Contents 1. Description and technical characteristics Board configuration Battery Operation EtherCAT bus wiring

Transcription

1 Contents 1. Description and technical characteristics Board configuration Battery Operation EtherCAT bus wiring LED signal Terminal connections EtherCAT connectors EtherCAT IN (XP10) EtherCAT OUT (XP11) Object Dictionary...6

2 Revision Log Rev. 1.0 Drafting 7 Pages SYSTEM s.p.a. Div. Electronics via Ghiarola Vecchia, Fiorano (MO) - Italy tel. 0536/ fax 0536/ info.electronics@system-group.it The product meets the EMC protection requirements of Directive 2004/108/EC (ex 89/336/EEC) and subsequent amendments. SYSTEM s.p.a. Electronics Div. reserves the right to make changes of any kind to the technical specifications at any time without prior notice. The information contained in this document is believed to be correct and reliable. The reproduction, even partial, of the contents of this catalogue, is allowed only with permission from SYSTEM s.p.a. Electronics Div.

3 1. Description and technical characteristics Board predisposed for 8 incremental encoders counting. 24V ±20% power supply 12V or 24V battery power supply Communication via EtherCAT with connectors RJ45 Connection to Encoder Push-Pull or NPN Counting speed configurable at 5/50 KHz Possibility to maintain the count with external batteries in the event of a power cut Possibility to configure the board to acquire 5 standard incremental encoders and two incremental encoders with INDEX Dimensions: mm DIN guide assembly The board is also equipped with an EtherCAT RS485 bridge in order to manage the devices that only support RS485 communication and thus be connected to the EtherCAT network The board also features three rotary switches to set the number of the EtherCAT node in the types that require addressing that is independent from the cabling: in fact the EtherCAT node number is typically increased with every device crossed by the network wiring Figure 2.2 Example of count in quadrature mode with anticlockwise rotation One can also select "COUNTER" counting mode, to limit the acquisition to just one phase, in the event of connecting the board to line clock sensors. Via the EtherCAT network one can also configure the input filter to prevent incorrect counts and eventually update the board program via field bus by selecting between 5KHz and 50KHz. Encoders 6 and 7 can be configured as encoders with INDEX and connected to reset their position after the activation of the ZERO (or INDEX) line. The ZERO signals of encoders 6 and 7 can be connected to phases A and B respectively of Encoder 5 for this function. Encoder 5 must be disabled in order to use its inputs as zero references of encoders 6 and 7. PHASE A Encoder 5 Index of encoder 6 PHASE B Encoder 5 Index of encoder 7 2. Board configuration The board is predisposed for incremental Encoder counting operating at V. Via the EtherCAT network one can read and set the count, select the counting mode between SINGLE, DUAL or QUADRATURE. The "Quadrature" mode in particular is the most accurate and effective to measure the angular position of an axis, counting both on the rising edge and on the falling edge of each phase of the Encoder Figure 2.1 Example of count in quadrature mode with clockwise rotation. Via EtherCAT messages one can configure the polarity of the Index signal. The.xml file can be downloaded from the website 3. Battery Operation The Battery powered 8 Encoder EtherCAT board is equipped with an input terminal specific for the connection of the operation external battery. If a battery is connected the board maintains the stored encoder count and continues to acquire the count while reducing the consumption of the unnecessary sections. In particular, during battery operation the RS485 and EtherCAT communications are disabled. When the correct power supply is resumed, the supervisor can monitor the position of the axes again without losing information, making axes calibration unnecessary. The board is also equipped with a battery operation time counter that, in the event the battery runs out, also counts the battery operation time before the battery ran out. If the battery is not connected or if the battery is not charged, when the board is switched on again the Ether- CAT supervisor can be informed of the lack of power.

4 The battery operation time depends greatly on the position of the encoders. The EtherCAT and RS485 ports are isolated from the power supply. The encoders are powered by the board itself at the same input voltage or at the voltage of the battery in the event there is no mains power. If the battery runs out excessively, the encoder power supply is interrupted and the board switches off to prevent damaging the battery. 4. EtherCAT bus wiring The EtherCAT wiring enables real-time communication with the supervisor and the adjacent EtherCAT nodes. Use shielded cables that meet the minimum requirements for category 5, class D of standard IEC It is recommended to use Cat5 category and shielded 4-wire cables. The EtherCAT cable shield allows to attenuate electrical interferences in an industrial environment that might corrupt communication. Do not install the communication cable with the motor power cables or in parallel with them, but put them in separate cable ducts. Dot not extend the communication cables with adapters or extension cables, but use a cable of appropriate length. On request shielded cables and adapters to be installed in the field can be supplied. The EtherCAT cable is connected to the earth of the Encoder board through decoupling capacitors, as per EtherCAT specifications, to avoid a compensating current flowing on the shield of the connecting cable. ECT L/A LED: Green LED EtherCAT communication Link / Activity. There are two LEDs near the respective input connectors (XP10 ETHERCAT_IN) and output connectors (XP11 ETHERCAT_OUT). Depending on the status of the link and on the activity of the EtherCAT port, the LEDs acquire the following status: ECT L/A Led off fixed on Flickering Single flash Double flash Triple flash Table 5.2 ECT RUN LED: Green LED Indicates the internal status of the device thata manages EtherCAT communication. ECT RUN Led off fixed on Flickering Blinking Single flash Table 5.3 Port status cable disconnected or no Link EtherCAT port link but without activity Correct EtherCAT link and activities local PHY auto negotiation error remote PHY auto negotiation error auto negotiation error Device status INIT (typically the status when switched-on) ORATIONAL Firmware download PRE-ORATIONAL SAFE-ORATIONAL E2LD LED: Green LED Switched on when the EtherCAT device has loaded its configuration correctly from E2PROM. ERR LED: Red LED Indicates any EtherCAT communication errors 5. LED signal Encoder phase status signal LED: Red Led 0A Led 0B Led 1A Led 1B Encoder 0 Encoder 1 ECT RUN Led off fixed on Flickering Blinking Single flash Double flash Table 5.4 Device status No error Application controller error Booting Error Invalid Configuration Internal error Battery operation Led 2A Led 2B Led 3A Led 3B Encoder 2 Encoder 3 urun LED: Yellow LED Indicates the activity of the micro-controller. SP LED: Red LED Led 4A Led 4B Encoder 4 Power supply status. ECT RUN Led Device status Led 5A Led 5B Encoder 5 Off Fixed on Slow flashing No initialisation or power supply Operation with mains voltage Battery operation Led 6A Led 6B Encoder 6 Table 5.5 Led 7A Led 7B Encoder 7

5 SW1 GND D- D+ XP10 EtherCAT_IN XP11 EtherCAT_OUT JP_SP SP TERM POL- XP12 POL+ SW2 RS485 ECT L/A IN SW3 ECT L/A OUT J1 J2 MON urun TXD RXD ERR +3V E2LD ECT RUN 0A 0B 1A 1B 2A 2B 3A 3B 4A 4B 5A 5B 6A 6B 7A 7B +5V ENC0 ENC1 ENC2 ENC3 ENC4 ENC5 ENC6 ENC7 0B 1B 2B 3B 4B 5B 6B 7B 0A 1A 2A 3A 4A 5A 6A 7A XP0 VB Figure Terminal connections Encoder Terminals ENC0 Encoder 0 ENC1 Encoder 1 ENC2 Encoder 2 ENC3 Encoder 3 ENC4 Encoder 4 ENC5 Encoder 5 ENC6 Encoder 6 ENC7 Encoder 7 Connection of the board to the power supply: XP V 2 GND 3 External battery 4 (to be connected to the protection earth) Connection of the terminal for RS485 communication: XP12 1 D+ 2 D- 3 GND of RS485 cable 4 Connect terminals ENC0 - ENC7 to the external Encoders according to the following connection diagram: 1 (Protective Earth, for the connection of the Encoder cable shield) 2 Encoder Power supply (connected internally to the input power supply) 3 Group encoder 4 5 The terminals are numbered and polarised to prevent incorrect connections. Near the Encoder connectors there are LEDs to signal the communication of input phases A and B. One can insert the pull-up and pull-down resistors and the termination resistor of bus 485 by inserting the following jumpers: TERM: insert the jumper to connect the RS485 termination resistor POL+: insert to connect the pull-up resistor on the D+ line POL-: insert to connect the pull-down resistor on the D- line There are TXD and RXD LEDs to signal the communication in 485 transmission and reception.

6 7. EtherCAT connectors 7.1 EtherCAT IN (XP10) TX+ RX+ 7.2 EtherCAT OUT (XP11) TX+ RX+ TX- RX- TX- RX- The shield of the EtherCAT connectors is connected to the earth via capacitors, to prevent the propagation of the earth through the communication cables. 8. Object Dictionary The portion of Object Dictionary of the Battery powered 8 Encoder EtherCAT unit dedicated to the objects relating to the counters is compatible with that of the Beckoff EL5101 modules. Some objects are also added: Table x2000sub0 Bitmask indicating the direction of the 8 encoders 0x2005sub0 Bitmask containing the synchronous image of the sixteen I/O points not intended as count inputs, but as digital inputs 0x2006sub0 Bitmask containing the synchronous image of the sixteen I/O points not intended as count inputs, but as digital inputs 0x2007sub0 Bitmask for the reset of the counters of the 8 encoders The portion of Object Dictionary dedicated to the management of serial port RS485 is compatible with that of the Beckhoff EL5101 modules. In particular, the following objects are implemented: 0x2001sub0 RS485 baudrate 0x2002sub0 RS485 data format 0x2003 RS485 output structure (Control Word + dati) 0x2004 RS485 input structure (Status Word + dati) Supported Baud rates 110 baud 300 baud 600 baud 1200 baud 2400 baud 4800 baud 9600 baud 19,2k baud 38,4k baud 57,6k baud 115,2k baud Supported format data 7E1 7O1 7E2 7O2 8N1 8E1 8O1 8N2 8E2 8O2 The Object Dictionary also contains an object for the management of the time counter associated to the battery that maintains the counters buffered. 0x4000sub1 Battery operation time 0x4000sub2 Battery operation time from the last time it ran out 0x4000sub3 Battery operation times reset Table 8.3 0x4008 subindex 0 Power status information: Board power supply diagnostics: bit 0: UV Undervoltage Occured: if it is at 1 there has been a power supply Undervoltage bit 1: Battery OK bit 2: Network OK other bits reserved 0x4008 subindex 1 Reset Undervoltage Occured if bit 0 is set at 1, the UV flag above is reset Table 8.4 Encoder configuration Table 8.5 0x7001 subindex 0 Encoder Configuration 0 0x7011 subindex 0 Encoder Configuration 1 0x7021 subindex 0 Encoder Configuration 2 0x7031 subindex 0 Encoder Configuration 3 0x7041 subindex 0 Encoder Configuration 4 0x7051 subindex 0 Encoder Configuration 5 0x7061 subindex 0 Encoder Configuration 6 0x7071 subindex 0 Encoder Configuration 7 Tabella 8.2

7 Encoder configuration structure (8 bit) bit 0 bit 1 bit 2 bit 3 bit 4 bit 5 bit 6 bit 7 Table 8.6 CODE quadruple, single, double counting mode (see Figure 8.5) it is recommended to use mode 5 code = 101 to have maximum accuracy HW filter to limit incorrect external pulses: 0 = filter 5KHz 1 = filter 50KHz use_zero: enables INDEX (zero notch) limited to encoders 6 and 7 0 = the zero input is not used 1 = terminals of Encoder 5 used as Index signals for encoders 6 and 7 polarity of the zero signal 0 = active index low 1 = active index high polarity of the phase signals of the encoders 0 = active phase low 1 = active phase high enable 0 = count disabled 1 = count enabled Counting mode Figure 8.1 MODE1 (code = 001): counts the rising edges in the forward direction and the falling edges in the back direction of phase1 (SINGLE MODE) Figure 8.2 MODE2 (code = 010): counts the rising edges in the forward direction and the falling edges in the back direction of phase2 (SINGLE MODE) Figure 8.3 MODE3 (code = 011): counts the rising edges and the falling edges of phase1 (DOUBLE MODE) Figure 8.4 MODE4 (code = 100): counts the rising edges and the falling edges of phase2 (DOUBLE MODE) Figure 8.5 MODE5 (code = 101): counts all edges of phase1, phase2 (QUADRUPLE MODE) MODE7 (code = 111): counter disabled.