Manual OCD Profibus English
Contents
1. u 44404n nn 14 7 Configuring with STEP 7 ccs 30 5 Special versions SCANCON 2 1 and 2 2 16 7 1 Installing the GSD file eee 30 5 1 Parameter anne 17 7 2 Configuring the encoder nneneeneneee 32 5 1 1 Activate manufacturer specific 7 3 Selecting the encoder version 33 aram eler Sienn ne 17 p 5 is 2 7 4 Setting the parameters 34 5 1 2 Desired measuring units 17 5 1 3 Desired Measuring units reference 18 8 Technical Data nusnsseessnnenennnnnenennnnennn 36 5 1 4 Activate commissioning mode 19 8 1 Electrical Data n ne 36 Page 2 Info SAG DPB1B Revision 01 07 SCANCON Industrial Encoders 8 2 Mechanical Data cccccesseeeeeeeeeeeeees 37 8 3 Environmental Conditions 37 8 4 Dimensioned Drawings 38 9 APPOm Gx aise sikscdeccbeecdscsdaccdectbecedecetecctectiece 40 9 1 Type designation ordering code 40 9 2 Further encoder configurations 42 9 2 1 Version SCANCON 2 0 Multiturn 42 Imprint SCANCON A S Tranevang 1 DK 3450 Denmark Telephone 45 48172702 Fax 45 48172284 Internet www scancon dk E mail info scancon dk Copyright The company SCANCON A S 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 01 072. E micro E swye 4 sima ume awe Dove IHR 13 14 Revision 01 07 Info SAG DPB1B Page 33 FSCANCON Industrial Encoders 7 4 Setting the parameters Select the encoder in the hardware configuration and double click slot one in the configuration table of the encoder The dialog Properties DP slave appears The input and output addresses can be changed if desired To set the encoder parameters the tab Parameter Assignment has to be selected After choosing the Device specific parameters the different parameters depend on the encoder version can be set If several possibilities are offered for one parameter the parameters list is opened by double Properties DP slave x Address ID Parameter Assignment Direct Entry Length Unit Consistent over 2 _ Words 7 Totatienath z Address Length Unit Consistent over Start 256 2 Words E Totallenath Y End 259 Process image partition z clicking on it Numerical values have to be entered directly The example shows the parameters of encoder version SCANCON 2 2 the version with the highest functionality Properties DP slave i x Address ID Parameter Assignment Parameters E33 Device specific parameters 2 Code sequence Scaling function control Desired Measuring units high Increasing clockwise 0 Increasing clockwise 0 Increasing counter clockwise 1
3. Info SAG DPB1B 9 2 2 Version SCANCON 1 1 Multiturn 42 9 2 3 Version SCANCON 1 0 Multiturn 42 9 2 4 Class 2 Multiturn DX Version 42 9 3 FAQ absolute encoder Profibus 43 9 4 Definitions enrenar an ndas 44 VO Ndek S9ERPRRRBERREBHREERFBEHRBBERSENFEEEFDESEESERSEFTFENFSERERSEN 46 this documentation without written approval by the company SCANCON A S 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 Jonas Hahne Page 3 GSCANCON Industrial Encoders 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 shaft position over up to 16384 revolutions 14 bits 1 2 Profibus technology PROFIBUS is an
4. 16 bit Input 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 SAG DPB1B SCANLON Industrial Encoders 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 GSCANCON Industrial Encoders 3 3 Encoder configurations data format Designation Configuration Input words Output words Master gt Encoder Description Class 1 Singleturn According to Profile Class 1 Multiturn According to Profile Class 2 Singleturn According to Profile Class 2 Multiturn According to Profile SCANCON Singleturn SCANCON Multiturn SCANCON 2 2 2 Singleturn 1 SCANCON 22 Fi 241 2 2 Multiturn DO 208 1 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 42
5. 735 23 2 21 a 19 17 16 15 14 13 12 1 to 9 8 7 6 5 4 3 2 1I 0 Master gt SAG 0 10 0 1 0 0O 0 Changing the counting direction by setting bit 28 SAG Master O O O 01 O O 1 Encoder sends acknowledgement new counting direction in bits 0 and 28 01 Master gt SAG 0 0 0 0 000 Changeover is completed by reset bit 28 SAG Master 0 O O 01 XO 1 Output process value with changed counting direction The counting direction is stored non volatile in an internal EEPROM Revision 01 07 Info SAG DPB1B Page 23 GSCANCON Industrial Encoders 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 31 2 2 2 7 3 5 4 2 2 a2 19 17 16 15 14 13 12 1 o 9 8 7 6 5 4 3 2 1 0 Master gt SAG 0 11 0 00 0 0 Start the Teach In by setting bit 30 to 1 SAG Master O 1 0 X X 0 1 Acknowledgement of the encoder by setting bit 30 to 1 Master gt SAG 0 0 0 0 O 010 Reset bit 30 SAG Master 0 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
6. 915 _ 98 digits will be overwritten by the status bits If the SCANCON 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 SCANCON 2 2 is used the current velocity is transmitted in an additional peripheral input word Control 2 27 2 Meaning of the different status bits Bit28 Bit27 Bit26 Bit25 Meaning Ready 0 encoder is not ready for operation 1 encoder is ready for operation Mode 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 SAG DPB1B Revision 01 07 SCANCON Industrial Encoders 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
7. Allowed shaft movements of the drive element are listed in the table axial radial static 0 5mm dynamic 0 1 mm 0 2 mm Page 39 9 Appendix 9 1 Type designation ordering code Description Optocode Interface Version Code Revolutions Bits Steps per revolution Bits Flange Shaft diameter Mechanical options Connection Type Key SAG DP B1 Profibus DP B1 Binary 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 SCANLON Industrial Encoders B 0CC B 00 12 14 12 13 16 Cc S B 10 06 15 0 S V C occ Has to be ordered separately see accessories Standard bold further models on request Page 40 Info SAG DPB1B Revision 01 07 Accessories and Documentation Description SCANLON Industrial Encoders 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 function 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 on
8. HW Config SIMATIC 300 Station Configuration SCAN315 2DP j laj xj Dl Station Edit Insert PLC view Options Window Help 18 x Dlelele s S Sel ilal E E ael Profile Standard ha 5 Additional Field Devices Ej General vo B Encoders Scancon Scancon Absolute En E Gateway H PLC m Compatible PROFIBUS DF a CiR Object Closed Loop Controller Configured Stations DP VO slaves DP AS i DP PA Link ENCODER ET 2008 ET 200C ET 200eco ET 20015 ET 200L ET 200M ET 200R ET 2008 ET 200U ET 200 Function Modules IDENT IPC NC Network Components Sensoric x PROFIBUS 1 DP master system 1 tEAAAAAAAAA Ej eae cc a 0 UR DPERDERERERERLERERERRERL Peer CoC X PROFIBUS DP slaves for SIMATIC 57 x m M7 and C7 distributed rack Press F1 to get Help i ian After inserting the Profibus master system in the a eneral Parameters hardware configuration Insert Master System ee z Address z the SCANCON encoder can be chosen from the hardware catalogue and added to the profibus Transmission rate 1 5 Mbps network Select the device SCANCON Encoder Subnet not networked New Properties Delete and drag it with the mouse to the network or choose the network and double click the SCANCON encoder Now the slave address has to be entered has to be equal to
9. The integrated microcontroller calculates the internal zero point shift It is stored non volatile in an EEPROM takes less than 40 ms The preset value is activated if bit 31 in the peripheral output double word is set to 1 rising edge As the preset function is used after Page 14 Info SAG DPB1B receiving the scaling parameters the preset value refers to the scaled position value Revision 01 07 SCANCON Industrial Encoders Data bits Bit 31 2 2 7 2 S 4 2B 2 21 a 19 17 16 15 14 13 12 1 o 9 8 7 6 5 4 3 2 1 0 Master gt SAG 1 0 Transfer of the required position value preset value SAG Master O O New required position value is transferred Master gt SAG 0 O Reset bit 31 normal mode SAG Master O 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 If this Revision 01 07
10. code sequence scaling are ignored Parameters stored in an internal EEPROM are used instead If code sequence or scaling factor are modified in commissioning mode the new values will be stored non volatile and the encoder works with this new parameters The proceeding in commissioning mode is as follows The encoder is installed in the machine system 5 3 1 Setting the counting direction If the encoder is operating in commissioning mode the counting direction code sequence can be changed online The current code sequence is indicated with bit 28 in the 32 bit process value 0 The commissioning mode is activated parameter settings cp 5 1 4 The counting direction is changed if necessary Machine system is to be moved to the start position The Teach In Start command is transmitted to the encoder Machine system is to be moved to the stop position With the Teach In Stop command the desired number of steps is transferred to the encoder Set the preset value The parameters in the system configuration are set to the values determined with the Teach In procedure Commissioning mode is parameter settings deactivated increasing clockwise 1 increasing counter clockwise With bit 28 in the output double word the counting direction can be changed Status bits Data bits Bit 31 2
11. 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 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 31 2 29 32 7 53 4 2 2 21 19 17 16 15 14 13 12 1 10o 9 8 7 6 5 4 3 2 1 0 Master gt SAG 0 0 1 0 0 0 0 Number of desired measuring steps on the traversed measuring range SAG Master O I1 1 X X 0 1 Transfer of the total re
12. 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 FSCANCON Industrial Encoders 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 SCANCON Absolute Encoders Type SAG DPB1B XXXX XXXX 0CC support all configurations described in the following i e there is no functionality limitation due to the hardware Additionally to the configurations Class 1 and Class 2 according to the Profile for Encoders the SCANCON Encoder offers configurations with manufacturer specific functions By choosing a certain encoder configuration parameter and configuration data are determined 3 1 Overview Configuration principle GSD File l Software Tool mm database PLC Choice of encoder configuration Parameter settings Page 8 Info SAG DPB1B These data are stored in the profibus master They are transmitted to the slave encoder when the profibus network is st
13. DX Version SCANCON Multiturn SCANCON Multiturn SCANCON Multiturn Page 10 Info SAG DPB1B Revision 01 07 SCANCON Industrial Encoders 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 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 Profibus Standard Parameters a o codesequence Section 4 1 2 Page 12 Section 4 1 3 Page 12 Section 4 1 4 Page 12 Reserved Reserved Not used for Class 1 and Class 2 10 Measuring units per revolution 13 Section 4 1 5 Page 12 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 SCANCON 2 1 und 2 2 Revision 01 07 Info SAG DPB1B Page 11 GSCANCON Industrial Encoders 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
14. Info SAG DPB1B preset procedure this can result in offsets because of bus delay times functionality is needed the user has to choose one of the manufacturer specific SCANCON encoder versions in these classes the singleturn position is transmitted as 32 bit value Page 15 GSCANCON Industrial Encoders 5 Special versions SCANCON 2 1 and 2 2 The manufacturer specific encoder configurations SCANCON 2 1 and SCANCON 2 2 offer in addition to the functions according to the Profile for Encoders features such as commissioning mode velocity output and software limit switches The following table gives an overview of the used parameters and the structure of the parameter telegram Usually it is not necessary to know these details as the parameters are set with user friendly software tools Octet byte Parameter Bit Details No No Section Page il on amp 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 Os 1 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 Sl 18 1 Activate commissioning mode 2 5 1 4 19 Sh
15. 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 Revision 01 07 Info SAG DPB1B 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 ON device X last device Note The outgoing bus line is disconnected if the resistor is switched on The bus is only correctly terminated when the encoder is connected to the connection cap If the encoder must be changed during operation a separate active bus termination should be used Page 5 GSCANCON Industrial 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 30 V The power supply has to be connected once no matter which
16. clamps If the terminating resistor is switched on the outgoing bus lines are disconnected 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 Page 6 Encoders ay 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 SCANCON offers connection caps with larger cable glands refer to product catalogue Info SAG DPB1B Revision 01 07 SCANCON Industrial Encoders 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 The enc
17. number ASCII String 48 57 MINIM TMH MMM TMH MM MH JY 7 fH lH lA fA fesse yey se yet Page 26 Info SAG DPB1B Revision 01 07 SCANCON Industrial Encoders 6 2 Supported diagnostic messages In the following the different diagnostic messages are described in detail 6 2 1 Extended diagnostics header Byte 7 contains the length of the extended diagnostics including header itself 6 2 2 Memory error Bit 4 in diagnostic byte 8 is used to indicate a memory error Memory error means that the internal EEPROM of the encoder no longer works correctly and that it cannot be guaranteed that values e g offset value are stored non volatile Bit Definition 0 1 4 Memory error No Yes defective EEPROM 6 2 3 Operating status Diagnostic byte 9 contains certain parameters set in the system configuration 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 SAG DPB1B 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 ti
18. onto the shaft The code sequence is defined in bit 0 of octet 9 Octet 9 Bit 0 Direction of rotation when viewing the shaft Code 0 Clockwise CW Increasing 1 Counter clockwise CCW Increasing In Class 1 this is the only parameter that can be set 4 1 2 Class 2 functionality Using this switch Class 2 encoders can be Octet 9 Bit 1 Class 2 functionality restricted to the functionality of Class 1 i e the 0 Switched off scaling parameters are disabled To use the class a 1 Switched on 2 functionalities bit 1 in octet 9 has to be set 4 1 3 Commissioning diagnostics This function has no significance for the SCANCON 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 SCANCON 2 1 and SCANCON 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 C error LED and it will not enter the d
19. the address setting in the connection Cap Page 32 Info SAG DPB1B Revision 01 07 FSCANCON Industrial Encoders 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 SCANCON encoder has to be dragged to Slot 1 in After the SCANCON encoder has been added to the displayed configuration table of the encoder the network the desired encoder version can be uw Config SIMATIC 300 Station Configuration SCAN315 2DP ah Station Edit Insert PLC View Options Window Help 8 x Dlel ie S 5 Sl Be 82 de CPU 315 2 DP DP PROFIBUS 1 DP master system 1 uN S cancon Scancon Absolute Encoder d Universal module Class 1 Singletum Class 1 Multitum Class 2 Singletum j Class 2 Multitum J Version 2 1 Singletum F F F l lololln onlelco o Version 2 1 Multiturn Version 2 2 Singletum Version 2 2 Multiturn Compatible PROFIBUS DP Slaves CiR Object Closed Loop Controller Configured Stations DP VO slaves DP AS i DP PA Link ENCODER ET 2008 ET 200C ET 200eco ET 20015 ET 200L ET 200M ET 200R z T gt 2 Scancon Absolute Encoder Order Number Designation Comment Press F1 to get Help a aa Dstart 3 Jeso crm Er
20. the connection cap should be checked cp section 6 3 Possibly this can give hints to the cause of the problem Both LEDs dark Check power supply Revision 01 07 Info SAG DPB1B 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 SCANCON 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 SCANCON versions SCANCON 2 1 or 2 2 and activate the reduced diagnostics If COM PROFIBUS V5 0 is to be used the configuration of the SCANCON encoder is only possible with a modified GSD file slave key Max_Diag_Data_Len has to be changed Both LEDs bright Encoder is ready but receives no configuration or parameter telegrams Check the address setting in the connection cap Check the connection of the bus lines BUS IN BUS OUT Check the hardware configuration in your software tool Red LED bright green LED flashing Parameter error Check parameters e g the rules for setting the total measuring range cp 4 1 6 Page 43 GSCANCON Industrial Encoders Problem Sporadic bus errors Possible cause Terminating resistors not correct Possible solution Check terminating resistors The resistors of 220 Q must b
21. to display errors the green LED gr n 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 operation but it has not received any configuration data after power on Possible causes address setting incorrect Bus lines not connected correctly 3 Bright Flashing Parameter or configuration error The encoder receives configuration or parameter data with incorrect length or inconsistent data Possible cause parameter value total measuring range too high 4 The encoder is ready for operation but not addressed by the master e g incorrect address in configuration 5 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 7 Dark Flashing Commissioning mode Revision 01 07 Info SAG DPB1B Page 29 FSCANCON Industrial Encoders 7 Configuring with STEP 7 In the following the configuration of the SCANCON encoder with the configuration tool STEP 7 is shown exemplarily In this example STEP 7 Version 5 1 and the CPU 315 2DP prof
22. 0 0 0 0 01 0 Transfer of the required position value preset value SAG Master 1 0 10 0 00 1 New required position value is transferred Master gt SAG 0 0 0 0 0 0 0 Reset bit 31 normal mode SAG Master 0 0 0 0 0 0 1 New required position value is transferred Revision 01 07 Info SAG DPB1B Page 25 GSCANCON Industrial Encoders 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 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 Octet ho 0 Station status 2 ref to Profibus Standard Station status 3 ref to Profibus Standard Diagnostic master address PNO identification number Extended diagnostic header Alarm messages Octet String 8 i Operating status Octet Sting 9 Encoder type Resolution per revolution Hardware Number of revolutions Hardware Additional alarm messages Supported alarm messages Warnings Supported warnings Profile version Software version Operating time Zero offset Manufacturer specific offset value Programmed resolution per revolution Programmed total resolution Unsigned 32 Serial
23. 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 E Upper limit switch low 32767 Cancel Help Page 34 Info SAG DPB1B Revision 01 07 FSCANCON Industrial Encoders 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 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 P
24. GSCANCON Industrial Encoders User Manual _ aim qaim of g Absolute Rotary Encoder with Profibus DP Interface SAG DPB1B XXXX XXXX 0CC User Manual Revision 01 07 Info SAG DPB1B Page 1 GSCANCON Industrial Encoders 5 1 5 Shorter Diagnostics 19 1 General cscceccscsesccestscseccsescscccstscceecessccsecetececes 4 ee f 5 1 6 Software limit switch 19 1 1 Absolute Rotary Encoder seeen 4 5 1 7 Physical impulses AEETIS EEEIEE 20 1 2 Profibus technology sseeeeeeeeeeeeeeeeeeeeeenne 4 5 1 8 Encoder type uueenessssnnnnnnennnnneennnnnn 21 2 Installation 5 i UNE Berne al F 2D h i ION 2 1 Settings in the connection Cap 5 Be DAS exchange minorna operaio 2 1 1 Station addiesennnannen 5 8 3 Commissioning mode 23 2 1 2 BUS termination isassecicienctiacoesesticbeccencnnes 5 5 3 1 Setting the counting direction 23 2 2 Connecting bus lines and power supply 6 5 3 2 Teach In Start ccccccceceeeeeeseeeeeeees 24 5 3 3 Teach In Stop 2224umeenn nennen 24 2 3 Connecting up the connection cap 6 5 3 4 Preset value 25 2 4 Connecting the screen cccccccceeeeeeeeees 7 6 Diagnostic messages ssssssssssssssssssssssseee 26 2 5 Inetretions tor mechanical installation and 6 1 OVErVIEW anne 26 electrical connection of the angular encoder 7 6 2 Supported diagnostic messages 27 3 Devi
25. arting up DDLM_Set_Prm It is not possible to change parameters or configuration during the normal operation of the device exception Commissioning Mode see chapter 5 3 After receiving configuration and parameter data the absolute encoder enters the normal operating mode cyclic data transmission DDLM_Data_Exchange In this mode the process values e g the position value are transmitted Data length and format are determined by the user when selecting a certain encoder configuration Parameter DDLM_Set_Prm Once at Start Up Cyclic Data Transmission e g position value Revision 01 07 3 2 Overview encoder configurations functionality Designation Class 1 Singleturn Class 1 Multiturn Class 2 Singleturn Class 2 Multiturn SCANCON 2 1 Singleturn SCANCON 2 1 Multiturn SCANCON 2 2 Singleturn SCANCON 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
26. ata exchange mode With high resolution encoders it may be necessary to divide the value into high and low word depending on the software tool refer to page 35 13 2 to 2 Desired measuring units per revolution Page 12 Info SAG DPB1B Revision 01 07 SCANCON Industrial Encoders 4 1 6 Total measuring range Octet Bit Data 14 15 16 31 24 23 16 15 8 17 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 35 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
27. ce Configuration uususnnnnnnnnnnnnnnnnnnnnnn 8 6 2 1 Extended diagnostics header 27 3 1 Overview Configuration principle 8 6 2 2 Memory erfor ueeeeneeenssnnnnnnsnnnnnnennnnn 27 3 2 Overview encoder configurations 6 2 3 Operating status uu sseenennnneneennnnnn 27 f netionality 2 nennen 9 6 2 4 Encoderiypon ensesintnsenemen 27 6 2 5 Singleturn resolution 27 3 3 Encoder configurations data format 10 6 2 6 Number of revolutions ene 27 4 Class 1 and Class 2 profile ssee 11 6 2 7 Operating time Warning ccccceee 27 4 1 Parameter Settings 11 6 2 8 Profile version EU LUISE EEE EHRT 27 4 1 1 Code sequence nnnennnnennnnnnnnnnnnnnnnnnn 12 6 29 Software Ka SES Aa EEE ad 4 1 2 Class 2 functionality ccccccccccccssssssssseee 12 0210 Pe au MME eee eer ener a 2r 4 1 3 Commissioning diagnostics 12 6 2 11 Zero offset ee 28 4 1 4 Scaling function nn 12 6 2 12 Programmed resolution en A 28 4 1 5 Measuring units per revolution 12 Pa Programmed ILS a 4 1 6 Total measuring range cesccesccsccccsseccecee 13 6 2 14 Serial number 2 22244444 nn 28 4 2 Data exchange in normal operation 14 6 3 Sias netaan By the EERS ININE 4 2 1 Transferring the process value 14 CONNECTION Cap 00 0 eee cece cece eee eeeeeeeee renee 29 4 2 2 Preset function
28. ce encoder is used for the first DK AWC DP time Clamp disc 4 pcs encoder SP 15 Clamp ring 2 pcs encoder SPH Reducing adapter Reducing adapter Reducing adapter GSD file 15 mm to 12 mm 15 mm to 10 mm 15 mm to 8mm RR12 RR10 RR8 User manual Installation configuration manual for Profibus English UME B1DP kk kkk User manual These can be downloaded free of charge from our homepage www scancon dk not for hollow shaft only for hollow shaft Revision 01 07 Installation configuration manual for Profibus German Info SAG DPB1B UMD B1DP Page 41 FSCANCON Industrial Encoders 9 2 Further encoder configurations The encoder versions described in the following are still supported for reasons of downward 9 2 1 Version SCANCON 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 SCANCON 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 SCANCON 1 0 Multiturn Output of position value and velocity 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
29. ched off 1 Switched on Octet 26 Bit3 Diagnostics 0 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 35 Lower limit switch in measuring steps related to the scaled value Revision 01 07 Info SAG DPB1B Page 19 EA SCANCON Industrial Encoders Octet Bit Data Properties DP slave f x Address ID Parameter Assignment Parameters a Station parameters Device specific parameters HE Code sequence HEJ Scaling function control Enable 2 Desired Measuring units high 1 2 Desired Measuring units low 4096 2 Physical impulses high 0 2 Physical impulses low 4096 E Desired measuring units per Revolution E Total measuring range high 2 Total measuring range low 64064 E Commissioning mode Disable 2 Shorter diagnostics 16 bytes No Lower limit switch Disable Lower limit switch high 0 Lower limit switch low 0 Upper limit switch Enable E Upper limit switch high Disable aa Increasing clockwise 0 5 1 7 Physical impulses Octet Bit Data Physical impulses This parameter is evaluated if the reference for the desired measuring physical impulses cp 5 1 3 With the physical impulses it is possible to set a gearing factor freely The user def
30. data unit of two bytes Info SAG DPB1B Page 45 FSCANCON Industrial Encoders 10 Index B Bus termination 5 C Glass 1a ead lie eee 11 Glass 2 ee 11 Code sequence uuenensennnnnnnnennnnnnnnnnnnnnnnnn ee 12 Commissioning mode mn 23 Configuring the encoder 4 gt 31 Connecting Duslinesanesesneeeen en 6 Power SUPPIy euuueneeennnnnnennnnssnnnnnnnnnnnnnnnnnnn 6 Connection cap SEtlINgS nun rer 5 D Data formatieren neiere an ecrans eeen 10 Desired measuring units 4444 17 Diagnostic messages 2222244nnnenn nenn 26 Dimensioned Drawings 4444 37 E Electrical Data len 35 Encoder configurations 24444 9 MUNNET Soasi eae none SIEH 41 Endless operation ccceeeeeeeeeeeeeeeeeeeees 13 Environmental Conditions 36 F PAG une ee 42 G GSDIlle u ten 44 Installation nennen 30 H IQ WOR P 44 een 34 I Installation nennen 5 Page 46 Info SAG DPB1B L LED inasnan Renee 29 LOW WOM 00ccccccccccessseecccceeeeeeeeeeeeeeeeeeaaaes 34 M Mechanical Data cccccceeeeeeeeeeeeeeeeeeeeeees 36 Memory error 22nnnnnnennnnsnennnnnnnennnnnnnnnnnnnn 27 0 Operating time warning cccceeeeeeeeeeees 27 Ordering code 24444eenn nenn nnnnnnnennnnnn nn 39 P Parameter settings sesesseeeeeeeeeeeeeeneneees 11 Parameters unnnnnnnnn
31. e preset value In the commissioning mode a Teach In can be carried out i e the gearing factor can be determined directly in the machine In this special mode indicated by the flashing green LED the parameters set in the system configuration are ignored by the encoder It uses parameters stored in an internal EEPROM instead 5 1 5 Shorter Diagnostics Some Profibus masters especially older ones have problems with the full diagnostic data length 57 bytes The SCANCON 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 Bit Data 931 to Be 923 to 916 27 28 29 31 24 23 16 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 Bit2 Commissioning mode 0 Swit
32. e switched on at the beginning and at the end of the bus segment Switch off the power supply and measure the 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 resistance between the terminals A and B in the connection cap conductions laid according to EMC rules 9 4 Definitions Address 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 AWC Abbreviation Absoluter Winkelcodierer German Absolute Rotary Encoder Baud rate Data transfer rate specified as the number of bits transferred per second baud rate bit rate Bus Node Device which can send receive or amplify data via the bus Configuring When the master configures the slave the properties of the slave are specified e g number of input and output bytes DDLM Direct Data Link Mapper Interface between Profibus DP functions and the encoder software DDLM_Data_Exchange Operating status of the bus for standard data transfer DDLM_Set_Prm DDLM_Slave_Diag Diagnostics Operating status of the bus configuration and parameter are transmitted Operating status diagnostic data are requested from the s
33. high 1 Desired Measuring units low 4036 Physical impulses high 0 Physical impulses low 4036 Desired measuring units per Revolution E Total measuring range high Total measuring range low Commissioning mode 2 Shorter diagnostics 16 bytes No 2 Lower limit switch Disable Lower limit switch high 0 Lower limit switch low 0 Upper limit switch Disable 2 Upper limit switch high 0 Maximal total measuring range Physical impulses 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 SAG DPB1B Revision 01 07 SCANCON Industrial Encoders 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 th
34. ibus 7 1 Installing the GSD file If SCANCON encoders are used for the first time it is necessary to install the GSD file SCAN4711 gsd to take over the encoder into the hardware catalogue of the tool master integrated are used If there are questions about other software tools please contact the manufacturer Choose Install New GSD in the HW Config window of the project menu item Options and select the GSD file SCAN4711 gsd The GSD file can be downloaded from our homepage www scancon dk EIHW Config SIMATIC 300 Station Station Edit Insert PLO View Options Window Help Deere amp E HOI SIMA SUU Station Lon Customize Ctrl Alk E Speci Module Configure Network Symbol Table Etri tAlt T Report System Error Edit Catalog Profile Update Catalog Install Wew GSD Import Station G5D After the successful installation of the GSD file the SCANCON encoder can be found in the hardware catalogue under PROFIBUS DP Additional Field Devices Encoders SCANCON Encoder In order to represent the encoder with a bitmap in STEP7 the bitmap file SAGDPxxn bmp has to be Page 30 Info SAG DPB1B installed The procedure is the same as with the GSD file Revision 01 07 FSCANCON Industrial Encoders Revision 01 07 Info SAG DPB1B Page 31 FSCANCON Industrial Encoders 7 2 Configuring the encoder
35. ide IP 65 Shaft side IP 64 optional with shaft sealing IP66 Revision 01 07 Info SAG DPB1B Page 37 GSCANCON Industrial Encoders 8 4 Dimensioned Drawings Synchro flange S available in 2 versions Synchro flange d mm mm Version S06 Version S10 10hs 20 Single Turn 82 Multi Turn 92 pe ad 3xM4x6 pe T T E 23 o S o g g 8 8 gt S a 8 O Lo Q N N 3 _ 3 4 u 15 06 59 Edelstahl inl ae delstahl Stainless stee 20 20 Schl sselweite wrench size 17 Clamp flange C Single Turn 82 Multi Turn 92 58 53 Schl sselweite wrench size 17 Page 38 Info SAG DPB1B Revision 01 07 SCANCON Industrial Encoders Hollow shaft B Single Turn 100 Multi Turn 112 3 3 1 3 2 23 rh co gt un Q Qy L Q N Bh S o ooog ergQ2 8 o g gt Edelstahl Stainless steel X DD 8552 s2L5 os ISe Min W 15 15 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 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 Revision 01 07 Info SAG DPB1B Schlisselweite wrench size 17
36. ines 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 units is Example Problem The position value has to increase by 400 steps over 3 revolutions Page 20 35 36 37 31 24 23 16 jis 8 7 0 Info SAG DPB1B Lower limit switch Deactivated 1 Activated Upper limit switch Deactivated 1 Activated 38 2 to 2 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 SCANCON Industrial Encoders 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 General
37. international 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 SCANCON 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 SAG DPB1B requirements of a Profibus Slave according to the PROFIBUS standard It is certified by the Profibus Nutzerorganisation in Germany 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 www scancon dk 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 SCANCON Industrial Encoders 2 Installation The Absolute Encoder is connected with a connection cap This cap is connected to the encoder with a 15 pin D Sub connector and
38. lave e g encoder Identification localization classification display additional evaluation of faults errors and messages Freeze 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 Page 44 Info SAG DPB1B Revision 01 07 SCANCON GSD file Master Octet Profibus Slave Terminating resistor Type file Word Revision 01 07 Industrial Encoders File that contains slave specific characteristics The GSD file is supplied by the manufacturer of the profibus slave The GSD format is standardized defined in GSD specifications so configuration tools of various manufacturers can use the GSD files Active device in the network that can send data without request Controls the data interchange Data unit of 8 bits 1 byte Process Fieldbus European fieldbus standard which is defined in the PROFIBUS Standard EN 50170 This specifies functional electrical and mechanical characteristics for a bit serial fieldbus system Bus node that only sends data on request of the master Absolute rotary encoders are always slaves Resistor that terminates the bus cable terminating resistors are always required at the end of a cable or segment Similar to GSD file is used with older configuration software tools Expression used for a
39. lution the rule is as follows if it is necessary to turn the encoder SCANLON Industrial Encoders shaft more than 4096 revolutions without power supply The period i e Total resolution measuring units per revolution must be an integer and it must fit an integer number of times integer multiple into 16384 So the following equation must apply 16384 x measuring units per revolution Total resolution integer 4 2 Data exchange in normal operation The DDLM_Data_Exchange mode is the normal operation mode of the device On request the encoder transfers the current position value to the 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 master The encoder can also receive data from the master e g the preset value in the class 2 configuration Word Word 1 Word 0 Function Process value Bit 31 2 w 27 3131212312121 aw 19 18 17 16 15 14 13 12 1 o 9 s8 7 6e 5 4 3 2 1 Jo O0 X X X xX xX XxX XIX X XIX XIXIXIXIXIXIXIXI KX XP XIX I XIX IX XIX 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
40. ly 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 SCANCON 2 2 The time base is specified in bits 4 and 5 of octet 39 Revision 01 07 Info SAG DPB1B on a measuring range of 12288 physical steps 3 revolutions Note With many software tools it is necessary to divide the value into high and low word refer to page 35 Octet 39 Bit1 Type 0 Singleturn 1 Multiturn Time base Bit 4 Bit 5 Steps second lo 0 Steps 100 ms 0 Steps 10 ms 0 1 RPM revolutions per minute 1 1 Page 21 GSCANCON Industrial Encoders 5 2 Data exchange in normal operation With the manufacturer specific versions SCANCON 2 1 and SCANCON 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 SAG might have physical position values gt 25 Bit The manufacturer specific SCANCON versions do not support the position values gt 25 Bit The upper SAG Master Status position value Status 2 27 2 6 Master gt SAG Preset value control bits 915 _ 98
41. me warning The bit is set after 10 hours 6 2 8 Profile version Diagnostic bytes 24 and 25 contain the profile version of the encoder Byte 24 25 6 2 9 Software version Diagnostic bytes 26 and 27 contain the software version of the encoder 6 2 10 Operating time The operating time of the encoder can be read out from diagnostic bytes 28 to 31 If the encoder is connected to the power supply the operating time is stored in an EEPROM every six minutes in 0 1 h steps Page 27 FSCANCON Industrial Encoders 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 SAG DPB1B 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 SCANCON Industrial Encoders 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 oo The red LED is used
42. ng range 12 13 7 0 2 to 2 Desired measuring units The reference for the desired measuring units is specified with the parameter Desired measuring units reference cp 5 1 3 If per revolution is selected the measuring range can be adapted with the parameter total measuring range Please observe the rules in section 4 1 6 Revision 01 07 Info SAG DPB1B Note With many software tools it is necessary to divide the value into high and low word refer to page 35 Page 17 FSCANCON Industrial Encoders 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 x Address 1D Parameter Assignment Parameters Value a 5 Station parameters E Device specific parameters Po 2 Code sequence Increasing clockwise 0 E Scaling function control Enable 2 Desired Measuring units
43. nnnnnnnnnnnnnnnnnnnnnnnnnn 33 Physical impulses 16 18 20 Preset function unnnnnnnnnnnnnnnnnnn 14 Preset value uunnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnn 25 Profibus Nutzerorganisation gt 4 Profile for Absolute Encoders 4 Ss Shorter Diagnostics 22244444444 4 gt 19 Software limit switch nn 19 Station address 2244444444444RRR Rn 5 Status DiS ae inanan pardas anunta iniiae 22 STEP T a oe ne eee 30 T Teach In Start nnnenennnn 24 Teach In Stop 4444enn nennen 24 Technical Data nennen 35 Total measuring range men 13 Type designation nennen 39 Type file 0u0u0044444nnnnnnnnnnnnnnnnnnnnnnnnnnnnnnn 44 V Velocity Time base ceeeeccecceeeceeeceeeeeeeeeeeeeeeeeeeeess 21 Revision 01 07
44. number of steps per revolution the programmed total resolution of a 16384 revolution multiturn encoder must be less than 16384 x the programmed number of steps per revolution Total resolution lt measuring units per revolution x real number of revolutions physical If this rule is disregarded the encoder will indicate a parameter error and it will not enter the data exchange mode With older versions a further rule had to be observed see below If this rule was ignored 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 SAG DPB1B Page 13 For multiturn devices with 16384 revo
45. oder 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 SCANCON Although SCANCON 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 SAG DPB1B 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
46. orter Diagnostics 3 Dil S 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 Chil cH Upper limit switch 5 1 6 19 35738 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 SAG DPB1B Revision 01 07 SCANCON Industrial Encoders 5 1 Parameter In the following parameters are the manufacturer 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 SCANCON 2 1 or SCANCON 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 0 Deactivated 1 Activated Octet 26 Bit 7 Octet 27 39 0 Deactivated 1 Activated revolution over the whole measuring range or over a part ofthe measuri
47. roperties DP slave E x Address ID Parameter Assignment Parameters Sy Station parameters a Device specific parameters User_Prm_Data 0 to 7 00 44 00 01 10 00 00 01 User_Prm_Data 8 to 15 F4 40 00 00 00 00 00 00 User_Prm_Data 16 to 23 00 00 80 00 00 00 00 00 User_Prm_Data 24 to 31 00 7F FF 00 00 10 00 02 Cancel Help Revision 01 07 Info SAG DPB1B Page 35 GSCANCON 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 Industrial Encoders According to DIN VDE 0160 Protective Class Ill degree of pollution 2 over voltage Category II 10 30 V DC absolute limit values max 2 5 Watt max 230 mA with 10 V DC max 100 mA with 24 V DC Emitted interference according to EN 61000 6 4 Noise immunity according to EN 61000 6 2 Electrically isolated by optocouplers Line driver according to RS 485 12 MBaud 6 MBaud 3 MBaud 1 5 MBaud 500 kBaud 187 5 kBaud 93 75 kBaud 45 45 kBaud 19 2 kBaud 9 6 kBaud Standard 4096 steps revolution optional up to 65536 steps revolution 1 Singleturn 4096 or 16384 Multiturn Y2 LSB up to 12 Bit 2 LSB up to 16 Bit max 800 kHz Binary gt 10 h Using rota
48. ry switches in the connection cap The absolute angular encoder may only be operated with safety extra low voltage according to EN 50 178 Page 36 Info SAG DPB1B Revision 01 07 SCANCON Industrial Encoders 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 Ncm 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 10g halfsine 16 ms Vibration EN 60068 2 6 lt 10g 10 Hz 2 000 Hz Weight standard version Singleturn 550g Multiturn 600g Weight stainless steel version Singleturn 1 100g Multiturn 1 200 g Flange Synchro S Clamp C Hollow shaft B Shaft diameter 15 mm hollow shaft depth min max 15 mm 30 mm Minimum mechanical lifetime Flange Lifetime in 10 revolutions with Fa Fr 40 N 60N 40 N 80N 40N 110N 10 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 Storage temperature 40 85 C Humidity 98 without liquid state Protection class EN 60529 Casing s
49. solution should be noted Master SAG 0 0 0 0 0 0 0 Reset bit 29 SAG Master 0 O 0 X XJ 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 SAG DPB1B measuring range When setting the parameters it should be observed that the code sequence is correct the setting of the counting direction in commissioning mode has to be transferred to the 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 SCANLON Industrial Encoders The preset function is similar to the procedure versions SCANCON 2 1 or SCANCON 2 2 there is described in section 4 2 2 There is only one an acknowledgement bit 31 in the input double difference When using the manufacturer specific word is set to 1 Status bits Data bits Bit 31 0 2 z 7 6 S 4 z 2 a1 a 19 18 17 16 15 14 13 2 1 o 9 8 7 6 5 4 3 2 1 0 Master SAG 1
50. the type key Page 42 Info SAG DPB1B compatibility They should not be used in new projects Properties DP slave j x Address ID Parameter Assignment Parameters Malue Station parameters BE Bey specific parameters Code sequence Desired Measuring units high H Desired Measuring units low 4096 2 Commissioning mode Enable E Hex parameter assignment Increasing clockwise 0 compatibility but it should not be used for new projects Revision 01 07 SCANCON Industrial Encoders 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 SCANCON encoder into the hardware configuration if the PLC S5 95U is used Cause The S5 95U does not support the full diagnostic data length 57 bytes COM PROFIBUS V5 0 checks the GSD parameter Max_Diag_Data_Len 57 and prevents the configuration of both devices together Problem PLC and master are switched on bus is active but there is no answer from the encoder Possible solutions First of all the state of LEDs in
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