User Manual
Contents
1. 16 6 12 0 St lion Stats 2 ise erp Rando us dio eee 16 6 1 3 0 E SU RESSORT 17 27 07 2005 Page 2of 32 Art No 83223 Mod status 221 05 intelligente Weg und Winkelmess Systeme 6 1 4 Diag Master Address eii n eed edi eee 17 6 1 5 Ident pay 17 6 1 6 Extended Diagnostic 18 6 17 Alarm messages eere tente AE end eaa ce e A x su aei aed 18 6 1 8 Operational stalte ee re gone Lato ea terne dd Mes gained adnate 19 6 1 9 Rotary encoder type PR 19 6 1 10 Physical singleturn resolution 19 6 1 41 Number OF revolutions sssini asss ieas tenerte ne bene P mer tenent bue 20 6 1 12 Additional alarm messages teneret te Ernte tnn ien rene Fn n reu n Eu nue 20 6 1 13 Supported alarm 5 5 20 onec 21 6 1 15 Supported warnings o uuo n uae 22 io Po is Prole 22 CANS Firmware Vorio e tee Lecce ru De reget acte P oen Du Prev b 23 61 18 Operating time dag 23 6 1 19 OPSST VAIS i 23 uA NE cru2. Bit 7 Diag Deactivated This bit is set as soon as the slave has been labelled inactive in the local parameter set and exempted from cyclic processing Bit6 reserved Bit5 Diag Sync Mode This bit is set by the slave as soon as it has received the Sync control command Bit 4 Diag Freeze Mode This bit is set by the slave as soon as it has received the Freeze control command Bit 3 Diag WD on Watchdog on This bit is set by the slave If this bit is set to 1 watchdog control is set with the slave Bit 2 This bit is fixed to 1 by the slave Bit 1 Diag Stat Diag Static Diagnosis If the slave sets this bit the DP master must retrieve diagnosis information until this bit has been deleted The slave sets this bit when a serious error has occurred Bit 0 Diag Prm Req If the slave sets this bit it must be re parameterised and re configured The bit remains set until after parameterisation Note If bit 1 and bit O are set bit 0 has higher priority Station status 3 Is not supported by the encoder application Diag Master Address The address of the DP master that has parameterised this slave is entered into this byte If the slave has not been parameterised by any master the slave enters address 255 into this byte Ident number Manufacturer identifier of the DP slave This is a unique identifier to be used for exact identification The ident number of the WH WV 58M is 094Dh Ident number Octet 5 ident
3. ensure flawless use and to exclude dangers This symbol indicates important information for proper handling of the rotary encoder Disregard of these hints may result in failures of functioning of the rotary encoder or its environment This symbol indicates instructions for actions Least significant bit byte significant bit byte Distributed periphery DP master class 1 he is the central automation device with Profibus DP DP master class 2 The DPM2 is a configuration device with PROFIBUS Device database file Electronic device data sheet in a pre defined form if not explicitly stated otherwise decimal values are given as figures without an extension e g 1234 binary values are marked with a b after the figure e g 19011b hexadecimal values with an h e g 280h 1 2 Documentation This user manual is valid for the absolute magnetic angle encoders WV58M or WH58M respectively and shall give the necessary information for handling these devices For information regarding guarantee safety and mechanical mounting of the angle encoders WV WHB8M please refer to the User information accompanying these encoders Date 27 07 2005 Page 4 of 32 Art No 83223 Mod status 221 05 intelligente Weg und Winkelmess Systeme 1 3 Intended use exclusively for sensing angle positions and revolutions processing and providing measured values as electrical output signals for the downstream device The
4. reserved 6 1 24 Manufacturer specific diagnosis messages Diagnosis octets 60 63 provide access to special encoder specific status information Partly they can be found in previous octets here they reappear in a compact form however Octet 60 Bit 7 0 SIKO_Diag_1 Bit Designation 0 1 0 Sense of rotation ascending position values ascending position values with counter with clockwise CW encoder clockwise CCW encoder shaft rotation shaft rotation 1 4 Not supported E always value 0 5 Battery warning battery charge OK battery charge has sunk below warning value 6 Battery alarm battery OK or battery charge battery is discharged so far that voltage has sunk below the warning supply of the rotation counter cannot be value longer guaranteed in the OFF state 7 Not supported always value 0 Octet 61 Bit 7 0 SIKO Diag 2 Bit Designation 0 1 0 Check of communication with basic card present no basic card found basic card communication established 1 Monitoring of data transfer no faulty data transfer disturbed communication with with basic card basic card time outs have occurred 2 Monitoring of data transfer no faulty data transfer disturbed communication with with basic card basic card checksum error In diagnosis octets 62 and 63 the firmware of the basic card can be found The octets are divided into a revision number a
5. 24 6 1 24 Measuring units per revolution Overall number of measuring units 24 6 1 22 Rotary encoder type usce ee etre rana 24 6 1 23 Reserved OCclels 25 6 1 24 Manufacturer specific diagnosis messages 25 7 CONFIGURATION dc icai 26 Integrate GSD filenin eaan 26 7 2 Update the catalogue 27 7 3 Integrating the rotary encoder into the Profibus 28 7 4 Parameterising the encoder 29 7 5 Adaptation of the S7 program 31 8 SETTING AND DIAGNOSING ELEMENTS eese 31 8 1 Setting the slave address 31 8 2 Diagnosis LEDSs ccr 32 Date 27 07 2005 Page of 32 Art No 83223 Mod status 221 05 intelligente Weg und Winkelmess Systeme 1 General remarks This user manual is valid with firmware version 1 00 or later It describes the software parameterisation and commissioning of the rotary encoder 1 1 Definitions Figures This symbol precedes passages in the text that should be read particularly carefully to
6. 5 2 1 2 5 2 1 3 At least the information specified by the standard parameter octets 1 8 PNO ident number the calculated periods for watchdog control etc are deposited in this parameter telegram Furthermore the encoder specific parameters described below are transmitted in this telegram The firmware of the rotary encoder checks the validity of the encoder specific parameters The master is notified of faulty parameterisation if an error occurs changing to the Data Exchange mode is disabled in this case Operating Parameters Octet 9 Operating Parameters Bit Designation 0 1 0 Code sequence ascending code values with ascending code values with clockwise CW rotation of the counter clockwise CCW rotary shaft rotation of the rotary shaft 1 Class 2 functionality class 2 functionality disabled class 2 functionality enabled 2 Maintenance diagnosis is not supported 3 Scaling function encoder scaling disabled encoder scaling enabled Code sequence The code sequence defines the direction in which the position code will be output in ascending sequence clockwise cw or counter clockwise ccw view at the shaft The code sequence is specified in the operating parameters via code sequence bit Standard setting Bit 0 0 ascending code values with clockwise rotation of the encoder shaft The value is stored non volatilely in the rotary encoder Class 2 functionality
7. Station status octet string 1 1 2 Specification of Profibus specific data sync freeze mode watchdog control master allocation Watchdog factor1 octet string 1 2 factor 1 for watchdog control Watchdog factor2 octet string 1 2 factor 2 for watchdog control Min Station Delay octet string 4 1 2 time in bit time the DP slave must wait before Responder returning its response telegrams to the Ident number octet string 5 6 1 2 unique device identifier given by the PNO Group Ident octet string 7 1 2 Profibus specific value Operating octet string 8 1 2 value depending on the protocol chip parameter Operating octet string 9 1 2 specification of user specific data Paramarer sense of rotation maintenance diagnosis enabling class 2 functionality enabling scaling function Measuring units per Unsigned 32 10 13 2 specification of the number of measuring units revolution per revolution Overall resolution in Unsigned 32 14 17 2 specification of overall resolution in measuring units overall resolution number of measuring units per revolution number of revolutions Parameterisation Within the configuration tool the user specific parameters can be entered via input forms depending on the class profile These data is transferred from the master to the slave during start up of the system Date 27 07 2005 Page 9 of 32 Art No 83223 Mod status 221 05 intelligente Weg und Winkelmess Systeme 5 2 1 5 2 1 1
8. This bit activates class 2 functionality The DP master must set this bit in order that class 2 functionality can be used The encoder operates with the limited class 1 functionality if this bit 0 Setting this bit results in the extension of manufacturer specific diagnosis from 10 bytes to 63 bytes Standard setting Bit 1 0 class 1 functionality is enabled The value is stored non volatilely in the rotary encoder Maintenance diagnosis This function is not used by the WV WH 58M Date 27 07 2005 Page 10 of 32 Art No 83223 Mod status 221 05 intelligente Weg und Winkelmess Systeme 5 2 1 4 Scaling function Resolution and overall number of measuring units of the rotary encoder can be changed by setting this bit The respective scaling parameters are measuring units per revolution parameter octets 10 13 overall resolution in measuring units parameter octet 14 17 gt Class 2 functionality must be enabled to use the scaling function Standard setting Bit 3 0 class 1 functionality is enabled The value is saved non volatilely in the rotary encoder 5 2 2 Measuring units per revolution Measuring units per revolution Octet 10 11 12 13 Bit 31 24 23 16 15 8 7 0 Data 931 _ 224 223 T 916 215 28 27 _ 20 This parameter sets the desired resolution measuring units per revolution S physical resolution Internally the rotary encoder calculates the
9. angle encoders must be used exclusively for this purpose The said angle encoders are high precision measuring instruments They serve 2 Magnetic angle encoders product family At present the product family of magnetic absolute angle encoders consists of the following 4 types 10bit singleturn 1024 measuring units revolution 12bit singleturn 4096 measuring units revolution 10 12bit multiturn 1024 measuring units revolution 4096 revolutions 12 12bit multiturn 4096 measuring units revolution 4096 revolutions They are available either in solid shaft or in blind hole hollow shaft design in standard size with a diameter of 58mm Although designed with a bus interface the angle encoders are very compact The angle encoders are available with the following interfaces SN3 serial RS485 interface with SIKONETZ3 protocol SSI synchronous serial interface PB Profibus DP interface CANopen interface Below only the angle encoder WV WH58M with Profibus DP interface will be described 3 General information on PROFIBUS DP PROFIBUS is a multi vendor open fieldbus standard for diverse applications in manufacturing process and building automation Manufacturer independence and openness are guaranteed by the international standard EN 50170 PROFIBUS makes it possible for devices from different manufacturers to communicate without special adaptation of the interfaces PROFIBUS is suitable for both fas
10. respective scaling factor Measuring units per revolution Scaling factor Phys resolution Value range 1 1024 WV WH58M 10 12bit WV WH58M 1 Obit ST Standard setting 1024 T Value range 1 4096 WV WH58M 10 1 2bit WV WH58M 12bit ST Standard setting 4096 The value is saved non volatilely in the rotary encoder Example WV58M 12 1 2bit resolution 4096 measuring units per revolution data content 00 00 10 00h Octet 10 Octet 11 Octet 12 Octet 13 00 00 10 00 Date 27 07 2005 Page 11 of 32 Art No 83223 Mod status 221 05 5 2 3 Total measuring range in measuring units intelligente Weg und Winkelmess Systeme Total measuring range in measuring units Octet 14 15 16 17 Bit 31 24 23 16 15 8 7 0 Data 931 224 223 _ 916 215 28 27 _ 20 This parameter serves for setting the overall number measuring units io i Example Choose the values of this parameter so that they are divisible by 4096 without remainder The encoder cannot change over to the DataExchange mode if a value does not meet this condition WV WH58M 10 1 2bit Value range 4096 4194304 Standard setting 4194304 WV WH58M 12 1 2bit Value range 4096 16777216 Standard setting 16777216 In the singleturn versions of the WV WH58 M the total of measuring units is limited to the set number of measuring units per revolution max 1024 measuring units
11. speeds Inthe slave related part information is stored on possible input output pin assignments user parameters and diagnostic possibilities Date 27 07 2005 Page 6 of 32 Art No 83223 Mod status 221 05 intelligente Weg und Winkelmess Systeme 3 3 4 4 1 The GSD file assigned to the angle encoder WV WH58M is named SIKO094D GSD This file can be provided on a data medium or downloaded from the homepage of SIKO GmbH www siko de The Profibus device profile for encoders The profile describes the functionality of rotary encoders that can be connected to a PROFIBUS DP system The functionality is divided into two classes Class 1 This class describes a set of basic functions to be supported by any PROFIBUS DP encoder Specified class 2 functions can be used as an option Class 2 The rotary encoder supports all functions of class 1 and all functions defined in class 2 Additionally the manufacturer of the rotary encoder can add other parameter and or diagnosis areas The position value provided by the rotary encoder is always output in the 2 complement format i e the number range is from 1 2 total measuring range 0 1 2 total measuring range 1 The WV WH 58M supports class 1 as well as class 2 Within the configuration tool used the user can decide on the desired functionality of the encoder The complete functionality of the angle encoder is only possible with class 2 Data exchange
12. telegram was faulty e g invalid parameters Bit5 Diag Invalid Slave Response This bit is set as soon as an implausible response is received by an addressed slave Bit 4 Diag Not Supported This bit is set as soon as a function is requested that is not supported by this slave Bit 3 Diag Ext Diag This bit is set by the slave If this bit is set a diagnosis entry must be present in the slave specific diagnosis area Ext Diag Data If this bit is not set a status message can be present in the slave specific diagnosis area Ext Diag Data Bit 2 Diag Cfg Fault This bit is set as soon as the configuration data last sent by the DP master deviate from those preset by the slave i e there is a configuration error Bit 1 Diag Station Not Ready This bit is set when the slave is not yet ready for data exchange Bit 0 Diag station Non Existent The DP master sets this bit if the slave cannot be accessed via the bus If this bit is set the diagnosis bits contain the status of the latest diagnosis message or the initial value The slave fixes this bit to zero Station status 2 The following statuses are displayed Watchdog control Sync freeze mode and additional diagnosis data Date 27 07 2005 Page 16 of 32 Art No 83223 Mod status 221 05 6 1 4 6 1 5 intelligente Weg und Winkelmess Systeme Station status 2 Bit 7 MSB Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 LSB
13. the values deposited in the slave The slave signals its readiness for user data transfer via the diagnosis data if the data requested by the master is legal and no errors are present Data Exchange Now the slave responds exclusively to the master by which it has been parameterised and configured The master sends a User data request Data Exchange the slave responds with a User data response In this response the slave informs the master whether there are current diagnosis events The slave reports actual diagnosis and status information only after receiving the diagnosis telegram from the master Date 27 07 2005 Page 8 of 32 Art No 83223 Mod status 221 05 5 Parameterisation and configuration 5 1 5 2 Overview of parameters intelligente Weg und Winkelmess Systeme The parameters described below are sent from the master to the slave s here rotary encoder during the initialisation phase The parameters with the octet numbers 1 8 are defined by the configuration tool based on the data found in the GSD file the use of parameters 9 17 depends on the configuration of the slave class 1 or class 2 rotary encoder Besides parameters 1 8 which are always present encoders configured with class 1 functionality only interpret the parameter Code Sequence octet no 9 measuring units total number of measuring units Parameter Data type ee dis Meaning
14. units revolution 3000 range units hi 64 Total measuring range units lo 0 Another double click on one of the parameter shown opens an additional window where the value can be changed Date 27 07 2005 Page 29 of 32 Art No 83223 Mod status 221 05 intelligente Weg und Winkelmess Systeme Parameter name Explanation in the manual Chapter Code sequence Code sequence 5 2 1 1 Class 2 functionality Class 2 functionality 5 2 1 2 Scaling function control Scaling function 5 2 1 4 Measuring units revolution Measuring units per revolution 5 2 2 Total measuring range units hi Total measuring range units 5 2 3 Total measuring range units lo Total measuring range units 5 2 3 Actually the parameter Total measuring range is a 32bit integer value Many configuration programs among them STEP7 by SIEMENS do not support this word length for parameter input Therefore the upper and lower 16bits of this parameters block hi block lo must be entered separately and moreover in the hexadecimal format For parameters that are smaller than 65535 16 bit simply enter the block 0 and the parameter itself is entered decimally directly into the block Parameters that are larger than 65535 16 bit must first be separated and converted according to the following schema here a calculator with hexadecimals is helpful such as the calculator contained in the Win
15. value in its response in the data exchange mode Subsequently the master can reset to 0 the bit 31 set in its initial data Date 27 07 2005 Page 13 of 32 Art No 83223 Mod status 221 05 intelligente Weg und Winkelmess Systeme N The preset function should only be used when the encoder shaft is at a standstill Other than with the encoder profile using the preset function is also possible with an encoder configured with class 1 Ho Since taking over the new preset value and its storing in the encoder internal EEPROM takes some time the position value is undefined during this period In the ll diagnosis octet station status2 the encoder sets the bit static diagnosis to indicate that the position value is undefined This bit is reset after taking over the preset value The preset value is stored in the non volatile EEPROM of the rotary encoder so that it need not be reloaded after each restart of the system Format of the preset value Octet 1 2 3 4 Bit 31 30 24 23 16 15 8 7 0 Data 0 1 25 92 p p 279 2 2 2 Preset mode preset value max 31 bit Value range of the preset value WV WH58M 10 1 2bit or 12 12bit respectively 8388608 8388607 Sign bit of the 10 12bit 12 12bit version respectively is bit 230 Ho WV WH58M 10bit singleturn 32768 431744 WV WH58M 12bit singleturn 32768 428672 Sign bit of the 10bit singleturn or 12bit singletur
16. voltage to the rotation counter has sunk to such an extent that the counter cannot safely maintain its value communication with the basic encoder card via DIP switch no 8 is interrupted Additionally bit 7 is set Date 27 07 2005 Page 18 of 32 Art No 83223 Mod status 221 05 intelligente Weg und Winkelmess Systeme 6 1 8 Operational state Octet 9 of the diagnosis functions provides information on the internal parameters of the rotary encoder Octet 9 Bit 7 0 Operational state Bit Designation 0 Ei 0 status of code sequence ascending position ascending position values values with clockwise with counter clockwise CW shaft rotation CCW shaft rotation 1 class 2 functionality no yes 2 maintenance diagnosis not supported always 0 3 scaling function no yes 4 7 not supported always 0 6 1 9 Rotary encoder type The rotary encoder type is represented in octet 10 by a numerical value in hexadecimal code The singleturn versions of the WV WH 58M series are represented by code 00h the multiturn versions by code 02h Octet 10 Code 0 FFh Rotary encoder type Code Definition 00 Absolute encoder singleturn 01 Absolute encoder multiturn 02 Absolute encoder singleturn with battery buffered rotary counter quasi multiturn 6 1 10 Physical singleturn resolution The diagnosis octets 11 to 14 contain the maximum num
17. aster ii SPC to enter the bus stop state if no special precautions are taken To avoid this state the organisation modules OB82 diagnosis and OB86 station error must be integrated into the SPC program 8 Setting and diagnosing elements 8 1 Setting the slave address After removing the screw cap on the encoder hood an 8 pin DIP Switch as well as two diagnosis LEDs yellow and green are visible Switches 2 to 8 serve for setting the slave address The adjustable range is between 0 und 125 Setting address 126 or 127 respectively is converted encoder internally into address 125 The encoding of the slave address via switches 2 to 8 is in the binary format This is illustrated in the following table Fig 1 DIP switches and diagnosis LEDs Switch 2 Switch3 Switch 4 Switch 5 Switch 6 Switch7 Switch 8 p bad ON ON ON ON ON ON ON 0 ON ON ON ON ON ON OFF 1 ON ON ON ON ON OFF ON 2 ON ON ON ON ON OFF OFF 3 OFF OFF OFF OFF OFF ON ON 124 OFF OFF OFF OFF OFF ON OFF 125 OFF OFF OFF OFF OFF OFF ON 125 OFF OFF OFF OFF OFF OFF OFF 125 Date 27 07 2005 Page 31 of 32 Art No 83223 Mod status 221 05 intelligente Weg und Winkelmess Systeme The Dip switch settings are read only during start up of the encoder Power On Changing the switch position during operation of the encoder has no effect Exception DIP switch 1 io Th
18. ata between master and slave The master sends parameterisation and configuration data to the slave User data cannot be exchanged unless parameterisation and configuration data correspond with those deposited in the slave This occurs as described below Diagnosis request by the master The master sends a Slave Diagnosis Request Slave Diag the slave answers with a Slave Diagnosis Response This way the master checks whether the slave is present on the bus and ready to be parameterised and configured Parameterisation of the slave The master sends a Slave Parameter Request Set Prm Via the parameterisation data the slave gets bus parameters monitoring periods and slave specific parameters During the configuration phase the parameters are partly taken over by the GSD file either directly or indirectly The slave compares this parameterisation data with its deposited data Configuration of the slave The master sends a Check Configuration Request Chk_Cfg The master informs the slave on the extent number of data bytes and the structure data consistency of the input and output areas to be exchanged The slave compares this configuration with its own configuration Diagnosis request prior to data exchange The master sends another Slave Diagnosis Request_Slave_Diag the slave answers with Slave Diagnosis Response Now the master checks whether parameterisation and configuration correspond with
19. ber of measuring units per revolution Date 27 07 2005 Page 19 of 32 Octet 11 12 13 14 Bit 31 24 23 16 15 8 7 0 Data 931 _ ga 223 _ 216 215 28 27 _ 20 Singleturn resolution Art No 83223 Mod status 221 05 intelligente Weg und Winkelmess Systeme Default 1024 measuring units revolution WV WH58M 10 12bit WV WH58M 10ST 4096 measuring units revolution WV WH58M 12 12bit WV WH58M 12ST 6 1 11 Number of revolutions Octets 15 and 16 contain the maximum number of revolutions For a multiturn rotary encoder the measuring range results from the number of revolutions and the singleturn resolution based on the equation Measuring range number of revolutions singleturn resolution Octet 15 16 Bit 15 8 7 0 Number of revolutions With the rotary encoders of the WV WH58M series multiturn version the maximum discernible number of revolutions 4096 With the singleturn version the value 1 is always displayed at this position 6 1 12 Additional alarm messages Diagnosis octet 17 is intended for additional alarm messages that are not yet defined in the rotary encoder s profile The battery buffered rotary encoders WV WH 58M in the 10 and 12 bit versions mark a discharged battery via a bit within this octet Octet 17 Bit 7 0 Additional alarm messages Bit Designation 0 1 0 5 7 not supported always value 0 6 batter
20. between Profibus devices master slave Data traffic between the DPM1 and the assigned DP slaves is automatically handled by the DPM1 ina repetitive sequence When configuring the bus system the user specifies the membership of a DP slave with the DPM1 Furthermore he defines the DP slaves to be included in cyclic user data traffic Data exchange between the and the DP slaves is divided into parameterisation configuration and data transfer phases Before a DP slave is included into the data transfer phase the DPM1 checks during the parameterisation and configuration phases whether or not the planned target configuration complies with the actual device configuration To pass this test device type format and length information as well as the number of inputs and outputs must tally This procedure offers the user reliable protection from parameterisation errors Besides user data transfer which is automatically handled by the DPM1 new parameterisation data can be sent to the DP slaves on request by the user Telegram structure The following diagram shows the basic run of the telegram traffic DP master DPM1 DP slave Polling telegram Response telegram Date 27 07 2005 Page 7 of 32 Art No 83223 Mod status 221 05 4 2 4 2 1 4 2 2 4 2 3 4 2 4 4 2 5 intelligente Weg und Winkelmess Systeme Initialisation user data traffic data exchange Each slave is newly initialised prior to exchange of user d
21. dows Accessories Conversion of the desired parameter value from the decimal format to the hexadecimal format Division of the hexadecimal value into two blocks and The block length is each two words Conversion of the hexadecimal format of the two blocks hi and lo into the decimal format Input into the input mask in the decimal format Example Overall number of measuring 3000 measuring units revolution 1024 3072000 units revolutions Conversion into hexadecimal 2EE000h format Division into hi 002Eh Conversion into decimal format 46 Division into E000h Conversion into decimal format 57344 Total measuring range units hi 46 Total measuring range units lo 57344 Date 27 07 2005 When entering the overall resolution take care that this value is divisible by 4096 without a remainder ll Generally speaking the encoder cannot be integrated into cyclic data exchange if there are wrong parameter inputs In the diagnosis message of the slave this is indicated by the set bit Diag Prm Fault in the octet Station status 1 Page 30 of 32 Art No 83223 Mod status 221 05 7 5 intelligente Weg und Winkelmess Systeme Adaptation of the S7 program modules Diagnosis messages of the rotary encoder where the bit Static diagnosis is set bit Diag Stat Diag in the diagnosis octet station status 2 will cause the m
22. e ex works standard setting is slave address 10 DIP switches 5 and 7 OFF 8 2 Diagnosis LEDs Beside the DIP switch there is each a green and yellow LED They serve for signalling different operational states LED Meaning OFF voltage supply missing Power green ON voltage supply is OK blinking pulse duty Encoder is not in the data exchange Status yellow factor 1 4 mode yet ON Encoder is in the data exchange mode Date 27 07 2005 Page 32 32 Art No 83223 Mod status 221 05
23. e tee Ee ee Date Ett For e En cubare DR denis 8 4 2 4 Diagnosis request prior to data 8 4 2 5 Data Exchange tet dnte Ero OR e RESO ERREUR 8 5 PARAMETERISATION AND nennen 9 5 1 Overview of parameters rre 9 52 ParamelteriSatlOnh cette perd 9 5 2 1 Operating Parameters 10 5 2 1 1 WrD IETUcm 10 5 2 1 2 Class 2 TUNMCTION IY M 10 5 2 1 3 Maintenance a 10 5 2 1 4 Scaling TUNMCUON ices cna 11 5 2 2 Measuring units per revolution isisa AAAA EAE 11 5 2 3 Total measuring range measuring units 12 Lien Pec 12 TEMP TiCcIOQ uDLuD Ipree 13 5 5 Preset TUMCUOM rpm 13 6 DIAGNOSIS 55 peg SEE I DS GU HE 14 6 1 Diagnosis functions classes 1 and 2 esses eene nenne nennt nante nnn nnne nnns 16 6 1 1 SEATS ca heeded
24. eian Confirm the question whether the bitmap file should be installed 7 2 Update the catalogue From the Extra menu select the command Update catalogue Kentig Hardware konfigurieren pm a aa Dees f M SMaTiC 400 SMATIC PC Based Cortro Date 27 07 2005 Page 27 of 32 Art No 83223 Mod status 221 05 m N und Winkelmess Systeme PT SIKD 73 Integrating the rotary encoder into the Profibus project Precondition DP master has already been configured SIMATIC 300 Statios Koafiqeration S LII e LASO Profibus 20 MuttumEncoderS 0 2 Profibus 50 1 Profibus C AEAS Profibus B M Uriverzslmodu VINIAVHBM 104125 Coss 1 7 2 VIN AVHBSM 124126 Chess T 7 2 AEA Profibus Select WV WH58M from the hardware catalogue window in the upper station window attach it to the symbolised Profibus line A by drag and drop Click on the desired module and drag it into the lower window of station features B Date 27 07 2005 Page 28 of 32 Art No 83223 Mod status 221 05 intelligente Weg und Winkelmess Systeme 2 Hip 7 4 Parameterising the encoder After a double click on the entry displayed in the window of station features the subsequent window containing the DP slave features opens Eigenschaften DP Slave e Scaling function control Enable Measuring
25. encoder s bus card The octets are divided into a revision number and an index Example Firmware version 1 02 Octet no 26 27 01h 02h Octet 26 27 Bit 15 8 7 0 Data 27 2 2 2 Revision number Index 6 1 18 Operating time Profile version This function is not implemented in the rotary encoders of the 58 series Requesting this diagnosis information results in the value FFFFFFFFh Octet 28 29 30 31 Bit 31 24 23 16 15 8 7 0 Data 931 _ 22 223 216 21 E 28 27 20 Operating time 6 1 19 Offset value This function is not implemented in the rotary encoders of the WV WH 58M series Requesting this diagnosis information results in the value 00000000h Octet 32 33 34 35 Bit 31 24 23 16 15 8 7 0 Data 931 _ 224 923 _ 216 215 _ 98 27 _ 90 Offset value Date 27 07 2005 Page 23 of 32 Art No 83223 Mod status 221 05 6 1 20 Preset value intelligente Weg und Winkelmess Systeme Instead of the Manufacturer specific offset value intended in the encoder profile at this position the preset value can be read out at this position This value is available in octets 36 39 as a signed 32 bit binary value Octet 36 37 38 39 Bit 31 24 23 16 15 8 7 0 Data 931 _ 22 223 _ 216 915 28 27 _ 20 Preset value 6 1 21 Measuring units per revolution Overall number of measuri
26. ent of parameterisation and configuration telegrams the encoder switches over to the Data Exchange mode Now the yellow status LED lights permanently The master requests continuously the position data from the rotary encoder If a diagnosis event has occurred the encoder reports the event to the master as a high priority response Subsequently the master requests the actual diagnosis information Furthermore there is the possibility of setting the encoder to a defined value preset value during the data exchange phase see chapter 5 5 Format of the position data Octet 1 2 3 4 Bit 31 24 23 16 15 8 7 0 Data 931 _ 224 223 916 215 _ 28 27 _ 20 Preset function The preset function supports the adaptation of the rotary encoder s zero point to the mechanical zero point of the system The preset function sets the current position value of the rotary encoder to the preset value In the data exchange function the preset value is stored as the initial value The preset function is used after scaling i e the preset value is given in the programmed measuring units The MSB of the preset value checks the preset function as follows Normal operating state MSB 0 bit 31 the preset value is not taken over Preset mode MSB 1 bit 31 with MSB 1 the rotary encoder takes over the transmitted value bit 0 30 as the preset value in binary code Now the encoder provides the preset value as the position
27. erve not reached exceeded Date 27 07 2005 Mod status 221 05 Page 21 of 32 Art No 83223 intelligente Weg und Winkelmess Systeme CPU watchdog OK reset executed Operating time warning not reached reached Battery load battery voltage OK warning threshold reached Reference point reached not reached 7 15 not defined 6 1 15 Supported warnings The diagnosis octets 22 and 23 contain information on the warning messages supported by the rotary encoders Octet 22 23 Bit 15 8 7 0 Supported warnings Bit Designation DOES pori z 1 supported 0 0 1 Temperature 0 2 LED reserve 0 3 CPU watchdog 0 4 Operating time 0 5 Battery load 1 7 Reference point 0 8 15 not supported 0 6 1 16 Profile version The diagnosis octets 24 and 25 inform on the version of the rotary encoder s profile applied The octets are divided into a revision number and an index Example Profile version 1 1 Octet no Date 27 07 2005 24 25 Oth 01h Page 22 of 32 Art No 83223 Mod status 221 05 intelligente Weg und Winkelmess Systeme 6 1 17 Firmware Version Octet 24 25 Bit 15 8 7 0 Data 2 2 2 2 Revision number Index Profile version Diagnosis octets 26 and 27 inform on the firmware version of the rotary
28. for the 10bit version max 4096 measuring units for the 12bit version WV58M 12 12bit total measuring range 4096 measuring units per revolution 4096 revolutions data content 16777216 or 01 00 00 00h respectively 5 3 Octet 14 Octet 15 Octet 16 Octet 17 01 00 00 00 Configuration The data type length data consistency and data direction of the process data to be transmitted here position value are specified via the configuration telegram The setup of the identification byte is described in the standard EN 50170 vol 2 With the WV WH 58M this value is 1 Date 27 07 2005 Page 12 of 32 Art No 83223 Mod status 221 05 5 4 5 5 intelligente Weg und Winkelmess Systeme This value indicates that the process data is transmitted consistently over the whole length the data type is of the word type input and output data are processed and data length is 2 words From the view of the master input data is the encoder s position values output data is a max 31bit sized preset value The projecting tool takes the identifier byte from the GSD file The encoder checks this byte during System start up If the configuration transferred does not comply with the configuration expected by the encoder the encoder reports the error to the master and entering the Data Exchange mode will be disabled Data exchange After correct acknowledgm
29. n one bus segment and up to 126 stations can be operated on a Profibus unit if repeaters are used Station oriented message protocol based on cyclic master slave communication powerful diagnostic functions safe transmission modes Hamming distance 4 short reaction times 1ms for 32 stations and 12Mbit s easy handling and extensibility standardised system components available PROFIBUS DP has been standardised in the standard EN 50170 vol 2 The standard specifies the communication and user profiles The user profile for absolute rotary encoders is the Profibus Profile for Encoder Version 1 1 This user profile distinguishes between device classes 1 and 2 depending on the number of functions to be supported Device class 2 offers more functions and includes all functions of device class 1 Parameterisation as well as preset functions as well as a wide range of diagnostic possibilities are exclusively supported by class 2 The rotary encoder WV WH 58M supports classes 1 and 2 3 2 GSD file The device database file GSD file serves for the unique description of a Profibus DP slave ina specified data format It s availability is the precondition for configuring a Profibus system The GSD file is divided into two areas general conventions contain information on the manufacturer of the product manufacturer name device name identification number software and hardware version supported transmission
30. n version is bit p 6 Diagnosis messages Diagnosis messages contain information on the actual state of the rotary encoder The diagnosis messages consist of Profibus relevant and device specific information The Profibus master requests diagnosis data before parameterisation as well as after configuration of the slave This ensures that the slave is present on the bus and that the data deposited during configuration of the system correspond with the data deposited in the slave Furthermore the slave can report a diagnosis event in the data exchange mode Following this the master requests the diagnosis data Date 27 07 2005 Page 14 of 32 Art No 83223 Mod status 221 05 intelligente Weg und Winkelmess Systeme The Profibus specific diagnosis data octet 1 6 has been defined in the DP standard DIN 19245 Each Profibus station must always provide this data The user specific information is defined in standard EN 50170 under rotary encoder profile 1 1 Diagnosis function Data type Diagnosis octet no Class Station status 1 octet string 1 DIN 19245 Station status 2 octet string 2 DIN 19245 Station status 3 octet string 3 DIN 19245 Diag Master Address octet string 4 DIN 19245 Ident number octet string 5 6 DIN 19245 Extended Diagnostic octet string 7 1 and 2 Header Alarm messages octet string 8 1 and 2 Operational state octet string 1 and 2 Encoder type octe
31. nd an index Date 27 07 2005 Art No 83223 Mod status 221 05 Page 25 of 32 uM M Weg und Winkelmess Systeme Ht N jii SIKO Example Firmware version 2 07 Octet no 62 63 02h 07h Octet 62 63 Bit 15 8 7 0 Data 2 2 27 2 Revision number Index Firmware version of the basic card 7 Configuration example The following configuration example aims at illustrating the integration of a WV58M with Profibus interface into a STEP7 Profibus environment For integration it is imperative that the device database file SIKO094D GSD is available which can be downloaded from the homepage of the SIKO GmbH www siko de Together with the appropriate bitmap file the configuration tool is able to represent an icon of the rotary encoder The example is based on the S EMENS Simatic Manager V 5 o 7 1 Integrate GSD file To enable integration of a new GSD file no hardware project must be opened in the HW Configurator program module Start the HW Configurator of the STEP7 software From the Extras menu select the command Install new GSD 0 BHE 400 SINATIC PC Based Contra Date 27 07 2005 Page 26 of 32 Art No 83223 Mod status 221 05 Vy MN Select and open file SIKO094D GSD Bilder CORDIC_Algarithmus _JFirrretare_Pratotalle SKODS4D GSD Dm
32. ng units The scaling parameters are set via the parameters octets 9 17 The parameters are stored and can be read out from the diagnosis octets 40 47 The parameters Measuring units per revolution and Overall number of measuring units indicate the set resolution of the encoder The data type for both values is 32bit unsigned Octet 40 41 42 43 Bit 31 24 23 16 15 8 7 0 Data 931 _ 224 223 _ 916 215 _ 28 27 00 Measuring units revolution Octet 44 45 46 47 Bit 31 24 23 16 15 8 7 0 Data 231 _ 224 223 _ 916 215 _ 28 27 20 Overall number of measuring units 6 1 22 Rotary encoder type The serial number intended at this position in the encoder profile is replaced by the declaration of the rotary encoder s version in the ASCII format Octet 48 57 Bit 79 0 Data ASCII Rotary encoder version The versions are encoded as described below WV WH 58M 10 12bit version W10 12MT WV WH 58M 12 12bit version W12 12MT WV WH 58M 10bit singleturn version W10bitST M WV WH 58M 12bit singleturn version W12bitST Date 27 07 2005 Page 24 of 32 Art No 83223 Mod status 221 05 6 1 23 Reserved octets intelligente Weg und Winkelmess Systeme Diagnosis octets 58 and 59 are reserved for future purposes The content of these bytes is always 0 Octet 58 59 Bit 15 8 7 0
33. number High 09h Octet 6 ident number Low 4Dh Date 27 07 2005 Page 17 of 32 Art No 83223 Mod status 221 05 intelligente Weg und Winkelmess Systeme 6 1 6 Extended Diagnostic Header The header byte indicates the length of the diagnosis message including header byte The format of the value is hexadecimal Octet 7 Bit 7 6 5 0 Data 0 0 xxh bit 7 and 6 0 indicates device length including header byte related diagnosis 10 0Ah elass 1 57 39h class 2 Extended Diagnostic Header Alarm messages Malfunctions in the rotary encoder that may lead to an incorrect position value are indicated by setting bits in the byte alarm messages octet 8 Additional alarm messages of class 2 are mapped on octet 17 In case of an alarm message bits Ext_Diag station status 1 and Stat_Diag station status 2 are set to 1 until after correcting the cause of the alarm The diagnosis function Supported alarm messages octets 18 19 only class 2 provides information on which alarm messages are supported by the encoder Octet 8 Bit 7 0 Alarm messages Bit Designation 0 21 0 position error no yes 1 6 not supported 7 communication with basic card via switch not communication interrupted DIP switch interrupted actuated position value invalid The bit position error is set if the voltage of the battery that supplies
34. t time critical data transmissions as well extensive and complex communication tasks The PROFIBUS communication system is divided into three versions PROFIBUS FMS for data communication between control units in the areas of the production and process control level PROFIBUS PA in the area of process engineering PROFIBUS DP for fast data exchange between controls and distributed periphery devices in the area of automation technology Data exchange with these distributed devices is mostly cyclical The communication functions required for this purpose have been specified in the PROFIBUS DP basic functions in accordance with EN 50170 Date 27 07 2005 Page 5of 32 Art No 83223 Mod status 221 05 intelligente Weg und Winkelmess Systeme A Profibus system distinguishes between the following device types DP Master Class 1 DPM1 is a control which cyclically exchanges information with a DP slave e g a SPC DP Master Class 2 DPM2 are programming configuration or operating devices DP slave is a periphery device which reads output data and passes input data to a DP master Optionally only one master mono master system or several masters multi master system can be active in a PROFIBUS system 3 1 PROFIBUS DP features bus medium is a shielded twisted pair cable according to RS485 Closed network on both sides baud rates between 9 6 kbit s and up to 12 Mbit s upto 31 slaves can be connected withi
35. t string 10 1 and 2 Physical resolution 32bit 11 14 1 and2 singleturn Number of revolutions 16bit 15 16 1 and2 Additional alarm octet string 17 2 messages supported alarm octet string 18 19 2 messages Warnings octet string 20 21 supported warning octet string 22 23 messages Version number of the octet string 24 25 2 encoder profile Version number of the octet string 26 27 2 firmware status Operating time octet string 28 31 2 Offset value 32bit 32 35 2 Preset value 32 bit with arithm sign 36 39 2 Parameterised number 32bit 40 43 2 of measuring units per revolution Parameterised total 32bit 44 47 2 measuring range Serial number ASCII string 48 57 2 Reserved area octet string 58 59 2 Manufacturer specific octet string 60 63 2 diagnosis area Date 27 07 2005 Page 15 of 32 Art No 83223 Mod status 221 05 6 1 6 1 1 intelligente Weg und Winkelmess Systeme Diagnosis functions classes 1 and 2 Station status 1 The following states are displayed configuration and diagnosis data Station status 1 Bit 7 MSB Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 LSB Bit 7 Diag Master Lock The DP slave has already been parameterised by another master i e the own master cannot access this slave at present 6 Diag Prm Fault This bit is set by the slave if the last parameterisation
36. un Tet YW Pippini HU HH User Manual Magnetic Absolute Rotary Encoders with WV58M WH58M intelligente Weg und Winkelmess Systeme Table of contents 1 GENERAL REMARKS 4 Ti Definitions 4 12 4 1 3 niended US E 5 2 MAGNETIC ANGLE ENCODERS PRODUCT 5 GENERAL INFORMATION ON PROFIBUS nnna 5 3 1 PROFIBUS DP featUres ene itt te Deae o ben 6 3 2 ctio c 6 3 3 The Profibus device profile for 7 4 DATA EXCHANGE BETWEEN PROFIBUS DEVICES MASTER SLAVE 7 4 1 Telegram sIr clUEe tete eei lost 7 4 2 lnitialisation user data traffic data nnmnnn nnmnnn nnne 8 4 2 1 Diagnosis request by the 5 8 4 2 2 Parameterisation of the sl v8 iier eterne ertt east Rost e xn e RE RR e xy debe aeu 8 4 2 3 Configuration of the 5
37. y status battery not yet discharged battery discharged 6 1 13 Supported alarm messages The diagnosis octets 18 and 19 contain information on the alarm messages supported by the rotary encoders Alarm messages are displayed via octet 8 classes 1 and 2 octet 17 only class 2 rotary encoders Date 27 07 2005 Page 20 of 32 Art No 83223 Mod status 221 05 intelligente Weg und Winkelmess Systeme Octet 18 19 Bit 15 8 7 0 Supported alarm messages Bit Designation Ta i 1 supported 0 Position error 1 1 Voltage supply error 0 2 Power consumption too high 0 3 Maintenance diagnosis 0 4 Memory error 0 5 6 _ Not supported 0 7 Communication with basic card 1 8 13 Not supported 0 14 Battery error 1 15 Not supported 0 6 1 14 Warnings Warnings indicate that tolerances have been exceeded for certain internal parameters In contrast to alarm messages they do not indicate wrong position values The diagnosis octets 20 and 21 contain the warnings In case of a warning the EXT_Diag bit is set to 1 until the warning has been deleted The diagnosis function Supported warnings octets 22 to 23 provides information on which warnings are supported by the rotary encoder Octet 20 21 Bit 15 8 7 0 Warnings Bit Designation 0 1 0 Frequency exceeded no yes 1 Temperature exceeded no yes 2 LED res
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