SICK ATM60 User Manual

Name: SICK ATM60
Brand: SICK
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Commissioning Instructions 8013512

Jan 2005

Commissioning Instructions

ATM60 / ATM90 / KHK53

with Profibus DP Interface to EN 50170 Vol. 2

SICK AG

Erwin-Sick-Str. 1 ·

D-79183 Waldkirch

Table of Contents3
Contents3
Schedule of Revisions8
Introduction9
Using These Commissioning Instructions9
Documentation9
Definition of the Symbols Used in the Document9
Conformity9
Profibus9
European Union Directive Compliance9
Designations and Abbreviations11
Profibus DP-Specific11
Data Type Specifications11
Encoder-Specific12
Safety Precautions13
Responsibilities of the Commissioning Staff13
Validity and Application13
Authorised Users14
Safety Guidelines and Personal Protection14
Encoder Safety Precautions for Installation, Operation and Maintenance15
Introduction16
Profibus Standardisation16
Profibus DP16
Figure 4-1: Protocol Architecture16
DP-V0 Communication Protocol17
Figure 4-2: Master/Slave Principle of the SRD Service17
Physical Profibus Network Link18
Network Topology18
RS485 Transmission Technology19
Installation Notes Re: RS48519
Figure 4-3: Topology of Profibus DP19
Profibus Cabling for RS48520
Figure 4-5: Cabling (9-Pin D-Sub Connector) and Bus Termination20
Cable Screening21
Device Profiles21
Further Information22
Encoder Modes23
Cyclical Data Transmission23
Parameterisation23
Configuration23
I/O Data Transmission23
Specification of the Encoder Data23
Encoder Parameters/Attributes24
General Conditions for Using the Scaling Function24
Specification for Using the Encoder in "Continuous Mode24
Case A) Scaling Function Without Limitation to the Measuring Range (with Offset)24
Case B) Adapted Scaling Functions (Without Offset)25
Data Storage27
Encoder Attributes/Parameters27
Fundamental Explanations27
Counting Direction/Code Sequence27
Scaling Function Control -- [SFC]28
Measuring Units Per Revolution -- [CPR]28
Total Measuring Range in Measuring Units -- [CMR]28
Position Value28
Preset Value28
Data Assemblies/Data Components29
Position Value29
Speed Value30
Time Stamp30
Preset Value31
Device Integration/Projecting32
System Requirements32
Description32
Figure 7-1: Device Integration32
Data Mapping of a UINT32 (UDINT) Value33
Figure 7-2: GSD Implementation33
Use of the 'COM Profibus' Configuration Tool34
Module Configuration34
Figure 7-3: Module Configuration34
Parameter Settings - Rotary Encoders35
Figure 7-4: Parameter Data - Operating Mode35
Figure 7-5: Parameter Data - Scaling35
Parameter Settings - Linear Encoders36
Figure 7-6: Parameter Data - Operating Mode36
Figure 7-7: Parameter Data - Scaling36
System Configuration38
Master-Slave Communication38
Figure 8-1: DP State Machine38
Stipulations/Definitions39
Parametrisation39
DP-Specific Standard Data39
Device-Specific Data40
Operating Mode40
Code Sequence40
Class 2 Functionality41
Commissioning Diagnostics Control41
Scaling Function41
Enabling the SSA Service41
Selection of the Address Setting41
Measuring Units Per Revolution -- [CPR]42
Total Measuring Range -- [CMR]42
Configuration43
Cyclical Data Traffic (Data Exchange Mode)44
Ddlm_Data_Exchange. - Data Assembly (A1). - Module IN_0444
Ddlm_Data_Exchange. - Data Assembly (A2). - Modul IO_0444
Ddlm_Data_Exchange. - Data Assembly (A3). - Modul IN_0645
Ddlm_Data_Exchange. - Data Assembly (A4). - Modul IO_0645
Ddlm_Data_Exchange. - Data Assembly (A5). - Modul IN_0845
Ddlm_Data_Exchange. - Data Assembly (A6). - Module IO_0846
Diagnostic Information47
Evaluation at Control Level47
Diagnostic Messages47
Standard Diagnostics48
Status-148
Status-248
Status-349
Master Address49
Device-Specific Diagnostics - Class 149
Class 1 Diagnostic Data - Overview49
Diagnostic Header49
Alarms49
Commissioning Diagnostics Alarm50
EEPROM Memory Error50
Error in the Position Value50
Error Correction Measures50
Operating Status51
Device Identification51
Physical Resolution Span (PRS)51
Physical Number of Revolutions (Pnumr)51
Device-Specific Diagnostics - Class 252
Class 2 Diagnostic Data - Overview52
Diagnostic Header52
Additional Alarms52
Supported Alarms53
Warnings53
Supported Warnings53
Profile Version54
Software Version54
Operating Time54
Offset Value54
Counts Per Revolution -- [CPR]54
Number of Counts Per Measuring Range -- [CMR]55
Serial Number55
Manufacturer-Specific Diagnostics (Manufacturer Class)55
Station Address55
Encoder Status55
DP Controller Status56
Encoder - Mounting and Connection57
Mounting57
Screening57
Screen Connection at the Bus Link Adapter with Cable Fitting ATM60-P/ATM90-P/ KHK53-P58
Figure 10-1: Screen Connection at the Bus Link Adapter with Cable ATM60-P/ATM90-P/ KHK53-P58
Screen Connection at the Bus Link Adapter with Screw-In System ATM90-P59
Figure 10-2: Screen Connection with Screw-In System ATM90-P59
Connection to the Network60
Installation Notes Re: Voltage Supply60
ATM 60 with Bus Link Adapter - Cable Fitting60
Figure 10-3: Pinout ATM 60 with Bus Link Adapter - Cable Fitting60
ATM 60 with Bus Link Adapter - Screw-In System M1261
Figure 10-4: Pinout ATM 60 Direct with Bus Link Adapter - Screw-In System M1261
ATM 90 with Bus Link Adapter - Cable Fitting62
Figure 10-5: Pinout ATM 90 with Bus Link Adapter62
ATM 90 with Screw-In System M14 - Without Bus Link Adapter63
Figure 10-6: Pinout ATM 90 Direct with Screw-In System M14 - Without Bus Link Adapter63
Linear Encoder KHK53 with Bus Link Adapter - Cable Fitting64
Device Handling in the Network64
Figure 10-7: Pinout Linear Encoder KHK53 with Bus Link Adapter64
Figure 10-8: Device Handling in the Network 'ATM 60' (DIP Switch in the Bus Link Adapter)65
Figure 10-9: Device Handling in the Network 'ATM 90' (Aperture for DIP Switch in the Encoder)65
Address Setting66
Figure 10-10: Device Handling in the Network 'KHK53' (DIP Switch in the Bus Link Adapter)66
Figure 10-11: DIP Switch S1 Setting66
Counting Direction68
Preset Function68
Bus Termination68
Status/Display Information69
Technical Description70
Description of the Rotary Encoders70
Description of the Linear Encoder70
Profibus Interface - Brief Overview of Specific Features70
Profibus Interface - Specification71
List of Figures72
Notes73

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SICK ATM60 Specifications

General

Protection rating	IP65
Housing material	Aluminum
Measuring range	0 to 360 degrees
Interface	SSI, Incremental
Operating temperature	+70 °C
Protection class	IP65
Shaft diameter	6 mm, 10 mm
Supply voltage	10 V DC ... 30 V DC
Shaft type	Solid shaft
Storage temperature	+85 °C
Power supply	10 V DC ... 30 V DC
Current consumption	< 150 mA