profibus dp
Contents
1. 0 Frequency warning Not supported Supported Temperature warning Not supported Supported 2 Light control reserve Not supported Supported warning 3 CPU monitoring status Not supported Supported warning 4 Maximum operating time Not supported Supported exceeded warning Battery charging warning Not supported Supported 6 Reference point warning Not supported Supported Currently e not 15 assigned Table 24 Diagnostics supported warnings Part Id 634814 01 25 Document Id 634814 Ver 01 Publication date 2008 02 05 PROFIBUS USER MANUAL Leine amp Linde AB 4 6 11 Profile Version Octets 24 and 25 of the diagnostic function provide the PROFIBUS DP encoder profile version that is implemented in the encoder The octets revision number and index are combined Example Profile version 1 40 Octet no 24 25 Binary code 00000001 00000001 Hex 1 40 DDLM Slave Diag Bits 15 8 7 0 Data 27 20 27 20 Revision number Index Profile Version Table 25 Diagnostics profile version 4 6 12 Software Version Octets 26 and 27 of the DDLM Slave Diag function provide the software version of encoder The octets revision number and index are combined Example Software version 1 40 Octet no 26 27 Binary code 00000001 01000000 Hex 1 40 DDLM Slave Diag Bits 15 8 7 0 Data 27 20 27 20 Revision number Index Software versio2. Supported warnings Encoder Profile version Not supported Operating time Offset value Measuring units per revolution 44 44 44444 d Total measuring range in measuring units 6 2 3 I amp M functions Table 36 Operating parameters supported Leine amp Linde AB ng sub index In addition to the PROFIdrive parameter 964 Device Identification I amp M functions are supported by the encoder The I amp M functions can be accessed with data set index 255 The Leine amp Linde encoder supports the following I amp M functions Content Coding Header Manufacturer specific Security code for parameter write access I amp M Block MANUFACTURER ID Manufacturer Id 284 ORDER ID Encoder part number SERIAL NUMBER Encoder serial number HARDWARE REVISION 0x0000 Not used SOFTWARE_REVISION Software revision including software release status e g V1 3 0 REVISION COUNTER 0x0000 Not used PROFILE ID 3D00 Encoder profile DPV2 PROFILE SPECIFIC TYPE See table in encoder profile IM VERSION Version of the I amp M profile IM SUPPORTED 0 Mandatory I amp M supported Table 37 I amp M functions supported 6 3 Slave to slave communication The Leine amp Linde PROFIBUS encoder is supporting the slave to slave communication principal as a slave i e as publisher 6 4 Configuration Isochronous operation To co
3. Table 6 Octet 9 Parameter definition 4 4 1 Code sequence The code sequence defines whether the absolute position value should increase during clockwise or counter clockwise rotation of the shaft encoder seen from flange side The code sequence is by default set to increase the absolute position value when the shaft is turned clockwise 0 4 4 2 Class 2 functionality This bit enables or disables class 2 functionality The Class 2 functionality bit for PROFIBUS DP devices is by default disabled 0 This means that this control bit must be activated during parameterization in order to support the class 2 functions Part Id 634814 01 14 Document Id 634814 Ver 01 Publication date 2008 02 05 PROFIBUS USER MANUAL Leine amp Linde AB Note If a class 1 encoder uses some optional class 2 functions the class 2 control bit must be set 4 4 3 Commissioning diagnostics The commissioning diagnostics function makes enable the encoder to perform internal diagnostic test of the encoder components responsible for position detection during a standstill of the encoder ie light unit photovoltaic cells etc In conjunction with the position alarms it enables thorough checking of whether the position values provided by the absolute encoder are correct The commissioning diagnostics function is started by the commissioning bit in the operating parameters f an error is found within the absolute encoder this is indicated in the diagnostic f
4. PROFIBUS DP Manual Users Guide DPVO amp DPV2 Encoders Part No 634814 01 Doc No 634814 Ver 01 LEINER LINDE PROFIBUS USER MANUAL Leine amp Linde AB Content LIST OR TABLES r n 3 LIST OF FIGURES EE 4 1 GENERAL INFORMATION qu icssssssisonssessssonsossescassesescoseviasoosevteassssstecsesnsdesseonssosseseasestessasessesoosss aseoses 5 LE DABSOEUTEENCODERBS 5 eege Ee eae A Ee I ens 5 1 2 PROFIBUS TECHNOEOGYX 5 rette rito Dr PO a EE E EHE 5 T3 ABOUT TL BINE amp LINDE ADB 3 orit eta oo Da oO ae oe aR EE 5 1 3 1 TECHNICAL AND COMMERCIAL SUPPORT ennt eenhnhnnnn ennt nete nh nnne sese nete a nane sesenta nnns 5 1 3 2 CERTIFICATION OF PROFIBUS PRODUCTS c cccccecsssssseceeececeessnsececececsesssaececececseneaaseeseeseseneaees 6 UE RERERENGBS EE 6 1 4 ABBREVIATIONS 5 55 osi tto eiu dente enu Eege io E 6 2 ENCODER INSTALLATIQN ecet reo negocio eoa Eed poco en epa os ea oo e ep aeo get da sao UR Ea o e VE Fee dE 7 2 1 SETTINGS INSIDE THE ENCODER 2 4 22 tete esee e EE eee vere doce de debe E pares Seed abies Yer T 2 1 E NODE EE ON 7 2 RER ee EE H 2 22 CONNECTING THE ENCODER eee bie vete env dE gege He E ee eU ee sus da rie NEEN d e 8 PAPI E LONA AEAU E Ea R Xm 8 GL BUS GINES ERE 8 2 3 SHIELDING PHILEOSOPHY EE 9 E ET BE EII EE 9 PAS B D DE NIDI uuo EI 10 S PROFILE OVERVIEW reiege sees Zeie eege eege 11 3 1 DPVO ENCODER e TE 11 3 2 DPV2 ENCODER e EE 12 4 ENCODER FUNC
5. edule z Address ID Parameter Assignment lacs 16 Bit al lass2 32 Bit e T amp a g Sr Parameters 3 amp Station parameters pecific parameter Code sequence E Class 2 functionality E Commissioning diagnostics amp Scaling function control amp Measuring units per revolution E Total measuring range amp Velocity output unit Clockwise Cw Enable No Disable Scaling 8192 33554432 Steps 1000 ms US DP Slaves Note 25 PROFIBUS Encoder GC Hex parameter assignment Order number 79 Encacby Css C Network Components H SIMADYN 3 simatic CH SIMODRIVE Insertion possible cho Astart a SIMATIC Manager locpri J Gi utforskar C Siemens st BRHW Config LL138 C BY Microsoft Word Dokume OGCNR OSBSQ ois Figure 12 Parameter assign DPVO In the value field the desired parameterization is added Chapter 4 4 describes the functionality and possibility of each parameter After adding the parameters the encoder will enter data exchange mode and is thereby commissioned on the BUS Please refer to the respective manufacturer for information on the configuration of other PROFIBUS DP master interface modules Part Id 634814 01 Document Id 634814 Ver 01 Publication date 2008 02 05 30 PROFIBUS USER MANUAL Leine amp Linde AB 6 Encoder fun
6. 4 4 Parameterization DPVO The PROFIBUS DPVO encoder is parameterized by means of the operating parameters The values selected in the configuration tool are saved in the DP master and are transferred to the PROFIBUS DP slave each time the network is started Part Id 634814 01 13 Document Id 634814 Ver 01 Publication date 2008 02 05 PROFIBUS USER MANUAL Leine amp Linde AB The following table lists all available parameters Code sequence Bit 9 1 Class 2 functionality Bit 9 2 Commissioning diagnostics Bit 9 Optional Scaling function control Bit 9 2 Measuring units per revolution Unsigned 32 10 13 2 bits Total measuring range units Unsigned 32 14 17 2 bits Manufacturer specific functions Bit 26 28 Optional Velocity control 2 bit 39 2 ext Table 5 Operating parameters in DPVO The parameters described in octet 9 are defined bit by bit as follows Bits 7 0 Data 27 20 Operating parameters 0 Code sequence Clockwise CW Counter clockwise CCW Increasing position values Increasing position values when rotated clockwise seen when rotated counter from flange side clockwise seen from flange side 1 Class 2 functionality Disable Enable Commissioning diagnostics No Yes 3 Scaling function control Disable scaling Enable scaling Scaling parameters are taken into octets 10 to 17 4 Reserved E for future 7 applications
7. 8192 2 Total measuring range in measuring units 3355 4432 2 2 Format of the scaling parameters Octet 10 aa 12 13 Bits 31 24 23 16 15 8 7 0 Data 231 924 223 916 215 98 97 90 Measuring units per revolution Table 7 Singleturn scaling parameter format Octet 14 15 16 i7 Bits 31 24 23 16 15 8 7 0 Data 231 224 223 216 215 28 27 20 Total measuring range in measuring units Part Id 634814 01 Document Id 634814 Ver 01 Publication date 2008 02 05 15 PROFIBUS USER MANUAL Leine amp Linde AB Table 8 Multiturn scaling parameter format The data format for both scaling parameters is 32 bits without sign with a value range from 29 to 232 The permissible value range is limited by the resolution of the encoder For a 25 bit encoder with a singleturn resolution of 13 bits the permissible value range for Measuring units per revolution is between 20 and 213 8192 and for the Total measuring range in measuring steps the permissible value range is between 20 and 225 33 554 432 The scaling parameters are securely stored in the PROFIBUS DP master and are reloaded into the encoder at each power up Both parameters are output data in 32 bit format Example of scaling and entry If the user wants to scale the encoder to a single turn resolution of 4000 unique positions per revolution and a total number of turn count equal to 3200 revolutions shall the config
8. Basic function Code sequence gt Singleturn resolution Absolute position Number of distinguishable revolutions Scaling function Measuring units per revolution Total measuring range in measuring units Scaling function control status Preset function Preset value Offset value Output position value Figure 8 Basic encoder functionality 4 2 PROFIBUS data transfer principle The PROFIBUS DP devices can be configured and parameters set according to the user s needs In this context it is useful to know that with PROFIBUS there are different types of data transmission 4 2 1 During parameterization DDLM Set Prm mode When the system is started the PROFIBUS devices are parameterized DDLM Set Prm mode i e the encoder class set by means of the GSD file in the configuration tool see chapter 3 and the set operating parameters see chapter 4 4 are transferred to the respective slave 4 2 2 Normal operation DDLM Data Exchange mode In the normal mode DDLM Data Exchange mode data are exchanged between master and slaves The preset value function can be carried out only in this operating mode The data exchange is described in chapter 4 5 4 3 Configuration DPVO The configuration of a DPVO encoder is conducted by choosing encoder class Le setting the input output data structure The configuration options are 16 bit 32 bit or 32 bit 16 bit velocity input data for explanation view chapter 3 1
9. 11 Data exchange 16 bits Configuration data Device class 1 DO 1input data word data consistency Device class 2 FO 1input data words 1 output data word for preset value data consistency Part Id 634814 01 18 Document Id 634814 Ver 01 Publication date 2008 02 05 PROFIBUS USER MANUAL Leine amp Linde AB 4 5 2 Preset function The preset value function enables adaptation of the position value form the encoder to a known mechanical reference point of the system The preset value function sets the actual value of the encoder to zero or to the selected preset value The preset value is stored in a non violate memory in the encoder as input value when the Data Exchange function is activated In case of a power interruption the preset value is reloaded at start up If scaling is used the preset value function shall be used after the scaling function This means that the preset value is entered in the current measuring unit The most significant bit MSB of the preset value controls the preset value function as follows Normal operating mode MSB 0 bit 31 optional bit 15 The encoder will not change the preset value Activated mode MSB 1 bit 31 optionally bit 15 With MSB 1 the encoder accepts the transferred value bits 0 30 as preset value in the binary code The encoder reads the current position value and calculates an offset value using the preset value The position value is shifted by the calculated offset value
10. A A A ea oieee EIS Q Address 0 3 Encoder Class2 32 Bit velocity 1 4 2 peadty Os XP Ei valo 8 6 Ke ere SEO Insertion possible uz zm Astart ASIMATIC Manager locprj Autoe C Siemensist hw Config LL138 C R Microsoft Word Dokume QR POS o Figure 11 Commissioning example DPVO When dropping the encoder on the BUS a PROFIBUS address must be assigned naturally this address must be the same as assigned on the hardware address switches on the back of the encoder see chapter 2 1 1 Configure the DPVO slave To configure the encoder for 25 bit position value plus velocity data choose the Encoder Class 2 32 bit velocity configuration option in the map structure Add the chosen configuration by drag and drop to the configuration window in lower left view Part Id 634814 01 29 Document Id 634814 Ver 01 Publication date 2008 02 05 PROFIBUS USER MANUAL Leine amp Linde AB Assigning parameters to the DPVO slave By double clicking on the configuration row in the configuration view the parameterization view will be opened ZW Config LL138 Configuration locprj Dt station Edit Insert PLC View Options Window Help oleja Sy al giel gel fH 9 wi Q g Profile Standard S PROFIBUS DP a GC Additional Field Devices PROFIBUS 1 DP master system 11 E Encoders
11. If the input position value equals the preset value the preset mode is terminated and the MSB can be set to 0 by the master The resulting offset value can be read in the diagnostic data Note The preset function should only be used at encoder standstill Depending on encoder type the number of possible preset cycles is limited please consult Leine amp Linde for more information Preset value format 2 words 32 bits Bits Bi B0 24 93 16 15 8 7 0 Data 0 1 030 _ 924 223 _ 916 215 _ 98 27 20 Preset Preset value max 31 bits control bit Table 12 Preset value 32 bit format Preset value format 1 word 16 bits Bits T5 14 8 7 0 Data 0 1 214 28 27 20 Preset control bit Preset value max 15 bits Table 13 Preset value 16 bit format Part Id 634814 01 19 Document Id 634814 Ver 01 Publication date 2008 02 05 PROFIBUS USER MANUAL Leine amp Linde AB 4 6 Diagnostics The diagnostic information contains diagnostic data which are on the one hand defined in the PROFIBUS DP specification octets 1 to 6 but also encoder specific diagnostic data DDLM Slave Diag Diagnostic function Data type Diagnostic Device octet number class Station status 1 Bits 1 Station status 2 Bits 2 Station status 3 Bits 3 Diagnostic master address Bits 4 PNO identification number Bits 5 6 Extended diagnostic header Octet s
12. configuring the encoders various encoder classes can be selected as described in the following chapters Selectable parameters and functionality of the device depend on the selected encoder class This data saved in the PROFIBUS master is transferred once to the encoder when the system is powered on After the configuration and parameter data have been received the encoder enters normal operation with cyclic data transfer i e DDLM Data Exchange mode Part Id 634814 01 9 Document Id 634814 Ver 01 Publication date 2008 02 05 PROFIBUS USER MANUAL Leine amp Linde AB Installation of GSD files 1 Select the GSD file of the respective device on the floppy disk and copy the gsd file into the respective directory of the PROFIBUS configuration tool 2 Select the bitmap file of the respective device on the floppy disk and copy the bmp file into the respective directory of the PROFIBUS configuration tool 3 Update the GSD files SCAN 2 5 LED indication In order to determine the status of the encoder two LEDs are visible from the rear end of the encoder The module LED indicates status of the module itself The bus LED indicates the status of the bus The table below defines the diagnostic messages using a red BUS and a bicolor Red Green LED MODULE Function of the led indication is the same in DPVO and DPV2 mode Dar Dark Power Red Green No connection to another device Bus disconnected Criter
13. of class 1 the length of the encoder specific diagnostic data is 10 bytes OAhex Part Id 634814 01 20 Document Id 634814 Ver 01 Publication date 2008 02 05 PROFIBUS USER MANUAL Leine amp Linde AB DDLM Slave Diag Bits 7 6 5 0 Data 0 0 xxh Set to 00 Length including header Extended diagnosis Table 15 Diagnostic header 4 6 2 Alarms Alarm is generated by the encoder when failure occurs which effects the position value Octet 8 in the diagnostic function DDLM Slave Diag indicates the status of the alarms Additional alarms for device class 2 are added in the diagnostic octet 17 If an alarm is given the Ext Diag bit and the Stat Dag bit in the diagnostic function are set to high and remain high until the alarm is reset and the encoder can provide a correct position value Alarms can be reset deleted when all encoder parameters are within the specified value ranges and the position value is correct Note Not every encoder supports every alarm For encoders of class 2 the diagnostic information supported alarms see Chapter 0 makes it possible to find out which individual alarm bits are supported DDLM Slave Diag Bits 7 0 fo resin enor P E No i OK Position error Currently S not assigned Table 16 Alarms 4 6 3 Operating Status Octet 9 in the diagnostic function provides information about encoder specific parameters A class 2 encoder sets the functionali
14. the encoders The status bit of the scaling function in the operating status octet 9 of the diagnostic data indicates whether the scaling function is enabled Part Id 634814 01 27 Document Id 634814 Ver 01 Publication date 2008 02 05 PROFIBUS USER MANUAL Leine amp Linde AB Values preset by the manufacturer of the encoder Measuring units per revolution singleturn resolution Total measuring range in measuring units singleturn resolution x number of distinguishable revolutions TD The data type for both values is unsigned 32 bits DDLM Slave Diag Bits 31 24 23 16 15 8 7 0 Data 931 924 223 _ 916 215 28 27 20 Measuring units per revolution DDLM Slave Diag Bits 31 24 23 16 15 8 7 0 Data 231 924 223 _ 916 215 28 27 20 Total measuring range in measuring units Table 30 Diagnostics scaling parameters setting 4 6 17 Encoder Serial Number Octets 48 to 57 of the diagnostic function provide the serial number of the encoder as a 10 character ASCII string DDLM_Slave_Diag Bits 79 0 Data ASCII Serial number Example of a serial number ASCII string 30 30 30 35 39 46 38 4 45 35 Serial hex 0 0 0 5 9 E 8 D E 5 Serial dec 9434 2629 Table 31 Diagnostics encoder serial number Part Id 634814 01 28 Document Id 634814 Ver 01 Publication date 2008 02 05 PROFIBUS
15. used The user can select the version that fits their hard and software The GSD file can be ordered form Leine amp Linde AB or downloaded from www leinelinde com 3 1 DPVO encoder classes The encoder can be configured as a class 1 or class 2 PROFIBUS slave device Class 2 configuration is extended to optionally access velocity information from the encoder Part Id 634814 01 1i Document Id 634814 Ver 01 Publication date 2008 02 05 PROFIBUS USER MANUAL Leine amp Linde AB CLASS 1 CLASS 2 In the CLASS 1 configuration only output values are assigned Depending on the encoder resolution this is one output word 16 bits or two 32 bits The following functions can be performed e Changed direction of counting e Diagnostic data up to octet 16 Configuration data Singleturn Class 1 16 Bit DOnex 1 input data word data consistency Multiturn Class 1 32 Bit D1ne 2 input data words data consistency In the CLASS 2 configuration output values and input words are transferred Depending on the encoder resolution this is one output word 16 bits or two 32 bits The following functions are available in addition to the class 1 functions e Scaling function e Preset Value Function e Velocity read out e Extended diagnostic data Configuration data Singleturn Class 2 16 bits FOnex 1 input data word 1 output data word for preset value data consistency Multiturn Class 2 32 bits F1nex 2 input data wo
16. valid value After the encoder is synchronized with MLS it acknowledge by producing Slave Life Sign SLS The SLS is presented in ZSW2 Status word 2 bit 12 15 In accordance to MLS it must be counted 1 15 cyclically 0 is not a valid value although it is not mandatory that MLS and SLS is equal for each DP cycle After detecting correct SLS by the Master potential error codes must be acknowledge This is done by the Master clearing bit 15 in the Sensor Control word G1 STW The encoder will acknowledge by resetting the sensor error code bit 15 in Sensor Status Word G1 ZSW and also clear the error code message presented in G1 XIST2 If this is done successfully the encoder is in operating mode fully synchronized with the DP cycle 36 PROFIBUS USER MANUAL Leine amp Linde AB 7 Encoder commissioning example DPV2 Isochronous Operation This example is intended to illustrate the commissioning of a PROFIBUS DPV2 encoder in isochronous operation The basic principal for adding the encoder on the BUS is the same as for the DPVO see chapter 5 The exceptions are that GSD file enc O0aaa gsd must be used and that Encoder Class 4 must be chosen during configuration Assigning parameters to the DPV2 slave The parameterization view of the DPV2 Class 4 encoder Properties DP slave General Parameter Assignment Isochrone Mode Parameters Value Gy Station parameters E DP Interrupt Mode DPVO 2g P pa Devic
17. 2 1 PROFIdrive parameters eee eese eene entente srei ereak itoni trennen ioi eisin 32 6 2 2 Encoder specific parameters eese eese teeth enneteen eene trennen innen enne 32 6 2 3 T amp M functions EE 33 6 3 SLAVE TO SLAVE COMMUNICATION sseseseseereseeeteteeterereesereersteesrrtesterereteserteestetesereesterereteseereseee 33 6 4 CONFIGURATION ISOCHRONOUS OPERATION eese enne ennenr en enrnnr inneren nennen nnne nr enne 33 6 5 PARAMETERIZATION ISOCHRONOUS PARAMETERST cessent rennen ener enne 34 6 6 DIAGNOSTIC MESSAGES DBV3 4 et at teen e Gack ses do EXER Ge YET ERES Eed e o ed 35 6 6 OVerVIEW n oa t a ERR EE IR a Se SEG 35 6 6 2 ErTOF E 36 6 7 Isochronous synchronization principal sees eese eene entente tne 36 7 ENCODER COMMISSIONING EXAMPLE DPV2 ISOCHRONOUS OPERATION 37 7 1 ISOCHRONE MODE PARAMETER SETTINGS DPV2 SLAVE csseeeeeeneeneeeeeee nemen trennen 37 7 2 ISOCHRONE MODE PARAMETERS SPTTIMOS BUS sese eee nennen nenne 38 APPENDIX A HISTORY 40 List of tables Table 1 Pinning M12 power supply connector ssesessee eme 8 Table 2 Pinning M12 busuam out lmneS usse dente e e LR Re E 8 Ta3ble 2 GoD Tilesavadable E 9 Table 4 LED 38dICat6n siiis tee beers nie iei isi cet tb latte edet n bd 10 Table 5 Operaung parameters 11 DPVO et eseu e dee epe e e ree e e eee 14 T able 6 Octet 9 Parameter definition cose ied d tei ptura epar b beds 14 Tab
18. ROFIBUS 11 Igure s BASIC CMCOGET functionality edo oiim Gre teen 13 igure 9 Cyclic SCA IE oo oec ve arti EE cf tan oue uie EE 17 E ele De ee 17 ure 1T Commissioning example DPV Ordesa onie ee edge ie e de d dtd 29 Igure 42 Parameter EE a v Adie Mt OS M CR evt pesce uet iue uico amare 30 gure 13 Basic principal of the DP cycle in isochronous mode sees 32 igure 14 Assigning parameters DPV2 Class 4 eene 37 gure 15 Isochrone mode parameter settings DP slave sss 38 te T5 IP master SEEDS BUS S CO dedu ee het e Beet tese e piod fon ttf 38 sure 17 Network setureS BUS s va p ee Mer en etr ree e EI etes 39 gure 18 Isochrone mode parameter settings BUS 39 Leine amp Linde AB claims copyright on this documentation It is not allowed to modify extend or to hand over to a third party and or copy this documentation without written approval from Leine amp Linde AB Specifications and content in this document are subject to change without prior notice due to our continuous strives to improve functionality and performance of our products Part Id 634814 01 4 Document Id 634814 Ver 01 Publication date 2008 02 05 PROFIBUS USER MANUAL Leine amp Linde AB 1 General information 1 1 Absolute encoders With an absolute encoder each angular position is assigned a coded position value generated by a code disc equipped with several parallel fine graduations tracks which are scanned indiv
19. TIONALITY DPVO cccsssscssssscccssssccccssscccssssscccsssscccessccscessececcssssccscsscsecess 13 4 1 BASIC ENCODER FUNCTIONALITY eene eren etn ne nr seen eet tn nass s een ee tarea asse esent tena annees 13 4 2 PROFIBUS DATA TRANSFER PRINCIPLE ecce eren entere enne than asset entere nnns sese te nnns nnn 13 4 2 1 During parameterization DDLM Set Prm model 13 4 2 2 Normal operation DDLM Data Exchange model 13 4 3 CONFIGURATION DN 13 4 4 PARAMETERIZATION DPNO eene eth nnnn nest eet tnas asse ettet te anas sees entera anas en 13 4 4 2 Class 2 functionality iie edt sede pte re e rH RR ES VIE E STR Det 14 4 4 3 Commissioning diagnostics atis eitei tee entire tb eie pei deett eh ttp regi 15 4 4 4 Scaling function control rii tree tere tree terio trio Eee eret 15 4 4 5 Measuring units per revolution eese eene eere nene trennen 15 4 4 6 Total measuring range units eese sees seen eene enne tenen nnne en nnet nene en nest tenerse nne 16 44 7 Velocity COnttOL ie eie ett rede ee hb t eia TRE e XI o STe EaR 17 4 5 DATA TRANSFER IN NORMAL OPERATION DDLM DATA ESCHAMOE eene ene 18 45 1 Data exchange mode usate ee peer D e EO RU e etre ee srt 16 4 52 Preset EE 19 4 6 DIAGNOSTICS IRR Cm 20 4106 1 Diagnostic Header gie aiite eee ee eee Re e Re e Een enden 20 4 0 2 Alarms usate atiietusteuuetn uem atinisdanetnnmeiieiia uenia uineis 21 4 6 3 Operating Status aie gto ee
20. USER MANUAL Leine amp Linde AB 5 Encoder commissioning example DPVO This example uses a Siemens master and the SCOUT configuration software The example is intended to illustrate the commissioning of a PROFUBUS DPVO encoder with a 25 bit absolute rotary encoder and velocity information Copying the GSD file First copy the GSD file enc a401 gsd and bitmap into the corresponding directory in the Siemens configuration software GSD Selecting the DPVO Slave To select the encoder click on the PROFIBUS encoder icon in the map structure on the right side of the window Use drag and drop to add the encoder on the BUS upper left view SHw Config LL138 Configuration locprj Gh station Edit Insert PLC View Options Window Help Das e s ai gel J ziel S PROFIBUS DP EC Additional Field Devices EC Encoders PROFIBUS Encoder J Universal module Encoder Class2 16 Bit Encoder Class2 32 Bit Encoder Class1 16 Bit Encoder Class1 32 Bit Encoder Class2 32 Bit velocity Compatible PROFIBUS DP Slaves H Closed Loop Controller H A Configured Stations CH DP VO slaves Be CH DP AS i E o CH DP PA Link CH ENCODER H ET 2008 a ET 200 e CH ET 200eco H ET 2005 amp 3 ET 200L CH ET 200M CET 2005 xi ET 2000 CET 200 5 Function Modules CH IDENT IPC H E NC 9 Network Components H E SIMADYN B E SIMATIC CH SIMODRIVE PROFIBUS 1 DP master system 1 ele pogas
21. an place on them That is why a wide assortment of incremental and absolute encoders with obvious concentration on robust products and quality down to the last detail can be offered Leine amp Lindes encoders provide the utmost in reliability year after year in working conditions where vibration dirt cold and other harsh environments are common Leine amp Linde can meet very specific individual demands The encoders are easily adopted due to a modular design in the collection exactly to the customers needs with respect resolution electrical connections and interfaces voltage casings etc That is due to the fact that tomorrow s technology already is used today in Leine amp Linde products Leine amp Linde concentrate on advanced development of intelligent encoders with integrated ASICs new special features and with adaptations to different fieldbus systems This enables us to meet the need for increasingly effective and dependable machines and automation to an even higher degree 1 3 1 Technical and commercial support Leine amp Linde are represented by subsidiaries in many countries around the world In addition to the address listed here there are many services agencies and distributors located worldwide ready to reply to commercial enquires or technical support For more contact information please visit our web site or contact Leine amp Linde in Str ngn s Sweden Part Id 634814 01 5 Document Id 634814 Ver 01 Publicat
22. are internally connected to each other so it does not matter to which the bus lines are connected to 2 3 Shielding philosophy Figure 6 Cable assembling principal To achieve the highest possible noise immunity and resistance against other EMI related disturbances the bus and power supply cables shall always be shielded The screen should be connected to ground on both ends of the cable In certain cases compensation current might flow over the screen Therefore a potential compensation wire is recommended 24 GSD files Absolute encoders with PROFIBUS can be configured and parameterized corresponding to the requirements of the user When the system is started the PROFIBUS devices are set and configured in DDLM_Set_Prm mode i e the encoder class set by means of the GSD file in the configuration tool and the operating parameters are transferred to the respective slave Leine amp Linde offers different GSD files depending on what type of PROFIBUS device used integrated encoder or gateway In addition differentiation between DPVO or DPV2 functionality is also made by selecting different GSD file All GSD files available can be ordered or downloaded at www leinelinde com for part numbers please view datasheets or contact your nearest Leine amp Linde representative Encoder type and functionality GSD file Integrated encoder DPVO enc_a401 Integrated encoder DPV2 enc 0aaa Table 3 GSD files available When
23. base parameters are controlled by the master The individual DP slave isochronous mode settings enable individual data sample time as the T can be set uniquely for each slave The master application cycle factor is used if the application requires that the master application cycle time is different from the BUS cycle time Be aware that if the factor is 1 the slave will not read Master s Life Sign on each BUS cycle for example if the factor is set to 2 the Master s Life Sign will only come every second BUS cycle 7 2 Isochrone Mode parameters settings BUS The Isochrone Mode parameter can also be set from the BUS By double clicking on the BUS in the BUS structure view see chapter 5 upper left view the properties of the DP master system is accessed To access the general BUS Isochrone Mode parameters take the following actions Click on the Properties button Properties DP master system General Group Properties Group Assignment Short Description DP master system Name DP master system Master System No 2 k Subnet PROFIBUS 1 Properties Comment Cancel Help Figure 16 IDP master settings BUS Choose the Network Settings view For highest performance make sure that 12Mbps baudrate and DP profile is chosen Properties PROFIBUS General Network Settings Highest PROFIBUS Address 1 M Transmission Rate 500 Kbps 1 5 Mbps 3 Mbps 5 Mbps iE Profile Sta
24. ctionality DPV2 The PROFIBUS DP encoder can by using the DPV2 GSD file be configured to include DPV2 functionality DPV2 functionality includes Isochronous operation acyclic data exchange and slave to slave communication A DPV2 encoder can only be configured to use standard telegram 81 for I O data meaning 4 byte output and 12 byte input Standard telegram 81 is defined in the PROFIdrive profile and adopted to the DPV2 PROFIBUS profile for encoders 3 162 Standard Telegram 81 Setpoint STW2 G1 STW1 Output data from Master Actual value ZSW2 GLZSW1 G1 XIST1 G1 XIST2 Input data to Master Table 32 Standard Telegram 81 The mapped signals are described in the following table lE T e O MEAM RE from master from master from encoder Sensor 1 status word G1 ZSW 16 Input status word from encoder 32 Input left aligned absolute position value from encoder Sensor 1 position actual value 2 G1 XIST2 32 Input right aligned absolute position value from encoder Sensor 1 position actual value 1 G1 XIST1 Table 33 Telegram 61 signals Control word 2 bit 12 15 is referred to as master s sign of life and the Status word 2 bit 12 15 as Slave s sign of life These signals are mandatory for controlling the clock synchronization The G1 XIST1 and G1 XIST2 signals consist of the absolute position values in binary format By default G1 XIST1 are left aligned and G1 XIST2 right aligned in case of diffe
25. d32 375 750 1500 Set by Master BASE DP T Unsigned16 Set by Master DP T Unsi 8 Set by Mast ma nsigned et by Master T Unsigned32 Set by Master BASE IO T Unsigned16 Set by Master n T Unsigned16 Set by Master o T Unsigned32 Set by Master DX T Unsigned16 Set by Master PLLW T Unsigned16 Set by Master PLL D Table 39 Isochronous mode parameters The different time based parameters are defined in the PROFIdrive V3 1 profile chapter 6 2 1 For general explanation and understanding see chapter 6 1 in this manual 6 6 Diagnostic messages DPV2 6 6 1 Overview The encoder profile 3 162 defines support for alarm and warning messages The Leine amp Linde PROFIBUS encoder supports the following alarm message Table 40 Diagnostics messages DPV2 Error type 22 Definition Position value error GSD entries Channel Diag 22 Position value error Channel Dag Help 22 The encoder has an internal error and is not able to provide an accurate position value change encoder Part Id 634814 01 35 Document Id 634814 Ver 01 Publication date 2008 02 05 PROFIBUS USER MANUAL 6 6 2 Error message Error messages are sent in G1 XIST2 The Leine amp Linde PROFIBUS encoder supports error messages according to the profile Leine amp Linde AB Error Meaning Description 0x0001 Sensor group error The encoder is not able to provide a correct position value Positi
26. der with battery buffer 05 Incremental linear encoder 06 Incremental linear encoder with battery buffer 07 Absolute linear encoder 08 Absolute linear encoder with periodic coding 09 Currently not assigned FF Table 18 Diagnostics encoder type 4 6 5 Singleturn resolution or measuring step The singleturn resolution in the diagnostic function has different meanings depending on the type of encoder Part Id 634814 01 22 Document Id 634814 Ver 01 Publication date 2008 02 05 PROFIBUS USER MANUAL Leine amp Linde AB For rotary or angle encoders the diagnostic octets 11 to 14 indicate the physical resolution in number of measuring steps per revolution which is transferred for the absolute singleturn position value The maximum singleturn resolution is 2 For linear encoders the measuring steps is presented with respect to the resolution of the linear encoder ie each increment of the measuring step is equal the actual resolution for the linear encoder in use Typical values for the linear resolution are 1um 40 um DDLM Slave Diag Bits 31 24 23 16 15 8 7 0 Data 931 224 223 _ 216 215 28 27 20 Singleturn resolution Table 19 Diagnostics singleturn resolution 4 6 6 Number of Distinguishable Revolutions The number of distinguishable revolutions that the encoder can transfer is defined by octets 15 and 16 of the diagnostic funct
27. e specific parameters amp Code sequence Increasing clockwise 0 amp Class 4 Enable Enable amp G1 XIST1 Preset control Disable amp Scaling Function control Disable 8 Ext_Diag Enable Disable SI Measuring units per revolution 8192 I SI Total measuring range 33554432 E Maximum Failures Masterlifesign 1 Hex parameter assignment Cancel Help Figure 14 Assigning parameters DPV2 Class 4 In the value field the desired parameterization is added Chapter 6 5 describes the functionality and possibility of each parameter 7 1 Isochrone mode parameter settings DPV2 slave In the Isochrone Mode view of the DP slave properties the parameters for the isochronous operation mode can be set Properties DP slave General Parameter Assignment Isochrone Mode Time Ti read in process values 0 125 ES ms Timebase 0 125 ms minz0 125 ms max 0 625 ms Time To output process values 0 375 E ms Timebase 0 125 ms minz0 375 ms max 0 875 ms DP cycle with constant bus cycle time 1 000 ms min 0 500 ms max 32 000 ms Master application cycle 2 000 ms P x 1 000 ms Factor Constant DP bus cycle time Part Id 634814 01 37 Document Id 634814 Ver 01 Publication date 2008 02 05 PROFIBUS USER MANUAL Leine amp Linde AB Figure 15 Isochrone mode parameter settings DP slave The different time parameter can be set whereas the time
28. enable parameterization during runtime The acyclic data exchange is conducted in parallel to the cyclic data communication but with a lower priority The parameters accessible in the acyclic data channel are divided into different categories 6 2 1 PROFIdrive parameters The encoder profile for DPV2 has adopted certain standard PROFldrive parameter The Leine amp Linde encoder supports the following sieninc 918 Node address Unsigned16 R 922 Telegram selection Unsigned16 R 925 Number of Master sign of life failures R W which can be tolerated 964 Device identification Array n unsigned 16 R 965 PROFIdrive Profile number Octet string 2 R 971 Transfer to non volatile memory Unsigned 16 W 979 Sensor format Array n Unsigned32 R Table 34 PROFIdrive parameters supported 6 2 2 Encoder specific parameters In addition to the PROFIdrive parameters the DPV2 encoder profile also defines encoder specific parameters Preset value Integer 32 R W 65001 Operating parameters Array n Unsigned32 R Table 35 Encoder specific parameters supported Part Id 634814 01 32 Document Id 634814 Ver 01 Publication date 2008 02 05 PROFIBUS USER MANUAL The Leine amp Linde encoder supports preset value and the followi parameters of operating parameters 65001 Meanine Header Operating status Alarms Supported alarms Warnings
29. ffer basic functions that all PROFIBUS DP encoders must support An encoder of class 1 can optionally support selected functions of class 2 but these functions must be implemented according to the profile To support early PROFIBUS DP implementations the size of the protocol data units PDU is limited to 16 bytes Encoders of class 2 must support all functions of class 1 as well as the additional functionality of class 2 In addition to the two classes parameters and diagnostic ranges are reserved for manufacturer specific functions Encoder Profile for DPV1 and DPV2 version 3 1 order no 3 162 Also in this profile there are two device classed Class 3 offers the basic functionality and Class 4 full scaling and preset functionality In addition to the mandatory functionality of Class 3 and 4 there are optional functions defined For further information regarding the Encoder functionality refer to the device profiles These profiles and PROFIBUS technical information can be ordered at PNO in Karlsruhe Germany www PROFIBUS com PROFIBUS DP V2 IEC 61158 PROFIdrive 1 amp M Functions PNO No 3 172 PNO No 3 502 Encoder Profile Class 3 and 4 PNO No 3 162 PROFIBUS DP EN50170 Vol 2 Encoder Profile Class 1 and 2 PNO No 3 062 Figure 7 Overview encoder profiles and related documents for PROFIBUS To choose between the different profile versions a GSD File is
30. ffset value is indicated according to the scaled resolution of the encoder DDLM Slave Diag Bits 31 24 23 16 15 8 7 0 Data 231 _ 224 223 _ 216 215 _ 98 27 20 Offset Value Table 28 Diagnostics offset value 4 6 15 Offset Value of the Encoder Manufacturer The manufacturer offset value indicates the encoder offset set by the manufacturer This value gives information on the shift of the position zero point in number of positions from the physical zero point of the encoder The data type for the offset value is a 32 bit binary value with sign The value range corresponds to the measuring range of the encoder The offset value of the manufacturer of the encoder is indicated in the number of units according to the basic resolution of the encoder The value is stored in write protected memory which can be changed only by the encoder manufacturer This value has practically no importance for the user DDLM_Slave_Diag Bits 31 24 23 16 15 8 7 0 Data 231 224 923 _ 916 215 28 27 90 Offset Value of the Encoder Manufacturer Table 29 Diagnostics offset value of the encoder manufacturer 4 6 16 Scaling Parameters Settings The scaling parameters are set in the DDLM Set Prm function The parameters are stored in the octets 40 to 47 of the diagnostic data The Measuring units per revolution and Total measuring range in measuring units parameters define the selected resolution of
31. ffset value of the encoder manufacturer 27 Table 30 Diagnostics scaling parameters setting 28 Part Id 634814 01 3 Document Id 634814 Ver 01 Publication date 2008 02 05 PROFIBUS USER MANUAL Leine amp Linde AB Table 31 Diagnostics encoder serial number 28 Table 32 5tandard Telegram 814 5 eret eite mp endete me edt 31 Table 33 Telegrami S EE EE 31 Table 34 PROETdr ve parameters SUDDOFEBQ euet b eo iak 32 Table 35 Encoder specific parameters supported EE 32 Table 36 Operating parameters supported ssssssssssses eene 33 Table 37 Tae M functions Supported iu bi esit endocrine edid ote eto atti bei ih 93 Tabl 38 Encoder parameters DPV 2 c se qi ep Peace PO D ee dpt 34 Fable 39 Ee cns ctr sheet dalle stu te tedio tan bales dba itio 35 Table Ao Diagnostics messages EN ois eet seen eim rco dtd Seck 35 Table T Error messages DPV2 sei derit elsi tear atii t elg 36 List of figures igure 1 PCB view of a cable gland PROFIBUS encoder s sss 7 gure 2 Orientation of M12 power supply CONNECTOR 1156 copa tle edetubrie ENEE eier 8 gure 3 Terminal connection of power supply cables eoe bee Deere hp tero eges 8 gure Onentatort Of M12 DUS CONMECTORS demetten 8 gure 5 Terminal connection of bus line cables ssssssssssssee eme 9 gure o Cable assembling prreetpslois ad eieop bue ecd b e oec ode hd Madres e derbi 9 igure 7 Overview encoder profiles and related documents for P
32. functions and the encoder software Interface during parameterization Interface during data exchange normal operation Interface during diagnostics data transfer Identification amp Maintenance Part Id 634814 01 6 Document Id 634814 Ver 01 Publication date 2008 02 05 PROFIBUS USER MANUAL Leine amp Linde AB 2 Encoder Installation 2 1 Settings inside the encoder The encoder node address and bus termination must be configured during commissioning of the device This is done by removing the back cover i e screwing off the three screws at the rear of the encoder 2 1 1 Node address The node address of the device can be set via two decimal rotary switches located inside the back cover The weighting x10 or x1 are specified beside the switches Permissible address range is between 0 and 99 but the lower addresses 0 to 2 are usually used by the master and not recommended to be used by the device Each address used in a PROFIBUS network must be unique and may not be used by other devices The device address is only read and adopted when the encoder power supply is switched on A restart of the encoder is therefore required in order to adopt changes done to the address settings Bus termination on off Node address switches x10 to the left x1 to the right Figure 1 PCB view of a cable gland PROFIBUS encoder 2 1 2 Bus termination In a PROFIBUS net all devices are connected in a bus structure Up to 32 de
33. ication date 2008 02 05 PROFIBUS USER MANUAL Leine amp Linde AB Appendix A History Revision Date Changes Rev 1 0 07 07 13 First release Rev 1 1 08 01 24 Additional information with respect to the preset functionality Part Id 634814 01 40 Document Id 634814 Ver 01 Publication date 2008 02 05
34. idually On singleturn encoders i e an encoder producing absolute positions within one revolution the absolute position information repeats itself with every revolution So called multiturn encoders can also distinguish between revolutions The numbers of unique revolutions is determined by the resolution of the multiturn scanning and repeats itself after the total resolution is reached 1 2 PROFIBUS technology PROFIBUS is a powerful and versatile 2 wire non proprietary open fieldbus standard defined by several international standards such as EN 50170 IEC 61158 together with different device profiles There are 3 different PROFIBUS versions available today DP FMS and PA Leine amp Linde products support the DP version In addition to manufacturer specific functions the Leine amp Linde products support classes 1 2 3 and 4 according to the encoder profile 3 062 and 3 162 respectively The encoder device profile describing encoder functionality and additional information about PROFIBUS can be ordered from PROFIBUS User Organization PNO or directly from Leine amp Linde AB PROFIBUS User Organization Haid und Nue Srape 7 D 76131 Karlsruhe Tel 49 721 96 58 590 Fax 4 49 721 96 58 589 Web www PROFIBUS com 1 3 About Leine amp Linde AB For almost 40 years the Swedish based company Leine amp Linde has concentrated on one thing development and manufacturing of advanced encoders that meet the most rigorous demands a user c
35. ion In accordance with the formula below the measuring range for an encoder results from the number of distinguishable revolutions multiplied by the singleturn resolution The maximum number of distinguishable revolutions is 65 536 16 bits Measuring range number of distinguishable revolutions x singleturn resolution DDLM Slave Diag Bits 15 8 7 0 Number of distinguishable revolutions Table 20 Diagnostics number of distinguishable revolutions 4 6 7 Additional Alarms The diagnostic octet 17 indicates additional alarms for device class 2 DDLM Slave Diag Bits 7 0 Additional alarms Currently not 7 assigned Table 21 Diagnostics additional alarms Part Id 634814 01 23 Document Id 634814 Ver 01 Publication date 2008 02 05 PROFIBUS USER MANUAL Leine amp Linde AB 4 6 8 Supported Alarms The diagnostic octets 18 and 19 contain information on the supported alarms DDLM Slave Diag Bits 15 8 7 0 Supported alarms 0 Position error Not supported Supported 1 Voltage supply error Not supported Supported 2 Current is too high Not supported Supported 3 Commissioning Not supported Supported diagnostics 4 Memory error Not supported Supported Currently e not 15 assigned Table 22 Diagnostics supported alarms 4 6 9 Warnings Warnings indicate that tolerances for certain internal parameters of the encoders have been exceeded C
36. ion no data exchange Master not available switched off Red Red No connection to another device No connection to EnDat Encoder at 2 2 No connection between EnDat base power up encoder and PROFIBUS PCB Blinking Red Green Parameterization or configuration Configuration received differs from 1 fault the supported configuration Parameter error in the parameterization Dark Red System Failure Diagnosis exists slave in data Exchange mode Position error Dark Green Data exchange Slave and operation ok Table 4 LED indication 1 The blinking frequency is 0 5 Hz Minimal indication time is 3 sec 2 Position error is when an alarm occurs in the Encoder or if EnDat base encoder is disconnected from the PROFIBUS interface PCB Part Id 634814 01 10 Document Id 634814 Ver 01 Publication date 2008 02 05 PROFIBUS USER MANUAL Leine amp Linde AB 3 Profile overview The encoder device profiles for PROFIBUS DPVO DPV1 and DPV2 define the functionality of encoders connected to a PROFIBUS DP bus There are two encoder profiles available 3 062 and 3 162 defining the functionality of encoder for the different versions of PROFIBUS DP Please advise the picture below for an overview of the two different encoder profiles and the standards related to these profiles Encoder Profile for DPVO version 1 1 order no 3 062 The operating functions in this profile are divided into two device classes Class 1 encoders o
37. ion date 2008 02 05 PROFIBUS USER MANUAL Leine amp Linde AB Leine amp Linde AB Olivehallsvagen 8 SE 645 21 Strangnas Sweden e mail info leinelinde se web www leinelinde com Tel 46 152 265 00 Fax 46 152 265 05 1 3 2 Certification of PROFIBUS products In order to achieve interoperability between vendors and appropriate device functionality all PROFIBUS products developed and manufactured by Leine amp Linde AB has been verified by external bodies Leine amp Linde AB are proud to announce that all PROFIBUS enabled products described in chapter 1 3 2 successfully passed a certification process performed by COMDEC A copy of the certificate is attached in the appendix section 1 4 References PROFIBUS Encoder profile V1 1 Order No 3 062 PROFIBUS Profile for DP V2 Encoders V3 1 Order No 3 162 PROFldrive V3 1 PROFIBUS Profile Order No 3 172 1 4 1 Abbreviations PROFIBUS Process Field Bus PROFIdrive Process Field drive PI PROFIBUS International PNO PROFIBUS Nutzerorganisation e V PROFIBUS user organization GSD German term Geratestammdaten A GSD is the device database file also called device datasheet DP Decentral Periphery Input data Data which the master receives from the encoder Output data Data which the encoder receives form the master PDU Protocol Data Unit DDLM Direct Data Link Mapper the interface DDLM Set Prm DDLM Data Exchange DDLM Slave Diag I amp M between PROFIBUS DP
38. le 7 Singleturn scaling parameter OLIO redeo Cn gem EE E 15 Table S Multit rmscaling pararneter Torres ede uses ese cid toe bari esci dne 16 Table 9 Ocret 39 Velocity ee EE 18 Table T0Dsts exchunee 92 DIES enden SE po etii 18 Table 11t Dpateexchsngs beet cert cae Peg ear an idee pat SE 18 Table T2 Preset val e 32 BIt foErnat tesis et etie eerta pte dabo deti aei tage 19 Table 13 Preset value 16 DIt fOFrmat s e ee pe he e et ee epe e edat 19 lee Dissnostics Eeer NEE e Rec be dr Ehe 20 Table T5 Diagnostic Header enola nosen re RR TO Rp AC RNC REUS 21 Table Alarms dist nettes ter Pte ei Miah de ans item P dale Peer a i peteret 21 Table 17 OpDeDa Ine SES ES esee indipendente eaae e ee 22 Tables Diagnostics Erg ST D DG iato vans eset eeneg 22 Table T9 Diagnostics Smp ern resolution oen ale man chs cedido ded efi eaedrat tane 23 Table 20 Diagnostics number of distinguishable revolutions sss 23 Table 21 Diagnostics addiaonalalarrms sese eere eee een 23 T ble 22 Diagnostics supported alarms poceo iset r bte tend ibd aeree tede eda 24 Table 23 DIagnostes ee 25 Table 24 Diagnostics supported warnings eeoa ae ne eee 25 Table 25 Diagnostics protile versSlon oae oer e te dese eor e a 26 Table 26 Diagnostics software version sssssssssseseeeee eene 26 Table 27 Diagnostics operating MIME ees edet e o t ede e etate e pre HR MR Sec 27 Table 28 Diaenostcs offset Eege Ee e P CURE UAE eer 27 Table 29 Diagnostics o
39. n Table 26 Diagnostics software version 4 6 13 Operating Time The operating time monitor stores the operating time for the encoder in operating hours The operating time is saved every six minutes in the encoder non volatile memory This happens as long as the encoder is under power The operating time is displayed as a 32 bit value without sign in 0 1 h by the DDLM Slave Diag function If the operating time function is not supported by the encoder it is set to the maximum value FFFF FFFFhex The manufacturer of the encoder can define a maximum operating time If this limit is exceeded the maximum operating time exceeded bit is activated see chapter 4 6 9 Part Id 634814 01 26 Document Id 634814 Ver 01 Publication date 2008 02 05 PROFIBUS USER MANUAL Leine amp Linde AB DDLM Slave Diag Bits Be 23 16 15 8 7 0 Data 231 224 223 7216 215 28 27 20 Operating time Table 27 Diagnostics operating time 4 6 14 Offset Value The offset value is calculated by the preset value function and shifts the position value by the calculated value The offset value is stored in the encoder and can be provided by the diagnostic octets 32 to 35 The data type for the offset value is a 32 bit binary value with algebraic sign whereby the offset value range is equal to the measuring range of the encoder The preset value function is used after the scaling function This means that the o
40. ndard User Defined Bus Parameters Cancel Help Part Id 634814 01 38 Document Id 634814 Ver 01 Publication date 2008 02 05 PROFIBUS USER MANUAL Leine amp Linde AB Figure 17 Network settings BUS Click on the Options button Options Constant Bus Cycle Time Cables ptimization Optimize DP cycle and Ti To if necessary Recalculate Number of PGs 0Ps TDs etc on PROFIBUS Configured 0 Total 0 Time base Constant DP Cycle 1 0 4 ms 0 125 ms Details permitted times ms 0 625 32 000 r Slave Synchronization v Times Ti and To same for all slaves otherwise make setting in slave properties Time base Time Ti read in process values 0 000 ms 0 125 ms permitted times ms 0 125 1 000 Time base Time To output process values 0 0001 ms 0 125 ms permitted times ms 0 375 1 000 Cancel Help Figure 18 Isochrone mode parameter settings BUS In this view the DP cycle time as well as the time parameters can be set If the Slave Synchronization button is marked all slaves on the bus will have the same time parameters In this mode all slaves on the BUS will sample data at the same time and the real isochronous mode is obtained Note Please refer to the respective manufacturer for information on the configuration of other PROFIBUS DP master interface modules Part Id 634814 01 39 Document Id 634814 Ver 01 Publ
41. nfigure DV2 encoder class 3 or class 4 encoder type can be selected In chapter 3 2 the functionality of the different encoder class types are described but independently standard telegram 81 is used for I O data Part Id 634814 01 Document Id 634814 Ver 01 Publication date 2008 02 05 PROFIBUS USER MANUAL Leine amp Linde AB 6 5 Parameterization Isochronous parameters The parameterization of the DPV2 encoder functionality is divided into two steps The parameterization data is transferred to the encoder in Structure Prm Data blocks The parameters for the general encoder functionality are listed below Parameter Data type Octet number Class Code sequence Bit 4 Bit O 4 Class 4 enable Bit 4Bit1 4 G1_XIST1 Preset Bit 4 Bit 2 4 control Scaling function Bit 4 Bit 3 4 control Ext_Diag enable Bit 4 Bit 4 4 Measuring units Unsigned32 5 8 4 Revolution Total measuring Unsigned32 9 12 4 range Maximum Unsigned8 13 4 tolerated failures of MasterLifeSign Table 38 Encoder parameters DPV2 The function of parameters code sequence class 4 enable scaling and scaling control is in analogy to the corresponding parameters in DPVO for explanation see chapter 4 4 Note In order to match the timing requirement during isochronous operation the encoder only tolerates binary scaling on the single as well as multiturn resolution The G1 XIST1 preset control bi
42. ocated inside the back cover are two screw terminals containing the required power supply terminals marked and The terminal shall be used to connect the EV line 9 36Vdc The terminal shall be used to connect the OV line Figure 3 Terminal connection of power supply cables 2 2 1 BUS lines The PROFIBUS bus line connections of the M12 equipped devices are constituted by a male B coded 5 pin M12 connector bus in and a female B coded 5 pin M12 connector bus out Bus out E d ES 295 5 Function Pin Function Pin Not connected 1 VP 1 A 2 A 2 Not connected 3 DGND 3 B 4 B 4 Chassi 5 Chassi 5 Figure 4 Orientation of M12 bus connectors Table 2 Pinning M12 bus in out lines The cable gland encoders shall be equipped with twisted pair shielded cable in accordance with EN 50170 and PROFIBUS guidelines The guidelines recommend a conductor area higher than 0 34mm Permissible outer cable diameter is g6mm to 8mm Located inside the back cover are four screw terminals containing the required bus line terminals marked A and B Part Id 634814 01 8 Document Id 634814 Ver 01 Publication date 2008 02 05 PROFIBUS USER MANUAL Leine amp Linde AB The A terminal shall be used to connect the A line color green The B terminal shall be used to connect the B line color red Figure 5 Terminal connection of bus line cables Note The two A and B terminals
43. on error OxOFO1 Command not supported The master application sent a command in G1 STWA that is not supported by the encoder OxOFO2 Master s sign of life fault The number of permissible failures of the master s life sign was exceeded OxOFO4 Synchronization fault The number of permissible failures for the bus cycle signal was exceeded Table 41 Error messages DPV2 Note If preset value is negative and an absolute preset is made error message OxFO1 command not supported is set The limit for error OxOF04 Synchronization fault is by default 5 i e up to 5 consecutive synchronization faults is allowed before sending error message 6 7 Isochronous synchronization principal The flow chart below describes the synchronization principal of the encoder when adapting to a synchronized DP cycle IRT mode operation 1 Start up 2 Synchronization 3 Master Life Sign 4 Slave Life Sign 5 Operation mode Part Id 634814 01 Document Id 634814 Ver 01 Publication date 2008 02 05 Standard PROFIBUS commissioning i e Installation Power up Configuration DPV2 GSD file mandatory Parameterization The encoder will synchronize with the DP cycle according to the parameterization selected After synchronization the encoder expects to read Master Life sign MLS The MLS is generated by the master and presented in STW2 Control word 2 bit 12 15 The MLS is counted at each DP cycle 1 15 cyclically 0 is not a
44. ontrary to alarms no faulty position values are expected in case of warnings Octets 20 and 21 of the diagnostic function indicate the status of the warnings If a warning is set the Ext_Diag bit in the diagnostic function is logically set to 1 until the warning is reset All warnings are deleted when the diagnostic message of the encoder has been read However if the tolerances are still exceeded the warning is activated again The warning Maximum operating time exceeded bit 4 is not activated before the system is switched on again Note Not every encoder supports every warning Please refer to the diagnostic information under Supported Warnings see chapter 4 6 10 for information on the support of specific warnings Part Id 634814 01 24 Document Id 634814 Ver 01 Publication date 2008 02 05 PROFIBUS USER MANUAL Leine amp Linde AB DDLM Slave Diag Bits 15 8 7 0 WARNINGS SS a mpeg 0 Frequency exceeded No Yes 1 Temperature exceeded No Yes 2 Light control reserve Not reached Reached 3 CPU monitoring status OK Reset 4 Maximum operating time No Yes exceeded Battery charging OK Too low 6 Reference point Reached Not reached E Currently not 15 assigned Table 23 Diagnostics warnings 4 6 10 Supported Warnings The diagnostic octets 22 and 23 contain information on supported warnings DDLM Slave Diag Bits 15 8 7 0 Supported Warnings
45. rd 2 output data words for preset value data consistency Position Class 2 32416 bits F1 DOhex 3 input data word 2 output data Velocity words for preset value data consistency The selection of class depends on the demands required by the application but for enabling full functionality of the encoder it is recommended to choose Encoder class 2 32 bit velocity 3 2 DPV2 encoder classes In general the encoders with PROFIBUS DPV2 interface are divided into two classes Unlike in DPVO there is only one configuration option telegram 81 independently of class CLASS 3 CLASS 4 In the CLASS 3 configuration only output position values are assigned No added functionality can be accessed Configuration data Standard Telegram 81 In the CLASS 4 configuration output values and input words are transferred Depending on the encoder resolution this is one output word 16 bits or two 32 bits The following functions are available in class 4 parameterization e Code sequence e Scaling function e Preset Value Function e Extended diagnostic data Configuration data Standard Telegram 81 Part Id 634814 01 12 Document Id 634814 Ver 01 Publication date 2008 02 05 PROFIBUS USER MANUAL Leine amp Linde AB 4 Encoder functionality DPVO 4 1 Basic encoder functionality The figure below gives an overview of the basic encoder functions and how the functionality is conduced within the encoder Physical position
46. reete petere pte poete reb eei ea PUn 21 40 4 Encoder type sooo db abe eU petrae pte o e Se reb Eee daa Bed 22 4 6 5 Singleturn resolution or measuring step esses nennen 22 4 6 6 Number of Distinguishable Revolution 23 4 6 7 Additional Alarms eni ett detect a tese iedtece tees tes ha as tesa vaginas 23 4 6 8 Supported Alarms i eet edid yere diee te e Dp rien eni Aviva tyes 24 4 6 9 WAITING Ss c aco dives WR LES Pe ER e ba asit EE o a de Pee e E ERR e 24 4 6 10 Supported Warnings i te e ferie etaed t e eer Deere e ese Rae en 25 4 6 LH Profile Version rnt e rri ne tr d RT Re es 26 4 6 12 Software EE 26 4 0 13 Operating Time tane er ded eter ande dae AEN 26 Part Id 634814 01 2 Document Id 634814 Ver 01 Publication date 2008 02 05 PROFIBUS USER MANUAL Leine amp Linde AB 4 6 AA Offset EE 27 4 6 15 Offset Value of the Encoder Manufacturer eese eese enne 27 4 6 16 Scaling Parameters Settings sisisi eene een eene nee tene tenete 27 4 6 17 Encoder Serial Number eese sees eee ener entente senes nene ee rsen nre 28 5 ENCODER COMMISSIONING EXAMPLE DPVQ eeeeeee esee senses teens enata enses suse ta snae 29 6 ENCODER FUNCTIONALITY DPV2 e eeeeeeeeeeee eese enses tasto senses tastes tuse ta sensn sens en sees suse tasa 31 6 1 ISOCHRONOUS OPERATION none orrea e E E E EE rE E E i aT 31 6 2 ACYCLIC DATA EXCHANGE pron oreo rea Ra kdl ie bred io rper d 32 6
47. rent format the shift factor is presented in parameter P979 see chapter 6 2 1 Both G1 XIST1 and G1 XIST2 is affect by changes in the parameterization and in case of encoder error the error message is displayed in G1 XIST2 6 1 Isochronous operation The isochronous operation mode is used when real time positioning is required The basic principal is that all PROFIBUS devices on the net are clock synchronized with the master using a global control broadcast enabling simultaneous data accusation from all slaves with microsecond accuracy The synchronization is monitored using sign of life messages Part Id 634814 01 31 Document Id 634814 Ver 01 Publication date 2008 02 05 PROFIBUS USER MANUAL Leine amp Linde AB Gc Res GC Res GC Figure 13 Basic principal of the DP cycle in isochronous mode GG Global Control signal Tus DP cycle time 1ms 32ms default 2ms depending on number of slaves on the bus 1 At start of T all slaves must read position data During T all slaves must put the sampled data in respective buffer ready for the Master to read must be finished before next GC 0 During T the slave will read diagnostics data from the Master This data will be executed at To MSG Res GC The acyclic data channel parameter channel TD 6 2 Acyclic data exchange The acyclic data exchange is conducted in the parameter channel The principal of the acyclic data exchange is to
48. t enables the preset value to affect the position value presented in G1 XIST1 or not If the control bit is 1 the preset value will not affect the position value in C1 XIST1 Note This bit only affect G1 XIST1 if preset is set it will independently of status of this control bit affect the position value presented in G1 XIST2 If the Ext Diag enable control bit is set to 0 default value only the first 6 bytes of diagnostics message is transmitted If the bit is set to 1 extended diagnostics will be available i e the channel related diagnostics is transmitted The MasterLifeSign byte is used for enabling programming of the number of allowed failures of master life sign When the number is reached error message OxOFO2 will be sent as diagnostics in the G1 XIST2 signal Part Id 634814 01 34 Document Id 634814 Ver 01 Publication date 2008 02 05 PROFIBUS USER MANUAL Leine amp Linde AB To parameterize the isochronous mode the following parameters must be considered The time based parameters are globally set by the master application and can t be individually set to each slave Parameter Data tvpe Value Comments Structure Length Unsigned8 Ox1C decimal 28 Structure Type Unsigned8 0x04 IsoM parameters Slot Number Unsigned8 0x00 Communication with entire device Reserved Unsigned8 0x00 Version Unsigned8 0x01 First Revision T Unsigne
49. tring 7 Alarms Octet string 8 Operating Status Octet string 9 Encoder type Octet string 10 Singleturn resolution encoder 32 without sign 11 14 Measuring unit linear encoder Number of distinguishable revolutions 16 without sign 15 16 Additional alarms Octet string 17 2 Supported alarms Octet string 18 19 2 Warnings Octet string 20 21 2 Supported warnings Octet string 22 23 2 Profile version Octet string 24 25 2 Software version Octet string 26 27 2 Operating time 32 without sign 28 31 2 Offset value 32 with sign 32 35 2 Manufacturer offset value 32 with sign 36 39 2 Measuring units per revolution 32 without sign 40 43 2 Total measuring range in measuring 32 without sign 44 47 2 units Serial number ASCII string 48 57 2 Reserved for future definitions 58 61 2 Table 14 Diagnostics message DPVO Note The length of the diagnostic information of class 1 is limited to 16 bytes compatible with previous DP versions For PROFIBUS DP encoders of class 2 the length of the encoder specific diagnostic data including the extended diagnostic header is 57 bytes The DDLM Slave Diag memory range up to octet 99 is reserved for future diagnostic data of class 2 4 6 1 Diagnostic Header The header byte specifies the length of the encoder diagnostics including the header byte The format of the transmission length is hexadecimal For the PROFIBUS DP encoder
50. ty bit for class 2 commands in order to show the DP master that all class 2 commands are supported The DP master must activate the class 2 functionality bit in the parameter message DDLM_Set_Prm to enable the use of class 2 functions The status bit of the scaling function is set when the scaling function is activated and the resolution of the encoder is calculated by means of the scaling parameters Part Id 634814 01 21 Document Id 634814 Ver 01 Publication date 2008 02 05 PROFIBUS USER MANUAL Leine amp Linde AB DDLM Slave Diag Bits 7 0 Operating Status 0 Code sequence Increasing position values Increasing position values for clockwise revolutions for counterclockwise seen from flange side revolutions seen from flange side 1 Class 2 functionality No not supported Yes 2 Commissioning No not supported Yes diagnostics 3 Scaling function status Scaling disabled Scaling enabled 4 5 Currently not 6 assigned 7 Table 17 Operating status 4 6 4 Encoder type The type of encoder can be read in octet 10 of the diagnostic function The type of encoder is defined in hex code in the range from 0 to FF DDLM Slave Diag Bits 0 FF Encoder type 00 Absolute singleturn encoder 01 Absolute multiturn encoder 02 Absolute singleturn encoder with electronic revolution counter 03 Incremental rotary encoder 04 Incremental rotary enco
51. unction by the commissioning diagnostics alarm bit see chapter 4 6 2 The commissioning diagnostics function is an option To find out whether the encoder supports commissioning diagnostics the operating status should be read by the diagnostic function and the commissioning diagnostics bit should be checked 4 4 4 Scaling function control The scaling function converts the encoder s physical absolute position value by means of software in order to change the resolution of the encoder The parameters Measuring units per revolution and Total measuring range in measuring steps are the scaling parameters set by the parameter function in octet 10 to 17 Scaling is active only if the control bit for the scaling function is set When the scaling function control bit is set to 0 the scaling function is disabled Note After downloading new scaling parameters the Preset function must be used to set the encoder starting point to absolute position 0 or to any required starting position within the scaled operating range 4 4 5 Measuring units per revolution The total measuring range is calculated by multiplying the singleturn resolution with the number of distinguishable revolutions The default setting for singleturn encoders RxA 607 are Measuring units per revolution 8192 2 Total measuring range in measuring units 8192 2 2 The default setting for multiturn encoders RxA 608 are Measuring units per revolution
52. uration be as Measuring units per revolution 40004 steps Total measuring range in measuring units Entry in the master configuration software Measuring units per revolution Total measuring range steps 4000 steps x 3200 revolutions 12 800 0004 4000 12800000 4 4 6 Total measuring range units The total measuring range is defined by the parameter Total measuring range in measuring units The encoder has two different operating modes depending on the Specified measuring range When the encoder receives a parameter message it checks the scaling parameters if a binary scaling can be used If binary scaling can be used the encoder selects operating mode A see following explanation If not operating mode B is selected A Cyclic operation binary scaling Measuring mode A is used if the encoder is scaled to 2x number of revolutions number of revolutions 2 4 8 16 32 64 128 256 512 1024 2048 and 4096 If the desired measuring range is equal to the specified singleturn resolution lt 2x with x x 12 the encoder operates in endless cyclic operation 0 to max position value O to max position value etc If the position value of the encoder exceeds the maximum value total measuring range by a rotation of the axis to be measured the encoder indicates 0 as position value again Part Id 634814 01 Document Id 634814 Ver 01 Publication date 2008 02 05 16 PROFIBUS USER MANUAL Leine amp Linde AB E
53. vices master and or slaves can be connected in one segment When more devices are needed repeaters should be used to amplify the signals between segments An active termination must be added in the beginning and end of each bus segment in order to ensure error free operation In case of the encoder such terminators are integrated inside the back cover and can be activated via dip switches as shown in figure 1 If the device is un powered the A and B lines are internally terminated by a 2200 resistor When encoder with M12 connectors is used the termination is conducted using terminating resistor plug The plug is assembled in resemblance to the M12 cables and both male and female contacts are available in order to enable termination in both ends of the bus Part Id 634814 01 74 Document Id 634814 Ver 01 Publication date 2008 02 05 PROFIBUS USER MANUAL Leine amp Linde AB 22 Connecting the encoder 2 2 1 Power supply The power supply connection of M12 equipped encoders are constituted by a male A coded 4 pin M12 connector Power suppl d pply 49 6 Function Pin EV 9 36Vdc 1 Not connected 2 OV 3 Not connected 4 Figure 2 Orientation of M12 power supply connector Table 1 Pinning M12 power supply connector The cable gland encoders should always be equipped with a shielded power supply cable with conductor area between 0 34mm to 1 5mm Permissible outer cable diameter is 68mm to 210mm L
54. xample of a cyclic scaling Measuring units per revolution 1000 Total measuring range 32 000 25 number of revolutions 32 Position 32 000 Measuring range Figure 9 Cyclic scaling B Non cyclic operation If the measuring range is used to limit the value range of the encoder to a value other than the specified singleturn resolution 2x the position value is limited within the operating range If the position value resulting from rotation of the encoder exceeds the maximum value or falls below 0 the encoder indicates the value of the measuring range See figure below Example of non cyclic scaling Measuring units per revolution 100 Total measuring range 5000 number of revolutions 50 Position Scaled 5 000 totalrange 0 MAX Measuring range Figure 10 Non cyclic scaling 4 4 7 Velocity control The velocity data can be access if class 2 32 bit velocity configuration is used In this case the input data consists of 32 position data plus 16 bit signed velocity data The input velocity value is negative in CCW direction if code sequence is set to CW If the measured velocity is higher then what is possible to present with the selected velocity unit the value is set to Ox7FFF 32768 or 0x8000 32768 depending on direction of shaft rotation Note If any of the time based velocity units is used and scaling is set to the encoder the velocity calculation is based on the scaled position value Consequentl
55. y the accuracy of the velocity value is dependent of the scaling set to the encoder Part Id 634814 01 17 Document Id 634814 Ver 01 Publication date 2008 02 05 PROFIBUS USER MANUAL Leine amp Linde AB The parameter for velocity unit octet 39 Bits 7 0 Data 27 20 Velocity Control HHH sete BENE See RPM revolutions min Steps s Table 9 Octet 39 Velocity Control 4 5 Data transfer in normal operation DDLM Data Exchange The DDLM Data Exchange mode is the normal status of the absolute encoder when operated In this mode the position value is transmitted from the encoder in a cyclic manner Output data can also be sent to the encoder i e preset commands 4 5 1 Data exchange mode The actual position value is transferred to the master as 32 bit values double word or optional the encoder supports a position value length of 16 bit for singleturn encoder The position value is right aligned in the data field DDLM Data Exchange mode Standard configuration Bits 31 24 23 16 15 8 7 0 Data 231 924 223 916 215 98 297 90 Data Exchange 32 bits Table 10 Data exchange 32 bits Configuration data Device class 1 D1 2 input data words data consistency Device class 2 F1 2input data words 2 output data words for preset value data consistency Optional configuration Bits 15 8 7 0 Data 215 _ 28 27 20 Data Exchange 16 bits Table
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