CRD absolute encoder with PROFIsafe interface CRD/S2 model
Contents
1. Class off Error on UB SRD C Err 5 2 3 MSA The position and speed data are presumably incorrect The Multi turn Single turn Array MSA is defective Causes Toggle flag does not function correctly Actions Device Fault 1 FV activated 1 ExtDiag Flag 1 Manufacturer specific diagnosis MSA error see Octet 63 66 Light emitting diodes SRD off Class off Error on CRD 12099 GE Page 12 TVVK NAAV 5 Monitoring functions for safety relevant use 5 2 4 Parameters The encoder does not start up Causes Error in standard parameter parameterisation or wrong standard parameter checksum Actions ExtDiag Flag 1 Manufacturer specific diagnosis scaling error see Octet 63 66 Light emitting diodes SRD off f i ee UB SRD C Err Error on NE Remedy Set permissible values for the standard parameters 5 2 5 F parameters The encoder achieves data exchange status if no further error is present Causes The transferred F parameters are faulty Actions ExtDiag Flag 1 Light emitting diodes SRD off on C pe Error on Manufacturer specific diagnosis F parameter error An error code is set in diagnosis octet 63 The following error codes are possible Hexa decimal ee eS ae NE fa lal aka aD ae aaron CRC1 Fault Device specific diagnosis information Wrong F parameter version F PAR VERSION or wrong CRC length F CRC LENGTH 0x0047 0x0048 Se2. ID register Properties DP slave Address ID Parameter Assignment PROFIsafe 0 Type Dut input Direct Entry Address Length Unit Consistent over 256 f 0 Byte h Totallength 265 Process image 0E1 FI Address Length Unit Consistent over Start 256 f 0 Byte Totallength 265 End Process Image joe FI MHanytacturerspecitic data 03 03 03 04 03 03 03 04 kl arimum 14 bytes heradecimal separated by comma or blank space Cancel Help Figure 9 10 1 6 Parameterisation of the absolute encoder Via the Parameter Assignment register the following window in which the characteristics of the absolute encoder can be defined is accessed see chapter 8 1 3 Properties DP slave Address ID Parameter Assignment FROFIzafe Value eke Station parameters Device specific parameters Code sequence Increasing clockwise Scaling Function status Enabled Singleturn resolution 4096 Tokal measuring steps 16777216 Gating time Standard Parameter CRC 5356 Hex parameter assignment 2 User Prm Data 0 to 7 08 00 00 10 00 01 00 00 User Prm Data 5 to 15 00 00 00 00 00 00 00 00 User Prm Data 16 to 20 00 0A 00 14 60 F_User_Prm_Data 0 to 7 0E 05 00 00 14 00 07 01 2 F_User_Prm_Data 3 to 13 00 74 07 D0 00 22 om i Cancel Help Figure 10 CRD 12099 GE Page 29 TV KK 10
3. in this manual Fundamental and more extensive information on the PROFIBUS DP field bus and PROFIsafe can be obtained from the PNO user organisation www profibus com The CRD S3 PROFIsafe absolute encoders are designed for direct connection to the PROFIsafe as slave subscribers in accordance with the PROFIsafe Profile for Safety Technology according to No 3 092 or 3 192 PNO 1 The en coder protocol is structured in accordance with the PROFIBUS Profile for Encoders according to No 3 062 PNO 2 PROFIBUS DP according to IEC61158 3 is used as the data transmission medium Communication is equipped with a ProfiSafe interface developed by Siemens Prerequisites for operating ona SIMATIC S7 Distributed safety at least version 5 4 F System at least Version 6 1 The parameter data for the absolute encoder with PROFIsafe are described in a GSD file This GSD file has been created separately and can only be applied for CRD S3 The CRD S3 absolute encoder is a sensor for measuring the angular position of a rotating shaft and for determining the number of revolutions which have been carried out Measurement of the angular speed also takes place The sensor scans a coding disk with the aid of a special opto chip as the dimensional embodiment of the angular position Ascertainment of the number of revolutions which have been carried out is implemented via an electrically scanned mechanical transmission The measured speed value is determined
4. optional in V2 mode V1 V2 Mode 67 notused S O not used 0 2 not used 3 5 F Block ID No F iPar CRC No F iPar CRC 6 7 F Par Version 00b V1 mode V1 mode Parameter version 01b V2 mode 10b 11b ryg Parameter name Value range Default Remarks _ _ _ _ CRD 12099 GE Page 20 8 Parameterisation DDLM Set Prm Octet Parametername Vauerange Default rms F Source Add 1 65534 a Automatically assigned by the SIMATIC manager kad F Dest Add 4 2493 Must correspond to the address set in the connecting cap a 7 DIP switches 10 11 F_WD_Time 1 65534 2000 Monitoring time in the failsafe DP standard slave Within the monitoring time a valid current safety message must be received from the F CPU CRD 12099 GE Page 21 9 Diagnostic messages DDLM Slave Diag 9 Diagnostic messages DDLM Slave Diag 9 1 Diagnostic overview Diagnostic messages DDLM Slave Diag Standard diagnostic information Diagnostic octet number 1 6 Diagnostic function 1 2 OOhex OChex Response monito ring activate bit 2 firmly to 1 3 4 OOhex O1hex Parameterisation via master with address 1 1962hex ID number CRD T O Device related diagnosis 60 diagnostic bytes Status block status message Extended header byte 3Chex Status type Slot number OOhex Status specifier Operating parameters Encoder type Absolute multi turn encoder 14 MSB 17 LSB Re
5. 8 RxD TxD N RxD TxD N 8 Shield PE 390 Connection Terminating resistance of the bus Figure 1 Transmission length depending on transmission speed for cable type A Bava rate Bau os o2 9a re rers soo 1500 12 000 Cable type A specifications Characteristic impedance 135 165 Q Capacitance per unit length coating lt 30 pF m Loop resistance 110 O km Core diameter 0 64 mm Core cross section gt 0 34 mm Also see Installation Guideline for PROFIBUS FMS DP Nr 2 111 2 112 PNO 3 and Profibus Installation Guideline Nr 8 021 8 CRD 12099 GE Page 9 TVVYK 4 Installation instructions for PROFIsafe 4 3 Installation of the absolute encoder with connecting cap The connecting cap for triple connection technology is a T coupler which is installed in the PROFIBUS The connecting cap must be mounted on the absolute encoder in de energised condition There are three cable glands which are sub divided as follows 0 M12x1 5 Voltage supply for the absolute encoder 24 VDC 0 M16x1 5 Bus in receive transmit data A B O M16x1 5 Bus out receive transmit data A B The absolute encoder is connected via the 15 pin SUB D connector In the event of an error the encoder can be re placed without time consuming installation The connecting cap is disconnected from the absolute encoder by unscre wing 2 fastening screws Note O ring seal The station subscriber address is set via the DIP sw
6. Simatic Step7 with Distributed Safety 10 Simatic Step7 with Distributed Safety This chapter explains the procedure for integrating the TWK absolute encoder into the profibus of a Siemens S7 control system The documentation is based on Step 7 with distributed safety version 5 4 10 1 Integration of the TWK profibus absolute encoder Prerequisites Properties CPU 315F 2 PN DP RO S2 You have configured your hardware in accordance with Cycle Clock Memory Retentive Memory Interrupts Time of D ay Interrupts Cyclic Interrupts the structure of your control system and have installed Eee Stailo SEMEN Diagnostics Clock Protection Communication F Farameters Web a profibus sub network r Protection level Mode e u 7 et You have set the check mark for CPU contains safety gi eoesesopriee iene ea pee program in the properties of your CPU and have M Can be bypassed with password SE ee Permissible cycle increase via secured the access to the F CPU by a password 2 Write protection test functions 5 ms 3 Wiite sread protection Password amp Test mode I CPU contains safety program Cancel Help Figure 3 10 1 1 Installation of the GSD file e Close all projects in the hardware configuration e In the hardware configuration select Install GSD files under Options e Choose from the directory browse to the GSD file CS3_1962 GSD see figure 4 and click on Install e Ifthe
7. bitmap is located in the same directory as the GSD file it is installed automatically Remark The GSD file and the bitmap are available for download on our homepage www twk de Install GSD Files Install GSD Files from the directory hul CATwKMFrofisafe Browse ICS3 1962 gsd Default Re CAD erre 40965 ete Install Show Log Select All Deselect All Close Help Figure 4 CRD 12099 GE Page 26 TVK 10 Simatic Step7 with Distributed Safety 10 1 2 Selection of the TWK absolute encoder from the Step7 hardware catalogue e After opening the hardware catalogue you will find the encoder CRD S3 under Profibus DP Additional Field Devices Encoders e Now open your project mark the bus and integrate the absolute encoder into the bus by double clicking onto the corresponding line of the hardware catalogue PROFIBUS DP H A Additional Field Devices MO General 13 Switching Devices g 10 19 Encoders Bg CAD S3 ogg TWK CRD 24 Bit or TWK EBD A 13 of TWE KBD 14 gt Please choose CRD S3 here Figure 5 Afterwars the dialog for setting the Profibus address will appear 10 1 3 Setting of the profibus address Please specify the address set in the connecting cap via the DIP switches here In the Subnet field additionally select your planned profibus and exit the window with OK Properties PROFIBUS interface CRD S3 General Parameters Address f 23 Transm
8. program Important for the fail safe operation of the encoder are reintegration after communication or F periphery errors by the variables ACK REQ and ACK REI evaluation of the failsafe status by the variable QBAD and the evaluation of the diagnostic data by the variable DIAG All mentioned variables are provided by the F periphery DB An example can be found in chapter 10 3 The access to the I O data of the encoder position speed and preset is only allowed in the safety program F FB or F FC Because the use of double words in the safety program is prohibited only word access to the 32 bit position and reference value is possible that means the position and the reference value are devided into 2 words each and the evalutation has to be done seperately CRD 12099 GE Page 32 TVK 10 Simatic Step7 with Distributed Safety 10 3 Example program The following example shows how to access the position value and the F periphery DB of the Profisafe absolute enco der in the safety programme Setting a preset value is also demonstrated An example for the reading of the encoders diagnostic data can be found in the supplement CRD 12532 The procedu re ist the same as under Profibus and is done in the standard program part Only the programming steps which refer to the TWK absolute encoder are shown here Knowledge regarding the programming and sequence of the failsafe S7 programme is assumed As an introduction to failsafe progra
9. total measu ring steps 1 CRD 12099 GE Page 39
10. via the cyclically read in position data The dimension is digits per gating time The speed measurement resolution is independent of the single turn resolution The following parameters can be programmed Code sense CW CCW Scaling Encoder programming via the bus can be activated or deactivated using a flag scaling Resolution 2 to 4096 8192 steps per revolution Total measuring steps 2 to 16 777 216 33 554 432 steps Gating time Time intervall for the counting of steps for the speed measurement The following monitoring functions are implemented for safety relevant use 1 Monitoring of the controller function memory test and CRC parameter test 2 Programme sequence monitoring implementation of inverse functions for the safety critical programme func tions 3 Monitoring of the single turn position via movement detection in which impulses are generated from the position changes 4 Monitoring of the revolution counter via parallel counting of the single turn zero transitions and comparison with multi turn scanning 5 Clock pulse and timer monitoring via a redundant clock pulse generator 6 Functional monitoring of the FPGAs used to determine the position via a toggle bit which is triggered in the event of controller access 7 Overvoltage and undervoltage monitoring 8 Current monitoring for the position determining light emitting diodes 9 Supply current overcurrent protection In deviation from profile definitio
11. 1 E 1 t Figure 13 10 2 2 Processing the F sequence module To facilitate handling a safety programme consists of F sequence modules These consist of An F call module F CALL An F programme module F PB this is an F FB F FC which you assign to the F CALL Poss further F FBs F FCs One or more F DBs pa Edit F Runtime Groups F periphery DBs F runtime group parameter F system modules F SBs _ F runtime group FC100 FB100 100ms 0835 Automatically generated F modules A SmbotcnamePCALL Bo 1 A Smbotc name Fpogambbe 1 Smbotc name DBforFpogambeck Data bosk forFruntine goups conmuncaion O O 1 S mbolename DB for Furie groups communication Cancel Help Figure 14 CRD 12099 GE Page 31 TVVYK 10 Simatic Step7 with Distributed Safety 10 2 3 PROFIsafe OB 35 The safety programme is acessed by calling F CALL this takes place directly in an OB e g OB 35 In a wake up alarm OB the safety programme is called up and run through at fixed intervals of time Properties CPU 315F 2 PN DP RO S2 General Startup Synchronous Cycle Interrupts Diagnostics Clock Protection Communicator F Parameters web CycleClock blemo Retentie Memory Interrupts Time of Day Interrupts Cycle Interrupts Process image partition 4 UELL m D 19200000 JAJAJA Friority m m m i ie iz iz nm LL Cancel Figure 15 10 2 4 Accessing the encoder in the F
12. CRD absolute encoder with PROFIsafe interface CRD 12099 GE CRD S2 model series with SIL2 according to IEC 61508 Accompanying data sheet CRD 12098 03 2012 PROFIsafe User manual CRD S3 COPYRIGHT The Operating Instructions CRD 12099 is owned by TWK ELEKTRONIK GMBH and is protected by copyright laws and international treaty provisions 2012 by TWK ELEKTRONIK GmbH POB 10 50 63 m 40041 Dusseldorf M Germany Tel 49 211 96117 0 M Fax 49 211 96117 99 info twk de E www twk de CRD 12099 GE Page 2 Table of contents Inhaltsverzeichnis LEN NS TICINO ota ots e cece eee canoes aaa 6 Teel CODE AOR WAN ONO ce sects emacdace sdeeaseene cane E e E ES AE EEE E EER E AEE 6 TA AIO CUES 96 1 0 1 EEE 6 LP SF Er SEN 6 1 4 COMMISSIONING EEE EE VEN MN 6 2 General information on the CRD S3 rarvanevnevnnnnnennvnnnnnnnnnnnnnnnnnnnnnnunnnnnnnnnunnunnnnnnunnennunnneen 7 3 Specifications for meeting the safety standard r rnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnennunnnunnn 8 4 Installation instructions for PROFIsafe rrranvannnnvnnnnnnnnnnnnnnnnnnnnnnunnnnnnnnnnnnnnnnnnnnnnnnnunnnenn 9 4 1 Fundamental characteristics of the transmission technology RS 485 rrrarrrnnrrnnnrrnnrrrnnrnvanen 9 4 2 Wiring and bus termination for PROFIBUS DP note 9 pin sub D connector ccccceeeee 9 4 3 Installation of the absolute encoder with CONNECTING CAP cccceececececeeeeeeeeeeeeeeeeeeeaeeeae
13. EEE 20 oe NNN E E E EE E E E EA 20 8 2 2 Description of the F parameters rr rrrrvrnnrevrrrrnnrvrvvnnnrevnnnnnnennvnnnsevnsnnnnsenvnnnnennennnusennnnnnssnnnnnnnsennnnnnser 20 9 Diagnostic messages DDLM Slave Diag rr ennennnennnnnnnnnnnnnnnnnnnnennnennnnnnnnnnnnnnnnennnunnn 22 9 1 Diagnostic OV EE EEE 22 9 2 Diagnostic CSS CM ONC tics etrrcnictemrncremcepsionnntienmesheounsisns voestechsisciis ites aestapsiwsmeianednaienanice naestivensiochaieieetes eee 23 9 2 1 Standard diagnostic information Octet 1 6 ccccsccccssseccsesseceesseeceasececesecesaeecsageeeseueesssaeeessaeees 23 9 2 2 Extended header byte Octet 7 roe 23 9 2 3 Alarm or status type Octet 8 cciccasadseannnyscgncseneastingentnanddoawereadendstasniencwiecessdasnennaidpesaecaosdadeeeasdesnusecesdiees 23 2 TONET NNN ee 23 9 29 Status PENT IT eee SEN 23 9 2 6 Alarm messages Octet 11 rrrnrnnnnnrnnnnnnnnnnnnrnvnnnrnnnnnrnnnnnnrnnnnnrnnnnnrnnnnnsnnnnnnrnnnnnsnnnnnsnnnanssennnnnennnnennnnnee 23 9 2 7 Operating status GL EEE EEE EE 23 9 26 Encoder NTN eee 23 9 2 9 Resolution Octet 14 17 EE EEE EE NE 23 9 2 10 Measuring range Octet 18 19 incsssicccesiscancssancstneetenatsandesashieuwecesdsenieianansaticanst diisintienndesdacessonduatanestdaeds 23 9 2 11 Additional alarm messages Octet 20 wi teicecdstent secvesesstaerarnosescs deaedatgesiernsianeveddiacasdniuasauecdesmpsbaeemanszants 24 9 2 12 Supported alarm messages Octet 21 22 rrrnnnrnrnnnrnn
14. Simatic Step7 with Distributed Safety 10 1 7 Setting the F paramters Via the PROFIsafe register the following window in which the F parameters can be defined is accessed see Chapter 8 2 Note Under certain circumstances Step7 may show a different default value for F Dest Add here This must be set to the set profibus address Properties DP slave Address ID Parameter Assignment PROFIsafe Parameter name F_Check_Seg r MoCheck F Check Par MoCheck SIL Byte LAL MoF Par CAC Par VI mode F Source Add 2001 F Dest Add 123 FWD Time 2000 Current F parameter CAC CAC hexadecimal Cancel Help Figure 11 10 1 8 Setting the diagnostic address So that the absolute encoder s diagnostic area can be accessed within the S7 programme it is necessary to assign a specific S7 diagnostic address to it This may lie within the entire periphery area of the control system It does not therefore occupy any input output addresses The Properties DP slave window Properties DP slave with the General and Parameter As signment register appears by double General Parameter Assignment clicking onto the encoder symbol On Module the register General yore ne set Order number CAD wu 40965 ae GSD file type file CS3_1962 G5D the diagnostic address and confirm it Family Encoders with OK DP slave type CRD S3 No further settings can be done on the Designation cos gt register Parameter Assignment Addres
15. TWK profibus absolute encoder rrnnrrnanrrnanrvnnnnvanernnrnnanrnnnnnnanrnnanennnennnne 26 10 1 1 Installation of the GSD NE use res kjene boten bi edkded bnlisednienet 26 10 1 2 Selection of the TWK absolute encoder from the Step7 hardware catalogue rrarrrnrnnranrnnrnrvnnnnen 27 10 1 3 Setting of the profibus TE 27 VITEN NN 28 10 1 5 Setting the I O addresses S7 addresses rrrrrnnarnrnnnrnrnnnrrnnnnrnnrnnnrnnnnnrnnnnnsnnvnnnrnnnnnrnnnnnsnnnnnnennnnneee 29 10 1 6 Parameterisation of the absolute CNCOEM ccccccessscecceeseceecseeececeeuseeesseaseeeessaeeeeeseseeesniaeseenes 29 10 1 Setting the F NE 30 10 1 8 Setting te CaAQnOS UG AC NCS SEE 30 10 2 General notes regarding the PROFIsafe program cccccccseeceeececeeeceeeeceeeeseeeseeeeeeeeeseeeeaees 31 WZ FEROE DE ana ncaa ce nto eae needa eenc aaresneuasecusttangoeasoeecuesacssesaauauetenenscse NE 31 10 2 2 Processing ING F sequence module vai nnsdaiicnscndwvrndancdadaudviannede nueeaenieteuddadwcosananuusemwnnnuuyt idaaueadunadanansiewns 31 10 29 PROFISale OB Nea 32 10 2 4 Accessing the encoder in the F program s sseneesessensrsesersernrsnrnsressrrerresrrssrrssrrnsrrernrnnresnnrsrreenrrne 32 VL ETEN 33 11 Scope FANN acter nerenin anaa aa a aaa aAa 37 PE aE a EE E E E E E E E E E E 37 Appendix A Absoute encoder terms rranrannnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnennnnnnnnnennnnnunnunne 37 CRD 12099 GE Page 5 TVK NNV 1 S
16. afety instructions 1 Safety instructions 1 1 Scope of validity This user manual applies exclusively to the following rotary encoders with PROFIsafe interface CRDxx xxxxRxxxxS3Zxx 1 2 Documentation The following documents must be noted The owner s system specific operating instructions This user manual Data sheet number CRD 12098 The pin assignment enclosed with the device Installation instruction TZY 10206 enclosed with the device 1 3 Proper use TWK ELEKTRONIK GmbH s rotary encoders and linear transducers are used to record rotary and linear positions and make their measured values available as an electric output signal As part of a system they must be connected to the downstream electronics and must only be used for this purpose 1 4 Commissioning e The relevant device must only be set up and operated using this document and the documentation specified in point 1 2 e Protect the device against mechanical damage during installation and operation e The device must only be commissioned and set up by a specialist electrician e Do not operate the device outside of the limit values which are specified in the data sheet e Check all electrical connections before commissioning the system CRD 12099 GE Page 6 TVVK 2 General information on the CRD S3 2 General information on the CRD S3 Due to the general spread of the PROFIBUS DP 4 field bus only the PROF Isafe specific extensions are dealt with
17. ated to PROFIsafe Profile for Safety Technology on PROFI BUS DP and PROFINET IO IEC 61784 3 3 Order No 2 232 PROFIBUS Nutzerorganisation e V Haid und Neu Str 7 D 76131 Karlsruhe www profibus com SIMATIC S7 Distributed Safety Project Planning and Programming Programming and Operating Manual A5 E00109536 03 SIMATIC S7 Distributed Safety Getting Started A5E00320725 01 Profibus Installation Guideline Order No 8 021 PROFIBUS Nutzerorganisation e V Haid und Neu Str 7 D 76131 Karlsruhe www profibus com Appendix A Absoute encoder terms Explanation Resolution steps 360 The resolution specifies the number of steps per revolution 360 Measuring range The measuring range specifies the maximum number of revolutions The revolutions must be specified in 2n powers Total measuring steps The total measuring steps arise as follows Total measuring steps resolution x measuring range Code sequence The code sequence specifies the direction of rotation in which the encoder s output code corresponds to ascending values A distinction is made between the following depending on the direction of rotation CW clockwise clockwise direction of rotation CCW counter clockwise anti clockwise direction of rotation viewed in the direction of the shaft Reference value The reference value is the value which appears after the preset function as the encoder s actual position value It lies in the range of values from 0 to
18. be reset by the master as preset mode is terminated The timing diagrams are specified in a separate TY sheet After bit 31 has been reset the absolute encoder operates in normal operating mode On inputting a faulty preset value control bit 31 must be set to zero before inputting the correct preset value in order to rectify the error After that the preset value can be set again by setting control bit 31 to 1 CRD 12099 GE Page 16 maa 7 Configuration DDLM_Chk_Cfg 7 Configuration DDLM_Chk_Cfg Only Class 2 encoders are supported Class 2 devices are programmable via the Profibus set reference value pre set The data format is 10 byte input data and 10 byte output data The configuration data is 0xC8 0x89 0x89 0x03 0x03 0x03 0xA 0x03 0x03 0x03 0x0A Configuration function DDLM_Chk_Cfg Selection Identifier byte Data Data format 0xC8 0x89 0x89 0x03 0x03 0x03 OxA 0x03 0x03 0x03 0x0A 10 Byte Input data 10 Byte Output data Encoder position Octet 1 Bit 7 MSB Octet 4 Bit 0 LSB Velocity signal Octet 5 Bit 7 MSB Octet 6 Bit 0 LSB F Data Octet 7 Octet 10 Preset value Octet 1 Bit 7 Preset Control Octet 1 Bit 0 MSB Octet 4 Bit 0 LSB Dummy Octet 5 Bit 7 MSB Octet 6 Bit 0 LSB F Data Octet 7 Octet 10 CRD 12099 GE Page 17 TVVK 8 Parameterisation DDLM Set Prm 8 Parameterisation DDLM Set Prm The parameterisation data are sub divided into standard
19. calculation Actual total measuring steps 32 68 Actual resolution 4096 Calculated number of revolutions 8 Note The above mentioned note must be taken into consideration in the event of irreversible operation In the example which is described the position 0 is only achieved after 32 767 steps and not as desired after 20 479 steps Standard parameter CRC The CRC checksum is build on the following parameters operating mode resolution measuring range and gating time The calculation is based on the CRC1 algorithm of the Profisafe specification with the polynomial generator 0Ox14EAB After changing one of the parameters the checksum has to be recalculated and entered in the parameter standard parameter CRC The checksum calculation program PsCrc exe is available for download on our homepage www twk de CRD 12099 GE Page 19 TVVK 8 Parameterisation DDLM Set Prm 8 2 F parameters 8 2 1 Overview Octet Datatype Description Default o eve feoeo fo gt me fm po eve seem 5 eve fremre fo or won r sorea oo es woro rota pa za woro rar croco CRC1 checksum of F parameters CRC2 checksum of processdata CRC3 checksum of Individual parameters 8 2 2 Description of the F parameters Bit No Parameter name Valuerange Default F_CRC_Length 00b 3 Byte CRC V2 Mode 2 Byte CRC Checksum of the process data 01b 2 Byte CRC MG ve CRC2 Has to be set ot 3 byte CRC 10b 4 Byte CRC
20. ctet 8 This byte is firmly set to 0x81 and specifies that the diagnostic telegram is a status message 9 2 4 Slot number Octet 9 This byte is firmly set to 0x00 because the encoder has no slots 9 2 5 Status specifier Octet 10 This byte is firmly set to 0x00 that means there is no further differentiation of the statusmessages 9 2 6 Alarm messages Octet 11 No alarm messages are output here All error messages are output in the manufacturer specific diagnostic range octets 63 66 9 2 7 Operating status Octet 12 Mirroring of the parameter operating mode 9 2 8 Encoder Typ Octet 13 The byte is set firmly to 0x01 i e absolute multiturn encoder 9 2 9 Resolution Octet 14 17 Maximum value for the parameter resolution Parameter Resolution Diagnosis Octet 14 1 5 16 17 Bit MSB 31 24 23 16 7 0 LSB 9 2 10 Measuring range Octet 18 19 The maximum possible number of revolutions specified via the resolution of the multi turn section Depiction in hexa decimal form e g 4096 revolutions 1000hex CRD 12099 GE Page 23 9 Diagnostic messages DDLM Slave Diag Diagnosis Octet MSB 168 70LSB 9 2 11 Additional alarm messages Octet 20 Not currently assigned 9 2 12 Supported alarm messages Octet 21 22 No alarm messages supported 9 2 13 Warning messages Octet 23 24 These functions are not supported at present 9 2 14 Supported warnings Octet 25 26 These functions a
21. d by the FCLOO Generate one flag td wa TI Network Title Write preset value here 0 to double flag word Hetwork 3 Title Set preset bit highest value bit in the double flag word via a push button input MLOO Network 4 Title Display of F error messages here in help byte l in a real system this should be further processed in the error message system Polling the DIAG variable in the safety programme 15 not permissible Meaning of the individual bits in 76 71 Hl 0 FOOIOO 00 DIAG CRD 12099 GE Page 35 10 Simatic Step7 with Distributed Safety FB 100 NW 1 4 Reset interpretation QBAD and set preset value FE1LOO TUE CED absolute encoder with SILZ as a PROFISAFE subscriber Acknowledqement set preset and read out actual value Hetrwerk 1 Titel Display necessary user acknowledqement FooLoO 200 ACK REQ Netm rk 2 1 ACEMOWLEDGEMENT FOR REINTEGRATION Carry out user acknowledgement FOOLOO _ 200 HEM1 ACE BET Hetrwerk 3 Titel Polling of the failsafe status of the absolute encoder Here displayed at Output amp 0 In amp real system this bit must be polled to introduce the fail safe state of the system In case of QEBAD 1 the system has to go in the fail safe state FOOLOO Z00 0620 Hetz rk 4 Titel Write hiqher value preset value from O0B1 to higher value output word Only word by word access 15 permitted in the sa
22. eeanees 10 5 Monitoring functions for safety relevant use n nnnnnnnnnnnnnnnnnnnnnnnnnnnnennnennnnnnnnnnnnnnnnennnunnn 11 9 1 Error ONS EN table EEE EEE EA E 11 5 2 Description of o EE EE 12 PORN 12 DN 12 SJ EE oles At EE A N EEE A E T alheteweients 12 AN ENE E AE A E A EE T3 ILo F parame 2 ho oeiia ee eee a eee eee ee 13 9 20 OPO 1 og EEE cineca EE NE EE EN 14 NPE NN seen 14 PA ENOT EE NERE EE NE EE EE SR 14 6 Data exchange function DDLM Data Exchange rnnnnnnnnnnnnnnnnnnnnnnnannnnnnnnnnnnnnnnennnunnn 15 6 1 Data format of I O data EEE rere tl cla dps eer ne sh aatutenareaiioneententanen inde 15 OPEN 15 GE Do d EE EEE E EE 15 6 4 Set reference value preset rrrrrrrarrrnnnrrnnnrranrrnnrrranrrnanrnnnnnnanennnnrnanennnnennnnnnanennnsrnnnnnnnnennnsennn 16 7 Configuration DDLM_Chk_Cfg 44244 17 CRD 12099 GE Page 3 TVK Inhaltsverzeichnis 8 Parameterisation DDLM Set Prm rrrnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnennnnnnnnnnnnnnnnennnennn 18 8 1 Standard parameters rrrareraneraneranennnrnnnrnnnrranevanenanenasnnusnnunenunenunnnennnennneennenennsennsenusenusnnusnnnennee 18 8 1 1 Bus specific oye 1 Se EE ENE 18 ET PP TANN 18 8 1 3 Encoder specific P AANEES sage cscs secmecsscecetvniencadecionndedenvindsagioewnieassdedusoensbliaawodesadsccasbaeednesMencatacnsinsetadweneas 18 TN bade 18 8 1 3 2 Description of encoder parameters Lav vesoerrsemksdmmaemnenleendarsijondnese 19 SPA ONS
23. er preset value AW 102 Low word of the encoder preset value CRD 12099 GE Page 33 TVVK Programming Access to the profisafe absolute encoder is carried out in an F programme module here FB100 which must be called up in an F call up module F CALL Calling the FB100 in the F CALL is not described here The preset value and preset bit compilation is contained in a standard module here OB1 This is carried out here under the prerequisite that setting the preset is not a safety relevant function The decision regarding whether setting the preset value is a safety relevant function must be made depending on the application The networks 9 and 10 contain examples for a threshold value monitoring Remark The position value consists of two words The compare operation needs integer values The examples show how to carry out the comparision between the position and the threshold values The following listing contains only the for the handling of the encoder relevant part Program blocks like F CALL clock OBs or peripheral data blocks are not listed The non secure signals in the safety programme FB100 in this case are shown in red CRD 12099 GE Page 34 TVK 10 Simatic Step7 with Distributed Safety OB 1 Load preset value and interpretation variable DIAG OBI Main Program Sweep Cycle The preset value is stored in the MPLlLOO This is then read word by word in the safety programme FELODO The safety programme is calle
24. fety programme CRD 12099 GE Page 36 maa FB 100 NW 5 8 Set preset value and read actual values Het m rk 5 Titel Write lower value preset value from OB1 to Llower value output word mw102 Hetm rk 6 Titel Display of the higher walue actual position value Only word by word access is permitted in the safety programme Het m rk 7 Titel Display of the lover value actual position value Het m rk 4 Titel Display of the speed value CRD 12099 GE Page 37 TVVYK 10 Simatic Step7 with Distributed Safety FB 100 NW 9 10 Threshold value monitoring Example 1 Comparison position value gt 662480 0sff 007 The comparison position value gt 65280 in word format is equivalent to 256 position value 0 in integer format Values from 0 65536 in word format are equivalent to Owe Sees ce oops oe a aa apaia Poi acl On carry over to the high word the output vill be held to one by the third CoMparlson The result is shown on a non safety output here In a real System it has to be used in the safety program according the safety application Wet merk 10 Treshold comparison Example z Comparison position value gt Z0O00000 0xlES4801 The comparison position value gt Z000000 in word format is in interger format equivalent to 31616 position value 0 for the low word and position value 30 for the high word On the nest carry over to the high word t
25. he connecting cap s LEDs via the profibus diagnostic data standard and manufacturer specific diagnosis see Chapter 9 2 and via the F status The bits which are set in the profibus diagnostic data and in the F status are specified in the Reaction column 5 1 Error type overview table Position Single turn array illumination faulty EXT Diag Flag 1 Impermissible difference between Manufacturer Diag PositionError movement detection and position F Status Device Fault 1 i FV i Difference between multi turn counter _activated software and multi turn scanning Overvoltage at the supply input Impermissible difference between timer controller and external timer Speed EXT Diag Flag 1 O 3 Manufacturer Diag SpeedError F_Status Device_Fault 1 FV_activated 1 EXT_Diag Flag 1 Manufacturer Diag MSAError F_Status Device_Fault 1 MSA Toggle bit error FPGA FV_activated 1 Parameter Error in parameter message EXT Diag Flag 1 Error in the standard parameters Hd aag SEE Diag Prm_Fault 1 Wrong standard parameter CRC value Diag Station_Not_Ready 1 F parameter F parameter faulty EXT Diag Flag 1 Manufacturer Diag F Parameter Configuration Master and slave configurations differ Diag Cfg_Fault Preset Incorrect preset value EXT Diag Flag 1 Manufacturer Diag PresetError F Status FV_activated 1 Internal LED Flashing code 1 LED Flashing code 2 LED Flas
26. he output will be held to one by the fourth comparison The result is shown on a non safety output here In a real system it has to be used in the safety program according the safety application CRD 12099 GE Page 38 TVVYKe 11 Scope of delivery 12 Literature Appendix A Absolute encoder terms 11 Scope of delivery The scope of delivery includes Absolute encoder with PROFIsafe interface Pin assignment TY XXXXX depending on the device variant Available for download on our homepage www twk de are 12 1 2 3 4 5 6 TI 8 the corresponding datasheet this manual PNO and TUV certificates example programs bitmap and GSD file the CRC checksum calculation program Literature PROFIsafe Profile for Safety Technology Order No 3 092 PROFIBUS Nutzerorganisation e V Haid und Neu Str 7 D 76131 Karlsruhe www profibus com PROF safe Profile for Safety Technology Order No 3 192 PROFIBUS Nutzerorganisation e V Haid und Neu Str 7 D 76131 Karlsruhe www profibus com PROFIBUS Profile for Encoders Order No 3 062 PROFIBUS Nutzerorganisation e V Haid und Neu Str 7 D 76131 Karlsruhe www profibus com Installation Guideline for PROFIBUS DP FMS Order No 2111 2 112 PROFIBUS Nutzerorganisation e V Haid und Neu Str 7 D 76131 Karlsruhe www profibus com IEC 61158 Type 3 and IEC 61784 PROFIBUS DP Specification PROFIsafe Environmental Requirements rel
27. hing code 3 Initialization sensor LED Flashing code 4 LED Flashing code 5 Error in the sensor Stop controller LED Flashing code 6 parameter access has failed Connecting cap expander error Stop controller LED Flashing code 7 UB operating voltage SRD data transfer C class 2 Err error message CRD 12099 GE Page 11 TV KK 5 Monitoring functions for safety relevant use 5 2 Description of error types 5 2 1 Position The position and speed data cannot be used Causes Single turn monitoring scanning error Error in the transmission diode unit Difference between multi turn scanning and multi turn counter FPGA error Overvoltage at the supply voltage input Rotational speed too high Actions Device Fault 1 FV_activated 1 ExtDiag Flag 1 Manufacturer specific diagnosis position error see Octet 63 66 Light emitting diodes SRD off Class off UB SRD C Err Eror on a E Remedy Reduce the rotational speed to below the maximum value specified in the data sheet Check the supply voltage This must lie within the limits specified in the data sheet 5 2 2 Speed The position data are OK Speed measurement is defective Causes Impermissible difference between controller timer and external timer Actions Device Fault 1 FV_activated 1 ExtDiag Flag 1 Manufacturer specific diagnosis speed error see Octet 63 66 Light emitting diodes SRD off
28. ission rate 1 5 Mbps Subnet PROFIEUSIT Cancel Help Figure 6 CRD 12099 GE Page 27 TVVK 10 Simatic Step7 with Distributed Safety 10 1 4 Install modul Than drag the corresponding modul see article number on the label on slot 1 of the modul list 27 PROFIBUS DF Additional Field Devices General 10 Switching Devices Drag to slot 1 of the modulelist 10 9 Encoders B LADYS3 3 Universal module CADss 4096R40965 3 ee d CADex 8192R 40965 3 sx A TWE CAD 24 Bit A TWE RED 13 ra WE KBD 14 Figure 7 gt The absolute encoder should then appear as follows in your project planning PROFIBUS 1 GP master system 1 ga 123 CAD WA h mm 123 CRD 53 Slot OF ID Order Number Designation Address Q Address Comment Figure 8 The DP ID value results from the configuration which is firmly set in the case of the Profisafe absolute encoder The I O address values are default values which vary depending on the control system CRD 12099 GE Page 28 TVVK 10 Simatic Step7 with Distributed Safety 10 1 5 Setting the I O addresses S7 addresses Double clicking onto the Slot 1 line opens up the Properties DP slave window with the Address ID Parameter Assignment and PROFIsafe registers The addresses for the absolute encoder under which this is to be addressed in the S7 must be assigned under output and input in the Address
29. itches in the connecting cap The address range lies between 1 and 126 default address 123 Attention The profibus address in the connecting cap must correspond to the F parameter F_Dest_Add see Chapter 8 2 The terminating resistors are set via the 10 fold DIP switch 9 10 in the connecting cap if necessary these can be activated as line termination Sub D connector LED status displays 15 pin socket Connection terminal 1 VS Connection terminal 2 Profibus Plastic u silices Fastening DIP switches 2 DIP switches 1 captive EMC gland M12x1 5 Figure 2 EMC gland M16x1 5 DIP switches address setting terminating resistors DIP switches 1 Switch 1 2 13 4 s je 7 js jh 2 gt LSB MSB n c Terminating heil OFF 0 Address can be set from 1 126 Terminating Default address 123 RR Status LEDs UB operating supply UB SRD data transfer SRD Eror messas dE Description of error types chapter 5 CRD 12099 GE Page 10 5 Monitoring functions for safety relevant use 5 Monitoring functions for safety relevant use The additionally implemented error types for achieving safety level SIL2 according to IEC 61508 are described in the following For implementation purposes extensive modifications have been carried out to the hardware and software in comparison with the basic CRD model absolute encoder with PROFIBUS interface Error output is carried out via t
30. k Cw clockwise cw or counter clockwise wise ccw ccw Viewing direction towards the shaft 1 2 not used 3 Scaling function status 0 disabled Must be set to enabled to change 1 enabled the reference value resolution and total measuring steps af f 12 15 Singleturn resolution 1 4096 8192 4096 To change the scaling function steps turn 8192 status parameter must be set to enabled 16 19 Total measuring steps 1 16 777 216 16 777 216 To change the scaling function 33 554 432 33 554 432 status parameter must be set to ce 20 27 Gating time ms 1 255 Time interval the counting of EE for the speed measurement 30 31 focuses _ parameter OxFFFF nn checksumme for the standard CRC 0x151D parameters Remarks Totals measuring steps It must be noted that the calculation of the number of revolutions is carried out in 2n powers internally within the en coder Regardless of this requirement the user may programme the desired total measuring steps and the desired resolution in accordance with the application During calculation the absolute encoder accesses the next highest 2n power if required In this case the values are designated as the actual resolution or as the actual total measuring steps and are displayed as the output value Example Desired total measuring steps 20 480 Desired resolution 4096 Desired number of resolutions 5 Internal absolute encoder
31. mming we recommend SIMATIC S7 Distributed Safety Getting Started 7 and SIMATIC S7 Distributed Safety Project Planning and Programming 6 The OB1 and FB100 modules are available for download on our homepage www twk de as archive file TwkBspSE zip The password for the FB100 is twk Note TWK ELEKTRONIK GmbH does not undertake to provide any guarantee for the error free function of the example programmes shown here Devices required to operate the example programme F CPU with profibus interface Standard input assembly Standard output assembly Profisafe CRD absolute encoder Step7 as of V5 4 S7 distributed safety as of version V5 4 Hardware structure of the example programme 1 PS 307 54 2 Id CPU 315F 2 PN DP AT MADE AS lg PVO Z PROFIBUS 1 DP Mastersystem 1 AS PT e Sor Figure 16 14 DI32xDC2dy A DO328RDC24 40 54 Assigned I O addresses Input assembly DI32 Bytes 0 4 Output assembly DO32 Bytes 4 7 Absolute encoder Bytes 100 109 Inputs and outputs used in the programme E 0 0 Acknowledgement for reintegration E 0 1 Set preset EW 100 High word of the encoder position value EW 102 Low word of the encoder position value EW 104 Speed value A 4 0 Acknowledgement required display A 5 0 Failsafe status display A 5 6 Display of the threshold value monitoring 1 A 5 7 Display of the threshold value monitoring 2 AW 100 High word of the encod
32. n PNO 3 062 the encoder with Profisafe only has class 2 functionality The definitions of the error statuses which are displayed in the Manufacturer specific diagnosis diagnostic object Octet 60 63 also deviate from the above mentioned profile CRD 12099 GE Page 7 TVVK 3 General information on the CRD S3 3 Specifications for meeting the safety standard T Observance of data sheet CRD12098 and the CRD12099 manual Maximum permissible rotational speed for applications with SIL2 classification 2500 rpm Use of an evaluation unit which supports the Profisafe protocol Evaluation of the F status and the encoder specific diagnostic data Connection of a profibus cable in compliance with the standards 3 8 CRD 12099 GE Page 8 TVVK 4 Installation instructions for PROFIsafe 4 Installation instructions for PROFIsafe 4 1 Fundamental characteristics of the transmission technology RS 485 0 Network topology Linear bus terminating resistors for bus termination Stub lines are only permissible with baud rates lt 1 5 MBit s O Line Shielded twisted pair cable O Number of stations 32 stations in each segment without repeaters Can be extended to 126 with repeaters 4 2 Wiring and bus termination for PROFIBUS DP note 9 pin sub D connector Station 1 Station 2 Data line B RxD TxD P 3 3 RxD TxD P RxD TxD P 3 DGND 5 5 DGND 220 VP 6 6 VP Data line A RxD TXD N 8
33. nnnnnnnnnnvnvnnnrnnnnnrnnnnnnrnrnnnrnnnnnrnnrnnsrnnnnnrnnnnnsnnnnnee 24 9 2 13 Warning messages Octet 23 24 J cacctccasnncssenaccsusdtcounidacnanalnaiasiocaiempenstaanndbmnentidedaneineiudenmebiatcondeltdiatobaess 24 9 2 14 Supported warnings Octet 25 26 sviscorssancctasssteocieeuyatiadsacseneetetssaanctessudaenddduysseneusenisvehecetaiencideeeater 24 9 219 Profile version TN Ne 24 9 2 16 Software version Octet 29 30 sascassussetcsamancndaa disse dhnathindiqnadaycutimontaaiengasdaacdawnsncaciadessnbinabecnaananed andmenoeleent 24 9 2 17 Operating time Octet 31 97 Luusueneumndmiemn mme ame ade jod ddnjeidmjieni ad nn 24 9 2 16 Ofset VAIS OA 35 38 sedan 24 CRD 12099 GE Page 4 maa 9 2 19 Manufacturer offset value Octet 39 42 rrrrrrrrrnrannrrnnnnrnrrnnrvnvnnnrnnnnnrnnnnnrrnvannrnnnnnrnnnnnsrnnnnnrnnnnnsnnnnnee 24 9 2 20 Resolution Octet 43 46 es wiacacssetansnut amtenewsinationdnuedtneacdadiuasad lt ayhdaniaiccuandiayausbiiewodeuanddanuststivelensatasotonst 25 9 2 21 Total measuring steps Octet 47 50 Luusueanaveersnensngelvetu ke v osnd eie isantavencadenessowans 25 9 2 22 Serial number STN ennnen 25 g2 OS O O 2 oaei ee E E E OEA ese S ET EEO E 25 9 2 24 Manufacturer specific diagnosis Octet 63 66 rrrrnrnrrrrnnnvnvnnnrrrnnnrvnrnnnrnrannrnnnnnrnnnnnsennnnnrnnnnnrnnnnnee 25 10 Simatic Step7 with Distributed Safety rnnnnnnnnnnnennnnnnnnnnnnnnnnennnnnnnnnnnnnnnnnnnnennnnnnnnnnnnr 26 10 1 Integration of the
34. nteger value in Motorola format Big Endian The following applies to the prefix positive for increasing position negative for decreasing position Octet 5 Octet 6 7 6 5 4 3 2 017 6 5 4 3 2 EE ECE EN CN ad A CN EN Speed CRD 12099 GE Page 15 TVK 6 Data exchange function DDLM_Data_Exchange 6 4 Set reference value preset The set reference value function should only be carried out when the absolute encoder shaft is stationary In order to compare machine position values and the absolute position of the absolute encoder setting the reference value is unavoidable in certain cases The reference value is the position value which is displayed in the reference point The user must note the fact that the reference value must lie within the range 0 to total measuring steps 1 In particular this must be taken into consideration when changing the total measuring steps The reference value is transferred in data exchange mode by setting bit 7 octet 1 The reference value can only be set when scaling is activated see Chapter 8 1 Octet 1 Octet 2 Octet 3 Octet 4 6 5 4 3 21 0 7 6 5 4 3 21 0 7 6 5 4 3 210 s O OT IN oO NO O lt j 24 Bit Preset Value CRDxx 4096R4096S3Zxx Preset Control After receiving this message an offset value from the current actual position value and the reference value is calculated by the encoder If the output actual position value is identical to the reference value bit 31 can
35. parameters bus specific parameters DP V1 parameters and manufacturer specific parameters and the F parameters Octet 1 7 Bus specific parameters Octet 8 10 Standard parameters DP V1 parameters Octet 11 31 Encoder specific parameters Octet 0 13 8 1 Standard parameters 8 1 1 Bus specific parameters Octet Datatype Description Default eve seems gt ev fworet o o 3 ove wre Min Station Delay Responder min T a 7 eve oun 1 0 The definition of the bus specific parameters can be found in 4 8 1 2 DP V1 parameters Octet Datatype Description Default e mme foss om me foss o om The DP V1 mode is only supported in that way that the parameter and diagnosis structure of DP V1 is fulfilled The DP V1 functionality is not supported 8 1 3 Encoder specific parameters 8 1 3 1 Overview Secs EN 12 15 LONG Single turn resolution 4096 8192 16 777 216 16 19 LONG Total measuring steps EN 554 432 20 27 STRING Reserved Reserved forthe profile Reserved forthe profile Ox14EC 30 31 WORD Standard parameter CRC 0x151D The values in brackets represent the encoders with a total measuring range of 25 bit CRDxx 8192R409653Zxx CRD 12099 GE Page 18 un Va 8 Parameterisation DDLM Set Prm 8 1 3 2 Description of encoder parameters Code sequence 0 clockwise cw clockwise Ascending values on rotation 1 counter cloc
36. put data are data which are transmitted from the slave subscribers to the master actual position value gt master Reference value control see below is listed here as an example of output data in this case the master transmits data to the slave absolute encoder 6 1 Data format of I O data Input data Slave to host MSB Speed LB Definition of F Data can be found in 1 Output data Host to slave Preset control via bit 31 1 0 6 2 Positions data The position value is output as a 32 bit unsigned integer value in Motorola format Big Endian Octet 1 Octet 2 Octet 3 Octet 4 7 6 5 4 3 2 017 6 5 4 3 2 017 6 5 4 3 2 017 6 5 4 3 2 EEN Ne EN NT olo olo o o o 25 Bit Position Data CRDxx 8192R4096S3Zxx olo o o o o o o 24 Bit Position Data CRDxx 4096R409653Zxx 6 3 Speed The speed value is determined via the cyclically read in of the position data The dimension is steps per gating time The gating time time interval for determining the change of position is adjustable in the range of 1 255 ms The default value is 10 ms The speed measurement resolution is independent of the resolution set for the position value resolution parameter It is always based on a resolution of 4096 steps per revolution The steps gating time unit can be converted to rpm as follows _ vx60000 t v encoder output for speed value 4096 t gating time in ms u speed in rpm The speed value is output as a 16 bit signed i
37. re not supported at present 9 2 15 Profile version Octet 27 28 Parameter Profile version Diagnosis Octet Current encoder profile version 1 1 9 2 16 Software version Octet 29 30 Diagnosis Octet Current software version 3 04 9 2 17 Operating time Octet 31 34 This function is not supported at present The operating time is set to FFFF FFFFhex as default according to the en coder profile 9 2 18 Offset value Octet 35 38 The offset value is the value for the shift in the zero point after setting the preset value Offset value Diagnosis Octet Be meaa 230 158 ors 9 2 19 Manufacturer offset value Octet 39 42 Not supported at present CRD 12099 GE Page 24 TV KK 9 Diagnostic messages DDLM_Slave_Diag 9 2 20 Resolution Octet 43 46 The resolution set by parametration we Octet Bit 1MSB31 24 23 16 158 7 0LSB 9 2 21 Total measuring steps Octet 47 50 Set total measuring steps incremented to the next highest power of two In this regard also see the note under chapter 8 1 3 2 Total measuring steps Diagnosis Octet eit EEEE 158 rors 9 2 22 Serial number Octet 51 60 This parameter is not supported at present 9 2 23 Octet 61 62 Reserved 9 2 24 Manufacturer specific diagnosis Octet 63 66 Overview cea diagnosis octet No o sam A detailed description of the errors can be found in chapter 5 CRD 12099 GE Page 25 TV KK 10
38. ses NodeMaster System Diagnostic address 2044 PROFIBUS 123 DP master system 1 SYNC FREEZE Capabilities I SYNC I FREEZE Comment Cancel Help Figure 12 CRD 12099 GE Page 30 TVK 10 Simatic Step7 with Distributed Safety 10 2 General notes regarding the PROFIsafe program Due to the very complex scope for F programme project planning and programming reference must be made to the documentation from Siemens at this point SIMATIC S7 Distributed Safety Project Planning and Programming Programming and Operating Manual A5E00109536 03 6 and SIMATIC S7 Distributed Safety Getting Started 7 The sequences required for the PROFIsafe application are listed briefly in the following 10 2 1 F Peripherie DB On translation of the hardware configuration an F periphery DB is generated for the absolulute encoder as for each other Profisafe subscriber The automatically generated name consists of the I O address and the DP ID The F periphery DB contains the for the operation of the encoder necessary variables It has the following appearance A detailed description can be found under 6 Address Declaration Name Type Initial value Comment O 7 0 ACENOWLEDGEMENT FOR REINTEGRATION dee rass OUT eoon reus L PASSIVATION OUTPUT 2 3 out 1 NEW I PARAMETER VALUES ASSIGNED 4_0 out 1 FAIL SAFE VALUE IS OUTPUT AT INPUT CHANNEL O nos T m1 pant THTTT T TATT ea Pe TIANTTIT TS AITTNTITT AT TYTITTTT PUO ATMTEUT
39. solution 4096 8192 steps 0000 2000hex revolutions Not supported scaling on QD a a VI m o oO o ololo Oo Oo ol e O gt ee ee EE Oo D lolo D x x x x x O p D x Supported warning messages 63 66 Manufacturer specific diagnosis 00000000hex Defined during run time Measuring range 25 26 27 28 Profileversion foao 20 30 Sowareverson for o 35 38 Offsetvale 0000 0000nex gt 39 42 Manufacturer offsetvalue 0000 0000hex_ gt 0000 2000hex meter 02 000 000hex meter 2N2A2A2A2Ahex 6162 Reserved 0000nex gt The values in brackets represent the encoders with a total measuring range of 25 bit CRDxx 8192R409653Zxx CRD 12099 GE Page 22 TV KK 9 Diagnostic messages DDLM_Slave_Diag 9 2 Diagnostic description Explanations regarding the diagnostic information 9 2 1 Standard diagnostic information Octet 1 6 For a detailed description see IEC 61158 Type 3 and IEC 61784 PROFIBUS DP Specification 4 Note Octet 5 6 Manufacturer identification 1962hex The manufacturer identification is stored in the PNO and identifies the subscriber as a TWK absolute encoder 9 2 2 Extended header byte Octet 7 The length of the extended diagnostic bytes including the header is specified in the diagnostic header Octet 7 Profisafe encoder CRD S3 3Chex 60d gt 6 Standard diagnosis 60 Encoder diagnosis 66 Diagnosis bytes 9 2 3 Alarm or status type O
40. t permissible values for the F parameters A typical error is an incorrect slave address F Dest Add Remedy CRD 12099 GE Page 13 TVK VV 5 Monitoring functions for safety relevant use 5 2 6 Configuration The encoder does not start up Causes Difference between master configuration and slave configuration Actions Light emitting diodes SRD on ee ce UB SRD C Err Error on gt Remedy Transfer a correct configuration message see Chapter 7 5 2 7 Preset The encoder is fully operable Causes The preset value lies outside of the set total measuring steps The scaling flag in the operating mode byte is deactivated Actions ExtDiag Flag 1 FV_activated 1 Manufacturer specific diagnosis preset value error see Octet 63 66 Light emitting diodes unchanged Remedy Transfer a pre set value which lies between 0 and the total measuring steps 1 Before setting the pre set value the scaling function bit must be set to enable see chapter 6 4 5 2 8 Internal error The micro controller of the encoder stops all actions A flashing code for the cause of the error is output Flashing code 5 EEPROM memory error Flashing code 6 Parameter access has failed Flashing code 7 Connecting cap expander error Flashing code 4 Sensor initialisation error CRD 12099 GE Page 14 TVK 6 Data exchange function DDLM Data Exchange 6 Data exchange function DDLM Data Exchange In
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