absolute rotary encoder with profinet interface user manual
Contents
1. IO Data 1 2 3 4 5 6 DWord Actual ZSW2 ENC G1 ZSW1 G1 XIST1 G1 XIST2 value Standard Telegram 82 IO Data DWord 1 l2 Setpoint STW2 G1 STW1 IO Data 1 2 3 4 5 6 7 DWord Actual ZSW2 ENC G1 ZSW1 G1 XIST1 G1 XIST2 NIST A value Standard Telegram 83 IO Data DWord 1 2 Setpoint STW2 G1 STW1 IO Data 1 2 3 4 5 6 7 8 DWord Actual ZSW2 ENC G1 ZSW1 G1 XIST1 G1 XIST2 NIST value Standard Telegram 84 IO Data DWord 1 l2 Setpoint STW2 G1 STW1 IO Data 1 2 3 4 5 6 7 8 9 10 DWord Actual ZSW2 ENC G1 ZSW1 G1 XIST3 G1 XIST2 NIST B value Version 07 09 Page 13 UMUS OCD EI POSITAL FRABA PROFINET USER MANUAL 3 6 Configuration principle The rotary encoder with PROFINET interface can be programmed according to the needs of the user The GSDML file pertaining to the rotary 3 7 Rotary encoder functionality overview Function Position value Preset Coding sequence Scaling function 3 8 Rotary encoder functions data format PROFINET IO devices are set up in modules Each module can be plugged in physical and or logical slots These are subdivided into sub slots individually to accommodate further data hierarchy One sub slot can contain several cyclic input output channels as well as acyclic record channels used for parame2. ew rz sed gg OCD ENCODER STOO13 m OCD ENCODER STOO16 H Valves POSITAL OCD POSITAL GmbH Absolute encoder Press F1 to get Help Double click the rotary encoder icon to set address of the POSITAL encoder Also under the communication parameters that the PLC will use IO cycle tab set the desired update time Set a device name and by clicking Ethernet the IP Version 07 09 Page 23 UMUS OCD EI POSITAL FRABA PROFINET USER MANUAL Properties OCD Encoder General 10 Cycle Short description OCD Encoder Absolute encoder Order no OCD PNBIB XxX Family POSITAL OCD DCD ENCODER Device name GSD file GSDML V1 0 POSITAL OCD 20061103 xml Node PN IO system Device number fi x PROFINET 10 System 100 Ethernet IP address 198 100 100 2 F Cancel The device name and IP address now have to be set physically within the rotary encoder Connect the PLC and rotary encoder to ethernet and switch them on Click PLC gt Ethernet gt Edit Ethernet Node and click Browse for accessible ethernet nodes in the new window STEP7 will scan for devices on Ethernet and will displays them in a window The rotary encoder should be displayed under the device type POSITAL OCD Select this entry and click Flash to have the identification LED flash with 2 Hz Click OK to take the MAC Browse Network
3. Bandwidth used reserved for cyclic data Free bandwidth for TCPAP Cyclic Data in Reserved Bandwidth Upper limit for IRT 150 000 ps ao B calculated allocation for RT 26394 us Unused bandwidth 0 000 us TCP IP not possible Cyclic Data in Free Bandwidth B Catculated allocation for RT 7 040 us Exceeding bandwidth permitted Ok Version 07 09 Page 31 UMUS OCD EI POSITAL FRABA PROFINET USER MANUAL 5 FAQ 1 Question Why don t get back position values Answer According the encoder profile it is necessary to set Bit 11 to 1 in stw2 and bit 14 in 01 See the next hardcopy D410 Immediate control v E HEX 851958 DEC 6856 DEC 139 DEC EX Symbol browser FEY Compile check output EH Press F1 to open Help display TCP IP gt D Link DFE 528TX PCI A 2 Question Why doesn t the neighboring detection work Answer The encoder supports the LLDP protocol But it is necessary to use the newest version of Step 7 or Simotion Scout The flag Device replacement without replacement medium must be active in the Properties window under General 3 Question What to do if one encoder has to be replaced by a new one Answer See answer 2 or chapter 4 3 4 Question Why doesn t the communication between encoder and PLC work correctly Answer The Firmware of the PLC and the STEP 7 with minimum Hot fix 6 or Simotion Sc
4. 1 Introduction This manual describes the implementation and configuration of an absolute rotary encoder with PROFINET interface The device fulfills the requirements of a PROFINET IO device with RT real time or IRT isochronous real time classification 1 1 Absolute rotary encoder The basic principle of an absolute rotary encoder is the optical sampling of a transparent code disc which is fixed with the driving shaft The absolute rotary encoder has a maximum resolution of 65 536 steps per revolution 16 bits The mutli turn version can detect up to 16 384 revolutions 14 bits Therefore the largest resulting Version 07 09 Page 3 Alterations of specifications reserved Technical specifications which are described in this manual are subject to change due to our permanent strive to improve our products Disclaimer of Warranty POSITAL GmbH makes no representations or warranties either express or implied by or with respect to anything in this manual and shall not be liable for any implied warranties of merchantability and fitness for a particular purpose or for any indirect special or consequential damages Version date July 1 2009 Version number 07 09 Article number n a Author Reiner B tjer resolution is 30 bits 29 1 073 741 824 steps The standard single turn version has 13 bits the standard multi turn version 25 bits For further information about the function principle or the setup of a PR
5. 4v 4v 4 4 4v 4v SISISIS Lenght Abbreviation bit Sign STW2 ENC 16 ZSW2 ENC 16 NIST A 16 Y NIST B 32 Y G1 STW 16 G1 ZSW 16 G1 XIST1 32 G1 XIST2 32 G1 XISTS3 64 UMUS OCD EI POSITAL FRABA PROFINET USER MANUAL 3 4 1 Format of actual position values G1 XIST1 and G1_XIST2 are the actual position G1 XIST1 left aligned and G1 XIST2 right values in binary For absolute encoders one aligned format example is given below NOTE the e The settings in the Encoder parameter data alignment in the data frame left or right aligned affect the position value in both G1 XIST1 and is considered for each individual resolution G1 XIST2 e G1 XIST2 displays the error telegram instead Example 25 bit Multiturn absolute encoder 8192 of the position value if error occurs steps per revolution 4096 distinguishable P979 Subindex 3 Shift factor for G1 XIST1 revolutions 27 e All values are presented in binary format P979 Subindex 4 Shift factor for G1 XIST2 e The shifting factors in P979 sensor format 0 display the actual format The default setting is M Distinguishable Revolutions Multiturn value S Pulses Singleturn steps per revolution 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 M M M M M M M M M M M M 5 5 5 5
6. POSITAL FRABA 7688036 IIE J68 O 37 Ae 768038 A 768 O 39 22 2 0713 18 ABSOLUTE ROTARY ENCODER WITH PROFINET INTERFACE USER MANUAL FRABA Inc 1800 East State Street Suite 148 Hamilton NJ 08609 Phone 1 609 750 8705 Fax 1 609 750 8703 www posital com info posital com POSITAL FRABA PROFINET USER MANUAL 3 8 Rotary encoder functions data format 14 3 4 Signal list for Cyclic Data Transmission 9 Content Absolute ROTARY 1 1 3 8 2 Device 15 Content uode uen 2 3 8 3 Vendor 15 1 Introduction esee 3 3 9 Rotary encoder function description 17 3 9 Rotary encoder function description 17 1 Absolute rotary 3 3 9 1 Code 17 1 2 PROFINET 4 3 9 2 Class 4 1 18 1 3 Features of the Encoder 4 3 9 3 Preset control for 61_ 15 1 18 Neighboring 4 3 9 4 Scaling function control 18 2 Installation eere 5 18 3 9 6 Preset 19 2 1
7. SIMOTION D PNxIO Sync master IRT high flexibility SIMOTION D OCDXENCODER Sync slave IRT high flexibility Cancel Help Cancel Help Version 07 09 Page 29 UMUS OCD EI 4 7 Sample of Variable table PO gt AL A mn PROFINET USER MANUAL In the next hardcopy is a variable table with all necessary control and data words 3X SIMOTION SCOUT D410 OCD Project Edit Insert Targetsystem Options Window Help 8 a ss 2 lt No filter gt 0410 ocp 9 3 Create new device ET 3 Insert single drive unit Hd 0410 EXECUTION SYSTEM S yo GLOBAL DEVICE VARIABLES 9 80 axes amp 4 EXTERNAL ENCODERS cams E TECHNOLOGY 1 PROGRAMS 4 OCDXENCODER SINAMICS_Integrated LIBRARIES D410 Operating mode 5VDC RUN STOPU STOPU stop STOP Den MRES Close 2000 a200 HEX 2000 HEX Alarms Symbol browser Compile check output Target system output Xx Diagnostics overview Press F1 to open Help display Version 07 09 Online TCP IP gt D Link DFE 528TX PCI A Page 30 UMUS OCD EI PO gt AL A A A PROFINET USER MANUAL 4 8 IRT settings It is possible to set the upper limit for IRT transmission Details Sync Domain Maximum bandwidth for cyclic data
8. memory 10 ms G1 ZSW The Preset value is used when a preset is requested by bit 12 in the Sensor control word G1 STW Parameter Meaning Data type Preset value Preset value will defined during startup or with Integer 32 asynchronous data exchange Function call for setting Preset 100 Decimal 0x000000C8 hex following with Request Header Request Header Parameter Address and Value 0 02 0 00 0 01 0 00 CALL WR REC Byte 0 Req ID Change parameter REC Byte 1 Req Reference ID Byte 2 No Of Parameters 1 INDEX 0xBO2E Byte 3 DO ID LEN 16 DONE BUSY ERROR STATUS RECORD Parameter Address Parameter Value 0x00 0x10 0xFD OXxE8 0x00 0x00 0x01 0x43 0x00 0x00 0x00 0xC8 Byte 0 No Of Elements 0 Byte 0 No of Values 1 Byte 1 Attribute Value Byte 1 Format 0x43 Integer32 Byte 2 3 Parameter number 65000 Preset Byte 2 5 Value Preset 100 Byte 4 5 Subindex Version 07 09 Page 19 UMUS OCD EI POSITAL FRABA PROFINET USER MANUAL 3 9 7 Offset value The offset value is calculated in the preset function and shifts the position value with the calculated value Parameter Measuring units per revolution Measuring step Total measuring range in measuring units 3 9 8 Scaling parameters The Scaling parameters will be used to change the resolution This parameter will only affect to Parameter Measuring units per revolution Measuring step Total measuring range
9. Electrical Connection 5 3 9 7 20 2 2 Ethernet 5 3 9 8 Scaling parameters 20 2 2 1 RJ45 M12 crossed 5 3 9 9 Max Master Sign Of Life failures 20 2 2 2 RJ45 M12 straight 5 3 9 10 Velocity measuring units 20 2 2 3 M12 M12 5 3 9 11 Velocity filter 21 2 3 Diagnostic 6 3 9 12 Endless Shaft RoundAxis 21 2 4 Status LED 6 f r miechanicalinstaliationiand Configuring with STEP7 22 electrical connection of the rotary encoder 7 4 1 Installing the GSDML file 22 Device configuration 8 4 2 Engineering A POSITAL encoder initia STEP project iine 23 3 1 8 4 3 LLDP Link Layer Discovery Protocol 25 3 2 Encoder 8 4 4 Selecting an encoder version 27 3 3 Encoder functions 9 4 4 Setting encoder parameters 28 4 5 Chang
10. UMUS OCD EI PO gt AL A m USER MANUAL After the successful installation of the GSDML file Possibly you need to update the hardware catalog the POSITAL encoder can be found in the hardware by choosing Options gt Update catalog catalog under PROFINET IO Additional Field Devices Encoders POSITAL OCD 4 2 Engineering a POSITAL encoder into a STEP7 project To engineer the rotary encoder into a project drag PROFINET ethernet network or choose the the device OCD encoder on to an existing network and double click the OCD encoder icon fi HW Config SIMOTION D Configuration D410_OCD ly Station Edit Insert PLC View Options Window Help DESER 2 85 8 MO wine Profile Standard bA 1 PROFINET IQ X46 Post 2 4 Additional Field Devices j E gg Encoders Pepperl Fuchs Encoder POSITAL OCD Standard Multitum ga OCD ENCODER MT1213 Standard Telegram 81 4 Standard Telegram 82 4 Standard Telegram 83 4 Standard Telegram 84 8 OCD ENCODER MT1216 D410 PROFIBUS Integrated DP master system 1 __ OCD ENCODER MT1413 8 OCD ENCODER MT1416 Singletum 0 0 5 0013 E OCD ENCODER STOO16 Standard no PDEV Multitum E Singletum i d verant 7 ser j StandadTelegam83 Jaz
11. of the POSITAL encoder with the configuration tool Hardwaremanager STEP 7 is shown exemplarily In this example STEP 7 Version 5 4 SP1 and the CPU 4 1 Installing the GSDML file If POSITAL encoders are used for the first time it is necessary to instal the GSDML file to import encoder parameterization into the hardware catalogue of the tool Choose Install GSD File in the HW Config window of the project menu item Options and select the GSDML file 315 2PN DP or Simotion Scout with single axis controller D410 PROFINET controller integrated are used If there are questions about other software tools please contact the manufacturer The GSDML file is supplied by POSITAL free of charge from www posital eu In order to represent the encoder with a bitmap in STEP7 the bitmap file will be installed automatically with the GSDML file both files must be in the same directory The main number of the Software Release in the GSDML file and the Firmware must be the same i e 4 xx Fi HW Config SIMATIC 300 1 Configuration ProfiNet mig Station Edit Insert PLC View Options Window Dare amp Be 0 UR CPU 315 2 i Raza Version 07 09 Customize Install HW Updates Install GSD File Page 22 Ctrl Alt E Configure Network Symbol Table Ckri Alt T Edit Catalog Profile Update Catalog PROFINET 0 Sy Find in Service amp Support lt
12. volatile memory In this 5 10ms the encoder will not send position values Request absolute value Request of additional cyclic transmission of the absolute actual cyclically position in G1_XIST2 If no other data needs to be transferred due to commands or errors the absolute position value will be transmitted automatically Activate parking sensor If the activate parking sensor bit is set the encoder transmits no error messages Acknowledging a sensor Request to acknowledge reset a sensor error error A M k wo a AR E 3 4 5 Encoder status word G1_ZSW Bit Value Meaning Comment 0 Reserved currently not used 10 11 i joe Is set if the reset of a sensor error after acknowledging takes sensor error in process longer than one bus cycle 12 Acknowledgement for set preset request shift reference point executed 13 Acknowledgement for request absolute value cyclically cyclically 14 1 Parking sensor activated Acknowledgement for activate parking sensor The encoder transmits no error messages 15 1 Sensor error Indicates a sensor error A device specific error code is transmitted in G1_XIST2 Version 07 09 Page 12 UMUS OCD EI POSITAL FRABA PROFINET USER MANUAL 3 5 Standard telegrams Standard Telegram 81 IO Data DWord 1 STW2 G1_STW1 Details about the variables are available in chapter 3 4 Setpoint
13. 3 Nodes IP address address Device type Device name 188 100 100 08 00 06 99 05 E6 2005 IM151 3PN 198 100 100 08 00 06 99 38 1C 57 300 PNG 198 100 100 00 02 C6 64 64 35 POSITALO OCD ENCODI lt MAC address Cancel Help Version 07 09 Page 24 Help address of the chosen device to the previous window and select Use IP parameters The MAC address is available on the type label on the bottom left see picture below with red marking Enter the IP address and subnet mask for the encoder that you previously assigned and click Assign IP configuration Also enter the device name previously chosen in the text field Device name and click Assign Name Please note If more than one rotary encoder is used in the same PROFINET network each encoder must have a different name and each encoder must be assigned its name before another is connected to the network POSITAL GmbH Carlswerkstr 13c D 51063 K ln Type OCD EIA1B 0013 C100 PRM SerialNo 03 09 339032 Steps revolution 8192 Vcc No of revolutions 1 Interf ode BITa Vers 2 MAC 00 0E CF 03 10 8D 10 30V gt 3 E o o gt UMUS OCD EI PO gt AL A m USER MANUAL 4 3 LLDP Link Layer Discovery Protocol The Link Layer Discovery Protocol allows replacing Edit Ethemet Nede x a device of the Profine
14. ET IO uses a view of distributed I O similar to PROFIBUS DP IO controllers e g PLCs run an automation program IO devices e g absolute encoders are remotely assigned field devices and lO supervisors e g programming devices are used for commissioning and diagnostics The engineering of PROFINET IO is done similar to PROFIBUS The field buses Ethernet topologies are assigned to control systems during configuration The IO device is configured in the actual system based on the contents of its GSDML file After completion of the engineering the installer loads the data for the expansion into the IO controller PLC and the IO controller assumes data exchange with the IO device An IO device is addressed within PROFINET and also possibly by external IT components through its IP address Data can be exchanged from the IO controller to the IO device and vice versa cyclically for process data Apart from this parameter data can be exchanged acyclically during engineering of the IO device or by the use of PLC programming blocks e Engineering identification call e Different filters for velocity e Profinet Encoder Profile V4 UMUS OCD EI POSITAL FRABA PROFINET USER MANUAL 2 Installation 2 1 Electrical Connection The rotary encoder is connected by a 4 pin M12 connector for the power supply and two 4 pin D coded M12 connector for Ethernet Connector Ethernet 4 pin female D coded Pin Nu
15. OFINET network please refer to http www profibus com pn UMUS OCD EI POSITAL FRABA PROFINET USER MANUAL 1 2 PROFINET technology PROFINET is an Industrial Ethernet standard merging plant automation with other enterprise IT resources It provides comparable functionality to PROFIBUS with techniques used by engineering IT and management personnel Established IT standards are employed as basis of communication TCP UDP IP XML is used as description language for device profiles GSDML files Two ways of using PROFINET are available PROFINET similar to PROFIBUS DP as a distributed I O system and PROFINET CBA as a modular component based system for larger systems PROFINET offers scalable communication for different applications in industrial automation e PROFINET NRT non real time is suited for non time critical process automation with clock rates of roughly 100 msec e PROFINET RT real time offers a communication channel with optimized performance 10 msec clock rate for most factory automation tasks e PROFINET IRT isochronous real time employs special communication hardware to enable clock rates of less than 1 msec and a jitter precision of less than 1 usec 1 3 Features of the Encoder e Integrated Boot loader for customer firmware upgrades e Round axis Endless shaft e Neighboring detection Version 07 09 Page 4 This channel is mainly of use for motion control applications PROFIN
16. OxBFOO 0 3 1 Bit Alarm channel control 1 1 OxBFOO 0 4 1 Bit Measuring units per revolution 1 1 OxBFOO 1 8 Byte Total measuring range 1 1 OxBFOO 9 8 Byte Maximum Master Sign Of Life failures 1 1 OxBFOO 17 1 Byte Velocity measuring unit 1 1 OxBFOO 18 1 Byte 5 Preset value 1 1 OxBO2E Via Parameter Number 65000 3 8 2 Device Parameter Function Slot Sub slot Index Offset Length IO Preset value 1 1 0xB02E Via Parameter Number 65000 3 8 3 Vendor Parameter Function Slot Sub slot Index Offset Length IO Velocity filter 1 1 0x1000 O 1 Byte 5 Endless shaft Round axis 1 1 0x1000 1 1 Byte For PLC s that support several sub modules the following table will be in use for the Encoder Standard section in Device list not no PDEV Profile 4 Slot 0 Slot 1 Standard Telegrams Sub 0 Sub 0 Sub 1 Sub 2 MAP Parameter Standard Telegram 81 82 or 83 Acyclic Data Channel Cyclic Data Channel Version 07 09 Page 15 UMUS OCD EI POSITAL FRABA PROFINET USER MANUAL 3 9 Patronized Parameter Parameter Read only Write only Read Write PNU 922 TELEGRAM SELECTION Y PNU 964 DEVICE IDENT Y PNU 965 ENCODER PROFILE NUMBER Y PNU 971 STORE LOCAL PARAMS Y PNU 975 ENCODER OBJECT IDENT Y PNU 979 SENSOR FORMAT Y PNU 980 NUMBER LIST OF DEFINED PARAM Y PNU 65000 PRESET VALUE Y PNU 65001 OPERATING STATUS Y Sample of configuration according E
17. S S S S S 565 5 5 Absolute value G1 XIST1 at 20 20 28 27 26 25 24 23 22 21 20 19 ve vv v 15 n n no fo 7 e 5 4 211 fo w u u wu S S Absolute value in G1 XIST2 G1 XIST3 For 64bit position values is the G1 XIST3 available The binary value will transmit right aligned and without shifting factor IO Data 1 2 3 4 Format 64 bit position value Version 07 09 Page 10 UMUS OCD EI POSITAL FRABA PROFINET USER MANUAL 3 4 2 Encoder control word STW2 ENC 4 Bit counter left justified The master application values for the master s sign of life are 1 to 15 0 starts the sign of life with any value between 1 indicates an error and is left out in normal and 15 The master increases the counter in operation every cycle of the master application Valid Implementation Bit Function Class 3 Class 4 0 9 Reserved currently not used 10 Control by PLC Y Y 11 Reserved currently not used 12 15 Controller Sign Of Life Y Bit Value Significance Comments 10 Control by PLC Control via interface EO IO Data is valid 0 No control by PLC EO IO Data is not valid Except Sign Of Life 12 15 Controller Sign Of Life Send continuous counting value from 0 to 15 3 4 3 Encoder status w
18. e did not switch but not outside the permitted range to the data exchange mode Actual configuration of the slave differs from the nominal configuration On Off Data exchange Slave and operation ok 1 The blinking frequency is 0 5 Hz Minimal indication time is 3 sec Version 07 09 Page 6 UMUS OCD EI Version 07 09 POSITAL FRABA PROFINET USER MANUAL The following points should be observed Do not drop the angular encoder or subject it to excessive vibration The encoder is a precision device Do not open the angular encoder housing this does not mean that you cannot remove the connection cap If the device is opened and closed again it can be damaged and dirt may enter the unit The angular encoder shaft must be connected to the shaft to be measured through a suitable coupling full shaft version This coupling is used to dampen vibrations and imbalance on the encoder shaft and to avoid inadmissible high forces Suitable couplings are available from Posital Although Posital absolute encoders are rugged when used in tough ambient conditions they should be protected against damage using suitable protective measures The encoder should not be used as handles or steps Only qualified personnel may commission and operate these devices These are personnel who are authorized to commission ground and tag devices Systems and circuits according to the current state of safety technology 2 5 Instructions fo
19. ectromagnetic compatibility there are rules to verifying devices Ethernet is a computer network technology based on frames Round axis Solve the problem with not binary values for revolutions Transmission technology with 100 Mbit transmission rate Internal memory saved data will be available after power down IO Connection communication between controller and device Allow a logic addressing from computer in a network Former name for the IRT synchronization High Flexibility Former name for the IRT synchronization High Performance Link Layer Discovery Protocol Worldwide explicit address of a device The encoder uses three MAC Addresses one for internal interface and two for the ports The basic MAC Address is available on the type label Transmission rate or baud rate million bits per second Module Access Point This MAP Sub module contains at least the mandatory Parameter Access Point PAP which is mapped to a dedicated Record Data Object Acronym OPTOCODE name of an encoder series manufactured by FRABA POSITAL The Open System Interconnection reference model is a open layer model for the organization of a communication Physical device Not all PLC s support several sub slots Then select in the product tree Customized otherwise ProfileV4 x See gt Endless shaft A switch is an electronic device to connect computers e g network segments in a local network Unlike a hub a switch uses stacks to avoid network collisio
20. en must use the Profibus the same time See the next Hardcopy with the settings for 1ms DP slave properties General Configuration Isochronous Operation Network settings in ms E quidistant bus cycle activated Equidistant DP cycle 1 000 Data Exchange Time comp 0 000 7 Factor Grid base time ms 7 100 Eactor Frame base time ms DP cycle Tdp ms f 100 8 E 0 125 Time Ti ms Factor Grid base time ms ime Ti ms jars actual value acquisition 0129 a Aul 01 Factor Grid base time ms Time To ms setpoint acceptancel 250 i 0 125 Cancel Version 07 09 Page 33 UMUS OCD EI 6 Glossary Term 10Base T 100Base T Auto crossing Auto negotiation Baud rate Binary CAT5 EMC Ethernet Endless shaft Fast Ethernet Flash Implicit Messaging IP Address IRT flex IRT top LLDP MAC Address Mbit MAP OCD OSI Model PDEV Round Axis Switch TCP Version 07 09 POSITAL FRABA PROFINET USER MANUAL Explantations Transmission line with 10 Mbit data transmission rate Transmission line with 100 Mbit data transmission rate Allow to use straight or crossover wiring Is an Ethernet procedure by which two connected devices choose common transmission parameters such as speed and duplex mode Transmission rate it display the transmission bits per second Numeric system with value 0 or 1 Terminations for transmission rates up to 100 Mbit El
21. ers Select the encoder in the hardware configuration addresses be changed under the tab and double click slot one or MAP in slot one is Addresses if desired To set the encoder available in the configuration table of the encoder parameters the tab Parameters has to be The properties dialog will appear The input selected Properties MAP General Addresses Parameters 3 Encoder Vendor parameters Velocity Filter Round xis Encoder specific parameters Preset value 0 Encoder user parameters 2 Code sequence Cw 2 Class 4 Functionality disable HE G1_XIST1 Preset control disable amp Scaling Function control disable 2 Alarm channel control disable Measuring units Revolution 8192 amp Total measuring range 8192 Maximum tolerated failures of M 1 Cancel Help 4 5 Changing and reading encoder parameters at run time Encoder parameters will be set during engineering To change or read encoder parameters in a STEP7 of the encoder upload to PLC during hardware automation program refer to system function blocks configuration SFB53 and SFB52 write read record or with the variable table for testing Version 07 09 Page 28 UMUS OCD EI PO gt AL A m1 USER MANUAL 4 6 Setting of device propertie
22. eset control Preset function 0 default 3 9 4 Scaling function control The parameter scaling function control enable disenable the scaling function If not the physical Scaling function control Scaling function Deactivated Activated 1 default 3 9 5 Alarm channel control The parameter Alarm channel control defines the length of diagnostic telegram If the Alarm channel Alarm channel control 0 default Deactivated 1 Activated Version 07 09 Alarm channel function Page 18 Preset control is disabled then the Preset will not be affected for G1_XIST1 Preset does not affect G1_XIST1 G1 XIST1 is affected by a Preset command position value is returned by the rotary encoder This is only available if class 4 control is activated is deactivated then will only transmit the first 6 bytes of diagnostic telegram UMUS OCD EI POSITAL FRABA PROFINET USER MANUAL 3 9 6 Preset value With the Preset value it is possible to adapt the NOTE encoder zero point to the zero point of the e Set Preset only in standstill application When using this function the current e There is no preset activated when the Preset encoder position value is set to the desired preset value is written to the encoder The preset value The integrated microcontroller calculates the function is controlled by the bits in sensor internal zero point shift It is stored in a permanent control and status words G1 STW
23. in measuring units 3 9 9 Max Master Sign Of Life failures With this parameter the number of allowed failures of the master s sign of life is defined Parameter Maximum Master Sign Of Life failures Meaning Single turn resolution in steps Total measuring range measuring steps Meaning Single turn resolution in steps Total measuring range measuring steps Meaning Number of permissible failures of the 1 255 Data type Unsigned 32 Unsigned 32 the output values if the Scaling function is activated Data type Unsigned 32 Unsigned 32 Value master s life sign 3 9 10 Velocity measuring units This parameter defines the coding of velocity measuring units used to configure the values NIST A and NIST B Only Telegrams 82 84 uses the velocity outputs Velocity measuring unit Steps s Steps 100ms Steps 10ms RPM Version 07 09 Page 20 With each cycle will calculate the velocity from the position value To get a high velocity precision it is necessary to use a short cycle time UMUS OCD EI POSITAL FRABA PROFINET USER MANUAL 3 9 11 Velocity filter The velocity value can used with three different moving averaging filter types Default Fine Parameter Velocity filter Meaning 3 9 12 Endless Shaft RoundAxis Normally the period i e Total resolution measuring units per revolution must be an integer and it must fit an integer number of times integer multi
24. ing and reading encoder parameters 3 4 1 Format of actual position values 10 coepi ten 28 3 4 2 Encoder control STW2_ENC 11 4 6 Setting of device properties 29 3 4 3 Encoder status word ZSW2_ENC 11 4 7 Sample of Variable table 30 3 4 4 Encoder control word G1 STW 12 4 8 IRT settings 31 3 4 5 Encoder status word G1 ZSW 12 3 5 Standard telegrams 13 dg teme C 32 3 6 Configuration 44 6 2 2 2 4 34 3 7 Rotary encoder functionality overview 14 11 Revision index eee 35 Version 07 09 Page 2 UMUS OCD EI POSITAL FRABA PROFINET USER MANUAL Imprint FRABA Inc 1800 East State Street Hamilton NJ 08609 Phone 1 609 750 8705 Fax 1 609 750 8703 Internet http www posital com e mail info posital com Copyright The company POSITAL GmbH claims copyright on this documentation It is not allowed to modify to extend to hand over to a third party and to copy this documentation without written approval by the company POSITAL GmbH Nor is any liability assumed for damages resulting from the use of the information contained herein Further this publication and features described herein are subject to change without notice
25. line online comparison Interconnection table Iv Show statior Filter Show all ports X Port Partner port Cable len Signal del Comment E OCDXENCODER RJ45 10 100 MBit s SIMOTION D 1 0410 100m D 60us RJ45 10 100 MBit s Ii POPC 1 Defaut port E SIMOTION D PNxIO D410 Porti x200 P1 Port 2 X201 P2 OCDXENCODER XRJ45 10 100 100m 0 60 lt gt Online Export Unit of Meters 7 lenath It is possible to compare the configuration with the physical network Topology Editor Table view Graphic view Offline online comparison connections the cable length and signal delay Topology Editor Table view Graphic view Otfline online comparison PG PC 1 Move picture mode deactivated Update Object Properties Options Print Configured topology offline Object name Partner port Cable data Start No node found Object name Detected topology online lt lt Partner port OCDKENCODER E PGPC 1 Default port Version 07 09 Page 26 UMUS OCD EI PO gt AL m USER MANUAL 4 4 Selecting an encoder version Some functionality and default parameters depend on the encoder version These different versions are realized as several modules within the GSDML file that can be plugged into the free enc
26. mber Signal 1 TX 2 Rx 3 TX 4 Rx 3 4 2 1 2 2 Ethernet cables 2 2 1 RJ45 M12 crossed Version 07 09 Page 5 The Encoder uses a second D coded connector and provides integrated switch functionality On or in the packaging of the connector is the mounting description Connector power supply 4 pin male A coded Pin Number Signal 1 US 10 30 V DC 2 N C 3 GND 0V 4 N C 2 2 3 M12 M12 crossed UMUS OCD EI POSITAL FRABA PROFINET USER MANUAL 2 3 Diagnostic LEDs LED Color Description for LED on Active Incoming and outgoing traffic for port 1 Link1 Link to another Ethernet component for port 1 Active2 Incoming and outgoing traffic for port 2 Link2 Link to another Ethernet component for port 2 Stat1 Green Status 1 details in the next table Stat2 Red Status 2 details in the next table Flashes with 2Hz if engineering identification call is activated and link connection is available 2 4 Status LED indication TIVO Stat1 Stat2 NE a i Active2 Active1 Link2 Linki Status 1 Status 2 Meaning Cause Green Red Bus failure Of Criteria no data exchange Master not available switched off On Blinking 1 Parameterization fault no data Slave not configured yet or wrong exchange configuration Criteria data exchange correct Wrong station address assigned However the slav
27. ncoder Profile V4 HW Config SIMOTION D Configuration D410_OCD station Edit Insert PLC Options Window Help 028 9 y S ae RP All M B SIMOTION D410 PROFIBUS Integrated DP master system 1 __ a SINAMI Profile Standard ge ME PROFINET 10 4 Additional Field Devices Encoders Ethemei l PROFINETIO System 100 Pepperl Fuchs Encoder 889 POSITAL OCD 1 Standard 1 OCD EN 5 Multum 3 OCD ENCODER MT1213 Standard Telegram 81 3 Standard Telegram 82 4 Standard Telegram 83 4 Standard Telegram 84 OCD ENCODER MT1216 L OCD ENCODER MT1413 ma OCD ENCODER MT1416 Order Number Q Diag POD ENCODER GODEISKETZIFAXXX OCD ENCODER STO013 OCD ENCODER STOO16 tandard no PDEV IET RENI BUGS TITANS 87 E Multitum TV IEG MESA 6767 E Singletum Standard Telegram 83 8179 8 OCD ENCODER STO013 Er E Singletum 5 eie een ARS Su Takeran 67 25 4 2 OCD ENCODER STOO1E Valves POSITAL OCD POSITAL GmbH Absolute encoder Press F1 to get Help Version 07 09 Page 16 UMUS OCD EI POSITAL FRABA PROFINET USER MANUAL 3 9 Rotary encoder function description Function Code sequence Class 4 functionality G1_XIST1 Preset control Scaling function control Alarm channel control Preset value Preset val
28. ns The Transmission Control Protocol is a connection orientated transmission protocol in a network Page 34 UMUS OCD EI POSITAL FRABA PROFINET USER MANUAL UDP User Datagram Protocol is utilized to send data that does not need to be transferred in a reliable way 11 Revision index Revision Date Revision First release 5 6 2008 2 00 Add mechanical drawings change some details 6 3 2009 2 01 Several small corrections 8 3 2009 2 02 G1_XIST3 gt G1_XIST1 for Telegram 81 83 27 3 2009 2 03 Add FAQ and detailed info about IRT configuration 29 4 2009 2 04 Update the information about Device replacement without replacement medium 15 5 2009 2 05 Update information about Preset setting update Encoder functions CD PDEV 27 5 2009 2 06 Update Preset details 1 7 2009 2 07 Version 07 09 Page 35 UMUS OCD EI
29. oder slot fi HW Config SIMOTION D Configuration D410 OCD ah Station Edit Insert PLC View Options Window Help number 1 For this one of the modules listed under FRABA encoder has to be dragged to Slot 1 in the displayed configuration table of the encoder See 5 Ws amp Be 0 SIMOTION 0410 2 040 m 3 SINAMII x201 92 1 OCD ENCODER Slot S Module Order Number m ZCDINWDUDEB INIP mice 7 PROFIBUS Integrated DP master system 1 __ pix Find at 020202020000 ARE PROFINET 0 Cg Additional Field Devices 1 Encoders Pepperl Fuchs Encoder POSITAL OCD 5 Standard Multitum E OCD ENCODER M7T1213 9 Standard Telegram 81 4 Standard Telegram 82 3 Standard Telegram 83 4 Standard Telegram 84 gg OCD ENCODER MT1216 E OCD ENCODER MT1413 Hl OCD ENCODER MT1416 Singletum OCD ENCODER STO013 E OCD ENCODER STOO16 Standard no H E Multitum 9 Singletum OCD ENCODER ST0013 j V prec 4 j a 4 6 Press F1 to get Help Version 07 09 Page 27 OCD ENCODER STOO16 Valves POSITAL OCD POSITAL GmbH Absolute encoder UMUS OCD EI PO gt AL A m USER MANUAL 4 4 Setting encoder paramet
30. ord ZSW2_ENC 4 Bit counter left justified The slave application slave application in every DP cycle Valid values starts the sign of life with any value between 1 for the slave s sign of life are 1 to 15 0 indicates and 15 after successful synchronization to the an error and is left out in normal operation clock pulse The counter is increased by the Implementation Bit Function Class 3 Class 4 0 8 Reserved currently not used 9 Control requested Mandatory Mandatory 10 11 Reserved currently not used 12 15 Encoder Sign Of Life Mandatory Comments The automation system is requested to assume control EO IO Data is not valid Except Sign Of Life Send back continuous Controller Sign Of Life counting value from 0 to 15 12 15 Encoder Sign Of Life Version 07 09 Page 11 UMUS OCD EI POSITAL FRABA PROFINET USER MANUAL 3 4 4 Encoder control word G1_STW Bit Value Function Comments 0 Reserved currently not used 2 o 0 1 Home position mode Specifies if the position value shall be set to a previously programmed absolute value or shifted by this value 0 set home position preset absolute 1 shift home position preset relative offset Set preset request shift Preset resp shift is set when changing this Bit to 1 rising edge Default preset value shift 0 Warning After setting the preset the offset will be save in the non
31. out has to use the newest firmware that support IRT 2 2 or Stack version 3 1 for Ertec devices 5 Question Why doesn t the encoder send position values back to the bus after sending acyclic data that has to save in non volatile memory during real time communication Answer If the cycle time is lt 10ms the encoder needs 5 10ms for saving the information in the non volatile memory Change i e the preset value with the acyclic data during the RUN Phase of the PLC or deactivate the Round Axis functionality 6 Question What is the easiest way to set the preset value Answer Set the preset value in the Hardware Manager from Step 7 or Simotion Scout So will transmitting the preset value during the start up phase to the encoder To activate it is necessary to Version 07 09 Page 32 UMUS OCD EI POSITAL FRABA PROFINET USER MANUAL set Bit 12 to 1 In the hardcopy above should send 3000 instead 2000 For details see chapter 3 4 4 7 Question Why can not set the preset value or the other parameters Answer Only in class 3 with activated Class 4 functionality or class 4 is it possible to set the parameters If necessary it is important to use class 4 or to activate the class 4 functionality in the Hardware Manager 8 Question On using the D410 the error Synchronization error between Profibus and Profinet popped up What is to do Answer Both systems have to use the same cycle time If the Profinet cycle time amounts 1ms th
32. ple into 4096 for an encoder with 12 Bit for the Select for the parameter Fine Normal Coarse Data type Integer 32 revolutions This means that i e 100 or 325 revolutions could make trouble So the following equation must apply 4096 x measuring units per revolution Total resolution z integer But with this Profinet encoder it is possible to solve this problem If the Endless Shaft Round axis is activated then this problem will be solved by the encoder The default value is Off With value Note The internal software routine only works if the encoder is in operation If it is necessary to turn the encoder shaft more than 1024 revolutions without power supply this can lead to problems the internal routine will not work without power supply With this function there will be save additional values in the internal eeprom Parameter Endless Shaft Round axis Meaning Version 07 09 Select for the parameter On Off Auto Page 21 Auto the encoder checks if the parameters need the endless shaft On activate this functionality during the complete working time If the cycle time is lt 10ms then there will come four times over the total resolution a pause of sending position values of 5 10ms because the offset value has to save in the non volatile memory Data type Integer 32 UMUS OCD EI POSITAL FRABA PROFINET USER MANUAL 4 Configuring with STEP7 In the following chapter the configuration
33. r mechanical installation and electrical connection of the rotary encoder e tis not permissible to make any electrical changes to the encoder e Route the connecting cable to the angular encoder at a considerable distance or completely separated from power cables with their associated noise Completely shielded cables must be used for reliable data transfer and good grounding must be provided Cabling establishing interrupting electrical connections may only be carried out when the equipment is in a no voltage condition Short circuits voltage spikes etc can result in erroneous functions and uncontrolled statuses which can even include severe personnel injury and material damage e The encoder should have got a large area connection to PE If the flange don t have a good electrical connection to the machine i e if there was used a plastic mounting device then use i e a 30cm long and 2cm wide copper tape to get the PE connection Before powering up the system check all of the electrical connections Connections which are not correct can cause the system to function incorrectly Fault connections can result in severe personnel injury and material damage Page 7 UMUS OCD EI POSITAL FRABA PROFINET USER MANUAL 3 Device configuration 3 1 Standardization This actual generation of PROFINET devices is See the next figure with the coherences based on the Encoder Profile V4 PNO No 3 162 With this s
34. s Under Profinet IO Domain Management i e right li k SI 10 T t t th S h ti station Edit Insert PLC View Options Window Help click on Slot 0 allows to select the Synchronization go c Boer type and the RT Class If the Synchronization role is selected as US Integrated DP master system 1 unsynchronized then the encoder works in RT eee Go To E A Mode If Sync master is selected then is it possible Sum to switch between high flexibility FLEX and high Object Alt Return In the Domain Management is an overview with all devices available There should use all devices the same Synchronization Role and RT Class Assign Asset ID Domain management Ethernet 1 Sync Domain Sync Domain synedomain default Syne domain Send clack time ms 1 000 Details Device properties PNxIO Nodes Synchronization Station 10 System SIMOTION D PROFINET IO System 100 Parameters 3 Configuration amp Name of the sync domain syncdomain default Device name PNxIO E Station SIMOTION D E system PROFINET IO System id amp Synchronization role Sync master RT dass IRT IRT option high Flexibility Station Device Name Synchronization Role RT Class IAT Option
35. t network The partner port before and behind of the replaced device save odes accessible online MAC address 00 02 6 64 64 35 relevant information s so that no additional configuration is necessary But the flag for activate Device replacement ET without replacement medium must be activated er 100 use router under tab General Subnet mask 255 255 255 0 C Use router Addie 198 100 100 Set IP configuration Use IP parameters Obtain IP address from DHCP server r Identified by 6 Client IL CM Assign IP Configuration Assign device name Device name OCD ENCODER Assign Name Reset to factory settings Reset Close Help Properties PNxlO Port 2 RO S2 X201 P2 General Addresses Topology Options Port Interconnection Local port SIMOTION DAPNxIO D410 Port 2 201 P2 Medium Local port Copper Partner port Copper Cable name Partners Partner port t a Any partner Wematng partner ports Ta MaMa ope sp RT Cable Data Cable length 100m Signal delay time 0 60 us C Signal delay time us o 60 Version 07 09 Page 25 UMUS OCD EI PO gt AL m PROFINET USER MANUAL With the Topology Editor in the Step 7 Hardware manager it is possible to get an overview the Topology Editor Table view Graphic view Olf
36. tandardization it is possible to substitute all products that fulfill the specification Encoder Profile V4 Class 3 and 4 PNO No 3 162 PROFIDRIVE V4 I amp M Functions PNO No 3 172 PNO No 3 502 Encoder Profile Class 1 and 2 PNO No 3 062 PROFIBUS PROFINET Network Network 3 2 Encoder Classes Application Class Description 3 Isochronous mode is not supported RT 4 Isochronous mode is supported IRT Version 07 09 Page 8 UMUS OCD EI POSITAL FRABA PROFINET USER MANUAL 3 3 Encoder functions Function Code sequence Class 4 functionality G1_XIST1 Preset control Scaling function control Alarm channel control Preset value Preset value 64bit Measuring units per revolution Measuring step Total measuring range Measuring units per revolution 64bit Total measuring range 64bit Maximum Master Sign Of Life failures Velocity measuring unit Encoder Profile version Operating time Offset value Offset value 64 bit Round axis Endless shaft Velocity filter f Class 4 functionality is activated 3 4 Signal list for Cyclic Data Transmission e Significance 3 Master s sign of life 4 Slave s sign of life 6 Velocity value A 8 Velocity value B 9 Control word 10 Status word 11 Position value 1 12 Position value 2 39 Position value 3 Version 07 09 Page 9 Implementation Class 3 v Class 4 v Y Jv Jv v 4 4v 4v
37. ters There are two versions of PLC available Some of them support only one sub slot Other ones i e S7 400 support several sub slots To work with both GSDML file encoder has to be installed in the used PLC engineering software tool Communication channel Cyclic input IO device gt IO controller Cyclic output IO controller gt IO device Acyclic input output Acyclic input output PLCs there are in the GSDML file two directories Standard and Encoder Profile 4 POSITAL rotary encoders offer for the standard profile one slot address 0 with one sub slot address 0 for all device data for old PLC s that doesn t support several sub slots Device parameters are grouped together as records in the PROFINET interface The following table gives an overview over addresses of POSITAL rotary encoder s data channels Rotary encoder Acyclic data Cyclic data lt transmission transmission Parameters process data PLC engineering software E Version 07 09 PLC Page 14 UMUS OCD EI POSITAL FRABA PROFINET USER MANUAL Parameter for Acyclic Data Transmission 3 8 1 Base Mode Parameter Function Slot Sub slot Index Offset Length IO Code sequence 1 1 OxBFOO 0 0 1 Bit Class 4 functionality 1 1 OxBFOO 0 1 1 Bit G1_XIST1 Preset control 1 1 OxBFOO 0 2 1 Bit Scaling function control 1 1
38. ue 64bit Measuring units per revolution Measuring step Total measuring range Measuring units per revolution 64bit Total measuring range 64bit Maximum Master Sign Of Life failures Velocity measuring unit Encoder Profile version Operating time Offset value Offset value 64 bit Round axis Endless shaft Velocity filter f Class 4 functionality is activated 3 9 1 Code sequence The parameter code sequence defines the counting direction of the position value The code Code sequence Direction of rotation when viewing the shaft 0 default Clockwise CW Implementation Class 3 v Class 4 Y 4 4 v 4 Jv 4 4 4 4 Jv 4 4 SISISIS increases when the shaft is rotating clockwise CW or counter clockwise CCW view onto the shaft 1 Counter clockwise CCW Version 07 09 Page 17 Decreasing Increasing Code sequence UMUS OCD EI POSITAL FRABA PROFINET USER MANUAL 3 9 2 Class 4 functionality The parameter Class 4 functionality defines that the scaling preset and code sequence affects the position value in G1 XIST1 2 and 3 Class 4 control Class 4 function 0 default Deactivated 1 Activated 3 9 3 Preset control for G1 XIST1 The parameter preset control defines the preset functionality If parameter Class 4 is activated and Pr
Download Pdf Manuals
Related Search