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1. 44 Local intranet Qio v During upgrade a progress page is displayed Depending upon the choice of web browser the auto generated progress page will take some time to be displayed However the progress web page should always be displayed when the upgrade is finished If no errors occur during upgrade the encoder will automatically reboot itself and connect to the PROFINET IO controller with the new firmware Part Id 735795 01 62 Document Id 735795 Ver 01 Publication date 2010 05 20 PROFINET USER MANUAL Leine amp Linde AB http 192 168 0 5 upgrade_rpm Windows Internet Explorer provided by JHCN Ga Ad le http 192 168 0 Sfupgrade rpm vi 4 X File Edit View Favorites Tools Help k dr KO http 192 168 0 5jupgrade rpm a H mm v i Page v Of Tools Device is upgrading Do not power off Server 192 168 0 10 Filename leine_linde_hdr_csum bin PROGRESS Downloading Firmware File From Server Verifying File Erasing Memory Writing File To Memory Ready SUCCESS status 0 The device will now reboot itself Waiting for http 192 168 0 S5 upgrade_rpmj Local intranet 100 During the upgrade both the bus status LED and the device status LED will be flashing green If an error occurs both LEDS will be flashing red If the upgrade fails check the error code displayed on the progress page The error codes are described in chapter 10 3 10
2. Coding of velocity measuring units Part Id 735795 01 53 Document Id 735795 Ver 01 Publication date 2010 05 20 PROFINET USER MANUAL Leine amp Linde AB The velocity calculations are made with a maximum of 19 bits resolution If the resolution is higher than 219 the value used for velocity calculations is automatically reduced to 219 Example For a 37 bit multi turn encoder with a 225 single turn resolution and a 212 multi turn resolution the maximum single turn value for velocity calculations will be 219 For a single turn encoder the maximum resolution can be up to 31 bit but the value used for velocity calculations will in this case also be 219 Note In case of the steps s unit an average is made over 200 ms and the value is multiplied by 5 Note If scaling has been set on the device the velocity calculation is based on the scaled position value Consequently the accuracy of the velocity value is dependent of the scaling set to the device 9 11 Encoder profile version The encoder Profile Version is the version of the encoder profile document implemented in the encoder This parameter is not affected by the Compatibility mode settings 0 7 Profile Version least significant number value range 0 99 decimal coding 8 15 Profile Version most significant number value range 0 99 decimal coding 16 31 Reserved Encoder profile version Parameter 9 12 Operating time
3. iese esse see ese ee Ge Ge Ge Se oge GE ed Ge ee Ge dees esse Se ese ee dese oe a 77 12 3 1 Preset depending on different telegrams iese ese ee ee Ge ee Re SA Ge Ge ee GR ee ed Ge ee 77 12 3 2 Absolute preset with negative Value iese ee ee Se Ge ee Ge ee Re SA Ge Re Ge ee GR ee Re Gee 77 19 4 ERROR VR EE OE OE EE EE EE EE 78 12 5 ERRORACKNOWLEDGEMENT ee asses sesse ee Ge eg see ee gee gese sede SUE Re ete dee AR eke ee EG Ee be Ge ede ese ee ee 78 L2G START UP cc EE ER EE EE 78 13 Frequently asked questions FAQ oes seek ese eN sy ves Se ee gee sesde 78 La REVISION HIStory n SE GE N ed iad omen Gaeta A AD Ee eg 78 Part Id 735795 01 4 Document Id 735795 Ver 01 Publication date 2010 05 20 PROFINET USER MANUAL Leine amp Linde AB 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 1 Introduction Thank you for choosing this device produced by the Swedish encoder manufacturer Leine amp Linde In your hands you have a state of art component ready to be used in the outmost demanding environment This absolute encoder equipped with PROFINET interface enable you to design high performa
4. amp Linde AB 965 1 31 or 41 gt Encoder profile version set by customer user parameters 8 4 5 Parameter 971 read write 971 gt value unsigned int Store the local parameter set to a non volatile memory Preset is saved when writing value 1 and is set to 0 by the encoder firmware when finished This means that the preset value has been saved when reading back value 0 8 4 6 Parameter 974 read only 9743 974 0 974 1 974 2 unsigned int 96 gt Max array length supported by parameter channel 1 gt Numbers of multi parameters 1 no support of multi parameters 1000 gt max time to process parameter request n x 10 ms 8 4 7 Parameter 975 read only 9753 975 0 975 1 975 2 975 3 975 4 975 5 975 6 975 7 unsigned int Manufacturer Id Set in the production 70113D0 type 201 gt Software version 20092 Software year 28052 Software day and month 0x0005 gt Profidrive DO type class 5 encoder interface 0x8000 gt Profidrive SUB class 1 Encoder application class 4 supported 0x0001 gt Drive object Id DO ID 8 4 8 Parameter 979 read only 9793 979 0 unsigned long 0x00005111 Number of index describing encoder Numbers of described encoders Version of parameter structure 979 1 0x80000000 gt Sensor type Bit 31 1if configuration and parameterization is OK Bit 0 0 Rotary encoder Bit 0 1 linear encoder Bit 1 0 always set to 0 Bit
5. PROFINET Manual Users Guide Part No 735795 01 Doc No 735795 Ver 01 LEINE amp LINDE PROFINET USER MANUAL Leine amp Linde AB Contents el getel Piel ak AE EE EE N 5 1 1 APPLICABILITY OF MANUAL iese ee ese se ee ee ee ee ee ee ee ee ee ee Re Re ee ee ee Re Re ee ee ee Re Re ee ee Re Re ee ee ee Re Re ee 5 1 2 ABOUT LEINE amp LINDE esse sees ese se ee ee ee ee ee Re Re ee ee Re Re ee ee ee Re Re ee ee RR ee ee ee Re Re ee ee ee Re Re ee 5 1 3 ABOUT ABSOLUTE ENCODERS ee see ese ee ese ee ee ee ee ee ee ER ee ee ee ee Re Re ee ee ee Re Re ee ee ee Re Re ee ee ee ee Re ee 6 1 4 ABOUT PROFINET TECHNOLOGY sesse sesse ee se ee ee ee ee ee ee ee ee ee ee Re Re ee ee ee Re Re ee ee ee Re Re ee ee ee Re Re ee 6 1 5 ENCODER de id AE neds sss doni sss sead tesa SETS SiS S SS SN EES S ea ESE Saas adas ioeie sies 7 2 Declaration of conformities rrrrnnnrrooovnnnnrrrnnverrrrrnnnrrrnneerrrrersnnrrreneeesssesnverreneesssseesnnersen 7 3 Technical and commercial SUDDOIE ars iese see ek en Re ko deeg ee esse GR er GR 8 3 1 REFERENCES N EE EE ER EE OO OE NE buss EO OE EE ON eNA 8 32 ABBREVIATIONS ve ve ees ee oe ed Ged GE Ge Boe bie geo ee GE is ota eben GES GEE BE Ge Gee GEREG tenis seks 8 Eie UIE hule OO OO OE ER EE EN 9 4 1 CABLES AND STANDARDS ese see ee ee ee ee ee ee ee ee ee ee ee ee ee ee ee ee ee Re ke Re Ke EEEE Ke ke ee ke ke ke ke ke 9 4 2 CONNECTORS AND PIN CONFIGURATION ee ee ee ese ee ee ee ee ee ee ee e
6. Part Id 735795 01 73 Document Id 735795 Ver 01 Publication date 2010 05 20 PROFINET USER MANUAL Leine amp Linde AB After the above has been verified it is possible to replace any IO device if the ports are reconnected in the same way and the new device is set to factory reset To manually do a factory set of the encoder follow the steps below Select PLC gt Ethernet gt Edit Ethernet Node M HW Config SIMATIC PC Station 1 Configuration pnio test speed al Station Edit Insert PLC View Options Window Help D EH Download CtrlHL 1 PROFINET 10 System 100 Ctrl D PROFIBUS gt Verify Device Name Assign Device Name 5 1 EncoderRxA600 Slot Module Seen lAddress Q address Diagnosti FI E ZELA kal EZEIZA 1 Standard Telegram 81 II ET PP frk GIET ho ss Displays the address of the station s on Ethernet to be changed Part Id 735795 01 74 Document Id 735795 Ver 01 Publication date 2010 05 20 Profile Standard x f PROFIBUS DP 2 PROFIBUS PA H E PROFINET IO Ed SIMATIC 300 SIMATIC 400 SIMATIC PC Based Control 300 400 amp 2 SIMATIC PC Station PROFIBUS DP slaves for SIMATIC 57 M7 and C7 distributed Ed rack PROFINET USER MANUAL Leine amp Linde AB Enter the encoder s MAC adress and then click on the Reset button The MAC adress of the encoder is written on the encoder label Edit Ethernet N
7. are set to 1 12 6 Start Up This state is only reached when Control word bit 14 Activate parking sensor are cleared 0 Once the Control word bit 14 are cleared it takes about 500ms before the Status word bit 14 Parking sensor active are set to zero 0 The reason for the delay is that before the encoder goes to normal operation mode an initializing of the encoder is made 13 Frequently asked questions FAQ 1 Problem Preset parking mode and error reset is not possible Solution The Control By PLC bit in Control Word 2 has to be set to 1 Profile V4 1 2 Problem The preset value is lost if the power supply is switched off Solution Parameter 971 has to be set to 1 in order to save the preset value into non volatile memory 14 Revision history Rev 1 0 2010 05 20 First release Part Id 735795 01 78 Document Id 735795 Ver 01 Publication date 2010 05 20
8. Publication date 2010 05 20 PROFINET USER MANUAL Leine amp Linde AB Enable Scaling preset code sequence control enabled 1 Disable Scaling preset code sequence control enabled 0 Class 4 functionality attributes 9 3 G1_XIST1 Preset control This parameter controls the effect of a preset on the G1_XIST1 actual value If Class 4 functionality is activated and G1_XIST1 Preset control is disabled the position value in G1_XIST1 will not be affected by a Preset Enable G1_XIST1 is affected by a Preset command 0 Disable Preset does not affect G1_XIST1 1 G1_XIST1 Preset control attributes Note This parameter is disabled by setting the value to 1 Note There is no functionality of this parameter if the Class 4 functionality parameter is disabled 9 4 Scaling function control This parameter enables or disables the Scaling function of the encoder Enable Scaling function is enabled 1 Disable Scaling function is disabled 0 Scaling function control attributes Note The parameter Class 4 functionality must be enabled to use this parameter 9 5 Alarm channel control This parameter enables or disables the encoder specific Alarm channel transferred as Channel Related Diagnosis This functionality is used to limit the amount of data sent in isochronous mode If the value is zero default value only the communication related alarms are sent via the alarm channel If the value is one 1
9. Submit Values to store the values and Upgrade to begin the upgrade Enter Server IP Address 0003000200000 Enter Firmware Filename filename Enter Date yyyy mm dd lyyyymmedd sy Local intranet The parameters are set by clicking the Submit Values button After clicking the Submit Values button update the page in the web browser To start the upgrade click on the Upgrade button A confirmation page is displayed where the upgrade has to be confirmed before the device starts the actual firmware upgrade process The Continue button needs to be clicked in order to start the upgrade sequence Part Id 735795 01 61 Document Id 735795 Ver 01 Publication date 2010 05 20 PROFINET USER MANUAL Leine amp Linde AB LEINE amp LINDE PROFINET ENCODER Windows Internet Explorer provided by JHCN GI h le http 192 168 0 5 Fs doc upgrade html i ep x Live Search File Edit View Favorites Tools Help ww Grene amp LINDE PROFINET ENCODER fo gt teh Page v Gi Toos gt LEINE amp LINDE WARNING The current flash image will be replaced It is not possible to reverse the procedure Upgrade procedure will take about 30 60 seconds When ready the device will reboot itself After reboot It is possible to connect to the device using the standard procedures TARGET SERVER PARAMETERS Parameter Value Server IP 192 168 0 10 File leine_linde_hdr_csum bin
10. also encoder profile specific faults and warnings are sent via the alarm channel Enable Profile specific diagnosis is switched on 1 Disable No Profile specific diagnosis default 0 Alarm channel control attributes Note This parameter is only supported in compatibility mode Part Id 735795 01 48 Document Id 735795 Ver 01 Publication date 2010 05 20 PROFINET USER MANUAL Leine amp Linde AB 9 6 Compatibility mode This parameter defines if the encoder should run in a mode compatible to Version 3 1 of the Encoder Profile See below for an overview of functions affected when the compatibility mode is enabled Enable i Compatibility with Encoder ProfileV 3 1 1 Disable No backward compatibility default 0 Compatibility mode attributes Control by PLC STW2_ENC Ignored the Control word G1_STW Supported and set point values are always valid Control requested ZSW2_ENC is not supported and is set to 0 User parameter Maximum Supported Not supported one Sign Of Life Master Sign Of Life failures failure tolerated PROFIdrive P925 is optional to control the life sign monitoring User parameter Alarm Supported Not supported the application channel control alarm channel is active and controlled by a PROFIdrive parameter P965 Profile Version 31 V3 1 41 V4 1 Compatibility mode definition 9 7 Preset Value The p
11. chg 4 Part Id 735795 01 22 Document Id 735795 Ver 01 Publication date 2010 05 20 PROFINET USER MANUAL Leine amp Linde AB Under the Synchronization tab change the value for the Parameter RT Class to IRT and the IRT option parameter to High Performance according to the picture below Properties Interface X1 E Configuration EE Synchronization role E Name of sync domain RT dass Li high performance Under the Application tab check the box for Operate IO device application in isochronous mode Propertie he Interface X1 Part Id 735795 01 23 Document Id 735795 Ver 01 Publication date 2010 05 20 PROFINET USER MANUAL Leine amp Linde AB Under the IO Cycle tab change the Update Time Mode to fixed factor Properties Interface SN x General Addresses Synchronization Application 10 Cycle Update Time Mode fixed factor 3 Send clock ms Update time ms 1 000 v x fl 000 Watchdog Time Number of accepted update cycles with missing ID data 3 v Watchdog time ms g 000 Before the encoder can operate in IRT mode it is necessary to set from which port of the encoder the connection to the network has been done To set the topology double click on the port from which the encoder is connected to the network This is either slot 0 sub slot P1 or slot 0 sub slot P2 In the example below Port 1 is us
12. every revolution So called multi turn encoders can also distinguish between revolutions The numbers of unique revolutions is determined by the resolution of the multi turn scanning and repeats itself after the total resolution is reached A benefit of absolute encoder type is that if the encoder loses power the encoder is able to keep track of its position also if the shaft is turned during the power loss This is due to the genuine absolute scanning principle An absolute encoder can also be used to calculate a digital speed value By internally dividing the difference in position with a small delta time an accurate speed value can be calculated and transmitted to the subsequent electronics for closed loop control 1 4 About PROFINET technology PROFINET is the open industrial Ethernet standard of PROFIBUS amp PROFINET International PI for automation PROFINET uses TCP IP and IT standards and is in effect real time Ethernet The PROFINET concept features a modular structure so that users can select the cascading functions themselves They differ essentially because of the type of data exchange to fulfill the partly very high requirements of speed In conjunction with PROFINET the two perspectives PROFINET CBA and PROFINET IO exist PROFINET CBA is suitable for the component based communication via TCP IP and the real time communication for real time requirements in modular systems engineering Both communication options can be use
13. 2 0 332 bit data Bit 2 1 264 bit data 979 2 8192 gt Encoder scaled resolution 979 3 0 gt Shift factor for G1_XIST1 Always set to 0 979 4 0 gt Shift factor for G1_XIST2 Always set to 0 979 5 1 or 4096 gt Singleturn 1 Multiturn 4096 979 6 979 7 979 8 979 9 979 10 0 Part Id 735795 01 39 Document Id 735795 Ver 01 Publication date 2010 05 20 PROFINET USER MANUAL Leine amp Linde AB 8 4 9 Parameter 980 read only This parameter shows the supported parameters 980 gt unsigned int 980 0 922 980 8 61000 980 16 65003 980 1 925 980 9 61001 980 17 0 980 2 964 980 10 61002 980 3 965 980 11 61003 980 4 971 980 12 61004 980 5 974 980 13 65000 980 6 975 980 14 65001 980 7 979 980 15 65002 8 4 10 Parameter 61000 read write Name of station 61000 gt OctetString 240 octets 8 4 11 Parameter 61001 read only IP of station 61001 gt unsigned long 8 4 12 Parameter 61002 read only MAC of station 610024 OctetString 6 octets 8 4 13 Parameter 61003 read only Default gateway of station 61003 unsigned long 8 4 14 Parameter 61004 read only Subnet mask of station 610043 unsigned long 8 4 15 Parameter 65000 read write Used with telegram 81 83 65000 signed long preset value 32 bit 8 4 16 Parameter 65001 read only Used with telegram 81 84 650012 unsigned long 65001 0 0x000C010
14. 2 Stand alone upgrade In order to start the stand alone upgrade the following prerequisites has to be fulfilled e The encoder should be attached to a LAN network See chapter 10 6 LAN configuration e There should be a DHCP enabled server on the LAN where the encoder is attached See chapter 10 5 DCHP server installation e A TFTP server should be enabled on the LAN where the encoder is attached See chapter 10 4 TFTP server installation The encoder firmware contains a DHCP client for IP assignment outside a PROFINET network If no IP address is assigned by a DCP PROFINET IO controller the encoder will try to retrieve an IP address with DHCP Part Id 735795 01 63 Document Id 735795 Ver 01 Publication date 2010 05 20 PROFINET USER MANUAL Leine amp Linde AB First start the DHCP and TFTP servers and then power up the encoder After approximately 20 30 seconds the encoder should have received a valid IP address When the encoder has received a valid IP address continue with the same upgrade procedure as described in chapter 10 1 Firmware upgrade in a PROFINET network It is possible to disable enable the DHCP client in the encoder Use the DHCP Enable Disable button on the startup web page in order to toggle between the two modes The encoder will keep this state until the user manually switches state again NETWORK PARAMETERS Parameter value Device IP 192 168 0 4 Device Subnetmask 255 25
15. PLC View Options Window Help x Mo Bw Profle Standad gt Select All Ctri A Go To SEE PROFIBUS DP SE PROFIBUS PA S8 PROFINET ID SIMATIC 300 SIMATIC 400 SIMATIC PC Based Control 3 SIMATIC PC Station Ethernet 1 PROFINET I0 System 100 Master System a PROFINET 10 Object Properties Alt Return Fa ra PROFINET IO System gt Assign Asset ID Order number A Table view Graphic view Offline online comparison Interconnection table IV Show station name Filter Show all ports z Port Status Partner port Cable data Offline Cable data Online Link pow Comment SIMATIC 3001 PN IO CPU 315F 2PN DP E Port1 X2P1 Bl Port 2 X2P2 l profinetencoder1 E Port1 P1 E Port 2 P2 l profinetencoder2 Bl Port 1 P1 BI Port 2 P2 E profinetencoder3 BI Port 1 P1 E Port 2 P2 profinetencoder3 Port 1 P1 20m 0 12p5 10m 0 03 ps profinetencoder2 I Port 2 P2 20m 0 1245 15m 0 08 ps profinetencoder3 Port 2 P2 20m 0 12p3 5m 0 02 ps profinetencoder1 Port 1 P1 20m 0 12485 15m 0 08 us SIMATIC 300 1 PN IOCCPU 315F 2PN DP Port 1 X2 20m 0 12us 10m 0 03 ps profinetencoder2 Port 1 P1 20m 0 1245 Sm 0 02 ps Unit o meter hd Verify that the offline topology matches the online topology
16. Publication date 2010 05 20 PROFINET USER MANUAL Leine amp Linde AB 6 2 Application Class definition Leine amp Linde s PROFINET encoders can be configured as a class 3 or class 4 PROFINET IO device according to the encoder profile V 4 1 PNO no 3 162 A Class 4 configured encoder from Leine amp Linde fully supports all functionality according to the encoder profile V4 1 3 162 CLASS 3 Encoder with base mode parameter access and limited parameterization of the encoder functionality Isochronous mode is not supported GLASS 4 Encoder with scaling Preset and base mode parameter access Isochronous mode is supported 6 3 Standard signals The table below describes the standard signals that are used to configure the IO data F he signals are described in the chapters that follow Velocity value A NIST_A 16 Signed Velocity value B NIST_B 32 Signed Control word G1_STW 16 Unsigned Status word G1_ZSW 16 Unsigned Position value 1 G1_XIST 1 32 Unsigned Position value 2 G1_XIST2 32 Unsigned Position value 3 G1_XIST3 64 Unsigned Control word 2 STW2 ENG 16 Unsigned Status word 2 ZSW2 ENC 16 Unsigned Part Id 735795 01 28 Document Id 735795 Ver 01 Publication date 2010 05 20 PROFINET USER MANUAL Leine amp Linde AB 6 4 Standard telegrams Configuration of PROFINET encoders are made by choosing different telegram structures The telegrams are used to speci
17. The operating time monitor stores the operating time for the device in operating hours The operating time is saved every six minutes in the non volatile memory in the device This happens as long as the device is powered on If the operating time function is not used the operating time value is set to the maximum value OxFFFF FFFF Operating time The accumulated power on time Unsigned 32 Operating time parameter Part Id 735795 01 54 Document Id 735795 Ver 01 Publication date 2010 05 20 PROFINET USER MANUAL Leine amp Linde AB 9 13 Offset value The offset value is calculated in the preset function and shifts the position value with the calculated value The offset value is stored in a non volatile memory and can be read from the encoder at any time The data type for the offset value is a 32 bit or 64 bit binary value with sign whereby the offset value range is equal to the measuring range of the device The preset function is used after the scaling function This means that the offset value is indicated according to the scaled resolution of the device Offset value The offset value for encoders with a measuring range of Integer 32 maximum 32 bits Offset value 64 bit The offset value for encoders with a measuring range Integer 64 exceeding 32 bits Offset value parameter Note The offset value is read only and cannot be modified by a parameter write access 9 14 Acyclic data Leine a
18. a PROFINET IO device The GSDML file can be downloaded from www leinelinde com Installation of GSDML files in SIMATIC MANAGER fi HW Config SIMATIC 300 1 Configuration l Station Edit Insert PLC View Options Window Help DE a a Ry amp Ee Customize Ctrl Alt E Specify Module Configure Network Symbol Table CtrlHAlt T Report System Error Edit Catalog Profile Update Catalog y Find in Service amp Support Greate GSD file for I Device 1 Select Options gt Install GSD File and click the Browse button to navigate to the location of the GSD file If a bitmap picture representing the encoder is requested make sure that the bitmap file is located in the same folder as the GSDML file A bitmap file is included in the zip file downloadable from www leinelinde com 2 Select the GSD file and click the Install button to start installing the selected GSD file Part Id 735795 01 13 Document Id 735795 Ver 01 Publication date 2010 05 20 PROFINET USER MANUAL Leine amp Linde AB 5 2 Setting the encoder configuration When the GSD file has been installed the encoder can be found in the SIMATIC MANAGER gt HW Config under PROFINET IO gt Additional Field Devices gt Encoders gt LEINE LINDE PROFINET Encoders Select either multi turn 25 bit or single turn 13 bit encoder dependent on the type of encoder to be configured Drag
19. and drop the encoder onto the PROFINET IO system as shown in the picture below In the example below a 25 bit multi turn encoder was chosen HW Config SIMATIC 300 1 Configuration j Bly station Edit Insert PLC View Options Window Help la xj DESE By Sle e alo ofa 8 RM Bi xl m a GUN 5F 2 Ph Profile Standard z Ethemet 1 PROFINET 10 System 100 WY PROFIBUS DP jp F 382 PROFIBUS PA A PROFINET ID Additional Field Devices HO Encoders Hd LEINE LINDE Profinet Encoders EA Multtum 25 Bit VIG ma Sindletum 13 Bit VTS Qo I Drives E Encoders E Gateway aA Wo Network Components CJ Sensors SIMATIC 300 SIMATIC 400 Rl SIMATIC PC Based Control 300 400 B SIMATIC PC Station E SIMOTION Drive based em SIMATIC 30001 Slot Designation then PROFINET IO System 100 LEINE LINDE Ee Multitum 25 Bit V1 0 IGSDML 2 2 LL Profinet Encoder 20100225 xml Press F1 to get Help When correctly done an encoder will appear on the PROFINET IO system as shown in the picture below CPU 315F 2 Ph ME E thernet 1 3 PRO NET IO S ystem 1 00 y e Part Id 735795 01 14 Document Id 735795 Ver 01 Publication date 2010 05 20 PROFINET USER MANUAL Leine amp Linde AB The next step will be to choose the data length and the type of data that should be sent to and from the controller This is done by choosing different telegrams Availa
20. by PI Profiles are important for openness interoperability and interchangeability so that the end user can be sure that similar equipments from different vendors perform in a standardized way Leine amp Linde comply with the definitions in the encoder profile 3 162 version 4 1 The encoder device profile describing encoder functionality and additional information about PROFINET can be ordered from PROFIBUS User Organization PNO or directly from Leine amp Linde AB PROFINET is generally defined by PROFIBUS amp PROFINET International PI and backed by the INTERBUS Club and since 2003 is part of the IEC 61158 and IEC 61784 standards PROFIBUS User Organization Haid und Nue Stra e 7 D 76131 Karlsruhe Tel 49 721 96 58 590 Fax 49 721 96 58 589 Web www profibus com 2 Declaration of conformities This device conforms to prevailing legal requirements and is designed in accordance with proper engineering praxis A certificate of conformance can be provided upon request from Leine amp Linde Part Id 735795 01 7 Document Id 735795 Ver 01 Publication date 2010 05 20 PROFINET USER MANUAL Leine amp Linde AB 3 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 informa
21. de ESE Ge EE ER Ee DEE SEER ES ER Eg concedes Ee EE SR GE ee Gee ee Eg de wees 48 9 5 ALARM CHANNEL CONTROL iii ve es dee Ee cee EEN Ge Ee de cu GR Ge KEER Ee Ee Ge EG Ee ek EN Ee Eg Ge Gee ER Be Ee EE SNY Ee Ee See n Res gee 48 9 6 COMPATIBILITY MODE 20 cccssseccssesssceesecsscusencsecesdeccesesensussencecsesncecsesessucesceccesesseecesaseesessncessuansees 49 9 7 PRESET VALUE sinte near Tees weeded eek eee 49 9 8 SCALING FUNCTION PARAMETERS iese ee ese se se ee se ee ee ee ee ke ee ee ee ee Ge ee ee ee ee ee Ee Re ee Ge ee ee Ge ee ee ee ee Ge ee 50 9 8 1 Measuring units per revolution ees see see se ee ee ee ee ee ee Ge Ge Se GR RA Ge Ge ee ee se ee 51 9 8 2 Total measurmng TANG OR EEN EE OR RR OE ORE 51 9 9 MAXIMUM MASTER SIGN OF LIFE FATLURES ees es se ees ee se ee ee ee ee ee ee ee ee ee ee ee ee ee ee ee ee ee ee ee ee ee ee ee ee Ge ee 53 9 10 VELOCITY MEASURING UNITS uses esse ees ss se ee es se ee eg a ee Ge ee ee EE GR Re AA Re Ge ee ee Re ee ee Pe ee 53 9 11 ENCODER PROFILE VERSION is ies ese Sek Ee Ge ede cu Ge ee Es E ER Ge Ee Eg Gees En SN Ee ee See Ee Eg ee ee Eg de bees 54 9 12 OPERATING TIME innebere reneste ae eN ees See Ee EER en ee GE tise 54 9 T3 OFFSET VALUE eee 55 9 TAACYCLIGDATA so Heen 55 914 1 PROFIdrive parameters sie ee beciabts oo Re ee sege ini a E E E E E eneste 39 9 14 2 Encoder parameter numbers sesse ese ese se ese see ge Se se ee Ge ee Ge ee Gee be AA Ge ee Se ee Ge ee Gee a 56 9 14 3 Para
22. ee ee Re ee 39 8 4 9 Parameter 980 read only RR RA RA RA Re Ge ee ee ee ee Re Re Re RA GRA GR ee ee ee ee eene ee 40 8 4 10 Parameter 61000 read write ee ees ee ee ee ee ee ee ee ee ee ee ee ee ee ee 40 8 4 11 Parameter 61001 read ONY eie ee ee Re ee ee Ge Re RR GRA GR Re RA GRA GR ee Ge ee ee ee se ee 40 8 4 12 Parameter 61002 read ONLY ees Re Ee Ee Ge Ge Re Re RR GR Re GR Re RA GRA GRA ee ee ee se ee 40 6 4 13 Parameter 61003 read only see ninien GR AA Ge Re Ge i Re ee 40 8 4 14 Parameter 61004 read only see se ee ee RA ee Ge AA Ge Re ee ee GR ee ee 40 8 4 15 Parameter 65000 read write ees se ee ee ee ee ee ee ee ee ee ee ee ee ee ee ee ee ee ee ee ee ee ee 40 8 4 16 Parameter 65001 read only se ee ee AR AA ee GR AA Ge ee AA ee ee ee ee 40 84 17 Parameter 65002 read write ee ees ee ee ee ee ee ee ee ee ee ee ee ee ee ee ee 41 8 4 18 Parameter 65003 read only see Se ee AA ee GR AA Ge Re Ge ee ee ee ee 41 8 5 EXAMPLE OF READING AND WRITING TO A PARAMETER csssesseeeessececeesececsueeesesseeecessueeesneeeenes 41 ERAS MORE EO N N be dl irene einer 41 9 Functional description of Leine amp Linde encoder mncserorvmnersvreresskerreensisvernsrrrannrstessre 47 9 1 GODE SEOUENGE eee nn WE De ie 47 9 2 CLASS4 EUNCTIONALIIY ner lnb eten eder ane 47 93 G1 XISTL PRESET CONTROL ees Ee Ee REG EN eg Se Re Ee Ee Ge EES Ese Ed RE Ee VERE DS ee Ee eN ee Ede ge dee 48 9 4 SCALING FUNCTION CONTROL i s eise sesse Gee ee
23. is a freeware DHCP server for Windows NT XP Vista platforms and can be downloaded from www softcab com Note Before starting the installation disconnect the PC where the DHCP server is to be installed from the office network It can be connected to the network again when the server is configured Once the DHCP server has been downloaded double click on the dhcp exe file to start the installation and follow the instructions on the screen After installation start the Tiny DHCP server program Part Id 735795 01 66 Document Id 735795 Ver 01 Publication date 2010 05 20 PROFINET USER MANUAL Leine amp Linde AB 7 Tiny DHCP Server v1 4 Phisical address Unknown OOOO O O Drop incoming requests silently v IP address Subnet mask Domain name Host name Gateway EET ER DNS Servers Oo P EE WINS Servers Node type HYBRID default v Lease time 1 minutes Comment Add new Delete The Unknown physical address is predefined Select Drop incoming requests silently for unknown interfaces Select Add new and enter the MAC address of the device you attend to supply with an IP address The MAC address for the encoder is written on the encoder label Add new client computer Enter MAC address of client computer below 002245000000 Carcel Part Id 735795 01 67 Document Id 735795 Ver 01 Publication date 2010 05 20 PROFINET USER MANUAL Leine a
24. provide the encoder with a valid IP address See chapter 10 5 Note It is recommended to keep the desktop PC disconnected from the office network to avoid issues with the office network 11 Encoder replacement using Link Layer Discovery Protocol LLDP The encoder supports Link Layer Discovery Protocol LLDP LLDP is essentially a neighbor discovery protocol used by network devices for advertising of their identity capabilities and interconnections In a PROFINET network all IO devices are recognized by their device name Sometimes an IO device needs to be replaced in an automation system and this is when LLDP is useful Using LLDP the neighbor relations between the individual IO device and the IO controller are analyzed and stored on the IO controller If an IO device has been replaced the IO controller will recognize this and will redefine the device name Follow the instruction below to exchange an IO device using LLDP Select properties of the PN IO controllers interface module and enable Support device replacement without exchangeable medium Part Id 735795 01 70 Document Id 735795 Ver 01 Publication date 2010 05 20 PROFINET USER MANUAL Leine amp Linde AB SIMATIC 300 1 Configuration dn a EE AI ODS E8 LE DUR N des m va d fondet 2 CPU 315F 2PN7DP__ s Profile Standard v XT wee Properties PN IO RO S2 2 S gt 2 PIO H PROFIBU
25. the slave differs from the nominal configuration INo connection to another device Red Green Criteria No data exchange Parameterization fault no data exchange Criteria Data exchange correct however the encoder did not switch to the data exchange mode Blinking red Green Diagnosis exists slave in data Green Red System failure exchange mode Data exchange and encoder Green Freen functions properly Blinking green Blinking green Firmware upgrade in process Blinking red Blinking red Failure during firmware upgrade YThe blinking frequency is 0 5 Hz Minimal indication time is 3 seconds Part Id 735795 01 12 Document Id 735795 Ver 01 Publication date 2010 05 20 PROFINET USER MANUAL Leine amp Linde AB 5 Configuration example This chapter will illustrate how to setup and configure a PROFINET encoder for working in RT Class 1 mode with SIMATIC MANAGER In the following examples Siemens STEP 7 V5 4 SP5 PLC and CPU 315F 2PN DP is used Please refer to the manufacturer if other configuration tools are being used 5 1 Device description file installation GSDML In order to start using an absolute encoder with PROFINET interface a device description file needs to be downloaded and imported to the configuration software The device description file is called a Generic Station Description Markup Language file and contains the necessary implementation parameters needed for
26. to the local LAN Then open the properties for the Internet Protocol TCP IP 4 Local Area Connection 2 Properties PIE General Advanced Connect using B CompaqNC3121 Fast Ethernet NIC J This connection uses the following items 4 F Network Monitor Driver Mi 3 Broadcom Advanced Server Program Driver Internet Protocol TCP IP Sle 9 Description Transmission Control Protocol Internet Protocol The default wide area network protocol that provides communication across diverse interconnected networks C Show icon in notification area when connected Notify me when this connection has limited or no connectivity Part Id 735795 01 69 Document Id 735795 Ver 01 Publication date 2010 05 20 PROFINET USER MANUAL Leine amp Linde AB Set the appropriate IP address and Subnet mask for the interface according to the example below Internet Protocol TCP IP Properties General You can get IP settings assigned automatically if your network supports this capability Otherwise you need to ask pour network administrator for the appropriate IP settings Obtain an IP address automatically Use the following IP address IP address 192 168 0 1 Subnet mask 255 256 255 0 Default gateway i lt Use the following DNS server addresses Preferred DNS server i Alternate DNS server F Use Tiny DHCP server to
27. 1 gt Header Version of parameter structure and numbers of index describing the encoder 12 index and version 1 01 65001 1 Operating status Bit 4 alarm channel control is always set with profile version 4 x 65001 2 Alarm 65001 3 Supported alarms 65001 4 Warning 65001 5 Warnings supported 65001 6 0x00000401 gt Encoder profile version Always set to this value Part Id 735795 01 40 Document Id 735795 Ver 01 Publication date 2010 05 20 PROFINET USER MANUAL Leine amp Linde AB 65001 7 Operating time 65001 8 Offset value 65001 9 Singleturn value scaled value 65001 10 Total measuring length scaled value Linear 1 65001 11 Velocity unit e step 10 ms e step 100 ms e step 1000 ms e RPM 8 4 17 Parameter 65002 read write Used with telegram 84 65002 signed long long Preset value 64 bit 8 4 18 Parameter 65003 read only Used with telegram 84 65003 unsigned long long 65003 0 0x0000000000040101 gt Header Version of parameter structure and numbers of index describing encoder 4 index and version 1 01 65003 1 Offset value 64 bit 65003 2 Singleturn value 64 bit scaled value 65003 3 total measuring range in measuring units 64 bit scaled value Linear 1 8 5 Example of reading and writing to a parameter This is an example of S7 blocks used for reading and writing to parameter 65000 preset value Experience with S7 programming and Statement List programming langua
28. 236 MSB LSB 236 6871947673610 0x00 00 00 10 00 00 00 00 UY 4 byte 32 bit 4 byte 32 bit Take the 4 least significant bytes above and convert to decimal 0x00 00 00 00 0 Total measuring range LSB mr Then take the 4 most significant bytes above and convert to decimal 30x00 00 00 10 16 Total measuring range MSB In the configuration software enter the decimal values Total measuring range LSB 0 ra Total measuring range MSB 16 9 9 Maximum Master Sign Of Life failures With this parameter the number of allowed failures of the master s sign of life is defined The default value is one 1 Maximum Master Sign Of Life failures The number of permissible failures of the master s 1 0255 life sign Maximum Master Sign Of Life parameter Note This parameter is only supported in compatibility mode 9 10 Velocity measuring units mr This parameter defines the coding of the velocity measuring units used to configure the signals NIST_A and NIST_B Standard telegram 81 has no velocity information included and the encoder does not use the velocity unit information in this case Telegram 82 83 and 84 includes velocity output and needs a declaration of the velocity measuring unit Velocity measuring units Definition of the units for the Encoder velocity See table output value below Parameter Velocity measuring unit Steps s Steps 100 ms Steps 10 ms RPM wj N ej o
29. 35795 01 58 Document Id 735795 Ver 01 Publication date 2010 05 20 PROFINET USER MANUAL Leine amp Linde AB 10 Firmware upgrade The Leine amp Linde encoder supports a firmware upgrade function The firmware upgrade function is developed to offer the possibility to upgrade the encoders in the future Before the upgrade of the encoder can start the following tools are needed e A running TFTP server e A WEB browser Internet Explorer Firefox Safari Opera etc e DHCP server This is only needed if performing an upgrade outside a PROFINET network The encoder itself puts no restrictions on what TFTP DHCP server to use The customer can choose to use any TFTP DHCP servers There are two different scenarios for software upgrade e Firmware upgrade in a PROFINET network This is when the encoder is connected to a PROFINET network The encoder will be provided with an IP address from the PROFINET IO controller with DCP e Stand alone upgrade This is when the encoder is outside a PROFINET network A DHCP server is required in order to provide the encoder with a valid IP address This scenario might be valid if the encoder is a spare part or an encoder is picked out of a system for maintenance There is currently not support for bulk upgrade Le each encoder must be accessed and upgraded in turn 10 1 Firmware upgrade in a PROFINET network The following prerequisites have to be fulfilled in order to upgrad
30. 35795 Ver 01 2010 05 20 Part Id Document Id Publication date 15 PROFINET USER MANUAL Leine amp Linde AB 5 3 Set encoder device name In PROFINET network all IO devices needs to have a unique device name Leine amp Linde s PROFINET encoders are delivered without any device name preset from the factory To set the encoder device name double click on the encoder icon to open the Properties window Ethernet 1 PROFINET IO System 100 e 1 Profinet In the Properties dialog window enter an appropriate device name in the Device name field Properties MyEncoder Make sure that the checkbox Assign IP address via IO controller is checked if the IP address for the encoder should be assign via the IO controller Part Id 735795 01 16 Document Id 735795 Ver 01 Publication date 2010 05 20 PROFINET USER MANUAL Leine amp Linde AB Then select PLC gt Ethemet gt Assign Device Name to open the Assign device name window Nl HW Config SIMATIC 300 1 Configuration Download Module I Upload Module Identification to PG gt Faulty Modul Operating Moder Monitor Modify Update firmware Marie to Memory Gard Ethernet Assign Device Name Choose the device on which the device name should be changed and then click on the Assign name button to adopt the changes and then click on the Close button Assign device na
31. 35795 Ver 01 Publication date 2010 05 20 SFBS3 DB4 SFBSZ DB3 43 Write a Process Data Record Read a Process Data Record PROFINET USER MANUAL Leine amp Linde AB Parameters of SFB52 Negative values are in Parameters of SFB53 Parameter Declaration Data type Description REQ INPUT BOOL REQ 1 Enables data transfer ID INPUT DWORD Logical address of the PROFINET IO module or sub module PAP module address 2039 INDEX INPUT NT Record number MLEN INPUT NT Maximum length of the record information in bytes VALID OUTPU BOOL New record has been received and is valid BUSY OUTPU BOOL Busy 1 during the read operation ERROR OUTPU BOOL Error 1 read error STATUS OUTPU DWORD Block status or error code LEN OUTPU NT Length of record information RECORD IN OUT ANY Target area for the record terpreted as 16 bit unsigned integers Negative values are in Part Id 735795 01 Document Id 735795 Ver Parameter Declaration Data type Description REQ INPUT BOOL REQ 1 Enables data transfer D INPUT DWORD Logical address of the PROFINET IO module or sub module PAP module address 2039 NDEX INPUT NT Record number LEN INPUT NT Length of the record information in bytes DONE OUTPU BOOL Data record was transferred BUSY OUTPU BOOL Busy 1 during the write operation
32. 5 255 0 Device MAC 00 22 45 00 00 00 Default Gateway 192 168 0 255 DHCP Client Enabled DHCP Enable Disable Any TFTP server can be used to retrieve file image and any DHCP server can be used to assign IP addresses Supplied in this manual is a description on how to install SolarWinds TFTP server chapter 10 4 and Tiny DHCP chapter 10 5 from SoftCab on a desktop PC 10 3 Error Handling This chapter will list all the possible error codes that can occur during an upgrade error The error code will be visible on the feedback webpage If an error occurs the device will not reboot itself automatically Instead it will wait upon user action This is to allow the user to take the next step E g the user might want to check some parameters before rebooting or try to run the upgrade procedure again Failed to download firmware file from server Error code 2 The user should verify the IP address and the image filename If any of them is incorrect the user should go back and submit the correct parameters at the main html page index html If the parameters are correct the user should verify that the TFTP server is running on the host computer and that the TFTP server settings are correct Host not responding No contact with host computer Error code 3 The user should verify that the host computer is connected to the encoder The ping command can be used for this purpose If connected go back to upgrade html and
33. A coded version The correct arrangement of the power supply line is specified as follows Supply o 5 Eee EE EE ee E Volt Power supply 10 30 Vdc Not connected 0 Volt 0 Volt mow DI Not connected Note Passive T couplings are not possible to use in a PROFINET network All devices must be connected through active network components Part Id 735795 01 10 Document Id 735795 Ver 01 Publication date 2010 05 20 PROFINET USER MANUAL Leine amp Linde AB 4 3 Shielding concept of the encoder Automation systems in an industrial environment are subjected to high levels of electromagnetic disturbance Switching large electrical loads creates high interference levels that can be picked up in various ways by electronic devices with detrimental effects Even under such conditions electric components within an automation system must still guarantee a continuous uninterrupted function The electromagnetic compatibility EMC of the entire plant must be ensured by using suitably designed components and assembling them correctly to make up the system Data cabling is considered as a passive system and cannot be tested for EMC compliance individually Nevertheless cabling and connection elements for PROFINET support compliance with devices requirements by providing a high quality comprehensive shielding concept To achieve the highest possible noise immunity and resistance against other EMC re
34. Class 3 This example is intended to illustrate the commissioning of a PROFINET encoder in isochronous operation In the example below STEP 7 v5 4 SP5 and SIMOTION D435 motion controller is used The basic principal for configuration and parameterization of the encoder is the same as described in chapter 5 2 amp 5 3 To set the IRT settings of a Leine amp Linde encoder double click on the Interface field located under slot 0 sub slot X1 to open the Properties window and follow the instruction below HE Hw Config SIMOTION D Configuration y loxi diy Station Edit Insert PLC View Options Window Help JS x Doe SE RE By e s r RM Bx Eind at ad PROFIBUS Integrated DP master system 1 DPNPI Profile Standard v PROFIBUS DP SP PROFIBUS PA we SINAMI ae PROFINET I0 B Additional Field Devices j B E Encoders B LEINE LINDE Profinet Encoders a B Multitum 25 Bit V1 0 a p ED Multiturn 9 Standard Telegram 81 f f JETOP JE2INET CBE30xPNxIO Standard Telegram 82 Standard Telegram 83 1 Standard Telegram 84 a Singletum 13 Bit V1 0 G 1 Profinet E R4600 2 HEY MO re 3 Drives H A Encoders E Gateway Go 3 Network Components E Sensors SIMATIC 300 SIMATIC 400 SIMATIC PC Based Control 300 400 amp SIMATIC PC Station SIMOTION Drive based Ethernet 2 PROFINET 10 System 100 a 1 ProfinetxEncoderv1 Press F1 to get Help
35. Description Markup Language UDP User Datagram Protocol TCP Transmission Control Protocol Part Id 735795 01 8 Document Id 735795 Ver 01 Publication date 2010 05 20 PROFINET USER MANUAL Leine amp Linde AB IP Internet protocol DHCP Dynamic Host Configuration Protocol TFTP Trivial File Transfer Protocol MAC Media Access Control I amp M Identification amp Maintenance 4 Installation A summary of the PROFINET guideline PROFINET Cabling and interconnection Technology V 1 99 Profibus International Order No 2 252 is provided in this section 4 1 Cables and standards Two shielded copper cables twisted in pairs are defined as the normal transmission medium for PROFINET networks In such networks the signal transmission is performed in accordance with 100BASE TX at a transmission speed of 100 Mbps Fast Ethernet Only shielded cables and connecting elements are allowed in a PROFINET network The individual components have to satisfy the requirements of Category 5 in accordance with IEC 11801 The entire transmission path has to meet the requirements of Class D in accordance with IEC 11801 Furthermore PROFINET cables shall have a cable cross section of AWG 22 in order to enable even complex cabling structures through minimum damping For this reason the specification of the PROFINET cables supports a modular setup which ensures an IEC 11801 compliant structure on adherence to simple installation rules Transmission chann
36. ERROR OUTPU BOOL Error 1 write error STATUS OUTPU DWORD Block status or error code RECORD IN OUT ANY Data record terpreted as 16 bit unsigned integers 01 Publication date 2010 05 20 44 PROFINET USER MANUAL Leine amp Linde AB Parameter A in ress from HW Configuration oh Station Edit Insert PLC View Options Window Help DERE SB BE ln lo RM CPU 315F 2PN DP Profinet PROFINE T O System 100 Part Id 735795 01 45 Document Id 735795 Ver 01 Publication date 2010 05 20 PROFINET USER MANUAL Leine amp Linde AB Variable table With the variable table the user can monitor and modify variables 1 The write process is not yet terminated 1 The read process is not yet terminated ii Read block status or error information Part Id 735795 01 46 Document Id 735795 Ver 01 Publication date 2010 05 20 PROFINET USER MANUAL Leine amp Linde AB 9 Functional description of Leine amp Linde encoder This chapter describes the functions that have been implemented in PROFINET encoders from Leine amp Linde The table below shows the supported functions in a Leine amp Linde PROFINET encoder Function Code sequence Class 4 functionality G1_XIST1 Preset control Scaling function control Alarm channel control Compatibility mode Preset value Preset value 64 bit Measuring units per revolution Measuring step Total measuring range Me
37. S PA Port General Addresses PROFINET Synchronization Time of Day Synchronization BE PROFINET IO And I Short description PN4O eo fl SIMATIC 300 Device name mv fl SIMATIC PC Based Control 3 8 SIMATIC PC Station v Support device replacement without exchangeable medium v lt N 2 0 ur Interface Type Ethemet Slot Module Order a Device number 0 1 EE 2 Cru 315F 2PN DP Address 192 168 0 1 57 4 MADE 5 a Networked yes Properties Comment lt a PROFIBUS DP slaves for SIMATIC 57 M7 and C7 distributed rack Press F1 to aet Helo ETIESE Cha Configure the topology of the system for all connected ports GS HW Config SIMATIC 300 1 Configuration x Bly Station Edit Insert PLC View Options Window Help Ex Oa 8 8 BS BE dna OO re l sl Eind at ail E CPU 315F 2PN DP_ Brofile Standard v f MPDP ao Ethemet 1 PROFINET10 System 100 PROFEUS PA H SE PROFINET ID fi SIMATIC 300 fi SIMATIC 400 amp SIMATIC PC Based Control 3 SIMATIC PC Station Le PROFIBUS DP slaves for SIMATIC 57 M7 and C7 distributed rack Slot is occupied module is too wide or the functionality of the inserted module is not transferable to the new module ha Part Id 735795 01 71 Document Id 735795 Ver 01 Publication date 2010 05 20 PROFINET USER MANUAL Leine amp Lin
38. W The control word controls the functionality of major encoder functions Function requests Reference mark search measurement on the fly 8 10 Reserved without effect 11 Home position mode 12 Request set shift of home position Preset 13 Request absolute value cyclically 14 Activate parking sensor 15 Acknowledging a sensor error G1 STW implementation requirements Note If the sensor parking is activated bit 14 1 the encoder is still on the bus with the slave sign of life active and the encoder error and diagnostics switched off 6 10 Status word G1_ZSW The status word defines encoder states acknowledgements error messages of major encoder functions 0 7 Function status Reference mark search measurement on the fly Probe 1 deflected Probe 2 deflected Reserved set to zero LO Co s Uil AJ OI N ejl o Requirement of error acknowledgement detected Set shift of home position executed Transmit absolute value cyclically Parking sensor active Sensor error G1_ZSW implementation requirements Note If bit 13 Transmit absolute value cyclically or bit 15 Sensor error is not set there is no valid value or error code transferred in G1_XIST2 Part Id 735795 01 33 Document Id 735795 Ver 01 Publication date 2010 05 20 PROFINET USER MANUAL Leine amp Linde AB Note Bit 13 Transmit absolute value cyclic
39. XIST3 G1 XIST3 is a 64 bit position value which is used to support encoders with a resolution exceeding 32 bits Format definition for G1_XIST3 e Binary format e The actual position value is always right aligned a shifting factor is not used e The settings in the encoder parameter data affect the position value in G1_XIST3 if Class 4 is enabled Format 64 bit position value 6 7 Control word 2 STW2_ENC The control word 2 ZSW2_ENC is referred to as the master sign of life and it includes the fault buffer handling and Control by PLC mechanism from PROFIdrive Part Id 735795 01 ad Document Id 735795 Ver 01 Publication date 2010 05 20 PROFINET USER MANUAL Leine amp Linde AB STW1 and the Controller Sign Of Life mechanism from PROFIdrive STW2 This signal is mandatory for controlling the clock synchronization 0 6 Reserved 7 Fault Acknowledge 8 9 Reserved 10 Control by PLC 11 Reserved 12 15 Controller Sign Of Life STW2_ENC definition and implementation requirements EE 7 1 Fault Acknowledge The fault signal is acknowledged with a positive edge The encoder reaction to a fault depends on 0 gt 1 the type of fault No significance 10 1 Control by PLC Control via interface EO IO Data is valid 0 No Control by PLC EO IO Data not valid except Sign Of Life 12 15 Controller Sign Of Life Detailed assignment of the encoder contr
40. ally cannot be set at the same time as bit 15 Sensor error as these bits are used to indicate either a valid position value transmission bit 13 or the error code transmission bit 15 in G1_XIST2 6 11 Real Time Communication PROFINET IO uses three different communication channels to exchange data with programmable controllers and other devices The non real time channel based on for example TCP UDP IP is used for parameterization configuration and acyclic read write operations The RT or Real Time channel is used for process data transfer and alarms Real time data are treated with a higher priority than data sent over the open channel RT communications overrides the open channel to handle the data exchange with programmable Controllers The third channel Isochronous Real Time IRT is the high performance high speed channel used for demanding motion Control applications IRT data are treated with a higher priority than RT data sent over the RT channel Real Time PROFINET distinguishes between three real time classes for transmission of time critical process data The three RT classes are Real Time RT Class 1 e Unsynchronized Real time communication e Industrial standard switches can be used e Typical application area Factory automation Real Time RT Class 2 e Synchronized and unsynchronized data transmission e Special switches supporting IRT is needed e Typical application area Factory automation Isochronou
41. asuring units per revolution 64 bit Total measuring range 64 bit Maximum Master Sign Of Life failures Velocity measuring unit Encoder Profile version Operating time Offset value Offset value 64 bit 9 1 Code sequence The code sequence defines whether the absolute position value should increase during clockwise or counter clockwise rotation of the encoder shaft seen from flange side The code sequence is by default set to increase the absolute position value when the shaft is tumed clockwise 0 Attribute Meaning Value CW Increasing position values with clockwise 0 rotation viewed from shaft side CCW Increasing position values with counter 1 clockwise rotation viewed from shaft side Code sequence attributes Note The position value will be affected when the code sequence is changed during operation It might be necessary to perform a preset after the code sequence has been changed 9 2 Class 4 functionality This parameter enables or disables the measuring task functions Scaling Preset and Code sequence If the function is enabled scaling and Code sequence control affects the position value in G1_XIST1 G1_XIST2 and G1 XIST3 A preset will in this case always affect G1_XIST2 and G1_XIST3 but if the parameter G1_XIST1 Preset control is disabled the preset will not affect the position value in G1_XIST1 Part Id 735795 01 47 Document Id 735795 Ver 01
42. ate 2010 05 20 PROFINET USER MANUAL Leine amp Linde AB When the above steps have been performed it is recommended to verify that the setting for the encoder and the IO controller is correct This is done by opening the Domain management Window found under Edit gt PROFINET IO Verify that the RT Class is set to IRT and that the IRT option is set to High performance Domain management Ethernet Device Fi The encoder is now prepared for operating in IRT mode Part Id 735795 01 26 Document Id 735795 Ver 01 Publication date 2010 05 20 PROFINET USER MANUAL Leine amp Linde AB 6 PROFINET IO data description 6 1 Encoder Profile overview PNO order no 3 162 This manual is related to encoder that fulfills the demands and functionality according to encoder profile V4 1 PNO no 3 162 The operating functions for encoders according to this profile are divided into two application classes named Class 3 and Class 4 For an overview of the different encoder profile for PROFIBUS and PROFINET and the related standards see picture below For further information regarding the encoder functionality refer to the device profile The profile and PROFINET technical information can be ordered at PNO in Karlsruhe Germany www profinet com Encoder Profile V4 Class 3 and 4 PNONo 3 162 Encoder Profile Class1 and 1 PNO No 3 062 PROFIBUS Network Part Id 735795 01 27 Document Id 735795 Ver 01
43. ay n Integer 32 R 65002 Preset value 64 bit Integer 64 R W 65003 Operating status 64 bit Array n Integer 64 R Encoder specific parameter 9 14 3 Parameter 65000 and 65002 Preset value The parameter 65000 and 65002 sets the value for the preset function The parameter 65002 should be used if the preset value exceeds 32 bits For more information regarding the Preset function control see chapter 9 7 Significance Preset value Data type Integer 32 Access Read and write Validity range Profile specific Explanation The preset value sets the value for the preset function The preset value can be stored in the non volatile memory by PROFIdrive parameter 971 and will be reloaded at each start up if stored Structure of parameter 65000 Preset value Significance Preset value 64 bit Data type Integer 64 Access Read and write Validity range Profile specific Explanation The preset value sets the value for the preset function The preset value can be stored in the non volatile memory by PROFIdrive parameter 971 and will be reloaded at each start up if stored Structure of parameter 65002 Preset value 64 bit Part Id 735795 01 56 Document Id 735795 Ver 01 Publication date 2010 05 20 PROFINET USER MANUAL Leine amp Linde AB 9 14 4 Parameter 65001 Operating status parameter structure This parameter structure is a read only structure where information on
44. ble telegrams for the multi turn 25 bit encoder can be found under Multiturn 25 Bit gt EO Multiturn In the example below standard telegram 81 is used Drag and drop the telegram onto slot 1 sub slot 2 as shown in the picture below For more information regarding the different telegrams refer to chapter 6 4 Rw Config SIMATIC 300 1 Configuration MPDP 1 Profinet Encoder Slot J Module Order number l Address Q address P Diagnostic add C 4 4 ste EE Famela a Press F1 to get Help B Aretinet Encoder 20437 MIA mates AU Ard Avr Eza f Aw EZA de or AF Re PROFIBUS DP 2 PROFIBUS PA HE PROFINET I0 B Additional Field Devices 2 4 CO Drives Encoders E Gateway 0 E Network Components E Sensors Ed SIMATIC PC Based Control 300 400 d SIMOTION Drive based Bly Station Edit Insert PLC View Options Window Help l18 x Dae ER Bix ge mini Profile Sandad EA Encoders S E LEINE LINDE Profinet Encoders a Multitum 25 Bit V1 0 O Multitum F ES tandard Telegram 8 d Standard Telegram S R d Standard Telegram 83 d Standard Telegram 84 B Singletum 13 Bit V1 0 9 Vo SIMATIC 300 SIMATIC 400 SIMATIC PC Station I cha 4 The Standard Telegram 81 will appear on slot 1 sub slot 2 gt 1 ProfinetEncoder Slot Module Order number 735795 01 7
45. ch effects the position value Alarms can be reset deleted when all encoder parameters are within the specified value ranges and the position value is correct 7 2 Channel diagnostics The encoder outputs a diagnostic interrupt to the CPU when it detects one of the supported channel diagnostics The encoder fails to read the correct position value The encoder fails to read stored Memory error 0x9000 offset or preset values from the non volatile memory Position error OXSOOA User parameter data assignment Commissioning diagnostics 0x9011 error In a Simatic STEP 7 system the operation system responds by calling a diagnostic OB The OB number and start information provides the cause and location of the error The error information can be read by calling a system Function block SFB54 RALRM for STEP 7 Then the user can decide how the system should handle the error i Note If the called OB is not included in the program the CPU will go to stop Part Id 735795 01 35 Document Id 735795 Ver 01 Publication date 2010 05 20 PROFINET USER MANUAL Leine amp Linde AB 7 3 Sensor status word Diagnosis information can be obtained by monitoring of the Error bit in the Sensor Status word G1 ZSW bit 15 and evaluation of the error code transmitted in G1 XIST2 Sensor group error 0x0001 The encoder fails to read the correct position value Memory error 0x1001 The encoder fails to
46. cified single turn resolution 2X where x lt 12 the encoder operates in endless cyclic operation 0 max 0 max If the position value increases above the maximum value by rotating the encoder shaft the encoder continues from 0 Example of a cyclic scaling Measuring units per revolution 1000 Total measuring range 32 000 25 number of revolutions 32 Position 32 000 Measuring range Cyclic Scaling B Non cyclic operation If the measuring range is used to limit the encoder value range to a value not equal to the specified single turn resolution 2x the output position value is limited within the operating range If the position value increases or decreases outside the measuring range by rotating the encoder shaft beyond the maximum value or below 0 the device outputs the total measuring range value Example of non cyclic scaling Measuring units per revolution 100 Total measuring range 5000 number of revolutions 50 Position Scaled 5 000 total range 0 MAX Measuring range Non cyclic scaling Part Id 735795 01 52 Document Id 735795 Ver 01 Publication date 2010 05 20 PROFINET USER MANUAL Leine amp Linde AB Handling 64 bit data Siemens hardware configuration tool does not support 64 bit data type so when writing larger numbers than 32 bit into the configuration tool this needs to be done according to below Example Total measuring range in measuring units
47. click Confirm to try and upgrade again Checksum Error File image error Error code 4 Calculated checksum doesn t match the one supplied by the image file The most likely cause for this problem is that there was an error when downloading the file to the encoder Go back to upgrade html and press Confirm and try again Part Id 735795 01 64 Document Id 735795 Ver 01 Publication date 2010 05 20 PROFINET USER MANUAL Leine amp Linde AB Flash Erase Write Error Error code 5 The image might be corrupt Flash Erase or Write failed If this error occurs the device can still start with its failsafe image It will be displayed by the Execution State parameter on the web Page File Size Error Error Code 6 The firmware file is too big to be written to flash Insufficient Memory Error Code 7 There is not enough memory available to store the firmware file image Invalid Firmware File Error Code 8 Firmware file is not supported for this hardware 10 4 TFTP server installation The TFTP server used in this example is a freeware TFTP server for Windows NT XP Vista platforms and it can be downloaded from www solarwinds com Unzip the installation file and double click on the SolarWinds TFTP Server exe file to start the installation Follow the instructions on the screen to complete the installation Create a folder on C named TFTP Root if it not already exists Copy or Move the new firmwa
48. d in Status word 2 is always cleared 12 1 3 Profile Version 3 x and 4 x When using telegram 81 83 and Control word bit 13 Request absolute value cyclically is set then Status word bit 13 Transmit absolute value cyclically is set Status word bit 13 is cleared bit 13 0 when Control word bit 13 is cleared Status word bit 13 is always cleared when using telegram 84 due to the fact that no absolute value is sent in G1 XIST2 12 2 Parking state This state can be reached from any other state The position value in G1_XIST1 G1_XIST2 and G1 XIST3 are set to zero Errors are cleared and alarms are disabled in parking mode 12 3 Set shift home position Preset The Set shift home position is initiated when Control word bit 12 Request set shift of home position is set In this case the Status word bit 12 Set shift of home position executed is set to 1 In order to initiate a set shift home position Class 4 functionality must be enabled see chapter 9 2 otherwise there will be an error in G1_XIST2 12 3 1 Preset depending on different telegrams When using standard telegram 81 83 the acyclic encoder parameter 65000 Preset value 32 bit shall be used to set a preset value lt 32 bit for the encoder If the acyclic encoder parameter 65002 Preset value 64 bit is used in this case an error message will be returned With telegram 81 83 the operating status must be read by encoder parameter 65001 Operating s
49. d in parallel PROFINET IO was developed for real time RT and isochronous real time IRT communication with the de centralized periphery The designations RT and IRT merely describe the real time properties for the communication within PROFINET IO To achieve these functions three different protocol levels are defined e TCP IP for PROFINET CBA and the commissioning of a plant with reaction times in the range of 100ms e RT Real Time protocol for PROFINET CBA and PROFINET IO applications up to 1 ms cycle times e IRT Isochronous Real Time for PROFINET IO applications in drive systems with cycles times of less than Ims Interfacing the peripherals devices such as encoders is implemented by PROFINET IO Its basis is a cascading real time concept PROFINET IO defines the entire data exchange between controllers devices with master functionality and the devices devices with slave functionality as well as parameter setting and diagnosis PROFINET IO is designed for the fast data exchange between Ethernet based field devices and follows the provider consumer model The configuration of an IO System has been kept nearly identical to the look and feel of PROFIBUS Part Id 735795 01 6 Document Id 735795 Ver 01 Publication date 2010 05 20 PROFINET USER MANUAL Leine amp Linde AB A PROFINET IO system consists of the following devices e The IO Controller which controls the automation task e The IO Device which is a fi
50. de AB In the properties window select the corresponding partner port 1 HW Config SIMATIC 300 1 Configuration N Station Edt Insert PLC View Options Window Help Oe B S BE d DO RM Properties Interface Port 1 P1 General Addresses Topology Options Port Interconnection Local port A FarameterAccess Fait 1 2 f Standard Telegram 81 Medium Cable name SIMATIC 300 1 profinetencoder2 Port 1 P1 Local port Copper Partner port Copper E opper p Partners Partner port Alternating partner ports SIMATIC 300 1 profinetencoder3 Port 2 P2 ar Add Delete Details Slot is occupied module is too wide or the functionality of the inserted module is not transferable to the new module Part Id Document Id Publication date 735795 01 735795 Ver 01 Cable Data Cable length Signal delay time us lt 20m v 012 Signal delay time 0 12 us 2010 05 20 Bx Find mail Profile Standard V HE 82 PROFIBUS PA me PROFINET IO fl SIMATIC 300 E SIMATIC 400 SIMATIC PC Based Control 3 8 SIMATIC PC Station a Iw I Dd f a ao kr i d g A IA 12 3 PROFINET USER MANUAL Leine amp Linde AB Then select Edit gt PROFINET IO gt Topology to open the topology editor EE HWE Config SIMATIC 300 1 Configuration y station dd Insert
51. e 37 8 3 BASE MODE PARAMETER ACCESS me 37 8 3 1 GetieralchardcterisHEN ie os Eg ee ES ee ee eg ee Ee Ee Eg Ge Ee ge De ee be ee Die Se a 37 8 3 2 Parameter requests and responses iese ee ee RA Ge GR Ge ee GR ee GRA Ge Ge ee Ge ee eke ge ee 37 8 3 4 Changing the Preset values sie Es Ee e bustete Pe Oe A EON Es ee ee Pe Ee 37 Part Id 735795 01 2 Document Id 735795 Ver 01 Publication date 2010 05 20 PROFINET USER MANUAL Leine amp Linde AB 8 3 5 Reading the preset Values SeSe dr fae ene SNE 38 8 4 SUPPORTED PARAMETERS iis GEE es Ee EEN Ge KEER aS ee ER Se Ee Ge Ge Ee EEN See Ed GE Ge Ee EER Ee Gee Ee e EER Ee Ee Gee de Ee 38 8 4 1 Para meter 922 read OR sesse EE Gee N ses i ee tock EG RE cock Ge Re te ees ee Rg ees Ge 38 8 4 2 Parameter 925 read write ee se se ee ee ee ee ee ee ee ee ee ee ee ee ee ee ee ee ee ee ee ee ee ee 38 8 4 3 Parameter 964 read only RR RA RA RA Re Ge ee ee ee ee Re Re RR RA GRA ee ee ee ee ee een ee 38 8 4 4 Parameter 965 read only RR RA RA RA Re Ge ee ee ee Ge Re Re GR RA GRA GR ee ee ee ee Re ee 38 8 4 5 Parameter 971 read write ee se se ee ee ee ee ee ee ee ee ee ee ee ee ee ee ee ee ee ee ee ee ee ee ee ee 39 8 4 6 Parameter 974 read only GR RA RR RA Re Ge ee ee ee Ge Re Re GR RA GRA GR ee ee ee ee ee ee 39 8 4 7 Parameter 975 read only ee GR RA RA RA Re Ge ee ee ee ee Re Re Re RA GRA ee ee Ge ee ee Re ee 39 8 4 8 Parameter 979 read only RR RA RA RA Re Ge ee ee ee Ge Re Re GR RA GRA GRA ee
52. e RR RR ee ee ee ee RR ee ee ee RR Re ee ee ee ee 10 4 3 SHIELDING CONCEPT OF THE ENCODER esrererervrererervrererererererererererererevererevereveverereverevereveveverevevevevere 11 A DY Va OTN D D INNE 12 4 5 LED INDICATION erererevvvvvererereverevererevereverererereverevereverevevevevevevevevereveveveveveveveveveverevevevevevevevevevevevevene 12 5 Configuration example EEE OR N 13 5 1 DEVICE DESCRIPTION FILE INSTALLATION GSDML sccescceseceseeeeeceeeeseeeeeeneeeseeeeeeseeneeneeaees 13 5 2 SETTING THE ENCODER CONFIGURATION cscssssscsecececsessseseeeceesesseaeceeececsenseaeeeeceeesesnsaseeeeeseseneaaeas 14 5 3 SELENCODER DEVICE NAME srecen Ee Gee seke ese Gee Ee Ee E A EE ees Ee ERGER EARE E 16 5 4 SETTING ENCODER PARAMETERS esse ee ese se ee se ee ee ee es ee ee ge ee ee ee ee ee ee ee ee ee ee Re Re ee ee Re Re ee ee Re Re ee 19 5 5 ISOCHRONOUS REAL TIME SETTINGS RT CLASS 3 ee see ee se ee ee ee ee ee ee ee ee ee ee ee ee ee Re ee Re ee Re ee ee 22 6 PROFINET IO data descripHON esse ese se ee ee Re Re Re ee Re Re Re ee ee Re ee ee 27 6 1 ENCODER PROFILE OVERVIEW PNO ORDER NO 3 162 ese ee ee se ee ee ee ee ee ee ee ee ee ee ee ee ee ee ee ee ee ee ee ee 27 6 2 APPLICATION CLASS DEFINITION esse ee ees se ee ee ee ee ee ER ee ee ee ee Re Re ee ee ee ER Re ee ee ee Re Re ee ee ee Re Re ee 28 6 3 STANDARD SIGNALS cccsessscecececeessssececececseseeaecececeesesseaeceeeceesesaaeceeeesesesaaeceecesesesaseceeeeses
53. e the encoder ina PROFINET network e The encoder should be attached to the network e The encoder must have a valid Device name and a valid IP address assigned with DCP e A TFTP server should be enabled on the LAN where the encoder is attached See chapter 10 4 for an example how to set up a TFTP server Once the encoder has been assign a valid IP address it should be accessible on the network Enter the encoders IP address in the WEB browser Part Id 735795 01 59 Document Id 735795 Ver 01 Publication date 2010 05 20 PROFINET USER MANUAL Leine amp Linde AB ZA LEINE amp LINDE PROFINET ENCODER Microsoft Internet Explorer provided by LeinettLinde EIE File Edit View Favorites Tools Help LE Q v x a J search She Favorites O RE w i a gt CE rep iiseiseos LEINE amp LINDE DEVICE INFORMATION parametere Vendor ID Ox18a Device ID 0x801 Serial Number 12345 Part Number 63231802 Software Version 3 1 0 Hardware Version 1 Device Name encoderrxa600 NETWORK PARAMETERS Parameter vue Device IP 192 168 0 4 Device Subnetmask 255 255 255 0 Device MAC 00 22 45 00 00 00 Default Gateway 192 168 0 255 DHCP Client Enabled DHCP Enable Disable CONNECTION STATUS Connection Mode Not Connected No communication Cuneitian Chats Exile afa Imanan arenaer When accessing the encoder with the web browser it will display a number of
54. ed on the encoder For port description of the encoder refer to chapter 4 Mechanical installation Configuration ox Bly Station Edit Insert PL View Options Window Help lj xj IDESR EE si 80 RI 5 Fi 0 SIMOTION D435 EE End aa PROFIBUS Integrated DP master system 1 DEMPI Profile Standard v PROFIBUS DP M PROFIBUS PA ESE PROFINET ID B Additional Field Devices B Encoders 6 LEINE LINDE Profinet Encoders S Multtum 25 Bit V1 0 Ed EO Mutitum Standard Telegram 81 E JET OP JEANETT CBE30xPNxI0 T SINAMII ds d Standard Telegram 82 9 Standard Telegram 83 d Standard Telegram 84 B Singletum 13 Bit V1 0 Ethemet 2 PROFINET10 System 100 Ga 1 Profinet 3 Rx 600 2 G vo re Drives 3 Encoders I Gateway Vo 3 Network Components E Sensors E SIMATIC 300 E SIMATIC 400 SIMATIC PC Based Control 300 400 B SIMATIC PC Station SIMOTION Drive based 2 2 2 aS 1 ProfinetxEncodervi Arnes id Al es EE EE Es Press F1 to get Help Part Id 735795 01 24 Document Id 735795 Ver 01 Publication date 2010 05 20 PROFINET USER MANUAL Leine amp Linde AB Under the Topology tab change the Partner port to the used port of your IO controller Properties Interface Port 1 P1 Alternating partner ports Part Id 735795 01 25 Document Id 735795 Ver 01 Publication d
55. eld device such as an encoder monitored and controlled by an IO Controller e The IO Supervisor is software typically based on a PC for setting parameters and diagnosing individual IO Devices An application relation AR is established between an IO Controller and an IO Device These ARs are used to define communication relations CR with different characteristics for the transfer of parameters cyclic exchange of data and handling of alarms The characteristics of an IO Device are described by the device manufacturer in a General Station Description GSD file The language used for this purpose is the GSDML GSD Markup Language an XML based language The GSD file provides the supervision software with a basis for planning the configuration of a PROFINET IO system Within PROFINET IO process data and alarms are always transmitted in real time RT Real time in PROFINET is based on the definition of IEEE and IEC which allow for only a limited time for execution of real time services within a bus cycle The RT communication represents the basis for the data exchange for PROFINET IO and real time data are always treated with a higher priority than TCP UDP IP data 1 5 Encoder Profiles Profiles are pre defined configurations of the functions and features available from PROFINET for use in specific devices or applications such as encoders They are specified by PI PROFIBUS amp PROFINET International working groups and published
56. els lengths are determined by the type of cable being used The choice of cable is to be such that a transmission channel length of 100 meter is achieved between two active network devices The use of a high number of plug connections has a negative effect on attenuation and reflection and consequently reduces the transmission channel length A maximum of three interconnections can be inserted between two active devices without reduction of the permissible transmission lengths of 100 meters Part Id 735795 01 9 Document Id 735795 Ver 01 Publication date 2010 05 20 PROFINET USER MANUAL Leine amp Linde AB 4 2 Connectors and pin configuration A major criterion for use in industry is the handling of local connection systems Connectors for M12 are available for this purpose M12 connectors are used for PROFINET data communication of the encoder constituted by a 4 pin female shielded D coded version The correct arrangement of the bus connectors is specified as follows m EG A E Port 1 Port 2 Tx Transmission data 1 Tx Transmission data 3 Rx Receiver data 2 Rx Receiver data 4 Note The encoder provides integrated switch functionality between the two M12 connectors used for PROFINET communication It is important to distinguish between these ports when IRT communication is used The M12 connectors used for power supply of the encoder is constituted by a 4 pin male shielded
57. eneaaees 28 6 4 STANDARD TELEGRAMG cssccccccccsesessscecececeesessesececececsesseseceeccsesesseaeceeececsesseaeeeeceecsesuaeceeeesesensaaees 29 6 5 FORMAT OF G1 XIST1ANDGI XIST2 ese ese see ee ee RR GRA GRA GRA Re Ee ee ee ee ee Re ee Re ee Re ee Re 31 6 6 FORMAT OF GP dIE RR RE OE EE EE EE N 31 6 7 CONTROL WORD 2 STW2_ENC cecccesseesseceereeesseceeeeeesaeceeeeecsaeceeeeeeaeeceeeeeaaeceeesenaeceeeeeenaeceaees 31 6 8 STATUS WORD 2 ZSW2 ENG J rsnnnnnernvernvernvrrnvesnrensrensrensrrsnrrnsrsnsrensrensrsnssnnssnvessessresnessnesssesssesnseenn 32 6 9 CONTROL WORD G1 STW ee ee ee ee ee ER Re RR RR RA GRA GRA GRA Gee Ee ee ee ee ee Re ee Re ee Re ee Re 33 6 10 STATUS WORD G1 ZSW csccesecseesseeseesseeseeeeceseeescensecaeceaecaaecaaecaeecaeeeaeseeeeeeeseeeeeeeeeeeeeaeenaees 33 6 11 REAL TIME COMMUNICATION ees ee ee ee ee ee ee ee ee ee ee ee ee ee ee ee ee ee ee ee ee ee ee ee ee ee ee ee ee ee ee 34 7 Alarms and wamings ERE abi eanaumcnnence 35 TA DIAGNOSTICS AND ATARMS ees ees eed Ee ees EERE EREE ER AE ER GR GE Ee EE 35 7 2 CHANNEL DIAGNOSTICS reses Ee ese ees Ge iese dee E De eed ek se Es bee eg ees ee besk Ge deer Ee ees EE seed De ee 35 TS SENSOR STATUS WORD RA EE AR EA OE OR RE EE OE OE N 36 8 Acyclic Parameter DEER ees KORS ER ei ee RE ee Re ee GR gee ts 36 8 1 AGYCLIC DATA EXCHANGE wiere Ee Eg eg Eed ie 36 8 2 IDENTIFICATION AND MAINTENANCE I amp M FUNCTIONS ees sesse ee ee se ese see ee ee ee ge ee Ge ee Ge ek ek e
58. er specific parameter 65003 Operating status 64 bit structure The parameter structure 65003 is a read only structure where information on the 64 bit parameter values can be found Significance Encoder Operating Status 64 bit Data type Array n Integer 64 Access Read Validity range Profile specific Explanation The status of encoder operating parameters with 64 bit length 0 Header 1 Offset value 64 bit 2 Measuring units per revolution 64 bit 3 Total measuring range in measuring units 64 bit Structure of parameter 65003 Operating status 64 bit 9 14 6 I amp M functions 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 record index OxAFFO OxAFF4 The Leine amp Linde encoder supports the following I amp M functions Header Manufacturer specific 10 Not used I amp M Block MANUFACTURER ID 2 Manufacturer Id Leine amp Linde 394 ORDER ID 20 Encoder part number SERIAL NUMBER 16 Encoder serial number HARDWARE REVISION 2 Not used SOFTWARE REVISION 4 Software revision REVISION COUNTER 2 Not used PROFILE ID 2 Encoder Profile number PROFILE SPECIFIC TYPE 2 Type of encoder IM VERSION 2 Version of the I amp M profile IM SUPPORTED 2 Value 0 means support of I amp M Supported I amp M functions Part Id 7
59. fy the data length and which type of data that are sent to and from the IO controller Leine amp Linde s PROFINET encoders support the following telegrams Standard Telegram 81 Standard telegram 81 uses 4 bytes for output data from the IO controller to the encoder and 12 bytes of input data from the encoder to the IO controller Output data from the IO controller 2 bytes Control word 2 STW2 ENC 2 bytes Control word G1_STW Set point STW2_ENC G1_STW Output data from IO Controller Input data to the IO controller 2 bytes Status word 2 ZSW2 ENC 2 bytes Status word G1_ZSW 4 bytes Position value 1 G1_XIST1 4 bytes Position value 2 G1_XIST2 Actual value ZSW2 ENC G1_ZSW G1 XIST1 G1 XIST2 Input data to IO Controller Standard Telegram 82 Standard telegram 82 uses 4 bytes for output data from the controller to the encoder and 14 bytes of input data from the encoder to the controller Output data from the IO controller 2 bytes Control word 2 STW2 ENC 2 bytes Control word G1_STW Set point STW2_ENC G1_STW Output data from IO Controller Input data to the IO controller 2 bytes Status word 2 ZSW2 ENC 2 bytes Status word G1_ZSW 4 bytes Position value 1 G1_XIST1 4 bytes position value 2 G1_XIST2 2 bytes Velocity value A NIST_A Actual value ZSW2 ENC G1_ZSW G1_XIST1 G1 XIST2 NIST A Input data to IO contro
60. ge STL is required Controller SIEMENS S7 F CPU CPU 315F 2 PN DP IO Device Linde PROFINET encoder SIMATIC STEP 7 V5 4 SP5 GSDML file for PROFINET GSDML V2 2 LL Profinet encoder 20100225 encoder 8 5 1 Used blocs Write record block SFB53 WRREC Read record block SFB52 RDREC Instance data blocks DB3 and DB4 Request data block DB1 Response data block DB2 Organization blocks OB1 OB82 and OB86 SFB52 SFB52 is standard S7 block for reading parameters SFB53 SFB53 is standard S7 block for writing parameters Part Id 735795 01 41 Document Id 735795 Ver 01 Publication date 2010 05 20 PROFINET USER MANUAL Leine amp Linde AB DB1 DB1 is the request data block Type Initial value Actual value pyre pne Z olaas 3 0 moef parameters f Bates lpstesor write parameters I O S 0 Noofelements or f f res ser number of elements 2 I O 8 pyre DINT ofparenetex number o usiese fvraseooor mer OO L 33554176 11 DNe og varwes O IN Value Of 65000 DB2 Request reference mirror request number mirrored Response ID request parameter No of parameters eyre B 16 0 response about number of parameter Format parameter 1 response about parameter 1 format aner wails parameter response about number of value of parameter 1 Read value p amp 5000 Address Declaration Name Type Initial value Act
61. hen modifying the Preset value parameters 1 2 3 Note Note Note Note Read the requested Preset value parameter and check if the returned value meets the application requirements If not proceed with the following steps Write the Preset value into the individual parameter Store the value in the non volatile memory by PROFIdrive parameter 971 if the value should be valid also after the next power on sequence Parameter Meaning Data type Preset value The preset value for encoders with a measuring Integer 32 range of maximum 32 bits Preset value 64 bit The preset value for encoders with a measuring Integer 64 range exceeding 32 bits Preset value parameters The preset function should only be used at encoder standstill The number of possible preset cycles is unlimited If scaling is used the preset function shall be used after the scaling function to ensure that the preset value is entered in the current measuring unit There is no preset activated when the Preset value is written to the encoder The preset function is controlled by bits in the control and status words G1_STW and G1_ZSW and bit in the operating parameters The preset value is used when a preset is requested by bit 12 in the Control word G1_STW 9 8 Scaling function parameters The scaling function converts the encoder s physical absolute position value by means of software in order to change the reso
62. lated 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 Part Id 735795 01 ET Document Id 735795 Ver 01 Publication date 2010 05 20 PROFINET USER MANUAL Leine amp Linde AB 4 4 MAC address To make the device unique it is given an ID i e the MAC address which is a string loaded in the device The MAC address is constituted by a 6 byte Ethernet address for each individual station and is unique worldwide A MAC ID consists of two parts the first 3 bytes represents the manufacturer specific ID and the last 3 bytes represents a consecutive number For the encoder is the MAC address always printed on the encoder label for commissioning purposes See picture below Encoder RSA 608 Part no 661469 01 Ser no 12345678 1 Pin 1 2 3 4 PORT2 Left Hand M12 con Seen from backcover side 9 3 3 E je a g 9 a pa 5 U PORT1 Center M12 con a Phone 46 152 26500 www leinelinde com LE N E E LI N D Fax 46 15226505 info ldndinde com 4 5 LED indication The following table defines diagnostic indications shown by the encoders two bi colored LEDs Off Off INo power Bus disconnected Master not available switched off Slave not configured yet or wrong configuration Wrong station address assigned Actual configuration of
63. ller Part Id 735795 01 29 Document Id 735795 Ver 01 Publication date 2010 05 20 PROFINET USER MANUAL Leine amp Linde AB Standard Telegram 83 Standard telegram 83 uses 4 bytes for output data from the controller to the encoder and 16 bytes of input data from the encoder to the controller Output data from the IO controller 2 bytes Control word 2 STW2_ENC 2 bytes Control word G1_STW Set point STW2_ENC G1_STW Output data from IO controller Input data to the IO controller 2 bytes Status word 2 ZSW2 ENC 2 bytes Status word G1 ZSW 4 bytes Position value 1 G1_XIST1 4 bytes Position value 2 G1_XIST2 4 bytes Velocity value B NIST B Actual value ZSW2 ENC G1_ZSW G1 XIST1 G1 XIST2 NIST B Input data to IO controller Standard Telegram 84 Standard telegram 84 uses 4 bytes for output data from the controller to the encoder and 20 bytes of input data from the encoder to the controller Output data from the IO controller 2 bytes Control word 2 STW2_ENC 2 bytes Control word G1_STW STW2 ENC G1 STW Output data from IO controller Input data to the IO controller 2 bytes Status word 2 ZSW2_ENC 2 bytes Status word G1 ZSW 8 bytes Position value 3 G1_XIST3 4 bytes Position value 2 G1_XIST2 4 bytes Velocity value B NIST_B Actual value ZSW2 ENC G1_ZSW G1 XIST3 G1 XIST2 NIST B Input data to IO c
64. lution of the encoder The scaling parameters will only be activated if the parameter Class 4 functionality and Scaling function control are enabled The permissible value range for the scaling is limited by the resolution of the encoder The scaling parameters are securely stored in the IO controller and are reloaded into the encoder at each power up Part Id 735795 01 50 Document Id 735795 Ver 01 Publication date 2010 05 20 PROFINET USER MANUAL Leine amp Linde AB 9 8 1 Measuring units per revolution This parameter sets the single turn resolution of the encoder In other words it is the number of different measuring steps during one revolution of the encoder Example For a 13 bit encoder with a single turn resolution of 13 bits the permissible value range for Measuring units per revolution is between 20 and 213 8192 Parameter Meaning Data type Measuring units per The single turn resolution in measuring steps Unsigned 32 revolution Measuring units per The single turn resolution in measuring steps for Unsigned 64 revolution 64 bit encoders with a resolution exceeding 32 bits Single turn scaling parameters 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 9 8 2 Total measuring range This parameter sets the total measuring
65. me Part Id 735795 01 17 Document Id 735795 Ver 01 Publication date 2010 05 20 PROFINET USER MANUAL Leine amp Linde AB After changing device name it is recommended to verify the performed changes This is done by opening the Verify Device Name window found under PLC gt Ethernet gt Verify Device Name Atl HW Config SIMATIC 300 1 Configuration Download Module Upload Module Idi ion to Pa lime of Day Monitor Modity Firmwarer Marne to Memory Gardi Ethernet Verify Device Name service Data In the Verify Device Name dialog window verify that the Device name has changed and the status is OK as shown in the picture below verify Device Name Encoder1 Part Id 735795 01 18 Document Id 735795 Ver 01 Publication date 2010 05 20 PROFINET USER MANUAL Leine amp Linde AB 5 4 Setting encoder parameters This chapter describes how to change the user parameters in the encoder The way to open the Properties window is depending on which version of GSDML file that is used To set the parameter data while using a GSML file with a release date earlier than 2010 01 01 double click on the field under slot 0 according to the picture below to open the Properties window The release date of the GSDML file is a part of the filename of the file For example GSDML V2 2 LL RxA600 20090512 xml was released the 12th of may 2009
66. meter 65000 and 65002 Preset value srrnnrnnnnnnnnnnnnnnnnnnnnnnnnnnnenenenenenenenannnenenenensnsnenes 56 9 14 4 Parameter 65001 Operating status parameter StructUre sronnronnnonnnvnnnrnvrarvrnrvrnrnrnvveeven 57 9 14 5 Encoder specific parameter 65003 Operating status 64 bit Structure 58 9 146 T amp M AE ER EE EN 58 10 Frede vvs 59 10 1 FIRMWARE UPGRADE IN A PROFINET NETWORK sees ees se se ee se ee ee ee ee ee ee ee ee ee ee ee ee ee ee ee ee ee ee ee ee ee ee ee 59 102 STAND ALONE UPGRADE hr ge ee SEE Ee Bee ik eee teens ees 63 10 B ERROR HANDEING dnne dre EE EE EE EE ER NE 64 10 4 TFTP SERVER INSTALLATION a ae e e ae e a a aea e a a e e Ee a A AE E AE REER 65 10 5 DHCP SERVER INSTALLATION itise ees ee se ee ee ee ee ee ee een a aa e a Re ee ee ee ee e eiers ies 66 10 6 LAN CONFIGURATION visner ten ER AE Pe DER EE Be gee De EE ED Ge Ee RE ER ES Deeg DE be 69 11 Encoder replacement using Link Layer Discovery Protocol LLDP 70 12 Encoder state Ma Chine Ee EE EE GERS rin EE ee staden Godse Es ee Ee 76 Part Id 735795 01 3 Document Id 735795 Ver 01 Publication date 2010 05 20 PROFINET USER MANUAL Leine amp Linde AB 12 NORMAT OPERATION STATE panne 77 ED Al PHOPUC Version EES SR ed EE 77 12 152 Profile Version BX ET OR OR EE AO NR OE RE E 77 12 1 3 Profile Version x GNA d ie N iese ESE see DAE GER Reed E Oe ee DR gees eed neve 77 12 2 PARKING MENS EE DE EE EE 71 12 3 SET SHIET HOME POSITION PRESET
67. mp Linde s PROFINET encoders support the following acyclic data exchange functions 9 14 1 PROFIdrive parameters The encoder profile V4 1 PNO no 3 162 has adopted certain standard PROFIdrive parameter The Leine amp Linde encoders support the following PROFIdrive parameters 922 Telegram selection Unsigned 16 R 925 Number of Controller Sign Of Life Unsigned 16 R W failures which may be tolerated 964 Device indentification Array n Unsigned 16 R 965 Encoder Profile Number Octet string 2 R 971 Transfer to non volatile memory Unsigned 16 W 974 Base Mode Parameter Access Array n Unsigned 16 R service identification 975 Encoder Object identification Array n Unsigned 16 R 979 Sensor format Array n Unsigned 32 R 980 List of supported parameters Array n Unsigned 16 R PROFIdrive parameters supported Part Id 735795 01 55 Document Id 735795 Ver 01 Publication date 2010 05 20 PROFINET USER MANUAL Leine amp Linde AB 9 14 2 Encoder parameter numbers The table below specifies the encoder specific parameter that is supported by Leine amp Linde PROFINET encoders 61000 Name of station Octet String 240 R 61001 IP of station Unsigned32 R 61002 MAC of station Octet String 6 R 61003 Default gateway of station Unsigned 32 R 61004 Subnet Mask Of Station Unsigned 32 R 65000 Preset value Integer 32 R W 65001 Operating status Arr
68. mp Linde AB 7 Tiny DHCP Server v1 4 Phisical address Automatically process the request IP address 8216802 Subnet mask 255 255 255 0 000 Domain name Host name Gateway Unknown DNS Servers WINS Servers Node type HYBRID default v Lease time 1 minutes Comment Add new Delete Provide the appropriate settings for the target device It is important to make sure that the IP address of the encoder is on the same network as the desktop PC The first three bytes of the IP address needs to be the same on the PC and the encoder If for example the PC have an IP address of 192 168 0 1 and subnet mask 255 255 255 0 the IP address of the encoder can be set to 192 168 0 2 and subnet 255 255 255 0 Once the above configuration is made the PC can be connected to the office network again if necessary Part Id 735795 01 68 Document Id 735795 Ver 01 Publication date 2010 05 20 PROFINET USER MANUAL Leine amp Linde AB 10 6 LAN Configuration The picture shows a typical setup in order to upgrade the encoder 192 168 0 1 192 168 0 2 255 255 255 0 255 255 255 0 Desktop PC with Consider the connection between the desktop PC and the encoder The encoder and the desktop PC both have to be on the same logical LAN In order to set the IP address of the desktop PC windows Go to the Control Panel and select Network Connection Right click on the network interface connected
69. nce automation systems This manual describes the installation procedures and configuration of an absolute encoder with PROFINET interface If you are in need of assistance thru the system design phase commissioning or during operation please make sure that you contact your local Leine amp Linde representative 1 1 Applicability of manual This product manual is applicable to the absolute encoder versions equipped with PROFINET interface within the following encoder series RSA 607 RHA 607 RSA 608 RHA 608 Leine amp Linde is a company that often customizes the product to fit individual requirements of our customers Such customized products may therefore not be fully compliant with the descriptions in this product manual Customized encoder devices are indicated by its type label and marked 69X where the 9 digit in the second position indicate that the device has some customized parameters Encoder series with the following name and type plate information may therefore have deviating functional performance RSA 697 RHA 697 RSA 698 RHA 698 If your product is of the above mentioned type contact Leine amp Linde to obtain the product s complete functional description 1 2 About Leine amp Linde For more than 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 can place on them That is why a wide a
70. ode Ethernet node Nodes accessible online MAC address 00 22 45 00 00 00 Browse Set IP configuration Use P parameters Gateway IP address IP address Do not use router Subnet mask C Use router C Obtain IP address from a DHCP server Identified by Client ID eee Assign device name Device name N Reset to factory settings Click yes in the confirmation window to reset the encoder to its factory settings Edit Ethernet Node 4502 827 settings The module then only reacts over the LAN to Do you really want to reset the module to its factory the factory set MAC address No Part Id 735795 01 75 Document Id 735795 Ver 01 Publication date 2010 05 20 PROFINET USER MANUAL Leine amp Linde AB 12 Encoder state Machine Control word bit 15 0 amp with error EEE J Control word Error Acknowledgement Error g bit14 1 error code in G1_XIST2 Status word 0x8800 Status word 0x4000 bit 15 1 Status word 0x8000 bit 14 1 W Bit 11 1 v HI Control word bit 15 1 Control word brie U5 1 bit 14 0 E Control word Start up bit 14 1 Wi Control word bit 15 0 amp i Status word 0x4000 EN bit 14 1 Normal operation 0 Control word 2 gt Control word 2 bid UO 1 bit 10 0 Profile 3 x Profile 4 x Status word 2 0x0200 Status word 2 0x0000 IE Status word 2 0x0000 Et me bit 9 0 bit 9 1 bit 9 0 Da
71. ol word 2 STW2 ENG 6 8 Status word 2 ZSW2 ENG The status word 2 ZSW2 ENG is referred to as the slave s sign of life and it includes the fault buffer handling and Control by PLC mechanism from PROFIdrive ZSW1 and the Slave Sign Of Life mechanism from PROFIdrive ZSW2 This signal is mandatory for controlling the clock synchronization Os Reserved 3 Fault Present No Fault 4 8 Reserved 9 Control requested 10 11 Reserved 12415 Encoder Sign Of Life ZSW2_ENC definition and implementation requirements 3 1 Fault Present Unacknowledged faults or currently not acknowledged faults fault messages are present in the buffer The fault reaction is fault specific and device specific The acknowledging of a fault may only be successful if the fault cause has disappeared or has been removed before If the fault has been removed the encoder returns to operation The related fault numbers are in the fault buffer Part Id 735795 01 32 Document Id 735795 Ver 01 Publication date 2010 05 20 PROFINET USER MANUAL Leine amp Linde AB 0 No Fault 9 1 Control reguested The automation system is reguested to assume control 0 No Control requested Control by automation system is not possible only possible at the device or by another interface 12 15 Encoder Sign Of Life Detailed assignment of the encoder status word 2 ZSW2_ENC 6 9 Control word G1_ST
72. ontroller Note In standard telegram 84 G1_XIST2 is used to transfer error codes and optionally position values if the measuring length exceeds 64 bits Part Id 735795 01 30 Document Id 735795 Ver 01 Publication date 2010 05 20 PROFINET USER MANUAL Leine amp Linde AB 6 5 Format of G1 XIST1 and G1_XIST2 The G1 XIST1 and G1_XIST2 signals consist of the absolute position value in binary format By default the G1 XIST 1 signal is equal to the G1_XIST2 signal The format of the actual position values in G1 XIST1 and G1_XIST2 is shown below Format definition for G1_XIST1 and G1_XIST2 e All values are presented in binary format e The shift factor is always zero right aligned value for both G1 XIST1 and G1_XIST2 e The setting in the encoder parameter data affects the position value in both G1_XIST1 and G1_XIST2 e G1 XIST2 displays the error telegram instead of the position value if error occurs Example 25 bit multi turn absolute encoder 8192 steps per revolution 4096 distinguishable revolutions M Multi turn value Distinguishable revolutions S Single turn value number of steps per revolutions 31 30 29 28 27 26 25 24123 22 21 20 19 18 17 16 15 14 13 12 11109 87 6 5 43 2 10 MSB LSB Absolute value in G1_XIST1 31 30 29 28 27 26 25 24123 22 21 20 19 18 17 16 15 14 13 12 11109 8 7 6 5 43 2 10 MSB LSB Absolute value in G1_XIST2 6 6 Format of G1
73. parameters In the firmware upgrade section of the page enter the following information e Server IP address Enter the IP address to the TFTP server on the LAN e Firmware filename Enter the full file name of the new firmware file supplied by the TFTP server e Date Enter the current date for the upgrade This is stored as part of the Upgrade History The format is yyyy mm dd E g 2010 05 15 Part Id 735795 01 60 Document Id 735795 Ver 01 Publication date 2010 05 20 PROFINET USER MANUAL Leine amp Linde AB LEINE amp LINDE PROFINET ENCODER Microsoft Internet Explorer provided by LeinettLinde File Edit View Favorites Tools Help Q ex z x a Q P seah She Favorites O Gr w Fel 3 Address http 192 168 0 4 DHCP Enable Disable CONNECTION STATUS Parameter value Description Connection Mode Not Connected No communication Execution State Failsafe Image error ENCODER STATUS Parameter Value Description Encoder Type Multiturn Encoder Faults No active faults Warnings No active warnings Operating Time Hours x 0 1 Measuring Units Per Revolution Singleturn Resulotion Total Measuring Range In Measuring Units Total Resulotion Encoder Velocity Steps s FIRMWARE UPGRADE UPGRADE HISTORY 5 yyyy mm dd leine Jinde hdr csum bin Set the IP address to the server name of the firmware file as presented on the server and todays date Click
74. range of the encoder The total measuring range is calculated by multiplying the single turn resolution with the number of distinguishable revolutions Example The total measuring range for a 25 bit multi turn encoder RXA 608 with a 13 bit single turn resolution and a 12 bit multi turn resolution the permissible value range for the Total measuring range is between 20 and 225 33 554 432 The total measuring range is calculated as below Measuring units per revolution x Total measuring range 8192 213 x 4096 212 33554432 If the total measuring range is higher than 31 bit telegram 84 and acyclic encoder parameter 65002 and 65003 must be used In this case the 64 bit values are used and the 32 bit values are set to zero 0 by the encoder The device has two different operating modes depending on the specified measuring range When the device receives a parameter message it checks the scaling parameters if a binary scaling can be used If binary scaling can be used the device selects operating mode A see following explanation If not operating mode B is selected Part Id 735795 01 51 Document Id 735795 Ver 01 Publication date 2010 05 20 PROFINET USER MANUAL Leine amp Linde AB A Cyclic operation binary scaling Cyclic operation is used when operating with 2 number of turns 2 4 8 16 32 64 128 256 512 1024 2048 4096 number of turns If the desired total measuring range is equal to the spe
75. re file used to the C ATFTP Root directory Start the SolarWinds TFTP server and click on the File gt Configure tab to open up the Configure window SolarWinds TFTP Server ale Tools Help TRY IT FREE Clear Log zement Made Easy amp Affordable Exit L d i C TFTP_root 192 168 0 10 TFTP Server service status Started Part Id 735795 01 65 Document Id 735795 Ver 01 Publication date 2010 05 20 PROFINET USER MANUAL Leine amp Linde AB In the Configure window e Make sure that the correct network interface is selected in the Used NIC selection menu Le it is the network interface which is connected to the encoder network e Set up the path to the TFTP root directory I e the TFTP Root directory created under C e Leave the other parameters with their default values e Click Start to start the TFTP server service in Windows SolarWinds TFTP Server Ped i General Security Status TFTP Server service status Started Tray Icon Add TFTP Server to Windows System Tray Storage TFTP Server Root Directory C AT FTP root C Rename existing files on conflict Used NIC 192168 0 10 vi Note The server will listen to port 69 Verify that there is no firewall blocking the port for incoming outgoing requests Disable any firewall temporarily if experience communication problems 10 5 DHCP server installation The DHCP server used in this example
76. read stored offset or preset values from the non volatile memory Command not supported OXOFO1 User parameter data assignment error or command error in commands words G1 STW and STW2 ENC Master s sign of life fault 0x0F02 The number of permissible failures the controller s life sign was exceeded 8 Acyclic Parameter Data 8 1 Acyclic data exchange In addition to the cyclic data exchange the PROFINET encoder also supports acyclic data exchange The acyclic data exchange is transferred over the non real time channel and is used to read out and write status information from and to the IO device The acyclic data exchange is conducted in parallel to the cyclic data communication Example of acyclic data e Reading of diagnostic e Reading of I amp M functions e Reading of PROFIdrive parameters Part Id 735795 01 Document Id 735795 Ver 01 Publication date 2010 05 20 36 PROFINET USER MANUAL Leine amp Linde AB 8 2 Identification and Maintenance I amp M functions Encoders according to the encoder profile 3 162 also support I amp M functionality The main purpose of the I amp M functions is to support the end user if the device is acting faulty or missing some of its functionality The I amp M functions could be seen as an electronic nameplate containing common information regarding the device and its manufacturer According to the PROFINET specification all IO devices must at least
77. reset value function enables adaptation of the position value from the encoder to a known mechanical reference point of the system The preset function sets the actual position of the encoder to zero default value or to the selected preset value A preset value can be set more than once and it can be stored to the non volatile memory using PROFIdrive parameter 971 The preset function has an absolute and a relative operating mode selectable by bit 11 in the Control word G1_STW Bit 11 and bit 12 in the Control word controls the preset in the following way Normal operating mode Bit 12 0 n this mode the encoder will make no change in the output value Preset mode absolute Bit 11 0 Bit 12 1 n this mode the encoder reads the current position value and calculates an internal offset value from the preset value and the current position value The position value is then shifted with the calculated offset value to get a position value equal to the preset value No preset will be made if a negative preset value is used while trying to initiate an absolute preset Part Id 735795 01 49 Document Id 735795 Ver 01 Publication date 2010 05 20 PROFINET USER MANUAL Leine amp Linde AB Preset mode relative Bit 11 1 Bit 12 1 In this mode the position value is shifted by the preset value which could be a negative or a positive value set by encoder parameter 65000 or 65002 The steps below should be followed by the IO controller w
78. roperties Parameter Access Point REY Parameters EHS Parameter Data 2 Class 4 Functionality 0 IE G1 XIST1 Preset Control Scaling Function Control Disable Alarm Channel Control Profile v3 Disable E Encoder Profile V3 Compatibility Measuring Units per Revolution Ms 0 o oooSoSoOoSoSoSoyOy E Measuring Units per Revolution 158 82 E Total Measuring Range MSB C Total Measuring Range LSB E Master Lesign Faiure Unit Profi i E velocity Measuring Unit Telegra When the configuration and parameterization of the device has been done the settings need to be saved and compiled This is done by clicking on the Save and Compile option under the Station tab Mi HW Config SIMATIC 300 1 Configuration and Compile 10 System 100 Gheck GIR Gompatibility GEN HAI Part Id 735795 01 20 Document Id 735795 Ver 01 Publication date 2010 05 20 PROFINET USER MANUAL Leine amp Linde AB Then the settings need to be downloaded to the IO controller This is done by clicking on the Download option under the PLC Tab ft HW Config SIMATIC 300 1 Configuration Download Monitor Modity Update Firmware Save Device Name to Memory Gardi Save service Di Part Id 735795 01 21 Document Id 735795 Ver 01 Publication date 2010 05 20 PROFINET USER MANUAL Leine amp Linde AB 5 5 Isochronous Real Time Settings RT
79. s Real Time RT Class 3 The isochronous operation mode is used when real time positioning with high performance is required The basic principal is that all PROFINET devices on the net are clock synchronized with the controller using a global control broadcast enabling simultaneous data accusation from all devices with microsecond accuracy The data exchange cycles for IRT are usually in the range of a few hundred microseconds up to a few milliseconds The difference to real time communication is essentially the high degree of determinism so that the start of a bus cycle is maintained with high precision The synchronization is monitored by sign of life messages in Control word 2 STW2 ENC and Status word 2 ZSW2_ENC Part Id 735795 01 34 Document Id 735795 Ver 01 Publication date 2010 05 20 PROFINET USER MANUAL Leine amp Linde AB e Clock synchronized data transmission e Special switches supporting IRT is needed e IRT is required for example motion control applications 7 Alarms and warnings 7 1 Diagnostics and Alarms Diagnostic data is always transferred acyclically using Record Data communications over the non real time channel An IO Supervisor must specifically request the diagnostic or status data from the IO device using RDO Record Data Object services Alarm data is transmitted from the IO device to the IO controller via the RT channel Alarm is generated by the encoder when failure occurs whi
80. s below show the structure of a read value request Request reference 0x00 Request ID 0x01 0x01 gt read value DO ID axis 0x01 Drive Object ID No of parameters 0x01 0x01 Read one parameter Attribute 0x10 0x10 gt Value No of elements 0x00 Parameter number OxFDE8 Parameter 65000 Sub index 0x0000 Response ID 0x01 0x01 gt read value DO ID axis 0x01 mirrored No of parameters 0x01 Format 0x04 0x04 Data type unsigned 32 No of values 0x01 Values or errors 0x00 0x00 0x00 0x64 Preset value 100 8 4 Supported parameters 8 4 1 Parameter 922 read only 9223 unsigned int presents which telegram is used Telegram 81 82 83 or 84 is possible 8 4 2 Parameter 925 read write 9253 unsigned int maximum allowed MLS Master sign of life error Parameter 925 may be used to set a maximum on how many consecutive Sign of life failures may occur 8 4 3 Parameter 964 read only 964 unsigned int 964 0 Manufacturer Id This is set during manufacturing of the encoder 964 1 0 gt DU Drive unit type always set to 0 964 2 201 gt Software version 964 3 2009 gt Software year 964 4 28052 Software day and month 964 5 1 gt Number of drive objects DO 8 4 4 Parameter 965 read only 965 gt OctetString 2 965 0 0x3D gt Encoder profile number Part Id 735795 01 38 Document Id 735795 Ver 01 Publication date 2010 05 20 PROFINET USER MANUAL Leine
81. sal 1 Profinet Encoder To set the encoder user parameters using a GSDML file with a release date after 2010 01 01 double click on the Parameter Access point field located under slot 1 1 as shown below to open the Properties window minw Config SIMATIC 300 1 Configuration Tobbe By Station Edit Insert PLC View Options Window Help x DoS S se EIN N CPU 315F 2 Ph MPI DP Ethemet 1 PROFINET IO System 100 ME PROFIBUS PA ES PROFINET ID EO Additional Field Devices Encoders HI LEINE LINDE Profinet Encoders 7E ee EO Multiturn 9 Standard Telegram 81 9 Standard Telegram 82 d Standard Telegram 83 9 Standard Telegram 84 B Singletum 13 Bit V1 0 a Va H Drives EI Encoders HQ Gateway HE Vo EI Network Components H E Sensors E SIMATIC 300 E SIMATIC 400 SIMATIC PC Based Control 300 400 1 Encoderl E E SIMATIC PC Station tj SIMOTION Drive based rail ha a Ce Press F1 to get Help Part Id 735795 01 19 Document Id 735795 Ver 01 Publication date 2010 05 20 PROFINET USER MANUAL Leine amp Linde AB In the Properties window choose the Parameters tab To set the parameter data change the value of the different parameters by clicking on the drop down list in the Value field for the respective parameter For more information regarding parameter data see chapter 9 P
82. ssortment 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 customer s needs with respect to resolution electrical connections and interfaces voltage casings etc That is due to the fact that tomorrow s technology is already 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 Part Id 735795 01 5 Document Id 735795 Ver 01 Publication date 2010 05 20 PROFINET USER MANUAL Leine amp Linde AB different field bus systems This enables us to meet the need for increasingly effective and dependable machines and automation to an even higher degree 1 3 About 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 individually On single turn encoders i e an encoder producing absolute positions within one revolution the absolute position information repeats itself with
83. support the following I amp M functions e Order ID e MAC address e Hardware Version e Software Version e Product type e Manufacturer ID For more information regarding additional I amp M functions supported by Leine amp Linde encoders refer to chapter 9 14 6 8 3 Base Mode Parameter access 8 3 1 General characteristics Acyclic parameter can be transmitted 1 single or up to 39 multi in one access A parameter access can be up to 240 bytes long 8 3 2 Parameter requests and responses Request header Request ID DO ID and number of parameters of the access Parameter address One address for each parameter if several parameters are accessed Parameter value If the Request ID is 0x02 change value the value is set in the request and if the Request ID is 0x01 request value the value appears in the reply 8 3 4 Changing the preset value The table below shows the structure of a change value request Request reference 0x00 Request ID 0x02 0x02 gt Change value 0x01 gt read value DO ID axis 0x01 Drive Object ID No of parameters 0x01 Attribute 0x10 0x10 gt Value No of elements 0x00 Parameter number OxFDE8 Parameter 65000 Sub index 0x0000 Format 0x04 Data type integer 32 Number of values 0x01 Part Id 735795 01 37 Document Id 735795 Ver 01 Publication date 2010 05 20 PROFINET USER MANUAL Leine amp Linde AB 8 3 5 Reading the preset value The table
84. ta in control word is valid Data in control word is not valid Control word O bit 13 1 Transmit absolute value cyclically Status word 0x2000 bit 13 1 E Control word fl Control word bit 12 0 bike 12 1 Set shift home position O Status word 0x1000 bit 12 1 Control word G1 STW Status word G1 SZW Bit Function Bit Function 12 My Request set shift of home position Preset 11 Requirement of error acknowledgement detected 13 Request absolute value cyclically 12 E Set shift of home position executed 14 Fy Activate parking sensor 13 E Transmit absolute value cyclically 15 Acknowledging a sensor error 14 E Parking sensor active 15 Sensor error Control word 2 STW2 ENC Status word 2 ZSW2 ENG Bit Function Bit Function 10 IT Control by PLC 9 0 Control requested Part Id 735795 01 76 Document Id 735795 Ver 01 Publication date 2010 05 20 PROFINET USER MANUAL Leine amp Linde AB 12 1 Normal Operation state 12 1 1 Profile Version 4 x If using encoder complying with encoder profile v4 1 then bit 10 Control by PLC in Control word 2 needs to be set before the data in Control word is valid If not set Control word is not used by the encoder firmware 12 1 2 Profile Version 3 x If using encoders complying with encoder profile 3 x the data in Control word is always valid and bit 9 Control requeste
85. tatus 32 bit With telegram 84 the acyclic encoder parameter 65002 Preset value 64 bit shall be used to set a preset value lt 64 bit for the encoder If the acyclic encoder parameter 65000 Preset value 32 bit is used in this case an error message will be returned With telegram 84 the operating status must be read by encoder parameter 65003 Operating status 64 bit 12 3 2 Absolute preset with negative value Preset data sent with acyclic encoder parameter 65000 or 65002 are signed values The relative preset mode uses signed preset values but with the absolute preset mode no preset will be made if a negative preset value set with encoder parameter 65000 or 65002 is used while trying to initiate an absolute preset Part Id 735795 01 77 Document Id 735795 Ver 01 Publication date 2010 05 20 PROFINET USER MANUAL Leine amp Linde AB 12 4 Error state This state is reached when an error has occurred The encoder can enter this state from both the normal operation state and the set shift home position state If an error occurs the Status word bit 15 Sensor error is set and the error code is displayed in G1_XIST2 instead of the position value 12 5 Error acknowledgement This state is reached when an error has occurred and Control word bit 15 Acknowledging a sensor error has been set The Status word bit 11 Requirement of error acknowledgment detected and Status word bit 15 Sensor error
86. the Encoder operating status can be found It is a complement to the PROFIdrive parameter 979 described in the Profile for Drive Technology PROFIdrive V4 1 Order nr 3 172 available from PROFIBUS and PROFINET International Significance Encoder Operating Status Data type Array n Integer 32 Access Read Validity range Profile specific Explanation The operating status displays the status of the encoder Header Operating status Faults Supported Faults Warnings Supported warnings Encoder Profile version Operating time Offset value WO COP NI DJ Vil BY WwW N ej o Measuring units per revolution m Oo Total measuring range in measuring units em EA Velocity measuring unit Structure of parameter 65001 Operating status Sub index 1 Operating status In sub index 1 the status of different encoder functions can be read out The mapping of the respective functions is according to the table below Code sequence Class 4 functionality G1_XIST1 Preset control Scaling function control Alarm channel control Compatibility mode N Reserved for the Encoder manufacturer oo DM Mf WY w mM BI Oo 31 Reserved for future use Parameter 65001 Sub index 1 Operating status Part Id 735795 01 57 Document Id 735795 Ver 01 Publication date 2010 05 20 PROFINET USER MANUAL Leine amp Linde AB 9 14 5 Encod
87. tion please visit our website or contact Leine amp Linde in Str ngn s Sweden Leine amp Linde AB Oliveh llsv gen 8 SE 645 21 Str ngn s Sweden Tel 46 152 265 00 Fax 46 152 265 05 e mail info leinelinde com web www leinelinde com 3 1 References Profile Encoders for PROFIBUS and PROFINET V4 1 Order No 3 162 Profile Drive Technology PROFIdrive V4 1 Profibus International Order Nr 3 172 PROFIBUS Encoder Profile V1 1 Profibus International Order Nr 3 062 PROFIBUS Guidelines Part 1 Identification amp Maintenance Functions V1 1 Profibus International Order Nr 3 502 PROFIBUS Guidelines Part 3 Diagnosis Alarms and Time Stamping V1 0 Profibus International Order No 3 522 PROFINET Application Layer Service Definition Application Layer Protocol Specification Version 2 0 Profibus International Order No 2 332 PROFIBUS Guidelines PROFIBUS Interconnection Technology V1 1 Profibus International Order No 2 142 PROFINET Guidelines PROFINET Cabling and Interconnection Technology V1 99 Profibus International Order No 2 252 3 2 Abbreviations PI PROFIBUS and PROFINET International IO Input Output DO Drive Object DU Drive unit AR Application Relation CR Communication Relation MLS Master Sign Of Life RT Realtime Ethernet IRT Isochronous Realtime Ethernet IsoM Isochronous Mode LLDP Link Layer Discovery Protocol GSD General Station Description GSDML General Station
88. ual value ET in REQ BOOL FALSE FALSE EEE E eed DY 6 0 DY 6 0 Di INT 0 0 INT 0 0 BOOL FALSE FALSE BUSY BOOL FALSE FALSE ERROR BOOL FALSE FALSE STATUS DWORD D1 6 0 DV 16 0 LN mm lo 0 RECORD ANY P P 0 0 YOID 0 P P 0 0 YOID 0 DB4 DB4 is the instance data block of SFB53 DB4 PN WR RD PRESET LLYSIMATIC 300 1 Address Declaration Name Type Initial value Actual value Comment 12 0 out STATUS DWORD DWW 16 0 DWVATERO 16 0 in out RECORD ANY P P 0 0 YOID 0 P P 0 0 YOID 0 1 fool REG BOOL FALSE FALSE 2 20 BR DWORD Dytt 6 0 Dytt 6 0 3 6 0 INDEX INT 0 0 4 sojin UN Nm fo 9 5 10 0 DONE BOOL FALSE FALSE 7 10 2 ERROR BOOL FALSE FALSE 8 9 KI Part Id 735795 01 42 Document Id 735795 Ver 01 Publication date 2010 05 20 PROFINET USER MANUAL Leine amp Linde AB OB1 OB1 controls the read and write operation OBL N Main Program Sweep Cycle Network 18 Write request A M AN n AN m AN m 5 n L T CALL WRREC InstanceDB SFBS3 REQ 48 0 ID DW 16 7F7 INDEX LEN DONE BUSY ERROR STATUS MD10 RECORD P DB1 DBXO 0 BYTE 16 je ked o w ok Network 2 Read request CREE om T CALL RDREC InstanceDB SFBSZ M8 2 DW 16 7F7 INDEX 10 M16 0 M8 3 M16 Z2 MD18 M22 P DB2 DBX0 0 BYTE 10 oO o No Part Id 735795 01 Document Id 7

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