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1. 4404s4 nennen 11 Parameters 22424400004nnn0anennannnnnnennannnnnn 33 Physical impulses 16 18 20 Preset function 0s242440snnnnnnnnnennnnnnnenn 14 Preset value 220000242nn0anennsnnnnnnnnnnnnnnn 25 Profibus Nutzerorganisation 4 Profile for Absolute Encoders 4 S Shorter Diagnostics nee 19 Software limit switch nen 19 Station address 0s042224n0annenennnnnnnnnnnn 5 SATUS DIGS 0 2er 22 STEP nase a tree terres 30 T Teach In Start esnnenenn 24 Teach In Stop eenneeessesensnennennnnnnnnnnen ernennen 24 Technical Data nnenn 35 Total measuring range eneee 13 Type designation i is 39 TYPO TICs Henne 44 V Velocity Time base 1 0 22 eeececceceecececeeeeeeeeaeeeeeeeeaeeeeeeeees 21 Page 45
2. SIMATIC 57 300 M7 300 and C7 modules central rack Press F1 to get Help After inserting the Profibus master system in the xl hardware configuration Inser Master ae Pannie System the FRABA encoder can be chosen from Si Ezi the hardware catalogue and added to the profibus Transmission rate 1 5 Mbps network Select the device FRABA Encoder and subnet not networkec drag it with the mouse to the network or choose the network and double click the FRABA encoder Now the slave address has to be entered has to be equal to the address setting in the connection Cap Abbrechen Hilfe Delete Revision 01 07 Info UME BXDP Page 31 71 a gt Ww gt 7 3 Selecting the encoder version As described in chapter 3 the functionality of the selected For this one of the modules listed under encoder depends on the selected encoder version FRABA encoder has to be dragged to Slot 1 in the After the FRABA encoder has been added to the displayed configuration table of the encoder network the desired encoder version can be HW Config SIMATIC 300 Station Configuration 57_FRABA_AWC Al Station Edit Insert PLC View Options Window Help 8 x Ole 2 2 5 lc JE 2 xe Profile Standard E B Additional Field Devices H A General H E Drives vo B Encoders B FRABA Encoder Universal module Class 1 Singletum Class 1 Multiturn
3. The period i e Total resolution measuring units per revolution must be an integer and it must fit an integer number of times integer multiple into 16384 So the following equation must apply 16384 x measuring units per revolution Total resolution integer 4 2 Data exchange in normal operation The DDLM_Data_Exchange mode is the normal operation mode of the device On request the master The encoder can also receive data from the master e g the preset value in the class 2 encoder transfers the current position value to the configuration 4 2 1 Transferring the process value The multiturn encoder transmits the current position value as a 32 bit value double word to the master Word Word 1 Word 0 Function Process value Bit HW X HO Bb 27 Bo Bo 4 2 2 2 BH el e 17 1 EI 4 ee 12 11 cCI9 8 7 6 5 4A 3 21 0IO0OIXIXIXIXIXIXIXIXIXIXIXIXIXIXIXIXIX XIXIXI XIXIXIXIXIXIXIXIX The singleturn encoder uses a 16 bit value word for data transmission 4 2 2 Preset function Using the preset function it is possible to adapt he encoder zero point to the zero point of the application When using this function the current encoder position value is set to the desired preset value The integrated microcontroller calculates the internal zero point shift It is stored non volatile in an EEPROM takes less than 40 ms The preset value is activate
4. POSITAL GmbH Carlswerkstr 13c D 51063 Cologne P O Box 80 03 09 D 51003 K ln Telephone 49 0 221 96213 0 Fax 49 0 221 96213 20 Internet http www posital de E mail info posital de Copyright The company POSITAL GmbH claims copyright on this documentation It is not allowed to modify to extend to hand over to a third party and or to copy Revision 01 07 Info UME BXDP this documentation without written approval by the company POSITAL GmbH Specifications are subject to change without notice Technical specifications which are described in this manual are subject to change due to our permanent strive to improve our products Publication Jan 2007 Version 4 04 Order Number 99998110 Author Dirk J ngling Page 3 POSITAL FRABA 1 General This manual describes installation and configuration of the Absolute Rotary Encoder with Profibus DP interface The device meets the 1 1 Absolute Rotary Encoder Basic principle of the absolute measurement is the optical scanning of a transparent disk with code print The code disk is connected to the shaft that is to be measured By evaluating the code and two additional incremental signals the absolute position of the shaft can be determined with a resolution of up to 65536 steps per revolution 16 bits So called Multiturn devices use reduction gears and further code disks to determine the absolute 1 2 Profibus technology PROFIBUS is an intern
5. multiturn device with 4096 revolutions and a maximum of 8181 revolutions for the 14 Bit multiturn After receiving the Teach In Stop command the encoder transmits the calculated total resolution This value should be noted and later when switching the device to normal mode entered into the parameter settings After this Teach In procedure the encoder operates with the new gearing factor which is stored non volatile in the internal EEPROM Status bits Data bits Bit 1 2 2 3 7 3 3 a4 2 2 21 x 1 7 16 6 4 13 2 1 1c 9 8 7 6 5 4 3 2 1 0 Master gt OCD 0 0 1 0 0O O 0 Number of desired measuring steps on the traversed measuring range OCD gt Master O 1 1 X XJ0 1 Transfer of the total resolution should be noted Master gt OCD 0 0 0 0 0 0 0 Reset bit 29 OCD Master O 0 0 X xX 0 1 Output of the current position value scaled with the new gearing factor In order to replace the encoder later without a new Teach In procedure the total measuring range determined with the Teach In should be transferred into the system configuration For this the total resolution must be entered into the parameter field desired measuring units cp 5 1 2 and the reference cp 5 1 3 must be set to maximum total Page 24 Info UME BXDP measuring range When settin
6. steps Page 27 POSITAL FRABA 6 2 11 Zero offset The zero offset is output in diagnostic bytes 32 to 35 6 2 12 Programmed resolution The programmed resolution per revolution is output in diagnostic bytes 40 to 43 The value is only valid if the scaling factor is based on the parameter resolution per revolution cp 5 1 3 6 2 13 Programmed total resolution The programmed respectively calculated total resolution is output in diagnostic bytes 44 47 Page 28 Info UME BXDP 6 2 14 Serial number Diagnostic bytes 48 57 are intended for a serial number With the current version the serial number is not saved in the encoder the bytes contain the default value 2A hex Revision 01 07 POSITAL FRABA 6 3 Status indication by the LEDs in the connection cap Two LEDs are implemented in the connection cap They optically indicate the status of the encoder in the profibus network or pe The red LED is used to display errors the green sft one displays the status of the encoder Both LEDs green can have one of three possible conditions dark bright and flashing Seven of the nine possible combinations are used to indicate a special condition If there are any problems with starting up the system the state of the LEDs can give important information about the error cause No Red LED Green LED Status possible cause 1 No power supply 2 Bright Bright Encoder is ready for operatio
7. into the high word parameter field the remainder into the low word field 129600 65536 1 977539 integer part 1 high word 1 129600 1 x 65536 64064 remainder 64064 low word 64064 It is also possible to enter the parameters directly as hexadecimal code However this is very complicated and it should be avoided if possible Properties DP slave 3 x Address ID Parameter Assignment Parameters Station parameters GHE Device specific parameters 3 arame ne _Prm_Data 0 to 7 00 44 00 01 10 00 00 01 User_Prm_Data 8 to 15 F4 40 00 00 00 00 00 00 User_Prm_Data 16 to 23 00 00 80 00 00 00 00 00 User_Prm_Data 24 to 31 00 7F FF 00 00 10 00 02 Page 34 Info UME BXDP Revision 01 07 8 Technical Data 8 1 Electrical Data General design Power supply voltage Power drain Current consumption EMC Bus connection Interface Baud rates Resolution Number of revolutions Accuracy of division Step frequency Code Lifetime electrical Addressing Note POSITAL FRABA According to DIN VDE 0160 Protective Class Ill degree of pollution 2 over voltage Category II 10 30 V DC absolute limit values max 2 5 Watt max 230 mA with 10 V DC max 100 mA with 24 V DC Emitted interference according to EN 61000 6 4 Noise immunity according to EN 61000 6 2 Electrically isolated by optocouplers Line driver acco
8. of rotation when viewing the shaft Code 0 Clockwise CW Increasing 1 Counter clockwise CCW Increasing In Class 1 this is the only parameter that can be set 4 1 2 Class 2 functionality Using this switch Class 2 encoders can be Octet 9 Bit 1 Class 2 functionality restricted to the functionality of Class 1 i e the i i 0 Switched off scaling parameters are disabled To use the class 1 En 2 functionalities bit 1 in octet 9 has to be set Switenedien 4 1 3 Commissioning diagnostics This function has no significance for the FRABA encoder 4 1 4 Scaling function The parameter scaling function enables the scaling parameters resolution per revolution and Octet 9 Bit 3 Scaling function total resolution This switch should always be i 0 Switched off activated if functions of class 2 or even higher 1 Switched on classes FRABA 2 1 and FRABA 2 2 are to be used 4 1 5 Measuring units per revolution The parameter measuring units per revolution is used to program a desired number of steps over one revolution If the value exceeds the basic physical resolution of the encoder the output code is no longer in single steps Starting with generation B1 the encoder indicates a parameter Octet Bit Data 10 11 12 31 24 23 16 es zee error LED and it will not enter the data exchange mode With high resolution encoders it may be necessary to divide the value into high and low word depending o
9. set encoder version FRABA 2 2 the version with the If several possibilities are offered for one highest functionality parameter the parameters list is opened by double Properties DP slave E x Address ZID Parameter Assignment Parameters Device specific parameters Code sequence Increasing clockwise 0 Scaling function control Increasing clockwise Desired Measuring units high Increasing counter clockwise 1 Desired Measuring units low 4096 Physical impulses high 0 Physical impulses low 4096 Desired measuring units per Revolution Total measuring range high 256 Total measuring range low 0 Commissioning mode Disable Shorter diagnostics 16 bytes No Lower limit switch Disable Lower limit switch high 0 Lower limit switch low 0 Upper limit switch Disable Upper limit switch high 0 32767 Revision 01 07 Info UME BXDP Page 33 POSITAL FRABA Due to the software tool STEP7 32 bit parameter values e g total measuring range software limit switches have to be divided into high and low word Example Decimal Hexadecimal Hexadecimal Decimal to be entered 129600 00 01 FA 40 High word 00 01 1 Low word FA 40 64064 The decimal value 1 has to be entered into the high word parameter field the value 64064 into the low word parameter field Or Divide the value by 65536 enter the integer part of the result
10. starting from octet 7 shorter diagnostics cp 5 1 5 The format of the Diagnostic function Data type Diagnostics octet number Class Station status 1 ref to Profibus Standard Octet Station status 2 ref to Profibus Standard Octet Station status 3 ref to Profibus Standard Octet oat ft Ostet j2 y oot Js y h Diagnostic master address octe FE 1 PNO identification number 1 Extended diagnostic header 1 Alarm messages Octet String Bt Operating status Ostet Sting 9 i Encoder type 1 Resolution per revolution Hardware 1 Number of revolutions Hardware 1 Additional alarm messages 2 Supported alarm messages 2 Warnings 2 Supported warnings Profile version Software version 2 Operating time 2 Zero offset 2 Manufacturer specific offset value 2 Programmed resolution per revolution 2 Programmed total resolution 2 Serial number ASCII String 48 57 2 Page 26 Info UME BXDP Revision 01 07 POSITAL FRABA 6 2 Supported diagnostic messages In the following the different diagnostic messages are described in detail 6 2 1 Extended diagnostics header Byte 7 contains the length of the extended diagnostics including header itself 6 2 2 Memory error Bit 4 in diagnostic byte 8 is used to indicate a memory error Memory error means that the internal EEPROM of the encoder no longer works correctly and that it cannot be guaranteed that values e g offset value are stored non volatile Bit
11. 0 Multiturn FRABA 1 1 Multiturn FRABA 2 0 Multiturn Page 10 Info UME BXDP Revision 01 07 POSITAL FRABA 4 Class 1 and Class 2 profile The encoder versions Class 1 and Class 2 are defined by the working group encoder in the Profibus Nutzerorganisation in the Profile for 4 1 Parameter settings The following table contains an overview of the parameters according to the Profile for Encoders and the structure of the parameter telegram Octet byte No Parameter Ime 9 Not used for Class 1 and Class 2 10 Measuring units per revolution Encoders available from the PNO Order No 3 062 Usually it is not necessary for the user to know the details of the structure the parameters are set in user friendly forms in the operator software tool Bit Nr Details Section 4 1 2 Page 12 Section 4 1 3 Page 12 Section 4 1 4 Page 12 Section 4 1 5 Page 12 13 14 Total measuring range Section 4 1 6 Page 13 17 18 Reserved Profile 25 26 Not used for Class 1 and Class 2 Refer to versions FRABA 2 1 und 2 2 Revision 01 07 Info UME BXDP Page 11 POSITAL FRABA 4 1 1 Code sequence The parameter code sequence defines the counting direction of the position value The code increases when the shaft is rotating clockwise CW or counter clockwise CCW view onto the shaft The code sequence is defined in bit 0 of octet 9 Octet 9 Bit 0 Direction
12. 8 Physical impulses 5 1 7 20 39 Reserved 0 Encoder type Single Multiturn 1 5 1 8 21 Reserved 2 Reserved 3 Time base velocity 4 5 1 9 21 5 Reserved 6 Reserved 7 Page 16 Info UME BXDP Revision 01 07 POSITAL FRABA 5 1 Parameter In the manufacturer parameters are following the specific described in detail The 5 1 1 Activate manufacturer specific parameters The manufacturer specific parameter byte 26 is activated with bit 6 in octet 9 Bit 7 in octet 26 activates further parameter bytes 27 39 Usually this happens automatically if the encoder versions FRABA 2 1 or FRABA 2 2 are selected It is only important for the user to observe this if the parameters are entered manually directly using hex code 5 1 2 Desired measuring units The parameter desired measuring units is used to program any required number of steps over 1 Octet 10 11 Bit Data parameters according to the Profile for Encoders are supported too description see chapter 4 Octet 9 Bit 6 Octet 26 Deactivated 1 Activated Octet 27 39 Deactivated 1 Activated revolution over the whole measuring range or over a part of the measuring range 12 13 7 C 2 to 2 Desired measuring units The reference for the desired measuring units is specified with the parameter Desired measuring units reference cp 5 1 3 If per revolution is selected the measuring range can be adapted with the
13. Class 2 Singletum Class 2 Multitum Class 2 Multitum DX Versic FRABA 1 0 Multitum FRABA 1 1 Multitum FRABA 2 0 Multiturn FRABA 2 1 Singletum FRABA 2 1 Multiturn FRABA 2 2 Singletum dultiturn Order number Gateway PLC Compatible PROFIBUS DP Slaves Closed Loop Controller Configured Stations J DP VO slaves DP AS i DP PA Link ENCODER ET 2008 ET 2000 H ET 200eco ET 200i5 ET 200L bee CCCLCCllsss Fee Press Fi to get Help Chg Page 32 Info UME BXDP Revision 01 07 n a gt Ww gt 7 4 Setting the parameters Select the encoder in the hardware configuration x Address ID Parameter Assignment and double click slot one in the configuration table ae o of the encoder The dialog Properties DP slave Output appears The input and output addresses can be Start ra Sy Be z changed if desired To set the encoder Ea Profs image patti gt parameters the tab Parameter Assignment has to ut input be selected Address Length Unt OE End 259 Process image partition z Manufacturer Maximum 14 bytes hevadecimal separated by comma or blank space Data for Specific After choosing the Device specific parameters clicking on it Numerical values have to be entered the different parameters depend on the encoder directly The example shows the parameters of version can be
14. Definition 0 1 4 Memory error No Yes defective EEPROM 6 2 3 Operating status Diagnostic byte 9 contains certain parameters set in the system configuration Bit Definition 0 1 Direction of rotation CW Class 2 functionality Off 0 1 2 Diagnostic routine Off 3 Scaling function Off On 6 2 4 Encoder type Diagnostic byte 10 contains the encoder version singleturn or multiturn Byte 10 Definition 0 Singleturn encoder 1 Multiturn encoder Revision 01 07 Info UME BXDP 6 2 5 Singleturn resolution Diagnostic bytes 11 14 contain the real physical resolution per revolution of the encoder 6 2 6 Number of revolutions Diagnostic bytes 15 and 16 contain the real physical number of revolutions of the encoder Standard values are 1 for singeturn and 4096 resp 16384 for multiturn devices 6 2 7 Operating time warning Bit 4 in diagnostic byte 21 indicates an operating time warning The bit is set after 10 hours 6 2 8 Profile version Diagnostic bytes 24 and 25 contain the profile version of the encoder 6 2 9 Software version Diagnostic bytes 26 and 27 contain the software version of the encoder Octet 26 27 Bit Data 2 to 2 Index Revision No 6 2 10 Operating time The operating time of the encoder can be read out from diagnostic bytes 28 to 31 If the encoder is connected to the power supply the operating time is stored in an EEPROM every six minutes in 0 1 h
15. POSITAL FRABA Absolute Rotary Encoder with Profibus DP Interface OCD DPB1B XXXX XXXX 0CC User Manual 1 2 3 3 3 Encoder configurations data format 10 4 Class 1 and Class 2 profile uuuuuu0 11 4 1 Parameter settings nenene 11 4 1 1 Code sequence siisii 12 4 1 2 Class 2 functionality u 12 4 1 3 Commissioning diagnostics 12 4 1 4 Scaling function 00 eee seen 12 4 1 5 Measuring units per revolution 12 4 1 6 Total measuring range uu me 13 4 2 Data exchange in normal operation 14 4 2 1 Transferring the process value 14 4 2 2 Preset function ccenn 14 5 Special versions FRABA 2 1 and 2 2 16 5 1 Parameter 17 Page 2 POSITAL FRABA Gener l wiisisi ccs necsstsecescnteccanee eiaa einai 1 1 Absolute Rotary Encoder 1 2 Profibus technology cccceeeeeeseeeeeeeees Install tion Jacuasinsasessauincndenansingnannsaniunganngnn 2 1 Settings in the connection Cap 2 1 1 Station address 2 222222222 seen 2 1 2 Bus termination uueesenssssensnennnnnnennennn 2 2 Connecting bus lines and power supply 2 3 Connecting up the connection Cap 2 4 Connecting the screen uuennseenseeersnnnn nennen 2 5 Instructions for mechanical installation and electrical connection of the angular encoder Device Config
16. The diameter of the hollow shaft can be reduced to 12mm 10 mm or 8 mm by using an adapter this reducing adapter can be pushed into the hollow shaft Page 38 Info UME BXDP 6 5 9 20 20 Schl sselweite wrench size 17 Allowed shaft movements of the drive element are listed in the table axial radial static 0 5mm dynamic 0 1 mm 0 2 mm Revision 01 07 9 Appendix POSITAL 9 1 Type designation ordering code Description Optocode Interface Version Code Revolutions Bits Steps per revolution Bits Flange Shaft diameter Mechanical options Connection FRABA Type Key OCD DP B1 B Profibus DP B1 Binary B Singleturn Multiturn 4096 revolutions Multiturn 16384 revolutions 4096 8192 65536 Clamp flange Synchro flange Hollow shaft 10 mm 06 mm 15 mm hollow shaft Without Shaft sealing IP66 Stainless steel version Customized Connection Cap Has to be ordered separately see accessories Standard bold further models on request Revision 01 07 Info UME BXDP 00 14 12 13 16 _ OCC 10 06 15 0 S V C occ Page 39 POSITAL FRABA Accessories and Documentation Description Type Connection cap T coupling functionality with address setting Standard integrated AH 58 B1DP 3PG Stainless steel configuration AH 58 B1DP 3PG VA Connection cap 2M20 special version Same func
17. The encoder is a precision device Do not open the angular encoder housing this does not mean that you cannot remove the connection cap If the device is opened and closed again it can be damaged and dirt may enter the unit The angular encoder shaft must be connected to the shaft to be measured through a suitable coupling full shaft version This coupling is used to dampen vibrations and imbalance on the encoder shaft and to avoid inadmissible high forces Suitable couplings are available from FRABA Although FRABA absolute encoders are rugged when used in tough ambient conditions they should be protected against damage using suitable protective measures The encoder should not be used as handles or steps Only qualified personnel may commission and operate these devices These are Info UME BXDP ground and tag devices systems and circuits according to the current state of safety technology It is not permissible to make any electrical changes to the encoder Route the connecting cable to the angular encoder at a considerable distance or completely separated from power cables with their associated noise Completely shielded cables must be used for reliable data transfer and good grounding must be provided Cabling establishing and interrupting electrical connections may only be carried out when the equipment is in a no voltage condition Short circuits voltage spikes etc can result in erroneous functions and
18. XDP Page 23 POSITAL FRABA 5 3 2 Teach In Start After the machine system has been moved to the start position the Teach In Start command is transmitted to the encoder The device now starts the internal calculation of a new scaling factor Status bits Data bits Bit 1 2 2 3 7 3 3 a z2 2 a 2 n e slau ejeinlelols 7 6 5 4 3 2 1 0 Master OCD 0 11 0 00 0 0 Start the Teach In by setting bit 30 to 1 OCD Master O 1 0 X X10 1 Acknowledgement of the encoder by setting bit 30 to 1 Master OCD 0 0 0 0 0 0 0 Reset bit 30 OCD Master O 1 0 X X 0 1 Non calculated position value is transmitted gearing factor 1 no offset Note The scaling factor is set to 1 the zero point shift is set to zero 5 3 3 Teach In Stop After moving the machine system to the stop position the Teach In Stop command is send Together with this command the desired number of steps over the moved measuring range is transmitted The user has to observe that the physical resolution is not exceeded e g 20000 steps on a quarter of a revolution Positive and negative directions are taken into account automatically also the crossing of the physical zero point Note The measuring range must not exceed the half physical measuring range of the encoder i e a maximum of 2047 revolutions for a
19. ational open non proprietary fieldbus standard which is defined in the international standards EN 50170 and EN 50254 There are three different versions Profibus DP Profibus FMS and Profibus PA FRABA absolute encoders are designed for the DP version They support all usual baud rates up to 12 MBaud Besides manufacturer specific functions the devices support the classes 1 and 2 according to the Profile for Absolute Encoders this device profile can be ordered under part number 3 062 from the Profibus Nutzeroganisation Further information about profibus functionality manufacturer products standards and device profiles are available from the PNO Page 4 Info UME BXDP requirements of a Profibus Slave according to the PROFIBUS standard It is certified by the Profibus Nutzerorganisation in Germany shaft position over up to 16384 revolutions 14 bits The position value is calculated in an integrated microprocessor and transmitted over the Profibus Further information about the basic function principle of Absolute Rotary Encoders and Profibus networks can be found on our homepage under http www posital de encoder_abc php Profibus Nutzerorganisation PNO Haid und Neu Stra e 7 D 76131 Karlsruhe Tel 49 0 721 96 58 590 Fax 49 0 721 96 58 589 www profibus com Revision 01 07 POSITAL FRABA 2 Installation The Absolute Encoder is connected with a connection cap This cap is c
20. ber of steps per revolution Total resolution lt measuring units per revolution x real number of revolutions physical If this rule is disregarded the encoder will indicate a parameter error and it will not enter the data exchange mode With older versions a further rule had to be observed see below If this rule was ignored problems occurred when using the device in endless operation when crossing the physical zero point With new devices software version 3 Generation A1 or higher this problem is solved by an internal software routine For that reason the 2 rule can be ignored if a new device is used Note The internal software routine only works if the encoder is in operation If it is necessary to turn the encoder shaft more than 1024 revolutions without power supply this can lead to problems the internal routine will not work without power supply In this case the following rule should be observed even with new devices The period i e Total resolution measuring units per revolution must be an integer and it must fit an integer number of times integer multiple into 4096 So the following equation must apply 4096 x measuring units per revolution Total resolution integer Revision 01 07 Info UME BXDP Page 13 POSITAL FRABA For multiturn devices with 16384 revolution the rule is as follows if it is necessary to turn the encoder shaft more than 4096 revolutions without power supply
21. city without preset function Should no longer be used 9 2 4 Class 2 Multiturn DX Version Old version with reduced number of diagnostic data Should only be used with older encoders with DX in the type key Revision 01 07 Info UME BXDP compatibility They should not be used in new projects Properties DP slave x Address ID Parameter Assignment Parameters a S Station parameters a cific parameters Increasing clockwise 0 ode sequence Desired Measuring units high H Desired Measuring units low 4096 2 Commissioning mode Enable E oma Hex parameter assignment compatibility but it should not be used for new projects Page 41 POSITAL FRABA 9 3 FAQ absolute encoder Profibus Problem There are problems with the profibus network bus error no answer from the encoder if one of the following profibus masters is used SIEMENS S5 95U Master Interface SIEMENS IM 308 B Softing PROFlboard Allen Bradley 1785 PFB B Mitsubishi A1SJ 71PB92D Possible cause The masters do not support the full diagnostic data length 57 bytes Problem If COM PROFIBUS Version 5 0 is used it is not possible to insert the FRABA encoder into the hardware configuration if the PLC S5 95U is used Cause The S5 95U does not support the full diagnostic data length 57 bytes COM PROFIBUS V5 0 checks the GSD parameter Max_Diag_Data_Len 57 and prevents the configuration o
22. d if bit 31 in the peripheral output double word is set to 1 rising edge As the preset function is used after Page 14 Info UME BXDP receiving the scaling parameters the preset value refers to the scaled position value Revision 01 07 POSITAL FRABA Data bits Bit a a 2 a z zla 2 2 a a 7 5 4 2 12 1 1 9 8 7 6 5 4 3 2 1 0 Master gt OCD 1 O Transfer of the required position value preset value OCD Master 0 O New required position value is transferred Master gt OCD 0 O Reset bit 31 normal mode OCD Master 0 O New required position value is transferred If high precision is required the preset function should only be executed if the encoder shaft is not moving If the shaft moves quickly during the Note for Singleturn devices The procedure is similar with the singleturn version Here Bit 15 is used to activate the preset value With high resolution singleturn encoders 16 Bit it is not possible to set preset values gt 32767 15 bit as the MSB is used to activate the preset Revision 01 07 Info UME BXDP preset procedure this can result in offsets because of bus delay times If this functionality is needed the user has to choose one of the manufacturer specific FRABA encoder version
23. e Operating status of the bus for standard data transfer Operating status of the bus configuration and parameter are transmitted Operating status diagnostic data are requested from the slave e g encoder Identification localization classification display additional evaluation of faults errors and messages This is a master command to the slave This allows the master to freeze the states of the inputs for example of the absolute angular encoder to their current value The input data are only updated again after reception of the UNFREEZE command Info UME BXDP Page 43 GSD file Master Octet Profibus Slave Terminating resistor Type file Word Page 44 POSITAL FRABA File that contains slave specific characteristics The GSD file is supplied by the manufacturer of the profibus slave The GSD format is standardized defined in GSD specifications so configuration tools of various manufacturers can use the GSD files Active device in the network that can send data without request Controls the data interchange Data unit of 8 bits 1 byte Process Fieldbus European fieldbus standard which is defined in the PROFIBUS Standard EN 50170 This specifies functional electrical and mechanical characteristics for a bit serial fieldbus system Bus node that only sends data on request of the master Absolute rotary encoders are always slaves Resistor that terminates the bus cable terminating resist
24. ed If there are questions about other software tools please contact the manufacturer Choose Install New GSD in the HW Config window of the project menu item Options and select the GSD file FRAB4711 gsd The GSD file can be downloaded from our homepage www posital de Chrl AlE E trl AT After the successful installation of the GSD file the FRABA encoder can be found in the hardware catalogue under PROFIBUS DP Additional Field Devices Encoders FRABA Encoder In order to represent the encoder with a bitmap in STEP7 the bitmap file OCDDPxxn bmp has to be installed The procedure is the same as with the GSD file Page 30 Info UME BXDP Revision 01 07 n a gt Ww gt 7 2 Configuring the encoder Aw Config SIMATIC 300 Station Configuration S7_FRABA_AWC oly Station Edit Insert PLC View Options Window Help Des 5 2 S Sl SED 2 Standard pA PROFIBUS DP PROFIBUS DP master system 1 Additional Field Devices General Drives a 1 0 Encoders FRABA Encoder Gateway a PLC Compatible PROFIBUS DP Slaves I Closed Loop Controller E Configured Stations GC DP VO slaves DPVAS i 4 DP PA Link ENCODER ET 2008 ET 200C C ET 200eco OFIBUS D DP master system 1 ET 20015 E ET 200L
25. em Sporadic bus errors Possible cause Terminating resistors not correct Possible solution Check terminating resistors The resistors of 220 Q must be switched on at the beginning and at the end of the bus segment Switch off the power supply and measure the resistance between the terminals A The resistance value must be about 110 Q 220 Q parallel 220 Q Possible cause EMC problems Possible solutions Is the used baud rate acceptable for the length of the bus lines Try to use lower baud rate if necessary Check the connection of the cable shield in the connection cap Are all cables and conductions laid according to EMC rules and B in the connection cap 9 4 Definitions Address AWC Baud rate Bus Node Configuring DDLM DDLM_Data_Exchange DDLM_Set_Prm DDLM_Slave_Diag Diagnostics Freeze Revision 01 07 A number which is assigned to each node no matter whether it is a master or slave The address is set non volatile in the connection cap using rotary switches Abbreviation Absoluter Winkelcodierer German Absolute Rotary Encoder Data transfer rate specified as the number of bits transferred per second baud rate bit rate Device which can send receive or amplify data via the bus When the master configures the slave the properties of the slave are specified e g number of input and output bytes Direct Data Link Mapper Interface between Profibus DP functions and the encoder softwar
26. ennneessnnneenenennnenen nn 27 6 2 9 Software version eener 27 6 2 10 Operating time uu2444 nenne nennen 27 6 2 11 Zero Offset een ehe 28 6 2 12 Programmed resolution 28 6 2 13 Programmed total resolution 28 6 2 14 Serial number oe eee eee teen ern 28 6 3 Status indication by the LEDs in the CONNECTION Cap einer 29 7 Configuring with STEP 7 uusssennnnnnnnnnnnnnnne 30 7 1 Installing the GSD file eee 30 7 2 Configuring the encoder u 31 7 3 Selecting the encoder version 32 7 4 Setting the parameters 33 8 Technical Data unnssnssnnnnnnnennnnnnnnnnnnnnnnnnnn 35 8 1 Electrical Data ee nennen 35 Revision 01 07 POSITAL FRABA 8 2 Mechanical Data uuu nn 36 9 2 2 Version FRABA 1 1 Multiturn 41 8 3 Environmental Conditions 36 9 2 3 Version FRABA 1 0 Multiturm 41 9 2 4 Class 2 Multiturn DX Version 41 8 4 Dimensioned Drawings 37 9 3 FAQ absolute encoder Profibus 42 9 Appendix sissies ciiai ia 39 a 9 4 Definitions 0 0 0 0 c cece ecccee cee ceeeeeeeeseeeeeeeeeeeeeeeas 43 9 1 Type designation ordering code 39 TO WINGO XK nannan cance suascenaven 45 9 2 Further encoder configurations 41 9 2 1 Version FRABA 2 0 Multiturn 41 Imprint
27. er is not ready for operation 1 encoder is ready for operation Mode 0 commissioning mode 1 normal mode Software limit switch 0 lower limit switch lt current position value lt upper limit switch 1 current position value gt upper limit switch or current position value lt lower limit switch Code sequence 0 increasing clockwise view onto the shaft 1 increasing counter clockwise view onto the shaft Page 22 Info UME BXDP Revision 01 07 POSITAL FRABA 5 3 Commissioning mode If the commissioning mode is activated in the encoder parameters the scaling factor can be determined directly in the machine by a Teach In The commissioning mode is indicated by the flashing green LED and bit 26 in the input double word bit 26 set to 0 If the encoder starts up in commissioning mode the parameters in the system configuration code sequence scaling are ignored Parameters stored in an internal EEPROM are used instead If code sequence or scaling factor are modified in commissioning mode the new values will be stored non volatile and the encoder works with this new parameters The proceeding in commissioning mode is as follows The encoder is installed in the machine system 5 3 1 Setting the counting direction If the encoder is operating in commissioning mode the counting direction code sequence can be changed online The current code sequence is indicated with bit 28 i
28. ers stored in an internal EEPROM instead 5 1 5 Shorter Diagnostics Some Profibus masters especially older ones have problems with the full diagnostic data length 57 bytes The FRABA encoder offers the option to reduce the diagnostic data length to 16 bytes If Class 1 is used the standard diagnostic data length is 16 bytes 5 1 6 Software limit switch Two positions can be programmed If the position value falls below the lower limit switch or exceeds the higher limit switch bit 27 in the 32 Bit process value is set to 1 Between these limit switches bit 27 is set to 0 The limit switches can be set to any value but the parameter total measuring range Octet 27 28 Bit Data The commissioning mode can be used durably but it is recommended to transfer the parameters determined with the Teach In into the system configuration Then the encoder should be used in normal operation mode so it is possible to exchange the device without a new Teach In A detailed description of the commissioning mode can be found in section 5 3 Octet 26 Bit 2 Commissioning mode Switched off 1 Switched on Octet 26 Bit3 Diagnostics Standard 57 bytes 1 Reduced 16 bytes must not be exceeded The limit switches are activated with bits 5 and 6 in octet 26 Note With many software tools it is necessary to divide the values into high and low word refer to page 34 29 30 7 0 2 to 2 Lower limit switch i
29. f both devices together Problem PLC and master are switched on bus is active but there is no answer from the encoder Possible solutions First of all the state of LEDs in the connection cap should be checked cp section 6 3 Possibly this can give hints to the cause of the problem Both LEDs dark Check power supply Page 42 Info UME BXDP Solution If it is possible the maximum number of diagnostic data per slave should be increased in the master If this is not possible the encoder can either be used as a class 1 encoder diagnostic data length 16 bytes or one of the manufacturer specific versions FRABA 2 1 or 2 2 can be used with reduced diagnostics cp 5 1 5 Solution Use COM PROFIBUS Version 3 3 choose one of the manufacturer specific FRABA versions FRABA 2 1 or 2 2 and activate the reduced diagnostics If COM PROFIBUS V5 0 is to be used the configuration of the FRABA encoder is only possible with a modified GSD file slave key Max_Diag_Data_Len has to be changed Both LEDs bright Encoder is ready but receives no configuration or parameter telegrams Check the address setting in the connection cap Check the connection of the bus lines BUS IN BUS OUT Check the hardware configuration in your software tool Red LED bright green LED flashing Parameter error Check parameters e g the rules for setting the total measuring range cp 4 1 6 Revision 01 07 POSITAL FRABA Probl
30. flange 10 x 20 40 S10 Synchro flange 10 x 20 42 S6 Synchro flange 6 x 10 without shaft sealing 822 347 133 S6 Synchro flange 6 x 10 with shaft sealing max 20 N axial 80 N radial 8 3 Environmental Conditions Operating temperature 40 85 C 40 85 C 98 without liquid state Casing side IP 65 Shaft side IP 64 optional with shaft sealing IP66 Storage temperature Humidity Protection class EN 60529 Page 36 Info UME BXDP Revision 01 07 oO dp T en 7 I gt w gt 8 4 Dimensioned Drawings Synchro flange S available in 2 versions Synchro flange d mm mm Version S06 Version S10 10hg 20 Single Turn 82 Multi Turn 92 30 3xM4x6 63 5 60 058 0507 d 15 6 5 9 20 20 Edelstahl Stainless steel Schl sselweite wrench size 17 Clamp flange C Single Turn 82 Multi Turn 92 3xM4x6 30 3x729 6 5 9 20 Schl sselweite wrench size 17 Page 37 Info UME BXDP Revision 01 07 POSITAL FRABA Hollow shaft B Single Turn 100 Multi Turn 112 3 3 1 3 5 re i N D 3 a c o O 2288 p gt Edelstahl Stainless steel x E no co OQO 5 S2 Lo SCcoBo torr _Max W 30 Min W 15 115 Welleneinstecktiefe hollow shaft depth Mounting instructions The clamp ring may only be tightened if the shaft of the driving element is in the hollow shaft
31. g the parameters it should be observed that the code sequence is correct the setting of the counting direction in commissioning mode has to be transferred to the system configuration Subsequently the commissioning mode can be switched off and the encoder can be used in normal mode Revision 01 07 5 3 4 Preset value POSITAL FRABA The preset function is similar to the procedure versions FRABA 2 1 or FRABA 2 2 there is an described in section 4 2 2 There is only one acknowledgement bit 31 in the input double word difference When using the manufacturer specific is set to 1 Status bits Data bits Bit a x l a 72 2 22 22 21 2lelelnrlelejuieleinlaclolsi7 el5 a l3 2 1 0 Master OCD 1 0 0 0 0 0 0 Transfer of the required position value preset value OCD Master 110 0 0 0 0 1 New required position value is transferred Master gt ocD 0 0 0 0 0 0 0 Reset bit 31 normal mode OCD Master 1010 10 010 0 1 New required position value is transferred Revision 01 07 Info UME BXDP Page 25 POSITAL FRABA 6 Diagnostic messages 6 1 Overview On request of the master the encoder transmits diagnostic data is according to the Profibus diagnostic data DDLM_Slave_Diag The Standard octets 1 6 respectively according to the diagnostic data length is 57 bytes Exception Profile for Encoders
32. l steps 3 revolutions Note With many software tools it is necessary to divide the value into high and low word refer to page 34 Octet 39 Bit1 Type 0 Singleturn 1 Multiturn Time base Bit4 Bit5 Steps second Steps 100 ms Steps 10 ms RPM revolutions per minute 1 1 Page 21 POSITAL FRABA 5 2 Data exchange in normal operation With the manufacturer specific versions FRABA 2 1 and FRABA 2 2 the process value generally is transmitted as 32 bit value peripheral double word Apart from 25 bits used for the position value the 7 other bits are used as status bits The output double word contains the preset value and control bits Absolute encoders model series OCD might have physical position values gt 25 Bit The manufacturer specific FRABA versions do not support the position values gt 25 Bit The upper digits will be overwritten by the status bits If the FRABA versions are used with encoders with a total physical resolution gt 25 Bit the user has to assure that the position value is scaled to a maximum output value lt 33554432 If position values gt 25 Bit are necessary class 2 should be used If version FRABA 2 2 is used the current velocity is transmitted in an additional peripheral input word Master OCD Preset value control bits De 28 Control 2 12 2 Meaning of the different status bits Bit28 Bit27 Bit26 Bit25 Meaning Ready 0 encod
33. n but it has not received any configuration data after power on Possible causes address setting incorrect Bus lines not connected correctly 3 Bright Flashing Parameter or configuration error The encoder receives configuration or parameter data with incorrect length or inconsistent data Possible cause parameter value total measuring range too high The encoder is ready for operation but not addressed by the master e g incorrect address in configuration Encoder has not received any data for a longer period about 40 sec Possible cause bus line has been interrupted 6 Normal operation in data exchange mode Dark Flashing Commissioning mode gt oa N Revision 01 07 Info UME BXDP Page 29 POSITAL FRABA 7 Configuring with STEP 7 In the following the configuration of the FRABA encoder with the configuration tool STEP 7 is shown exemplarily In this example STEP 7 Version 5 1 and the CPU 315 2DP profibus 7 1 Installing the GSD file If FRABA encoders are used for the first time it is necessary to install the GSD file FRAB4711 gsd to take over the encoder into the hardware catalogue of the tool AIHW Config SIMATIC 300 Station Station Edit Insert PLO View Options Window Help Customize Specihy Module Configure Network Symbol Table Report System Error 0 UR Edit Catalog Profile Update Catalog Install New GSD Import Station G50 master integrated are us
34. n measuring steps related to the scaled value Revision 01 07 Info UME BXDP Page 19 Octet Bit Data POSITAL FRABA Properties DP slave x Address ID Parameter Assignment Parameters Vale a 3 Station parameters HEY Device specific parameters Increasing clockwise 0 E Code sequence caling function control 2 Desired Measuring units high 2 Desired Measuring units low 2 Physical impulses high E Physical impulses low E Desired measuring units per otal measuring range high otal measuring range low E Commissioning mode horter diagnostics 16 bytes ower limit switch ower limit switch high ower limit switch low E Upper limit switch Enable 1 4096 0 4096 Revolution 1 64064 Disable No Disable 0 0 Enable Upper limit switch high Disable Lower limit switch Deactivated 1 Activated Upper limit switch Deactivated 1 Activated Physical impulses This parameter is evaluated if the reference for the desired measuring units is physical impulses cp 5 1 3 With the physical impulses it is possible to set a gearing factor freely The user defines the output steps desired measuring steps over a part of the measuring range This option is helpful to program scaling factors that result in a non integer number of steps over 1 revolution Example Problem The p
35. n the 32 bit process value 0 The commissioning mode is activated parameter settings cp 5 1 4 The counting direction is changed if necessary Machine system is to be moved to the start position The Teach In Start command is transmitted to the encoder Machine system is to be moved to the stop position With the Teach In Stop command the desired number of steps is transferred to the encoder Set the preset value The parameters in the system configuration are set to the values determined with the Teach In procedure Commissioning mode is parameter settings deactivated increasing clockwise 1 increasing counter clockwise With bit 28 in the output double word the counting direction can be changed Status bits Data bits Bit 3 a 2 a a7 a ae am a 2 21 x 1 z elesjuleleinlalo s 7 6el5 a 3 2 1 10 Master gt OCD 0 0 0 1 0 0 O Changing the counting direction by setting bit 28 OCD Master O O O 01 0 0 1 Encoder sends acknowledgement new counting direction in bits 0 and 28 a Master gt ocD 0 0 0 0 0 0 0 Changeover is completed by reset bit 28 OCD Master O O O OA X O 1 Output process value with changed counting direction The counting direction is stored non volatile in an internal EEPROM Revision 01 07 Info UME B
36. n the software tool refer to page 34 13 2 to 2 Desired measuring units per revolution Page 12 Info UME BXDP Revision 01 07 POSITAL FRABA 4 1 6 Total measuring range Octet Bit Data 14 15 16 31 24 23 16 15 8 7 0 17 2 to 2 Programmed total measuring range in steps The parameter total measuring range is used to adapt the measuring range of the encoder to the real measuring range of the application The encoder counts up until the position value has reached the programmed total resolution and starts with 0 again Example 100 steps are programmed for each revolution parameter measuring units per revolution and the total resolution is set to 12800 Then the encoder counts up to 11799 starts with 0 again after 128 revolutions counts up to 11799 and so on Note With many software tools it is necessary to divide the value into high and low word refer to page 34 When choosing the total resolution the following rule has to be observed If steps per revolution are set to n the parameter total resolution must not cause periods longer than the maximum physical number of revolutions see type label i e that the programmed total resolution of a 4096 revolution multiturn encoder must be less than 4096 x the programmed number of steps per revolution the programmed total resolution of a 16384 revolution multiturn encoder must be less than 16384 x the programmed num
37. onnected to the encoder with a 15 pin D Sub connector and can be removed by loosening two screws on the backside 2 1 Settings in the connection cap 2 1 1 Station address The station node address is set by using the rotary switches in the cap The values x 10 or x 1 for the switches are marked at the switch Possible addresses are between 0 and 99 Each address can only be used once in the network The station address is read in when switching on the power supply An address change by the Master Set_Slave_Add is not supported L 07 907 w Ion 8 y 9g Revision 01 07 Info UME BXDP of the encoder Bus lines and power supply are led into the cap via cable glands and connected to terminal blocks 2 1 2 Bus termination If the encoder is connected at the end or beginning of the bus line the termination resistor must be switched on slide switch in position ON R R ON m ON gt device X last device Note The outgoing bus line is disconnected if the resistor is switched on The bus is only correctly terminated when the encoder is connected to the connection cap If the encoder must be changed during operation a separate active bus termination should be used Page 5 POSITAL FRABA 2 2 Connecting bus lines and power supply Description Bus line B Bus in Bus line A Bus in OV 10 30 V Bus line B Bus out Bus line A Bus out OV 10 30V The power supply ha
38. ors are always required at the end of a cable or segment Similar to GSD file is used with older configuration software tools Expression used for a data unit of two bytes Info UME BXDP Revision 01 07 POSITAL FRABA 10 Index B Bus termination cece sn nnnenennnn nennen 5 C Glass Tarien arnee eet Rite 11 ClaSS 2 nr Ale eee ele 11 Code sequence e r 12 Commissioning mode ursssn nennen een 23 Configuring the encoder 31 Connecting bus lines4 2 u He 6 Power SUPPIY ueennnenersnnnnennnnnnnnnnnnnnnn nennen nennen 6 Connection cap SOUS dresadenn a EERERBAENERSESTTORHE 5 D Data format u een nn 10 Desired measuring units nee 17 Diagnostic messages u4mmsne nennen nenne 26 Dimensioned DrawingS 2224 4444er 37 E Electrical Data 35 Encoder configurations 224444244H nenn nennen 9 further nahen ea 41 Endless operation esec 13 Environmental Conditions 36 F FA sense een 42 G GSD filg sioiias riesia arenai 44 Instalati siisii issnin Henne 30 H High WOO eierne tanadan 34 I Installation fee hiveideeescdeetoennsacerene 5 Revision 01 07 Info UME BXDP L EB E A E A teeta 29 LOW word 0 cccecececceeeeeeceeeeeeeseaeeeeseeeneeeeeeees 34 M Mechanical Data nen 36 Memory enlor ann een een 27 o Operating time warning seene 27 Ordering c de nu 39 P Parameter settings
39. osition value has to increase by 400 steps over 3 revolutions Page 20 Info UME BXDP With the reference steps per revolution it is impossible to program that scaling factor it would be necessary to set the parameter desired measuring steps to 133 33 this is not possible because the parameter must be an integer value Solution Choose physical impulses as reference for the desired measuring units Now the number of physical measuring steps over the desired measuring range is determined For this the actual physical resolution of the encoder type label is used For our example this would be with a standard encoder 12 Bit resolution Revision 01 07 POSITAL FRABA 4096 steps revolution x 3 revolutions 12288 steps Enter this value 12288 as physical impulses and set the desired measuring units to 400 Now the encoder increases the position value by 400 steps 5 1 8 Encoder type The encoder type Singleturn or Multiturn is specified in bit 1 octet 39 Generally this bit is set automatically if the encoder version is selected The user only has to take care of this parameter if the parameters are set manually in hex code 5 1 9 Velocity time base With this parameter the user can choose the time base for the velocity output version FRABA 2 2 The time base is specified in bits 4 and 5 of octet 39 Revision 01 07 Info UME BXDP on a measuring range of 12288 physica
40. ow Commissioning mode Shorter diagnostics 16 bytes No Lower limit switch Disable Lower limit switch high 0 Lower limit switch low Oo o Upper limit switch Disable Upper limit switch high 0 X the encoder gives out the programmed number of measuring units over the whole measuring range 4096 revolutions with the multiturn encoder Desired measuring units per physical impulses The desired measuring units refer to the physical impulses entered in octets 35 39 cp 5 1 7 Physical impulses means The real value that is read internally from the code disc e g 4096 steps per revolution with a standard 12 bit encoder With that option it is possible to set gearing factors freely Reference Octet 26 Bit 0 Octet 26 Bit 1 Per revolution 0 0 Per maximum total measuring range 1 0 Per physical impulses 0 1 steps specified in octets 35 38 Page 18 Info UME BXDP Revision 01 07 POSITAL FRABA 5 1 4 Activate commissioning mode Bit 2 in octet 26 activates the commissioning mode This is a special mode with the option to set further parameters in the data exchange mode additional to the preset value In the commissioning mode a Teach In can be carried out i e the gearing factor can be determined directly in the machine In this special mode indicated by the flashing green LED the parameters set in the system configuration are ignored by the encoder It uses paramet
41. parameter total measuring range Please observe the rules in section 4 1 6 Revision 01 07 Info UME BXDP Note With many software tools it is necessary to divide the value into high and low word refer to page 34 Page 17 N 1 I gt w 5 1 3 Desired Measuring units reference With this parameter the reference for the desired measuring units cp 5 1 2 is determined either per revolution per maximum total resolution per number of physical impulses Desired measuring units per revolution In this case the position value increases by the programmed number of steps desired measuring units over one revolution Additionally the parameter total resolution is used to achieve an adaptation of the measuring range cp 4 1 6 Desired measuring units per maximum total measuring range The parameter desired measuring units refers to the complete measuring range of the encoder i e Properties DP slave E Address ID Parameter Assignment Value Parameters B Station parameters Hey Device specific parameters E Code sequence Increasing clockwise 0 Sealing function control Enable Desired Measuring units high 1 Desired Measuring units low 4096 Physical impulses high 0 4096 Revolution g Maximal total measuring range Physical impulses Physical impulses low Desired measuring units per Total measuring range high Total measuring range l
42. put Programmable parameters Code sequence Code sequence Code sequence Scaling factor Code sequence Scaling factor Code sequence Scaling factor Shorter Diagnostics Limit switches Code sequence Scaling factor Shorter Diagnostics Limit switches Code sequence Scaling factor Shorter Diagnostics Limit switches Velocity time base Code sequence Scaling factor Shorter Diagnostics Limit switches Velocity time base Info UME BXDP Additional functions Preset function Preset function Preset function Commissioning mode Preset function Commissioning mode Preset function Commissioning mode Velocity Output Preset function Commissioning mode Velocity Output Page 9 POSITAL FRABA 3 3 Encoder configurations data format Designation Configuration Input words Output words Encoder gt Master gt Master Encoder Description DE Class 1 Singleturn According to Profile Class 1 Multiturn According to Profile Class 2 Singleturn According to Profile Class 2 Multiturn According to Profile FRABA 2 1 Singleturn FRABA 2 1 Multiturn FRABA 2 2 Singleturn FRABA 2 2 Multiturn The following encoder configurations are still supported for reasons of downward compatibility but should not be used for new projects description see Appendix Class 2 Multiturn F1 241 2 2 9 2 4 41 DX Version FRABA 1
43. rding to RS 485 12 MBaud 6 MBaud 3 MBaud 1 5 MBaud 500 kBaud 187 5 kBaud 93 75 kBaud 45 45 kBaud 19 2 kBaud 9 6 kBaud Standard 4096 steps revolution optional up to 65536 steps revolution 1 Singleturn 4096 or 16384 Multiturn LSB up to 12 Bit 2 LSB up to 16 Bit max 800 kHz Binary gt 10 h Using rotary switches in the connection cap The absolute angular encoder may only be operated with safety extra low voltage according to EN 50 178 Revision 01 07 Info UME BXDP Page 35 POSITAL FRABA 8 2 Mechanical Data Housing Aluminum optional stainless steel Lifetime Dependent on shaft version and shaft loading refer to table Max shaft loading Axial 40 N radial 110 N Inertia of rotor lt 30 gem Friction torque lt 3 Necm without shaft sealing RPM continuous operation Singleturn max 12 000 RPM Multiturn max 6 000 RPM Shock EN 60068 2 27 lt 100 g halfsine 6 ms Permanent shock EN 60028 2 29 lt 10 g halfsine 16 ms Vibration EN 60068 2 6 lt 10g 10 Hz 2 000 Hz Weight standard version Singleturn 550g Multiturn 600 g Singleturn 1 100g Multiturn 1 200 g Flange Synchro S Clamp C Hollow shaft B Weight stainless steel version Shaft diameter Shaft length hollow shaft depth min max 15 mm 30 mm Minimum mechanical lifetime Flange Lifetime in 10 revolutions with Fa Fr 40N 60N 40N 80N__ 40N 110N C10 Clamp
44. s in these classes the singleturn position is transmitted as 32 bit value Page 15 POSITAL FRABA 5 Special versions FRABA 2 1 and 2 2 The manufacturer specific encoder configurations The following table gives an overview of the used FRABA 2 1 and FRABA 2 2 offer in addition to the parameters and the structure of the parameter functions according to the Profile for Encoders telegram features such as commissioning mode velocity Usually it is not necessary to know these details as output and software limit switches the parameters are set with user friendly software tools Octet byte Parameter Bit Details No No Section Page 1 8 Profibus Standard Parameters 9 Code sequence 0 4 1 1 12 Class 2 functionality 1 4 1 2 12 Commissioning Diagnostics 2 4 1 3 12 Scaling function 3 4 1 4 12 Reserved 4 Reserved 5 Activate manufacturer specific parameters octet 26 6 5 1 1 17 Reserved 7 10 13 Desired measuring units refer to octet 26 bit 0 and 1 5 1 2 17 14 17 Total measuring range 4 1 6 13 18 25 Reserved 26 Reference for the desired measuring steps 0 5 1 3 18 1 Activate commissioning mode 2 5 1 4 19 Shorter Diagnostics 3 5 1 5 19 Reserved 4 Activate lower limit switch 5 5 1 6 19 Activate upper limit switch 6 5 1 6 19 Activate octets 27 39 7 5 1 1 17 27 30 Lower limit switch 5 1 6 19 31 34 Upper limit switch 5 1 6 19 35 3
45. s not possible to change parameters or configuration during the normal operation of the device exception Commissioning Mode see chapter 5 3 After receiving configuration and parameter data the absolute encoder enters the normal operating mode cyclic data transmission DDLM_Data_Exchange In this process values e g the position value are transmitted Data length and format are determined by the user when selecting a certain encoder configuration mode the Parameter DDLM_Set_Prm Once at Start Up Cyclic Data Transmission e g position value Revision 01 07 POSITAL FRABA 3 2 Overview encoder configurations functionality Designation Class 1 Singleturn Class 1 Multiturn Class 2 Singleturn Class 2 Multiturn FRABA 2 1 Singleturn FRABA 2 1 Multiturn FRABA 2 2 Singleturn FRABA 2 2 Multiturn Revision 01 07 Cyclic communication Position value 16 bit Input Position value 32 bit Input Position value 16 bit Input Preset value 16 bit Output Position value 32 bit Input Preset value 32 bit Output Position value 32 bit Input Preset value Teach In 32 bit Output Position value 32 bit Input Preset value Teach In 32 bit Output Position value 32 bit Input Preset value Teach In 32 bit Output Velocity 16 bit Input Position value 32 bit Input Preset value Teach In 32 bit Output Velocity 16 bit In
46. s to be connected once no matter which clamps If the terminating resistor is switched on lines are disconnected the outgoing bus 2 3 Connecting up the connection cap Remove screw sealing and cone from the cable gland Remove 55 mm of the cable sheath and 50 mm of the shielding About 5 mm of the wires should be stripped Put screw and sealing on the cable The cone should be mounted under the shielding according to the figure Put the whole cable into the cable gland and tighten the screw 55mm k 50 mm 5mm 5 mm Page 6 Bus In Bus Out Note If a combined cable power supply and bus lines in one cable is used the large cable diameter can lead to problems For these cases FRABA offers connection caps with larger cable glands refer to product catalogue Info UME BXDP Revision 01 07 POSITAL FRABA 2 4 Connecting the screen To achieve the highest possible noise immunity a compensation current might flow over the shield shielded cables should be used for data Therefore a potential compensation cable is transmission The shield should be connected to recommended ground on both ends of the cable In certain cases 2 5 Instructions for mechanical installation and electrical connection of the angular encoder The following points should be observed personnel who are authorized to commission Revision 01 07 Do not drop the angular encoder or subject it to excessive vibration
47. tion as standard cap but only two cable glands for cable diameters from 9 up to 13 mm AH 58 B1DP 2M20 Shaft coupling Drilling 10 mm GS 10 Drilling 6 mm GS 06 Disc with GSD file Must be ordered once encoder is used for the first DK AWC DP time Clamp disc 4 pcs encoder SP 15 Clamp ring 2 pcs encoder SP H Reducing adapter Reducing adapter Reducing adapter GSD file 15 mm to 12 mm 15 mm to 10 mm 15 mm to 8 mm RR12 RR10 RR8 User manual Installation configuration manual for Profibus English UME B1DP User manual Installation configuration manual for Profibus German These can be downloaded free of charge from our homepage www posital de not for hollow shaft only for hollow shaft P age 40 Info UME BXDP UMD B1DP Revision 01 07 POSITAL FRABA 9 2 Further encoder configurations The encoder versions described in the following are still supported for reasons of downward 9 2 1 Version FRABA 2 0 Multiturn This version differs from version 2 2 in the fact that there is a smaller number of parameters shown in the configuration tool 9 2 2 Version FRABA 1 1 Multiturn This is an older version formerly called Class 3 It is similar to class 2 but has an additional velocity output It is still available for reasons of downward 9 2 3 Version FRABA 1 0 Multiturn Output of position value and velo
48. uncontrolled statuses which can even include severe personnel injury and material damage Before powering up the system check all of the electrical connections Connections which are not correct can cause the system to function incorrectly Fault connections can result in severe personnel injury and material damage Page 7 POSITAL FRABA 3 Device Configuration The Absolute Encoder with Profibus Interface can be programmed according to the needs of the user The GSD file has to be installed in the used software tool The user has the possibility to choose different encoder configurations Parameters and functionality depend on the selected encoder configuration FRABA Absolute Encoders Type OCD DPB1B XXXX XXXX 0CC support all configurations following i e there is no functionality limitation due to the hardware Additionally to the configurations Class 1 and Class 2 according to the Profile for Encoders the FRABA Encoder offers configurations with manufacturer specific functions By choosing a certain encoder configuration parameter and configuration data are determined described in the 3 1 Overview Configuration principle GSD File l Software Tool T Choice of encoder configuration Parameter settings Page 8 Info UME BXDP These data are stored in the profibus master They are transmitted to the slave encoder when the profibus network is starting up DDLM_Set_Prm It i
49. uration csseseeeeeeees 3 1 Overview Configuration principle 3 2 Overview encoder configurations functionality 2 0 022444ennnnnnnnnennnnnnnnnannnnnnenn 5 1 1 Activate manufacturer specific parameters eee eee cece ce eeeeeeeeeeeeeseaeeeeeeeeaaes 17 5 1 2 Desired measuring units 17 5 1 3 Desired Measuring units reference 18 5 1 4 Activate commissioning mode 19 Info UME BXDP 5 1 5 Shorter Diagnostics u eenee nenn 19 5 1 6 Software limit switch 19 5 1 7 Physical impulses 20 5 1 8 Encoder type een 21 5 1 9 Velocity time base nenn 21 5 2 Data exchange in normal operation 22 5 3 Commissioning mode 23 5 3 1 Setting the counting direction 23 5 3 2 Teach In Start nennen 24 5 3 3 Teach In Stop ernneeessnnnnnnener nn 24 5 3 4 Preset value n nenn 25 6 Diagnostic messages nunnsnnnnnnnnennnnnnn 26 6 1 Overview aeeeeeaeen 26 6 2 Supported diagnostic messages 27 6 2 1 Extended diagnostics header 27 6 2 2 Memory error seeen 27 6 2 3 Operating status eee eee eee 27 6 2 4 Encoder type c ccccccccssceecsecceeesersenseneeesee 27 6 2 5 Singleturn resolution 2uuer en 27 6 2 6 Number of revolutions 2 r4 27 6 2 7 Operating time warning eee 27 6 2 8 Profile version u

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