Absolute Rotary Encoder with Profibus-Interface OCD
Contents
1. should be checked once more and adapted if necessary Page 20 Add on UME BXDP Profibus DPV2 gt w gt Constant Bus Cycle Time Network Stations Cables M ie p Number of PGis OPs TDs on PROFIBUS Configured 0 Total 0 Time base Constant DP Cycle 7 825 a ms 0 001 ms Details minimum 1 000 ms r Slave Synchronization I Times Ti and To same for all slaves otherwise make setting in slave properties Time Ti read in process value Time To output pro Abbrechen Hilfe Properties DP slave E xj General Parameter Assignment Clocking Time base Time Ti read in process values pis H ms DMS mw minimum 0 125 ms maximum 10 375 ms Time base Time To output process values fois ms ms minimum 0 625 ms maximum 10 375 ms Version 01 072. Link ENCODER ET 2008 ET 200c 2 2 E ET 200L H ET 200M E ET 2008 ET 200U ET 200x H E Function Modules E IDENT irc NC E Network Components E SIMADYN Insertion possible Chg Version 01 07 Add on UME BXDP Profibus DPV2 Page 17 an a gt w gt 6 4 Setting the parameters 6 4 1 User Parameter Double click the encoder The dialog Properties a General Parameter Assignment Clocking DP slave appears Choose the tab Parameter Assignment to edit the parameters Order Number AWC5B1IX2OXX XBBIDPX3PL GSD file type file FRABOSDF GSD Family Encoders DP Slave Type FRABA Encoder Designation Addresses gt Node Master System Diagnostic Address 16381 PROFIBUS 3 jP master system 1 gt SYNC FREEZE Capabilities R SYNC R FREEZE IZ Watchdog Comment Now the user parameters cp 3 2 can be edited a i ie gt General Parameter Assignment Clocking under Device specific parameters Parameters amp Station parameters E DP Interrupt Mode 4HE General DP parameters LE Code sequence Increasing clockwise 0 scaling preset counting dir Disable Measuring units per revolution 4096 2 Total measuring range high 256 LIE Total measuring range low 0 LJE Maximum Failures Masterlifesign 1 j Hex parameter assignment Page 18 Add on UME BXDP Profibus DPV2 Vers
3. 3 5 T The instant T is used to synchronize the actual value acquisition in all slaves The time T refers to the end of the DP cycle Unit Tgase_io The following rules have to be observed The minimum time for T GSD parameter T _min of 125 us is only valid if the functions scal ing preset counting direction are disabled Version 01 07 Add on UME BXDP Profibus DPV2 Duration until a new clock pulse is generated GAP token passing reserve Global_Control The DP cycle time resulting from this is offered as default when configuring by the appropriate con figuration tools However it is possible to enter higher values to adapt the cycle time to the appli cation s needs The maximum value Tpp for the encoder is 32 ms the minimum value theoretical is 500 us If the scaling function is used T has to be at least 375 us Further on there has to be a minimum time between the instant of setpoint transfer defined by To and the instant of actual value acquisition de fined by T This minimum time interval is 125 us if the scaling function is disabled and 375 us if the scaling is enabled Page 11 POSITAL FRABA 3 3 6 To The instant To is used to synchronize the setpoint transfer in all slaves The time To refers to the start of the DP cycle Unit Tgase_io The times chosen have to comply with a minimum time between the instant of setpoint transfer pre set value and the next instant of actual valu
4. 6 Configuring With STEP 7 ccssseesse eee 15 6 1 Installing the GSD file eee eee 15 6 2 Configuring the encoder 16 6 3 Telegram selection eee eee eeeeeeeeneeeeee 17 6 4 Setting the parameters 0 ee eeeeeeeee 18 this documentation without written approval by the company POSITAL GmbH Specifications are subject to change without notice Technical specifications which are described in this manual are subject to change due to our per manent strive to improve our products Publication Jan 2007 Version 1 1 Author Dirk Jungling Version 01 07 POSITAL FRABA 1 General The latest version of the POSITAL absolute en coder with profibus interface supports the new 1 1 Clock cycle synchronous communication The isochronous communication forms the basis for the synchronization of several drives With this new functionality the Profibus Slaves may syn chronize to a clock signal sent by the Profibus master as global control command GC By defin ing the instant for the position value latch parame ter T within the bus cycle Tpp it is possible to profibus functionalities clock cycle synchronous communication and slave to slave communication acquire the actual position values of several axes precisely at the same time Furthermore setpoints can take effect precisely at the same time at differ ent axes To define this instant within the bus cycle the parameter To is used 1 2 Slave to Sla
5. Address E z tem the FRABA encoder can be chosen from the hardware catalogue and added to the profibus Transmission rate 1 5 Mbps network Select the device FRABA Encoder and Subnet drag it with the mouse to the network or choose the network and double click the FRABA en coder Now the slave address has to be entered has to be equal to the address setting in the connection cap New Properties Delete Page 16 Add on UME BXDP Profibus DPV2 Version 01 07 n a gt Ww gt 6 3 Telegram selection After the encoder has been added to the profibus ported To choose this telegram drag the module network the telegram type can be chosen In the Telegramm 81 to slot 1 in the displayed configu current version only standard telegram 81 is sup ration table of the encoder HW Config SIMATIC 400 Station Configuration ENCODER_TS Gly Station Edit Insert PLC View Options Window Help la x Diele s SI Salin E 22 xel Biotie Stn O X PROFIBUS 1 DP master system 1 o i PROFIBUS DP Additional Field Devices HA General HE Drives vo Valves Encoders 8 Ei FRABA Encoder 9 Universal module Telegramm 81 er ateway PLC Compatible PROFIBUS DP Slaves E Closed Loop Controller E Configured Stations E DP V0 slaves DP AS a c 3 FRABA Encoder Slot f Module Order number reiss O Address Comment TE as DP PA
6. POSITAL FRABA Absolute Rotary Encoder with Profibus Interface OCD DPB1B XXXX XXXX 0CC Add on to user manual UME B1DP DPV2 functionality POSITAL FRABA Contents 1 11 gt gt ee 3 1 1 Clock cycle synchronous communication 3 1 2 Slave to Slave communication 0 00 eee 3 2 Data exchange isochronous mode 4 2 1 Start up of the encoder ceceeeteeeeeeees 4 2 2 Standard telegram 81 5 3 Parameter ceeeeeeeeeeeseeeeeesenseeeeeneneeeeensenenees 8 3 1 Parameters OVErViCW cceeeeeeeeeeeeeneeeeeees 8 3 2 User parameter data 0 ee ceeeseeeeeeeeeeneeeeeees 8 3 3 Parameters for the isochronous mode 10 3 4 Slave to slave communication cee 12 Imprint POSITAL GmbH Carlswerkstr 13c D 51063 Cologne P O Box 80 03 09 D 51003 K ln Telephone 49 0 221 96213 0 Fax 49 0 221 96213 20 Internet http www posital de E mail info posital de Copyright The company POSITAL GmbH claims copyright on this documentation It is not allowed to modify to extend to hand over to a third party and or to copy Page 2 Add on UME BXDP Profibus DPV2 4 Acyclic SELVICES ec ceeeeeesetteeeeeeeeeeeeeneeeeenee 13 5 Error messages diagnostics ccseee 13 5 1 Profibus diagnostics ee eeeeeeeeeeneeeeeaes 13 5 2 Status indication by the LEDs in the connection CAP E E E A bot betetes 13 5 3 Error codes in G1_XIST2 ee 14
7. a sign of life failure the slave application automatically tries to synchronize again As long as there is no failure 2 2 Standard telegram 81 In cyclic operation standard telegram 81 cp PROFldrive Profile is used Output data Master gt Encoder 2 x 16 Bit consistent STW2 G1_sTw1 Input data Encoder gt Master 2 x 16 Bit 2 x 32 Bit consistent ZSW2 G1_zsw1 G1_xIsT1 Version 01 07 Add on UME BXDP Profibus DPV2 every bus cycle Now the master application can synchronize to the salve s sign of life the slave s sign of life is increased in every bus cy cle and can be monitored by the master applica tion G1_XIST2 Page 5 POSITAL FRABA STW2 16 Bit Master s sign of life 4 Bit counter left justified The master application cle of the master application Valid values for the starts the sign of life with any value between 1 and master s sign of life are 1 to 15 O indicates an er 15 The master increases the counter in every cy ror and is left out in normal operation xX X1X X1010 0 10 0 JO 0 O 0 JO 0 JO Counter Not used ZSW2 16 Bit Slave s sign of life 4 Bit counter left justified The slave application cation in every DP cycle Valid values for the starts the sign of life with any value between 1 and slave s sign of life are 1 to 15 0 indicates an error 15 after successful synchronization to the clock and is left out in normal operation pulse The count
8. aling function disabled 1 enabled code would no longer be single stepped In that case the encoder indicates a parameter error LED and it will not enter the data exchange mode 18 19 7 0 2 to 2 desired measuring units per revolution Version 01 07 Add on UME BXDP Profibus DPV2 Page 9 POSITAL FRABA 3 2 4 Total measuring range Octet Bit Data 20 21 22 31 24 23 16 23 7 0 2 to 2 desired total measuring range in steps The parameter total measuring range is used to adapt the measuring range of the encoder to the real measuring range of the application The en coder counts up until the position value has reached the programmed total resolution and starts with 0 again Example 100 steps are programmed for each revolution parameter measuring units per revolu tion and the total resolution is set to 12800 Then the encoder counts up to 11799 starts with 0 again after 128 revolutions counts up to 11799 and so on With many software tools it is necessary to divide the value into high and low word please refer to the user manual Furthermore the following rule has to be observed If steps per revolution are set to n the parameter total resolution must not cause periods longer than the maximum physical number of revolutions see type label i e that the programmed total resolution of a 4096 revolution multiturn encoder must be less than 4096 x the p
9. e ac 3 3 7 Tox Data_Exchange_Time Unit 1 12 us The duration of the Data_Exchange services mainly dependent on telegram length baud rate and number of nodes 3 3 8 Tou w PLL window Unit 1 12 us The window specified by the parameter Tp w de fines the maximum permissible jitter on the bus Clock pulses within this tolerance window are rec ognized as valid When synchronizing to the clock 3 3 9 Trio Delay time of the clock signal Unit 1 12 us Is internally added to the cycle time Tpp by the en coder 3 4 Slave to slave communication If the slave to slave communication is to be used the slave to slave communication channels have to be defined in the hardware configuration in the configuration tool e g the SIMATIC Manager The encoder is a so called publisher which means that slaves with the so called subscriber function Page 12 Add on UME BXDP Profibus DPV2 quisition position value latch because some in ternal calculations are necessary This minimum time is 125 us if the scaling function is disabled and 375 us if the scaling is enabled Additionally the following rule has to be met To gt Tpx To_min pulse the encoder starts with a multiple of the win dow width and scales it down until the programmed width is reached If the parameterized Tp w is lower than the mini mal setting applicable for this encoder 1 us the minimal setting will be used automatically ality can rec
10. eive the actual values from the en coder directly For detailed descriptions how to configure the slave to slave communication channels refer to the user manual of the configuration software Version 01 07 POSITAL FRABA 4 Acyclic services The following acyclic parameters are supported read only Parameter Nr Description Data type R W 918 Unsigned16 R 922 Unsigned16 R 964 R R R 965 Profile Number Octet String 2 979 Sensor format Array n Unsigned32 For detailed descriptions refer to PROFIdrive Profile 5 Error messages diagnostics 5 1 Profibus diagnostics The encoder supports 6 profibus standard diagnostic bytes Diagnostic function Data type Diagnostics octet number Station status 1 refer to Profibus standard Station status 2 refer to Profibus standard Station status 3 refer to Profibus standard Diagnostic master address Profibus identification number Octet 5 2 Status indication by the LEDs in the connection cap Two LEDs are implemented in the connection cap They optically indicate the status of the encoder in the profibus network Version 01 07 Add on UME BXDP Profibus DPV2 Page 13 POSITAL FRABA No Red LED Green LED Status possible cause 1 No power supply 2 Bright Bright Encoder is ready for operation but it has not received any configu ration data after power on Possible causes address setting incorrect bus lines not connected correctly 3 Bright Flashi
11. en coder immediately tries to achieve synchronization again the synchronization might be running when the error is observed The encoder keeps reporting the error until it was set back with the appropriate command Page 14 Add on UME BXDP Profibus DPV2 Version 01 07 mn Aa gt Ww gt 6 Configuring with STEP 7 6 1 Installing the GSD file If FRABA encoders are used for the first time it is Choose Install New GSD in the HW Config necessary to install the GSD file window of the project menu item Options and FRABO6DF gsd to take over the encoder into select the GSD file FRABO6DF gsd the hardware catalogue of the tool The GSD file is available from FRABA miHw Config SIMATIC 400 Station Configuration ENCODER_TS Gp Station Edit Insert PLC View Options Window Help le x Dc ls 8 S S Bale SRE 7 Ctri AIt T 8 PROFIBUS PA Edit Catalog Profile 6 SIMATIC 300 Update Catalog H SIMATIC 400 H SIMATIC PC Based Control 300 400 7 H E SIMATIC PC Station Import Station GSD m SIMOTION Drive Based 4 o un Slot f Module Order number Firmware MPI address l address Q address Comment BES 407 0KA01 0440 lg CPU 416 3 DP GES 416 3XL00 0AB0 a2 DF TAN WF Xe PROFIBUS DP slaves for SIMATIC 7 M7 and Zd 15 x C7 distributed rack TS Installs new GSD files in the system and u
12. er is increased by the slave appli xX X1X X1010 0 10 0 0 O O 0 JO 0 JO Counter Not used G1_STW1 16 Bit Sensor control word Bit Value Meaning Comments 0 Reserved currently not used 10 11 10 1 Home position mode Specifies if the position value shall be set to a previously pro grammed absolute value or shifted by this value 0 set home position preset absolute 1 shift home position preset relative 12 1 1 Set preset request shift Preset resp shift is set when changing this Bit to 1 rising edge Default preset value shift 0 13 11 Request absolute Request of additional cyclic transmission of the absolute actual value cyclically position in G1_XISTZ2 If no other data needs to be transferred due to commands or errors the absolute position value will be transmitted automatically 14 1 1 Activate parking sensor If the activate parking sensor bit is set the encoder transmits no error messages 15 1 Acknowledging a sensor Request to acknowledge reset a sensor error error Page 6 Add on UME BXDP Profibus DPV2 Version 01 07 POSITAL FRABA G1_ZSW1 16 Bit Sensor status word Bit Value Meaning Comment 0 Reserved currently not used 10 11 Acknowledgement sen Is set if the reset of a sensor error after acknowledging takes sor error in process longer than one bus cycle 1 N 1 oO 1 A Acknowledgement for set preset request s
13. hift ence point executed Acknowledgement for request absolute value cyclically cyclically 1 Parking sensor activated Acknowledgement for activate parking sensor The encoder transmits no error messages 1 ol Sensor error Indicates a sensor error A device specific error code is transmit ted in G1_XIST2 G1_XIST1 32 Bit Actual position value In G1_XIST1 the actual position value is transmit ted left justified The shift factor number of bits the G1_XIST2 32 Bit Actual value 2 error codes In G2_XIST2 an additional absolute actual position value is transmitted right justified The shift factor can be read with the acyclic parameter P979 In value has been shifted can be read with the acyclic parameter P979 case of an error a device specific error code is transmitted Version 01 07 Add on UME BXDP Profibus DPV2 Page 7 POSITAL FRABA 3 Parameters Different parameters and configuration options are described in the following 3 1 Parameters Overview Parameters are transmitted in the parameter tele gram as so called Structured_Prm_Data blocks Byte No Parameter Data type Details 17 Profibus Standard Parameter Probus Standard s10 evt bytes 11 14 15 Bito 3 2 4 15 Bit 4 Bit 3 2 2 15Bit3 3 2 2 z mee 7 oe A o a 58 59 TpeLt_p Unsigned16 3 3 9 3 2 User parameter data The following device specific parameters can be used to adapt the encoder to
14. ion 01 07 mn Aa gt Ww gt 6 4 2 Parameters for the isochronous mode First of all the constant bus cycle has to be acti x t d in th fib twork th t h t General Group Properties Group assignment vated in the profibus network the master has to E PC support the constant bus cycle time function In the Network view double click on the PROFIBUS subnet ai Master System No 1 hd Subnet PROFIBUS 1 Properties In the Properties dialog box Network Settings xl eneral Network Settin tab select the DP profile and click the Options button Highest PROFIBUS Options Transmission Rate Profile Standard Universal DP FMS User Defined Bus Parameters Abbrechen Hilfe Version 01 07 Add on UME BXDP Profibus DPV2 Page 19 gt rr an A In the Constant Bus Cycle Time tab activate the constant bus cycle set the constant bus cycle time behavior that is appropriate for your application After the general network settings have been fin ished double click the slave encoder whose pa rameters shall be set and select the tab Clocking Activate Synchronize DP Slave with DP cycle Choose the appropriate times for T and To Please observe the rules in chapter 3 3 5 and 3 3 6 After all Slaves have been configured and all pa rameters have been set the general parameters for the whole network e g Constant DP cycle
15. ng Parameter or configuration error The encoder receives configuration or parameter data with incor rect length or inconsistent data Possible cause parameter value total measuring range too high 4 The encoder is ready for operation but not addressed by the master e g incorrect address in configuration 5 Encoder has not received any data for a longer period about 40 sec Possible cause bus line has been interrupted 6 Dark Bright Normal operation in data exchange mode 5 3 Error codes in G1_XIST2 Encoder errors are indicated by setting an error bit in the sensor status word bit 15 The corresponding error codes are transmitted in G1_XIST2 Error code Error Description hex OF01 The requested command e g request in the control word is not supported by the encoder OF02 Master Life Sign Fault Is set if the maximum permissible number of failures of the master s sign of life is exceeded only set after the encoder once has been synchronized to the master s sign of life suc cessfully As the encoder immediately tries to achieve syn chronization again the synchronization might be running when the error is observed The encoder keeps reporting the error until it was set back with the appropriate command OF04 PLL Synchronization fault Is set if the maximum permissible number of failures of the clock pulses is exceeded only set after the encoder once has been synchronized to the clock pulse successfully As the
16. on to the clock pulse has been successful the slave application tries to synchro Page 4 Add on UME BXDP Profibus DPV2 nize to the master s sign of life An increase of the master s sign of life once per cycle of the master Version 01 07 POSITAL FRABA application is expected The cycle time of the mas ter application has to be transferred to the slave via the parameter Tmapc cp 3 3 3 As soon as the master transmits the first master life sign that is not zero the slave starts the synchronization If the value range of the master s sign of life has been traversed once without error the synchronization is considered as successful and the slave application starts monitoring the master s sign of life A de tailed description of this process can be found in the PROF Idrive Profile If a _ life sign error occurs after successful syn chronization the error bit in the status word is set the corresponding error code cp 5 3 is trans ferred and slave s sign of life is reset to zero The slave immediately starts a new synchronization at tempt 2 1 4 Synchronizing of the master application to the slave s sign of life After successful synchronization of the slave appli cation to the master s sign of life the slave sets the slave s sign of life to a value lt gt 0 and increases it 2 1 5 Cyclic operation During cyclic operation the slave application moni tors the master s sign of life If there is
17. particular applica tions Page 8 Add on UME BXDP Profibus DPV2 Version 01 07 POSITAL FRABA 3 2 1 Code sequence The parameter code sequence defines the count ing direction of the position value The code in creases when the shaft is rotating clockwise CW or counter clockwise CCW view onto the shaft The code sequence is defined in bit 0 of octet 15 Octet 15 Bit 0 Direction of rotation when viewing the shaft Code 0 Clockwise CW Increasing 1 Counter clockwise CCW Increasing 3 2 2 Scaling Preset Counting direction The functions preset value scaling function and code sequence can be enabled or disabled with bit 1 in octet 15 If the device is used with the minimum T of 125 us these functions have to be disabled If these functions are enabled certain rules have to be observed T has to be at least 375 us The time between setpoint transfer To and posi tion value latch T has to be at least 375 us 3 2 3 Measuring units per revolution The parameter measuring units per revolution is used to program the desired number of steps in one revolution If the value exceeds the basic physical resolution of the encoder the output Octet 16 17 Bit Data Octet 15 Bit 1 Scaling preset counting direc tion disabled 1 enabled To use the scaling function additionally bit 3 in oc tet 15 has to be set to 1 default setting Octet 15 Bit 3 sc
18. pdates the contents of the catalog Chg After successful installation of the GSD file the en PROFIBUS DP Additional Field Devices coder can be found in the hardware catalogue in Encoders FRABA Encoder Version 01 07 Add on UME BXDP Profibus DPV2 Page 15 an Aa gt Ww gt 6 2 Configuring the encoder minw Config SIMATIC 400 Station Configuration ENCODER_TS lp Station Edit Insert PLC Yiew Options Window Help 18 x Dce 2 2 Fl S olej dii En 22 e Profile Standard gt PROFIBUS 1 DP master system 1 6 Additional Field Devices H A General aE Drives a 1 0 B Valves g Encoders TT Gg FRABA Encoder HA Gateway a g PLC m Compatible PROFIBUS DP Slaves H E Closed Loop Controller H E Configured Stations H E DP VO slaves a DP AS i H DP PA Link PROFIBUS 1 DP mast 1 m ENCODER k t Hah cil H ET 2008 PROFIBUS address Order number Firmware Diagnostic address ET 200C ET 200eco H ET 2005 H E ET 200L H E ET 200M a ET 2008 ET 200u H E ET 200x H E Function Modules H IDENT a IPC NC J Network Components H SIMADYN a SIMATIC H SIMODRIVE xl Te PROFIBUS DP slaves for SIMATIC 7 M7 and Zd C7 distributed rack Press F1 to get Help E After inserting the Profibus master system into the x General Parameters hardwar nfiguration Insert Master ardware configuration Inse aster Sys
19. rogrammed number of steps per re volution Total resolution lt measuring units per revolution x real number of revolutions physical If this rule is disregarded the encoder will indicate a parameter error and it will not enter the data ex change mode 3 2 5 Maximum failures master s sign of life Parameter byte 24 can be used to program the number of allowed failures of the master s sign of life to a value different from the default 1 3 3 Parameters for the isochronous mode Some parameters needed for the isochronous mode have to be set by the user others are calcu lated automatically by the configuration tool e g the SIMATIC Manager The different parameters are described in the following 3 3 1 Tsase_oP Time basis of Tpp DP cycle time Unit 1 12 us Set to 125 us in the GSD file Page 10 Add on UME BXDP Profibus DPV2 Version 01 07 POSITAL FRABA 3 3 2 Top DP cycle time Unit Tease_pp The DP cycle time consists of the following parts Duration of the cyclic services depends on the number of slaves and telegram lengths Duration reserved for the acyclic services de pends on the maximum length of the DPV1 telegrams 3 3 3 Tmarc Master application cycle Multiple of Tpp used to evaluate the master s sign of life 3 3 4 TpasE_lo Time base of T and To instants in time of the ac tual value acquisition setpoint transfer Unit 1 12 us Set to 125 us in the GSD file 3
20. the status operate and receives valid data exchange telegrams a first attempt to synchronize to the cy cle global control is started The cycle time used is the bus cycle time Tpp isochronous parameters cp 3 3 2 the width of the tolerance window is a multiple of the width Tpit_w cp 3 3 8 as both of them were transmitted by the PLC in the parame terization data During the synchronization the bus cycle time Tpp is adapted to the real bus cycle the tolerance window is minimized until the width TPL w cp 3 3 8 is reached and on again after changing the GSD The exam ple in chapter 6 describes how to install and con figure the encoder current encoder version the only possible configu ration is standard telegram 81 defined in the PROFldrive Profile This telegram is described in chapter 2 2 configuration special configuration identifier 0xC3 0xC1 0xC5 0xFD 0x00 0x51 After successful synchronization to the cycle Global Control the slave application starts the monitoring of the clock pulse A detailed descrip tion is contained in the PROFldrive Profile If the maximum permissible number of clock pulse failures is exceeded the error bit in the status word is set the corresponding error code cp 5 3 is transferred The slave will directly start the attempt to achieve a new synchronization to the clock pulse 2 1 3 Synchronizing of the slave application to the master s sign of life If the synchronizati
21. ve communication To reduce the response time of the application slave to slave communication was implemented in Profibus DP V2 It renders it possible for one slave to directly receive the output values of another slave Thereby Slaves can receive the actual val ues of other slaves in the same bus cycle and can use them as reference values A slave device that Version 01 07 Add on UME BXDP Profibus DPV2 makes its values available for other slaves is called publisher The slave device which receives this value is called subscriber The slave to slave data transmission has to be initiated by a master device but the transfer takes place in only one bus cycle Page 3 POSITAL FRABA 2 Data exchange isochronous mode To use the new functionality of the encoder the GSD file FRABO6DF GSD has to be installed If the device has been previously used with another GSD file the power supply has to be switched off 2 1 Start up of the encoder The encoder will pass the following phases before the synchronization is achieved 2 1 1 Slave Configuration Parameter and configuration data are transferred from the master to the slave The structure of the parameters and the possibilities of programming the device are described in chapter 3 With the standard telegram output data 81 2 words input data 6 words 2 1 2 Synchronizing to the cycle Global Control As soon as the slave application detects
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