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PROFIBUS DPV0

1. E SIMATIC NCM PC Config SIMATIC PC Station 1 Configuration locprj Oh Station Edit Insert PLC View Options Window Help Deg Hu e be dae He Bw Find bus BE PROFIBUS DP Additional Field Devices Switchgear 140 PROFIBUS 1 DP master system 1 F D Ge en T DPV2 Gateway g DPV2 Gateway Linear e LL PROFIBUS Encoder m PROFIBUS Encoder PROFIBUS Gateway qa PROFIBUS Gateway Gateway T CR Object Closed Loop Controller Configured Stations DP VO slaves DP AS i DP PA Link ENCODER ET 2008 ET 200C ET 200eco 33 4 PROFIBUS Encoder Slot Order Number Designation dress Comment 1 Encoder Class2 32 Bit velocity EZ T 200R 2 AR gt Enwoder ass IE Bit srta EF T 2005 E E E E 3 ET 200pro E E E E Function Modules IPC NC Network Components Sensor system SIMADYN SIMATIC SIMODRIVE 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 E ER a aaa aaa 3 Compatible PROFIBUS DP Slaves gt Press F1 to aet Helo When dropping the encoder on the BUS a PROFIBUS address must be assigned naturally this address must be the same as assigned on the hardware address switches on the back of the encoder see chapter 3 1 1 Configuration of DPVO Slave To configure the encoder for 25 bit position value plus velocity data choose the Encoder Class 2 32 bit velocity configuration option in the map structure Add the cho
2. Alarm is generated by the device when failure occurs which effects the position value Octet 8 in the diagnostic function DDLM_Slave_Diag indicates the status of the alarms Additional alarms for device class 2 are added in the diagnostic octet 17 If an alarm is given the Ext_Diag bit and the Stat_Diag bit in the diagnostic function are set to high and remain high until the alarm is cleared and the encoder can provide a correct position value Alarms are cleared when the functionality is within the specification and the position value is correct Note Not every encoder supports every alarm For encoders of class 2 the diagnostic information supported alarms see Chapter 5 6 8 makes it possible to find out which individual alarm bits are supported DDLM_Slave_Diag Bits 7 0 Alarms Current is too high No Currently not assigned Table 22 Alarms 5 6 3 Operating Status Octet 9 in the diagnostic function provides information about encoder specific parameters A class 2 encoder sets the functionality bit for class 2 commands in order to show the DP master that all class 2 commands are supported The DP master must activate the class 2 functionality bit in the parameter message DDLM_Set_Prm to enable the use of class 2 functions The status bit of the scaling function is set when the scaling function is activated and the resolution of the encoder is calculated by means of the scaling parameters Part Id
3. Part Id 740590 01 18 Document Id 740590 Ver 01 Publication date 2010 06 01 PROFIBUS USER MANUAL Leine amp Linde AB 4 1 DPVO encoder classes The device can be configured as a class 1 or class 2 PROFIBUS slave device Class 2 configuration is extended to optionally access velocity information from the encoder CLASS 1 CLASS 2 In the CLASS 1 configuration only input data are assigned Depending on the encoder resolution this is one input data word 16 bits or two 32 bits The following functions can be performed e Changed direction of counting Code sequence e Diagnostic data up to octet 16 Configuration data Singleturn Class 1 16 Bit DOhex 1 input data word data consistency Multiturn Class 1 32 Bit D1hex 2 input data words data consistency In the CLASS 2 configuration output data values and input data words are transferred Depending on the encoder resolution this is one input data word 16 bits and one output data word 16 bits or two input data words 32 bits and two output data words 32 bits The following functions are available in addition to the class 1 functions e Scaling function e Preset Value Function e Velocity read out e Extended diagnostic data Configuration data Singleturn Class 2 16 bits FOhex 1 input data word 1 output data word for preset value data consistency Multiturn Class 2 32 bits Flhex 2 input data word 2 output data words for preset value data con
4. cccicastatarsgy sheeted eiar pek a ata ESR ASES denne 15 Picture 11 Terminal connection of bus line Cables is igsi ercon asii 15 Picture 12 Overview encoder profile and related documents 18 PICLUTET Sy BASI TUMCUONGIILY AA O A SAES 20 le eelere 24 Picture NON Cy Clie CA a 25 Leine amp Linde AB claims copyright on this documentation It is not allowed to modify extend or to hand over to a third party and or copy this documentation without written approval from Leine amp Linde AB Specifications and content in this document are subject to change without prior notice due to our continuous strives to improve functionality and performance of our products Part Id 740590 01 4 Document Id 740590 Ver 01 Publication date 2010 06 01 PROFIBUS USER MANUAL Leine amp Linde AB 1 General information This manual describes installation and configuration options of Leine amp Linde devices with PROFIBUS DPVO interfaces The PROFIBUS DP gateway is the solution for applications with high ambient temperature Encoders with integral PROFIBUS DP interface are advantageous if a very compact solution is required In view of the certification by PNO PROFIBUS user organization all products can be used in all PROFIBUS DPVO systems without restrictions Among other things this means that all possible baud rates the complete address range and the device characteristics are supported according to the PROFIBUS device profile for encoders 1 1 P
5. iida PROFIBUS DPVO RAMOS Manual Users Guide Gateways amp Encoders Part No 740590 01 Doc No 740590 Ver 01 LEINE amp LINDE PROFIBUS USER MANUAL Leine amp Linde AB Content List or tables ee eter tee E E e 3 PAS UOT ICE A a Hasen ee 4 Re are et EE 5 1 1 PROFIBUS GATEWAY ccccccccccccceesesssceceeececsessececeecceesessaeceeececsesaseeeeccseseuaaeceeceecsensaseeeeceeeeneaaes 5 1 2 ABSOLUTE ENCODERS san 5 1 3 PROFIBUS TECHNOLOGY c ccccccccccsssssseceeececsesseseceecceesessaaeceeccecsenssueeeecceeseeaaeseeceeceessaaeeeeeceeeeneaaees 5 1 4 ABOUT LEINE amp LINDE AR 5 1 4 1 TECHNICAL AND COMMERCIAL SUPPORT ssssssnsssesssseseesssssrerersessesererstsssssreretsssserrersessesrrroeesessene 6 LD REFERENCES nn ai A dd EENE 6 1 5 1 ABBREVIATIONS us ans een aa aida daa Oss rasen genen dali abies tbat eat 6 2 Gateway A deele 7 SL SETTINGS INSIDE THE GATEWAY eene ege a ai das 7 PAA EA ANTO D 2 B D ti BEST REE ee RIE a 7 PAR EE ER HE He EEN TEE 8 DDN POWER SUPPLY 2 ee eee s asa 9 PADRA E mI O 10 2 3 SHIELDING POS eii 11 DA E To EE 11 RE H DANAB YY LON aa 12 3 RSA RHA 6X8 Encoder Installation oococooooooccccccnonoononnncnonoconanononnnnnnncconannonononcccconanons 13 3 1 SETTINGS INSIDE THE ENCODER sen 13 Sd INODE ADDRESS 5423 44 27 eebe idos eege enla tono deci o ns de loe E til 13 CLC BUS TERMINATION rc ads 13 3 2 CONNECTING THE ENCODER ueeeeeesessssensnsnsnsnsnsnnnnnnnnnnnsnnnnnnnnsnnnsnsnnennsnsnens
6. 00 00 00 00 PROFIBUS Gateway HE User_Prm_Data 16 to 23 00 00 00 00 00 00 00 00 a Gateway E User_Prm_Data 24 to 31 00 00 00 00 00 00 00 00 E Compatible PROFIBUS DP Slaves O CiA Object Closed Loop Controller e E Configured Stations DP VO slaves E De e Y DP PA Link CH ENCODER amp ET 2008 ET 2000 a CH ET 200eco e CET 20055 1 ET 2005P de 4 PROFIBUS Encoder 1 E ET 20L gt ET 200M ET 200pro ce Y ET 200R ce 9 ET 2005 ET 200U E ET 200 e Function Modules e CH IDENT ea IPC e CM Network Components Y Sensor system e CH SIMADYN e CH SIMATIC CH SIMODRIVE 68450xxxx Ey Add or change the data in the value field to the desired parameter values Chapter 5 4 describes the functionality and possibility of each parameter Part Id 740590 01 39 Document Id 740590 Ver 01 Publication date 2010 06 01 PROFIBUS USER MANUAL Leine amp Linde AB Assigning parameters to the DPVO slave Save and compile the settings by clicking on the Station Tab and then choose Save and compile SIMATIC PC Station 1 Configuration locprj 8 Edit Insert PLC Options Window Help a x New Cri N es Open Ctri o E N l Open ONLINE pw fous atlas Encoder Class1 32 Bit DH Encoder Class2 32 Bit velocity d PROFIBUS Gateway PROFIBUS Gateway E Gateway CC Compatible PROFI
7. 216 215 _ 28 27 90 Measuring units per revolution DDLM_Slave_Diag Bits 31 24 23 16 15 8 7 0 Data 931 924 923 _ 216 915 _ 28 27 90 Total measuring range in measuring units Table 36 Diagnostics scaling parameters setting 5 6 17 Encoder Serial Number Octets 48 to 57 of the diagnostic function provide the serial number of the encoder as a 10 character ASCII string DDLM_Slave_Diag Bits 79 0 Data ASCII Serial number Example of a serial number ASCII string 30 30 30 35 39 46 38 44 45 35 Serial hex 0 0 0 5 9 F 8 D E 5 Serial dec 9434 2629 Table 37 Diagnostics encoder serial number Part Id 740590 01 37 Document Id 740590 Ver 01 Publication date 2010 06 01 PROFIBUS USER MANUAL Leine amp Linde AB 6 Encoder commissioning example DPVO This example uses a Siemens master and the SIMATIC NCM PC configuration software The example is intended to illustrate the commissioning of a PROFIBUS DPVO encoder with a 25 bit absolute rotary encoder and velocity information Copying the GSD file First copy the GSD file and bitmap file into the corresponding directory in the configuration software AGSD Selecting the DPVO Slave To select the encoder click on the PROFIBUS Encoder icon in the map structure on the right side of the window Use drag and drop to add the encoder on the BUS upper left view
8. 740590 01 30 Document Id 740590 Ver 01 Publication date 2010 06 01 PROFIBUS USER MANUAL Leine amp Linde AB DDLM_Slave_Diag Bits 7 0 Operating Status 0 Code sequence Increasing position values Increasing position values for clockwise revolutions for counter clockwise seen from flange side revolutions seen from flange side 1 Class 2 functionality No not supported Yes 2 Commissioning No not supported Yes diagnostics 3 Scaling function status Scaling disabled Scaling enabled 4 Currently 5 not 6 assigned 7 Table 23 Operating status 5 6 4 Encoder type The type of encoder can be read in octet 10 of the diagnostic function The type of encoder is defined in hex code in the range from 0 to FF DDLM_Slave_Diag Bits O FF Encoder type 00 Absolute singleturn encoder 01 Absolute multiturn encoder 02 Absolute singleturn encoder with electronic revolution counter 03 Incremental rotary encoder 04 Incremental rotary encoder with battery buffer 05 Incremental linear encoder 06 Incremental linear encoder with battery buffer 07 Absolute linear encoder 08 Absolute linear encoder with periodic coding 09 Currently not FF assigned Table 24 Diagnostics encoder type Part Id 740590 01 31 Document Id 740590 Ver 01 Publication date 2010 06 01 PROFIBUS USER MANUAL Leine amp
9. BUS DP Slaves T CR Object Closed Loop Controller Configured Stations A DP VO slaves DPYAS DP PA Link CH ENCODER ET 2008 ET 2000 ET 200eco ET 2005 Properties PROFIBUS DP A Additional Field Devices Import Switchgear Export 1 0 Encoders Consistency Check Ctrl alt K a DPY2 Encoder Print Ctrl P igi DPV2 Gateway rete ae 4 PRO ncoder Pee a PROFIBUS Encoder 1 locpri SIMATIC PC Station 1 e DH Universal module 2 LOCPRONSIMATIC PC Station 1 H Encoder Class2 16 Bit 5 DH Encoder Class2 32 Bit Exk Altre H Encoder Class1 16 Bit E Ei E DESENE lt gt 4 PROFIBUS Encoder J Function Modules IDENT IPC NC Network Components Sensor system SIMADYN SIMATIC SIMODRIVE E 2 8 3 BRERRRERLELERL oc Part Id 740590 01 40 Document Id 740590 Ver 01 Publication date 2010 06 01 PROFIBUS USER MANUAL Leine amp Linde AB Update Database Start the Station Configuration Editor and click on the Import Station button Components Diagnostics Configuration Info Station SIMATIC PC Station 1 Index Name a Application Application Fl OPC Server DPC Server JE cp 5512 CP 5512 New diagnostic entry arrived Add Ed Delete Ring ON Disable Station Import XDB file Look in XDBs sl e ES File name pest_1 Files of type xdb v Cancel Browse to the location where the
10. ENCODER SERIAL LEE 37 6 Encoder commissioning example DPVO o tiara 38 Appendix History use eat 42 List of tables Table 1 Terminating Switch Settings aE EEE neue 8 Table 2 Pinning M12 power supply connector eeseneenensensensemennennen a 9 Table 3 Pinning M12 bus in out INES a Ee de Ee 10 Table 4 Available GSD file for DPVO gateway ceeeneneenenenennseenneenenoe 11 Tables LED amie ation EE 12 Table 6 Terminating eh el E e 14 Table 7 Pinning M12 power supply sigs oa 14 Table 8 Pinning M12 bus in out mes 15 Table 9 Availabl GSD file for DEVO ENCc ders 40 4 erkennt kant 16 Table O EDAD A AS 17 Table 11 Operatung parameters EEN nase id 21 Table 12 Octet 9 Parameter A ia rad 21 Table 13 Singleturn scaling parameter Tomat 23 Table 14 Multiturn scaling parameter PONTE uta 23 Table Ts Octet 39 Velocity Controla roads hen 26 OK el 27 Table 17 Data exchange EE Egeter ee iii 27 Table 18 Presetvalue 32 DI TOM suisse ena s aa E SE LIESS 28 Table 19 Preset value Tobi oma AAA 28 Table 20 Diagnostics message DPV rungen ote 29 DER Eet 30 Ta DIE 22 EE 30 Table23 Operaung Status TEE 31 Table 24 Diagnostics encoder type Gs das ys 31 Table 25 Diagnostics singleturn resolution enensnsenenseenseenneenee nen 32 Table 26 Diagnostics number of distinguishable revolutions errrrrcrerrrne 32 Table 27 Diagnosties additional al mitades 32 Table 28 Diagnost
11. Linde AB 5 6 5 Singleturn resolution or measuring step The singleturn resolution in the diagnostic function has different meanings depending on the type of encoder For rotary or angle encoders the diagnostic octets 11 to 14 indicate the physical resolution in number of measuring steps per revolution which is transferred for the absolute singleturn position value The maximum singleturn resolution is 231 For linear encoders the measuring steps is presented with respect to the resolution of the linear encoder i e each increment of the measuring step is equal the actual resolution for the linear encoder in use Typical values for the linear resolution are 1pm 40 um DDLM_Slave_Diag Bits 31 24 23 16 15 8 7 0 Data 931 _ 924 923 _ 916 215 _ 28 27 90 Singleturn resolution Table 25 Diagnostics singleturn resolution 5 6 6 Number of Distinguishable Revolutions The number of distinguishable revolutions that the encoder can transfer is defined by octets 15 and 16 of the diagnostic function In accordance with the formula below the measuring range for an encoder results from the number of distinguishable revolutions multiplied by the singleturn resolution The maximum number of distinguishable revolutions is 65 536 1 16 bits Measuring range number of distinguishable revolutions x singleturn resolution DDLM_Slave_Diag Number of distinguishable revolutions Table 26 Diagnostics number of distin
12. Link Mapper the interface DDLM_Set_Prm DDLM_Data_Exchange DDLM_Slave_Diag DDLM _Chk_Cfg between PROFIBUS DP functions and the encoder software Interface during parameterization Interface during data exchange normal operation Interface during diagnostics data transfer Interface during configuration Part Id 740590 01 6 Document Id 740590 Ver 01 Publication date 2010 06 01 PROFIBUS USER MANUAL Leine amp Linde AB 2 Gateway Installation 2 1 Settings inside the gateway The gateway addressing switches and bus termination must be configured during commissioning of the device This is done by removing the back cover i e screwing off the three screws at the rear of the gateway HH e N CH Screws to remove the IY back cover 8 Picture 1 Placement of screws N b gt i 2 1 1 Node address The node address of the gateway can be set via three decimal rotary switches located inside the back cover The weighting x100 x10 and x1 are specified on the circuit card besides the switches Permissible address range is between 0 and 126 but the lower addresses 0 to 2 are usually used by the master and not recommended to be used by the device Each address used in a PROFIBUS network must be unique and may not be used by other devices The device address is only read and adopted when the gateway power supply is switched on A restart of the gateway is therefore required in order to adopt changes do
13. OFIBUS USER MANUAL Leine amp Linde AB 5 5 Data transfer in normal operation DDLM_Data_Exchange The DDLM_Data_Exchange mode is the normal status of the device when operated In this mode the position value is transmitted from the device in a cyclic manner Output data can also be sent to the device i e preset commands 5 5 1 Data exchange mode The actual position value is transferred to the master as 32 bit values double word or optional the device supports a position value length of 16 bit for singleturn encoder The position value is right aligned in the data field DDLM_Data_Exchange mode Standard configuration Bits 31 24 23 16 15 8 7 0 Data 931 _ 924 923 _ 916 215 _ 28 27 20 Data_Exchange 32 bits Table 16 Data exchange 32 bits Configuration data Device class 1 D1hex 2 input data words data consistency Device class 2 F1hex 2 input data words 2 output data words for preset value data consistency Optional configuration Bits 15 8 7 0 Data 915 _98 27 90 Data_Exchange 16 bits Table 17 Data exchange 16 bits Configuration data Device class 1 DOhex 1 input data word data consistency Device class 2 FOhex 1 input data word 1 output data word for preset value data consistency Part Id 740590 01 27 Document Id 740590 Ver 01 Publication date 2010 06 01 PROFIBUS USER MANUAL Leine amp Linde AB 5 5 2 Preset function The preset function enables adaptat
14. ROFIBUS Gateway The advantages of the gateway concept is that it allows the use of small and very robust EnDat encoders which make the gateway solution suitable in applications where very high ambient temperature is a limiting factor The Gateway works with all Leine amp Linde EnDat encoders with either M12 or M23 EML connectors The PROFIBUS gateway supports singleturn encoders with up to 31 bit resolution and multiturn encoders with up to 37 bits resolution with the limitations described in this manual 1 2 Absolute encoders With an absolute encoder each angular position is assigned a coded position value generated by a code disc equipped with several parallel fine graduations tracks which are scanned individually On singleturn encoders i e an encoder producing absolute positions within one revolution the absolute position information repeats itself with every revolution So called multiturn encoders can also distinguish between revolutions The numbers of unique revolutions is determined by the resolution of the multiturn scanning and repeats itself after the total resolution is reached 1 3 PROFIBUS technology PROFIBUS is a powerful and versatile 2 wire non proprietary open fieldbus standard defined by several international standards such as EN 50170 IEC 61158 together with different device profiles There are 3 different PROFIBUS versions available today DP FMS and PA Leine amp Linde products support the DP version In additio
15. arning Maximum operating time exceeded bit 4 is not activated before the system is switched on again Note Not every encoder supports every warning Please refer to the diagnostic information under Supported Warnings see chapter 5 6 10 for information on the support of specific warnings Part Id 740590 01 33 Document Id 740590 Ver 01 Publication date 2010 06 01 PROFIBUS USER MANUAL DDLM_Slave_Diag Bits 15 8 Leine amp Linde AB WARNINGS 0 Frequency exceeded No Yes 1 Temperature exceeded No Yes 2 Light control reserve Not reached Reached 3 CPU monitoring status OK Reset 4 Maximum operating time No Yes exceeded 5 Battery charging OK Too low 6 Reference point Reached Not reached 7 Currently e not 15 assigned Table 29 Diagnostics warnings 5 6 10 Supported Warnings The diagnostic octets 22 and 23 contain information on supported warnings DDLM_Slave_Diag Bits 15 8 Supported Warnings 0 Frequency warning Not supported Supported Temperature warning Not supported Supported 2 Light control reserve Not supported Supported warning 3 CPU monitoring status Not supported Supported warning 4 Maximum operating time Not supported Supported exceeded warning 5 Battery charging warning Not supported Supported 6 Reference point warning Not supported Supported 7 Current
16. asuring units per revolution 1000 Total measuring range 32 000 25 number of revolutions 32 Position 32 000 Measuring range Pictur 14 Cyclic Scaling Part Id 740590 01 24 Document Id 740590 Ver 01 Publication date 2010 06 01 PROFIBUS USER MANUAL Leine amp Linde AB B Non cyclic operation If the measuring range is used to limit the encoder value range to a value not equal to the specified singleturn resolution 2x the output position value is limited within the operating range If the position value increases or decreases outside the measuring range by rotating the encoder shaft beyond the maximum value or below 0 the device outputs the total measuring range value Example of non cyclic scaling Measuring units per revolution 100 Total measuring range 5000 number of revolutions 50 Position Scaled 5 000 total range 0 MAX Measuring range Picture 15 Non cyclic scaling Part Id 740590 01 25 Document Id 740590 Ver 01 Publication date 2010 06 01 PROFIBUS USER MANUAL Leine amp Linde AB 5 4 7 Velocity control The velocity data can be accessed if class 2 32 bit velocity configuration is used In this case the input data consists of 32 position data plus 16 bit signed velocity data The input velocity value is negative in CCW direction if code sequence is set to CW If the measured velocity is higher then what is possible to present with the selected velocity unit the value is set t
17. ctive directory of the PROFIBUS configuration tool 3 Update the GSD files SCAN Part Id 740590 01 11 Document Id 740590 Ver 01 Publication date 2010 06 01 PROFIBUS USER MANUAL Leine amp Linde AB 2 5 LED indication In order to determine the status of the gateway two LEDs are visible on the front of the gateway The module LED indicates status of the module itself The bus LED indicates the status of the bus The table below defines the diagnostic messages using a bicoloured red green LED for bus and module Off Off No Power Red Green No connection to another device Bus disconnected Criterion no data exchange Master not available switched off Red Red No connection to another device No connection to EnDat Encoder at 2 2 No connection between EnDat power up encoder and PROFIBUS PCB Blinking Green Parameterization or Configuration received differs from 1 configuration fault the supported configuration Parameter error in the parameterization Green Red System Failure Diagnosis exists slave in data Exchange mode Position error Green Green Data exchange Slave and operation ok Table 5 LED indication 1 The blinking frequency is 0 5 Hz Minimal indication time is 3 sec 2 Position error is when an alarm occurs in the encoder or if the EnDat encoder is disconnected from the PROFIBUS interface PCB Part Id 740590 01 12 Document Id 740590 Ver 01 Publication da
18. d 740590 Ver 01 Publication date 2010 06 01 PROFIBUS USER MANUAL Leine amp Linde AB 5 4 2 Class 2 functionality This bit enables or disables class 2 functionality The Class 2 functionality bit for PROFIBUS DP devices is by default disabled 0 This means that this control bit must be activated during parameterization in order to support the class 2 functions Note If a class 1 device uses some optional class 2 functions the class 2 control bit must be set 5 4 3 Commissioning diagnostics The commissioning diagnostics function makes enable the device to perform internal diagnostic test of the encoder components responsible for position detection during a standstill of the encoder i e light unit photovoltaic cells etc In conjunction with the position alarms it enables thorough checking of whether the position values provided by the absolute encoder are correct The commissioning diagnostics function is started by the commissioning bit in the operating parameters If an error is found within the absolute encoder this is indicated in the diagnostic function by the commissioning diagnostics alarm bit see chapter 5 6 2 The commissioning diagnostics function is an option To find out whether the device supports commissioning diagnostics the operating status should be read by the diagnostic function and the commissioning diagnostics bit should be checked 5 4 4 Scaling function control The scaling function converts th
19. d inside the back cover are four screw terminals containing the required bus line terminals marked A and B Cable glands not used should be replaced with a filler plug to ensure proper sealing The filler plug is available as an accessory from Leine amp Linde The A terminal shall be used to connect the A line The B terminal shall be used to connect the B line eJov aB B A ov e BARBABABARS Picture 6 Terminal connection of bus line cables Note Tighten all screws in the terminal even if no cable has been attached Note The two A terminals are internally connected to each other and the two B terminals are also internally connected to each other so it does not matter to which the bus lines are connected to Part Id 740590 01 10 Document Id 740590 Ver 01 Publication date 2010 06 01 PROFIBUS USER MANUAL Leine amp Linde AB 2 3 Shielding philosophy To achieve the highest possible noise immunity and resistance against other EMI related disturbances the bus and power supply cables shall always be shielded The screen should be connected to ground on both ends of the cable In certain cases compensation current might flow over the screen Therefore a potential compensation wire is recommended 2 4 GSD files PROFIBUS Gateways can be configured and parameterized corresponding to the requirements of the user When the system is started the PROFIBUS devices are set and configured in DDLM_Set_Prm mode i e th
20. e application class set by means of the GSD file in the configuration tool and the operating parameters are transferred to the respective slave Available GSD files can be downloaded from www leinelinde com GSD file Gateway Functionality GSD file 11pb0680 gsd Gateway DPVO 11_0680 gsd Table 4 Available GSD file for DPVO gateway Note GSD file 11_0680 is supported only for compatibility with old Leine amp Linde Profibus gateway and is not recommended for new customers When configuring the gateways two device classes Class 1 or Class 2 can be selected as described in chapter 4 Selectable parameters and functionality of the device depend on the selected encoder class This data saved in the PROFIBUS master is transferred once to the gateway when the system is powered on If the gateway has been started with one GSD file and a new GSD file with a different ID number shall be used the gateway needs to be restarted before it can use the new GSD file After the configuration and parameter data have been received the gateway enters normal operation with cyclic data transfer i e DDLM_Data_Exchange mode Installation of GSD files 1 Select and save the GSD file for the respective device from our homepage www leinelinde com and then copy the gsd file into the respective directory of the PROFIBUS configuration tool 2 Select the bitmap file of the respective device and copy the bmp file into the respe
21. e encoder s physical absolute position value by means of software in order to change the resolution of the encoder The parameters Measuring units per revolution and Total measuring range in measuring steps are the scaling parameters set by the parameter function in octet 10 to 17 Scaling is active only if the control bit for the scaling function is set When the scaling function control bit is set to 0 the scaling function is disabled Singleturn encoders up to 31 bit and multiturn encoders up to 37 bits resolution are supported by the PROFIBUS gateway When using encoders with higher resolution than 31 bits the singleturn resolution of the encoder will automatically be reduced as much as needed to fit into the 32 bit structure For example if a 37 bit encoder with a 25 bit singleturn and 12 bit multiturn resolution is used the singleturn resolution will be reduced from 25 to 19 bit and the multiturn resolution will still be 12 bit 19 bit singleturn 12 bit multitum 31 bit total resolution Note After downloading new scaling parameters the Preset function must be used to set the encoder starting point to absolute position 0 or to any required starting position within the scaled operating range Part Id 740590 01 22 Document Id 740590 Ver 01 Publication date 2010 06 01 PROFIBUS USER MANUAL Leine amp Linde AB 5 4 5 Measuring units per revolution The total measuring range is calculated by multiplying the singleturn
22. e limited Please consult Leine amp Linde for more information Preset value format 2 words 32 bits Bits 31 30 24 23 16 hr 7 0 Data 0 1 b30_924 923_916 915_98 27 90 Preset Preset value max 31 bits control bit Table 18 Preset value 32 bit format Preset value format 1 word 16 bits 0 1 214 _ 98 Preset control bit Preset value max 15 bits Table 19 Preset value 16 bit format Part Id 740590 01 28 Document Id 740590 Ver 01 Publication date 2010 06 01 PROFIBUS USER MANUAL 5 6 Diagnostics The diagnostic information contains diagnostic data which are defined in the PROFIBUS DP specification octets 1 to 6 but also encoder specific diagnostic data DDLM_Slave_Diag Note Leine amp Linde AB Diagnostic function Data type Diagnostic Device octet number class Station status 1 Bits 1 Station status 2 Bits 2 Station status 3 Bits 3 Diagnostic master address Bits 4 PNO identification number Bits 5 6 Extended diagnostic header Octet string 7 Alarms Octet string 8 Operating Status Octet string 9 Encoder type Octet string 10 Singleturn resolution encoder 32 without sign 11 14 Measuring unit linear encoder Number of distinguishable revolutions 16 without sign 15 16 Additional alarms Octet string 17 2 Supported alarms Octet string 18 19 2 Warni
23. ed by the device it is set to the maximum value FFFF FFFF hex Part Id 740590 01 35 Document Id 740590 Ver 01 Publication date 2010 06 01 PROFIBUS USER MANUAL DDLM_Slave_Diag Bits 31 24 23 16 15 8 Leine amp Linde AB 7 0 Data 931 _ 924 223 _ 216 215 _ 28 27 90 Operating time Table 33 Diagnostics operating time 5 6 14 Offset Value The offset value is calculated by the preset function and shifts the position value by the calculated value The offset value is stored in the device and can be provided by the diagnostic octets 32 to 35 The data type for the offset value is a 32 bit binary value with sign whereby the offset value range is equal to the measuring range of the device The preset function is used after the scaling function This means that the offset value is indicated according to the scaled resolution of the device DDLM_Slave_Diag Bits 31 24 23 16 15 8 7 0 Data 931 _ 924 923 _ 916 215_ 28 27 90 Offset Value Table 34 Diagnostics offset value 5 6 15 Offset Value of the Encoder Manufacturer The manufacturer offset value indicates the encoder offset set by the manufacturer This value gives information on the shift of the position zero point in number of positions from the physical zero point of the encoder The data type for the offset value is a 32 bit binary value with sign The value range corresponds to the measurin
24. g range of the encoder The offset value of the manufacturer of the encoder is indicated in the number of units according to the basic resolution of the encoder The value is stored in write protected memory which can be changed only by the encoder manufacturer This value has practically no importance for the user DDLM_Slave_Diag Bits 31 24 23 16 15 8 7 0 Data 931_ 924 923 _ 216 915 _ 98 27 20 Offset Value of the Encoder Manufacturer Table 35 Diagnostics offset value of the encoder manufacturer 5 6 16 Scaling Parameters Settings The scaling parameters are set in the DDLM_Set_Prm function The parameters are stored in the octets 40 to 47 of the diagnostic data The Measuring units per revolution and Total measuring range in measuring units parameters define the selected resolution of the encoders The status bit of the scaling function in the operating status octet 9 of the diagnostic data indicates whether the scaling function is enabled Part Id 740590 01 36 Document Id 740590 Ver 01 Publication date 2010 06 01 PROFIBUS USER MANUAL Leine amp Linde AB Values preset by the manufacturer of the encoder Measuring units per revolution singleturn resolution Total measuring range in measuring units singleturn resolution x number of distinguishable revolutions m The data type for both values is unsigned 32 bits DDLM_Slave_Diag Bits 31 24 23 16 15 8 7 0 Data 931 _924 223 _
25. ge Slave and operation ok Table 10 LED indication 1 The blinking frequency is 0 5 Hz Minimal indication time is 3 sec 2 Position error is when an alarm occurs in the encoder or if the EnDat encoder is disconnected from the PROFIBUS interface PCB Part Id 740590 01 Document Id 740590 Ver 01 Publication date 2010 06 01 17 PROFIBUS USER MANUAL Leine amp Linde AB 4 Profile overview Encoder Profile for DPVO version 1 1 Order no 3 062 The operating functions in this profile are divided into two device classes named Class 1 and Class 2 Class 1 encoders offer basic functions that all PROFIBUS DP encoders must support An encoder of class 1 can optionally support selected functions of class 2 but these functions must be implemented according to the profile To support early PROFIBUS DP implementations the size of the protocol data units PDU is limited to 16 bytes Encoders of class 2 must support all functions of class 1 as well as the additional functionality of class 2 In addition to the two classes parameters and diagnostic ranges are reserved for manufacturer specific functions For further information regarding the encoder functionality refer to the device profile The profile and PROFIBUS technical information can be ordered at PNO in Karlsruhe Germany www profibus com Encoder Profile Class 1 and 2 PNO No 3 062 PROFIBUS Network Picture 12 Overview encoder profile and related documents
26. ght flow over the screen Therefore a potential compensation wire is recommended Part Id 740590 01 15 Document Id 740590 Ver 01 Publication date 2010 06 01 PROFIBUS USER MANUAL Leine amp Linde AB 3 4 GSD files Absolute encoders with PROFIBUS can be configured and parameterized corresponding to the requirements of the user When the system is started the PROFIBUS devices are set and configured in DDLM_Set_Prm mode Le the encoder class set by means of the GSD file in the configuration tool and the operating parameters are transferred to the respective slave Available GSD files can be downloaded from www leinelinde com Encoder functionality GSD file enc_a401 gsd Ulpba401 gsd Integrated encoder DPVO Table 9 Available GSD file for DPVO encoders When configuring the encoders various encoder classes can be selected as described in chapter 4 Selectable parameters and functionality of the device depend on the selected encoder class This data saved in the PROFIBUS master is transferred once to the encoder when the system is powered on If the encoder has been started with the GSD file for DPVO functionality and a GSD file with a different ID number shall be used the encoder needs to be restarted before it can use the new GSD file After the configuration and parameter data have been received the encoder enters normal operation with cyclic data transfer i e DDLM_Data_Exchange mode Installati
27. guishable revolutions 5 6 7 Additional Alarms The diagnostic octet 17 indicates additional alarms for device class 2 DDLM_Slave_Diag Bits 7 0 Additional alarms 0 Currently not 7 assigned Table 27 Diagnostics additional alarms Part Id 740590 01 32 Document Id 740590 Ver 01 Publication date 2010 06 01 PROFIBUS USER MANUAL Leine amp Linde AB 5 6 8 Supported Alarms The diagnostic octets 18 and 19 contain information on the supported alarms DDLM_Slave_Diag Bits 15 8 7 0 Supported alarms 0 Position error Not supported Supported 1 Voltage supply error Not supported Supported 2 Current is too high Not supported Supported 3 Commissioning Not supported Supported diagnostics 4 Memory error Not supported Supported 5 Currently i not 15 assigned Table 28 Diagnostics supported alarms 5 6 9 Warnings Warnings indicate that tolerances for certain internal parameters of the device have been exceeded Contrary to alarms no faulty position values are expected in case of wamings Octets 20 and 21 of the diagnostic function indicate the status of the warnings If a warning is set the Ext_Diag bit in the diagnostic function is logically set to 1 until the warning is cleared All warnings are deleted when the diagnostic message of the device has been read However if the tolerances are still exceeded the warning is activated again The w
28. ics supported alarms enenensenensennsensemenneenee nen 33 Table 29 Diagnostics WII Eten end tee 34 Table 30 Diagnostics supported wamings eeeeenennseneseensemennennee nn 34 Table 31 Diagnostes profile Vta 35 Table 32 Diagnosties Software version niit aeg siegen lla ed 35 Table 33 Diagnosties operating TING use yes run po 36 Table 34 Diagnostics Offset value non 36 Table 35 Diagnostics offset value of the encoder manufacturer oo eect 36 Table 36 Diagnostics scaling parameters setting sss snini i a i E a 37 Part Id 740590 01 3 Document Id 740590 Ver 01 Publication date 2010 06 01 PROFIBUS USER MANUAL Leine amp Linde AB Table 37 Diagnostics encoder serial number 37 List of pictures Picture 1 Pla coment OF SCLEWS eiis stan ions tee etapa Does sea seein sda Een a po ed td 7 Picture 2 PCB view of a cable gland PROFIBUS gateway eeeenenenemnseen 8 Picture 3 Orientation of M12 power supply CONNeCtOT aan a 9 Picture 4 Terminal connections of power supply cablesg rsen 9 Picture 5 Orientation Of M12 bus CONMECTOLS nen ie cc AER en 10 Picture 6 Terminal connection of bus line cablesg assi aino a E eridan 10 Picture 7 PCB view of a cable gland PROFIBUS encoder rsen 13 Picture 8 Orientation of M12 power supply conmnector 14 Picture 9 Terminal connection of power supply cables eeeenenennen 14 Picture 10 One ntation Of M12 DUs CONMECTOLS
29. ion of the position value from the encoder to a known mechanical reference point of the system The preset function sets the actual position of the encoder to zero or to the selected preset value The preset value is written to the encoder as output data in the Data_Exchange function If scaling is used the preset function shall be used after the scaling function to ensure that the preset value is entered in the current measuring unit The most significant bit MSB of the preset value controls the preset function as follows Normal operating mode MSB 0 bit 31 optionally bit 15 The encoder will not change the preset value Activated mode MSB 1 bit 31 optionally bit 15 With MSB 1 the encoder accepts the transferred value bits 0 30 as a preset value in binary code The encoder reads the current position value and calculates an offset value from the preset value and the read position value The position value is shifted by the calculated offset value If the input position value equals the preset value the preset mode is terminated and the MSB can be set to 0 by the master The offset value can be read with the diagnostic function and is securely stored in case of a power interruption and is reloaded at each start up Note The preset function should only be used at encoder standstill In the case of a Profibus gateway the number of possible preset cycles is unlimited but for encoders the number of possible preset cycles can b
30. ly 2 not 15 assigned Table 30 Diagnostics supported warnings Part Id 740590 01 Document Id 740590 Ver 01 Publication date 2010 06 01 34 PROFIBUS USER MANUAL Leine amp Linde AB 5 6 11 Profile Version Octets 24 and 25 of the diagnostic function provide the PROFIBUS DP encoder profile version that is implemented in the device The octet s revision number and index are combined Example Profile version 1 40 Octet no 24 25 Binary code 00000001 01000000 Hex 1 40 DDLM_Slave_Diag 15 8 7 0 Data 27 90 27 90 Revision number Index Profile Version Table 31 Diagnostics profile version 5 6 12 Software Version Octets 26 and 27 of the DDLM_Slave_Diag function provide the software version of the device The octet s revision number and index are combined Example Software version 1 40 Octet no 26 27 Binary code 00000001 01000000 Hex 1 40 DDLM_Slave_Diag 27 90 Revision number Index Software version Table 32 Diagnostics software version 5 6 13 Operating Time The operating time monitor stores the operating time for the device in operating hours The operating time is saved every six minutes in the non volatile memory in the device This happens as long as the device is under power The operating time is displayed as a 32 bit value without sign in 0 1 h by the DDLM_Slave_Diag function If the operating time function is not support
31. n to manufacturer specific functions the Leine amp Linde products described in this manual supports class 1 and 2 according to the encoder profile 3 062 The encoder device profile describing encoder functionality and additional information about PROFIBUS can be ordered from PROFIBUS User Organization PNO or directly from Leine amp Linde AB PROFIBUS User Organization Haid und Nue Stra e 7 D 76131 Karlsruhe Tel 49 721 96 58 590 Fax 49 721 96 58 589 Web www profibus com 1 4 About Leine amp Linde AB For more than 40 years the Swedish based company Leine amp Linde has concentrated on one thing development and manufacturing of advanced encoders that meet the most rigorous demands a user can place on them That is why a wide assortment of incremental and absolute encoders with obvious concentration on robust products and quality down to the last detail can be offered Leine amp Lindes encoders provide the utmost in reliability year after year in working conditions where vibration dirt cold and other harsh environments are common Part Id 740590 01 5 Document Id 740590 Ver 01 Publication date 2010 06 01 PROFIBUS USER MANUAL Leine amp Linde AB Leine amp Linde can meet very specific individual demands The encoders are easily adopted due to a modular design in the collection exactly to the customer s needs with respect to resolution electrical connections and interfaces voltage casings etc That is due
32. nction control Bit 9 2 Measuring units per revolution Unsigned 32 10 13 2 bits Total measuring range in measuring units Unsigned 32 14 17 2 bits Manufacturer specific functions Bit 26 28 Optional Velocity control 2 bit 39 2 ext Table 11 Operating parameters in DPVO The parameters described in octet 9 are defined bit by bit as follows Bits 7 0 Data 27 90 Operating parameters 0 Code sequence Clockwise CW Counter clockwise CCW ncreasing position values Increasing position values when rotated clockwise seen when rotated counter from flange side clockwise seen from flange side 1 Class 2 functionality Disable Enable 2 Commissioning diagnostics No Yes 3 Scaling function control Disable scaling Enable scaling Scaling parameters are taken into octets 10 to 17 Reserved for future applications Table 12 Octet 9 Parameter definition 5 4 1 Code sequence The code sequence defines whether the absolute position value should increase during clockwise or counter clockwise rotation of the encoder shaft seen from flange side The code sequence is by default set to increase the absolute position value when the shaft is turned clockwise 0 Note The position value will be affected when the code sequence is changed during operation It might be necessary to perform a preset after the code sequence has been changed Part Id 740590 01 21 Document I
33. nd a total number of turn count equal to 3200 revolutions shall the configuration be as Measuring units per revolution 400010 steps Total measuring range in measuring units 4000 steps x 3200 revolutions 12 800 00010 Entry in the master configuration software Measuring units per revolution 4000 Total measuring range steps 12800000 Part Id 740590 01 23 Document Id 740590 Ver 01 Publication date 2010 06 01 PROFIBUS USER MANUAL Leine amp Linde AB 5 4 6 Total measuring range units The total measuring range is defined by the parameter Total measuring range in measuring units The device has two different operating modes depending on the specified measuring range When the device receives a parameter message it checks the scaling parameters if a binary scaling can be used If binary scaling can be used the device selects operating mode A see following explanation If not operating mode B is selected A Cyclic operation binary scaling Cyclic operation is used when operating with 2X number of turns 2 4 8 16 32 64 128 256 512 1024 2048 and 4096 number of turns If the desired measuring range is equal to the specified singleturn resolution 2X where x lt 12 the encoder operates in endless cyclic operation 0 max 0 max For example If the position value increases above the maximum value by rotating the encoder shaft the encoder continues from 0 Example of a cyclic scaling Me
34. ne to the address settings Part Id 740590 01 7 Document Id 740590 Ver 01 Publication date 2010 06 01 PROFIBUS USER MANUAL Leine amp Linde AB Screw terminals Bus termination switch on off Node address switches x100 to the left x10 in the middle and x1 to the right Picture 2 PCB view of a cable gland PROFIBUS gateway Example To set the node address to 115 the switch to the left x100 shall be set to 1 the switch in the middle x10 should also be set to 1 and the switch to the right x1 shall be set to 5 2 1 2 Bus termination In a PROFIBUS net all devices are connected in a bus structure Up to 32 devices master and or slaves can be connected in one segment When more devices are needed repeaters should be used to amplify the signals between segments An active termination must be added in the beginning and end of each bus segment in order to ensure error free operation In case of the gateway such terminators are integrated inside the back cover and can be activated via dip switches as shown in picture 2 If the device is un powered the A and B lines are internally terminated by a 2200 resistor here is a 220 ohm resistor between bus A and bus B line ON OFF Not a valid setting OFF ON Not a valid setting OFF OFF There is no resistor between bus A and bus B line Table 1 Terminating switch settings When gateways with M12 connectors are used the termination can als
35. nected 1 VP 1 A 2 A 2 Not connected 3 DGND 3 B 4 B 4 Chassi 5 Chassi 5 Picture 10 Orientation of M12 bus connectors Table 8 Pinning M12 bus in out lines The cable gland encoders shall be equipped with twisted pair shielded cable in accordance with EN 50170 and PROFIBUS guidelines The guidelines recommend a conductor area higher than 0 34mm2 Permissible outer cable diameter is 8 mm to 10 mm for the bus line cables Located inside the back cover are four screw terminals containing the required bus line terminals marked A and B Cable glands not used should be replaced with a filler plug to ensure proper sealing The filler plug is available as an accessory from Leine amp Linde The A terminal shall be used to connect the A line The B terminal shall be used to connect the B line Picture 11 Terminal connection of bus line cables Note Tighten all screws in the terminal even if no cable has been attached Note The two A terminals are internally connected to each other and the two B terminals are also internally connected to each other so it does not matter to which terminal the bus lines are connected to 3 3 Shielding philosophy To achieve the highest possible noise immunity and resistance against other EMI related disturbances the bus and power supply cables shall always be shielded The screen should be connected to ground on both ends of the cable In certain cases compensation current mi
36. ngs Octet string 20 21 2 Supported warnings Octet string 22 23 2 Profile version Octet string 24 25 2 Software version Octet string 26 27 2 Operating time 32 without sign 28 31 2 Offset value 32 with sign 32 35 2 Manufacturer offset value 32 with sign 36 39 2 Measuring units per revolution 32 without sign 40 43 2 Total measuring range in measuring 32withoutsign 44 47 2 units Serial number ASCII string 48 57 2 Reserved for future definitions 58 61 2 Table 20 Diagnostics message DPVO The length of the diagnostic information of class 1 is limited to 16 bytes compatible with previous DP versions For PROFIBUS DP encoders of class 2 the length of the encoder specific diagnostic data including the extended diagnostic header is 57 bytes The DDLM_Slave_Diag memory range up to octet 99 is reserved for future diagnostic data of class 2 5 6 1 Diagnostic Header The header byte specifies the length of the encoder diagnostics including the header byte The format of the transmission length is hexadecimal For the PROFIBUS DP encoder of class 1 the length of the encoder specific diagnostic data is 10 bytes OAhex Part Id 740590 01 Document Id 740590 Ver 01 Publication date 2010 06 01 29 PROFIBUS USER MANUAL Leine amp Linde AB DDLM_Slave_Diag Bits 7 6 5 0 Data 0 0 xxh Set to 00 Length incl header Extended diagnosis Table 21 Diagnostic header 5 6 2 Alarms
37. nsnsennnnsnessnsnennonnnensnsn nennen 14 EA POWER SUPLE it cd o at e Cleo ee 14 SEET oi A Maat arts Mo Alone hile chs 15 3 3 SHIELDING PHILOSOPHY ccccccccccscsesssceceeeceesessseececececseseaeceeseeesesaaeceesesesessaeeeecesceesesaseeeeeeesensaaeas 15 SAGES AA eege ee ee ANO 16 SS LEDINDICA TON a SEAN EE leg 17 A PLOT EE 18 4 1 DP VO ENCODER CLASSES nenn e a e a a i 19 5 Encoder and Gateway functionality DPVO c cccsesscesassssenssescsansesceecenseeteasconoooseests 20 S l BASIC FUNCTIONALE EE 20 5 2 PROFIBUS DATA TRANSFER PRINCIDLE 20 5 2 1 DURING CONFIGURATION UDDLM CH CrOMOonp nenne 20 5 2 2 DURING PARAMETERIZATION UDODLM Spr DpMMOonE nen 20 5 2 3 NORMAL OPERATION DDLM_DATA EXCHANGE MODE 20 3 CONFIGURATIONS DP VO u id tania iii 20 3 4 PARAMETERIZATION DP VO ui ts 21 3 4 1 CODE SEQUENCE mice nda da sa 21 AZ CLASS 2 EUNCHONA E K Vias baii 22 5 4 3 COMMISSIONING DLAONOSTICH e sisstaersirsrisnes tseo ued inre rapra Vecas rrn h arinaa A aore tairsi ns raye Seiren r ss 22 KE SCALING FUNCTION RR HR E 22 5 4 5 MEASURING UNITS PER REVOLUTION 23 5 4 6 TOTAL MEASURING RANGE UNITTS nn 24 SAT VEEOCTEY ECH Ne EE 26 5 4 8 VELOCITY CALCULATION ueeeeeeeesensnsseenssnssensnsnnnnnnnsnnnsnnsennnnsnsnsnsnsnnnsnsnsnsnsnsennonsnensnsnsnsnnnssensnsn nennen 26 5 5 DATA TRANSFER IN NORMAL OPERATION DDLM_DATA EsCHaNOE 27 5 5 1 DATA EXCHANGE MODE essssssseseesesserereesessssereretssssereeetsessereretssssestrerssss
38. o 0x7FFF 32768 or 0x8000 32768 depending on direction of shaft rotation Note If the velocity control function is used and scaling is set to the device the velocity calculation is based on the scaled position value Consequently the accuracy of the velocity value is dependent of the scaling set to the device 5 4 8 Velocity calculation The velocity calculations are made with a maximum of 19 bits resolution If the resolution is higher than 219 the value used for velocity calculations is automatically reduced to 219 For a multiturn encoder with 212 multiturn resolution the maximum singleturn value will be 219 and the velocity will be calculated on the same resolution as presented in the diagnostic structure For a singleturn encoder the resolution can be up to 31 bit but the velocity calculations will be made on maximum 19 bits This means that in the diagnostic structure the value 231 can be presented but the resolution used for velocity calculations is not presented if the singleturn resolution is higher than 219 The parameter for velocity unit octet 39 can be seen below Octet 39 Bits 7 0 Data 27 90 Velocity Control Steps s RPM revolutions min La u HH ros a ES Table 15 Octet 39 Velocity Control In case of the step s unit an average is made over 200 ms and the value is multiplied by 5 Part Id 740590 01 26 Document Id 740590 Ver 01 Publication date 2010 06 01 PR
39. o be done using a terminating resistor plug The terminating resistor plug is available as an accessory from Leine amp Linde Note When M12 terminating resistor plugs are used the internal terminating switch shall not be activated Part Id 740590 01 8 Document Id 740590 Ver 01 Publication date 2010 06 01 PROFIBUS USER MANUAL Leine amp Linde AB 2 2 1 Power supply The power supply connection of M12 equipped gateways are constituted by a male A coded 4 pin M12 connector Power supply HDH e e Power supply M12 version Function Pin E Volt 9 36Vdc Not connected 0 Volt Not connected BP WwW rm PR Picture 3 Orientation of M12 power supply connector Table 2 Pinning M12 power supply connector Gateways equipped with cable glands are delivered with a dust protection foil from the factory The protection foil needs to be removed prior to installing the cables Gateways equipped with cable glands should always be equipped with a shielded power supply cable with conductor area between 0 34 mm to 1 5 mm Permissible outer cable diameter is 6 mm to 8 mm for the power supply cable The power supply screw terminal is located inside the back cover of the gateway n the case were the gateway is the last node in the bus structure and only the cable glands for Supply and Bus in is in use the Bus out cable gland should be replaced with a filler plug to ensure proper sealing The filler pl
40. on of GSD files 1 Select and save the GSD file for the respective device from our homepage www leinelinde com and then copy the gsd file into the respective directory of the PROFIBUS configuration tool 2 Select the bitmap file of the respective device on the floppy disk and copy the bmp file into the respective directory of the PROFIBUS configuration tool 3 Update the GSD files SCAN Part Id 740590 01 16 Document Id 740590 Ver 01 Publication date 2010 06 01 PROFIBUS USER MANUAL 3 5 LED indication Leine amp Linde AB In order to determine the status of the encoder two LEDs are visible from the rear end of the encoder The module LED indicates status of the module itself The bus LED indicates the status of the bus The table below defines the diagnostic messages using a red BUS and a bicolor Red Green LED MODULE Off No Power Red Green No connection to another device Bus disconnected Criterion no data exchange Master not available switched off Red Red No connection to another device No connection to EnDat Encoder at 2 2 No connection between EnDat power up encoder and PROFIBUS PCB Blinking Red Green Parameterization or configuration Configuration received differs from 1 fault the supported configuration Parameter error in the parameterization Green Red System Failure Diagnosis exists slave in data Exchange mode Position error Green Green Data exchan
41. r supply Encoders equipped with cable glands are delivered with a dust protection foil from the factory The protection foil needs to be removed prior to install the cables The cable gland encoders should always be equipped with a shielded power supply cable with conductor area between 0 34mm2 to 1 5mm2 Permissible outer cable diameter is 86 mm to g8 mm for the power supply cable Located inside the back cover are two screw terminals containing the required power supply terminals marked and In the case were the encoder is the last node in the bus structure and only the cable glands for Supply and Bus in is in use the Bus out cable gland should be replaced with a filler plug to ensure proper sealing The filler plug is available as an accessory from Leine amp Linde The terminal shall be used to connect the EV line 9 36Vdc The terminal shall be used to connect the OV line A BBSS Picture 9 Terminal connection of power supply cables Note Tighten all screws in the terminal even if no cable has been attached Part Id 740590 01 14 Document Id 740590 Ver 01 Publication date 2010 06 01 PROFIBUS USER MANUAL Leine amp Linde AB 3 2 1 BUS lines The PROFIBUS bus line connections of the M12 equipped devices are constituted by a male B coded 5 pin M12 connector bus in and a female B coded 5 pin M12 connector bus out Bus out u I nn Function Pin Function Pin Not con
42. resolution with the number of distinguishable revolutions The default settings for multiturn encoders RXA 607 are Measuring units per revolution 819210 213 Total measuring range in measuring units 819210 213 x 20 The default settings for multiturn encoders RXA 608 are Measuring units per revolution 819210 213 Total measuring range in measuring units 3355443210 213 x 212 Format of the scaling parameters Bits 31 24 23 16 15 8 7 0 Data 931 _ 924 923 _ 916 215 _ 28 27 90 Measuring units per revolution Table 13 Singleturn scaling parameter format Total measuring range in measuring units Table 14 Multiturn scaling parameter format The data format for both scaling parameters is 32 bits without sign with a value range from 20 to 231 The permissible value range is limited by the resolution of the encoder For a 25 bit encoder with a singleturn resolution of 13 bits the permissible value range for Measuring units per revolution is between 20 and 213 8192 and for the Total measuring range in measuring steps the permissible value range is between 20 and 225 33 554 432 The scaling parameters are securely stored in the PROFIBUS DP master and are reloaded into the encoder at each power up Both parameters are output data in 32 bit format Example of scaling and entry If the user wants to scale the encoder to a single turn resolution of 4000 unique positions per revolution a
43. rs should be used to amplify the signals between segments An active termination must be added in the beginning and end of each bus segment in order to ensure error free operation In case of the encoder such terminators are integrated inside the back cover and can be activated via dip switches as shown in picture 7 If the device is un powered the A and B lines are internally terminated by a 2200 resistor Part Id 740590 01 13 Document Id 740590 Ver 01 Publication date 2010 06 01 PROFIBUS USER MANUAL Leine amp Linde AB lt 1 Bit 2 Effect ON ON There is a 220 ohm resistor between bus A and bus B line ON OFF Not a valid setting OFF ON Not a valid setting OFF OFF There is no resistor between bus A and bus B line Table 6 Terminating switch settings When encoders with M12 connectors are used the termination can also be done using a terminating resistor plug The terminating resistor plug is available as an accessory from Leine amp Linde Note When M12 terminating resistor plugs are used the internal terminating switch shall not be activated 3 2 Connecting the encoder 3 2 1 Power supply The power supply connection of M12 equipped encoders are constituted by a male A coded 4 pin M12 connector me Power supply e EEE Function Pin EV 9 36Vdc 1 Not connected 2 OV 3 Not connected 4 Picture 8 Orientation of M12 power supply connector Table 7 Pinning M12 powe
44. sen configuration by drag and drop to the configuration window in lower left view Part Id 740590 01 38 Document Id 740590 Ver 01 Publication date 2010 06 01 PROFIBUS USER MANUAL Leine amp Linde AB Assigning parameters to the DPVO slave By double clicking on the configuration row in the configuration view the parameterization view will be opened ma SIMATIC NCM PC Config SIMATIC PC Station 1 Configuration locprj ah ER DErE 9 ar dae MA gew Insert PL jew Options Winde lo LE Find bus at ai WE PROFIBUS DP A Properties DP slave E E Additional Field Devices 8 Switchgear Address ID Parameter Assignment 1 0 a PROFIBUS 1 DP master system 1 Parameters Value 7 ee Encoder E qa DPV2 Gateway HZ Device specific parameters aj DPV2 Gateway Linear H Code sequence Clockwise CW L amp L PROFIBUS Encoder E Class 2 functionality Enable PROFIBUS Encoder el Commissioning diagnostics No 3 Universal module HEJ Scaling function control Disable Scaling H Encoder Class2 16 Bit E Measuring units per revolution 8192 Encoder Class2 32 Bit HE Total measuring range 33554432 9 Encoder Class 16 Bit E Velocity output unit Steps 1000 ms 3 Encoder Class1 32 Bit 433 Hex parameter assignment H Encoder Class2 32 Bit velocity LE User_Prm_Data 0 to 7 00 02 00 00 20 00 02 00 PROFIBUS Gateway HE User_Prm_Data 8 to 15 00 00 00 00
45. sistency Position Class 2 32 16 bits F1 DOhex 3 input data word 2 output velocity data words for preset value data consistency The selection of class depends on the demands required by the application but for enabling full functionality of the device it is recommended to choose Encoder class 2 32 bit velocity Part Id 740590 01 19 Document Id 740590 Ver 01 Publication date 2010 06 01 PROFIBUS USER MANUAL Leine amp Linde AB 5 Encoder and Gateway functionality DPVO 5 1 Basic functionality The Picture below gives an overview of the basic encoder and gateway functions and how the functionality is conducted within the device Physical position Code sequence EF Singleturn resolution Absolute position Number of distinguishable revolutions lt Measuringunits per revolution Total measuring range in measuring units Scaling function contro status Preset function Preset value gt Offset value Output position value Picture 13 Basic functionality 5 2 PROFIBUS data transfer principle The PROFIBUS DP devices can be configured and parameters can be set according to the user s needs In this context it is useful to know that with PROFIBUS there are different types of data transmission 5 2 1 During Configuration DDLM_Chk_Cfg mode The configuration function allows the DP Master to send the configuration data to the DP device for checking The main purpose is to define the number of by
46. ssetretssssesereesessesrrereesso 27 3 2 PRESET H Eet DLO IN WEE 28 SO DIAGNOSTICS 8h Mek ER ESA EE AI 29 Part Id 740590 01 2 Document Id 740590 Ver 01 Publication date 2010 06 01 PROFIBUS USER MANUAL Leine amp Linde AB 5 6 DIAGNOSTIC HEADER es eriekin e a a Ee Eh 29 SOZ ALARMS EE 30 S ER OP RRA NES A HE 30 5 6 4 ENCODER TYPE AEE EER E AE EE AT EE A 31 5 6 5 SINGLETURN RESOLUTION OR MEASURING STEP 32 5 6 6 NUMBER OF DISTINGUISHABLE REVOLUTIONS sssssssssessssseseseessssesrrersesssserererssssesereesesseserersesse 32 5 6 7 ADDITIONAL ALARMS aaeeeeeesesssssnsnsnnnnnnnsnensnnnnnnnsnsnnnsnsnnnnnnnsnsnsnsnnennsnsnessnsnennsnssessnsnsennsnsnensnsn nenn 32 5 6 8 SUPPORTED ALARMS ccsecscscceceesssssseceecceesessaseceeececsesaseceeecsesesaaeseeececsesaaeeeecceceenssaseeeeeseeeneaaeas 33 5 6 9 WARNINGS csssssccccccccsssscsscccececsesscseaecececsenssueecececeessscaececccsensnsuaeeeeccsensnseaeeesecscsessaaeeesscsesensaaees 33 5 6 10 SUPPORTED WARNINGS auueeesesussnsnensnnnsnensnsnnnnnnnnnnnsnsnnnnnnnnnsnsnsnnennsnsnnnsnsnsennsnsnensnsnnennonnenssnsnnenenn 34 5 6 11 PROFILE VNERSION 35 5 6 12 SOFTWARE VERSION cccccccccccccsessssscecececeesesseseceecceesesssaeceeeceesesaueceesceceeeaaeeeecceceesssaseeeeeseeensaaeas 35 5 6 13 OPERATING TuwME 35 3 6 14 OFFSET VALUE sn ana anne Rs In en Cees Cen percal terre LACES 36 5 6 15 OFFSET VALUE OF THE ENCODER MANUEACTURER 36 5 6 16 SCALING PARAMETERS BETTINGEN 36 5 6 1 7
47. te 2010 06 01 PROFIBUS USER MANUAL Leine amp Linde AB 3 RSA RHA 6X8 Encoder Installation 3 1 Settings inside the encoder The encoder node address and bus termination must be configured during commissioning of the device This is done by removing the back cover i e screwing off the three screws at the rear of the encoder 3 1 1 Node address The node address of the encoder can be set via two decimal rotary switches located inside the back cover The weighting x10 or x1 are specified beside the switches Permissible address range is between 0 and 99 but the lower addresses 0 to 2 are usually used by the master and not recommended to be used by the device Each address used in a PROFIBUS network must be unique and may not be used by other devices The device address is only read and adopted when the encoder power supply is switched on A restart of the encoder is therefore required in order to adopt changes done to the address settings Screw terminal Bus termination switch on off Node address switches x10 to the left x1 to the right Picture 7 PCB view of a cable gland PROFIBUS encoder Example If the node address shall be set to 85 the left x10 switch shall be set to 8 and the right x1 switch shall be set to 5 3 1 2 Bus termination In a PROFIBUS net all devices are connected in a bus structure Up to 32 devices master and or slaves can be connected in one segment When more devices are needed repeate
48. tes used for the Data_Exchange function 5 2 2 During parameterization DDLM_Set_Prm mode When the system is started the PROFIBUS devices are parameterized DDLM_Set_Prm mode i e the encoder class set by means of the GSD file in the configuration tool see chapter 4 and the set operating parameters see chapter 5 4 are transferred to the respective slave 5 2 3 Normal operation DDLM_Data Exchange mode In the normal mode DDLM_Data Exchange mode data are exchanged between master and slaves The preset function can be carried out only in this operating mode The data exchange is described in chapter 5 5 5 3 Configuration DPVO The configuration of a DPVO device is conducted by choosing encoder class i e setting the input output data structure The configuration options are 16 bit 32 bit or 32 bit 16 bit velocity input data for explanation view chapter 4 1 Part Id 740590 01 20 Document Id 740590 Ver 01 Publication date 2010 06 01 PROFIBUS USER MANUAL Leine amp Linde AB 5 4 Parameterization DPVO The PROFIBUS DPVO device is parameterized by means of the operating parameters The values selected in the configuration tool are saved in the DP master and are transferred to the PROFIBUS DP slave each time the network is started m The following table lists all available parameters Code sequence Bit 9 1 Class 2 functionality Bit 9 2 Commissioning diagnostics Bit 9 Optional Scaling fu
49. to the fact that tomorrow s technology already is used today in Leine amp Linde products Leine amp Linde concentrate on advanced development of intelligent encoders with integrated ASICs new special features and with adaptations to different fieldbus systems This enables us to meet the need for increasingly effective and dependable machines and automation to an even higher degree 1 4 1 Technical and commercial support Leine amp Linde are represented by subsidiaries in many countries around the world In addition to the address listed here there are many services agencies and distributors located worldwide ready to reply to commercial enquires or technical support For more contact information please visit our web site or contact Leine amp Linde in Str ngn s Sweden Leine Linde AB Olivehallsvagen 8 SE 645 21 Strangnas Sweden e mail info leinelinde com web www leinelinde com Tel 46 152 265 00 Fax 46 152 265 05 1 5 References PROFIBUS Encoder profile V1 1 Order No 3 062 1 5 1 Abbreviations PROFIBUS Process Field Bus PI PROFIBUS International PNO PROFIBUS Nutzerorganisation e V PROFIBUS user organization GSD German term Geratestammdaten A GSD is the device database file also called device datasheet DP Decentral Periphery Input data Data which the master receives from the encoder Output data Data which the encoder receives from the master PDU Protocol Data Unit DDLM Direct Data
50. ug is available as an accessory from Leine amp Linde The E terminal shall be used to connect E Volt 9 36Vdc The OV terminal shall be used to connect 0 Volt SD OSS S 6 ODO S PEDAL ELE ADVE ec Picture 4 Terminal connections of power supply cables Note Tighten all screws in the terminal even if no cable has been attached Note The two E terminals are internally connected to each other and the two 0V terminals are also connected to each other i e it does not matter to which pair the E Volt and 0 Volt are connected to Part Id 740590 01 9 Document Id 740590 Ver 01 Publication date 2010 06 01 PROFIBUS USER MANUAL Leine amp Linde AB 2 2 1 BUS lines The PROFIBUS bus line connections of the M12 equipped devices are constituted by a male B coded 5 pin M12 connector bus in and a female B coded 5 pin M12 connector bus out Bus in 7 I Bus out HDH o _Bus in lines _Bus out lines Function Pin Function Pin Not connected 1 VP 1 A 2 A 2 Not connected 3 DGND 3 B 4 B 4 Chassi 5 Chassi 5 Picture 5 Orientation of M12 bus connectors Table 3 Pinning M12 bus in out lines The cable gland gateways shall be equipped with twisted pair shielded cable in accordance with EN 50170 and PROFIBUS guidelines The guidelines recommend a conductor area higher than 0 34 mm2 Permissible outer cable diameter is 8 mm to 10 mm for the bus lines cables Locate
51. xdb file was saved and choose the xdb file and click on the open button If everything is ok the Run stop column will show a green ok Note Please refer to the respective manufacturer for information on the configuration of other PROFIBUS DP master interface modules Part Id 740590 01 41 Document Id 740590 Ver 01 Publication date 2010 06 01 PROFIBUS USER MANUAL Leine amp Linde AB Appendix A History Revision Date Changes Rev 1 0 2010 06 01 First release Part Id 740590 01 42 Document Id 740590 Ver 01 Publication date 2010 06 01

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