Absolute rotary encoder GEL 235EC

Absolute rotary encoder GEL 235EC EtherCAT fieldbus interface Reference D-02R-235EC (1.1) Right to technical changes and errors reserved. 2011-11

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: info@lenord.de Doc. no. D-02R-235EC (1.1) 2 GEL 235EC

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 6.4.2 Diagnostics parameters... 20 GEL 235EC 3

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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.ethercat.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 integration 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 integration 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 hexadecimal 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, Germany. GEL 235EC 5

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 page 5 Cross-reference to a different point in this manual 6 GEL 235EC

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: Dohlenstrasse 32 46145 Oberhausen Germany www.lenord.de Type 235EC1312BQS3 S/N 1035001234 CODE binär V 24 V DC +/- 25% Interf. EtherCAT ST/MT 13 bit / 12 bit I 100 ma Made in Germany Type S/N Code V Interf ST/MT I Type of absolute rotary encoder connected according to type code in the accompanying documentation for the encoder (EC: integrated bus cover for EtherCAT); for special versions: GEL 235Yxxx, with xxx = 001 999 Serial number of the absolute rotary encoder Output code of the absolute rotary encoder Nominal supply voltage Interface type Resolution of single turn part and multiturn part of the absolute rotary encoder Nominal current consumption of the bus cover and absolute rotary encoder GEL 235EC 7

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. 8 GEL 235EC

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 metallised 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 cables. If this configuration is not possible, use screened twisted pair cables. Ensure that external protection measures against surges have been implemented (Surge) (EN 61000-4-5). GEL 235EC 9

4 Connection and display elements Lenord + Bauer 4 Connection and display elements Rear view 7 1 2 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 6 3 5 4 M12 connector Bus (IN and OUT), female Power supply (UB), male 1 4 3 2 1: TxD+ 2: RxD+ 3: TxD 4: RxD 2 3 1 4 1: +U S 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 Off Current state INIT Flashing evenly PRE-OPERATIONAL Pulsing On SAFE-OPERATIONAL (online) OPERATIONAL (online) 10 GEL 235EC

Lenord + Bauer Offline configuration 5 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. GEL 235EC 11

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. 12 GEL 235EC

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: Further objects can be read on the CoE - Online tab: GEL 235EC 13

5 Integration of the absolute rotary encoder Network scan Lenord + Bauer 14 GEL 235EC

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 transferred to the flash memory via the object 1010h. The original data will then be overwritten. 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 encoder alarm message) Bit 1 7: Not used (1) CANopen over EtherCAT GEL 235EC 15

6 CoE object list Communication parameters in accordance with DS-301 Lenord + Bauer Index Name Acc. Type Significance 1003h 1008h Pre-defined error field Manufacturer's name ro U32 Sub Contents const STR 00h Number 20 (type: rw) 01h Last error 02h Penultimate error 14h First of the last 20 errors Clear error memory: 00h Subindex 0 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 Sub Write Write code word save in reverse notation (65766173h) to the related subindex Read Bit 0 = 1: Device saves parameters on command Bit 1 = 1: Device does not save parameters automatically Bit 2 31 = 0: Reserved 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 parameters 16 GEL 235EC

Lenord + Bauer Communication parameters in accordance with DS-301 6 CoE object list Index Name Acc. Type Significance 1011h Load default values rw U32 Reset device parameters to their default values Sub Write Write code word load in reverse notation (64616F6Ch) to the related subindex Read Bit 0 = 1: Device supports resetting to default values Bit 1 31 = 0: Reserved 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 parameters 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: PDO3: Sub Moving average over the values defined in object 2102h (subindex 02h/03h) Actual value Contents 00h Number of entries = 2 (type: ro) 01h 02h Speed (PDO2: 60310020h, PDO3: 60300020h) Acceleration (PDO2: 60410020h, PDO3: 60400020h) GEL 235EC 17

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 1C13h Sync Manager, RxPDO assignment Sync Manager, TxPDO assignment ro U16 Contents: 0 (RxPDO not available) 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 parameters 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 average speed (1 500) 03h Number of measured values for average acceleration (1 500) 04h Gate for speed measurement (1 600 ms, default: 10 ms) 18 GEL 235EC

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 6001h Operating parameter Increments per turn (resolution) 6002h Total number of increments 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. 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. ro U32 Value range: 0 to max. physical total resolution (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. GEL 235EC 19

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 resolution; 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 position; 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 rotary 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, averaged ro S32 Moving average over the number of measured values defined in object 2102h (mapped to PDO2, with average acceleration) 6040h Acceleration value ro S32 Actual value (mapped to PDO3, with actual speed) 6041h Acceleration value, averaged ro S32 Moving average over the number of measured values defined in object 2102h (mapped 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 resolution 6502h Multiturn resolution ro U32 Physical resolution, e.g. 12 bits 1000h = 4096 steps 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 preset value set ( object 6003h) and the actual position present at this time 20 GEL 235EC