MxK Displacement Transducers with EtherCAT Interface User Manual TWK-ELEKTRONIK GmbH · PB. 10 50 63 · D-40041 Düsseldorf

COPYRIGHT: The Operating Instructions MXK 11809 is owned by TWK-ELEKTRONIK GMBH and is protected by copyright laws and international treaty provisions. © 2007 by TWK-ELEKTRONIK GMBH POB 10 50 63 ■ 40041 Dusseldorf ■ Germany Tel. +49/211/63 20 67 ■ Fax +49/211/63 77 05 [email protected] ■ www.twk.de

1. General 2. Installation instructions 1. General The magnetostrictive displacement transducers are designed for direct connection to the EtherCAT industrial Ethernet system. Use of the CANopen over EtherCAT message (CoE) enables parameters and diagnostic data to be handled as usual in the case of CANopen. The EtherCAT specifications can be obtained from the EtherCAT Technology Group ETG (www.ethercat.org). 2. Installation instructions 2.1 Connection via M12/M8 connector The “ ...M01” type Magnosens displacement transducers have separate connectors for the supply and the EtherCAT system. Device...

2.3 Addressing Manually setting the subscriber address is not necessary. It is assigned automatically by the EtherCAT master in accordance with the physical sequence in the bus. 2.4 Status LEDs Four LEDs are housed behind the inspection port in the displacement transducer’s connecting cap. These have the following meanings: 2.5 XML file An XML file is supplied on a CD-ROM to integrate the displacement transducer into a project planning tool. This describes the features of the EtherCAT subscriber in the standardised XML format. After integrating the XML file into the project planning tool (e.g....

^1 3. Process data exchange 3. Process data exchange The displacement transducer transmits 10 bytes of input data in a process data object (PDO). These include: - 2 bytes of status information - 4 bytes of position data - 4 bytes of speed data The output data definition (mapping) cannot be changed. Data format The position and the speed value are depicted in Intel format (Little Endian). Reserved Reserved Reserved Error bit 0 = no error / 1 = error Magnet number (1 - 15) Position The displacement transducer’s resolution (^m per step) and measurement direction (descending or ascending signal)...

^1 4. Programming and diagnosis (CANopen over EtherCAT) 4.1 Overview of the object directory

^1 4. Programming and diagnosis (CANopen over EtherCAT) 4.2 Communication parameters 4.2.1 Object 1000h - Device type

^1 4. Programming and diagnosis (CANopen over EtherCAT) 4.2.7 Object 1A00h - Transmit PDO mapping

^1 4. Programming and diagnosis (CANopen over EtherCAT) 4.3 Manufacturer-specific parameters 4.3.1 Object 2000h - Manufactured date Magnet missing

^1 4. Programming and diagnosis (CANopen over EtherCAT) 4.3.7 Object 2006h - Supply voltage Setting this buffer establishes mean value formation. Based on the values stored in the buffer, this provides a prediction of the measured value until a new, true (measured) value is received. The pre-set value of 15 has proved practicable here. Attention: A high value influences the displacement transducer’s reaction time.

^1 4. Programming and diagnosis (CANopen over EtherCAT) 4.3.13 Object 200Ch - Save configuration

^1 4. Programming and diagnosis (CANopen over EtherCAT) 4.4 Standardised device parameters 4.4.1 Object 6000h - Operating parameters Display of the total number of steps (measuring range of the displacement transducer / set resolution).

5. TwinCAT system manager 5. TwinCAT system manager 5.1 Installation of the XML file - Copy the enclosed XML file to the ..\Twincat\Io\Ethercat directory - Start the TwinCAT system manager 5.2 Online commissioning If the system is connected and capable of running, reading-in the bus structure online is the simplest option. This procedure is described here. Create a new project, mark “I/O devices” and click onto the “wand”. Confirm the following note with OK. TwinCAT should then locate your network card. Confirm this with OK.

5. TwinCAT system manager After confirming the following dialogue with “Yes”, all connected devices should be located. In this case, the EtherCAT master (device 1), a Beckhoff bus terminal with I/O modules and the TWK displacement transducer (Magnosens). If the so-called free run is now also activated, the I/O data are exchanged in the acyclical data traffic and can be monitored in the TwinCAT. Clicking onto the Magnosens “Inputs” displays the displacement transducer’s input data.

5. TwinCAT system manager If you click onto the Magnosens itself instead, the following screen’s register takes you to the displacement transducer’s configuration and parameterisation. The CoE online register accesses the parameter and diagnostic data. All parameters identified with “RW” can be changed. The description of the parameters can be found in Chapter 4. Do not forget to subsequently save the parameters in a failsafe manner via parameter 200Ch.