoder GEL 235 with bus cover for EtherCAT. It provides the necessary information for the correct connection and inte-gration of the absolute rotary encoder in the fieldbus system.
1.2 Target
group
This description is aimed primarily at the skilled personnel who are to mechanically, electrically and functionally integrate the absolute rotary encoder into the system, as well as to the manufacturer and company operating the system. For the correct inte-gration of the absolute rotary encoder into an existing EtherCAT® fieldbus system and usage of the CANopen functionality, corresponding specialist knowledge is required.
1.3 Numerical
data
Unless explicitly stated, decimal values are given as integers without any additional information (e.g. 1408). Binary values are marked with a "b" (e.g. 1101b) and hexa-decimal values with an "h" (e.g. 680h) after the integers.
1.4 Symbols
and
marks
Symbols and marks are used in these operating instructions to help you identify certain information more quickly.
(1) EtherCAT® is a registered trademark and patented technology licensed by Beckhoff Automation GmbH,
1 About this document Symbols and marks Lenord + Bauer
Symbol Description Risk of damage
Important information for understanding or optimising work processes
► Work step to be undertaken
Lenord + Bauer 2 Identification of the absolute rotary encoder
2
Identification of the absolute rotary encoder
The bus cover has a rating plate with the following information:Type 235EC1312BQS3 S/N 1035001234 CODE binär V 24 V DC +/- 25% Interf. EtherCAT ST/MT 13 bit / 12 bit I 100 mA Dohlenstrasse 32 46145 Oberhausen Germany
www.lenord.de Made in Germany
Type Type of absolute rotary encoder connected accord-ing to type code in the accompanyaccord-ing documenta-tion for the encoder (EC: integrated bus cover for EtherCAT); for special versions: GEL 235Yxxx, with xxx = 001…999
S/N Serial number of the absolute rotary encoder Code Output code of the absolute rotary encoder
V Nominal supply voltage
Interf Interface type
ST/MT Resolution of single turn part and multiturn part of the absolute rotary encoder
I Nominal current consumption of the bus cover and absolute rotary encoder
3 Important instructions Designated use Lenord + Bauer
3 Instructions
for
preventing damage and malfunctions
3.1 Designated
use
The bus cover is used to integrate the absolute rotary encoder GEL 235 connected into an existing EtherCAT® system.
3.2 Instructions
for
operating company and manufacturer
Ensure the following requirements are met:
– Assembly, operation, maintenance and removal are only undertaken by trained skilled personnel or are checked by a skilled supervisor.
– The personnel are trained in the field of electromagnetic compatibility and on handling components sensitive to electrostatic.
Make the applicable health and safety regulations available to the personnel. Ensure the personnel are familiar with the applicable health and safety regulations.
3.3 Changes
and
modifications
Changes and modifications can damage the bus cover.
Do not make any changes or modifications to the bus cover except those activities described in these operating instructions.
3.4 Repairs
Incorrect repairs can damage the bus cover.
Only have repairs made by LENORD+BAUER or by an agent authorised by LENORD+BAUER.
3.5
General sources of hazards
3.5.1 Electrostatic discharge
Electrostatic discharges can irreparably damage the electronic components.
Only touch the connector pins and connection wires if your body is suitably earthed, for example via an ESD wrist strap.
Follow the regional provisions on components sensitive to electrostatic. Check the protective measures for effectiveness at regular intervals.
Lenord + Bauer EMC instructions 3 Important instructions
3.5.2 Mating connector
Incorrect seating of the mating connector will result in transmission interference. Ensure the mating connector has no noticeable play when moved sideways.
3.5.3 Cable routing
The connection cable may be damaged if bent excessively.
Maintain the minimum bending radius of around five times (ten times) the cable diameter on cables in fixed installations (cables free to move).
3.6 EMC
instructions
To improve the electromagnetic environment, please observe the following installation instructions:
If possible use only connectors with metal housings or a housing made from met-allised plastic and screened cables; place the screen on the connector housings. As far as possible connect screens at both ends and using a large area connection. Keep all unscreened cables as short as possible.
Make earth connections as short as possible and with a large cross-section (e.g. low inductance earth strap, ribbon conductor).
If there are potential differences between the earth connections for the machine and electronics, or if such differences occur, ensure by means of appropriate measures that no equalising currents can flow via the cable screen; e.g. lay an equipotential bonding wire with a large cross-section or use cables with a separate double screen with each screen connected at only one end.
An overall screening concept must be developed by the machine manufacturer taking into account all components used.
Lay the signal cables and control cables physically separated from the power ca-bles. If this configuration is not possible, use screened twisted pair caca-bles.
Ensure that external protection measures against surges have been implemented (Surge) (EN 61000-4-5).
4 Connection and display elements Lenord + Bauer
4
Connection and display elements
Rear view 1 2 3 6 7 4 5
1 Power supply connector 2 Bus output connector
3 (Green) bus output function LED 4 Ready LED (green)
5 Absolute rotary encoder operating state LED (green/red)
6 Bus input function LED (green) 7 Bus input connector
M12 connector
Bus (IN and OUT), female Power supply (UB), male
2 1 3 4 1: TxD+ 2: RxD+ 3: TxD– 4: RxD– 1 2 4 3 1: +US 2: – 3: GND 4: – State indicators
The two green LEDs, “L/A IN” and “L/A OUT”, signal a correct bus connection with constant illumination and activity on the related bus by flickering.
The other two LEDs provide information on certain operating states and error states of the system using various patterns of illumination and flashing:
● Error: correct operation of the absolute rotary encoder (green) or error (red) ● Run: EtherCAT® state of the absolute rotary encoder
LED Current state
Off INIT
Flashing evenly PRE-OPERATIONAL
Pulsing SAFE-OPERATIONAL (online)
Lenord + Bauer Offline configuration5 Integration of the absolute rotary encoder
5
Integration of the absolute rotary encoder
The following description is written for the “TwinCAT” control system manufactured by Beckhoff that is most commonly used in the EtherCAT® area.
Copy the device description file supplied for the absolute rotary encoder to the TwinCAT program folder in \Io\EtherCAT on your PC.
Start the TwinCAT System Manager.
There are now two ways of integrating the absolute rotary encoder: 1. Offline configuration
2. Online scan of the network (preferred)
5.1 Offline
configuration
In the TwinCAT Explorer window click the I/O - Configuration\I/O Devices\Device 1 (EtherCAT) entry using the right mouse button and select the Append Box command on the popup menu:
A window opens in which you can select the absolute rotary encoder:
Select the GEL235_EtherCAT entry and accept it using OK.
The absolute rotary encoder is now listed in the System Manager with the name GEL235_EC_001.
5 Integration of the absolute rotary encoder Network scan Lenord + Bauer
The available CANopen objects are listed on the CoE - Online tab. The contents of the objects stem from the device description file and are therefore not up-to-date (absolute rotary encoder is offline).
To establish the communication with the absolute rotary encoder, click the “Set/ Reset TwinCAT to Config Mode (Shift F4)” or “Set/Reset TwinCAT to Run Mode (Ctrl F4)” button on the toolbar.
The absolute rotary encoder is now available in the network and supplies its current position via the related PDO (object 6004h).
5.2 Network
scan
During this process, all available slaves are automatically integrated into the Ether-CAT® network.
Click the magic wand button “Scan Sub Devices (F5)” on the toolbar in the (just opened) TwinCAT System Manager:
Accept the subsequent messages using Ja (yes) and OK:
The available masters appear first in a new window.
Select the related Ethernet card on which the TwinCAT driver is installed and accept your selection using OK.
Lenord + Bauer Network scan 5 Integration of the absolute rotary encoder
Accept the subsequent messages using Ja (yes):
If you select the absolute rotary encoder found in the TwinCAT System Manager, the actual position value is displayed in the bottom window:
Lenord + Bauer Communication parameters in accordance with DS-301 6 CoE object list
6 CoE
(1)object list
All CANopen properties supported by the absolute rotary encoder are saved in the object list. The data are in the device's non-volatile flash memory and are copied to the memory (RAM) on power-on or reset. If data in the object list are changed, the change is only made in the RAM. If the data are to be saved permanently, they must be trans-ferred to the flash memory via the object 1010h. The original data will then be over-written.
SDO services are used to access the object list. The object list is divided into three areas:
● Communication parameters as per CANopen standard DS-301 ● Manufacturer-specific parameters
● Absolute rotary encoder parameters as per CANopen standard DS-406
The entries in the object list are addressed using a 16-bit index. Each index entry can be further sub-divided using a subindex.
Information on the object list given below:
● Acc. (access type): ro = read-only, rw = read and write, const = read-only (constant) ● (Data) type: U xx = Unsigned xx (xx = 8/16/32 → 1/2/4 bytes without sign),
S xx = Signed xx (xx = 16/32 → 2/4 bytes with sign), STR = ASCII character string ● Sub = Subindex (type: U8)
6.1
Communication parameters in accordance with DS-301
Index Name Acc. Type Significance
1000h Device type ro U32 Value: 00h xxh 01h 96h, with xx = 01: Absolute rotary encoder, single turn 02: Absolute rotary encoder, multiturn 03: Absolute rotary encoder, single turn with electronic turns counter
1001h Error register ro U8 Bit 0: 1 = General error (absolute rotary en-coder alarm message)
Bit 1–7: Not used
6 CoE object list Communication parameters in accordance with DS-301 Lenord + Bauer
Index Name Acc. Type Significance
1003h Pre-defined error field
ro U32 Sub Contents
00h Number ≤ 20 (type: rw) 01h Last error
02h Penultimate error ⋮
14h First of the last 20 errors
Clear error memory: 00h → Subindex 0 1008h Manufacturer's
name
const STR “GEL235EC” 1009h Hardware version const STR e.g. “V4.00” 100Ah Software version const STR e.g. “V1.06”
1010h Save parameters rw U32 Transfer the parameter values from RAM to the flash memory
● Write
Write code word “save” in reverse nota-tion (65766173h) to the related subin-dex
● Read
Bit 0 = 1: Device saves parameters on command
Bit 1 = 1: Device does not save param-eters automatically
Bit 2–31 = 0: Reserved
Sub Contents
00h Number of save options = 4 (type: ro) 01h All parameters
02h Only communication parameters (DS-301)
03h Only device parameters (DS-406) 04h Only manufacturer-specific
Lenord + Bauer Communication parameters in accordance with DS-301 6 CoE object list
Index Name Acc. Type Significance
1011h Load default val-ues
rw U32 Reset device parameters to their default val-ues
● Write
Write code word “load” in reverse nota-tion (64616F6Ch) to the related subin-dex
● Read
Bit 0 = 1: Device supports resetting to default values
Bit 1–31 = 0: Reserved
Sub Contents
00h Number of reset options = 4 (type: ro) 01h All parameters
02h Only communication parameters (DS-301)
03h Only device parameters (DS-406) 04h Only manufacturer-specific
parame-ters
1018h Object
identification
ro U32 Sub Contents
00h Number of IDs = 4
01h Manufacturer's ID: 20422B4Ch 02h Code: 235ECh
03h Revision no.: e.g. 01100100h 04h Serial no.: xxxxxxxxh
1A00h PDO1 mapping rw U32 Actual position (60040020h)
1A01h 1A02h
PDO2 mapping PDO3 mapping
rw U32 Speed and acceleration
PDO2: Moving average over the values defined in object 2102h (subindex 02h/03h)
PDO3: Actual value
Sub Contents
00h Number of entries = 2 (type: ro) 01h Speed (PDO2: 60310020h, PDO3:
60300020h)
02h Acceleration (PDO2: 60410020h, PDO3: 60400020h)
6 CoE object list EtherCAT® parameters Lenord + Bauer
6.2 EtherCAT®
parameters
Index Name Acc. Type Significance
1C00h Sync Manager, communication type ro U8 Sub Contents 00h Number of types = 4 01h 1 = Mailbox in (→ slave) 02h 2 = Mailbox out 03h 0 = Not used
04h 4 = Input process data (slave →) 1C12h Sync Manager,
RxPDO assign-ment
ro U16 Contents: 0 (RxPDO not available)
1C13h Sync Manager, TxPDO
assign-ment
rw U16 Sub Contents
00h Number of TxPDOs = 3 (type: ro) 01h 1A00h
02h 1A01h 03h 1A02h
6.3 Manufacturer-specific
parameters
Index Name Acc. Type Significance
2102h Measurement pa-rameters
rw U16 Sub Contents
00h Number of entries = 4 (type: ro) 01h Speed unit
1: 2: 3: 4:
Increments per second Increments per minute Turns per second Turns per minute
02h Number of measured values for aver-age speed (1…500)
03h Number of measured values for aver-age acceleration (1…500)
04h Gate for speed measurement (1… 600 ms, default: 10 ms)
Lenord + Bauer Absolute rotary encoder parameters in accordance with DS 406 6 CoE object list
Index Name Acc. Type Significance
2103h User
memory
rw U32 Sub Contents
00h Number of data memories = 4
(type: ro)
01h…04h Data memory 1…4
6.4
Absolute rotary encoder parameters in accordance with DS 406
6.4.1 General parameters
Index Name Acc. Type Significance
6000h Operating
parameter
rw U16 Code sequence (direction of rotation) Bit 0 = 0: Increasing with clockwise rotation of the shaft (cw), default value
Bit 0 = 1: Increasing with counter clockwise rotation of the shaft (ccw)
In case of a change, a preset value defined previously (object 6003h) is deleted.
6001h Increments per turn (resolution)
rw U32 Value range: 0 to max. physical resolution per turn (e.g. 2000h for 13-bit single turn) As a result, the actual position value Pos is: Pos = code value × value from 6001h / value from 6501h
In case of a change, a preset value defined previously (object 6003h) is deleted.
6002h Total number of in-crements
ro U32 Value range: 0 to max. physical total reso-lution (value from 6501h × no. of possible turns, e.g. 1000000h for 12-bit single turn and multi turn)
The measuring range is restricted to this value.
6 CoE object list Absolute rotary encoder parameters in accordance with DS 406 Lenord + Bauer
Index Name Acc. Type Significance
6003h Preset value rw U32 Calibration of the absolute rotary encoder's zero position to the machine zero point Value range: 0 to programmed total resolu-tion; FF FF FF FFh deletes the preset. The preset value is converted internally into a corresponding offset value and added to the position value (Offset = preset – posi-tion; value → object 6509h).
In case of a change to the code sequence or the resolution, the preset value is deleted. 6004h Position value ro U32 Actual position value from the absolute
ro-tary encoder after correction with resolution, preset and offset (mapped to PDO1)
6030h Speed value ro S32 Actual value (mapped to PDO3, with actual acceleration)
6031h Speed value, aver-aged
ro S32 Moving average over the number of meas-ured values defined in object 2102h (map-ped to PDO2, with average acceleration) 6040h Acceleration value ro S32 Actual value (mapped to PDO3, with actual
speed) 6041h Acceleration
val-ue, averaged
ro S32 Moving average over the number of meas-ured values defined in object 2102h (map-ped to PDO2, with average speed)
6.4.2 Diagnostics parameters
Index Name Acc. Type Significance
6500h Operating state ro U16 Read the settings made via object 6000h 6501h Single turn
resolu-tion
ro U32 Physical resolution, e.g. 12 bits ⇒ 1000h = 4096 steps
6502h Multiturn resolu-tion
ro U32 Physical number of turns, e.g. 13 bits ⇒ 2000h = 8192 turns
6508h Operating time ro U32 Not supported, value = FFFFFFFFh
6509h Offset value ro U32 Internally calculated offset between the pre-set value pre-set (→ object 6003h) and the ac-tual position present at this time
