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IF09P/1

1. Command Param Param Sub index Data byte 1 Data byte 2 Data byte 3 Data byte 4 code indexLow indexHigh address 40h 00h 5Fh 05h 00h 00h 00h 00h IF09P 1 6 Mai 2011 21 51 Art Nr 85831 And Stand 164 11 Precision in Motion Data byte Position values of the 4 connected encoders Com Param Param Sub index Data byte Data byte Data byte mand index index address 1 2 3 code Low High 42h 00h 5Fh 05h 79h 65h 3Ah 00h Reply Position value 3A6579h 23 827 065 3 7 2 Write read calibration value parameter SN3 and SN4 protocols This parameter reads or writes the calibration value of the addressed encoder By writing the calibration value the addressed encoder s position value will not be set to this value yet The position value is set to the calibration value after execution of the command with parameter index 5FOH only see 3 7 8 0 below When writing the calibration value take into account the value range of addressed encoder Example of a call Set calibration value of encoder with addr 22 to 10000h Command Param Param Sub index Data byte Data byte Data byte Data byte code index Low index High address 1 2 3 4 23h 01h 5Fh 16h 00h 00h 01h 00h Reply Com Param Param Sub Data Data Data Data Position values of mand index index inde
2. jp K Precision in Motion l7 ll Hl User Manual Interface for connecting max 31 SIKO devices with RS485 interface to Profibus DP IF09P 1 Precision in Motion Table of contents 1 General InformatiON 4 1 1 BID mec R AAA 4 1 2 DocurmernidtlOli oii uibus 2io Ra x EE SEXE RIA S xEEEAKE sa REESE CREE RES REESE EREEEEERES SERERE CHEER 5 1 3 Intended USE isiin erri er HR ERE EX EXER EREX E FECE EF FEE ER EY FR KRERER NER EK EWFR KR CR ERUNCR ER CEYRCRTNEREKEA NEM EREKE 5 1 4 UNIMON IG El ARG me RN 5 Pres eT eesteiaa aii 5 2 1 Profibus interface X5 connection eeeeeeeeeeeeeeeeeeee esee eene eene 6 2 2 Interface to SN4 or SN3 resp X3 or X4 connection resp 6 2 3 FUNCHONINO t 6 2 94 Stating phase et tutt t IDEM LE EE ELE IE 7 2 9 2 Operating OM ASCs menina a A tue MR ea ea aaa EID LED Dp DES 9 2 3 3 Parameterization status query ssssssssssssssssssseeeennenee eren enne nnnnetr nine nenne nnne nsns 9 2 4 MS Ar le 10 2 5 mnsnrleinEe p meee m 11 koh M ate ees 12 3 1 COCO SOTA me Dm 12 3 2 Profibus addiBSss iioc IE HER REXEOG E FUE DRE Kana AAAA NAAA AANA NAAA NANANA KMREEENCETERKEEERMER 12 3 3 Diagnostic and control
3. gt wt Precision in Motion Profibus interface X5 connection The IFO9P 1 is connected to the Profibus via a 9 pin D SUB connector according to EN 50170 If bus termination is required it should be in the connector i e use appropriate connectors with terminating resistors that can be switched in The following data rates are supported 9 6kBit s 19 2kBit s 93 75kBit s 187 5kBit s 5OOkBit s 1 5MBit s 3MBit s 6MBit s and 12Mbit s The associated SIKOOOEC GSD device database file available for download at www siko de contains additional Profibus specific parameters For the D Sub connector s pin configurations please refer to the pin layout below Interface to SN4 or SN3 resp X3 or X4 connection resp You can choose either of the two D Sub connectors X3 or X4 for connecting the encoders The maxi mum baud rate is 115 2kBit s for the SN4 protocol or 19 2kBit s for the SIKONETZ3 protocol The connected encoders can be supplied directly via two additional pins Supply current must not exceed 0 75A Refer to the connection diagram for the pin configuration see chapter 2 5 If the electricity requirements of the station connected to the IF09P 1 exceeds the above value these devices shall be supplied via an external power pack Take care that the external power pack and IFO9P 1 have common earth connection Functioning After switching on the IFO9P 1 determines the number of encoders connected The addresses of the stations
4. Data byte Data byte Data byte Data byte Position mand index index address 4 2 3 4 values of the code Low High connected encoders 60h 18h 5Fh OFh 00h 00h 00h 00h xxh xxh IF09P 1 6 Mai 2011 48 51 Art Nr 85831 nd Stand 164 11 3 7 35 Red LED function SN4 protocol Precision in Motion With this command the functionality of the red LED is set in the APO4 S The necessary parameter is stored in data byte 1 Data bytes 2 4 are irrelevant The following values are valid 00h 01h Example of a call LED OFF LED ON when the position value is outside the target window target window encoder address 15 The red LED shall be switched on when the position value is outside the Command Param Param Sub index Data byte 1 Data byte 2 Data byte 3 Data byte 4 code index Low indexHigh address 23h 18h 5Fh OFh 01h xxh xxh xxh Reply Com Param Param Sub index Data byte Data byte Data byte Data byte Position mand index index address 1 2 3 4 i values of the code Low High connected encoders 60h 18h 5Fh OFh 00h 00h 00h 00h xxh xxh IF09P 1 6 Mai 2011 49 51 Art Nr 85831 And Stand 164 11 Trouble shooting Precision in Motion 4 1 Error indication via status bytes In case an error has occurred il
5. Data byte code index Low index High address 1 2 3 4 40h 03H 5Fh 00h xxh xxh xxh xxh Reply Com Param Param Sub Data Data Data Data Position values of mand index index index byte 1 byte 2 byte 3 byte 4 the connected en code Low High ad coders dress 42h 03H 5Fh 00h 07H 30h 01h 00h xxh xxh IFO9P 1 6 Mai 2011 23 51 Art Nr 85831 nd Stand 164 11 gt Precision in Motion 3 7 5 Status configuration parameter 3 75 1 Read status parameter SN4 protocol With this function the following information is read from an addressed device For detailed infor mation on the terms listed below please refer to the relevant User information of the connected devices Battery status Loop approach direction Key mode Sense of rotation counting Version number Decimal places Display orientation Display divisor or LED function resp Incremental measurement and P Reset key mode Data byte 4 always 0 Data byte 3 Version number e g APO9 2 02 The AP04 and AP04 S differ from the other SN4 devices with regard to the coding of the firmware version 0 14351510 0 2O 1 1 0 Data byte 3 Version number e g APO9 1 04 APO4 APO4 S V1 04 104 68h APO9 V2 02 22h oraga ala o 9 Data byte 2 Number of decimal places 0 3 Display divisor or LED function resp loop ap proach direction Bit7 Bit Bits Bit4 Bits Bit Bi
6. Data bytes 3 4 occupied with value O Example of a call Command Param Param Sub index Data byte Data byte Data byte Data byte code index Low index High address 1 2 3 4 40h 06h 5Fh 00h 00h 00h 00h 00h Reply IFO9P 1ready 31 SIKONETZ stations available Com Param Param Sub index Data Data byte Data byte Data byte Position values of the mand index index address byte1 2 3 4 connected encoders code Low High 42h 06h 5Fh 00h 01h 1Fh 00h 00h xxh xxh 3 7 8 Calibration parameter setting the position value to the calibration value SN3 and SN4 protocols This serves for setting the addressed encoder to the calibration value The data in user data bytes 1 4 are not relevant and can be set to any values Example of a call Encoder with address13 0Dh is to be set to the calibration value Command Param Param Sub index Data byte 1 Data byte 2 Data byte 3 Data byte 4 code index Low index High address 23h 07h 5Fh ODh 00h 00h 00h 00h Reply Com Param Param Sub index Data Data byte Data byte Data byte Position values of the mand index index address byte1 2 3 4 connected encoders code Low High 60h 07h 5Fh ODh 00h 00h 00h 00h xxh xxh IFO9P 1 6 Mai 2011 29 51 Art Nr 85831 And Stand 164 11 Precision in Motion 3 7 9 Outpu
7. Firmware version V1 01 Data byte 3 10h gt Hardware version V1 0 For the numerical values of the device codes please refer to the relevant User information of the devices concerned The firmware version coding of the APO4 and AP04 S devices differs from that of the other SN3 devices Examples AP04 AP04 S V1 04 104 68h MSA111C MSA501 V1 02 12h IFO9P 1 6 Mai 2011 37 51 Art Nr 85831 And Stand 164 11 Precision in Motion 3 7 22 Read program decimal places 3 7 22 1 Devices with SN4 protocol This command enables programming of decimal places for devices that have a display unit SN devices that have no display unit respond to this command with an error message Value range 0 4 AP04 AP04 S 0 3 APO9 APO09 1 00h display format XXXXX Oth display format XXXX X 02h display format XXX XX O3h display format XX XXX 04h display format X XXXX only with APO4 If an APO9 connected to the IF09P 1 is parameterized with the value 04h the APO9 will interpret it as value 00h no decimal point or decimal point at the right most posi tion With the APO9 a decimal point will be displayed farthest to the right with the 00h format with the AP04 no decimal point will be displayed in this case Example of a call The position value shall be displayed with 3 decimal places in the encoder with address 2 02h Command Param Param Sub index D
8. SN3 protocol This command serves for switching off the display of devices that have a display unit The content of user bytes 1 4 is irrelevant Broadcast compatible see Table 2 Broadcast Example of a call Switch off display all SIKONETZ devices are addressed independent of the address entered in the sub index field Command Param Param Sub index Data byte 1 Data byte 2 Data byte 3 Data byte 4 code index Low indexHigh address 23h 10h 5Fh 4xh xxh xxh xxh xxh Reply Com Param Param Sub index Data byte Data byte Data byte Data byte Position mand index index address 1 2 3 4 values of the code Low High connected encoders 60h 10h 5Fh 4xh xxh xxh xxh xxh xxh xxh 3 7 18 Set sense of rotation SN4 protocol This command serves for parameterizing the sense of rotation counting direction of the selected encoder The content of data byte 1 is relevant only The content of data byte 1 has the following meaning 01h clockwise sense of rotation or descending counting direction 00h counter clockwise sense of rotation or ascending counting direction The sense of rotation of the encoder with address 21 15h is to be set so that it delivers ascending position values with clockwise rotation Example of a call Command Param Param Sub index Data byte 1 Data byte 2 Dat
9. code Low High connected encoders 60h 18h 5Fh 01h 00h 00h 00h 00h xxh xxh 3 7 27 Read program Zeroing enable SN3 protocol This command enables or disables the addressed device s key for the zeroing function The key s status can also be queried With the function enabled actuating the key sets the position value to the value calibration value offset value If the two above mentioned values are set to 0 pressing the key will result in zeroing of the display Value range 0 1 0 Zeroing disabled 1 Zeroing enabled Example of a call Counter clockwise loop approach direction shall be programmed for an AP04 device address 1 Command Param Param Sub index Data byte 1 Data byte 2 Data byte 3 Data byte 4 code index Low index High address 23h 19h 5Fh 01h 02h xxh xxh xxh IFO9P 1 6 Mai 2011 43 51 Art Nr 85831 And Stand 164 11 Precision in Motion Reply Com Param Param Sub index Data byte Data byte Data byte Data byte Position mand index index address 1 2 3 4 i values of the code Low High connected encoders 60h 19h 5Fh 01h 00h 00h 00h 00h xxh xxh 3 7 28 Write display orientation SN4 protocol This command serves for aligning the display of the selected encoder The content of data byte 1 is relevant only Data byte 1 can be set to the following value diff
10. 1 PROFIBUS gateway with firmware version 3 00 or higher It describes the interface its parameterization and commissioning The IFO9P 1 Profibus gateway couples SIKO position encoders with SIKONETZ3 SN3 or SIKO NETZ4 SN4 interfaces to the PROFIBUS DP Mixed operation of SIKONETZ4 and SIKONETZ3 in struments is not possible The two interface protocols the PROFIBUS station address as well as some diagnostic functions can be selected comfortably via the IFO9P 1 keyboard 1 1 Definitions HB SN3 SN4 DP DPM1 GSD This symbol precedes passages in the text that should be read particularly carefully in order to ensure the intended use of the device and to exclude dangers This symbol indicates important information for proper handling of the interface Disregard of these hints may result in malfunctioning of the device or its environment Low Byte low order byte Middle Byte middle order byte High Byte higher order byte SIKONETZS bus compatible data transmission protocol defined by SIKO 2 telegram formats 19200bits s SIKONETZA bus compatible data transmission protocol defined by SIKO 1 telegram format 115200bits s also called APO9 protocol for historical reasons Distributed periphery DP master class 1 The DPM1 is the central automation device with Profibus DP Device database file Electronic device data sheet in a pre defined form for PROFIBUS devices IFO9P 1 6 Mai 2011 4 51 Art
11. 2011 31 51 Art Nr 85831 And Stand 164 11 Precision in Motion Reply Com Param Param Sub index Data Data byte Data byte Data byte Position values of the mand index index address byte1 2 3 4 connected encoders code Low High 60h 09h 5Fh OEh 00h 00h 00h 00h xxh xxh Another call of this function will deactivate the incremental measurement function again 3 7 11 Write read set point SN3 and SN4 protocols This command is used in connection with positioning tasks The desired position value to be trav elled to set point is programmed and put into operation via the Start positioning command de scribed below 3 7 14 An appropriate system structure e g with a type APO4 SIKONETZ rotary encoder is the precondi tion for this procedure With the SN4 protocol set a read access will result in an error message Example of a call Read set point of encoder with addr 6 3 7 12 Switch on keyboard SN3 protocol Command Param Param Sub index Data byte Data byte Data byte Data byte code index Low index High address 1 2 3 4 40h 0Ah 5Fh 06h 00h 00h 00h 00h Reply Set point 25000 61A8h Com Param Param Sub Data Data Data Data Position values of mand index index index byte 1 byte 2 byte 3 byte 4 the connected en code Low High ad coders dress 42h 0Ah 5Fh 06h A8h 61h 00h 00h x
12. Low High connected encoders 60h 16h 5Fh 1Dh 00h 00h 00h 00h xxh xxh IF09P 1 6 Mai 2011 40 51 Art Nr 85831 And Stand 164 11 gt Precision in Motion 3 7 25 Display divisor 3 7 25 1 Write with SN4 protocol This parameter serves for reducing by the selected factor the resolution indicated on the display unit Example The measurement resolution of the measuring system consisting of rotary encoder AP04 and spindle has been parameterized to a resolution of 1 1000mm However a resolution of 1 10mm is sufficient for the representation of the measured value on the display unit Therefore the display divisor is set to the value 100 The content of data byte 1 is relevant only The content of data byte 1 has the following meaning Value range 0 3 0 DDI 1 1 DDI 10 2 DDI 100 3 DDI 1000 Example of a call The display divisor shall be set for the encoder with address 17 11h Command Param Param Sub index Data byte 1 Data byte 2 Data byte 3 Data byte 4 code index Low index High address 23h 13h 5Fh 11h 02h xxh xxh xxh Reply Com Param Param Sub index Data byte Data byte Data byte Data byte Position mand index index address 1 2 3 4 values of the code Low High connected encoders 60h 13h 5Fh 02h 00h 00h 00h 00h Hoch ixxh 3 7 25 2 Read write with SN3 protocol This parameter serves for programming
13. NE Integer32 a w ara 3 3 7 34 34 Red LED function 5F19h Integer32 a w d 35 IFO9P 1 6 Mai 2011 20 51 Art Nr 85831 And Stand 164 11 SIKO Precision in Motion The content of the user data bytes is irrelevant Write access deletes the system status of the addressed encoder Write read access with this index generates an error message These commands are broadcast compatible This parameter is not implemented with all devices Access R Read access enabled only Access W Write access enabled only Access R W Write and Read access enabled All values are represented in the Intel format the lowest value byte first 3 7 Command output flowchart The flowchart below demonstrates the fundamental process of parameterization Start Edit data telegram Send telegram to IFO9P 1 Edit data telegram Respo ps with 0 received Send telegram to IFO9P 1 Error mes sage ERROR End 3 7 1 Output position value parameter SN3 and SN4 protocols This parameter is present for the sake of completeness only The position or display values of the connected encoders are always transferred to the Profibus master during the Data Exchange phase By executing this command a specific encoder is addressed This parameter is read only write access is acknowledged with an error message Example of a call Read position value of encoder with addr 5
14. Nr 85831 And Stand 164 11 gt wt Precision in Motion 1 2 Documentation This User Manual describes the information required for handling the PROFIBUS gateway IFO9P 1 device For information regarding guarantee safety and mechanical mounting of the IFO9P 1 device please refer to the User information enclosed with these devices 1 3 Intended use The IFO9P 1 gateway is a high quality electronic device It serves exclusively for gath ering and transferring position and or parameterization data of connected SIKO I devices to a PROFIBUS control The gateway must be used exclusively for this pur pose 1 4 Numerical data If not explicitly stated otherwise decimal values are given as figures without an extension e g 1234 binary values are marked with a b behind the figure e g 19011b hexadecimal values with an h e g 280h 2 Technical Data e Max 31 devices with SN3 or SN4 protocols can be connected e Current supply 24VDC 20 e Power input approx 1 3W e Galvanically isolated DP interface e Profibus functionality via Siemens SPC3 Controller e Bit rate on encoder side 19 2kBit s SN3 or 115 2kBit s resp SN4 e Bit rate on Profibus side between 9 6 Kbit s and up to 12 Mbit s e Quick status diagnosis via LED status display e Configurable via integrated keyboard and 5 digit 7 segment display e Diagnostic functions IFO9P 1 6 Mai 2011 5 51 Art Nr 85831 And Stand 164 11 2 1 2 2 2 3
15. Param Sub index Data byte 1 Data byte 2 Data byte 3 Data byte 4 code index Low index High address 40h 04h 5Fh 11h 11h 52h 00h 00h Reply Com Param Param Sub index Data byte Data byte Data byte Data byte Position values of the mand index index address 1 2 3 4 connected encoders code Low High i 42h 04h 5Fh 11h 00h 00h 00h 00h xxh xxh IF09P 1 6 Mai 2011 27 51 Art Nr 85831 nd Stand 164 11 3 7 5 3 Write read counting direction parameter SN3 protocol Precision in Motion Parameter data Rotary encoder Linear encoder byte 1 00h Ascending numerical values with Ascending numerical values with sen clockwise CW rotation sor movement into connector outlet direction 01h Ascending numerical values with Descending numerical values with counter clockwise CCW rotation sensor movement into connector outlet direction Data bytes 2 3 and 4 are not relevant and can have any values Example of a call Set clockwise counting direction of encoder with addr 17 Command Param Param Sub index Data byte Data byte Data byte Data byte code index Low index High address 1 2 3 4 23h 04h 5Fh 11h 00h 00h 00h 00h Reply Com Param Param Sub Data Data Data Data Position values of mand index index index byte 1 byte 2 byte 3 byte 4 the connected en code Low High ad coders dress 60h 04h 5Fh 11h 00h 00h 00h 00
16. found are entered into a table in ascending order It is not mandatory that the encoder addresses start ascending with address 1 they may o be assigned freely in the address range of 1 31 however avoid address conflicts by double or multiple assignment of identical addresses In the data exchange phase the position values of the encoders detected will then be transferred to the PLC e g SIEMENS S7 in a data telegram with a length of up to 132bytes Note for S7 users The functional building block SFC14 DPRD DAT SFC15 DPWR DAT is required to enable consistent reading writing of these data A control status telegram of 8 byte length supplied by the IFO9P 1 itself is always prefixed to the posi tion values The encoders can be parameterized via these control bytes or status information can be read out respectively The outline below is intended to illustrate the structure of the data telegram A configuration with 5 encoders serves as an example IFO9P 1 6 Mai 2011 6 51 Art Nr 85831 And Stand 164 11 gt wt Precision in Motion 4Byte 4Byte 4Byte 4Byte 4Byte pos value pos value pos value pos value pos value Pos value Pos value Pos value Pos value Pos value encoder 2 encoder 7 encoder 8 encoder 19 encoder 27 Encoder table 8Byte IFO9P 1 IFO9P 1 Address 2 Address 7 Data telegram Address 8 Address 19 Address 27 Three status LEDs inform about the interf
17. if target window reached Bits 0 3 in data byte 2 are saved non volatilely For setting bits 4 and 5 target window dependence bits 0 and 1 must be deactivated Example of a call On the AP04 device address 2 the status of display orientation and the LED statuses shall be read Command Param Param Sub index Data byte 1 Data byte 2 Data byte 3 Data byte 4 code index Low indexHigh address 40h 1Ah 5Fh 02h xxh xxh xxh xxh Reply Com Param Param Sub index Data byte Data byte Data byte Data byte Position mand index index address 1 2 3 4 i values of the code Low High connected encoders 42h 1Ah 5Fh 02h 01h 01h 00h 00h xxh ixxh Result Data byte 1 1 gt display orientation 180 Data byte 2 1 gt LED green ON if position value within the target window IFO9P 1 6 Mai 2011 45 51 Art Nr 85831 And Stand 164 11 gt Precision in Motion 3 7 30 Program free factor SN3 protocol The AP04 S position indicator offers the possibility of setting a free factor instead of the steps per revolution parameter This becomes particularly necessary when this indicator is used in a rotating measurement system For more detailed information on the free factor please refer to the User in formation of the AP04 S device 1 30000 Value range default setting 10000 Example of a call An AP04
18. of pa rameters The interface expects receiving a parameterization telegram of 8byte length which con tains the parameter command the address of the encoder to be addressed and the data proper for the encoder to be addressed If the PLC sends a parameterization telegram to the IFO9P 1 the position value query will be suppressed until the parameter query has been processed The PLC will be informed about the end of the query via a confirmation code see Table 1 Order codes IFO9P 1 6 Mai 2011 9 51 Art Nr 85831 And Stand 164 11 Precision in Motion The user shall ensure that the command telegram output by the PLC master will be re moved from PROFIBUS immediately after acknowledgement of a parameterization or status query event since otherwise the IFO9P 1 gateway will be strongly impeded by permanent parameterization or status query events in cyclic position value query The time between two parameter telegrams must not be shorter than 20ms in order to enable correct saving of the values in the encoder internal EEPROMs 2 4 Cycle times The timing of the position value query and of Profibus interface operation is illustrated in the diagram below SN4 protocol Query of position Profi Query of position value Profi Query of position value Profi value addr n 1 bus addr n 1 bus addr n 2 bus 888 J appr 2ms appr 1 5ms Query of position Profi Edit Profi Query of position va
19. the display divisor DDI This influences the representation of the numerical value on the display unit of the addressed encoder The value set for the display divisor can be read via the read function The command is only valid for devices that have a display unit The command will be acknowledged with an error message if the device addressed does not recognize this command Value range 0 3 0 DDI 1 1 DDI 10 2 DDI 100 3 DDI 1000 IFO9P 1 6 Mai 2011 41 51 Art Nr 85831 And Stand 164 11 Example of a call gt Precision in Motion The DDI value 10 is programmed for an AP04 S device address 6 Command Param Param Sub index Data byte 1 Data byte 2 Data byte 3 Data byte 4 code index Low indexHigh address 23h 17h 5Fh 06h 01h xxh xxh xxh Reply Com Param Param Sub index Data byte Data byte Data byte Data byte Position mand index index address 1 2 3 4 i values of the code Low High connected encoders 60h 17h 5Fh 06h 00h 00h 00h 00h xxh xxh 3 7 26 Loop approach direction 3 7 26 1 Write with SN4 protocol This command serves for setting the loop approach direction of the selected encoder For more de tailed information on loop travel please refer to the User information of the APO4 or AP04 S de vices respectively The content of data byte 1 is relevant only Data byte 1 can be set
20. to the following value different values trigger an error message Value range Example of a call 0 2 0 direct 1 clockwise 2 counter clockwise Counter clockwise loop approach direction shall be set for the encoder with address 7 07h Command Param Param Sub index Data byte 1 Data byte 2 Data byte 3 Data byte 4 code index Low index High address 23h 14h 5Fh 07h 02h xxh xxh xxh Reply Com Param Param Sub index Data byte Data byte Data byte Data byte Position mand index index address 4 2 3 4 i values of the code Low High connected encoders 60h 14h 5Fh 07h 00h 00h 00h 00h xxh xxh IF09P 1 6 Mai 2011 42 51 Art Nr 85831 And Stand 164 11 Precision in Motion 3 7 26 2 Read write with SN3 protocol This command serves for reading or programming the loop approach direction Value range 0 2 0 direct 1 clockwise 2 counter clockwise Example of a call Clockwise loop approach direction shall be programmed for an AP04 device address 1 Command Param Param Sub index Data byte 1 Data byte 2 Data byte 3 Data byte 4 code index Low indexHigh address 23h 18h 5Fh 01h 01h xxh xxh xxh Reply Com Param Param Sub index Data byte Data byte Data byte Data byte Position mand index index address 4 2 3 4 values of the
21. 11 3 7 32 Enable key function SN4 protocol Precision in Motion This command assigns a particular function to the key s of encoder APO9 or AP04 resp The functionality is influenced via data byte 1 This byte may assume the following values 00h 01h 02h 03h Example of a call The key has no function The Reset key function shall be set for the encoder with address 12 0Bh The key is enabled for the reset function The key is enabled for the incremental measurement function The key is enabled for the set point display only APO9 Command Param Param Sub index Data byte 1 Data byte 2 Data byte 3 Data byte 4 code index Low indexHigh address 23h 16h 5Fh 0Ch 02h xxh xxh xxh Reply Com Param Param Sub index Data byte Data byte Data byte Data byte Position mand index index address 4 2 3 4 values of the code Low High connected encoders 60h 16h 5Fh OCh 00h 00h 00h 00h xxh xxh 3 7 33 Incremental measurement and Reset key functions SN4 protocol The Incremental measurement and Reset key functions of the APO4 can be enabled or disabled simultaneously by means of this command The necessary parameter is provided in data byte 1 Data bytes 2 4 are irrelevant The following values are valid 00h 01h Incremental measurement and Reset function disabled Incremental
22. 4 11 Precision in Motion 3 6 Command list index table Since the commands for devices with SN3 protocol differ in some regard from those with SN4 protocol we have listed two sets of commands below 3 6 1 Command list for the SN3 protocol Parameter Parameter Address Datatype Data see index CNN Position value value 5F00h sro fisi Integer32 Oalibration value 5FOth a Integer32 eee Device code IFO9P 1 5FO3h Integer32 C Sense of rotation counting Steps per revolution 5F05h MN Integer32 AI MFoP status MFoP status Foen CU WM Integer32 Calibration setting the position 5F07h Integer32 m value to the calibration value System status of SN3 encoder status System status of SN3 encoder SN3 encoder SF sro fsi Integer32 a RWP Not implemented causes error 5F09h message bem fem firme fo wf or IFO9P 1 6 Mai 2011 18 51 Art Nr 85831 And Stand 164 11 Precision in Motion Parameter Parameter Address Datatype Data see index A NE Encoder device code device code oFIsh sth si Integer32 ara ara 21 Decimal EE 5F14h REN Integer32 Fw 3 7 20 1 22 2 Enable key s incremental 5F15h Integer32 Lm 3 7 23 measurement function Disable key s incremental 5F16h Integer32 w 3 7 24 measurement function Display divisor 5F17h Integer32 3 7 25 2 Loop approach direction 5F18h ai Integer32 Dx 3 7 25 2 Zero enabe enable trag EL E Integer32 3 7 27 3 7 27 27 c HN or
23. 51 51 Art Nr 85831 And Stand 164 11
24. N if 10 100 inside target window 11 1000 Bit4 0 LED green OFF Loop approach direct 00 direct 01 clockwise 10 counter clockwise IFO9P 1 6 Mai 2011 26 51 Art Nr 85831 And Stand 164 11 Precision in Motion Data byte 1 Display orientation key mode sense of rotation counting enable disable incre mental measurement reset function Bit7 Bite Bits Bits Bits Bit2 Bit1 Bito X U Y Y W vio Z Example of a call s Rotary counting direction 0 counter clockwise ascending 1 clockwise descending Enable disable incremental measurement Reset set position value to calibration value Key mode 00 no key function 01 incrrem measurem function 10 reset function 11 set point display AP09 1 Enable key functions 0 enable depending on Bit5 and Bit 4 1 enable incremental measurement and reset Display orientation 0 0 1 180 The AP04 S sensor adr 17 shall be parameterized so that it will display 2 decimal places the loop approach direction will be cw the green LED switched to ON upon reaching the target position the display orientation set to 0 the key function controlled according to bits 4 and 5 the incremental measurement function executed upon key actuation and the counting direc tion descending Command Param
25. O PB Universalmodul M parameter in out d position sensor no 01 AA position sensor no 02 d position sensor no 03 E position sensor no 04 A position sensor no 05 H position sensor no 06 E position sensor no 07 i position sensor no 08 position sensor no 09 i position sensorno 10 i position sensor no 11 E position sensor no 12 i ld position sensor no 13 j i J position sensor no 14 i i rl position sensor no 15 Eun emendo emu penc eun i i je position sensor no 16 d j B position sensor no 17 F m msan B a BN 5i Lu k TELAM 315 The modules Position Sensor No XX XX 01 31 represent the storage locations where the position values of the encoders connected to the IF09P 1 are stored IF09P 1 6 Mai 2011 14 51 Art Nr 85831 nd Stand 164 11 3 5 Precision in Motion 8Byte IFO9P 1 Data telegram Pos value Pos value Pos value Pos value Pos value encoder 2 encoder 7 encoder 8 encoder19 encoder29 Slot S7 Parameter In Out Sensor no 01 position Sensor no 02 position Sensor no 03 position Sensor no 04 position Sensor no 05 position Parameterization in the DATA EXCHANGE state Usually parameterization of a slave is carried out once in the start up phase only The parameters are determined during configuration by means of a suitable software tool PROFIBUS DPVO is not designed for slave parameterization during t
26. S encoder address 7 shall be programmed with a free factor of value 8000 Command Param Param Sub index Data byte 1 Data byte 2 Data byte 3 Data byte 4 code index Low indexHigh address 23h 1Bh 5Fh 07h 40h 1Fh 00h xxh Reply Com Param Param Sub index Data byte Data byte Data byte Data byte i Position mand index index address 4 2 3 4 i values of the code Low High connected encoders 60h 1Bh 5Fh 07h 00h 00h 00h 00h xxh xxh 3 7 31 Read AP24 keyboard status SN3 protocol This command serves for reading the current keyboard status of the AP24 position indicator Write access would trigger an error message Example of a call The keyboard status of an AP24 encoder address 11 shall be read Command Param Param Sub index Data byte 1 Data byte 2 Data byte 3 Data byte 4 code index Low index High address 40h 1Ch 5Fh OBh xxh xxh xxh xxh Reply Com Param Param Sub index Data byte Data byte Data byte Data byte Position mand index index address 1 2 3 4 i values of the code Low High connected encoders 42h 1Ch 5Fh OBh 00h 00h 00h 00h xxh xxh Available at http www siko de service downloads ausgewaehlte downloads details ap04s IFO9P 1 6 Mai 2011 46 51 Art Nr 85831 And Stand 164
27. a byte 3 Data byte 4 IF09P 1 6 Mai 2011 35 51 Art Nr 85831 nd Stand 164 11 Precision in Motion code index Low index High address 23h 11h 5Fh 15h 01h xxh xxh xxh Reply Com Param Param Sub index Data byte Data byte Data byte Data byte Position mand index index address 4 2 3 4 values of the code Low High connected encoders 60h iih 5Fh 15h 00h 00h 00h 00h xxh xxh 3 7 19 Read program InPos window SN3 protocol This command serves for reading or programming the window showing the deviation of actual value from set point Value range 9999 9999 Example of a call The InPos window of the encoder with address 21 15 shall be set to value 25 Command Param Param Sub index Data byte 1 Data byte 2 Data byte 3 Data byte 4 code index Low index High address 23h 11h 5Fh 15h 19h xxh xxh xxh Reply Com Param Param Sub index Data byte Data byte Data byte Data byte l Position mand index index address 1 2 3 4 values of the code Low High connected encoders 60h 11h 5Fh 15h 19h xxh xxh xxh xxh xxh 3 7 20 Read program the loop reversal point This command serves for reading or programming the loop reversal point in display units Value range 9999 9999 E
28. ace s operational state Green LED Power on operating voltage applied Red LED A failure occurred blinking LED Yellow LED Ongoing data exchange between IFO9P 1 and PLC master In case of failure the 5 digit display informs about the encoder that causes the error s The keyboard serves for entering parameter values directly relating to the IFO9P 1 and also for diagnosis of the encoders recognized by IFO9P 1 2 3 1 Starting phase On the condition that all devices IFO9P 1 and the encoders SN4 or SNS stations resp are switched on together the following switch on sequence will take place It should be avoided to switch on the IFO9P 1 before switching on the connected encoders because otherwise the encoders would not be identified correctly or not identified at all Subsequent re initialization with repeated scanning operation is only possible by entering a defined control code IFP09 1 For the description refer to chapter 0 The opposite case of first starting the encoder and subsequently the IF09P 1 is possible without problems IFO9P 1 6 Mai 2011 7 51 Art Nr 85831 And Stand 164 11 gt Precision in Motion The encoders initialize The IFO9P 1 goes through the initialization sequence shown below Display of firmware version Display of interface protocol Display of current Profi bus station address Scanning the enco der inter face Double or multiple addr
29. ata byte 1 Data byte 2 Data byte 3 Data byte 4 code index Low indexHigh address 23h 12h 5Fh 02h 03h xxh xxh xxh Reply Com Param Param Sub index Daten Data byte Data byte Data byte Position mand Index Index address byte 1 2 3 4 i values of the code Low High connected encoders 60h 12h 5Fh 02h 00h 00h 00h 00h jxxh ixxh 3 7 22 2 Devices with SN3 protocol This command enables reading or programming of decimal places for devices that have a display unit SN3 devices that have no display unit respond to this command with an error message Value range 0 4 or 3 for APO9 IFO9P 1 6 Mai 2011 38 51 Art Nr 85831 And Stand 164 11 Example of a call Precision in Motion 3 decimal places shall be displayed on an AP04 device address 30 Take care that you enter the numerical value representing the decimal places at the position of data byte 2 Command Param Param Sub index Data byte 1 Data byte 2 Data byte 3 Data byte 4 code index Low index High address 23h 14h 5Fh 1Eh 00h 03h 00h xxh Reply Com Param Param Sub index Data byte Data byte Data byte Data byte Position mand index index address 1 2 3 4 values of the code Low High connected encoders i 60h 14h 5Fh 1Eh 00h 00h 00h 00h xxh xxh If this command is applied in reading
30. case of faulty parameterization This code is transferred in data byte 2 in addition to data bytes 3 and 4 Example Com Param Param Sub index Data byte Data byte Data byte Data byte Position values of mand index index address 4 2 3 4 the connected en code Low High coders 80h 05h 5Fh 48h 00h 83h 05h 06h ixxh ixxh Meaning of the SN3 error codes e 82h Error code F02 data transfer error checksum error e 83h Error code F03 illegal or unknown command e 85h Error code F05 illegal value input The error code appears also on the 5 digit display of the IFO9P 1 for a short time 4 2 Error representation on the display Errors in data transfer between IFO9P 1 and the connected encoders are indicated by a red blinking LED and as plain text on the 5 digit 7 segment display Two error types are differentiated Time out errors and checksum errors Time out errors indicate that the connection to the addressed encoder is down or that the encoder is defective Checksum errors occur in a disturbed environment e g if two or more encoders are operated with the identical ad dress on the same bus In case of error the error type time out or checksum error and the address of the disturbed encoder are output on the display Both values are alternately output on the display example faulty encoder with address 19 Time Out error case Checksum error case IFO9P 1 6 Mai 2011
31. dent of the address entered in the sub index field Command Param Param Sub index Data Data byte Data byte Data byte 4 code index Low index address byte 1 2 3 High 23h OEh 5Fh 4xh xxh xxh xxh xxh Reply Com Param Param Sub Data Data Data Data Position values of mand index index index byte 1 byte 2 byte 3 byte 4 the connected code Low High ad encoders dress 60h OEh 5Fh 4xh xxh xxh xxh xxh xxh xxh 3 7 16 Switch on display SN3 protocol This command serves for switching on the display of devices that have a display unit The content of user bytes 1 4 is irrelevant broadcast compatible see Example of a call Table 2 Broadcast Switch on display all SIKONETZ devices are addressed independent of the address entered in the sub index field Command Param Param Sub index Data byte Data byte Databyte Data byte code index Low index High address 1 2 3 4 23h OFh 5Fh 4xh xxh xxh xxh xxh IFO9P 1 6 Mai 2011 34 51 Art Nr 85831 And Stand 164 11 Precision in Motion Reply Com Param Param Sub Data Data Data Data Position mand index index index byte 1 byte2 byte3 byte 4 values of code Low High ad the con i dress nected en coders 60h OFh 5Fh 4xh xxh xxh xxh xxh xxh xxh 3 7 17 Switch off display
32. e led through the whole menu con sisting of three parameters Having arrived at the third parameter repeated pressing of the P key will return you to normal operation If no key is pressed for 30 seconds during parameterization the FO9P 1 will automati cally return to normal operation Parameter 1 Protocol setting Parameter 2 Address setting of Profibus station Parameter 3 Diagnostic functions Left arrow key Selection of digit to be changed Up arrow key Selection of digits 0 9 Asterisk key Adopting saving the value selected by means of the arrow key Protocol setting On the display the _ Pr OT value alternates with protocol name set The protocols shown below can be set via the Up arrow key Sn4 Sn3 Acknowledge via the Asterisk key The value will be adopted with the next restart Profibus address On the display the P Adr value alternates with the address set The address can be set in the 0 125 range by pressing the Up arrow and Left arrow keys Acknowledge by pressing the Asterisk key The value will be adopted with the next restart Diagnostic and control functions On the display the E OGE value alternates with the 00000 sequence of digit with the active digit position blinking Now you may use the arrow keys to enter combinations of figures as shown below IFO9P 1 6 Mai 2011 12 51 Art Nr 85831 And Stand 164 11 Precision in Motion Control code Description 00100 The posi
33. erent values trigger an error message Value range 0 1 0 Display orientation 0 1 Display orientation 180 Example of a call The display orientation shall be set to 180 for the encoder with address 11 0Bh Command Param Param Sub index Data byte 1 Data byte 2 Data byte 3 Data byte 4 code index Low indexHigh address 23h 15h 5Fh OBh 01h xxh xxh xxh Reply Com Param Param Sub index Data byte Data byte Data byte Data byte Position mand index index address 4 2 3 4 values of the code Low High connected encoders 60h 15h 5Fh OBh 00h 00h 00h 00h xxh j xxh 3 7 29 Read program display orientation and LED functionality SN3 protocol This command serves for influencing or determining the display orientation and LED functionality of the APO4 and AP04 S devices The values obtained in data bytes 1 and 2 with a read access inform on the current states of display orientation and LED functionality IFO9P 1 6 Mai 2011 44 51 Art Nr 85831 And Stand 164 11 Precision in Motion Data byte 1 Data byte 2 Bit7 Bit Bit5 Bit4 Bits Bit2 Bit Bito Bit7 Bit6 Bits Bit4 Bits Bit2 Bit Bito 0 0 0 0 0 0 0 X 0 0 X X X 0 X X Display orientation BitO 0 0 BitO 1 180 LED functionality BitO 1 LED green ON
34. ess assignment may be the cause RESTART Scanning Display of faulty error encoders address Display sequence mind no gt Sensr gt touna f ovnd r boot Dispayofnum 4 N ua T ber of encoders found PC PERS lt m c oO A D 5 a v i z w Initialization Profibus Con troller SPC3 IFO9P 1 6 Mai 2011 8 51 Art Nr 85831 And Stand 164 11 Precision in Motion Display of error Initializa code tion OK PbEr r Indication that SPC3 was cor rectly initialized Decimal point indi Operating phase LS cates operating phase 2 3 2 Operating phase Having correctly completed the initialization sequence shown above the IFO9P 1 will cyclically fetch the position data of the encoders recognized and provides them to the IC SPC3 Profibus protocol Errors detected during this phase transfer errors checksum errors are indicated on the display by a blinking red error LED and additionally as plain text with indication of the faulty encoder s address output by the addressed encoders will be indicated transiently on the display F02 F03 or F05 error messages for details on the error messages refer to the relevant User information see also chapter 4 If the IFO9P 1 has been set to the SN3 protocol operating mode then error messages 2 3 3 Parameterization status query The PLC user can parameterize the encoders connected via the IFO9P 1 or query the values
35. functions ueeeeeeeeeeeeeeeeeeeeeeenee enne nnne nnns 12 3 4 jen Me 14 3 5 Parameterization in the DATA EXCHANGE state eeeeeeeeeeee 15 3 6 suci 18 3 6 1 Command list for the SN3 protocol ssssssssssssseseeeeeeeeennnenere rnnt nnne nnns 18 3 6 2 Command list for the SN4 protocol ssssssssssseseeneeeee nennen enne nnne nnns 19 3 7 Command output flowchart uceeec eeu rna nniaa e rh nau ko nau uaa Cha c a nEu nk Eu PEE nana EU EU ERR EE PEE Eu EuRE 21 3 7 1 Output position value parameter SN3 and SN4 protocols sssssssessss 21 3 7 2 Write read calibration value parameter SN3 and SN4 protocols ssessssss 22 3 7 8 Write read offset parameter SN3 protocol ssssssssssseeeeeeeeeennnneeennn 22 3 7 4 Read IFO9P 1device code parameter SN3 and SN4 protocols ssssseesssss 23 3 7 5 Status configuration parameter nennen nnne nnne nnns 24 3 7 6 Write read steps per revolution parameter SN3 and SN4 protocols sssss 28 3 7 7 Read IFO9P 1 status parameter SN3 and SN4 protocols sssssseee 29 3 7 8 Calibration parameter setting the position value to the calibration value SN3 and SN4 ejje CR MEC NEN xc 29 3 7 9 Output delete system s
36. h xxh xxh 3 7 6 Write read steps per revolution parameter SN3 and SN4 protocols This parameter serves for scaling the measuring range of a rotary encoder SIKO encoders always interpret value 0 as maximum value Values exceeding the number predefined by the encoder reso lution cause sequences of steps gt 1 Example of a call Read number of steps per revolution from encoder with addr 9 Command Parameter Parameter Sub index Data byte Data byte Data byte Data byte code Index Low Index High address 1 2 3 4 40h 05h 5Fh 09h 00h 00h 00h 00h Reply number of steps per revolution 360044 0E10hex Com Param Param Sub index Data Data byte Data byte Data byte Position values of the mand index index address byte1 2 3 4 connected encoders code Low High 42h 05h 5Fh 09h 10h OEh 00h 00h xxh xxh IFO9P 1 6 Mai 2011 28 51 Art Nr 85831 And Stand 164 11 3 7 7 Read IFO9P 1 status parameter SN3 and SN4 protocols Precision in Motion The status of the IFO9P 1 is mapped to the user data bytes 1 4 In byte 1 value 1 represents OK and 0 not ready In byte 2 the number of the connected encoders is output value range 0 31 bytes 3 and 4 are assigned 0 Data byte 1 Data byte 2 0 gateway not ready 1 gt gateway ready for data exchange number of encoders connected to the gateway
37. h xxh xxh xxh xxh Reply Com Param Param Sub Data Data Data Data Position values of mand index index index byte 1 byte 2 byte 3 byte 4 the connected en code Low High ad coders dress 60h OCh 5Fh 02h xxh xxh xxh xxh xxh xxh 3 7 14 Start positioning SN3 protocol This command is used in connection with SIKONETZ stations that are able to execute positioning in order to travel to a desired position defined by the Set point command described above The con tent of user data bytes 1 4 is irrelevant Example of a call Start positioning device with addr 23 17h Command Param Param Sub index Data Data byte Databyte Data byte code index Low index High address byte 1 2 3 4 23h ODh 5Fh 17h xxh xxh xxh xxh IFO9P 1 6 Mai 2011 33 51 Art Nr 85831 nd Stand 164 11 Reply Com Param Param Sub Data Data Data Data mand index index index byte 1 byte 2 byte 3 byte 4 code Low High ad dress 60h ODh 5Fh 17h xxh xxh xxh xxh 3 7 15 Stop positioning SN3 protocol gt wt Precision in Motion Position values of the connected encoders This command stops a positioning job previously started The content of user bytes 1 4 is irrele Table 2 Broadcast vant broadcast compatible see Example of a call Stop positioning all SIKONETZ devices are addressed indepen
38. he DATA EXCHANGE phase Acyclic data exchange between master and slave is possible from PROFIBUS DPV1 onwards Since the IFO9P 1 is based on DPVO the possibility of overcoming this limitation was provided in order to enable reprogramming of the gateway linked encoders also during on going operation For this purpose an input output range of 8byte has been reserved which is marked Parameter In Out in the configuration The PLC user transfers parameterization data and receives diagnostic and status messages via this range All 8 bytes are set to the 0 value during regular data exchange operation IFO9P 1 6 Mai 2011 15 51 Art Nr 85831 nd Stand 164 11 gt wt Precision in Motion Structure of the first 8 bytes of the data telegram Data byte 4 High Byte Data byte 3 Data byte 2 Data byte 1 Low Byte Address of the encoder to be parameterized Parameter index High Byte Parameter index Low Byte Command code Table 1 Order codes Structure of the subsequent bytes of the data telegram position values Bytes 8 n 4 n 1 31 TESTE pee Ee Te Ly Position value 31 High Byte Position value 31 Position value 31 Position value 31 Low Byte Position value 1 High Byte Position value 1 Position value 1 Position value 1 Low Byte IFO9P 1 6 Mai 2011 16 51 Art Nr 85831 And Stand 164 11 Precision in Motion Byte 1 Command code Command Command code Co
39. ientation and LED 5F1Ah Integer32 3 7 29 functionality Keyboard status AP24 5F1Ch Integer32 EE 3 231 3 6 2 Command list for the SN4 protocol Parameter Parameter Address Data type Data see index length chapter Calivation value value Fon Fw m Integer32 Not c NN causes error 5F02h message Device code FOP code IFO9P 1 La SF fo Integer32 e EIE NS meme eom em eem fo Jw orn Sem en a NECS IF09P Status Status 5F06h LN NEL Calibration setting the position 5F07h Integer32 E value to the calibration value IFO9P 1 6 Mai 2011 19 51 Art Nr 85831 And Stand 164 11 fee Precision in Motion Parameter Parameter Address Datatype Data see index length chapter Not implemented causes error 5FO8h oe Incremental measurement measurement 5F09h Foon fisi Integer32 3 7 10 Tagevaue o Tagevaue o SFO sro fsi Integer32 ES ES 11 Not implemented causes error 5FOBh message Not implemented causes error 5FOCh message Not implemented causes error 5FODh message Not implemented causes error 5FOEh message Not implemented causes error 5FOFh message Not implemented causes error 5F10h message Write sense of rotation count 5F11h Integer32 3 7 18 ing direction Eee e piani e ien meses em em jme fo In nm CCUTTTNENCCMAIENU few EN means refer ew EN Enable disable Incremental 5F17h Integer32 3 7 38 measurement and Reset key functions Green LED function 5F18h
40. legal command index illegal address illegal access e g Write re quest to read variable or communication error between IFO9P 1 and the encoders an error response and a corresponding error number in the user data byte will be returned instead of a Write or Read response P op p m Wrong sub index 2AP09 1 or SIKO NETZ address Access rejected e g Write request to Read variable or parameter not avail able Broadcast not allowed with this com mand Communication error between IFO9P 1 and RS485 bus connection down or checksum error Example Write parameter Display per revolution on device with address higher 31 e g 72 48h Command Param Param Sub index Data byte 1 Data byte 2 Data byte 3 Data byte 4 code index Low index High address 23h 05h 5Fh 48h 00h 20h 00h 00h Reply Error response wrong sub index wrong address Com Param Param Sub index Data byte Data byte Data byte Data byte Position values of mand index index address 4 2 3 4 the connected en code Low High coders 80h 05h 5Fh 48h 00h 00h 05h 06h xxh xxh The error message with code 80h in the command code field is maintained until the command has been executed with the correct parameters IFO9P 1 6 Mai 2011 50 51 Art Nr 85831 And Stand 164 11 gt wt Precision in Motion Upon application of the SN3 protocol an addressed SN3 station will response with an error message in
41. lue Profi value addr n bus paramaterization bus addr n 1 bus lt Q jo eei M appr 2ms appr 1 5ms appr 3 20ms The times marked with are extended to approx 5 6ms with SIKONETZ3 operation The times shown above apply to the simplest system structure with one encoder connected The times indicated for position value query and Profibus operation will be extended by approx 0 16ms for every additional encoder connected IFO9P 1 6 Mai 2011 10 51 Art Nr 85831 And Stand 164 11 2 5 Connection diagram Precision in Motion Sensor X3 and X4 connection Profibus X5 connection Current supply X1 Pin Assignment Pin Assignment Pin Assignment 1 Ub with 0 75A 3 B Line 1 PE max load 3 DUA 4 RTS 2 OV 5 GND 5 2M 3 24VDC 20 8 DUB 6 2P5 2 4 6 7 9 N C 8 A Line 1 2 7 9 N C IF09P 1 6 Mai 2011 11 51 Art Nr 85831 And Stand 164 11 Precision in Motion Operation 3 1 3 2 3 3 After removing the transparent cover you can parameterize the IFO9P 1 via the keyboard The 5 digit LED display provides the user with the relevant information The 4 keys have the following functions P key By holding down this key for gt 5sec the parameter mode will be activated The name of the parameter and its current value are displayed alternately By pressing the key once more you will b
42. measurement and Reset function enabled Example of a call set for the encoder with address 15 OFh The Enable Incremental measurement and Reset key function shall be Command Param Param Sub index Data byte 1 Data byte 2 Data byte 3 Data byte 4 code index Low indexHigh address IF09P 1 6 Mai 2011 47151 Art Nr 85831 nd Stand 164 11 Precision in Motion 23h 17h 5Fh OFh 01h xxh xxh xxh Reply Com Param Param Sub index Data byte Data byte Data byte Data byte Position mand index index address 1 2 3 4 values of the code Low High connected encoders 60h 17h 5Fh OFh 00h 00h 00h 00h xxh ixxh 3 7 34 Green LED function SN4 protocol With this command the functionality of the green LED is set in the AP04 S The necessary parame ter is stored in data byte 1 Data bytes 2 4 are irrelevant The following values are valid 00h Oth LED OFF Example of a call LED ON upon reaching the target window The green LEDE shall be switched on upon reaching the target position encoder address 15 Command Param Param Sub index Data byte 1 Data byte 2 Data byte 3 Data byte 4 code index Low index High address 23h 18h 5Fh OFh 01h xxh xxh xxh Reply Com Param Param Sub index
43. mmand code Service hexadecimal decimal Write Request send parameter to IFO9P 1 gateway Write Response response of the IFO9P 1 gateway to Write Request Read Request parameter request from the IFO9P 1 gateway Read Response Response to the request with current value Error Response Error message Table 1 Order codes Byte 2 3 Parameter index The parameter index is entered in the user data byte 2 low byte and in the user data byte 3 high byte using the Intel data format see sections 3 6 1 or 3 6 2 respectively Byte 4 Address This is the position of the address of the encoder to be parameterized The values are in the range of 1 31 Address value 0 is reserved for the IFO9P 1 The following statement applies only if the SIKONETZ3 protocol has been set Bit 6 controls broadcasting whether or not a command shall apply to all stations With the bit set 1 the address of the SIKONETZS station is ignored and the command sent to all devices With value 0 broadcasting bit is ignored and only the device with the indicated address addressed For broad cast compatible commands please refer to the command list see 3 6 1 broad Addresses 1 cast bit Table 2 Broadcast Bytes 5 8 data byte 1 data byte 4 In the data range the value of the parameter is entered in left aligned Intel notation Byte 5 low byte Byte 8 high byte IFO9P 1 6 Mai 2011 17 51 Art Nr 85831 And Stand 16
44. ounting direction descending 2 decimal place version 1 01 Com Param Param Sub index Data byte Data byte Data byte Data byte Position values of the mand index index address 1 2 3 4 connected encoders code Low High 42h 04h 5Fh 11h Ath 02h 11h 00h xxh xxh IF09P 1 6 Mai 2011 25 51 Art Nr 85831 nd Stand 164 11 gt wt Precision in Motion 3 7 5 2 Write configuration parameter SN4 protocol This function influences various encoder functions status Afterwards the desired operation can be executed by setting deleting the appro Prior to executing this function the user must get and evaluate the encoder s current priate bits in data bytes 1 and 2 Battery status Loop approach direction Key mode Sense of rotation counting Version number Decimal places Display orientation Display divisor or LED function resp Incremental measurement and Reset key mode Data byte 4 not relevant can contain any value Data byte 3 not relevant can contain any value Data byte 2 Number of decimal places 0 3 Display divisor or LED function resp loop ap proach direction Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Biti Bito Z Z Y Y 0 X X X Decimal places 000 none 001 1 010 2 011 23 100 24 Display LED function AP04 S divisor Bit5 1 LED red ON if AP04 outside target window 00 1 Bit5 0 LED red off 01 10 Bit4 1 LED green O
45. remental measurement function SN3 protocol ssssss 40 3 7 25 Bt eEvA uregete EE 41 3 7 26 Loop approach directors onte e Re bea e tet eintsdatuto tetabchutetacetatatetateteiecetstetatatetete cates 42 3 7 27 Read program Zeroing enable SN3 protocol sssssssssenennes 43 3 7 28 Write display orientation SN4 protocol ssssssssesseneeeennn nnne 44 3 7 29 Read program display orientation and LED functionality SN3 protocol 44 3 7 30 Program free factor SN3 protocol nnne nnne nnns 46 3 7 31 Read AP24 keyboard status SN3 protocol sssssssssseeeeeennnns 46 3 7 32 Enable key function SN4 protocol 47 3 7 33 Incremental measurement and Reset key functions SN4 protocol 47 3 7 34 Green LED function SN4 protocol sssssssssssssseeeeeeeeeenneene nennen nnne 48 3 7 35 Red LED function SN4 protocol ssssssseseseeeeeeneeeeeneene nennen nnne nnn tnnt 49 CEDE 151 M 50 4 1 Error indication via status bytes eeeeeeeeeeeeeeeeeeeeeneee nennen nnne 50 4 2 Error representation on the display eeceeeeeeseeeeeeeeeeeeeeeeeseeeeeeneeeeeeeeeeeseeeeanees 51 IF09P 1 6 Mai 2011 3 51 Art Nr 85831 And Stand 164 11 Precision in Motion General Information This user manual applies to the IFO9P
46. s Profibus_Address 1 Protocol SN4 10110 This code triggers a restart The values set for Profibus address and protocol are maintained IFO9P 1 6 Mai 2011 13 51 Art Nr 85831 And Stand 164 11 1y 7 3 4 Yount prp Il M ee Precision in Motion Configuration For the PROFIBUS DP gateway a device database file named SIKOOOEC GSD has been created This file can be included in the device library by means of the configuration tool used for the proce dure to be applied please refer to the documentation of the configuration tool The procedure for integrating the IFO9P 1 into a Profibus unit will be described below based on the example of the IFO9P 1 configuration with 5 encoders see chapter 2 3 The hardware manager of the S7 configuration tool shall be used The following conditions are assumed 1 The device database file SIKOOOEC GSD is in the correct directory 2 at least 1 master module was selected 1 step Selection of the Profibus station to be included here Gateway IFO9P 1 It is found in the device catalogue under the path Profibus DP Additional field devices Gateway 2 Step The modules presented are positioned on the slots shown via drag amp drop IMPORTANT NOTE The Parameter In Out module must always be placed on the first place 2 Konfig SIMATIC 300 Station Konfiguration 7_IFOSP ojx la x Terka a wel aae ww OOO 0s E iB ce Gateway IF
47. s the incremental measurement function of the addressed encoder s key Value range Example of a call The content of data bytes 1 4 is irrelevant vice address 29 The key s incremental measurement function is enabled for an AP04 de Command Param Param Sub index Data byte 1 Data byte 2 Data byte 3 Data byte 4 code index Low indexHigh address 23h 15h 5Fh 1Dh xxh xxh xxh xxh Reply Com Param Param Sub index Data byte Data byte Data byte Data byte l Position mand index index address 1 2 3 4 i values of the code Low High connected i encoders 60h 15h 5Fh 1Dh 00h 00h 00h 00h xxh xxh 3 7 24 Disable key s incremental measurement function SN3 protocol This command disables the incremental measurement function of the addressed encoder s key Value range Example of a call The content of data bytes 1 4 is irrelevant vice address 29 The key s incremental measurement function is disabled for an AP04 de Command Param Param Sub index Data byte 1 Data byte 2 Data byte 3 Data byte 4 code index Low index High address 23h 16h 5Fh 1Dh xxh xxh xxh xxh Reply Com Param Param Sub index Data byte Data byte Data byte Data byte Position mand index index address 1 2 3 4 values of the code
48. t Bito Z Z Y Y 0 Decimal places 000 none Se cad 001 1 010 2 011 3 100 4 X X Display LED function AP04 S divisor Bit5 1 LED red ON if AP04 outside target window 00 1 Bit5 0 LED red OFF 01 10 Bit4 1 LED green ON if 10 100 inside target window 11 1000 Bit4 0 LED green OFF Loop approach direction 00 direct 01 clockwise 10 counter clockwise IFO9P 1 6 Mai 2011 24 51 Art Nr 85831 And Stand 164 11 Precision in Motion Data byte 1 Battery status key mode display orientation sense of rotation Biz Bio Bits Bit4 Bis i Bite Bini BHO X U Y Y 0 V 0 Z Rotary counting direction L gt 0 counter clockwise ascending 1 clockwise descending Display orientation Key mode 00 key function disabled 01 increm measurem function 10 reset function 11 set point display AP09 1 Key function enable 0 enable relating to bit5 and bit 4 1 incremental measurement and reset enabled Battery status 0 battery OK 1 battery discharged Example of a call Read status of encoder with addr 17 Command Param Param Sub index Data byte 1 Data byte 2 Data byte 3 Data byte 4 code index Low index High address 40h 04h 5Fh 11h 00h 00h 00h 00h Reply Battery discharged key mode reset display orientation 0 c
49. t delete system status parameter SN3 protocol This parameter serves for querying or deleting the status of the addressed SNS station Data byte 1 Bit 0 Bit 1 Bit 2 Bit 3 Bit 4 Bit 5 Bit 6 Bit 7 Data byte 2 Bit 0 Bit 1 Bit 2 Bit 3 Bit 4 Bit 5 Bit 6 Bit 7 Data byte 3 Bit 0 Bit 1 Bit 2 Bit 3 Bit 4 Bit 5 Bit 6 Bit 7 The bits identified with are encoder dependent refer to the relevant User information for the corresponding meaning Actuator 1 On Actuator 2 On Actuator 3 On Position value frozen Keyboard switched on Programming state On Limit comparison active Blockage monitoring active Error F01 occurred display overflow Error F02 occurred data transfer error CRC error Error F03 occurred illegal or unknown command Error F05 occurred illegal value input Axle was blocked target value achieved break over point reached lower limit reached upper limit reached on going positioning A set bit 21 means active Bits 0 to 7 of data byte 1 cannot be deleted by a write request of the System status command and are always up to date Bits 0 7 byte2 and 0 7 byte3 are set auto matically but must be deleted with a write request of the System status command Example of a call Read system status of encoder with addr 7 Command Param Param Sub index Data byte Data b
50. tatus parameter SN3 protocol sssssseee 30 3 7 10 Activate deactivate incremental measurement parameter SN4 protocol 31 3 7 11 Write read set point SN3 and SN4 protocols 32 3 7 12 Switch on keyboard SN3 protocol ssssssssssseeeeeeeeeeenennenen nennen nnn 32 3 7 13 Switch off keyboard SN3 protocol cece eee nnne 33 3 7 14 Start positioning SN3 protocol 0 0 ce cir aai aaee eee e nennen nennen nnne 33 3 7 15 Stop positioning SN3 protocol eene nennen nnne nnn 34 IFO9P 1 6 Mai 2011 2 51 Art Nr 85831 And Stand 164 11 Precision in Motion 3 7 16 Switch on display SN3 protocol ersin isinin inasai aaan aaea taaak iaiaaeaia 34 3 7 17 Switch off display SN3 protocol cece eee eee ener eee eee teaaaeeeee ee eeteccaaeeeeeeeentee 35 3 7 18 Set sense of rotation SN4 protocol sssssssssssssseeeeneeenennn nennen 35 3 7 19 Read program InPos window SNSG protocol cccceeeeeeeeeeeeeeeeeeeeeeeeeeeeeecaaaeeeeeeeeeeeeenaaaes 36 3 7 20 Read program the loop reversal point 36 3 7 21 Read device code SNS protocol ssssssssssssssssssseeeeeeeenn nennen nnn nnns 37 3 7 22 Read program decimal places ssssssssssssssseeeeeeeeeennn nennen nennen nnns 38 3 7 23 Enable key s incremental measurement function SN3 protocol ssussss 40 3 7 24 Disable key s inc
51. the encoder will return the encoder address of the addressed device in addition to the number of decimal places Command Param Param Sub index Data byte 1 Data byte 2 Data byte 3 Data byte 4 code index Low indexHigh address 40h 14h 5Fh 1Eh xxh xxh xxh xxh Reply Com Param Param Sub index Data byte Data byte Data byte Data byte Position mand index index address 4 2 3 4 values of the code Low High connected encoders 42h 14h 5Fh 1Eh 1Eh 03h 00h 00h xxh xxh Data byte 1 Encoder address 1Eh address 31 Data byte 2 Number of decimal places 03h 3 decimal places Attempts to apply the Program decimal places command to a device with no display unit will cause the gateway to return the following response Example Encoder address 26 Com Param Param Sub index Data Data byte Data byte Data byte mand index index address byte1 2 3 4 code Low High 80h 14h 5Fh 1Ah 06h 08h 83h 00h Data bytes 1 and 2 Error code 0806h gt SIKONETZ3 error Data byte 3 Error message 83h Position values of the connected encoders 2 illegal command see also chapter 4 2 IFO9P 1 6 Mai 2011 39 51 Art Nr 85831 And Stand 164 11 Precision in Motion 3 7 23 Enable key s incremental measurement function SN3 protocol This command enable
52. tion values of the encoders found are displayed The display alter nates between the address of the first encoder found and its position value in a 2 sec rhythm You can switch forward to the next encoder by means of the Up arrow key Having arrived at the encoder with the highest address t he value and ad dress of the first encoder will be displayed after the next keystroke In this operating mode the encoder position values continue to be updated and transferred via the Profibus You can leave this mode by pressing the P key 00200 In this operating mode information on the data transfer quality is displayed on the encoder side 3 values are displayed in succession t Err Number of corrupt data telegrams value range 00000 99999 E DE sas Overall number of data transfer events since switching on the IF09P 1 dtErr percentage representation of the relationship of tCErr t nr max 99 999 min 00 001946 The number of data transfer events is displayed in the exponential format However the full number range cannot be displayed for greater values due to the limitation to 5 digit places The following display ranges apply OO1E0 999E0 Number lt 1000 O01E3 999E3 1000 Number 999999 001E6 999E6 1000000 lt Number lt 999999999 OO1E9 OO4E9 1000000000 lt Number lt 4293967296 11100 This code initiates restart with resetting the Profibus address and the protocol type to their default value
53. x byte 1 byte 2 byte 3 byte 4 the connected en code Low High ad coders dress 60h 01h 5Fh 16h 00h 00h 01h 00h xxh xxh 3 7 3 Write read offset parameter SN3 protocol A certain figure offset can be added to the position or display value resp Positive as well as nega tive values are permitted Example of a call Set offset value of encoder with addr 12 to 360 0168h Command Param Param Sub index Data byte Data byte Data byte Data byte code index Low index High address 1 2 3 4 23h 02H 5Fh 0Ch 68h 01h 00h 00h IFO9P 1 6 Mai 2011 22 51 Art Nr 85831 nd Stand 164 11 Precision in Motion Reply Com Param Param Sub Data Data Data Data Position values of mand index index index byte 1 byte 2 byte 3 byte 4 the connected en code Low High ad coders dress 60h 02H 5Fh OCh 00h 00h 00h 00h xxh xxh 3 7 4 Read IF09P 1device code parameter SN3 and SN4 protocols This parameter is read only write access is acknowledged with an error message Data byte 1 Coding of the IFO9P 1 device 07h Data byte 2 Version number 30h for V3 00 Data byte 3 Hardware version 0 IFO9P 1 IFO9P 1 Data byte 4 Occupied with 0 Example of a call Read IFO9P 1 device code Command Param Param Sub index Data byte Data byte Data byte
54. xample of a call The loop reversal point of the encoder with address 14 10h shall be set to value 50 IFO9P 1 6 Mai 2011 36 51 Art Nr 85831 And Stand 164 11 Precision in Motion Command Param Param Sub index Data byte 1 Data byte 2 Data byte 3 Data byte 4 code index Low index High address 23h 12h 5Fh OEh 32h xxh xxh xxh Reply Com Param Param Sub index Data byte Data byte Data byte Data byte Position mand index index address 1 2 3 4 values of the code Low High connected encoders 60h 12h 5Fh OEh 32h xxh xxh xxh xxh xxh 3 7 21 Read device code SN3 protocol This command serves for reading the device code the firmware version as well as the hardware status of the addressed encoder Example of a call The device code of the encoder with address 10 OAh shall be read Command Param Param Sub index Data byte 1 Data byte 2 Data byte 3 Data byte 4 code index Low indexHigh address 40h 13h 5Fh 0Ah xxh xxh xxh xxh Reply Com Param Param Sub index Data byte Data byte Data byte Data byte Position mand index index address 4 2 3 4 values of the code Low High connected encoders 42h 13h 5Fh 0Ah 22h 11h 10h 00h xxh xh Data byte 1 22h gt Code of SIKO device MSA501 SN3 Data byte 2 1th gt
55. xh xxh This parameter serves for switching on a keyboard if available on the device Data bytes 1 to 4 can have any content This command is broadcast compatible see Table 2 Broadcast All SIKONETZ stations are addressed by setting bit 6 in the sub index byte If bit 6 is not set a valid encoder address must be indicated in the sub index byte 6 Mai 2011 32 51 Art Nr 85831 nd Stand 164 11 Example of a call Precision in Motion The keyboards of all SIKONETZ stations are to be addressed The bits representing the address in the sub index field may have any values Command Param Param Sub index Data byte Data byte Databyte Data byte code index Low index High address 1 2 3 4 23h OBH 5Fh 4xh xxh xxh xxh xxh Reply Com Param Param Sub Data Data Data Data Position values of mand index index index byte 1 byte 2 byte 3 byte 4 the connected en code Low High ad coders dress 60h OBH 5Fh 4xh xxh xxh xxh xxh xxh xxh 3 7 13 Switch off keyboard SN3 protocol This parameter serves for switching off a keyboard if available on the device Broadcast compatible see Table 2 Broadcast Example of a call Switch off keyboard device with address 02H Command Param Param Sub index Data byte Data byte Databyte Data byte code index Low index High address 1 2 3 4 23h OCh 5Fh 02
56. yte Data byte Data byte code index Low index High address 1 2 3 4 40h 08h 5Fh 07h 00h 00h 00h 00h IFO9P 1 6 Mai 2011 30 51 Art Nr 85831 And Stand 164 11 Precision in Motion Reply Com Param Param Sub Data Data Data Data Position values of mand index index index byte 1 byte 2 byte 3 byte 4 the connected en code Low High ad coders dress 42h josh 5Fh fozn 11h O0h 82h ooh ixxh iXxh Meaning of the data bytes Data byte 1 0 0 0 1 0 0 0 1 Keyboard switched on Actor don Data byte 2 no active status messages 1 0 0 0 0 0 1 0 Data byte 3 On going positioning Switchover point reached 3 7 10 Activate deactivate incremental measurement parameter SN4 protocol This parameter serves for activating or deactivating the addressed encoder s incremental meas urement function The data in the user data bytes 1 4 are not relevant and can be set to any val ues The interval of two subsequent Activate deactivate incremental measurement commands must be gt 100ms Example of a call Incremental measurement function is to be activated in the encoder with address 14 OEh Command Param Param Sub index Data byte 1 Data byte 2 Data byte 3 Data byte 4 code index Low index High address 23h 09h 5Fh OEh xxh xxh xxh xxh IFO9P 1 6 Mai

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