Manual OCD Profibus English
Contents
1. 59 58 53 36 10h 12 70 40 TK 48 H 60 Info UME CXDP Revision 09 12 2010 Page 40 5 amp aN j gt re A gt w gt Hollow shaft B Single Turn 87 Multi Turn 98 I I I 27 50 g 2 8 a 8 Ss 8 co I o N 3 2 5 gE og a SESS 58 592 E s amp g Max W 30 tt Min W 15 Welleneinstecktiefe hollow shaft depth ee E 40 a j Mounting instructions The clamp ring may only be tightened if the shaft Allowed shaft movements of the drive element are of the driving element is in the hollow shaft listed in the table The diameter of the hollow shaft can be reduced to 12mm 10 mm or 8 mm by using an adapter this reducing adapter can be pushed into the hollow static shaft dynamic Radial 0 2 mm Revision 09 12 2010 Info UME CXDP Page 41 10 Appendix POSITAL 10 1 Type designation ordering code Description Optocode Interface Version Code Revolutions Bits Steps per revolution Bits Flange Shaft Diameter Mechanical options Connection FRABA Type Key OCD DP C1 B __ Profibus DP C1 Binary B Singleturn 00 Multiturn 4 096 revolutions 122. Installation configuration manual for Profibus German UMD CXDP Englisch UME CXDP These can be downloaded free of charge from our homepage www posital com not for hollow shaft only for hollow shaft Revision 09 12 2010 Info UME CXDP Page 43 N Tn A gt w 10 2 Further encoder configurations The encoder versions described in the following are still compatibility They should not be used in new projects supported for reasons of downward Properties DP slave Address ID Parameter Assignment xl Parameters Station parameters eter Device specific parameters Increasing clockwise 0 0 4096 Enable Code sequence Desired Measuring units high H Desired Measuring units low E Commissioning mode E l Hex parameter assignment Cancel Help Page 44 Info UME CXDP 10 2 1 Version FRABA 2 0 Multiturn This version differs from version 2 2 in the fact that there is a smaller number of parameters shown in the configuration tool 10 2 2 Version FRABA 1 1 Multiturn This is an older version formerly called Class 3 It is similar to class 2 but has an additional velocity output It is still available for reasons of downward compatibility but it should not be used for new projects 10 2 3 Version FRABA 1 0 Multiturn Output of position value and velocity without preset function Should no longer be used 10 2 4 Class 2 Multiturn DX Version Old version
3. 0 Reset bit 30 OCD Master 0 1 0 XJ XJ0 1 Non calculated position value is transmitted gearing factor 1 no offset Note The scaling factor is set to 1 the zero point shift is set to zero 5 3 3 Teach In Stop After moving the machine system to the stop position the Teach In Stop command is send Together with this command the desired number of steps over the moved measuring range transmitted The user has to observe that the is physical resolution is not exceeded e g 20000 steps on a quarter of a revolution Positive and negative directions taken into account automatically also the crossing of the physical are zero point Note The measuring range must not exceed the half physical measuring range of the encoder i e a maximum of 2047 revolutions for a multiturn device with 4096 revolutions and a maximum of 8181 revolutions for the 14 Bit multiturn After receiving the Teach In Stop command the encoder transmits the calculated total resolution This value should be noted and later when switching the device to normal mode entered into the parameter settings After this Teach In operates with the new gearing factor which is stored non volatile in the internal EEPROM procedure the encoder Status bits Data bits Bit 31 a 2B 7 3 4 23 2 21 w 19 8 17 6 6 4 13 2 1 1019 18 1716151413 2 1 0 Master OcD 0 0 1
4. Multiturn 16 384 revolutions 14 4 096 0 09 8 192 0 04 65 536 0 005 Clamp Flange Full Shaft 10 mm Synchro Flange Full Shaft 6 mm Synchro Flange Full Shaft 10 mm Blind Hollow Shaft 15 mm Without Shaft sealing IP66 Stainless steel version Customized With connection cap AH58 B1DP 3PG With connection cap AH58 B1DP 2M20 With connection cap AH58 B1DP 072 3x M12 Anschluss Without connection cap Standard bold further models on request Page 42 Info UME CXDP 12 13 16 C10 S06 10 B15 O lt 0 00 H3P H2M H3B HCC Revision 09 12 2010 POSITAL FRABA Accessories and Documentation Description Article name Article number Aluminium housing with 3x M12 cable glands for AH 58 B1DP 3PG 0246370340 cable diameters between 6 5 9 mm Stainless steel housing with 3x M12 cable glands for AH 58 B1DP 3PG VA 0246370355 cable diameters between 6 5 9 mm Aluminium housing with 3x M12 connectors AH58 B1DP 072 0246370359 Aluminium housing with 2x M20 cable glands for AH 58 B1DP 2M20 0246370344 cable diameter between 9 13 mm Shaft coupling Drilling 10 mm 10mm GS 10 29100450 Drilling 6 mm 6 mm GS 06 29100350 Clamp disc 4 pcs encoder SP 15 32400155 Clamp half ring 2 pcs encoder ISPH f82400152 Reducing Ring 15 mm auf 12 mm RR12 32220291 15 mm auf 10 mm RR10 32220292 15 mm auf 8 mm RR8 amp 32220295 GSD File Is necessary for the first installation
5. Octet String Octet String Octet String Unsigned 32 Unsigned 16 Octet String Octet String Octet String Octet String Octet String Octet String Unsigned 32 Unsigned 32 Unsigned 32 Unsigned 32 Unsigned 32 ASCII String Info UME CXDP Profile for Encoders starting from octet 7 Diagnostics octet number Class 10 11 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 31 32 35 36 39 40 43 44 47 48 57 sjala wlrm a D NINININININININININININI fala la fae ye yey spe fe Revision 09 12 2010 POSITAL FRABA 6 2 Supported diagnostic messages In the following the different diagnostic messages are described in detail 6 2 1 Extended diagnostics header Byte 7 contains the length of the extended diagnostics including header itself 6 2 2 Memory error Bit 4 in diagnostic byte 8 is used to indicate a memory error Memory error means that the internal EEPROM of the encoder no longer works correctly and that it cannot be guaranteed that values e g offset value are stored non volatile Bit Definition 0 1 4 Memory error No Yes defective EEPROM 6 2 3 Operating status Diagnostic byte 9 contains certain parameters set in the system configuration Bit Definition 0 0 Direction of rotation CW 1 Class 2 functionality Off 2 Diagnostic routine Off On 3 Scaling function Off On 6 2 4 Encoder type Diagnostic byte 10 contains the encoder version singleturn
6. separated by comma or blank space Date for Specific Manufacturer Cancel Help clicking on it Numerical values have to be entered directly The example shows the parameters of encoder version FRABA 2 2 the version with the highest functionality Properties DP slave g xl Address ZID Parameter Assignment Parameters Device specific parameters 2 Code sequence E Scaling function control 2 Desired Measuring units high Increasing clockwise 0 Increasing clockwise 0 Increasing counter clockwise 1 2 Desired Measuring units low 4096 Physical impulses high 0 E Physical impulses low 4096 E Desired measuring units per Revolution E Total measuring range high 256 2 Total measuring range low 0 Disable E Commissioning mode E Shorter diagnostics 16 bytes No 2 Lower limit switch Disable HE Lower limit switch high 0 Lower limit switch low 0 Upper limit switch Disable 2 Upper limit switch high 0 E Upper limit switch low 32767 Revision 09 12 2010 Info UME CXDP Page 35 POSITAL FRABA Due to the old versions of software tool STEP7 32 bit parameter values e g total measuring range software limit switches have to be divided into high and low word This is not necessary with the new STEP7 versions and our actual GSD file Exam
7. 0 0 0 0 Number of desired measuring steps on the traversed measuring range OCD Master 0 1 1 X XJ 0 1 Transfer of the total resolution should be noted Master OCD 0 0 0 0 0 0 0 Reset bit 29 OCD Master O 0 0 X X 0 1 Output of the current position value scaled with the new gearing factor In order to replace the encoder later without a new Teach In procedure the total measuring range determined with the Teach In should be transferred into the system configuration For this the total resolution must be entered into the parameter field desired measuring units cp 5 1 2 and the reference cp 5 1 3 must be set to Page 26 Info UME CXDP maximum total measuring range When setting the parameters it should be observed that the code sequence is correct the setting of the counting direction in commissioning mode has to be transferred to the configuration Subsequently the commissioning mode can be system Revision 09 12 2010 POSITAL FRABA switched off and the encoder can be used in 5 3 4 Preset value The preset function is similar to the procedure described in section 4 2 2 There is only one difference When using the manufacturer specific normal mode versions FRABA 2 1 or FRABA 2 2 there is an acknowledgement bit 31 in the input double word is set to 1 Status bits Data bits Bit 31 B BI 7 6 B 4 2B 2 21 o 19 18
8. 11799 starts with 0 again after 128 revolutions counts up to 11799 and so on Note With many software tools it is necessary to divide the value into high and low word refer to page 36 When choosing the total resolution the following revolution parameter measuring units per rule has to be observed revolution and the total resolution is set to 12800 If steps per revolution are set to n the parameter total resolution must not cause periods longer than the maximum physical number of revolutions see type label i e that the programmed total resolution of a 4096 revolution multiturn encoder must be less than 4096 x the programmed number of steps per revolution the programmed total resolution of a 16384 revolution multiturn encoder must be less than 16384 x the programmed number of steps per revolution Total resolution lt measuring units per revolution x real number of revolutions physical If this rule is disregarded the encoder will indicate a parameter error and it will not enter the data exchange mode With older versions a further rule had to be observed see below If this rule was ignored Note The internal software routine only works if the encoder is in operation If it is necessary to turn the encoder shaft more than 1024 revolutions without power supply this can lead to problems the internal routine will not work without power supply In this case the following rule should be obse
9. 17 16 5 4 13 12 1 101918 171615 4 3 2 1 0 Master OCD 1 0 0 0 0 0 0 Transfer of the required position value preset value OCD Master 1 0 0 0 0 0 1 1 New required position value is transferred Master OCD 0 0 0 01 0 0 0 Reset bit 31 normal mode OCD Master 0 0 0 01 0 0 1 New required position value is transferred Revision 09 12 2010 Info UME CXDP Page 27 6 Diagnostic messages 6 1 Overview On request of the master the encoder transmits POSITAL FRABA diagnostic data is according to the Profibus diagnostic data DDLM_Slave_Diag The Standard octets 1 6 respectively according to the diagnostic data length is 57 bytes Exception shorter diagnostics cp 5 1 5 The format of the Diagnostic function Data type Station status 1 ref to Profibus Standard Octet Station status 2 ref to Profibus Standard Octet Station status 3 ref to Profibus Standard Octet Diagnostic master address PNO identification number Extended diagnostic header Alarm messages Operating status Encoder type Resolution per revolution Hardware Number of revolutions Hardware Additional alarm messages Supported alarm messages Warnings Supported warnings Profile version Software version Operating time Zero offset Manufacturer specific offset value Programmed resolution per revolution Programmed total resolution Serial number Page 28 Octet Octet Octet String
10. 3 Commissioning mode If the commissioning mode is activated in the encoder parameters the scaling factor can be determined directly in the machine by a Teach In The commissioning mode is indicated by the flashing green LED and bit 26 in the input double word bit 26 set to 0 If the encoder starts up in commissioning mode the parameters in the system configuration code sequence scaling are ignored Parameters stored in an internal EEPROM are used instead If code sequence or scaling factor are modified in commissioning mode the new values will be stored non volatile and the encoder works with this new parameters The proceeding in commissioning mode is as follows The encoder is installed in the machine system 5 3 1 Setting the counting direction If the encoder is operating in commissioning mode the counting direction code sequence can be changed online The current code sequence is indicated with bit 28 in the 32 bit process value 0 The commissioning mode is activated parameter settings cp 5 1 4 The counting direction is changed if necessary Machine system is to be moved to the start position The Teach In Start command is transmitted to the encoder Machine system is to be moved to the stop position With the Teach In Stop command the desired number of steps is transferred to the encoder Set the preset value The parameters in the system configuration are set to the
11. 5 3 3 Teach In Stop 222222 26 2 4 Assignment for M12 connectors AH58 9 3 4 Preset Value 22222 cards ube barberer 27 BI DP O7 2 ircicciistiwcs oviienannchiblsin nti 8 6 Diagnostic MESSAGES eeecsesssssssssssesssssssssssee 28 Z9 CONNECING NE Sre aa eee 2 6 1 OVENI SW aen ar rr ren aaaea 28 2 6 Instructions Or Mechanical installationand 6 2 Supported diagnostic messages 29 electrical connection of the angular encoder 9 6 2 1 Extended diagnostics header 29 3 Device Configuration 1 scener 10 6 2 2 Memory error siisii 29 3 1 Overview Configuration principle 10 6 2 3 Operating status 00 eeeeeeeee 29 6 2 4 Encoder type isisisi 29 3 2 Overview encoder configurations 6 2 5 Singleturn resolution 29 PUNCTION EMI ices ced rs cen vies fected seated Wi erences tee eee 11 6 2 6 Number of revolutions 2 29 3 3 Encoder configurations data format 12 6 2 7 Operating time warning 29 4 Class 1 and Class 2 profile 13 6 2 8 Profile Version iirin cenene 29 6 2 9 Software version 29 4 1 Parameter settings 13 6 2 10 Operating time 2 29 4l 1 Code SEAN EROS ana mates errr 14 6 2 14 Zero offset 2 30 4 1 2 Class 2 tunetonality pi ee ENE 14 6 2 12 Programmed resolution 30 4 1 3 Commissioning diagnostics 14 6 2 13 Programmed total resolution 30 4 1 4 Scaling FUNCTION 14 6 2 14 Serial NUMBER 2 30 4 1 5 Measuring
12. Singleturn FRABA 2 1 Multiturn PROFIBUS DP master system 1 _ E Gateway aS PLC H E Compatible PROFIBUS DP Slaves Closed Loop Controller E Configured Stations H DP VO slaves H DP AS i H E DP PA Link 8 ENCODER H ET 2008 ET 200C H ET 200eco H E ET 20015 H ET 200L Press F1 to get Help Chg Page 34 Info UME CXDP Revision 09 12 2010 mr gt Fr A gt w gt 7 4 Setting the parameters Select the encoder in the hardware configuration and double click slot one in the configuration table of the encoder The dialog Properties DP slave appears The input and output addresses can be changed if desired To set the encoder parameters the tab Parameter Assignment has to be selected After choosing the Device specific parameters the different parameters depend on the encoder version can be set If several possibilities are offered for one parameter the parameters list is opened by double Properties DP slave xl Address ID Parameter Assignment Ou input z Direct Entry Address Length Unit Consistent over tart E Words z Total ienath z End 259 Process image partition E z r Input V0 Type r Output Address Length Unit Consistent over Start 256 B 4 Words Total length z 259 End Process image partition E Maximum 14 bytes hexadecimal
13. UME CXDP Revision 09 12 2010 GSD file Master Octet Profibus Slave Terminating resistor Type file Word Revision 09 12 2010 POSITAL FRABA File that contains slave specific characteristics The GSD file is supplied by the manufacturer of the Profibus slave The GSD format is standardized defined in GSD specifications so configuration tools of various manufacturers can use the GSD files Active device in the network that can send data without request Controls the data interchange Data unit of 8 bits 1 byte Process Fieldbus European Fieldbus standard which is defined in the PROFIBUS Standard EN 50170 This specifies functional electrical and mechanical characteristics for a bit serial Fieldbus system Bus node that only sends data on request of the master Absolute rotary encoders are always slaves Resistor that terminates the bus cable terminating resistors are always required at the end of a cable or segment Similar to GSD file is used with older configuration software tools Expression used for a data unit of two bytes Info UME CXDP Page 47 POSITAL FRABA 11 Index B L Bus termination 0 ccccecceeeeeeeeeeneeeeeeeeeeeees 5 LEDS oieee neeaae e eeaeee e idni aet 30 L o MEE EA E c ow wor 35 Class Tanini eaa elses 12 m Class 2n ee ede E EEEE 12 Mechanical Data scenerne 38 Code SCqUONCE sa re ar render 13 Memory eo sa Er ee 28 Commissioning mode W W W ssseseeeerree
14. Usually it is not necessary for the user to know the details of the structure the parameters are set in user friendly forms in the operator software tool Bit Nr Details Section 4 1 2 Page 14 Section 4 1 3 Page 14 Section 4 1 4 Page 14 Section 4 1 5 Page 14 13 14 Total measuring range Section 4 1 6 Page 15 17 18 Reserved Profile 25 26 Not used for Class 1 and Class 2 Refer to versions FRABA 2 1 und 2 2 Revision 09 12 2010 Info UME CXDP Page 13 POSITAL FRABA 4 1 1 Code sequence The parameter defines the counting direction of the position value The code code sequence increases when the shaft is rotating clockwise CW or counter clockwise CCW view onto the shaft The code sequence is defined in bit 0 of octet 9 Octet 9 Bit 0 Direction of rotation when viewing the shaft Code 0 Clockwise CW Increasing 1 Counter clockwise CCW Increasing In Class 1 this is the only parameter that can be set 4 1 2 Class 2 functionality Using this switch Class 2 encoders can be restricted to the functionality of Class 1 i e the scaling parameters are disabled To use the class 2 functionalities bit 1 in octet 9 has to be set 4 1 3 Commissioning diagnostics This function has no significance for the FRABA encoder 4 1 4 Scaling function The parameter scaling function enables the scaling parameters resolution per revolution and total resolution Thi
15. the selected encoder configuration FRABA Absolute Encoders Type OCD DPC1B XXXX XXXX 0CC support all configurations described the following i e there is no functionality limitation due to the hardware Additionally to the configurations Class 1 and Class 2 according to the Profile for Encoders the FRABA Encoder offers configurations with manufacturer specific functions By choosing a certain encoder configuration parameter and configuration data are determined in 3 1 Overview Configuration principle GSD File I Software Tool mm database Choice of encoder configuration Parameter settings Page 10 PLC Info UME CXDP These data are stored in the Profibus master They are transmitted to the slave encoder when the Profibus network is starting up DDLM_Set_Prm It is not possible to change parameters or configuration during the normal operation of the device exception Commissioning Mode see chapter 5 3 After receiving configuration and parameter data the absolute encoder enters the normal operating mode cyclic data transmission DDLM_Data_Exchange In this mode the process values e g the position value are transmitted Data length and format are determined by the user when selecting a certain encoder configuration Parameter DDLM_Set_Prm Once at Start Up l l a Mm Cyclic Data Transmission e g position value Revision 09
16. to observe this if the parameters are entered manually directly using hex code 5 1 2 Desired measuring units The parameter desired measuring units is used to program any required number of steps over 1 Octet 10 11 Bit Data parameters according to the Profile for Encoders are supported too description see chapter 4 Octet 9 Bit 6 Octet 26 Deactivated 1 Activated Octet 27 39 Deactivated 1 Activated revolution over the whole measuring range or over a part of the measuring range 12 13 7 0 2 to 2 Desired measuring units The reference for the desired measuring units is specified with the parameter Desired measuring units reference cp 5 1 3 If per revolution is selected the measuring range can be adapted with the parameter total measuring range Please observe the rules in section 4 1 6 Revision 09 12 2010 Info UME CXDP Note With many software tools it is necessary to divide the value into high and low word refer to page 36 Page 19 N 7 A gt VJ gt 5 1 3 Desired Measuring units reference With this parameter the reference for the desired measuring units cp 5 1 2 is determined either per revolution per maximum total resolution per number of physical impulses Desired measuring units per revolution In this case the position value increases by the programmed number of steps desired measuring units over one revo
17. used for the position value the 7 other bits are used as status bits The output double word contains the preset value and control bits Absolute encoders model series OCD might have physical values gt 25 Bit The position manufacturer specific FRABA versions do not support the position values gt 25 Bit The upper digits will be overwritten by the status bits If the FRABA versions are used with encoders with a total physical resolution gt 25 Bit the user has to assure that the position value is scaled to a maximum output value lt 33554432 If position values gt 25 Bit are necessary class 2 should be used If version FRABA 2 2 is used the current velocity is transmitted in an additional peripheral input word Master OCD Preset value control bits 918 28 Control 2 27 2 Meaning of the different status bits Bit28 Bit27 Bit26 Bit25 Meaning Ready 0 encoder is not ready for operation 1 encoder is ready for operation Mode 1 normal mod e 0 commissioning mode Software limit switch 0 lower limit switch lt current position value lt upper limit switch 1 current position value gt upper limit switch or current position value lt lower limit switch Code sequence 0 increasing clockwise view onto the shaft 1 increasing counter clockwise view onto the shaft Page 24 Info UME CXDP Revision 09 12 2010 POSITAL FRABA 5
18. values determined with the Teach In procedure Commissioning mode is parameter settings deactivated increasing clockwise 1 increasing counter clockwise With bit 28 in the output double word the counting direction can be changed Status bits Data bits Bit 31 ollz 7 wl BS 4 Bl 2 21 w 19 8 17 6 6 4 131 2 1 01918 171615 413 2 1 0 Master OcD 10101011 101010 Changing the counting direction by setting bit 28 OCD Master O O O 04 0 0 1 Encoder sends acknowledgement new counting direction in bits 0 and 28 0A Master OcD 10101010 0 0 0 Changeover is completed by reset bit 28 OCD Master 0 O O 0A X O 1 Output process value with changed counting direction The counting direction is stored non volatile in an internal EEPROM Revision 09 12 2010 Info UME CXDP Page 25 N Tn A gt W 5 3 2 Teach In Start After the machine system has been moved to the transmitted to the encoder The device now starts start position the Teach In Start command is the internal calculation of a new scaling factor Status bits Data bits Bit 31 9 2B 7 so 5 4 23 2 21 w 19 8 17 6 6 4 3 2 1 o 9 8 7 6 5 4 3 2 1I 0 Master OcD 0 1 0 0 0 0 0 Start the Teach In by setting bit 30 to 1 OCD Master 0 1 0 X1X10 1 Acknowledgement of the encoder by setting bit 30 to 1 Master OCD 0 0 0 0 0 0
19. with reduced number of diagnostic data Should only be used with older encoders with DX in the type key Revision 09 12 2010 POSITAL FRABA 10 3 FAQ absolute encoder Profibus Problem There are problems with the Profibus network bus error no answer from the encoder if one of the following Profibus masters is used SIEMENS S5 95U Master Interface SIEMENS IM 308 B Softing PROFlboard Allen Bradley 1785 PFB B Mitsubishi A1SJ 71PB92D Possible cause The masters do not support the full diagnostic data length 57 bytes Problem If COM PROFIBUS Version 5 0 is used it is not possible to insert the FRABA encoder into the hardware configuration if the PLC S5 95U is used Cause The S5 95U does not support the full diagnostic data length 57 bytes COM PROFIBUS V5 0 checks the GSD parameter Max_Diag_Data_Len 57 and prevents the configuration of both devices together Problem PLC and master are switched on bus is active but there is no answer from the encoder Possible solutions First of all the state of LEDs in the connection cap should be checked cp section 6 3 Possibly this can give hints to the cause of the problem Both LEDs dark Check power supply Revision 09 12 2010 Info UME CXDP Solution If it is possible the maximum number of diagnostic data per slave should be increased in the master If this is not possible the encoder can either be used as a class 1 encoder diag
20. 12 2010 3 2 Overview encoder configurations functionality Designation Class 1 Singleturn Class 1 Multiturn Class 2 Singleturn Class 2 Multiturn FRABA 2 1 Singleturn FRABA 2 1 Multiturn FRABA 2 2 Singleturn FRABA 2 2 Multiturn Revision 09 12 2010 POSITAL FRABA Cyclic communication Position value 16 bit Input Position value 32 bit Input Position value 16 bit Input Preset value 16 bit Output Position value 32 bit Input Preset value 32 bit Output Position value 32 bit Input Preset value Teach In 32 bit Output Position value 32 bit Input Preset value Teach In 32 bit Output Position value 32 bit Input Preset value Teach In 32 bit Output Velocity 16 bit Input Position value 32 bit Input Preset value Teach In 32 bit Output Velocity 16 bit Input Info UME CXDP Programmable parameters Code sequence Code sequence Code sequence Scaling factor Code sequence Scaling factor Code sequence Scaling factor Shorter Diagnostics Limit switches Code sequence Scaling factor Shorter Diagnostics Limit switches Code sequence Scaling factor Shorter Diagnostics Limit switches Velocity time base Code sequence Scaling factor Shorter Diagnostics Limit switches Velocity time base Additional functions Preset function Preset function Preset function Commissioning mode Preset function Commissioning mode Preset functio
21. E E Ttr G ET After the successful installation of the GSD file the FRABA encoder can be found in the hardware catalogue under PROFIBUS DP Additional Field Devices Encoders FRABA Encoder In order to represent the encoder with a bitmap in STEP the bitmap file OCDDPxxn bmp has to be installed The procedure is the same as with the GSD file Page 32 Info UME CXDP Revision 09 12 2010 A gt vs gt 7 2 Configuring the encoder IHW Config SIMATIC 300 Station Configuration S7 FRABA AWC oly Station Edit Insert PLC View Options Window Help z la xi olele 5 dalia Ef 2 2 PROFIBUS DP 4 Additional Field Devices General Drives a 1 0 Ej Encoders ma FRABA Encoder Gateway H E PLC E Compatible PROFIBUS DP Slaves E Closed Loop Controller E Configured Stations DP VO slaves DPS E DP PA Link ENCODER ET 2008 ET 200C ED ET 200eco E ET 200i5 ET 200L x SIMATIC 57 300 M7 300 and C7 modules central rack _ PROFIBUS DP master system mm Kal SIMATIC 300 Station Steckplatz Bezeichnung OFIBUS D DP master system 1 E e E Press F1 to get Help I Cha 4 After inserting the Profibus master system in th
22. Operating live MTTFg Addressing Note POSITAL FRABA According to DIN VDE 0160 Protective Class Ill degree of pollution 2 over voltage Category II 10 30 V DC absolute limit values max 2 5 Watt max 230 mA with 10 V DC max 100 mA with 24 V DC Emitted interference according to EN 61000 6 4 Noise immunity according to EN 61000 6 2 Electrically isolated by optocouplers Line driver according to RS 485 12 MBaud 6 MBaud 3 MBaud 1 5 MBaud 500 kBaud 187 5 kBaud 93 75 kBaud 45 45 kBaud 19 2 kBaud 9 6 kBaud Standard 4096 steps revolution optional up to 65536 steps revolution 1 Singleturn 4096 or 16384 Multiturn LSB up to 12 Bit 2 LSB up to 16 Bit max 800 kHz Binary 16 73 13 55 years at 40 C Single Multiturn with connection cap 146521 h 118694 h at 40 C Single Multiturn with connection cap Using rotary switches in the connection cap The absolute angular encoder may only be operated with safety extra low voltage according to EN 50 178 8 2 Certificates UL proved RoHS Reach ISO 9001 Page 38 File E251481 According EG Direktive 2002 95 EG Not affected Info UME CXDP Revision 09 12 2010 POSITAL FRABA 8 3 Mechanical Data Housing Aluminum optional stainless steel Lifetime Dependent on shaft version and shaft loading refer to table Max shaft loading Axial 40 N radial 110 N Inertia of rotor lt 30 gem Friction torque lt 3 Nem
23. PO N L Tn D gt w gt ABSOLUTE IXARC ROTARY ENCODER WITH PROFIBUS DP INTERFACE USER MANUAL AMERICA FRABA Inc 1800 East State Street Suite 148 Hamilton NJ 08609 2020 USA T 1 609 750 8705 F 1 609 750 8703 www posital com info posital com EUROPE POSITAL GmbH Carlswerkstrasse 13c 51063 Cologne GERMANY T 49 221 96213 0 F 49 221 96213 20 www posital com info posital eu ASIA FRABA Pte Ltd 20 Kallang Avenue Singapore 339411 Singapore T 65 65148880 F 65 62711792 www posital com info posital sg POSITAL FRABA 1 General 4 5 1 3 Desired Measuring units reference 20 EI E E 5 Aiie eane aNd E i ec 1 1 Absolute Rotary Encoder 4 5 1 5 Shorter Diagnostics 2 222 21 1 2 Profibus technology cccesceeeeseteeeesees 4 5 1 6 Software limit switch 0 eee eee 21 5 1 7 Physical i ISES ienien 22 2 Installation scener erne 5 A 5 1 8 Encoder type csccccccecnesescsenesecsseneeceee 23 2 1 Settings in the connection Cap 2 5 5 1 9 Velocity time base scene 23 2 1 1 Station address s a 5 eee 5 2 Data exchange in normal operation 24 2 1 2 Bus termination eeen 5 5 3 C issioni ol ere AET er eee 25 2 2 Connecting bus lines and power supply 6 re On j oo 5 3 1 Setting the counting direction 25 2 3 Connecting up the connection cap with cable 5 3 2 Teach In Start eenen 26 GIANTS sas orser anne seere coca anoano MEE NEDERSTE 7
24. awing sscceceeeeeeee 40 10 4 D nNitONS t arrene rs rad Me EEN 46 10 Appendix M G u u sssssseese erne 42 11 Index ee 48 10 1 Type designation ordering code 42 12 Revision index s sssssesesessseseseeeeseeeeeeeeeees 49 Imprint POSITAL GmbH Carlswerkstr 13c 51063 Cologne GERMANY Telephone 49 221 96213 0 Fax 49 221 96213 20 Internet www posital com E mail info posital eu Copyright The company POSITAL GmbH claims copyright on this documentation It is not allowed to modify to extend to hand over to a third party and or to copy Revision 09 12 2010 Info UME CXDP this documentation without written approval by the company POSITAL GmbH Specifications are subject to change without notice Technical specifications which are described in this manual are subject to change due to our permanent strive to improve our products Publication September 2010 Version 4 7 Author Reiner Baetjer Page 3 POSITAL FRABA 1 General This manual describes installation and configuration of the Absolute Rotary Encoder with Profibus DP interface The device meets the 1 1 Absolute Rotary Encoder Basic principle of the absolute measurement is the optical scanning of a transparent disk with code print The code disk is connected to the shaft that is to be measured By evaluating the code and two additional incremental signals the absolute position of the shaft can be determined with a
25. body and snap anti rotation element into place 6 Screw on dome nut with 3 5 Nm A minimum spacing of 200 mm 8 in to inductors is usually required for example in switch mode power supplies Allowed cable diamter 5 9 mm for Configure the signal lines for minimum length and connection cap type AH58 B1CS 3PG avoid the use of intermediate terminals Shielded and AH58 B1CS 3PG VA field bus cables shall be used The shield must be grounded according to EMI rules In metal cable ducts sufficient decoupling of signal lines from interference signal transmitting cable can usually be achieved with a grounded partition Einzelteile individual components Dichtring i i Sealing ring Lamelleneinsatz a Lamellar insert a Schirm geflecht Braided screen geschirmte Leitung p Shielded cable t Hutm utter Dome nut MMA r Gland body Revision 09 12 2010 Info UME CXDP Page 7 POSITAL FRABA 2 4 Assignment for M12 connectors AH58 B1DP 072 Connecting the data lines and the power supply 5pin connector left Pin Description 10 502 1 not connected fo o 2 Bus line A Bus in 3 not connected 4 Bus line B Bus in Data lines and power supply are connected to 5 not connected 5 pin M12 connector 5 pin M12 female socket 5pin female socket center 4 pin M12 connector Pin Description 1 not connected 2 Bus line A Bus out 3 not connected 4 Bus line B Bus out 5 not connected Pin Descri
26. cetessaceiascecctsazasscehtedatesestereastanters 35 I Velocity Time base W W u u ssseeeeeer ener renerne 22 Installations iiciin iaeiiai 5 Page 48 Info UME CXDP Revision 09 12 2010 POSITAL FRABA 12 Revision index Revision Date Revision Changed to new type key OCD DPC new technical drawings new 9 4 2010 03 10 4 5 connection cap Changed drawings 3 9 2010 09 10 4 6 Cable gland changed drawings in section 8 3 changed 9 12 2010 4 7 Revision 09 12 2010 Info UME CXDP Page 49
27. d und Neu Strake 7 D 76131 Karlsruhe Tel 49 0 721 96 58 590 Fax 49 0 721 96 58 589 www profibus com Revision 09 12 2010 POSITAL FRABA 2 Installation The Absolute Encoder connection cap This cap is connected to the is connected with a encoder with a 15 pin D Sub connector and can be removed by loosening two screws on the backside 2 1 Settings in the connection cap 2 1 1 Station address The station node address is set by using the rotary switches in the cap The values x 10 or x 1 for the switches are marked at the switch Possible addresses are between 0 and 99 Each address can only be used once in the network The station address is read in when switching on the power supply An address change by the Master Set Slave Add is not supported Termination Resistor Revision 09 12 2010 Info UME CXDP of the encoder Bus lines and power supply are led into the cap via cable glands and connected to terminal blocks 2 1 2 Bus termination If the encoder is connected at the end or beginning of the bus line the termination resistor must be switched on slide switch in position ON R R on ian on device X last device Note The outgoing bus line is disconnected if the resistor is switched on The bus is only correctly terminated when the encoder is connected to the connection cap If the encoder must be changed during operation a separate active bu
28. e x hardware configuration Insert Master General Parameters System the FRABA encoder can be chosen from Se z the hardware catalogue and added to the Profibus murede network Select the device FRABA Encoder and Subnet New Propetties Delete drag it with the mouse to the network or choose the network and double click the FRABA encoder Now the slave address has to be entered has to be equal to the address setting in the connection Cap Abbrechen Hie Revision 09 12 2010 Info UME CXDP Page 33 Tn A gt w gt 7 3 Selecting the encoder version As described in chapter 3 the functionality of the selected For this one of the modules listed under encoder depends on the selected encoder version FRABA encoder has to be dragged to Slot 1 in the After the FRABA encoder has been added to the displayed configuration table of the encoder network the desired encoder version can be aw Config SIMATIC 300 Station Configuration 7_FRABA_AWC Gl Station Edit Insert PLC View Options Window Help lal x Del S le dii af 32 e Profile Standard z Ij PS30710A a j CPU 315 2 DP El Additional Field Devices HA General a Drives a vo Encoders a a FRABA Encoder Universal module Class 1 Singletum Class 1 Multiturm Class 2 Singletum Class 2 Multitum Class 2 Multiturn DX Versic FRABA 1 0 Multiturn FRABA 1 1 Multitum FRABA 2 0 Multiturn FRABA 2 1
29. er OCD 0 0 Reset bit 31 normal mode OCD Master 0 O New required position value is transferred If high precision is required the preset function should only be executed if the encoder shaft is not moving If the shaft moves quickly during the Note for Singleturn devices The procedure is similar with the singleturn version Here Bit 15 is used to activate the preset value With high resolution singleturn encoders 16 Bit it is not possible to set preset values gt 32767 15 bit as the MSB is used to activate the preset Revision 09 12 2010 Info UME CXDP preset procedure this can result in offsets because of bus delay times If this functionality is needed the user has to choose one of the manufacturer specific FRABA encoder versions in these classes the singleturn position is transmitted as 32 bit value Page 17 POSITAL FRABA 5 Special versions FRABA 2 1 and 2 2 The manufacturer specific encoder configurations The following table gives an overview of the used FRABA 2 1 and FRABA 2 2 offer in addition to the parameters and the structure of the parameter functions according to the Profile for Encoders telegram features such as commissioning mode velocity Usually it is not necessary to know these details as output and software limit switches the parameters are set with user friendly software to
30. eter total measuring range Octet 27 28 Bit Data The commissioning mode can be used durably but it is recommended to transfer the parameters determined with the Teach In into the system configuration Then the encoder should be used in normal operation mode so it is possible to exchange the device without a new Teach In A detailed description of the commissioning mode can be found in section 5 3 Octet 26 Bit 2 Commissioning mode Switched off 1 Switched on Octet 26 Bit 3 Diagnostics Standard 57 bytes 1 Reduced 16 bytes must not be exceeded The limit switches are activated with bits 5 and 6 in octet 26 Note With many software tools it is necessary to divide the values into high and low word refer to page 36 29 30 7 0 2 to 2 Lower limit switch in measuring steps related to the scaled value Octet 31 32 Bit Data Revision 09 12 2010 Info UME CXDP 33 34 7 0 2 to 2 Page 21 7 A gt VJ gt Upper limit switch in measuring steps related to the scaled value Properties DP slave xl Address ID Parameter Assignment Parameters a Station parameters EH Device specific parameters 2 Code sequence Increasing clockwise 0 E Scaling function control Enable 2 Desired Measuring units high 1 Desired Measuring units low 4096 2 Physical impulses high 0 2 Physical impulses low 4096 E Desired measuring units per Revol
31. eter value total measuring range too high The encoder is ready for operation but not addressed by the master e g incorrect address in configuration Bright Dark Encoder has not received any data for a longer period about 40 sec Possible cause bus line has been interrupted A Sl 6 Bright Normal operation in data exchange mode 7 Dark Flashing Commissioning mode Revision 09 12 2010 Info UME CXDP Page 31 POSITAL FRABA 7 Configuring with STEP 7 In the following the configuration of the FRABA encoder with the configuration tool STEP 7 is shown exemplarily In this example STEP 7 Version 5 1 and the CPU 315 2DP Profibus 7 1 Installing the GSD file lf FRABA encoders are used for the first time it is necessary to install the GSD file FRAB4711 gsd to take over the encoder into the hardware catalogue of the tool master integrated are used If there are questions about other software tools please contact the manufacturer Choose Install New GSD in the HW Config window of the project menu item Options and select the GSD file FRAB4711 gsd The GSD file can be downloaded from our homepage www posital com Station Edit Insert PLO View Options Window Help blee q S E Specify Module Configure Network Symbol Table Report System Error CPU 315 2 DP Edit Catalog Profile Update Catalog Install New GSD Import Station G50 Customize Cer Gl
32. ld in the connection cap Are all cables and conductions laid according to EMC rules and B in the connection cap 10 4 Definitions Address AWC Baud rate Bus Node Configuring DDLM DDLM_Data_Exchange DDLM_Set_Prm DDLM Slave Diag Diagnostics Freeze Page 46 A number which is assigned to each node no matter whether it is a master or slave The address is set non volatile in the connection cap using rotary switches Abbreviation Absoluter Winkelcodierer German Absolute Rotary Encoder Data transfer rate specified as the number of bits transferred per second baud rate bit rate Device which can send receive or amplify data via the bus When the master configures the slave the properties of the slave are specified e g number of input and output bytes Direct Data Link Mapper Interface between Profibus DP functions and the encoder software Operating status of the bus for standard data transfer Operating status of the bus configuration and parameter are transmitted Operating status diagnostic data are requested from the slave e g encoder Identification localization classification display additional evaluation of faults errors and messages This is a master command to the slave This allows the master to freeze the states of the inputs for example of the absolute angular encoder to their current value The input data are only updated again after reception of the UNFREEZE command Info
33. lt 5 Nem without with shaft sealing RPM continuous operation Singleturn max 12 000 RPM Multiturn max 6 000 RPM Shock EN 60068 2 27 lt 100 g halfsine 6 ms Permanent shock EN 60028 2 29 lt 10 g halfsine 16 ms Vibration EN 60068 2 6 lt 10 g 10 Hz 2 000 Hz Weight standard version Singleturn 550g Multiturn 600 g Weight stainless steel version Singleturn 1 100g Multiturn 1 200 g Flange Synchro S Clamp C Hollow shaft B Shaft diameter 15 mm Shaft length hollow shaft depth min max 15 mm 30 mm Minimum mechanical lifetime Lifetime in 10 revolutions with Fa F Flange 40 N 110N C10 Clamp flange 10 x 20 40 S10 Synchro flange 10 x 20 262 42 22 347 S6 Synchro flange 6 x 10 without shaft sealing 8 133 S6 Synchro flange 6 x 10 with shaft sealing max 20 N axial 80 N radial 8 4 Environmental Conditions Operating temperature 40 85 C 40 85 C 98 without liquid state Casing side IP 65 Shaft side IP 64 optional with shaft sealing IP66 Storage temperature Humidity Protection class EN 60529 Revision 09 12 2010 Info UME CXDP Page 39 POSITAL FRABA 9 Dimensioned Drawings Synchro flange S Available in 2 versions Single 69mm Multi 80mm_ 3x 3 30 V7 M4x0 7 6H F 6 Clamp flange C 30 Single 69mm Multi 80mm _ __
34. lution Additionally the parameter total resolution is used to achieve an adaptation of the measuring range cp 4 1 6 Desired measuring units per maximum total measuring range The parameter desired measuring units refers to the complete measuring range of the encoder i e Properties DP slave Address ID Parameter Assignment Parameters _ E amp Station parameters i Device specific parameters Code sequence Scaling function control Desired Measuring units high Desired Measuring units low Physical impulses high Physical impulses low Desired measuring units per Total measuring range high Total measuring range low Commissioning mode Shorter diagnostics 16 bytes Lower limit switch Lower limit switch high Lower limit switch low Upper limit switch Increasing clockwise 0 Enable i 4096 0 4036 Revolution E Re ion olution Maximal total measuring range Physical impulses No Disable 0 0 Disable 0 E Upper limit switch high the encoder gives out the programmed number of measuring units over the whole measuring range 4096 revolutions with the multi turn encoder Desired measuring units per physical impulses The desired measuring units refer to the physical impulses entered in octets 35 39 cp 5 1 7 Physical impulses means The real value that is read internally from the code disc e g 4096 steps per revolution with a standard 12 bi
35. n Commissioning mode Velocity Output Preset function Commissioning mode Velocity Output Page 11 POSITAL FRABA 3 3 Encoder configurations data format Designation Configuration Input words Output words Description Encoder gt Master gt Chapter Encoder Class 1 Singleturn According to Profile Class 1 Multiturn According to Profile Class 2 Singleturn According to Profile Class 2 Multiturn According to Profile FRABA 2 1 Singleturn FRABA 2 1 Multiturn FRABA 2 2 Singleturn 18 FRABA 2 2 Multiturn The following encoder configurations are still supported for reasons of downward compatibility but should not be used for new projects description see Appendix Class 2 Multiturn F1 241 2 2 10 2 4 44 DX Version FRABA 1 0 Multiturn FRABA 1 1 Multiturn FRABA 2 0 Multiturn Page 12 Info UME CXDP Revision 09 12 2010 POSITAL FRABA 4 Class 1 and Class 2 profile The encoder versions Class 1 and Class 2 are defined by the working group encoder in the Profibus Nutzerorganisation in the Profile for 4 1 Parameter settings The following table contains an overview of the parameters according to the Profile for Encoders and the structure of the parameter telegram Octet byte No 1 8 Parameter 9 Not used for Class 1 and Class 2 10 Measuring units per revolution Encoders available from the PNO Order No 3 062
36. nostic data length 16 bytes or one of the manufacturer specific versions FRABA 2 1 or 2 2 can be used with reduced diagnostics cp 5 1 5 Solution Use COM PROFIBUS Version 3 3 choose one of the manufacturer specific FRABA versions FRABA 2 1 or 2 2 and activate the reduced diagnostics If COM PROFIBUS V5 0 is to be used the configuration of the FRABA encoder is only possible with a modified GSD file slave key Max Diag Data Len has to be changed Both LEDs bright Encoder is ready but receives no configuration or parameter telegrams Check the address setting in the connection cap Check the connection of the bus lines BUS IN BUS OUT Check the hardware configuration in your software tool Red LED bright green LED flashing Parameter error Check parameters e g the rules for setting the total measuring range cp 4 1 6 Page 45 POSITAL FRABA Problem Sporadic bus errors Possible cause Terminating resistors not correct Possible solution Check terminating resistors The resistors of 220 Q must be switched on at the beginning and at the end of the bus segment Switch off the power supply and measure the resistance between the terminals A The resistance value must be about 110 Q 220 Q parallel 220 Q Possible cause EMC problems Possible solutions Is the used baud rate acceptable for the length of the bus lines Try to use lower baud rate if necessary Check the connection of the cable shie
37. ols Octet byte Parameter Bit Details No No Section Page 1 8 Profibus Standard Parameters 9 Code sequence 0 4 1 1 14 Class 2 functionality 1 4 1 2 14 Commissioning Diagnostics 2 4 1 3 14 Scaling function 3 4 1 4 14 Reserved 4 Reserved 5 Activate manufacturer specific parameters octet 26 6 5 1 1 19 Reserved 7 10 13 Desired measuring units refer to octet 26 bit 0 and 1 5 1 2 19 14 17 Total measuring range 4 1 6 15 18 25 Reserved 26 Reference for the desired measuring steps 0 5 1 3 20 1 Activate commissioning mode 2 5 1 4 21 Shorter Diagnostics 3 5 1 5 21 Reserved 4 Activate lower limit switch 5 5 1 6 21 Activate upper limit switch 6 5 1 6 21 Activate octets 27 39 7 5 1 1 19 27 30 Lower limit switch 5 1 6 21 31 34 Upper limit switch 5 1 6 21 35 38 Physical impulses 5 1 7 22 39 Reserved 0 Encoder type Single Multiturn 1 5 1 8 23 Reserved 2 Reserved 3 Time base velocity 4 5 1 9 23 5 Reserved 6 Reserved 7 Page 18 Info UME CXDP Revision 09 12 2010 POSITAL FRABA 5 1 Parameter In the manufacturer parameters are following the described in specific detail The 5 1 1 Activate manufacturer specific parameters The manufacturer specific parameter byte 26 is activated with bit 6 in octet 9 Bit 7 in octet 26 activates further parameter bytes 27 39 Usually this happens automatically if the encoder versions FRABA 2 1 or FRABA 2 2 are selected It is only important for the user
38. or multiturn Definition Singleturn encoder 1 Multiturn encoder Revision 09 12 2010 Info UME CXDP 6 2 5 Singleturn resolution Diagnostic bytes 11 14 contain the real physical resolution per revolution of the encoder 6 2 6 Number of revolutions Diagnostic bytes 15 and 16 contain the real physical number of revolutions of the encoder Standard values are 1 for singeturn and 4096 resp 16384 for multiturn devices 6 2 7 Operating time warning Bit 4 in diagnostic byte 21 indicates an operating time warning The bit is set after 10 hours 6 2 8 Profile version Diagnostic bytes 24 and 25 contain the profile version of the encoder Byte 25 Bit 7 0 Data INDL Index Revision No 6 2 9 Software version Diagnostic bytes 26 and 27 contain the software version of the encoder Octet 26 27 Bit 7 0 Data 2 to 2 Index Revision No 6 2 10 Operating time The operating time of the encoder can be read out from diagnostic bytes 28 to 31 If the encoder is connected to the power supply the operating time is stored in an EEPROM every six minutes in 0 1 h steps Page 29 mr gt Fr 1 A gt oO gt 6 2 11 Zero offset The zero offset is output in diagnostic bytes 32 to 35 6 2 12 Programmed resolution The programmed resolution per revolution is output in diagnostic bytes 40 to 43 The value is only valid if the scaling factor is based on the parameter resolution
39. per revolution cp 5 1 3 6 2 13 Programmed total resolution The programmed respectively calculated total resolution is output in diagnostic bytes 44 47 Page 30 Info UME CXDP 6 2 14 Serial number Diagnostic bytes 48 57 are intended for a serial number With the current version the serial number is not saved in the encoder the bytes contain the default value 2A hex Revision 09 12 2010 POSITAL FRABA 6 3 Status indication by the LEDs in the connection cap Two LEDs are implemented in the connection cap They optically indicate the status of the encoder in the Profibus network OD The red LED is used to display errors the green LED Window Q one displays the status of the encoder Both LEDs can have one of three possible conditions dark bright and flashing Seven of the nine possible combinations are used to indicate a special condition If there are any problems with starting up the system the state of the LEDs can give important information about the error cause No Red LED Green LED Status possible cause Dark No power supply 1 Dark 2 Bright Bright Encoder is ready for operation but it has not received any configuration data after power on Possible causes address setting incorrect Bus lines not connected correctly 3 Bright Flashing Parameter or configuration error The encoder receives configuration or parameter data with incorrect length or inconsistent data Possible cause param
40. ple for the old GSD file Decimal Hexadecimal Hexadecimal Decimal to be entered 129600 00 01 FA 40 High word 00 01 1 Low word FA 40 64064 The decimal value 1 has to be entered into the high word parameter field the value 64064 into the low word parameter field Or Divide the value by 65536 enter the integer part of the result into the high word parameter field the remainder into the low word field 129600 65536 1 977539 integer part 1 high word 1 129600 1 x 65536 64064 remainder 64064 low word 64064 It is also possible to enter the parameters directly as hexadecimal code However this is very complicated and it should be avoided if possible Page 36 Info UME CXDP Revision 09 12 2010 7 a gt wW gt Properties DP slave xi Address 1D Parameter Assignment Parameters amp Station parameters Device specific parameters Le Hex parameter assignment 2 User_Prm_Data 0 to 7 00 44 00 01 10 00 00 01 User_Prm_Data 8 to 15 F4 40 00 00 00 00 00 00 User Prm Data 16 to 23 00 00 80 00 00 00 00 00 User_Prm_Data 24 to 31 00 7F FF 00 00 10 00 02 Revision 09 12 2010 Info UME CXDP Page 37 8 Technical Data 8 1 Electrical Data General design Power supply voltage Power drain Current consumption EMC Bus connection Interface Baud rates Resolution Number of revolutions Accuracy of division Step frequency Code
41. protective measures The encoder should not be used as handles or steps Only qualified personnel may commission and operate these devices These are Info UME CXDP ground and tag devices systems and circuits according to the current state of safety technology It is not permissible to make any electrical changes to the encoder Route the connecting cable to the angular encoder at a considerable distance or completely separated from power cables with their associated noise Completely shielded cables must be used for reliable data transfer and good grounding must be provided Cabling establishing and interrupting electrical connections may only be carried out when the equipment is in a _ no voltage condition Short circuits voltage spikes etc can result in erroneous functions and uncontrolled statuses which can even include severe personnel injury and material damage Before powering up the system check all of the electrical connections Connections which are not correct can cause the system to function incorrectly Fault connections can result in severe personnel injury and material damage Page 9 N 7 A gt u 3 Device Configuration The Absolute Encoder with Profibus Interface can be programmed according to the needs of the user The GSD file has to be installed in the used software tool The user has the possibility to choose different encoder configurations Parameters and functionality depend on
42. ption 1 10 30 VDC 2 not connected 3 OV 4 not connected If the terminating resistor is switched on the outgoing bus lines are disconnected Page 8 Info UME CXDP Revision 09 12 2010 POSITAL FRABA 2 5 Connecting the screen To achieve the highest possible noise immunity a compensation current might flow over the shield shielded cables should be used for data Therefore a potential compensation cable is transmission The shield should be connected to recommended ground on both ends of the cable In certain cases 2 6 Instructions for mechanical installation and electrical connection of the angular encoder The following points should be observed personnel who are authorized to commission Revision 09 12 2010 Do not drop the angular encoder or subject it to excessive vibration The encoder is a precision device Do not open the angular encoder housing this does not mean that you cannot remove the connection cap If the device is opened and closed again it can be damaged and dirt may enter the unit The angular encoder shaft must be connected to the shaft to be measured through a suitable coupling full shaft version This coupling is used to dampen vibrations and imbalance on the encoder shaft and to avoid inadmissible high forces Suitable couplings are available from FRABA Although FRABA absolute encoders are rugged when used in tough ambient conditions they should be protected against damage using suitable
43. resolution of up to 65536 steps per revolution 16 bits So called Multiturn devices use reduction gears and further code disks to determine the absolute 1 2 Profibus technology PROFIBUS is an international open proprietary Fieldbus standard which is defined in the international standards EN 50170 and EN 50254 There are three different versions Profibus DP Profibus FMS and Profibus PA FRABA absolute encoders are designed for the DP version They support all usual baud rates up to 12 MBaud Besides manufacturer specific functions the devices support the classes 1 and 2 according to the Profile for Absolute Encoders this device profile can be ordered under part number 3 062 from the Profibus Nutzeroganisation Further information about Profibus functionality manufacturer products standards and device profiles are available from the PNO non Page 4 Info UME CXDP requirements of a Profibus Slave according to the PROFIBUS standard It is certified by the Profibus Nutzerorganisation in Germany shaft position over up to 16384 revolutions 14 bits The position value is calculated in an integrated microprocessor and transmitted over the Profibus Further information about the basic function principle of Absolute Rotary Encoders and Profibus networks can be found on our homepage under http www posital com en products rotary encoders rotary_encoders_1 php sl Profibus Nutzerorganisation PNO Hai
44. rrrersener 24 o Configuring the encoder 32 Connecting Operating time warning sseeeeeererrrnee 28 DUS IMCS aerieni restene eee nt rate enke ret 6 Ordering Code seeren 41 Powers Up PI caient 6 P Connection cap SONGS raean i a lone ser GE 5 Parameter settings 2 serene 12 Parameters sss seeren renere renerne 34 p Physical impulses ssnceere 17 19 21 Data format sen eeeerenereeere renerne nere 11 Preset function ceeeeeeeeeeeeeettetetetteenetes 15 Desired measuring UANSELIGE 18 Preset ValUC siian ean REN 26 Diagnostic messages cs eees esserne ene 27 Profibus Nutzerorganisation sne 4 Dimensioned DrawingS 2 seeeeeeeeserres 39 Profile for Absolute Encoders 2 4 E S Electrical Data 22 succeer 37 Shorter Diagnostics scenens 20 Encoder configurations s esserne 10 Software limit switch neee 20 LT ut OT ss ia eee ee 43 Station address s str 5 Endless operation ER Gacsavecuascaceeorese 14 Status its sai arsen rer E 23 Environmental Conditions 2 38 SLEP erce eet lath eee sctcsus cece Does 31 F T LAO eee eee A rere erent 44 Teach In Start 22 eee ti urene vel Ar 25 G Teach In Stop eeceeeeeeeeeeeeesneeeeeneeeeeeneees 25 Technical Data cceeceeceeeeeeeeeeeeeeeeeetees 37 GS Dit ese E T 46 Total measuring range 14 INstall tio Mesne 31 Type designation cc ceeeeeeseeeeeeeneeeeeeeeees 41 H TY PC TG seerne epaite 46 High word ci cisac
45. rved even with new devices problems occurred when using the device in endless operation when crossing the physical zero point With new devices software version 3 Generation A1 or higher this problem is solved by an internal software routine For that reason the 2 rule can be ignored if a new device is used The period i e Total resolution measuring units p orewolltitiom oadte e vaithittege4 ancbititiousthe rate integer number of times integer multiple into 4096 So ihadgoftiloing fitatonevessanypliy turn the encoder shaft more than 4096 revolutions without power 4096 x measuring units per revolution Total resolatimpiy gt integer Revision 09 12 2010 Info UME CXDP Page 15 mm mr gt Fr 1 A gt WO gt The period i e Total resolution measuring units per revolution must be an integer and it must fit an integer number of times integer multiple into 16384 So the following equation must apply 16384 x measuring units per revolution Total resolution integer 4 2 Data exchange in normal operation The DDLM_Data_Exchange mode is the normal operation mode of the device On request the encoder transfers the current position value to 4 2 1 Transferring the process value The multiturn encoder transmits the current position value as a 32 bit value double word to the master the master The encoder can also receive data from the master e g the preset
46. s switch should always be activated if functions of class 2 or even higher classes FRABA 2 1 and FRABA 2 2 are to be used 4 1 5 Measuring units per revolution The parameter measuring units per revolution is used to program a desired number of steps over one revolution If the value exceeds the basic physical resolution of the encoder the output code is no longer in single steps Starting with generation B1 the encoder indicates a parameter Octet 10 11 Bit Data Octet 9 Bit 1 Class 2 functionality Switched off 1 Switched on Octet 9 Bit 3 Scaling function 0 Switched off 1 Switched on error LED and it will not enter the data exchange mode With high resolution encoders it may be necessary to divide the value into high and low word depending on the software tool refer to page 36 12 13 7 0 2 to 2 Desired measuring units per revolution Page 14 Info UME CXDP Revision 09 12 2010 POSITAL FRABA 4 1 6 Total measuring range Octet Bit Data 14 15 16 31 24 23 16 15 8 7 0 17 2 to 2 Programmed total measuring range in steps The parameter total measuring range is used to adapt the measuring range of the encoder to the real measuring range of the application The encoder counts up until the position value has reached the programmed total resolution and starts with 0 again Example 100 steps are programmed for each Then the encoder counts up to
47. s termination should be used Page 5 POSITAL FRABA 2 2 Connecting bus lines and power supply Power Supply Clamp B left aka Alen HHHH HHH PEPPERS t B right Bus In Bus Out The power supply has to be connected once no matter which clamps If the terminating resistor is switched on the outgoing bus lines are disconnected Page 6 Info UME CXDP Description Bus line B Bus in Bus line A Bus in OV 10 30V Bus line B Bus out Bus line A Bus out OV 10 30V Revision 09 12 2010 POSITAL FRABA 2 3 Connecting up the connection cap Installation hints with cable glands Both the cable shielding and the metal housings of encoders and subsequent electronics have a shielding function The housing must have the same potential and be connected to the main signal ground over the machine chassis or by means of a separate potential compensating line Potential compensating lines should have a minimum cross section of 6 mm 1 Cut off cable sheath and expose bralded screen over a length of appr 10 15 mm depending on the cable diamter 2 Push dome nut and lamellar insert with sealing ring on to the cable 3 Bend braided screen outwards at a right angle 90 Do not lay signal cable in the direct vicinity of 4 Fold braided screen towards outer interference sources air clearance gt 100 mm 4 in sheath i e by another 180 5 Push lamellar insert with sealing ring into gland
48. sical resolution of the encoder type label is used For our example this would be with a standard encoder 12 Bit resolution 4096 steps revolution x 3 revolutions 12288 steps Enter this value 12288 as physical impulses and set the desired measuring units to 400 Now the Revision 09 12 2010 POSITAL FRABA encoder increases the position value by 400 steps on a measuring range of 12288 physical steps 3 revolutions 5 1 8 Encoder type The encoder type Singleturn or Multiturn is specified in bit 1 octet 39 Generally this bit is set automatically if the encoder version is selected The user only has to take care of this parameter if the parameters are set manually in hex code 5 1 9 Velocity time base With this parameter the user can choose the time base for the velocity output version FRABA 2 2 The time base is specified in bits 4 and 5 of octet 39 Revision 09 12 2010 Info UME CXDP Note With many software tools it is necessary to divide the value into high and low word refer to page 36 Octet 39 Bit 1 Singleturn 1 Multiturn Time base Bit 4 Bit 5 Steps second Steps 100 ms Steps 10 ms RPM revolutions per minute 1 1 Page 23 N Tn A gt W 5 2 Data exchange in normal operation With the manufacturer specific versions FRABA 2 1 and FRABA 2 2 the process value generally is transmitted as 32 bit value peripheral double word Apart from 25 bits
49. t encoder With that option it is possible to set gearing factors freely Reference Octet 26 Bit 0 Octet 26 Bit 1 Per revolution 0 0 Per maximum total measuring range 1 0 Per physical impulses 0 1 steps specified in octets 35 38 Page 20 Info UME CXDP Revision 09 12 2010 POSITAL FRABA 5 1 4 Activate commissioning mode Bit 2 in octet 26 activates the commissioning mode This is a special mode with the option to set further parameters in the data exchange mode additional to the preset value In the commissioning mode a Teach In can be carried out i e the gearing factor can be determined directly in the machine In this special mode indicated by the flashing green LED the parameters set in the system configuration are ignored by the encoder It uses parameters stored in an internal EEPROM instead 5 1 5 Shorter Diagnostics Some Profibus masters especially older ones have problems with the full diagnostic data length 57 bytes The FRABA encoder offers the option to reduce the diagnostic data length to 16 bytes If Class 1 is used the standard diagnostic data length is 16 bytes 5 1 6 Software limit switch Two positions can be programmed If the position value falls below the lower limit switch or exceeds the higher limit switch bit 27 in the 32 Bit process value is set to 1 Between these limit switches bit 27 is set to 0 The limit switches can be set to any value but the param
50. units per revolution 14 i 6 3 Status indication by the LEDs in the 4 1 6 Total measuring range ceee 15 Connection CAP issn cacdcciie nx cvotpwediucegexeusceteestecedeecverse 31 4 2 Data exchange in normal operation 16 4 2 1 Transferring the process value cccccceee 16 7 Configuring with STEP 7 cccccccsssssseeeeeees 32 4 2 2 Preset fUNC ON 0 ccc ccscctiecascesscceesonnese 16 7 1 Installing the GSD file ee 32 5 Special versions FRABA 2 1 and 2 2 18 7 2 Configuring the encode cceeeeeeees 33 Bl Parameter disc cd reetablere ersten den fer 19 7 3 Selecting the encoder version 34 5 1 1 Activate manufacturer specific 7 4 Setting the parameters 35 parameters 00 ccc ccc ccceceeecececeeeeeeeeeeeeeeeeeees 19 5 1 2 Desired measuring units 19 Page 2 Info UME CXDP Revision 09 12 2010 POSITAL FRABA 8 Technical Data ssssecereser sneen 38 10 2 Further encoder configurations 1 1 44 8 1 Electrical Data ccccsssssssscssssssssssnsseeeeees 38 10 21 Version FRABA 2 0 MUNN UI cette a Ey 10 2 2 Version FRABA 1 1 Multiturn 44 8 2 CertificateS cai cecccisivesecsicieees ak 38 10 2 3 Version FRABA 1 0 Multiturn 44 8 3 Mechanical Data seeren 39 10 2 4 Class 2 Multiturn DX Version 44 8 4 Environmental Conditions 39 10 3 FAQ absolute encoder Profibus 45 9 Dimensioned Dr
51. ution Total measuring range high i _ E Total measuring range low 64064 E Commissioning mode Disable 2 Shorter diagnostics 16 bytes No E Lower limit switch Disable Lower limit switch high 0 2 Lower limit switch low 0 Upper limit switch Enable 2 Upper limit switch high Disable Lower limit switch Deactivated 1 Activated Upper limit switch Deactivated 1 Activated Physical impulses This parameter is evaluated if the reference for the desired measuring units is physical impulses cp 5 1 3 With the physical impulses it is possible to set a gearing factor freely The user defines the output steps desired measuring steps over a part of the measuring range This option is helpful to program scaling factors that result in a non integer number of steps over 1 revolution Example Problem The position value has to increase by 400 steps over 3 revolutions With the reference steps per revolution it is impossible to program that scaling factor it would Page 22 Info UME CXDP be necessary to set the parameter desired measuring steps to 133 33 this is not possible because the parameter must be an integer value Solution Choose physical impulses as reference for the desired measuring units Now the number of physical measuring steps over the desired measuring range is determined For this the actual phy
52. value in the class 2 configuration Word Word 1 Word 0 Function Process value Bit alala BI 7 w we 4 2 2 21 wo 19 8 17 16 5 4 13 2 111019 8 7 6 5 4 3 2 1 0 0J0IXIXIXIXIXIX IXIXIXIX IXIXIXIXIXIXIXIX XIXIX XIX IXIX XIXIXIXIX The Singleturn encoder uses a 16 bit value word for data transmission 4 2 2 Preset function Using the preset function it is possible to adapt he encoder zero point to the zero point of the application When using this function the current encoder position value is set to the desired preset value The integrated microcontroller calculates the internal zero point shift It is stored non volatile in an EEPROM takes less than 40 ms The preset value is activated if bit 31 in the peripheral output double word is set to 1 rising edge receiving the scaling parameters the preset value As the preset function is used after refers to the scaled position value Page 16 Info UME CXDP Revision 09 12 2010 POSITAL FRABA Data bits Bit 31 2 a 2 17171514 2 2 21 a 19 7 6 15 4 13 12 1 7 9 8 7 6 5 4 3 2 1 0 Master OCD 1 O Transfer of the required position value preset value OCD Master 0 O New required position value is transferred Mast
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