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1. 12 ENCODER STATE MACHINE 80 12 1 NORMAL OPERATION STATE 81 12 1 1 Profile Version 4 x 81 12 1 2 Profile Version 3 x 81 12 1 3 Profile Version 3 x and 4 x 81 12 2 PARKING STATE 81 12 3 SET SHIFT HOME POSITION PRESET 81 12 3 1 Preset depending on different telegrams 81 12 3 2 Absolute preset with negative value 81 12 4 ERROR STATE 82 12 5 ERROR ACKNOWLEDGEMENT 82 12 6 START UP 79 82 13 FREQUENTLY ASKED QUESTIONS FAQ 83 14 REVISION HISTORY 84 Leine amp Linde AB claims copyright on this documentation This documentation may not be modified extended or passed onto to a third party and or copied without written approval from Leine amp Linde AB Specifications and content in this document are subject to change without prior notice due to our continuous efforts to improve the functionality and performance of our products PROFINET USER MAN UAL www leinelinde com 1 Introduction Thank you for choosing this device produced by the Swedish encoder manufacturer Leine amp Linde In your hands you have a state of art component that is ready to be used in the outmost demanding environment This absolute encoder equipped with PROFINET interface enables you to design high performance automation systems This manual describes the installation procedures and configuration of absolute encoder and encoder gate ways with PROFINET interface If you are in need of assistance during the system design phase commissioning or during operation
2. 5 Configuration example This chapter will illustrate how to setup and configure a PROFINET encoder for working in RT Class 1 mode with SIMATIC MANAGER The encoder gateway is configured in a similar way as the encoder example shown in this chapter In the following examples Siemens STEP 7 V5 4 SP5 PLC and CPU 315F 2PN DP are used Please refer to the manufacturer if other configuration tools are being used 5 1 Device description file installation GSDML In order to start using an absolute encoder or encoder gateway with PROFINET interface a device description file needs to be downloaded and imported to the configuration software The device description file is called a Generic Station Description Markup Language file and contains the necessary implementation parameters needed for a PROFINET IO device The latest available GSDML file can be downloaded from www leinelinde com Available GSDML file for absolute encoder Note GSDML V2 2 LL PROFINET ENCODER xxxxxxxx xml This GSDML file requires SIMATIC STEP 7 V5 4 SP5 or later or SIMOTION SCOUT V4 1 5 6 or later This GSDML file is just supported by encoders with software Revision V3 2 0 which are delivered in encoders with serial number 30125167 or higher and have been delivered after 01 01 2011 Older encoders with lower serial numbers need a firmware upgrade to support this GSDML file GSDML V2 2 LL RxA600 xxxxxx xml This
3. USER MANUAL www leinelinde com 85 The best encoders are those you never have to think about Those that simply do their job year after year Leine amp Linde develops and manufactures custom ised encoder solutions for demanding environments advanced measuring systems for accurate feedback of speed and position LEINE k LINDE 46 0 152 26500 wwwieinelinde com Part no 735795 01 ver 03
4. 240 R 61001 IP of station Unsigned32 R 61002 MAC of station Octet String 6 R 61003 Default gateway of station Unsigned 32 R 61004 Subnet Mask Of Station Unsigned 32 R 65000 Preset value Integer 32 R W 65001 Operating status Array n Integer 32 R 65002 Preset value 64 bit Integer 64 R W 65003 Operating status 64 bit Array n Integer 64 R Device specific parameter 9 14 3 Parameter 65000 and 65002 Preset value The parameter 65000 and 65002 sets the value for the preset function The parameter 65002 should be used if the preset value exceeds 32 bits For more information regarding the Preset function control see chapter 9 7 PNU 65000 Significance Preset value Data type Integer 32 Access Read and write Validity range Profile specific Explanation The preset value sets the value for the preset function The preset value can be stored in the non volatile memory by PROFIdrive parameter 971 and will be reloaded at each start up if stored Structure of parameter 65000 Preset value PNU 65002 Significance Preset value 64 bit Data type Integer 64 Access Read and write Validity range Profile specific Explanation The preset value sets the value for the preset function The preset value can be stored in the non volatile memory by PROFldrive parameter 971 and will be reloaded at each start up if stored Structure of parameter 65002 Pr
5. Request reference 0x00 Request ID 0x01 0x01 gt read value DO ID axis 0x01 Drive Object ID No of parameters 0x01 0x01 Read one parameter Attribute 0x10 0x10 gt Value No of elements 0x00 Parameter number OxFDE8 Parameter 65000 Sub index 0x0000 Read of Preset value parameter 65000 Parameter response Request reference 0x00 mirrored Response ID 0x01 0x01 gt read value DO ID axis 0x01 mirrored No of parameters 0x01 Format 0x04 0x04 Data type unsigned 32 No of values 0x01 Values or errors 0x00 0x00 0x00 Preset value 100 0x64 PROFINET USER MAN UAL www leinelinde com 8 4 Supported parameters 8 4 1 Parameter 922 read only 922 gt unsigned int presents which telegram is used Standard Telegram 81 82 83 and 84 and manufacturer telegram 59000 and 59001 is possible 8 4 2 Parameter 925 read write 925 gt unsigned int maximum allowed MLS Master sign of life error Parameter 925 may be used to set a maximum on how many consecutive Sign of life failures may occur 8 4 3 Parameter 964 read only 964 gt unsigned int 964 0 Manufacturer Id This is set during manufacturing of the encoder 964 1 20 gt DU Drive unit type always set to 0 201 gt Software version 964 4 2805 gt Software day and month 964 5 215 Number of drive objects DO 8 4 4 Parameter 965 read only 965 gt OctetString 2 965 0 0x3D g
6. Tx Transmission data 3 Rx Receiver data 2 Rx Receiver data 4 Note The encoder provides integrated switch functionality between the two M12 connectors used for PROFI NET communication It is important to distinguish between these ports when IRT communication is being used 11 12 PROFINET USER MAN UAL www leinelinde com The M12 connectors used for power supply of the encoder is constituted by a 4 pin male shielded A coded version The correct arrangement of the power supply line is specified as follows Supply i Signal Function Pin e n E Volt Power supply 1 Not connected 2 0 Volt 0 Volt 3 Not connected 4 Note It is not possible to use passive T couplings in a PROFINET network All devices must be connected through active network components 4 3 Connectors and pin configuration for CRG PROFINET gateway The PROFINET data communication is constituted by 4p M12 female D coded connector and the power supply is constituted by a 4pM12 A coded male connector The EnDat encoder interface is constituted by either a 17p female CCW connector or an 8pM12 A coded female connector depending on the model PROFINET and supply connection Supply Port 1 Port e cl Connector 4p M12 4p M12 4p M12 A A i amp type ci E E coded male Function Port 1 Port 2 Supply
7. Used with standard telegram 81 84 and manufacturer telegram 59000 65001 gt unsigned long 65001 0 0x000C0101 gt Header Version of parameter structure and numbers of index describing the encoder 12 index and version 1 01 65001 8 Offset value 65001 9 Singleturn value scaled value 65001 10 Total measuring length scaled value Linear 1 65001 11 Velocity unit 65001 1 Operating status Bit 4 alarm channel control is always set with profile version 4 x 65001 2 Alarm 65001 3 Supported alarms 65001 4 Warning 65001 5 Warnings supported 65001 6 0x00000401 gt Encoder profile version Always set to this value Operating time 0 2 3 4 5 6 65001 7 8 4 17 Parameter 65002 read write Used with telegram 84 65002 gt signed long long Preset value 64 bit 46 PROFINET USER MAN UAL www leinelinde com 8 4 18 Parameter 65003 read only Used with telegram 84 65003 gt unsigned long long 65003 0 0x0000000000040101 gt Header Version of parameter structure and numbers of index describing encoder 4 index and version 1 01 65003 1 Offset value 64 bit 65003 2 Singleturn value 64 bit scaled value 65003 3 total measuring range in measuring units 64 bit scaled value Linear 1 8 5 Example of reading and writing to a parameter This is an example of S7 blocks used for reading and writing to parameter 65000 preset value Experience wi
8. APPLICATION CLASS DEFINITION 29 6 3 STANDARD SIGNALS 30 6 4 STANDARD TELEGRAMS 30 6 5 MANUFACTURER TELEGRAM 59000 33 6 6 MANUFACTURER TELEGRAM 59001 34 6 7 FORMAT OF G1 XIST1 AND G1 XIST2 35 6 8 FORMAT OF G1_XIST3 35 6 9 CONTROL WORD 2 STW2_ENC 35 6 10 STATUS WORD 2 ZSW2_ENC 36 6 11 CONTROL WORD G1_STW 37 6 12 STATUS WORD G1_ZSW 38 6 13 REAL TIME COMMUNICATION 38 7 ALARMS AND WARNINGS 40 7 1 DIAGNOSTICS AND ALARMS 4 7 2 CHANNEL DIAGNOSTICS 4 7 3 SENSOR STATUS WORD 4 Oo OD PROFINET USER MAN UAL www leinelinde com A 8 ACYCLIC PARAMETER DATA 8 1 ACYCLIC DATA EXCHANGE 4 8 2 IDENTIFICATION AND MAINTENANCE I amp M FUNCTIONS 4 8 3 BASE MODE PARAMETER ACCESS 4 8 3 1 General characteristics 4 8 3 2 Parameter requests and responses 4 8 3 4 Changing the preset value 4 8 3 5 Reading the preset value 4 8 4 SUPPORTED PARAMETERS 4 8 4 1 Parameter 922 read only 4 8 4 2 Parameter 925 read write 4 8 4 3 Parameter 964 read only 4 8 4 4 Parameter 965 read only 4 8 4 5 Parameter 971 read write 4 8 4 6 Parameter 974 read only 4 8 4 7 Parameter 975 read only 4 8 4 8 Parameter 979 read only 4 8 4 9 Parameter 980 read only 4 8 4 10 Parameter 61000 read write 4 8 4 11 Parameter 61001 read only 4 8 4 12 Parameter 61002 read only 4 8 4 13 Parameter 61003 read only 4 8 4 15 Parameter 65000 read write 4 8 4 16 Parameter 65001 read only 4 8 4 17 Parameter 65002 read write 4 8 4 18 Parameter 65003
9. Based Control 3 8 SIMATIC PC Station v Support device replacement without exchangeable medium Properties PN IO RO S2 2 General Addresses PROFINET Synchronization Time of Day Synchronization r Interface Type Ethernet Device number 0 Address 192 168 0 1 Networked ves Properties lt ji gt PROFIBUS DP slaves for Re SIMATIC S7 M7 and C7 distributed rack Press F1 to aet Helo cha PROFINET USER MAN UAL www leinelinde com Configure the topology of the system for all connected ports GS HW Config SIMATIC 300 1 Configuration Bil station Edit Insert PLC View Options Window Help DEAR 6 Br cia MO Re A x Ee O a E CPU 315F 2PN DP_ Profile Standard z MDP Il euo _____Ethemet 1 PROFINE T ID System 100 _ SE PROFIBUS DP S PROFIBUS PA m PROFINET IO SIMATIC 300 iH SIMATIC 400 E SIMATIC PC Based Control 3 i SIMATIC PC Station Hep lt m 8 PROFIBUS DP slaves for SIMATIC S7 M7 and C7 distributed rack Slot is occupied module is too wide or the functionality of the inserted module is not transferable to the new module Cha In the properties window select the corresponding partner port Insert indow Help ma E Find RY aay Properties Interface Port 1 P1 Lj nila Profile Standard is General Addresses
10. Compatibility mode definition 55 56 PROFINET USER MAN UAL www leinelinde com 9 7 Preset value The preset value function enables adaptation of the position value from the encoder to a known mechanical reference point of the system The preset function sets the actual position of the encoder to zero default value or to the selected preset value A preset value can be set more than once and it can be stored to the non volatile memory using PROFldrive parameter 971 The preset function has an absolute and a relative operating mode selectable by bit 11 in the Control word G1 STW Bit 11 and bit 12 in the Control word control the preset as follows Normal operating mode Bit 12 0 In this mode the encoder will make no change in the output value Preset mode absolute Bit 11 0 Bit12 1 In this mode the encoder reads the current position value and calculates an internal offset value from the preset value and the current position value The position value is then shifted with the calculated offset value to get a position value equal to the preset value No preset will be made if a negative preset value is used while trying to initiate an absolute preset Preset mode relative Bit 11 1 Bit 12 1 In this mode the position value is shifted by the preset value which could be a negative or a positive value set by encoder parameter 65000 or 65002 The steps below should be followed by the IO controller when modifying the
11. Faulty Mad Module Information Gh ED dode Gtr ime of Di Monitoria ImmWwarer E to Memory Gard 23 24 PROFINET USER MAN UAL www leinelinde com 5 5 sochronous Real Time Settings RT Class 3 This example is intended to illustrate the commissioning of a PROFINET encoder in isochronous operation In the example below a STEP 7 v5 4 SP5 and SIMOTION D435 motion controller is used The basic principal for configuration and parameterization of the encoder is the same as described in chapter 5 2 amp 5 3 To set the IRT settings of a Leine amp Linde encoder double click on the Interface field located under slot 0 sub slot X1 to open the Properties window and follow the instructions below FEIHW Config SIMOTION D Configuration y Bl Station Edit Insert PLC View Options Window Help lal xj DES BS e d n MR N BI x Eind qiia PROFIBUS Integrated DP master system 1 mla Bolle standa o e DP2 MPI JET OP JEZINET CBE30xPNxI0 t PROFIBUS PA ES PROFINET ID Ei Additional Field Devices Eg Encoders LEINE LINDE Profinet Encoders B Multitum 25 Bit V1 0 B EO Multitum 3 Standard Telegram 81 J Standard Telegram 82 IJ Standard Telegram 83 8 Standard Telegram 84 B Singletum 13 Bit V1 0 3 Rsas00 vo 3g Drives Encoders E Gateway vo H Network Components Sensors SIMATIC 300 SIMATIC 400 SIMATIC PC Based
12. PROFINET devices on the net are clock synchronized with the controller using a global control broadcast enabling simultaneous data accusation from all devices with microsecond accuracy The data exchange cycles for IRT are usually in the range of a few hundred microseconds up to a few milliseconds The difference compared to real time communication is essentially the high degree of determinism so that the start of a bus cycle is maintained with high precision The synchronization is monitored by sign of life messages in Control word 2 STW2 ENG and Status word 2 ZSW2_ENC Clock synchronized data transmission e Special switches supporting IRT is needed IRT is required for example motion control applications 39 40 PROFINET USER MAN UAL www leinelinde com 7 Alarms and warnings 7 1 Diagnostics and Alarms Diagnostic data is always transferred acyclically using Record Data communications over the non real time channel An IO Supervisor must specifically request the diagnostic or status data from the IO device using RDO Record Data Object services Alarm data is transmitted from the IO device to the IO controller via the RT channel An alarm is generated by the encoder when a failure occurs that affects the position value Alarms can be reset deleted once all encoder parameters are within the specified value ranges and the position value is correct 7 2 Channel diagnostics The encoder outputs a d
13. Topology Options PROFIBUS DP S82 PROFIBUS PA ce S PROFINET ID m SIMATIC 300 m SIMATIC 400 wl SIMATIC PC Based Control 3 i f SIMATIC PC Station r Port Interconnection Local port Medium Local port Cable name Copper Y p Partners Pattner port SIMATIC 300 1profinetencoder3Port 2 P2 X Alternating partner ports LED EEES 1 2 f Standard Telegram81 Cable Data Cable length C Signal delay time us E LEO d PROFIBUS DP slaves for z SIMATIC 57 M7 and C7 distributed rack Slot is occupied module is too wide or the functionality of the inserted module is not transferable to the new module erg 16 PROFINET USER MANUAL www leinelinde com Then select Edit gt PROFINET IO Topology to open the topology editor EE HW Config SIMATIC 300 1 Configuration Gil station 3339 Insert PLC View Options Window Help Insert Redundant Delete Del Select All Ctr A Go To gt Symbol Master System PROFINET IO Isochronous Mode Object Properties Alt Return ect with Ctr Alt o pen OE Assign Asset ID Start Device Tool Ba PROFINET IO System Order number MPI address Firmware address Ethernet 1 PROFINET IO System 100 Q address 23 B x Eind aj i Profile Standard s PROFIBUS DP PROFIBUS PA PROFINET IO lil SIMAT
14. Value Enable Scaling preset code sequence control enabled 1 Disable Scaling preset code sequence control disabled 0 Class 4 functionality attributes 9 3 G1 XISTI Preset control This parameter controls the effect of a preset on the G1_XIST1 actual value If Class 4 functionality is activated and G1 XIST1 Preset control is disabled the position value in G1 XIST1 will not be affected by a Preset Attribute Meaning Value Enable G1 XIST1 is affected by a Preset command 0 Disable Preset does not affect G1 XIST1 1 G1 XIST1 Preset control attributes Note This parameter is disabled by setting the value to 1 Note There is no functionality of this parameter if the Class 4 functionality parameter is disabled 9 4 Scaling function control This parameter enables or disables the Scaling function of the encoder Attribute Meaning Value Enable Scaling function is enabled 1 Disable Scaling function is disabled 0 Scaling function control attributes Note The parameter Class 4 functionality must be enabled to use this parameter PROFINET USER MANUAL www leinelinde com 9 5 Alarm channel control This parameter enables or disables the encoder specific Alarm channel transferred as Channel Related Diagnosis This functionality is used to limit the amount of data sent in isochronous mode If the value is zero default value only the communication rela
15. Windows Internet Explorer provided by JHCN f efx Go X E http 192 168 0 5 upgrade rpm MT s x Live Search o fz File Edit view Favorites Tools Help k dr Orhttpi192 168 0 5fuporede rpm fh z z E Page F Tools Ma Device is upgrading Do not power off Server 192 168 0 10 Filename leine_linde_hdr_csum bin PROGRESS Downloading Firmware File From Server Verifying File Erasing Memory Writing File To Memory Ready SUCCESS status 0 The device will now reboot itself Waiting for http ff1g2 During the upgrade both the bus status LED and the device status LED will be flashing green If an error occurs both LEDS will be flashing red If the upgrade fails check the error code displayed on the progress page The error codes are described in chapter 10 3 12 PROFINET USER MAN UAL www leinelinde com 10 2 Error handling This chapter lists all the possible error codes that can occur during an upgrade error The error code will be visible on the feedback webpage If an error occurs the device will not reboot itself automatically Instead it will wait for user action This is to allow the user to take the next step E g the user might want to check some parameters before rebooting or try running the upgrade procedure again Failed to download firmware file from server Error code 2 The user should verify the IP address and the image fil
16. accordance with IEC 11801 The entire transmission path has to meet the requirements of Class D in accordance with IEC 11801 Furthermore PROFINET cables must have a cable cross section of AWG 22 in order to enable even complex cabling structures through minimum damping For this reason the specification of the PROFINET cables supports a modular setup which ensures an IEC 11801 compliant structure in adherence to simple installation rules Transmission channel lengths are determined by the type of cable being used The choice of cable shall be such that a transmission channel length of 100 meters is achieved between two active network devices The use of a high number of plug connections has a negative effect on attenuation and reflection and consequently reduces the transmission channel length A maximum of three interconnections can be inserted between two active devices without reduction of the permissible transmission lengths of 100 meters 4 2 Connectors and pin configuration for absolute encoder A major criterion for use in industry is the handling of local connection systems Connectors for M12 are available for this purpose M12 connectors are used for PROFINET data communication of the encoder constituted by a 4 pin female shielded D coded version The correct arrangement of the bus connectors is specified as follows Port 1 l Signal Function Pin Port 2 N n Tx Transmission data 1
17. address is LEINE E LIND Fax 46 15226505 info leindinde com always printed on the encoder label for commission ing purposes See picture Left Hand M12 con Seen from backcover side v o o E E DE o c S o 2 o hd o ra PORT1 Center M12 con PORT2 4 6 LED indication The following table defines diagnostic indications shown by the encoders two bi colored LEDs Encoder models ISA IHA 647 648 are not equipped with LEDS Therefore the LED indication table below is not applicable for these models Bus Module Meaning Cause Off Off No Power Red Green No connection to another de Bus disconnected vice Criteria No data exchange Master not available switched off Blinking Green Parameterization fault no Slave not configured yet or wrong red data exchange Criteria Data configuration exchange correct however the Wrong station address assigned encoder did not switch to the Actual configuration of the slave data exchange mode differs from the nominal configura tion Green Red System failure Diagnosis exists slave in data ex change mode Green Green Data exchange and encoder functions properly Blinking Blinking Firmware upgrade in process green green Blinking Blinking Failure during firmware red red upgrade The blinking frequency is 0 5 Hz Minimal indication time is 3 seconds PROFINET USER MANUAL www leinelinde com
18. encoder parameter 65000 can be accessed by the Acyclic Data Exchange service using the Base Mode parameter access local Record Data Object OxBO2E 8 3 1 General characteristics Acyclic parameter can be transmitted 1 single or up to 39 multi in one access A parameter access can be up to 240 bytes long 8 3 2 Parameter requests and responses Request header Request ID DO ID and number of parameters of the access Parameter address One address for each parameter if several parameters are accessed Parameter value If the Request ID is 0x02 change value the value is set in the request and if the Request ID is 0x01 request value the value appears in the reply 41 42 PROFINET USER MANUAL www leinelinde com 8 3 4 Changing the preset value The table below shows the structure of a change value request Write of Preset value parameter 65000 Parameter request Request reference 0x00 Request ID 0x02 0x02 gt Change value 0x01 gt read value DO ID axis 0x01 Drive Object ID No of parameters 0x01 Attribute 0x10 0x10 gt Value No of elements 0x00 Parameter number OxFDE8 Parameter 65000 Sub index 0x0000 Format 0x04 Data type integer 32 Number of values 0x01 8 3 5 Reading the preset value The tables below show the structure of a read value request Read of Preset value parameter 65000 Parameter request
19. l i TX 1 1 e RX 2 2 TX 3 3 y RX 4 4 2 E Volt power 1 7 source A E Volt power 2 Encoder input source B N 0 Volt p 3 0 Volt 4 For a secondary power supply PROFINET USER MANUAL www leinelinde com Supply Port 1 Port 2 EnDat encoder connection Connector type 17p M23 8p M12 A coded i CCW female female 1 e Function Encoder input Encoder input 17p M23 8pM12 M OV sense 4 1 o E Volt sense 1 2 Data 14 3 7 Data inverted 17 4 Q 0 Volt 10 5 Clock inverted 9 6 close TA Clock 8 7 7 E Volt 7 8 Encoder input 17pM23 Note The encoder gateway provides integrated switch functionality between the two M12 connectors used for PROFINET communication It is important to distinguish between these ports when IRT communication is being used Note It is not possible to use passive T coupling in a PROFINET network All devices must be connected through active network components 4 4 Shielding concept of the device Automation systems in an industrial environment are subjected to high levels of electromagnetic disturbance Switching large electrical loads creates high interference levels that can be picked up in various ways by electronic devices with detrimental effects Even under such conditions ele
20. please make sure that you contact your local Leine amp Linde representative 1 1 Applicability of manual This product manual is applicable to Leine amp Linde CRG PROFINET gateways and Leine amp Linde absolute encod ers within the following encoder series RSA 607 ISA 607 ISA 637 ISA 647 RSA 608 ISA 608 ISA 638 ISA 648 RHA 607 IHA 607 IHA 637 IHA 647 RHA 608 IHA 608 IHA 638 IHA 648 Leine amp Linde is a company that often customizes the product to fit individual requirements of our customers Such customized products may therefore not be fully compliant with the descriptions in this product manual Customized encoder devices are indicated by their type label and marked 69X where the 9 digit in the second position indicates that the device has some customized parameters Encoder series with the following name and type plate information may therefore have deviating functional performance RSA 697 ISA 697 RSA 698 ISA 698 RHA 697 IHA 697 RHA 698 IHA 698 If your product is of the type mentioned above contact Leine amp Linde to obtain the product s complete functional description 1 2 About Leine amp Linde For more than 40 years the Swedish based company Leine amp Linde has concentrated on one thing development and manufacturing of advanced encoders that meet the most rigorous demands a user can place on them That is why a wide assortment of incremental and absolute encoders with obvious concentration on robust produ
21. read only 4 8 5 EXAMPLE OF READING AND WRITING TO A PARAMETER 4 8 5 1 Used blocs 4 ES io 00 M Ov Gn iS LL lS OY O O Ui Ui Ul Uil RI A ER OO 0 ED UD 0 CO O NO JO P EB HEE 9 FUNCTIONAL DESCRIPTION OF LEINE amp LINDE ENCODERS 53 9 1 CODE SEQUENCE 53 9 2 CLASS 4 FUNCTIONALITY 54 9 3 G1 XIST1 PRESET CONTROL 54 9 4 SCALING FUNCTION CONTROL 54 9 5 ALARM CHANNEL CONTROL 55 9 6 COMPATIBILITY MODE 55 9 7 PRESET VALUE 56 9 8 SCALING FUNCTION PARAMETERS 57 9 8 1 Measuring units per revolution 57 9 8 2 Total measuring range 57 9 9 MAXIMUM MASTER SIGN OF LIFE FAILURES 59 9 10 VELOCITY MEASURING UNITS 60 9 11 ENCODER PROFILE VERSION 61 9 12 OPERATING TIME 61 9 13 OFFSET VALUE 61 9 14 ACYCLIC DATA 62 9 14 1 PROFIdrive parameters 62 9 14 2 Encoder parameter numbers 63 9 14 3 Parameter 65000 and 65002 Preset value 63 9 14 4 Parameter 65001 Operating status parameter structure 64 9 14 5 Encoder specific parameter 65003 Operating status 64 bit structure 65 9 14 6 I amp M functions 66 PROFINET USER MANUAL www leinelinde com 10 FIRMWARE UPGRADE 67 10 1 FIRMWARE UPGRADE IN A PROFINET NETWORK 67 10 2 ERROR HANDLING 72 10 3 TFTP SERVER INSTALLATION 73 11 ENCODER REPLACEMENT USING LINK LAYER DISCOVERY PROTOCOL LLDP 75
22. scaled total range For the position value G1_XIST 1 the device will continue to output a scaled position value within the encoder s total measuring range up to 33 554 432 positions for a 25 bit encoder PROFINET USER MAN UAL www leinelinde com Example of non cyclic scaling with G1_XIST 1 Preset control disabled Measuring units per revolution 100 Total measuring range 5 000 number of revolutions 50 Position Encoder total measuring range M re EE INT E EE gt Gl XISTI Scaled P d total range d o 5 000 G1 XIST2 l l l 0 0 MAX Measuring range Non cyclic scaling with G1_XIST 1 Preset control disabled Handling 64 bit data Siemens hardware configuration tool does not support 64 bit data type so when writing larger numbers than 32 bit into the configuration tool this needs to be done according to below Example Total measuring range in measuring units 2 MSB LSB 2 68719476736 Ox 00 00 00 10 00 00 00 00 4 byte 32bit 4byte 32 bit Take the 4 least significant bytes above and convert to decimal gt 0x00 00 00 00 0 Total measuring range LSB Then take the 4 most significant bytes above and convert to decimal gt 0x00 00 00 10 16 Total measuring range MSB In the configuration software enter the decimal values Total measuring range LSB 0 Total measuring range MSB 16 9 9 Maximum Master Sign Of Life failures With this parameter the number of allowed
23. server installation The TFTP server used in this example is a freeware TFTP server for Windows NT XP Vista platforms and can be downloaded from www solarwinds com Unzip the installation file and double click on the SolarWinds TFTP Server exe file to start the installation Follow the instructions on the screen to complete the installation Create a folder on C named TFTP_Root if it not already exists Copy or Move the new firmware file used to the C TFTP_Root directory Start the SolarWinds TFTP server and click on the File gt Configure tab to open up the Configure window t SolarWinds TFTP Server ER GIET Tools Help Clear Log zement Made Easy amp Affordable lt EP Exit rus rocks Meridian Technologies Inc 2 FOR 30 DAYS CATFTP root 192 168 0 10 TFTP Server service status Started 73 74 PROFINET USER MAN UAL www leinelinde com In the Configure window e Make sure that the correct network interface is selected in the Used NIC selection menu Le it is the network interface which is connected to the encoder network e Setup the path to the TFTP root directory Le the TFTP Root directory created under C e Leave the other parameters with their default values e Click Start to start the TFTP server service in Windows SolarWinds TFTP Server i Security TFTP Server service status Started Tray Icon v Add TFTP Server to Windows System Tray Storage T
24. telegrams When using standard telegram 81 83 the acyclic encoder parameter 65000 Preset value 32 bit should be used to set a preset value lt 32 bit for the encoder If the acyclic encoder parameter 65002 Preset value 64 bit is used in this case an error message will be returned With telegram 81 83 the operating status must be read by encoder parameter 65001 Operating status 32 bit With telegram 84 the acyclic encoder parameter 65002 Preset value 64 bit should be used to set a preset value lt 64 bit for the encoder If the acyclic encoder parameter 65000 Preset value 32 bit is used in this case an er ror message will be returned With telegram 84 the operating status must be read by encoder parameter 65003 Operating status 64 bit 12 3 2 Absolute preset with negative value Preset data sent with acyclic encoder parameter 65000 or 65002 are signed values The relative preset mode uses signed preset values but with the absolute preset mode no preset will be made if a negative preset value set with encoder parameter 65000 or 65002 is used while trying to initiate an absolute preset 81 82 PROFINET USER MAN UAL www leinelinde com 12 4 Error state This state is reached when an error has occurred The encoder can enter this state from both the normal operation state and the set shift home position state If an error occurs the Status word bit 15 Sensor error is set and the err
25. the encoder The scaling parameters will only be activated if the parameter Class 4 functionality and Scaling function control are enabled The permissible value range for the scaling is limited by the resolution of the encoder The scaling parameters are securely stored in the IO controller and are reloaded into the encoder at each power up 9 8 1 Measuring units per revolution This parameter sets the singleturn resolution of the encoder In other words it is the number of different meas uring steps during one revolution of the encoder Example For a 13 bit encoder with a singleturn resolution of 13 bits the permissible value range for Measuring units per revolution is between 2 and 2 8192 Parameter Meaning Data type Measuring units per The singleturn resolution in measuring steps Unsigned 32 revolution Measuring units per The singleturn resolution in measuring steps for en Unsigned 64 revolution 64 bit coders with a resolution exceeding 32 bits Singleturn scaling parameters Note After downloading new scaling parameters the preset function must be used to set the encoder starting point to absolute position 0 or to any required starting position within the scaled operating range 9 8 2 Total measuring range This parameter sets the total measuring range of the encoder The total measuring range is calculated by multiplying the singleturn resolution with the number of distinguishable revo
26. velocity value the maximum permissible rotational shaft speed for single turn encoders used in IRT mode is limited to the values shown in the table below Bus cycle time Max permitted rotational shaft speed 1ms 12000 rpm 2ms 12000 rpm 3ms 8000 rpm 4 ms 6000 rpm The velocity calculations are made with a maximum of 19 bits resolution If the resolution is higher than 2 the value used for velocity calculations is automatically reduced to 2 60 PROFINET USER MAN UAL www leinelinde com Example For a 37 bit multiturn encoder with a 2 singleturn resolution and a 2 multiturn resolution the maximum singleturn value for velocity calculations will be 2 For a singleturn encoder the maximum resolution can be up to 31 bit but the value used for velocity calculations will in this case also be 2 Note In case of the steps s unit an average is made over 200 ms and the value is multiplied by 5 Note If scaling has been set on the device the velocity calculation is based on the scaled position value Consequently the accuracy of the velocity value is dependent of the scaling set to the device 9 11 Encoder profile version The encoder Profile Version is the version of the encoder profile document implemented in the encoder This parameter is not affected by the Compatibility mode settings Bits Meaning 0 7 Profile Version least significant number value range
27. 0 99 decimal coding 8 15 Profile Version most significant number value range 0 99 decimal coding 16 31 Reserved Encoder profile version Parameter 9 12 Operating time The operating time monitor stores the operating time for the device in operating hours The operating time is saved every six minutes in the non volatile memory in the device This happens as long as the device is powered on If the operating time function is not used the operating time value is set to the maximum value OxFFFF FFFF Parameter Meaning Data type Operating time The accumulated power on time Unsigned 32 Operating time parameter 9 13 Offset value The offset value is calculated in the preset function and shifts the position value with the calculated value The offset value is stored in a non volatile memory and can be read from the encoder at any time The data type for the offset value is a 32 bit or 64 bit binary value with sign whereby the offset value range is equal to the measuring range of the device The preset function is used after the scaling function This means that the offset value is indicated according to the scaled resolution of the device 61 62 PROFINET USER MANUAL www leinelinde com Parameter Meaning Data type Offset value The offset value for encoders with a measuring range Integer 32 of maximum 32 bits Of
28. 0 Rotary encoder Bit 0 1 linear encoder Bit 1 O always set to 0 Bit2 0 gt 32 bit data Bit2 1 gt 64 bit data 979 2 8192 gt Encoder scaled resolution 979 3 20 gt Shift factor for G1 XIST1 Always set to 0 979 4 20 gt Shift factor for G1 XIST2 Always set to 0 979 5 1 or 4096 gt Singleturn 1 Multiturn 4096 979 6 0 979 7 2 0 979 8 20 979 9 2 0 979 10 2 0 8 4 9 Parameter 980 read only This parameter shows the supported parameters 980 gt unsigned int 980 0 922 980 8 61000 980 16 65003 980 1 925 980 9 61001 980 17 0 980 2 964 980 10 61002 980 3 965 980 11 61003 980 4 971 980 12 61004 980 5 974 980 13 65000 980 6 975 980 14 65001 980 7 979 980 15 65002 8 4 10 Parameter 61000 read write Name of station 61000 gt OctetString 240 octets PROFINET USER MAN UAL www leinelinde com 8 4 11 Parameter 61001 read only IP of station 61001 gt unsigned long 8 4 12 Parameter 61002 read only MAC of station 61002 gt OctetString 6 octets 8 4 13 Parameter 61003 read only Default gateway of station 61003 gt unsigned long 8 4 14 Parameter 61004 read only Subnet mask of station 61004 gt unsigned long 8 4 15 Parameter 65000 read write Used with standard telegram 81 83 and manufacturer telegram 59000 65000 gt signed long preset value 32 bit 8 4 16 Parameter 65001 read only
29. 2 ENC G1 ZSW G1 XIST3 G1 X ST2 NIST_B Input data to IO controller PROFINET USER MAN UAL www leinelinde com Note In standard telegram 84 G1_XIST2 is used to transfer error codes and optionally position values if the measuring length exceeds 64 bits 6 5 Manufacturer telegram 59000 Manufacturer telegram 59000 is only supported by the encoder gateway Telegram 59000 is similar to standard telegram 83 but with an added 32 bit acceleration value Telegram 59000 uses 4 bytes for output data and 20 bytes of input data Output data to the IO controller STW2_ENC Control word 2 16 bit G1 STW Control word 16 bit Byte 0 1 2 3 Set point Control word 2 STW2 ENC Control word G1 STW Output data from IO controller to encoder The manufacturer telegram 59000 input data consist of a position values velocity value and acceleration ac cording to below The velocity value uses the format that is defined in the parameter Velocity measuring unit and is presented in hundredths of rpm Two velocity data types can be used unsigned 32 bit with direction shown in the MSB set when negative direction or signed 32 bit The acceleration value is presented in tenths of rpm s It means that the NIST B value will be presented as 1000 rpm if the actual shaft speed is only 10 rpm and that the ACC B value will be presented as 10 rpm s if the actual acceleration is 1 rpm s The veloc
30. 2 The number of permissible failures the controller s sign of life was exceeded PROFINET USER MAN UAL www leinelinde com 8 Acyclic Parameter Data 8 1 Acyclic data exchange In addition to the cyclic data exchange the PROFINET encoder also supports acyclic data exchange The acyclic data exchange is transferred over the non real time channel and is used to read out and write status information from and to the IO device The acyclic data exchange is conducted in parallel to the cyclic data communication Example of acyclic data e Reading of diagnostic e Reading of I amp M functions e Reading of PROFIdrive parameters 8 2 Identification and Maintenance I amp M functions Encoders according to the encoder profile 3 162 also support I amp M functionality The main purpose of I amp M functions is to support the end user if the device is acting faulty or missing some of its functionality I amp M functions could be seen as an electronic nameplate containing common information regarding the device and its manufacturer According to the PROFINET specification all IO devices must at least support the following I amp M functions Order ID MAC address Hardware Version Software Version Product type Manufacturer ID For more information regarding additional I amp M functions supported by Leine amp Linde encoders refer to chapter 9 14 6 8 3 Base Mode Parameter access The PROFIdrive parameters and the
31. 32 bits Format definition for G1 XIST3 e Binary format e The actual position value is always right aligned a shifting factor is not used e The settings in the encoder parameter data affect the position value in G1 XIST3 if Class 4 is enabled IO Data word 1 2 3 4 Format 64 bit position value 6 9 Control word 2 STW2_ENC The control word 2 STW2_ENC is referred to as the master sign of life and it includes the fault buffer handling and Control by PLC mechanism from PROFIdrive STW1 and the Controller Sign Of Life mechanism from PROFIdrive STW2 35 PROFINET USER MAN UAL www leinelinde com Bit Function 0 6 Reserved 7 Fault Acknowledge 8 9 Reserved 10 Control by PLC 11 Reserved 12 15 Controller Sign Of Life STW2 ENC definition and implementation requirements Bit Value Significance Comments 7 1 Fault Acknowledge 0 21 The fault signal is acknowledged with a positive edge The encoder reaction to a fault depends on the type of fault 0 No significance 10 1 Control by PLC Control via interface EO IO Data is valid 0 No Control by PLC EO IO Data not valid except Sign Of Life 12 15 Controller Sign Of Life Detailed assignment of the encoder control word 2 STW2_ENC 6 10 Status word 2 ZSW2_ENC The status word 2 ZSW2_ENC is referred to as the slave s sign of life an
32. 4 x If using encoders complying with encoder profile v4 1 then bit 10 Control by PLC in Control word 2 needs to be set before the data in Control word is valid If not set Control word is not used by the encoder firmware 12 1 2 Profile Version 3 x If using encoders complying with encoder profile 3 x the data in Control word is always valid and bit 9 Control requested in Status word 2 is always cleared 12 1 3 Profile Version 3 x and 4 x When using telegram 81 83 and Control word bit 13 Request absolute value cyclically is set then Status word bit 13 Transmit absolute value cyclically is set Status word bit 13 is cleared bit 13 0 when Control word bit 13 is cleared Status word bit 13 is always cleared when using telegram 84 due to the fact that no absolute value is sent in G1_XIST2 12 2 Parking state This state can be reached from any other state The position value in G1 XIST1 G1 XIST2 and G1 XIST3 are set to zero Errors are cleared and alarms are disabled in parking mode 12 3 Set shift home position Preset The Set shift home position is initiated when Control word bit 12 Request set shift of home position is set In this case the Status word bit 12 Set shift of home position executed is set to 1 In order to initiate a set shift home position Class 4 functionality must be enabled see chapter 9 2 otherwise there will be an error in G1_XIST2 12 3 1 Preset depending on different
33. Control 300 400 H SIMATIC PC Station SIMOTION Drive based NG Press F1 to get Help cho 7 N 1 ProfinetxEncodervi PROFINET USER MAN UAL www leinelinde com Under the Synchronization tab change the value for the Parameter RT Class to IRT and the IRT option parameter to High Performance according to the picture below Properties Interface X1 E amp y Configuration I Synchronization role 8 Name of sync domain RT class Under the Application tab check the box for Operate IO device application in isochronous mode Propertie S Interface X1 25 26 PROFINET USER MANUAL Under the IO Cycle tab change the Update Time Mode to fixed factor Properties Interface X1 Before the encoder can operate in IRT mode it is necessary to set from which port of the encoder the connection to the network has been made To set the topology double click on the port from which the encoder is connected to the network This is either slot 0 sub slot P1 or slot 0 sub slot P2 In the example below Port 1 is used on the encoder For port description of the encoder refer to chapter 4 Mechanical installation i HW Config SIMOTION Configuration li EC lj gwemum 0 Ld Axamserdeces mor d Standard Telegrams Jo mlo sl PROFIBUS DP PROFIBUS PA LE
34. EC which allows for only a limited time for execution of real time services within a bus cycle The RT communication represents the basis for the data exchange for PROFINET IO and real time data are always treated with a higher priority than TCP UDP IP data 1 6 Encoder Profiles Profiles are pre defined configurations of the functions and features available from PROFINET for use in specific devices or applications such as encoders They are specified by PI PROFIBUS amp PROFINET International working groups and are published by PI Profiles are important for openness interoperability and interchangeability so that the end user can be sure that similar equipment from different vendors perform in a standardized way Leine amp Linde complies with the definitions in the encoder profile 3 162 version 4 1 The encoder device profile describing encoder functionality and additional information about PROFINET can be ordered from PROFIBUS User Organization PNO or directly from Leine amp Linde AB PROFINET is generally defined by PROFIBUS amp PROFINET International PI and is backed by the INTERBUS Club Since 2003 it has been part of the IEC 61158 and IEC 61784 standards PROFIBUS User Organization Haid und Neu Strafse 7 DE 76131 Karlsruhe Germany Tel 49 0 721 96 58 590 Fax 49 0 721 96 58 589 Web www profibus com PROFINET USER MAN UAL www leinelinde com 2 Declaration of conformiti
35. FTP Server Root Directory CATFTP root C Rename existing files on conflict Used NIC 192 168 0 10 Note The server will listen to port 69 Verify that there is no firewall blocking the port for incoming outgoing requests Temporarily disable any firewall if experiencing communication problems PROFINET USER MAN UAL www leinelinde com 11 Encoder replacement using Link Layer Discovery Protocol LLDP The encoder supports Link Layer Discovery Protocol LLDP LLDP is essentially a neighbor discovery protocol used by network devices for advertising their identity capabilities and interconnections In a PROFINET network all IO devices are recognized by their device name Sometimes an IO device needs to be replaced in an automation system and this is when LLDP is useful Using LLDP the neighbor relations between the individual IO device and the IO controller are analyzed and stored on the IO controller If an IO device has been replaced the IO controller will recognize this and will redefine the device name Follow the instruction below to exchange an IO device using LLDP Select the properties of the PN IO controllers interface module and enable Support device replacement without exchangeable medium xmo Eind aa Profile Standard sd V PROFIBUS DP 82 PROFIBUS PA E PROFINET ID Short description PN IO mj SIMATIC 300 iz SIMATIC 400 Device name PN IO SIMATIC PC
36. GSDML file is only supported for compatibility reasons and should not be used by new users Available GSDML file for encoder gateway Note CRG PROFINET GSDML V2 2 LL PROFINET GATEWAY xxxxxxxx xml This GSDML file requires SIMATIC STEP 7 V5 4 SP5 or later or SIMOTION SCOUT V4 1 5 6 or later 15 PROFINET USER MAN UAL www leinelinde com Installation of GSDML files in SIMATIC MANAGER HW Config SIMATIC 300 1 Configuration Bf Station Edit Insert PLC View Options Window Help Dg 9 Wm e rm EHE Specify Module Configure Network Symbol Table Ctrl Alt T Report System Error Edit Catalog Profile Update Catalog Find in Service amp Support Greate GED file For I Device 1 Select Options gt Install GSD File and click the Browse button to navigate to the location of the GSD file If a bitmap picture representing the encoder is requested make sure that the bitmap file is located in the same folder as the GSDML file A bitmap file is included in the zip file downloadable from www leinelinde com 2 Select the GSD file and click the Install button to start installing the selected GSD file 5 2 Setting the encoder configuration Once the GSD file has been installed the encoder type can be found in the SIMATIC MANAGER gt HW Config under PROFINET IO gt Additional Field Devices gt Encoders gt LEINE LINDE PROFINET Enco
37. IC 300 mH SIMATIC 400 mH SIMATIC PC Based Control 3 SIMATIC PC Station Comment Edit topology of the current subnet Table view Graphic view Offline online comparison Interconnection table Show station name Port Status a E tis A PROFIBUS DP slaves for x SIMATIC 57 M7 and C7 distributed rack vi Chg Partner port Filter Show all ports Cable data Offline Cable data Online Link pow Comment SIMATIC 300 1 E Port 1 x2 P1 E Port 2 x2 P2 Port 1 P1 Port 2 P2 Port 1 P4 Port 2 P2 Port 4 P1 Port 2 P2 profinetencoder3 X Port 1 P1 profinetencoder2 Port 2 P2 profinetencoder3 X Port 2 P2 profinetencoder1 X Port 1 P1 SIMATIC 300 1 PN IO CPU 315F 2PN DP Port 1 X2 profinetencoder2 Port 1 P1 20m 01245 10m 0 03 us 20m 01245 15m 0 08 us 20m 0 120 Sm 0 02 us 20m 0 120s 15m 0 08 uis 20m 0 1205 10m 0 03 us 20m 01245 Sm 0 02 ps Jnit of Meter v enti TI PROFINET USER MAN UAL www leinelinde com Verify that the offline topology matches the online topology Once the above has been verified it is possible to replace any IO device if the ports are reconnected in the same way and the new device is set to factory reset To manually perform a factory reset for the encoder follow the steps below Select PLC gt Eth
38. INE LINDE Profinet Encoders 7 8 Mulitum 25 Bit V1 0 EO Mulitum f Standard Telegram 81 J Standard Telegram 82 E Standard Telegram 83 Standard Telegram 84 Network Components Sensors E SIMATIC 300 SIMATIC 400 SIMATIC PC Based Control 300 400 SIMATIC PC Station SIMOTION Drive based www leinelinde com PROFINET USER MANUAL www leinelinde com Under the Topology tab change the Partner port to the port used by your IO controller Properties Interface Port 1 P1 SIMOTION D CBE3 xPNxIO D435 Port 2 1400 P2 Altemating partner ports 27 28 PROFINET US ER MAN UAL www leinelinde com Once the above steps have been performed it is recommended that you verify the setting for the encoder and the IO controller is correct This is done by opening the Domain management Window found under Edit gt PROFINET IO Verify that the RT Class is set to IRT and that the IRT option is set to High performance Domain management Ethernet X i OTION D CBE30xPNxI0 IMOTION D ProfinetsEncoderv Sync slave The encoder is now prepared for operating in IRT mode PROFINET USER MAN UAL www leinelinde com 6 PROFINET IO data description 6 1 Encoder Profile overview PNO order no 3 162 This manual relates to encoders that fulfill the demands and functionality according to encoder profile V4 1 PNO no 3 162 The operating
39. LEINE amp LINDE PROFINET GATEWAYS amp ENCODERS MANUAL USERS GUIDE Leine amp Linde AB T 46 0 152 265 00 F 46 0 152 265 05 info leinelinde com www leinelinde com Publication date 2014 04 25 LEINE amp LINDE PROFINET USER MANUAL www leinelinde com 1 INTRODUCTION 6 1 1 APPLICABILITY OF MANUAL 6 1 2 ABOUT LEINE amp LINDE 6 1 3 ABOUT ABSOLUTE ENCODERS 7 1 4 ABOUT ENCODER GATEWAY 7 1 5 ABOUT PROFINET TECHNOLOGY 7 1 6 ENCODER PROFILES 8 2 DECLARATION OF CONFORMITIES 9 3 TECHNICAL AND COMMERCIAL SUPPORT 10 3 1 REFERENCES 10 3 2 ABBREVIATIONS 10 4 INSTALLATION 11 4 1 CABLES AND STANDARDS 11 4 2 CONNECTORS AND PIN CONFIGURATION FOR ABSOLUTE ENCODER 11 4 3 CONNECTORS AND PIN CONFIGURATION FOR CRG PROFINET GATEWAY 12 4 4 SHIELDING CONCEPT OF THE DEVICE 13 4 5 MAC ADDRESS 14 4 6 LED INDICATION 14 5 CONFIGURATION EXAMPLE 15 5 1 DEVICE DESCRIPTION FILE INSTALLATION GSDML 15 5 2 SETTING THE ENCODER CONFIGURATION 16 5 3 SET ENCODER DEVICE NAME 18 5 4 SETTING ENCODER PARAMETERS 24 5 5 ISOCHRONOUS REAL TIME SETTINGS RT CLASS 3 24 6 PROFINET IO DATA DESCRIPTION 29 6 1 ENCODER PROFILE OVERVIEW PNO ORDER NO 3 162 29 6 2
40. OFIBUS PA SM PROFINET IO Gy Additional Field Devices 5 Encoders gg LEINE UNDE Profinet Encoders c Mun 25 Bi V1 0 e8 OM If Standard Telegram 82 Standard Telegram 83 Standard Telegram 84 pe V1U Press F1 to get Help I fe 4 The Standard Telegram 81 will appear on slot 1 sub slot 2 Please note that the steps described above need to be performed for each connected device 17 18 PROFINET US ER MAN UAL www leinelinde com 5 3 Set encoder device name In a PROFINET network all IO devices need to have a unique device name Leine amp Linde s PROFINET encoders are delivered without any device name preset from the factory To set the encoder device name double click on the encoder icon to open the Properties window Ethernet 1 PROFINET IO System 100 ro 1 Profinet In the Properties dialog window enter an appropriate device name in the Device name field Properties MyEncoder ease Number Iv al ha x Senet Helo Make sure that the checkbox Assign IP address via IO controller is checked if the IP address for the encoder should be assigned via the IO controller Then select PLC gt Ethernet gt Assign Device Name to open the Assign device name window PROFINET USER MAN UAL www leinelinde com HW Config SIMATIC 300 1 Configuration Download Moduli Upload Module To Faulty Modules lime af Days Mo
41. OFINET IO module or sub module PAP module address 2039 INDEX INPUT INT Record number MLEN INPUT INT Maximum length of the record information in bytes VALID OUTPUT BOOL New record has been received and is valid BUSY OUTPUT BOOL Busy 1 during the read operation ERROR OUTPUT BOOL Error 1 read error STATUS OUTPUT DWORD Block status or error code LEN OUTPUT INT Length of record information RECORD IN_OUT ANY Target area for the record Negative values are interpreted as 1 Parameters of SFB53 6 bit unsigned integers Parameter Declaration Data type Description REQ INPUT BOOL REQ 1 Enables data transfer ID INPUT DWORD Logical address of the PROFINET IO module or sub module PAP module address 2039 INDEX INPUT INT Record number LEN INPUT INT Length of the record information in bytes DONE OUTPUT BOOL Data record was transferred BUSY OUTPUT BOOL Busy 1 during the write operation ERROR OUTPUT BOOL Error 1 write error STATUS OUTPUT DWORD Block status or error code RECORD IN_OUT ANY Data record Negative values are interpreted as 1 6 bit unsigned integers PROFINET USER MANUAL www leinelinde com Diagnostic address of slot 1 al Station Edit Insert PLC View Options Window Help DELE KS BE de in OR RM CPU 315F 2PN DP Profinet PROFINET IO System 100 al Profinet 4a gt 1 Profi
42. P IP and IT standards and is in effect real time Ethernet The PROFINET concept features a modular structure so that users can select the cascading functions themselves They differ essentially because of the type of data exchange in order to fulfill the very high speed requirements In conjunction with PROFINET the two perspectives PROFINET CBA and PROFINET IO exist PROFINET CBA is suitable for the component based communication via TCP IP and the real time communication for real time requirements in modular systems engineering Both communication options can be used in parallel PROFINET IO was developed for real time RT and isochronous real time IRT communication with the decentralized periphery The designations RT and IRT merely describe the real time properties for the communication within PROFINET IO To achieve these functions three different protocol levels are defined e TCP IP for PROFINET CBA and the commissioning of a plant with reaction times in the range of 100ms e RT Real Time protocol for PROFINET CBA and PROFINET IO applications up to 1 ms cycle times RT Isochronous Real Time for PROFINET IO applications in drive systems with cycle times of less than 1ms PROFINET USER MAN UAL www leinelinde com Interfacing the peripherals devices such as encoders is performed through PROFINET IO Its basis is a cascading real time concept PROFINET IO defines the entire data exchange between controllers devices
43. Preset value parameters 1 Read the requested Preset value parameter and check if the returned value meets the application requirements If not proceed with the following steps 2 Write the Preset value into the individual parameter 3 Store the value in the non volatile memory by PROFIdrive parameter 971 if the value should also be valid after the next power on sequence Parameter Meaning Data type Preset value The preset value for encoders with a measuring range of Integer 32 maximum 32 bits Preset value 64 bit The preset value for encoders with a measuring range Integer 64 exceeding 32 bits Preset value parameters Note The preset function should only be used at encoder standstill Note The number of possible preset cycles is unlimited Note If scaling is used the preset function should be used after the scaling function to ensure that the preset value is entered in the current measuring unit Note There is no preset activated when the Preset value is written to the encoder The preset function is controlled by bits in the control and status words G1 STW and G1 ZSW and bit in the operating parameters The preset value is used when a preset is requested by bit 12 in the Control word G1 STW PROFINET USER MAN UAL www leinelinde com 9 8 Scaling function parameters The scaling function converts the encoder s physical absolute position value by means of software in order to change the resolution of
44. by entering the value in the modify value column Ex DW 16 000001F4 4 Click the button Modify variable The status value of DB1 DBB 12 should now contain the new value 5 Run the program right click on M8 4 and click Modify address to 1 to run the program Then stop the program by right click and click Modify address to 0 6 The status value of DB2 DBD 6 should now have changed to the new preset value 7 Change the value in DB1 DBB 1 to O1hex B 16 01 and click modify variable 8 To set the encoder to the new preset value bit 12 in control word must be set to 1 This is done by writing 1000hex W 16 1000 to address PQW 2 Then Click the button Modify variable to make the preset of the encoder 9 The encoder can now at anytime be set to the preset value by setting bit 12 in control word PROFINET USER MAN UAL www leinelinde com 9 Functional description of Leine amp Linde devices This chapter describes the functions that have been implemented in PROFINET devices from Leine amp Linde The table below shows the supported functions in a Leine amp Linde PROFINET device Function Code sequence Class 4 functionality G1_XIST1 Preset control Scaling function control Alarm channel control Compatibility mode Preset value Preset value 64 bit Measuring units per revolution Measuring step Total measuring range Measuring units per revoluti
45. ctrical components within an automation system must still guarantee a continuous uninterrupted function The electromagnetic compatibility EMC of the entire plant must be ensured by using suitably designed com ponents and assembling them correctly to create the system Data cabling is considered a passive system and cannot be tested for EMC compliance individually Nevertheless cabling and connection elements for PROFINET support compliance with device requirements by providing a high quality comprehensive shielding concept To achieve the highest possible noise immunity and resistance against other EMC related disturbances the bus and power supply cables must always be shielded The screen should be connected to ground on both ends of the cable In certain cases compensation current might flow over the screen 13 14 PROFINET USER MAN UAL www leinelinde com 4 5 MAC address To make the device unique it is given an ID i e the MAC address which is a string loaded in the device Encoder RSA 608 The MAC address is constituted by a 6 byte Ethernet Part no 661469 01 fe Beate Ser no 12345678 address for each individual station and is unique worldwide A MAC ID consists of two parts the first 3 bytes represents the manufacturer specific ID and the last 3 bytes represents a consecutive number For the YT na one www leinelinde com encoder and the encoder gateway the MAC
46. cts and quality down to the last detail can be offered Leine amp Lindes encoders provide the utmost in reliability year after year in working conditions where vibration dirt cold and other harsh environments are common Leine amp Linde can meet very specific individual demands Due to a modular design in the collection the encoders are easily adapted exactly to the customer s needs with respect to resolution electrical connections and inter faces voltage casings etc That is due to the fact that tomorrow s technology is already being used today in Leine amp Linde products Leine amp Linde concentrates on advanced development of intelligent encoders with inte grated ASICs new special features and with adaptations to different field bus systems This enables us to meet the need for increasingly effective and dependable machines and automation to an even higher degree PROFINET USER MAN UAL www leinelinde com 1 3 About absolute encoders With an absolute encoder each angular position is assigned a coded position value This is generated by a code disc equipped with several parallel fine graduations tracks which are scanned individually On single turn encod ers i e an encoder producing absolute positions within one revolution the absolute position information repeats itself with every revolution So called multiturn encoders can also distinguish between revolutions The numbers of unique revolutions is determined by t
47. d it includes the fault buffer handling and Control by PLC mechanism from PROFIdrive ZSW1 and the Slave Sign Of Life mechanism from PROFIdrive ZSW2 Bit Function 0 2 Reserved 3 Fault Present No Fault 4 8 Reserved 9 Control requested 10 11 Reserved 12 15 Encoder Sign Of Life ZSW2 ENC definition and implementation requirements PROFINET USER MANUAL www leinelinde com Bit Value Significance Comments 3 1 Fault Present Unacknowledged faults or currently not acknowledged faults fault messages are present in the buffer The fault reaction is fault specific and device specific The acknowledgement of a fault may only be successful if the fault cause has disappeared or has been removed before If the fault has been removed the encoder returns to operation The related fault numbers are in the fault buffer 0 No Fault 9 1 Control requested The automation system is requested to assume control 0 No Control requested Control by automation system is not possible only possible at the device or through another interface 12 215 Encoder Sign Of Life 6 11 Control word G1 STW Detailed assignment of the encoder status word 2 ZSW2_ENC The control word controls the functionality of major encoder functions Bit Function 047 Function requests Reference mark search measurement on the fly 8 10 Reserved
48. ders Select either multiturn 25 bit or singleturn 13 bit encoder depending on the type of encoder to be configured Drag and drop the encoder onto the PROFINET IO system as shown in the picture below In the example below one 25 bit multiturn encoder was chosen If more than one encoder is connected and is to be configured then the following steps need to be performed once for each connected device SEP onfig SIMATIC 300 1 Configuration Mi By Station Edt inset PLC View Options Window Help GERS vc dada OO RM 1 2 x 2 APT 3 4 5 6 7 8 a SIMATIC 300 m SIMATIC 400 SIMATIC PC Based Control 300 400 s d SIMATIC PC Station amp SIMOTION Divebased E IB swane soom PROFINET USER MAN UAL www leinelinde com When correctly done the encoder will appear on the PROFINET IO system as shown in the picture below The next step is to choose the data length and the type of data that is to be sent to and from the controller This is done by choosing different telegrams Available telegrams for the multiturn 25 bit encoder can be found under Multiturn 25 Bit gt EO Multiturn In the example below standard telegram 81 which contains 32 bits posi tion values is used Drag and drop the telegram onto slot 1 sub slot 2 as shown in the picture below For more information regarding the different telegrams refer to chapter 6 4 Profile Standard TY PROFIBUS DP Ee PR
49. e confirmation window to reset the encoder to its factory settings Edit Ethernet Node 4502 827 Do you really want to reset the module to its factory settings The module then only reacts over the LAN to the factory set MAC address CE si 80 PROFINET USER MAN UAL www leinelinde com 12 Encoder state Machine Status word 0x4000 E bit 15 1 e Status word 0x8000 Bit 112 1 bit 14 7 Ii Bit 11 1 Ed i 15 1 E Control word bit 14 0 Control word bit m 14 Error Acknowledgement Error Error code in G1 XIST2 Parking m Sonal ud Status word 0x8800 Start up Bl Control word bit 15 0 amp without error Error Status word 0x4000 bit 14 1 Normal operation 7 Control word 2 7 Control word 2 bit 10 1 bit 102 0 Profile 3 x Profile 4 x 5 Status word 2 0x0000 bit 9 0 EJ Status word 2 0x0200 DO Status word 2 0x0000 bit9 1 bit 9 0 Control word bit 13 1 Transmit absolute value cyclically Status word 0x2000 bit 13 1 Set shift home position Preset mode relative Status word 0x1000 bit 12 1 Preset mode absolute my Status word 0x1000 bit 12 1 m Truneion or Jer NR s messe s E PROFINET USER MAN UAL www leinelinde com 12 1 Normal Operation state 12 1 1 Profile Version
50. ease date earlier than 01 01 2010 double click on the field beneath slot 0 according to the picture below to open the Properties window The release date of the GSDML file forms part of the filename of the file For exam ple GSDML V2 2 LL RxA600 20090512 xml was released the 12th May 2009 To set the encoder user parameters using a GSDML file with a release date after 01 01 2010 double click on the Parameter Access point slot 1 1 as shown below to open the Properties window i Hw Config SIMATIC 300 1 Configuration Tobbe Bly Station Edit Insert PLC View Options Window Help Oe S san au Ep 3 LN CPU 315F 2 Ph bma MPDP Profile Standard M Ethemet 1 PROFINET IO System 100 S82 PROFIBUS PA Qaa 1 Encoder ES PROFINET ID s B Additional Field Devices e EE Encoders 2 LEINE LINDE Profinet Encoders Mulitum 25 Bit V1 0 EO Mutitum Standard Telegram 81 IJ Standard Telegram 82 j Standard Telegram 83 ld Standard Telegram 84 u Singletum 13 Bit V1 0 vo Drives Encoders E Gateway a vo Network Components Sensors SIMATIC 300 Ej SIMATIC 400 mH SIMATIC PC Based Control 300 400 Encoder 8 8 SIMATIC PC Station gt 10 Encoder sd SIMOTION Drive based Press F1 to get Help 21 PROFINET U S ER MAN UAL www leinelinde com In the Properties window choose the Parameters tab To set the parameter data change
51. ename If any of these is incorrect the user should go back and submit the correct parameters on the main html page index html If the parameters are correct the user should verify that the TFTP server is running on the host computer and that the TFTP server settings are correct Host not responding No contact with host computer Error code 3 The user should verify that the host computer is connected to the encoder The ping command can be used for this purpose If connected go back to upgrade html and click Confirm to try and upgrade again Checksum Error File image error Error code 4 Calculated checksum does not match the one supplied by the image file The most likely cause for this problem is that there was an error when downloading the file to the encoder Go back to upgrade html and press Confirm to try again Flash Erase Write Error Error code 5 The image might be corrupt Flash Erase or Write failed If this error occurs the device can still start with its failsafe image It will be displayed by the Execution State parameter on the web page File Size Error Error Code 6 The firmware file is too big to be written to flash Insufficient Memory Error Code 7 There is not enough memory available to store the firmware file image Invalid Firmware File Error Code 8 Firmware file is not supported for this hardware PROFINET USER MAN UAL www leinelinde com 10 3 TFTP
52. er shaft the encoder continues from 0 Example of a cyclic scaling Measuring units per revolution 1 000 Total measuring range 32 000 2 number of revolutions 32 Position 32 000 Measuring range Cyclic scaling B NON CYCLIC OPERATION If the desired total measuring range is not equal to the specified single turn resolution 2 where x lt 12 the encoder operates in non cyclic operation The non cyclic operation is affected by the parameter G1_XIST 1 Preset control as described below G1_XIST 1 Preset control Enabled If the position value increases or decreases outside the maximum value or below 0 with the parameter G1_XIST 1 Preset control enabled the device outputs the maximum position value within the scaled total range for both position values G1_XIST 1 and G1_XIST 2 Example of non cyclic scaling with G1_XIST 1 Preset control enabled Measuring units per revolution 100 Total measuring range 5 000 number of revolutions 50 Position i Scaled e 5 000 totalrange G1 XIST 2 G1 XIST 1 0 MAX Measuring range Non cyclic scaling with G1_XIST 1 Preset control enabled G1_XIST 1 Preset control Disabled With the parameter G1_XIST 1 disabled and if the position value increases or decreases outside the maximum value or below 0 the device will output the maximum position value within the scaled total range for the position value G1_XIST 2 The position value G1_XIST 1 is not limited to the
53. erent communication channels to exchange data with programmable controllers and other devices The non real time channel based on for example TCP UDP IP is used for parameterization configuration and acyclic read write operations The RT or Real Time channel is used for process data transfer and alarms Real time data are treated with a higher priority than data sent over the open channel RT communications overrides the open channel to handle the data exchange with programmable Controllers The third channel Isochronous Real Time IRT is the high performance high speed channel used for demanding motion Control applications IRT data are treated with a higher priority than RT data sent over the RT channel HTTP Standard data Real Time data er EE Real Time PROFINET USER MANUAL www leinelinde com PROFINET distinguishes between three real time classes for transmission of time critical process data The three RT classes are REAL TIME RT CLASS 1 Unsynchronized Real time communication Industrial standard switches can be used Typical application area Factory automation REAL TIME RT CLASS 2 e Synchronized and unsynchronized data transmission Special switches supporting IRT is needed Typical application area Factory automation ISOCHRONOUS REAL TIME RT CLASS 3 The isochronous operation mode is used when real time positioning with high performance is required The basic principal is that all
54. ernet gt Edit Ethernet Node i HW Config SIMATIC PC Station 1 Configuration pnio_test_speed Gy station Edit Insert PLC View Options Window Help Download Upload 1 PROFINET IO System 100 Faulty Modules Module Information Operating Mode S82 PROFIBUS PA mS PROFINET I0 m SIMATIC 300 m SIMATIC 400 SIMATIC PC Based Control 300 400 Update Firmware E e SIMATIC PC Station e Name to Memory Card PROFIBUS gt Verify Device Name Assign Device Name Service Data Filly aas 0 0 0 0 0 0 a Ad Aar Tem 1 f Standard Telegram si oo pexz Hp Fxamewedccesfmr 00000000 lem Stacey Feta ae a Bis iua slaves for SIMATIC S7 M7 and C7 distributed Ed D Displays the address of the station s on Ethernet to be changed PROFINET USER MAN UAL www leinelinde com Enter the encoder s MAC adress and then click on the Reset button The MAC adress of the encoder is written on the encoder label Edit Ethernet Node Ethernet node Nodes accessible online MAC address 00 22 45 00 00 00 Browse Set IP configuration Use IP parameters Gateway ones Do not use router Subnet mask C Use router C Obtain IP address from a DHCP server Identified by Che CM Client ID Assign device name Device name TT N Reset to factory settings Close Click yes in th
55. es This device conforms to prevailing legal requirements and is designed in accordance with proper engineering practices A certificate of conformity can be provided upon request from Leine amp Linde 10 PROFINET USER MAN UAL www leinelinde com 3 Technical and commercial support Leine amp Linde is represented by subsidiaries in many countries around the world In addition to the address listed here there are many services agencies and distributors located worldwide ready to reply to commercial enquires or technical support For more information please visit our website or contact Leine amp Linde in Strangnas Sweden Leine amp Linde AB Box 8 SE 645 21 Strangnas Sweden Tel 46 0 152 265 00 Fax 46 0 152 265 05 E mail info leinelinde com Web www leinelinde com 3 1 References Profile Encoders for PROFIBUS and PROFINET V4 1 Order No 3 162 Profile Drive Technology PROFIdrive V4 1 Profibus International Order Nr 3 172 PROFIBUS Encoder Profile V1 1 Profibus International Order Nr 3 062 PROFIBUS Guidelines Part 1 Identification amp Maintenance Functions V1 1 Profibus International Order Nr 3 502 PROFIBUS Guidelines Part 3 Diagnosis Alarms and Time Stamping V1 0 Profibus International Order No 3 522 T PROFINET Application Layer Service Definition Application Layer Protocol Specification Version 2 0 Profibus International Order No 2 332 PROFIBUS Guidelines PROFIBUS Inte
56. eset value 64 bit PROFINET USER MAN UAL www leinelinde com 9 14 4 Parameter 65001 Operating status parameter structure This parameter structure is a read only structure where information on the devices operating status can be found It is a complement to the PROFIdrive parameter 979 described in the Profile for Drive Technology PROFIdrive V4 1 Order nr 3 172 available from PROFIBUS and PROFINET International PNU 65001 Significance Encoder Operating Status Data type Array n Integer 32 Access Read Validity range Profile specific Explanation The operating status displays the status of the encoder Subindex Meaning 0 Header 1 Operating status 2 Faults 3 Supported Faults 4 Warnings 5 Supported warnings 6 Encoder Profile version 7 Operating time 8 Offset value 9 Measuring units per revolution 10 Total measuring range in measuring units 11 Velocity measuring unit Structure of parameter 65001 Operating status PROFINET USER MAN UAL www leinelinde com Sub index 1 Operating status In sub index 1 the status of different encoder functions can be read out The mapping of the respective functions is according to the table below Bits Definition 0 Code sequence 1 Class 4 functionality 2 G1_XIST1 Preset control 3 Scaling function control 4 Alarm channel control 5 Compatibility
57. f input data from the encoder to the controller 31 32 PROFINET USER MANUAL www leinelinde com Output data from the IO controller Control word 2 STW2 ENC Control word G1 STW IO Data word Byte Set point STW2 ENC G1 STW Output data from IO controller Input data to the IO controller Status word 2 ZSW2 ENC Status word G1 ZSW Position value 1 G1 XIST1 Position value 2 G1 XIST2 Velocity value B NIST B IO Data word 1 Byte 0 1 2 5 6 9 10 11 12 13 14 15 Actual value ZSW2_ENC G1_ZSW G1 XIST1 G1 XIST2 NIST B Input data to IO controller STANDARD TELEGRAM 84 Standard telegram 84 uses 4 bytes for output data from the controller to the encoder and 20 bytes of input data from the encoder to the controller Output data from the IO controller Control word 2 STW2 ENC Control word G1 STW IO Data word Byte Set point STW2 ENC G1 STW Output data from IO controller Input data to the IO controller Status word 2 ZSW2 ENG Status word G1 ZSW Position value 3 G1 XIST3 Position value 2 G1 XIST2 Velocity value B NIST B IO Data word 1 2 10 Byte 0 1 2 6 718 10 11 12 13 15 17 18 19 Actual value ZSW
58. failures of the master s sign of life is defined The default value is one 1 Parameter Meaning Value Maximum Master Sign The number of permissible failures of the T3255 Of Life failures master s sign of life Maximum Master Sign Of Life parameter Note This parameter is only supported in compatibility mode 59 PROFINET USER MANUAL www leinelinde com 9 10 Velocity measuring units This parameter defines the coding of the velocity measuring units used to configure the signals NIST_A and NIST_B Standard telegram 81 has no velocity information included and the encoder does not use the velocity unit information in this case Standard telegram 82 83 84 and manufacturer telegram 59000 and 59001 in cludes velocity output and needs a declaration of the velocity measuring unit Parameter Meaning Value Velocity measuring units Definition of the units for the encoder velocity output value See table below Velocity measuring units for absolute encoder Value Steps s 0 Steps 100 ms 1 Steps 10 ms 2 Rpm 3 Coding of velocity measuring units for absolute encoder Velocity measuring units for CRG PROFINET gateway Value Steps s 0 Steps 100 ms 1 Steps 10 ms 2 Rpm 200 ms 3 Rpm 100 ms 4 Rpm 80 ms 5 Rpm 60 ms 6 Rpm 40 ms 7 Coding of velocity measuring units for CRG PROFINET gateway Note In order to provide a correct
59. fset value 64 bit The offset value for encoders with a measuring range ex Integer 64 ceeding 32 bits Offset value parameter Note The offset value is read only and cannot be modified by a parameter write access 9 14 Acyclic data Leine amp Linde s PROFINET encoders support the following acyclic data exchange functions 9 14 1 PROFIdrive parameters The encoder profile V4 1 PNO no 3 162 has adopted certain standard PROFIdrive parameter The Leine amp Linde devices support the following PROFIdrive parameters PNU Prm no Significance Data type Read Write 922 Telegram selection Unsigned 16 R 925 Number of Controller Sign Unsigned 16 R W Of Life failures which may be tolerated 964 Device indentification Array n Unsigned 16 R 965 Encoder Profile Number Octet string 2 R 971 Transfer to non volatile Unsigned 16 W memory 974 Base Mode Parameter Ac Array n Unsigned 16 R cess service identification 975 Encoder Object identifica Array n Unsigned 16 R tion 979 Sensor format Array n Unsigned 32 R 980 List of supported AArray n Unsigned 16 R parameters PROFIdrive parameters supported PROFINET USER MAN UAL www leinelinde com 9 14 2 Encoder and encoder gateway parameter numbers The table below specifies the device specific parameter that is supported by Leine amp Linde PROFINET devices PNU Prm No Significance Data type Read Write 61000 Name of station Octet String
60. functions for encoders according to this profile are divided into two application classes named Class 3 and Class 4 For an overview of the different encoder profile for PROFIBUS and PROFINET and the related standards see the picture below For further information regarding the encoder functionality refer to the device profile The profile and PROFINET technical information can be ordered at PNO in Karlsruhe Germany www profinet com Encoder Profile V4 Class 3 and 4 PNO No 3 162 Encoder Profile Class 1 and 2 PNO No 3 062 PROFIBUS PROFINET Network Network 6 2 Application Class definition Leine amp Linde s PROFINET encoders can be configured as a class 3 or class 4 PROFINET IO device according to the encoder profile V 4 1 PNO no 3 162 A Class 4 configured encoder from Leine amp Linde fully supports all functionality according to the encoder profile V4 1 CLASS 3 Encoder with base mode parameter access and limited parameterization of the encoder functionality Isochronous mode is not supported CLASS4 Encoder with scaling Preset and base mode parameter access Isochronous mode is supported 29 30 PROFINET USER MAN UAL www leinelinde com 6 3 Standard signals The table below describes the standard signals that are used to configure the IO data The signals are described in the chapters that follow Significance Abbreviation Length bits Data type Veloc
61. he resolution of the multiturn scan ning and repeats itself once the total resolution is reached A benefit of the absolute encoder type is that if the encoder loses power the encoder is also able to keep track of its position if the shaft is turned during the power loss This is due to the genuine absolute scanning principle An absolute encoder can also be used to calculate a digital speed value By internally dividing the difference in position by a small delta time an accurate speed value can be calculated and transmitted to the subsequent electronics for closed loop control 1 4 About encoder gateway The advantages of the gateway concept is that it allows the use of small and very robust EnDat encoders which make the encoder gateway solution suitable in applications where very high ambient temperature is a limit ing factor Another benefit with the gateway solution is that in case of an encoder error occurs the EnDat encoder can easily be replaced without the need to disconnect the PROFINET bus The encoder gateway works with all Leine amp Linde EnDat encoders The encoder gateway supports singleturn en coders with up to 31 bit resolution and multiturn encoders with up to 37 bits resolution with the limitations described in this manual Ai fi mm 1 5 About PROFINET technology PROFINET is the open industrial Ethernet standard of PROFIBUS amp PROFINET International PI for automation PROFINET uses TC
62. hed VALID M16 0 New data record was received and valid BUSY M8 3 BUSY 1 The read process is not yet terminated ERROR M16 2 ERROR 1 A read error has occurred STATUS MD10 Block status or error information LEN MW22 Length of the fetched data record information RECORD P DB2 DBX0 0 BYTE 10 Target area for the fetched data record A M 8 3 if reading is active R M 8 2 no new request available A M 8 6 AN M 8 4 AN M 8 1 AN M 8 3 AN M 8 0 S M 8 7 L W 16 B02E Convert record index 0xBO2E from HEX to INT T INDEX CALL WRREC InstanceDB SFB53 call SFB53 REQ M8 7 REQ 1 Transfer data record ID DW E16 7F6 PAP address HW Config INDEX INDEX Data record number 0xB02E LEN 14 maximum byte length of the data record to be transferred DONE M14 0 Data record was transferred BUSY M8 5 BUSY 1 The write process is not yet terminated ERROR M14 2 ERROR 1 A write error has occurred STATUS MD10 Block status or error information RECORD P DB5 DBX0 0 BYTE 14 Data record 16 bytes of the DB1 A M 8 5 if writing is active R M 8 7 no new request available 50 PROFINET USER MANUAL www leinelinde com Parameters of SFB52 Parameter Declaration Data type Description REQ INPUT BOOL REQ 1 Enables data transfer ID INPUT DWORD Logical address of the PR
63. iagnostic interrupt to the CPU when it detects one of the supported channel diagnostics Supported channel diagnostic Diagnostic data record Description Position error 0x900A The encoder fails to read the correct position value Memory error 0x9000 The encoder fails to read stored offset or preset values from the non volatile memory Commissioning diagnostics 0x9011 User parameter data assignment error In a SIMATIC STEP 7 system the operation system responds by calling a diagnostic OB The OB number and start information provides the cause and location of the error The error information can be read by calling a system Function block SFB54 RALRM for STEP 7 The user can then decide how the system should handle the error Note If the called OB is not included in the program the CPU will go to stop 7 3 Sensor status word Diagnosis information can be obtained by monitoring of the Error bit in the Sensor Status word G1_ZSW bit 15 and evaluation of the error code transmitted in G1_XIST2 Supported diagnostic Error code in G1_XIST2 Description Sensor group error 0x0001 The encoder fails to read the correct position value Memory error 0x1001 The encoder fails to read stored offset or preset values from the non volatile memory Command not supported OxOFO1 User parameter data assignment error or command error in commands words G1 STW and STW2_ENC Master s sign of life fault OXOF0
64. ity is calculated according to the formula 1 OX Xnew Xold V 1 t Tintegration Where V is the velocity value dx dt is the first time derivative of the position X Xnew is the new position value Xold is the old position value Tintegration is the integration time in ms The acceleration is calculated according to the formula 2 Ov Vnew Vold a 2 Ot Tintegration Where a is the acceleration value dv dt is the first time derivative of the velocity V Vnew is the new velocity value Vold is the old velocity value Tintegration is the integration time in ms 33 34 PROFINET USER MAN UAL www leinelinde com Input data to the IO controller ZSW2_ENC Status word 2 16 bit unsigned G1 ZSW Status word 16 bit unsigned G1 XIST1 Position value 1 32 bit unsigned G1 XIST2 Position value 2 32 bit unsigned NIST B Velocity value B 32 bit signed ACC B Acceleration value B 32 bit unsigned IO Data word 1 2 3 4 5 6 7 8 9 10 Byte 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 115 16 17 18 19 Actual value ZSW2 ENC G1 ZSW G1 XIST1 G1 XIST2 NIST B ACC B Input data from encoder to IO controller Note User parameter Class 4 functionality and G1 XIST1 Preset control must be activated in order to activate the preset in manufacturer telegram 59000 Note Data type for the acceleration value is
65. ity value A NIST_A 16 Signed Velocity value B NIST_B 32 Signed Control word G1 STW 16 Unsigned Status word G1 ZSW 16 Unsigned Position value 1 G1 XIST1 32 Unsigned Position value 2 G1 XIST2 32 Unsigned Position value 3 G1 XIST3 64 Unsigned Control word 2 STW2 ENC 16 Unsigned Status word 2 ZSW2 ENC 16 Unsigned 6 4 Standard telegrams Configuration of PROFINET encoders are made by choosing different telegram structures The telegrams are used to specify the data length and which type of data that are sent to and from the IO controller A configuration error will occur if for example a 37 bits multiturn encoder is used and have been configured with telegram 81 83 A 37 bit encoder need telegram 84 which supports 64 bit position values Leine amp Linde s PROFINET encoders and encoder gateways supports the standard and manufacturer specific telegrams according to the table below Telegram Encoder gateway Absolute encoder Standard telegram 81 Supported Supported Standard telegram 82 Supported Supported Standard telegram 83 Supported Supported Standard telegram 84 Supported Supported Manufacturer telegram 59000 Supported Not supported Manufacturer telegram 59001 Supported Supported STANDARD TELEGRAM 81 Standard telegram 81 uses 4 bytes for output data from the IO controller to the encoder and 12 bytes of input data from the encoder to the IO controller Output da
66. lutions Example The total measuring range for a 25 bit RXA 608 multiturn encoder with a 13 bit singleturn resolution and a 12 bit multiturn resolution the permissible value range for the Total measuring range is between 2 and 2 33 554 432 The total measuring range is calculated as below Measuring units per revolution x Total measuring range 8192 2 x 4096 21 33 554 432 If the total measuring range is higher than 31 bit telegram 84 and acyclic encoder parameter 65002 and 65003 must be used In this case the 64 bit values are used and the 32 bit values are set to zero 0 by the encoder The device has two different operating modes depending on the specified measuring range When the device receives a parameter message it checks the scaling parameters to identify if a binary scaling can be used If binary scaling can be used the device selects operating mode A see following explanation If not operating mode B is selected 57 58 PROFINET USER MAN UAL www leinelinde com A CYCLIC OPERATION BINARY SCALING Cyclic operation is used when operating with 2 number of turns 2 4 8 16 32 64 128 256 512 1 024 2 048 4 096 number of turns If the desired total measuring range is equal to the specified single turn resolution 2 where x lt 12 the encoder operates in endless cyclic operation 0 max 0 max If the position value increases above the maximum value by rotating the encod
67. mode 6 7 Reserved for the Encoder manufacturer 8 31 Reserved for future use Parameter 65001 Subin dex 1 Operating status 9 14 5 Device specific parameter 65003 Operating status 64 bit structure The parameter structure 65003 is a read only structure where information on the 64 bit parameter values can be found PNU 65003 Significance Encoder Operating Status 64 bit Data type Array n Integer 64 Access Read Validity range Profile specific Explanation The status of encoder operating parameters with 64 bit length Sub index Meaning 0 Header 1 Offset value 64 bit 2 Measuring units per revolution 64 bit 3 Total measuring range in measuring units 64 bit Structure of parameter 65003 Operating status 64 bit 65 66 PROFINET USER MANUAL www leinelinde com 9 14 6 I amp M functions In addition to the PROFIdrive parameter 964 and encoder gateway I amp M functions can be a support the following I amp M functions Device Identification I amp M functions are supported by the encoder ccessed with record index OxAFFO OxAFF4 Leine amp Linde devices I amp M Parameter Octets Comment Header Manufacturer specific 10 Not used I amp M Block MANUFACTURER_ID 2 Manufacturer Id Leine amp Linde 394 ORDER_ID 20 Encoder part number SERIAL NUMBER 16 Encoder serial n
68. net Encoder Order number Diagnostic address Frotnetincoder 0 0 AAE Id oa nr da T T T T TT da Te 7 j 0 Mutter Be Ee D 9r Me f 1 2 f Standard Telegrame den fs 51 52 PROFINET USER MAN UAL www leinelinde com Variable table With the variable table the user can monitor and modify variables The flag MB 1 shows if writing is not yet completed BUSY 1 The write process is not yet terminated able parameter write read 1 enabled M 84 M er Ee ee ERROR 1 A write error has occurred M 12 eo ff Write block status or error information ES BEER M 83 ERROR 1 A read error has occured M 162 Read block status or error information MD 18 o Position and control status words G1_zsw FGIL STW G1 XIST1 G1 XIST2 W 16 0000 Isi els sjel 5 el sl sl sl siele e I STI Ji Write parameters DB1 DBB 1 Request DB Request ID DBLDBD 12 Request DB Value DB2 DBD 6 Respons DB parameter number D1 B 16 01 DW 16 00000001 als als al as To change the value of Parameter 65000 with the variable table perform the following steps 1 Enable monitoring by clicking the Monitor Variable button 2 Write O2hex to address DB1 DBB 1 by entering B 16 02 in the modify value column O1hex parameter request 02hex change parameter 3 Write the new preset value in hexadecimal to address DB1 DBD 12
69. nitors Mociny e Mame to Memory Gardi Ethernet TEE Assign Dev Save Service Data N Choose the device on which the device name should be changed and then click the Assign name button to adopt the changes Then click the Close button Assign device name N Encoder Flashing off Please note that all connected devices need to be assigned a device name 19 PROFINET US ER MAN UAL www leinelinde com After changing device name it is recommended to verify the performed changes This is done by opening the Verify Device Name window found under PLC gt Ethernet gt Verify Device Name fc HW Config SIMATIC 300 1 Configuration Download Module Ti Upload Module Faulty Modules Moritor Modif 7 Update Firmware Save Device Name to Memory Gardi Ethernet Verify Device Name save service Data In the Verify Device Name dialog window verify that the Device name has changed and the status is confirmed OK as shown in the picture below Verify Device Name a Oe DE N EE Encoder d 00 22 45 00 00 00 ENCODERS PROFINET USER MAN UAL www leinelinde com 5 4 Setting encoder parameters This chapter describes how to change the user parameters in the encoder The way to open the Properties win dow depends on which version of GSDML file is used To set the parameter data while using a GSDML file with a rel
70. on 64 bit Total measuring range 64 bit Maximum Master Sign Of Life failures Velocity measuring unit Encoder Profile version Operating time Offset value Offset value 64 bit 9 1 Code sequence The code sequence defines whether the absolute position value should increase during clockwise or counter clockwise rotation of the encoder shaft seen from flange side The code sequence is set by default to increase the absolute position value when the shaft is turned clockwise 0 Attribute Meaning Value CW Increasing position values with clockwise rotation 0 viewed from shaft side CCW Increasing position values with counter clockwise 1 rotation viewed from shaft side Code sequence attributes Note The position value will be affected when the code sequence is changed during operation It may be necessary to perform a preset after the code sequence has been changed 54 PROFINET USER MAN UAL www leinelinde com 9 2 Class 4 functionality This parameter enables or disables the functions Scaling Preset and Code sequence If the function is enabled scaling and Code sequence control affects the position value in G1_XIST1 G1_XIST2 and G1_XIST3 A preset will in this case always affect G1_XIST2 and G1_XIST3 but if the parameter G1_XIST1 Preset control is disabled the preset will not affect the position value in G1_XIST1 Attribute Meaning
71. or code is displayed in G1_XIST2 instead of the position value 12 5 Error acknowledgement This state is reached when an error has occurred and Control word bit 15 Acknowledging a sensor error has been set The Status word bit 11 Requirement of error acknowledgment detected and Status word bit 15 Sensor error are set to 1 12 6 Start Up This state is only reached when Control word bit 14 Activate parking sensor are cleared 0 Once the Control word bit 14 is cleared it takes about 500ms before the Status word bit 14 Parking sensor active are set to zero 0 The reason for the delay is that before the encoder goes to normal operation mode an initializing of the encoder is made PROFINET USER MAN UAL www leinelinde com 13 Frequently asked questions FAQ 1 Problem Preset parking mode and error reset is not possible Solution The Control By PLC bit in Control Word 2 has to be set to 1 Profile V4 1 2 Problem The preset value is lost if the power supply is switched off Solution Parameter 971 has to be set to 1 in order to save the preset value into non volatile memory 83 84 PROFINET USER MANUAL www leinelinde com 14 Revision history Revision Date Changes Rev 01 2012 06 28 First release Rev 02 2013 07 04 Added information about the CRG PROFINET Gateway Rev 03 2014 04 25 Added manufacturer specific telegram 59000 and 59001 PROFINET
72. played where the upgrade has to be confirmed before the device starts the actual firmware upgrade process The Continue button must be clicked in order to start the upgrade sequence 69 70 PROFINET USER MAN UAL www leinelinde com LEINE amp LINDE PROFINET ENCODER Windows Internet Explorer provided by JHCN BA E o Sen We g c 5carc Go http 192 168 0 5 Fs docjupgrade html ses De Live search PH J d File Edit View Favorites Tools Help we de f LEINE amp LINDE PROFINET ENCODER RE dh Bee Tos LEINE amp LINDE WARNING The current flash image will be replaced It is not possible to reverse the procedure Uparade procedure will take about 30 60 seconds When ready the device will reboot itself After reboot It is possible to connect to the device using the standard procedures TARGET SERVER PARAMETERS Server IP 192 168 0 10 File eine linde hdr csum bin During upgrade a progress page is displayed Depending upon the choice of web browser the automatically generated progress page will take some time to be displayed However the progress web page should always be displayed once the upgrade is finished If no errors occur during upgrade the encoder will automatically reboot itself and connect to the PROFINET IO controller with the new firmware PROFINET USER MAN UAL www leinelinde com http 192 168 0 5 upgrade rpm
73. pter 10 4 for an example how to set up a TFTP server Once the encoder has been assigned a valid IP address it should be accessible on the network Enter the encoder s IP address in the WEB browser 67 68 PROFINET USER MAN UAL www leinelinde com F LEINE amp LINDE PROFINET ENCODER Microsoft Internet Explorer provided by Leine amp Linde DER File Edit View Favorites Tools Help Om O MAG Des Ke O 3 2 EA S LEINE amp LINDE DEVICE INFORMATION Parameter Value Vendor ID Ox18a Device ID 0x801 Serial Number 12345 Part Number 63231802 Software Version 3 10 Hardware Version 0 Device Name encoderrxa600 NETWORK PARAMETERS Parameter Device IP 192 168 0 4 Device Subnetmask 255 255 255 0 Device MAC 00 22 45 00 00 00 Default Gateway 192 168 0 255 DHCP Client Disabled DHCP Enable Disable CONNECTION STATUS Parameter Value Description Connection Mode Not Connected No communication I Eva Han EFF i When accessing the encoder via the web browser it will display a number of parameters In the firmware upgrade section of the page enter the following information Server IP address Enter the IP address to the TFTP server on the LAN Firmware filename Enter the full file name of the new firmware file supplied by the TFTP server e Date Enter the current date for the upgrade This is stored as part of the Upgrade History The format is
74. rconnection Technology V1 1 Profibus International Order No 2 142 PROFINET Guidelines PROFINET Cabling and Interconnection Technology V1 99 Profibus International Order No 2 252 T 3 2 Abbreviations PI PROFIBUS and PROFINET International IO Input Output DO Drive Object DU Drive Unit AR Application Relation CR Communication Relation MLS Master Sign Of Life RT Realtime Ethernet IRT Isochronous Realtime Ethernet IsoM Isochronous Mode LLDP Link Layer Discovery Protocol GSD General Station Description GSDML General Station Description Markup Language UDP User Datagram Protocol TCP Transmission Control Protocol IP Internet Protocol TFTP Trivial File Transfer Protocol MAC Media Access Control I amp M Identification amp Maintenance PROFINET USER MAN UAL www leinelinde com 4 Installation A summary of the PROFINET guideline PROFINET Cabling and interconnection Technology V 1 99 Profibus International Order No 2 252 is provided in this section 4 1 Cables and standards Two shielded copper cables twisted in pairs are defined as the normal transmission medium for PROFINET networks In such networks the signal transmission is performed in accordance with 100BASE TX at a trans mission speed of 100 Mbps Fast Ethernet Only shielded cables and connecting elements are allowed in a PROFINET network The individual components have to satisfy the requirements of Category 5 in
75. ss 4 functionality and G1_XIST1 Preset control must be activated in order to acti vate the preset in manufacturer telegram 59001 PROFINET USER MAN UAL www leinelinde com 6 7 Format of G1 XISTI and G1 XIST2 The G1 XIST1 and G1_XIST2 signals consist of the absolute position value in binary format By default the G1 XIST1 signal is equal to the G1 XIST2 signal The format of the actual position values in G1 XIST1 and G1 XIST2 is shown below Format definition for G1 XIST1 and G1 XIST2 All values are presented in binary format e The shift factor is always zero right aligned value for both G1 XIST1 and G1 XIST2 e The setting in the encoder parameter data affects the position value in both G1 XIST1 and G1 XIST2 e G1 XIST2 displays the error telegram instead of the position value if error occurs Example 25 bit multiturn absolute encoder 8 192 steps per revolution 4 096 distinguishable revolutions M Multiturn value Distinguishable revolutions S Singleturn value number of steps per revolution 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 1110 9 8 7 6 5 43 2 10 MSB Absolute value in G1_XIST1 LSB 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 1110 9 8I7 6 5 4 3 2 1 0 MSB Absolute value in G1_XIST2 LSB 6 8 Format of G1 XIST3 G1 XIST3 is a 64 bit position value that is used to support encoders with a resolution exceeding
76. t Encoder profile number 965 1 31 or 41 gt Encoder profile version set by customer user parameters 8 4 5 Parameter 971 read write 9712 unsigned int Store the local parameter set to a non volatile memory Preset value is saved when writing value 1 and is set to 0 by the encoder firmware when finished This means that the preset value has been saved when reading back value 0 8 4 6 Parameter 974 read only 974 gt unsigned int 974 0 96 gt Max array length supported by parameter channel 974 1 1 gt Numbers of multi parameters 1 no support of multi parameters 974 2 1000 gt max time to process parameter request n x 10 ms 43 PROFINET USER MAN UAL www leinelinde com 8 4 7 Parameter 975 read only 975 5 unsigned int 975 0 Manufacturer Id Set in the production 975 1 7011 gt DO type 975 2 201 gt Software version 975 3 2009 gt Software year 4 5 6 7 975 4 2805 gt Software day and month 975 5 0x0005 gt Profidrive DO type class 5 encoder interface 975 6 0x8000 gt Profidrive SUB class 1 Encoder application class 4 supported 975 7 Ox0001 gt Drive object Id DO ID 8 4 8 Parameter 979 read only 979 gt unsigned long 979 0 0x00005111 gt Number of index describing encoders Numbers of described encoders Version of parameter structure 979 1 0x80000000 gt Sensor type Bit 31 1 if configuration and parameterization is OK Bit 0
77. ta from the IO controller Control word 2 STW2 ENC Control word G1 STW PROFINET USER MANUAL www leinelinde com IO Data word Byte Set point STW2_ENC G1 STW Output data from IO Controller Input data to the IO Controller Status word 22 ZSW2 ENG Status word G1 ZSW Position value 12 G1 XIST1 Position value 22 G1 XIST2 IO Data word Byte 0 1 2 3 4 5 6 9 10 11 Actual value ZSW2 ENG G1 ZSW G1 XIST1 G1 XIST2 Input data to IO controller STANDARD TELEGRAM 82 Standard telegram 82 uses 4 bytes for output data from the controller to the encoder and 14 bytes of input data from the encoder to the controller Output data from the IO controller Control word 22 STW2 ENC Control word G1 STW IO Data word Byte Set point STW2 ENC G1 STW Output data from IO controller Input data to the IO controller Status word 22 ZSW2 ENG Status word G1 ZSW Position value 1 G1 XIST1 Position value 2 G1 XIST2 IO Data word Byte 0 1 4 5 6 9 10 11 12 13 Set point ZSW2_ENC G1_ZSW G1 XIST1 G1 XIST2 NIST A Input data to IO controller STANDARD TELEGRAM 83 Standard telegram 83 uses 4 bytes for output data from the controller to the encoder and 16 bytes o
78. tance data block of SFB53 m DB4 PN WR RD PRESET LL SIMATIC 300 1 U 315F 2PN DP ALSE ALSE ALSE 1620 P P 0 0 VOID 0 48 PROFINET USER MAN UAL www leinelinde com OB1 OB1 controls the read and write operation OB1 Main Program Sweep Cycle E Network 1f Write request ON O J k 5 us 8 8 8 8 8 8 2 w 16 B02E Convert record index 0xB02E from HEX to INT INDEX ke EE EF REE EES CALL WRREC InstanceDB SFB53 call SFB53 REQ M8 0 REQ 1 Transfer data record ID DW 16 7F6 PAP address HW Config INDEX INDEX Data record number 0xB02E LEN 16 maximum byte length of the data record to be transferred DONE M14 0 Data record was transferred BUSY M8 1 BUSY 1 The write process is not yet terminated ERROR M14 2 ERROR 1 A write error has occurred STATUS MD10 Block status or error information RECORD P DB1 DBX0 0 BYTE 16 Data record 26 bytes of the DB1 A M 8 1 if writing is active R M 8 0 no new request available PROFINET USER MAN UAL www leinelinde com El Network 2 Read request 1 Reading parameter enabled Ag EERS BEE EER 00 0D D CD D m NOUwWH CALL RDREC InstanceDB SFB52 call SFB52 REQ M8 2 REQ 1 Transfer data record ID DW 16 7F6 PAP address HW Config INDEX INDEX Data record number OxBO2E MLEN 10 maximum length in bytes of the data record information to be fetc
79. ted alarms are sent via the alarm channel If the value is one 1 also encoder profile specific faults and warnings are sent via the alarm channel Attribute Meaning Value Enable Profile specific diagnosis is switched on 1 Disable No Profile specific diagnosis default 0 Alarm channel control attributes Note This parameter is only supported in compatibility mode 9 6 Compatibility mode This parameter defines if the encoder should run in a mode compatible to Version 3 1 of the Encoder Profile See below for an overview of functions affected when the compatibility mode is enabled Attribute Meaning Value Enable Compatibility with Encoder Profile V 3 1 0 Disable No backward compatibility default 1 Compatibility mode attributes Function Compatibility mode Enable 0 Compatibility mode Disabled 1 Control by PLC Ignored the Control word G1_STW Supported STW2_ENC and set point values are always valid Control requested ZSW2_ENC is not supported and is set to 0 User parameter Supported Not supported one Sign Of Life failure Maximum Master tolerated PROFIdrive P925 is optional to Sign Of Life failures control the life sign monitoring User parameter Supported Not supported the application alarm Alarm channel channel is active and controlled by a control PROFIdrive parameter P965 Profile Version 31 V3 1 41 V4 1
80. th S7 programming and Statement List programming language STL is required Hardware components IO Controller Siemens S7 F CPU CPU 315F 2 IO Device Leine amp Linde PROFINET encoder Software components Siemens S7 F CPU V5 4 SP5 GSDML file for PROFINET encoder GSDML V2 2 LL Profinet encoder 20100225 8 5 1 Used blocs Write record block SFB53 WRREC Read record block SFB52 RDREC Instance data blocks DB3 and DB4 Request data block DB1 Response data block DB2 Organization blocks OB1 OB82 and OB86 SFB52 SFB52 is standard S7 block for reading parameters SFB53 SFB53 is standard 57 block for writing parameters DB1 DB1 is the request data block Address Name Type Comment o o Request reference laym ssiesi js perk ries fonao eis addressing for multi axis dives L 33554176 Value Of 65000 PROFINET USER MAN UAL www leinelinde com DB2 DB2 is the response data block request number mirrored Request reference mirror erre emere hepene m lem giese reme parameter SSCS hussirrres jet nneso lasse minor Wes o paramesers je nfi fo response abou mmber cf parmper Im se RT ame asmeso response about mmber ot vatue ot EO NN DB3 DB3 is the instance data block of SFB52 4 DB3 PN_WR_RD_PRESET_LL SIMATIC 300 1 CPU 315F 2PN DP N E DB4 DB4 is the ins
81. the same as the selected data type for velocity 6 6 Manufacturer telegram 59001 This manufacturer specific telegram is supported by the encoder and the encoder gateway The manufacturer telegram 59001 is a simplified telegram to get cyclic data transmission and also the possibil ity to do a preset via IO data without the need of control word and status words The preset function can be used to set the actual position of the encoder to any entered value within the work ing range of the encoder If scaling is active and has been done on the encoder it is only possible to enter a preset value within the scaled working range of the encoder The preset is activated when the Most Significant Bit bit 31 is set to 1 The actual preset value should be en tered in the other following bits according to below Byte 0 1 2 3 Bits 31 MSB 30 24 23 16 15 8 7 0 LSB Preset control bit Preset value total resolution Output data from IO controller to encoder The manufacturer telegram 59001 input data consist of a 4 byte position value and a 4 byte velocity value as shown below The velocity value uses the format that is defined in the Velocity measuring unit IO Data word 1 2 3 4 Byte 0 MSB 1 2 3 LSB 4 MSB 5 6 7 LSB Actual value Position value 32 Bit Unsigned int Velocity value 32 Bit Signed int Input data from encoder to IO controller Note User parameter Cla
82. the value of the different parameters by clicking on the drop down list in the Value field for the respective parameter Please note that the parameter Class 4 Functionality must be enabled in order to change some of the available parameters For more information regarding this see chapter 9 Properties Parameter Access Point Sj Parameters E y Parameter Data E amp Class 4 Functionality cw D 8 G1_XIST1 Preset Control E Scaling Function Control IE Alarm Channel Control Profle v3 Encoder Profile v3 Compatibility Profile version 4 amp Measuring Units per Revolution MSB O S E Measuring Units per Revolution LSB 81920 0 S 2 Total Measuring Range MSB Total Measuring Range LSB 33554432 E Master Lifesign Faure Unit Profi 1 IE velocity Measuring Unit Telegra Once the configuration and parameterization of the device has been completed the settings need to be saved and compiled This is done by clicking on the Save and Compile option under the Station tab Hi HW Config SIMATIC 300 1 Configuration Save and Compile D Gheck GR Gompatiniity GCA AIG PROFINET USER MANUAL www leinelinde com The settings then need to be downloaded to the IO controller This is done by clicking on the Download option under the PLC Tab T HW Config SIMATIC 300 1 Configuration Download Module Identi Upload Module EG PG
83. umber HARDWARE_REVISION 2 Not used SOFTWARE_REVISION 4 Software revision REVISION_COUNTER 2 Not used PROFILE_ID 2 Encoder Profile number PROFILE_SPECIFIC_TYPE 2 Type of encoder IM_VERSION 2 Version of the I amp M profile IM_SUPPORTED 2 Value 0 means support of I amp M Supported I amp M functions PROFINET USER MAN UAL www leinelinde com 10 Firmware upgrade The Leine amp Linde encoder supports a firmware upgrade function The firmware upgrade function has been developed to offer the possibility to upgrade the encoders in the future For more information regarding the firmware upgrade function please contact Leine amp Linde Before the upgrade of the encoder can start the following tools are needed A running TFTP server e A WEB browser Internet Explorer Firefox Safari Opera etc The encoder itself puts no restrictions on which TFTP server to use The customer can choose to use any TFTP servers 10 1 Firmware upgrade in a PROFINET network This is when the encoder is connected to a PROFINET network The encoder will be provided with an IP address from the PROFINET IO controller with DCP The following prerequisites have to be fulfilled in order to upgrade the encoder in a PROFINET network The encoder should be attached to the network e The encoder must have a valid Device name and a valid IP address assigned with DCP e ATFTP server should be enabled on the LAN where the encoder is attached See cha
84. with master functionality and the devices devices with slave functionality as well as parameter setting and diagnosis PROFINET IO is designed for the fast exchange of data between Ethernet based field devices and follows the provider consumer model The configuration of an IO System has been kept nearly identical to the look and feel of PROFIBUS A PROFINET IO system consists of the following devices e The IO Controller which controls the automation task e The IO Device which is a field device such as an encoder monitored and controlled by an IO Controller e The IO Supervisor is software typically based on a PC for setting parameters and diagnosing individual IO Devices An application relation AR is established between an IO Controller and an IO Device These ARs are used to define communication relations CR with different characteristics for the transfer of parameters cyclic exchange of data and handling of alarms The characteristics of an IO Device are described by the device manufacturer in a General Station Description GSD file The language used for this purpose is the GSDML GSD Markup Language an XML based language The GSD file provides the supervision software with a basis for planning the configuration of a PROFINET IO system Within PROFINET IO process data and alarms are always transmitted in real time RT Real time in PROFINET is based on the definition of IEEE and I
85. without effect 11 Home position mode 12 Request set shift of home position Preset 13 Request absolute value cyclically 14 Activate parking sensor 15 Acknowledging a sensor error G1_STW implementation requirements Note If the sensor parking is activated bit 14 1 the encoder remains on the bus with the slave sign of life activated and the encoder error and diagnostics switched off 37 38 PROFINET USER MAN UAL www leinelinde com 6 12 Status word G1_ZSW The status word defines encoder states acknowledgements error messages of major encoder functions Bit Function Qu c7 Function status Reference mark search measurement on the fly 8 Probe 1 deflected 9 Probe 2 deflected 10 Reserved set to zero 11 Requirement of error acknowledgement detected 12 Set shift of home position executed 13 Transmit absolute value cyclically 14 Parking sensor active 15 Sensor error G1 ZSW implementation requirements Note If bit 13 Transmit absolute value cyclically or bit 15 Sensor error is not set there is no valid value or error code transferred in G1 XIST2 Note Bit 13 Transmit absolute value cyclically cannot be set at the same time as bit 15 Sensor error as these bits are used to indicate either a valid position value transmission bit 13 or the error code transmission bit 15 in G1 XIST2 6 13 Real Time Communication PROFINET IO uses three diff
86. yyyy mm dd E g 2010 05 15 PROFINET USER MAN UAL www leinelinde com A LEINE amp LINDE PROFINET ENCODER Microsoft Internet Explorer provided by Leine amp Linde Eile Edit View Favorites Tools Help O O DAO Awe deem O 2 2 AAR Address http 192 168 0 4 DHCP Enable Disable CONNECTION STATUS Parameter Description Connection Mode Not Connected No communication Execution State Failsafe Image error ENCODER STATUS Value Description 1 Multiturn Encoder Faults jo No active faults Warnings 0 No active warnings Operating Time 22300 Hours x0 1 Measuring Units Per Revolution jo Singleturn Resulotion Total Measuring Range In Measuring Units 0 Total Resulotion Encoder Velocity 0 Steps s FIRMWARE UPGRADE UPGRADE HISTORY Upgrades Total Last Upgrade Active Firmware yyyy mm dd leine_linde_hdr_csum bin Set the IP address to the server name of the firmware file as presented on the server and todays date Click Submit Values to store the values and Upgrade to begin the upgrade Enter Server IP Address 0020020000 Enter Firmware Filename filename Enter Date yyyy mm dd yyyy mm dd The parameters are set by clicking the Submit Values button After clicking the Submit Values button update the page in the web browser To start the upgrade click on the Upgrade button A confirmation page is dis

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