CRT absolute encoders with PROFINET interface
Contents
1. the absolute position of the absolute encoder The reference value is the position value which is displayed at the reference point The user must note that the reference value must lie within the range of 0 to total number of steps 1 This particularly has to be taken into consideration when changing the total number of steps In cyclical I O data traffic the reference value is transferred by setting bit 31 octet 1 bit 7 of the output byte with the lowest value Setting the reference value is only possible when scaling is switched on see Chapter 6 Octet 1 Octet 2 Octet 3 Octet 4 G mau gr S 49 eu Oly 68 465 2 olv dg sa 9 9 1 9 sr so ee ee er es esee es es ev ps se Tos 4 se Tn vo Te 7 T8 8 TT T2 3T boo o oto o 25 bit preset value CRTxx 8192R4096C4Zxx el oololoJoJolo 24 bit preset value CRTxx 4096R4096C4Zxx As in the case of the position value the preset value is coded as a 32 bit unsigned integer in Motorola format Big Endian The preset value is taken over with the ascending flank of bit 31 An offset value is calculated from the current actual position value and the reference value by the absolute encoder in this case This is stored in the absolute encoder where it is protected against zero voltage with the result that the new position is correctly output again even following voltage failure If the output actual position value is equal to the reference value resetting can be carried out using2. 20 479 steps as desired Date 03 04 2012 Page 26 of 29 data sheet no CRT 11890 CE 7 Diagnosis 7 1 Overview The data records listed in the table below are available for diagnosis for the CRT These can be read out using the acyclical read services Record Index 0x8028 Input values from the point of view of the control system here position value 0x8029 Output values from the point of view of the control system here preset value OxAFFO I amp MO data according to I amp M specifications version 1 2 OxBFO01 Parameter data see Chapter 6 OxFDE9 Diagnostic data see below 7 2 Diagnostic data Diagnostic data in data record OXFDE9 Byte Datatyp Diagnostic function Default Diagnostic values in hex alarm BYTE Reserved 00 BYTE Operating status No m on BYTE Encoder typ Absolute multiturn encoder o 11 14 UINT32 Maximum resolution 0000 1000 No 4096 8192 steps revolution 0000 2000 17 UINTS Additions alarm messages 00 No 22 23 UINT16 Supported warning messa 0000 Not supported ges 24 25 UINT16 0101 Current encoder profile version 26 27 UINTIG 28 31 UINT32 Operating time FFFF FFFF Not supported 32 35 UINT32 Offset value 0000 0000 No Current internally calculated offset value 36 39 UINT32 Manufacturer offset value 0000 0000 Not supported 40 43 UINT32 Resolution 0000 1000 No Currently set resolution 0000 2000 44 47 UINT32 Total numb
3. is protected against zero voltage The absolute encoder now logs onto the con troller with its device name and is then provi ded with a valid IP address by the controller This is also stored in the absolute encoder where it is protected against zero voltage Fig 14 Date 03 04 2012 Edit Ethernet Node r Ethernet node Nodes accessible online 00 0E CF 03 00 03 Browse MAC address r Set IP configuration Use IP parameters Gateway Do not use router Use router Addres IP address Subnet mask m Obtain IP address from a DHCP server Identified by Client Il Device name gt aaar Client ID Assign IP Configuration r Assign device name Device name CRT Assign Name r Reset to factory settings Reset Help data sheet no CRT 11890 CE Close Page 16 of 29 4 10 Resetting to the default settings The absolute encoder can be reset to its delivery condition using the Reset button in the Edit Ethernet subscribers dialogue Figure 14 The following are reset Delivery condition Parameters See Chapter 6 2 for default values Offset 0 i e the preset setting is undone Device name Empty IP parameters All 0 After resetting the connection to the profinet controller is closed and the NS LED lights up red After switching the voltage off on the connection can be re established by assigning the device nam
4. planned topology all subscribers receive their planned names from the controller and device exchange succeeds without the reassign ment of the device name Date 03 04 2012 Page 15 of 29 data sheet no CRT 11890 CE 4 9 Assignment of the device name TWK ELEKTRONIK If a PROFINET topology has not been defined as described in Chapter 4 8 or if the prerequisites for automatic com missioning are not met the absolute encoder name must be assigned manually With the absolute encoder connected and the programming device connected to the control System select Target system Edit Ether net subscribers in the Simatic Manager to do this Press the Browse button in the sub sequent dialogue All accessible PROFINET subscribers should now be shown as portra yed in the example in Figure 13 Browse Network 3 Nodes Start m IP address MAC address 192 168 20 1 00 0E 8C D1 D8 47 57 300 Name pn io 0 0 0 0 O0 0E 8C E0 48 97 SCALANCE switch 0 0 0 0 00 0E CF 03 00 03 TWK C Seri IV Fast search Mil 00 0E CF 03 00 03 Cancel Help Flash MAC address It can be seen that the absolute encoder device type TWK C series does not possess either a valid IP address or a name Now mark the absolute encoder and exit the dialogue with OK In the subsequent dialogue enter a device name the default setting is CRT and click onto the Assign name button The device name is then stored in the absolute encoder where it
5. properties of the module 14 4 5 1 Setting ihe WO address en a ee 14 4 6 2 Parameterising the absolute encoder anne tro obtu ipu uuo cede acess 14 4 7 Setting real time mode and the updating time 2 unssrssrssssnnsnnsnnnnnnnannannennennnnnnnnnaneneneen 15 4 8 Planning of Device exchange without programming device and Automatic commissioning 15 4 9 Assignment of the device Name sauce reper iita otra Mosa ride lead iri dudes abili atra za Lg Ra Ei 16 4 10 Resetting to the default settings nu aan 17 4 11 Application ro ges ysmneeeee ener nnne nnn nnne ne nnne nsn nenne nnne nnne nenne nnns 18 4 11 1 Position value and preset 18 4 11 2 Reading Qlagnosie CANA TET ea 19 4 11 3 Writing parameters aida ca ET LO ee een 21 5 Date Tor Mal ee 23 5 1 Module Glass2 KX DIE user 23 5 2 Module Class2 position xx Dit velocity anna retira stunt a aporte cie exe 23 sEcigsquegKo Me T 23 DH ccu pec is 23 5 5 Setting the reference value preset value eene nnne nnnm nnn nnns 24 Date 03 04 2012 Page 3 of 29 data sheet no CRT 11890 CE Mixage 25 LEES a E E R ER E E E 25 6 2 Description of the absolute encoder parameters ccccceeceeceeeeeeee eee eeeeeeeeeeeeeeeeeeeeeteeeeeeeeeeeeees 25 Tc DIAGNOSIS ai 27 RES AA 2
6. value System error or wrong module 3 4 Project planning A device description file GSD file in the XML format GSDML and an image bitmap to integrate the absolute en coder into a project planning tool are available in the internet under www twk de File name of the GSD file GSDML V2 25 TWK CRT 20120229 xml The version and date may vary depending on the status of the GSD file File name of the bitmap GSDML 0159 1000 TWK_CRT bmp Project planning using the example of Step7 is explained in the following chapter Date 03 04 2012 Page 8 of 29 data sheet no CRT 11890 CE TWK ELEKTRONIK 4 Project planning with Simatic Step7 This chapter explains the procedure for integrating the TWK CRT absolute encoder into the PROFINET network of a Siemens S7 control system The documentation is based on Step7 version 5 5 4 1 Prerequisites You have created a hardware configuration in accordance with your control system structure and a PROFINET sub network This is shown here using the example of a CPU314C 0 UR PS 307 54 CPU 314C 2 PN DP MELDE PIO Post 1 Post 2 DI24 DOT6 A AQ2 Z hlen Ethemet 1 PROFINET IO System 100 Fig 2 4 2 Installation of the GSD file Under Extras in the hardware configuration select Install GSD files Set from the directory browse to your GSD file and click on Install see Figure 3 The absolute encoder symbol is also installed automatica
7. 7 7 2 Diagnostic dala un ae ee 27 3 Manifaglurer speciie diagnosti dal a tme Sacr eub oia a EAE a 28 8 Scope DI QellVOlV nee 29 Annex A absolute encoder terms aa u 29 Date 03 04 2012 Page 4 of 29 data sheet no CRT 11890 CE 1 Safety instructions 1 1 Scope This user manual is valid exclusively for the following absolute encoders with PROFINET interface CRTxXx xxxxRxxxxC4MO1 1 2 Documentation The following documents must be observed The owner s system specific operating instructions This user manual Data sheet number CRT 11889 The connection assignment enclosed with the device Assembly instructions TZY 10206 enclosed with the device 1 3 Proper use The TWK ELEKTRONIK GmbH absolute encoders and linear transducers are used to register angular or linear po sitions and make their measured value available in the form of an electrical output signal As part of a system they have to be connected to the downstream electronics and must only be used for this purpose 1 4 Commissioning The relevant device may only be set up and operated in combination with this and the documentation specified under point 1 2 Protect the device against mechanical damage during installation and operation Device commissioning and operation may only be undertaken by a specialist electrician Do not operate the device outside of the limit values specified in the data sheet Check all electrical connections before commissioning the
8. 8192R4096C4Zxx olololofoJololo 24 bit position data CRTxx 4096R4096C4Zxx 5 4 Velocity The velocity value is determined via the cyclically read in of the position data The dimension is steps per gating time The gating time time interval for determining the change of position is adjustable in the range of 10 10000 ms The default value is 10 ms Octet 5 Octet 6 765 aa 2 8855 4 5 2 i ps nis ev fio of el7 e s 4 s 2 i fol 16 bit velocity The speed value is output as a 16 bit signed integer value in Motorola format Big Endian The following applies to the prefix positive for increasing position negative for decreasing position The refresh rate of the velocity signal is independent from the selected gating time always 10 ms The speed measurement resolution is independent of the resolution set for the position value resolution parameter It is always based on a resolution of 4096 steps per revolution Date 03 04 2012 Page 23 of 29 data sheet no CRT 11890 CE The steps gating time unit can be converted to rpm as follows v x 60000 t v encoder output for speed value 4096 t gating time in ms u speed in rpm 5 5 Setting the reference value preset value The set reference value preset value function should only be executed whilst the absolute encoder shaft is statio nary In certain cases setting the reference value is unavoidable in order to compare the machine position values and
9. I d Outputs Start o Process image End 3 OB1 PI Cancel Help Fig 2 10 4 6 2 Parameterising the absolute encoder The absolute encoder s parameters can be changed in the Parameters tab An explanation of the parameters can be found in Chapter 6 The following figure shows the parameters tab for the module Class2 24 bit Properties Class2 24 Bit R S1 General Addresses Parameters Hy Common Parameters 2 Code Sequence H J Scaling Function amp Resolution steps turn amp Total Measuring Range steps l 16777216 Cancel Help Fig 11 Date 03 04 2012 Page 14 of 29 data sheet no CRT 11890 CE 4 7 Setting real time mode and the updating time The following dialogues are accessed via the PROFINET system s context menu Ethemet 1 PROFINET IO System 100 Copy Ctrl C 4 Insert Object Edit PROFINET IO System IP addresses PROFINET IO Domain Management PROFINET IO Topology Setting of the IRT mode and transmission cycle etc Delete Del Move Go To gt Alt Return Setting of the transmission cycle in RT mode and the updating time Object Properties Order number Firmware Assign Asset ID DRT xx xxxxR 40 V1 08 Fig 12 Set the transmission cycle and the desired updating time in the corresponding dialogue Alternatively the updating time can also be set via th
10. Resolution steps revo 1 4096 8192 To change this the parameter lution Scaling function must be set to on Total number of steps 1 16 777 216 16 777 216 To change this the parameter steps 33 554 432 33 554 432 Scaling function must be set to on 10 11 Gating time ms 10 10000 Only for module Class2 position xx bit velocity from firmware version 2 0 on Notes Coding All values in Motorola format Big Endian Total number of steps It must be noted that the number of revolutions is calculated in powers of 2n internally in the encoder Irrespective of this requirement the user can programme the desired total number of steps and the desired resolution according to the application During calculation the absolute encoder uses the next highest power of 2n if necessary In this case the values are designated as the effective resolution or the effective total number of steps and are displayed as the output values Date 03 04 2012 Page 25 of 29 data sheet no CRT 11890 CE Example Desired total number of steps 20 480 Desired resolution 4096 Desired number of revolutions 5 Internal absolute encoder calculation Effective total number of steps 32 768 Effective resolution 4096 Calculated number of revolutions 8 Note The above notice is to be taken into consideration in the case of non reversible operation In the listed example position 0 is only reached after 32 767 steps and not after
11. TWK ELEKTRONIK Data sheet no CRT 11890 CE Date 03 04 2012 CRT absolute encoders with PROFINET interface Relevant data sheet CRT 11889 User manual TWK ELEKTRONIK GmbH D 40041 Dusseldorf Tel 49 211 96117 0 info twk de Heinrichstrasse 85 Postbox 10 50 63 Fax 49 211 637705 www twk de COPYRIGHT The CRT 11890 operating instructions are owned by TWK ELEKTRONIK GMBH and are protected by copyright laws and international treaty provisions 2011 by TWK ELEKTRONIK GMBH POB 10 50 63 m 40041 D sseldorf m Germany Tel 49 211 63 20 67 m Fax 49 211 63 77 05 info twk de m www twk de Date 03 04 2012 Page 2 of 29 data sheet no CRT 11890 CE 1 Safety MNS UU CHONG une 5 Ass c rn 5 1 2 PO BMS cien TH TN 5 1 3 Proper USE C 5 je Ee iss PETRO duped aaa sea 5 2 General information RR 6 3 DS TANGO 7 3 1 Generalinlarmallon tec ba esta 7 as Blecical EONNER ON esiaine rey ct Aer ere eee e pns m eee ree 7 33 AS LED ee ae cg een 8 3b Project PLANNING caceshsmrcninzeccneadaaqeiece 8 4 Project planning with Simatic Step7 9 4 1 PrereguisSiteS me 9 4 2 Installation of the GSD file sun 9 4 3 Installing the absolute Encoder ne ee rama be tu OMEN ue bU tdem SU M EE 10 4 4 Installing the module sisirin ENTARA E E Eaa diaa 11 4 5 Setting the network data CRT properties un a 13 4 6 Setting the absolute encoder
12. bit 31 as preset mode is ended On inputting an incorrect preset value control bit 31 has to be set to zero before inputting the correct preset value in order to rectify the error The preset value can therefore be reset by setting control bit 31 to 1 Date 03 04 2012 Page 24 of 29 data sheet no CRT 11890 CE 6 Parameterisation Parameterisation of the absolute encoder is carried out using the acyclical PROFINET services In the case of the Simatic S7 control system this is carried out during starting as default but can also be carried out during I O data traffic via the user programme Attention Never change the parameterisation whilst a system or machine is in operation The data record number record index of the parameter data is OXBFO1 6 1 Overview Datatype Designation Default UINT32 Single turn resolution steps turn 4096 8192 cn UINT32 Total measuring steps steps 33 554 492 10 11 INT16 Gating time ms The values in brackets represent the absolute encoders with 25 bit total number of steps CRTxx 8192R4096C4Zxx 6 2 Description of the absolute encoder parameters Code path 0 clockwise cw clockwise Ascending values on rotation 1 counter clock cw clockwise CW or wise ccw counter clockwise CCW When looking towards the shaft 1 2 Not used 3 Scaling function The reference value and parame ters are only taken over or be come active with o
13. e If the connections have been defined using the topology editor the CRT restarts automatically with the name assi gned during project planning Date 03 04 2012 Page 17 of 29 data sheet no CRT 11890 CE 4 11 Application programme All of the program modules in the following examples can be found in the internet under www twk de Note TWK ELEKTRONIK GmbH provides no guarantee for the correct functioning of the example programmes shown here 4 11 1 Position value and preset Once the absolute encoder has started up on the PROFINET the absolute encoder s position value can be read in as a double word and the preset can be set as a double word under the input address assigned in Chapter 4 6 1 See Chapter 5 for the data format In the following example bytes 0 to 3 have been selected as the absolute encoder s I O address OB 1 Display position value and set preset Bl Main Program Sweep Cycle Comment Generate one flag Network 2 Read actual CRT position Date 03 04 2012 Page 18 of 29 data sheet no CRT 11890 CE 4 11 2 Reading diagnostic data On occurrence of a PROFINET device diagnostic alarm OB 82 is run through in S7 Amongst other aspects the trig ger for the diagnostic alarm can be ascertained in this The diagnostic data can then be read out with SFB52 The events which trigger a diagnostic alarm in the absolute encoder can be found in Chapter 7 2 The following example shows how this can be imp
14. e interface s object properties The default value is 2 ms for the updating time and 1 ms for the transmission cycle The minimum updating time for the CRT is 0 5 ms 4 8 Planning of Device exchange without programming device and Automatic commissioning If system restarting without the assignment of a new device name or the IP address is to be possible following the exchange of an installed absolute encoder with a mint condition device this must be taken into consideration during project planning This also applies to Automatic commissioning in which the manual and in the case of larger pro jects time consuming assignment of the device name as described in Chapter 4 9 is avoided during commissioning The following prerequisites have to be met The controller and the devices must support the function Device exchange without interchangeable medium or programming device for the latter at least the device itself and its neighbouring devices The CRT supports this function The function Device exchange without interchangeable medium must be activated in the controller This is the default setting The devices must be in delivery condition i e they must not yet possess any device name Now call the topology editor using the PROFINET system s context menu see Fig 12 and define all PROFINET connections between the subscribers If the project is now loaded into the control system and the actual structure corresponds to the
15. er of steps 01 000 0000 Current total number of steps pum 000 0000 48 57 BYTE No Serial number of the device 58 59 BYTE a ny RR 60 63 BYTE Manufacturer specific dia 00000000 Yes See Chapter 7 3 gnostic data The values in brackets represent the absolute encoders with 25 bit total number of steps CRTxx 8192R4096C4Zxx Date 03 04 2012 Page 27 of 29 data sheet no CRT 11890 CE 7 3 Manufacturer specific diagnostic data Byte Bit Errormessage Position value RedLED Help 60 0 7 Notused E pev Noused BE Be n s s c n 62 Flash memory error Rapid flashing 10 Hz 1 Module error Rapid flashing 10 Hz 2 7 Notused Please repeat parameter value transfer or switch the voltage off on to restart the rotary encoder Exchange the device as Soon as possible The selected module is not supported by the encoders firmware Please select a different module in your hardware configu ration NENNEN 63 0 1 Notused ooo 2 Parameter error Flashing 2 Hz 3 Scaling error Unchanged Flashing 2 Hz 4 The value for the total number of steps must lie in the resolution range resolu tion x max number of revolutions 4096 Please switch on the scaling function before setting the preset or changing the values for the resolution and total number of steps Notused BE Internal error Rapid flashing 10 Hz Please repeat param
16. eries Device name CRT GSD file GSDML V2 25 TWK CRT 20110630 xml Change Release Number Node in PROFINET 10 System Device number E PROFINET10 System 100 IP address 192 168 20 16 Ethernet IV Assign IP address via ID controller Comment Fig 9 System and location codes can be specified for the absolute encoder in the Identification tab These are stored in the S7 project The Shared tab offers the option of generating a Shared device which is simultaneously used by two or more IO controllers If the absolute encoder is operated as a shared device the various IO controllers access to the absolute encoder can be set in the Access tab Date 03 04 2012 Page 13 of 29 data sheet no CRT 11890 CE TWK ELEKTRONIK 4 6 Setting the absolute encoder properties of the module 4 6 1 Setting the I O address The dialogues for setting the I O address and for setting the absolute encoder parameters can be accessed by double clicking the installed module slot 1 line or via the module s context menu Set the input address for the position value respectivly position and velocity value and the output address for the preset value in the Addresses tab See Chapter 5 for the data format The following figure shows the addresses tab for the module Class2 24 bit Properties Class2 24 Bit R S1 General Addresses Parameters m Inputs Start J 0 Process image End OB1 P
17. eter value transfer or switch the voltage off on to restart the rotary encoder Preset error Unchanged Flashing The preset value must lie in the range O 2 Hz total number of steps 1 7 Velocity range ex Unchanged Flashing Please reduce speed or the value for the 2 Hz gating time Date 03 04 2012 Page 28 of 29 data sheet no CRT 11890 CE 8 Scope of delivery The scope of delivery includes Absolute encoder with PROFINET interface Connection assignment TY XXXXX depending on the device variant Available for download on www twk de are the corresponding datasheet this user manual the PNO certificate example programmes GSD file and bitmap Annex A absolute encoder terms Explanation Resolution steps 360 The resolution specifies the number of steps per revolution 360 Measuring range The measuring range specifies the maximum number of revolutions The revolutions must be specified in powers of 2 Total number of steps The total number of steps arises as follows total number of steps resolution x measuring range Code path The code path specifies the direction of rotation in which the encoder s output code ascends Depending on the direction of rotation a distinction is made between CW clockwise direction of rotation CCW counter clockwise direction of rotation when looking towards the shaft Reference value preset The reference value is the value which appears as the encoder s ac
18. lemented in Step7 The absolute encoder again has the I O address logical basic address 0 in this case The control system transfers the logical basic address of the device which has transmitted the diagnostic alarm in the local variable ZOB82 MDL ADDR Note In addition to the diagnostic data the other data records listed in Chapter 7 can also be read out with SFB 52 OB 82 Evaluation of the local OB 82 data and initialisation of the read job 0BSZ Title BS2 is run through as soon as an assembly module submits a diagnostic request or sends an alarm Network 2 Set diagnostic requirement Absolute encoder with logical basic address 0 Network 5 Read data record with SFBSZ Date 03 04 2012 Page 19 of 29 data sheet no CRT 11890 CE TWK ELEKTRONIK FBl Diagnostic data read Network 1 Call SFBS2 RDREC DB52 Ml 0 M10 0 pusleso 535 63 P DB100 DEX1 0 BYTE 63 Network 2 Data valid H11 5 M10 0 Mll 0 Network 3 Busy Mll 6 RS M10 0 R H11 1 s Q Network 4 Error M11 7 M10 0 M11l z Network 5 Reset diagnostic requirement M10 0 Date 03 04 2012 Page 20 of 29 data sheet no CRT 11890 CE TWK ELEKTRONIK 4 11 3 Writing parameters On starting the PROFINET the parameters set in the hardware configuration are transferred to the CRT and are sto red in the absolute encoder s flash memory However the S7 user programme enables these to be changed during operation Each change al
19. lly Note The GSD file and the encoder symbol are available for download under www twk de Install GSD Files Install GSD Files from the directo C Dokumente und Einstellungen Bus2 Eigene Dateien Downloads 0 Browse GSDML V2 25 TwK CRT 20110630 ml 06 30 2011 12 00 00 AM v2 25 English German y Install Show Log Select All Deselect All Close Help Fig 3 Date 03 04 2012 Page 9 of 29 data sheet no CRT 11890 CE TWK ELEKTRONIK After installing the GSD file the hardware catalogue is automatically updated The CRT absolute encoder is located under PROFINET Further FIELD DEVICES Encoders TWK C series CRT 482 PROFINET IO Additional Field Devices Encoders H TWK C Series a CRT CRT Fig 4 4 3 Installing the absolute encoder Now drag the CRT absolute encoder onto your PROFINET system using the mouse fis HW Config SIMATIC 300 1 Configuration Me PNIO By Station Edit Insert PLC View Options Window Help Dui S H Wy Ep Rs codd HO We Eind Profile Standard PROFIBUS DP us 82 PROFIBUS PA Ethemet 1 PROFINET IO System 100 PROFINET IO E CARERE III LL E a a ae Eg Additional Field Devices Encoders Eg TWK C Series DI24 DO16 ac AIS AOZ sg CRI Drives ni Gateway HMI Network Components Sensors Fig 5 The absolute encoder s PROFINET interface is then installed
20. ly enables tree and star topo logies but also the linear topology Media redundancy protocol support enables the establishment of a redundant ring The setting of addresses the baud rate or terminating resistors on the device is not necessary 3 2 Electrical connection The M01 type absolute encoders have separate connectors for the supply and the PROFINET system Port 1 or port 2 are optionally available for the PROFINET connection Due to the integrated switch it is irrelevant which port is used Connector type PROFINET M12x4 D coded socket PROFINET M12x4 D coded socket Voltage supply 24 VDC M12x4 A coded pins Refer to data sheet No 11889 for connector assignment and ordering information UB L A1 L A2 NS View of the rear side of the encoder 24VDC Poi ni Fig 1 24 V voltage supply Date 03 04 2012 Page 7 of 29 data sheet no CRT 11890 CE 3 3 Status LEDs Four LEDs are housed in the absolute encoder s connecting cap These have the following meaning UB Link1 Link2 Status Desenbtion VB L A1 L A2 NS p gr n rot Operating voltage available Network connection established Network connection established Green Data exchange device in operation and OK Red slow flashing 1 Hz Red flashing 2 Hz Fast red flashing 10 Hz Red Connection to the PROFINET controller disrupted Firmware download mode Impermissible parameter or preset
21. ocity 4 Class2 position 25 bit velocity Lares pp Gateway m HMI amp 1 0 J Network Components H Sensors 9 Switching devices SIMATIC 300 SIMATIC 400 SIMATIC PC Based Control 300 400 8 SIMATIC PC Station Fig 7 it E e TWK ELEKTRONIK GmbH x 4 Byte Position 4 Byte Preset ModuleldentNumber 0x1010 _ SubmoduleldentNumber 0x0001 API 0x3D00 GSDML V2 25 TWK CRT 20120213 xml data sheet no CRT 11890 CE Page 11 of 29 TWK ELEKTRONIK The network data can be set by double clicking onto the absolute encoder symbol see Chapter 4 5 and the I O address plus the absolute encoder parameters can be set by double clicking onto the line Slot 1 see Chapter 4 6 PS 307 54 CPU 314C 2 PN DP Ethemet 1 PROFINET O System 100 PIO Port T Post 2 a 1 CRT DI24 D016 AI S AD2 Double click to set m the network data see chapter 4 5 Double click to set the I O addresses and to parameterise see chapter 4 6 Z hlen Positionieren v E u gt DES Slot Module Order number address Q address Diagnostic address Comment Access DHIssssssH4POSECAMs ah AT dete TC Frag Aet Lll OY a TA Added ur F Clas Bit 0 3 0 3 Full Fig 8 Date 03 04 2012 Page 12 of 29 data sheet no CRT 11890 CE TWK ELEKTRONIK 4 5 Setting the network data CRT properties The following dialogue appears by double clicking on
22. so leads to storage in the flash memory Note the following when changing the parameters from the user programme Attention The new parameters are immediately valid This function must not be executed without extensive tests during system or machine operation OB1 Calling FB2 for writing the parameter data Network 6 Write data record with SFB53 FBZ Write data record Network 1 Call SFB53 WRREC DU 16 0 16639 9 P DBl0Ol DBX0 0 BYTE 9 Date 03 04 2012 Page 21 of 29 data sheet no CRT 11890 CE TWK ELEKTRONIK Network 4 Error Date 03 04 2012 Page 22 of 29 data sheet no CRT 11890 CE 5 Data format 5 1 Module Class2 xx bit Input data Device gt Controler Octet 1 Octet 2 Octet 3 Octet 4 MSB position data LSB Ausgangsdaten Controler gt Device MSB preset data LSB 5 2 Module Class2 position xx bit velocity Input data Device gt Controler Octet 1 Octet 2 Octet 3 Octet 4 Octet 5 Octet 6 MSB position data LSB MSB velocity LSB Output data Controler gt Device Octet 1 Octet 2 Octet 3 Octet 4 MSB preset data LSB 5 3 Position data The position value is output as a 32 bit unsigned integer value in Motorola format Big Endian Octet 1 Octet 2 Octet 3 Octet 4 65 921 Oly amp 5 42S 21 Oly 6 8 Aag ela sug 31 30 29 2e 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 1 j10 9 e 7 os 4 3 2 i fo o 25 bit position data CRTxx
23. system Date 03 04 2012 Page 5 of 29 data sheet no CRT 11890 CE 2 General information The CRT optoelectronic absolute encoders are designed for direct connection to the industrial Ethernet system PRO FINET The profinet interface according to IEC 61158 61784 or PNO specifications Order Nos 2 712 and 2 722 version 2 3 is integrated The specifications can be obtained from the profibus user organisation www profibus com The CRT PROFINET absolute encoder offers the class 2 encoder profile familiar from the CRD profibus absolute encoder In terms of setting the reference value parameterisation and diagnosis handling is therefore identical for the user From firmware version 2 0 onwards the encoder supports a 16 bit velocity signal in the dimension steps gating time in addition to the position value The gating time is adjustable in the range of 10 10000 ms Date 03 04 2012 Page 6 of 29 data sheet no CRT 11890 CE 3 Installation 3 1 General information During installation observe the profinet assembly guideline PNO order No 8 071 Use only certified profinet cables connectors and switches see PROFINET Cabling and Interconnection Technology PNO order No 2 252 and Installation Guideline PROFINET Part 2 Network Components PNO order No 2 252 p2 e Hubs are not permissible The cable length between two subscribers may be max 100 m The TWK CRT absolute encoder possesses an integrated switch This not on
24. to the absolute encoder symbol or via the absolute encoder s context menu Enter a name which is unique throughout the network to identify the device here The controller ex pects this name when the device logs in The default name is CRT If only one TWK absolute encoder is contained in the network this name can be retained The name assigned here must either be manually allocated to the absolute encoder see Chapter 4 9 or it can be assigned automatically by the controller using the topology editor see Chapter 4 8 Planning of Device exchange without programming device and Automatic commissioning The device name is stored in the absolute encoder where it is protected against zero voltage An installed device can be exchanged with a mint condition device without a programming device or exchanging a memory card The correct name is automatically assigned to the new absolute encoder by the controller To do this however the prerequisites under Chapter 4 8 have to be met If the tick in front of IP address assignment by IO controller is set the controller automatically assigns an IP address to the device which contacts it with this name Manually setting an address as is usual in the case of previous field bus systems is not necessary Properties CRT General Identification Shared Access Short description CRT Electro optical absolut multitum encoder Order No firmware ERTss xxxsRiA095CAMxx 7 V1 08 Family TWK C S
25. together with its default values The module correspon ding to the absolute encoder then has to be installed 0 UR il PS 307 54 CPU 314C 2 PN DP MPDP PNO _ Ethernet 1 E PROFINET IO System 1 00 _ Port T Post 2 DI24 DOT6 AAO Z hlen Posilioneren Fig 6 Date 03 04 2012 Page 10 of 29 data sheet no CRT 11890 CE 4 4 Installing the module For the encoder type of CRT there are four modules implemented The modules have a total measuring range of 24 and 25 bit They are with and without velocity signal All four modules are realized to encoder class 2 profile The following table shows which module can be used for which encoder a A epe meam es DEE menmm LL Now drag the module corresponding to your absolute encoder to slot one in the module list using the mouse PS 307 54 CPU 314C 2 PN DP MPDP PIO Post 1 Port 2 DI24 D016 APmRAO2 Z hlen Fositionieren gt 1 CRT Slot d M Order number address Ethernet 1 PROFINET IO System Diag Ci Access 2 a T E22 7727777727 Pe Fell argo 5s S 0 00 qme o nw Erig Ft EEE 1 Qum eal Fuse 04 qaos et BT T 75 N Date 03 04 2012 Profile Standard Y S PROFIBUS DP HE PROFIBUS PA S82 PROFINET I0 Additional Field Devices Encoders cg TWK C Series CRT iG CRT 9 Class2 24 Bit ld Class2 25 Bit 9 Class2 position 24 bit vel
26. tual position value according to the preset function It lies in the value range from 0 to total number of steps 1 Date 03 04 2012 Page 29 of 29 data sheet no CRT 11890 CE
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