PROFIBUS USER MANUAL Absolute Rotary Encoder with Profibus
Contents
1. After the successful installation of the GSD file the BEI IDEACOD encoder can be found in the hardware catalogue under PROFIBUS DP Additional Field Devices Encoders BEI IDEACOD Encoder In order to represent the encoder with a bitmap in STEP7 the bitmap file AWC58xxn omp has to be installed The procedure is the same as with the GSD file 30 version 4 03 BEI IDEACOD SAS Espace Europ en de l Entreprise T l 33 0 3 88 20 80 80 IDEACOD 9 rue de Copenhague Fax 33 0 3 88 20 87 87 B P 70044 Schiltigheim Mail info bei ideacod com F 67013 Strasbourg Cedex Web www bei ideacod com PRO BUS USER MANUAL 7 2 Configuring the encoder Ze HW Config SIMATIC 300 Station Configuration 7 Gly Station Edit Insert PLC View Options Window Help D ai el dala HYD ee se PROFIBUS DP PROFIBUS DP master system 1 CG Additional Field Devices al General CH Drives 10 E Encoders Ca Compatible PROFIBUS DP Slaves Closed Loop Controller Configured Stations DP VO slaves DP AS i DP PA Link ENCODER C ET 2008 ET 200c amp ET 200eco ET 20015 ET 200L CR RRE BRIREIEIBIe om D SIMATIC 57 300 M7 300 and C7 modules central rack Press F1 to get Help After inserting the Profibus master system in the a hardware configuration Insert Master l g EE ro System the BEI IDEA2. 14 7 Configuring with STEP 7 30 5 Special versions BH IDEACOD 2 1 and 2 2 16 7 1 Installing the GSD file 30 5 1 PAAMEHET leet rateceie anaes wg EE eege at 5 1 1 Activate manufacturer specific 7 3 Selecting the encoder version s s 32 Parameters eoii oeaiei 17 7 4 Setting the parameters cceecceeeseeeeeees 33 Se Gelee MEASAN units Os 17 8 Technical Data mm 35 5 1 3 Desired Measuring units reference 18 8 1 Electrical Data cccccsescseeesseseeeesceseeesscees 35 2 version 4 03 BE IDEACOD SAS Espace Europ en de l Entreprise T l 33 013 88 20 80 80 Fax 33 0 3 88 20 87 87 IDEACOD GE EEN Mail info bei ideacod com F 67013 Strasbourg Cedex Web www bei ideacod com PRO ABUS USER MANUAL 8 2 Mechanical Data 36 9 2 2 Version BEI IDEACOD 1 1 Multiturn 41 8 3 Environmental Conditions 36 9 2 3 Version BEI IDEACOD 1 0 Multiturn 41 9 2 4 Class 2 Multiturn DX Version 41 8 4 Dimensioned Drawing eeeeeeeeeeeeeees 37 9 3 FAQ absolute encoder Profibus 42 9 APPendDe eo Sn eS an Sa op NE Senne oe 39 ae 9 A DEMMIMMONS ennan 43 9 1 Type designation ordering code 39 10 WN ON nn 45 9 2 Further encoder configurations 41 9 2 1 Version BEI IDEACOD 2 0 Multiturn 41 Specifications are subject to change without notice Publication July 2005 Technical specifications which are described Version 4 03 in this manual are subject to ch
3. 33 0 3 88 20 80 80 Fax 33 0 3 88 20 87 87 Mail info bei ideacod com Web www bei ideacod com According to DIN VDE 0160 Protective Class Ill degree of pollution 2 over voltage Category Il 10 30 V DC absolute limit values max 2 5 Watt max 230 mA with 10 V DC max 100 mA with 24 V DC Emitted interference according to EN 61000 6 4 Noise immunity according to EN 61000 6 2 Electrically isolated by optocouplers Line driver according to RS 485 12 MBaud 6 MBaud 3 MBaud 1 5 MBaud 500 kBaud 187 5 kBaud 93 75 kBaud 45 45 kBaud 19 2 kBaud 9 6 kBaud Standard 4096 steps revolution optional up to 65536 steps revolution 1 Singleturn 4096 or 16384 Multiturn LSB up to 12 Bit 2 LSB up to 16 Bit max 800 kHz Binary gt 105h Using rotary switches in the connection cap The absolute angular encoder may only be operated with safety extra low voltage according to EN 50 178 version 4 03 35 BEI IDEACOD SAS Espace Europ en de l Entreprise T l 33 0 3 88 20 80 80 IDEACOD dE Mot nn F 67013 Strasbourg Cedex Web www bei ideacod com PRO ABUS USER MANUAL 8 2 Mechanical Data Housing Aluminum optional stainless steel Lifetime Dependent on shaft version and shaft loading refer to table Max shaft loading Axial 40 N radial 110 N Inertia of rotor lt 30 gcm Friction torque lt 3 Ncm without shaft sealing RPM continuous operation Singleturn max 12 000 RPM Mu
4. to their current value The input data are only updated again after reception of the UNFREEZE command DDLM_Slave_Diag Diagnostics version 4 03 43 BEI IDEACOD SAS Espace Europ en de l Entreprise 9 rue de Copenhague B P 70044 Schiltigheim T l 33 0 3 88 20 80 80 Fax 33 0 3 88 20 87 87 Mail info bei ideacod com Web www bei ideacod com IDEACOD F 67013 Strasbourg Cedex PRO BUS USER MANUAL GSD file File that contains slave specific characteristics The GSD file is supplied by the manufacturer of the profibus slave The GSD format is standardized defined in GSD specifications so configuration tools of various manufacturers can use the GSD files Master Active device in the network that can send data without request Controls the data interchange Octet Data unit of 8 bits 1 byte Profibus Process Fieldbus European fieldbus standard which is defined in the PROFIBUS Standard EN 50170 This specifies functional electrical and mechanical characteristics for a bit serial fieldbus system Slave Bus node that only sends data on request of the master Absolute Terminating resistor Word 44 rotary encoders are always slaves Resistor that terminates the bus cable terminating resistors are always required at the end of a cable or segment Expression used for a data unit of two bytes version 4 03 BEI IDEACOD SAS Espace Europ en de l Entreprise T l 33 0 3 88 20 80
5. F 67013 Strasbourg Cedex Web www bei ideacod com PRO BUS USER MANUAL T l 33 0 3 88 20 80 80 IDEACOD 5 3 Commissioning mode If the commissioning mode is activated in the encoder parameters the scaling factor can be determined directly in the machine by a Teach In The commissioning mode is indicated by the flashing green LED and bit 26 in the input double word bit 26 set to 0 If the encoder starts up in commissioning mode the parameters in the system configuration code sequence scaling are ignored Parameters stored in an internal EEPROM are used instead If code sequence or scaling factor are modified in commissioning mode the new values will be stored non volatile and the encoder works with this new parameters The proceeding in commissioning mode is as follows The encoder is installed in the machine system 5 3 1 Setting the counting direction If the encoder is operating in commissioning mode the counting direction code sequence can be changed online The current code sequence is indicated with bit 28 Status bits Data bits The commissioning mode is activated parameter settings cp 5 1 4 The counting direction is changed if necessary Machine system is to be moved to the start position The Teach In Start command is transmitted to the encoder Machine system is to be moved to the stop position With the Teach In Stop command the desired number of steps i
6. G Teach In Stop ss 24 Technical Data 8 35 GSD E 3 52 22241ehsetrehrehsedsstesehihindi hi Asie A4 Total measuring range ce eceseeteeseeeteeseeesees 13 Installation 20 Type designation ss 39 H V High e e EE 34 Velocity I Time base 21 WASTOIICTIOM BEE 5 version 4 03 45
7. command is transmitted to the encoder The Status bits Data bits device now starts the internal calculation of a new scaling factor Bit 31 D o Bl 7 2 5 m4 2 a a x 9 17 16 15 14 18 2 1 e 9 8 17 6 5 14 3 2 110 Master 0 11010101010 slave Start the Teach In by setting bit 30 to 1 Slave gt ONEEN ONOR Master Acknowledgement of the encoder by setting bit 30 to 1 Master 00 01001010 slave Reset bit 30 Slave gt 0 2b PO ER PORC Master Note The scaling factor is set to 1 the zero point shift is set to zero 5 3 3 Teach In Sop After moving the machine system to the stop position the Teach In Stop command is send Together with this command the desired number of steps over the moved measuring range is transmitted The user has to observe that the physical resolution is not exceeded e g 20000 steps on a quarter of a revolution Positive and negative directions are taken into account automatically also the crossing of the physical zero point Note The measuring range must not exceed the half physical measuring range of the encoder i e a maximum of 2047 revolutions for a multiturn Non calculated position value is transmitted gearing factor 1 no offset device with 4096 revolutions and a maximum of 8181 revolutions for the 14 Bit multiturn After recei
8. 3 062 from the Profibus Nutzeroganisation Further information about profibus functionality manufacturer products standards and device profiles are available from the PNO to the PROFIBUS standard It is certified by the Profibus Nutzerorganisation in Germany So called Multiturn devices use reduction gears and further code disks to determine the absolute shaft position over up to 16384 revolutions 14 bits The position value is calculated in an integrated microprocessor and transmitted over the Profibus Profibus Nutzerorganisation PNO Haid und Neu StraBe 7 D 76131 Karlsruhe Tel 49 0 721 96 58 590 Fax 49 0 721 96 58 589 www profibus com 4 version 4 03 IDEACOD BEI IDEACOD SAS Espace Europ en de l Entreprise 9 rue de Copenhague T l 33 0 3 88 20 80 80 Fax 33 0 3 88 20 87 87 B P 70044 Schiltigheim Mail info bei ideacod com F 67013 Strasbourg Cedex Web www beiideacod com 2 Installation The Absolute Encoder is connected with a connection cap This cap is connected to the encoder with a 15 pin D Sub connector and can be removed by loosening two screws on 2 1 Settings in the connection cap 2 1 1 Station address The station node address is set by using the rotary switches in the cap The values x 10 or x 1 for the switches are marked at the switch Possible addresses are between 0 and 99 Each address can only be used once in the network The stati
9. 4 03 29 BEI IDEACOD SAS Espace Europ en de l Entreprise 9 rue de Copenhague B P 70044 Schiltigheim F 67013 Strasbourg Cedex PRO BUS USER MANUAL T l 33 0 3 88 20 80 80 Fax 33 0 3 88 20 87 87 Mail info bei ideacod com Web www bei ideacod com IDEACOD 7 Configuring with STEP 7 In the following the configuration of the BEI IDEACOD encoder with the configuration tool STEP 7 is shown exemplarily In this example STEP 7 Version 5 1 and the CPU 315 2DP 7 1 Installing the GSD file If BEI IDEACOD encoders are used for the first time it is necessary to install the GSD file FRAB4711 gsd to take over the encoder into the hardware catalogue of the tool profibus master integrated are used If there are questions about other software tools please contact the manufacturer Choose Install New GSD in the HW Config window of the project menu item Options and select the GSD file FRAB4711 gsd The GSD file is available from BEI IDEACOD on disk or it can be downloaded from our homepage www bei ideacod com EW Config SIMATIC 300 Station Station Edit Insert PLO View Options Window Help D S GI LA El Es Customize Ctrl lt E HUSIMA TLL SUU Station LONI Specify Module 0 UA Configure Network Symbol Table Chill PS 307 104 Report System Error Edit Catalog Profile Update Catalog Install New GSD Import Station G50
10. 5 3 4 Preset value The preset function is similar to the procedure described in section 4 2 2 There is only one difference When using the manufacturer Status bits Data bits total measuring range When setting the parameters it should be observed that the code sequence is correct the setting of the counting direction in commissioning mode has to be transferred to the system configuration Subsequently the commissioning mode can be switched off and the encoder can be used in normal mode specific versions BEI IDEACOD 2 1 or BEI IDEACOD 22 there is an acknowledgement bit 31 in the input double word is set to 1 Bit 31 x a we a xis m4 2 a 2 x 19 a eler Ego KEE GSS ZN EAN ESS aleet Master 1 0 0 0 0 0 0 Transfer of the required position value preset value SLAVE SLAVE A Wiel lef tal Beef i Master New required position value is transferred Master gt 10 0 0 0 0 0 0 Reset bit 31 normal mode SLAVE SLAVE tg to 1 Master New required position value is transferred version 4 03 25 BEI IDEACOD SAS Espace Europ en de l Entreprise T l 33 0 3 88 20 80 80 Fax 33 0 3 88 20 87 87 IDEACOD Le e e Mail info beiideacod com F 67013 Strasbourg Cedex Web www bei ideacod com PROABUS USER MANUAL 6 Diagnostic messages 6 1 Overview On
11. 6 2 Supported diagnostic messages 6 2 5 Singletum resolution In the following the different diagnostic messages are described in detail 6 2 1 Extended diagnostics header Byte 7 contains the length of the extended diagnostics including header itself 6 2 2 Memory enor Bit 4 in diagnostic byte 8 is used to indicate a memory error Memory error means that the internal EEPROM of the encoder no longer works correctly and that it cannot be guaranteed that values e g offset value are stored non volatile Bit Definition 0 4 Memory error No Yes defective EEPROM 6 2 3 Operating status Diagnostic byte 9 contains certain parameters set in the system configuration Bit Definition 6 2 4 Encoder type Diagnostic byte 10 contains the encoder version singleturn or multiturn Definition Singleturn encoder 1 Multiturn encoder Diagnostic bytes 11 14 contain the real physical resolution per revolution of the encoder 6 2 6 Number of revolutions Diagnostic bytes 15 and 16 contain the real physical number of revolutions of the encoder Standard values are 1 for singeturn and 4096 resp 16384 for multiturn devices 6 2 7 Operating time waming Bit 4 in diagnostic byte 21 indicates an operating time warning The bit is set after 105 hours 6 2 8 Profile version Diagnostic bytes 24 and 25 contain the profile version of the encoder 6 2 9 Software version Diagnostic bytes 26
12. Cedex Web www bei ideacod com PROABUS USER MANUAL 5 1 3 Desired Measuring units reference With this parameter the reference for the desired measuring units cp 5 1 2 is determined either per revolution per maximum total resolution per number of physical impulses Desired measuring units per revolution In this case the position value increases by the programmed number of steps desired measuring units over one revolution Additionally the parameter total resolution is used to achieve an adaptation of the measuring range cp 4 1 6 Desired measuring units per maximum total measuring range The parameter desired measuring units refers to the complete measuring range of the encoder i e the encoder gives out the Properties DP slave E Address ID Parameter Assignment Parameters Value amp Station parameters CH Device specific parameters E Code sequence Increasing clockwise 0 Scaling function control Enable Desired Measuring units high IW Desired Measuring units low 4096 Physical impulses high 0 Physical impulses low 4036 Desired measuring units per Revolution ied Total measuring range high Total measuring range low Maximal total measuring range Commissioning mode Physical impulses Shorter diagnostics 16 bytes No Lower limit switch Disable Lower limit switch high 0 Lower limit switch low o Upper limit switch Disable 0 Cancel Help prog
13. be overwritten by the status bits If the BEI IDEACOD versions are used with encoders with a total physical resolution gt 25 Bit the user has to assure that the position value is scaled to a maximum output value lt 33554432 If position values gt 25 Bit are necessary class 2 should be used If version BEI IDEACOD 2 2 is used the current physical position values gt 25 Bit The velocity is transmitted in an additional peripheral input word manufacturer specific BEI IDEACOD versions do not support the position values gt 25 Bit The Slave Master Status position value Velocity Status 224 223 216 27 90 Preset value control bits Control 224 223 216 Master slave 215 98 27 90 Meaning of the different status bits Bit 28 Bit27 Bit26 Bit25 Meaning Ready 0 encoderis not ready for operation 1 encoderis ready for operation Mode 0 commissioning mode 1 normal mode Software limit switch 0 lower limit switch lt current position value lt upper limit switch 1 current position value gt upper limit switch or current position value lt lower limit switch Code sequence 0 increasing clockwise view onto the shaft 1 increasing counter clockwise view onto the shaft 22 version 4 03 BE IDEACOD SAS Espace Europ en de l Entreprise Eege Fax _ 33 0 3 88 20 87 87 B P 70044 Schiltigheim Mail info bei ideacod com
14. ideacod com A0 version 4 03 BEI IDEACOD SAS S Espace Europ en de l Entreprise T l 33 0 3 88 20 80 80 IDEACOD 9 rue de Copenhague Fax 33 0 3 88 20 87 87 B P 70044 Schiltigheim Mail info bei ideacod com F 67013 Strasbourg Cedex Web www bei ideacod com PRO BUS USER MANUAL 9 2 Further enc oder configurations The encoder versions described in the downward compatibility They should not be following are still supported for reasons of used in new projects 9 2 1 Version BEI IDEAC OD 2 0 Multitum This version differs from version 2 2 in the fact 4 7 Address ID Parameter Assignment that there is a smaller number of parameters Parameters Value shown in the configuration tool EE Station parameters 2 Code sequence Increasing clockwise 0 Desired Measuring units high 0 Desired Measuring units low 4096 Enable 9 2 2 Version BEI IDEAC OD 1 1 Multitum This is an older version formerly called Class downward compatibility but it should not be 3 It is similar to class 2 but has an additional used for new projects velocity output It is still available for reasons of 9 2 3 Version BEI IDEAC OD 1 0 Multitum Output of position value and velocity without preset function Should no longer be used 9 2 4 Class 2 Multitum DX Version Old version with reduced number of diagnostic data Should only be used with older encoders with DX in the type key versio
15. o a dk g H 1 1 H R 15 06 59 Edelstahl Stainless steel _ 20 20 Schl sselweite wrench size 17 Clamp flange C 30 Single Turn 82 Multi Turn 92 a i 3xM4x6 i a i i 8 2 8 g 258 953 236 Schl sselweite wrench size 17 version 4 03 37 IDEACOD F 67013 Strasbourg Cedex BEI IDEACOD SAS Espace Europ en de l Entreprise T l 33 0 3 88 20 80 80 9 rue de Copenhague Fax 33 0 3 88 20 87 87 GE Mail info bei ideacod com Ge e Web www bei ideacod com PRO BUS USER MANUAL Hollow shaft B Single Turn 100 Multi Turn 112 3 3 i I 1 3 E A 5 1O 8 Te 4 ei D 2 1 o ll a 1 2598 E Cie y S 26 Edelstahl Stainless steel 8650 GP ZS SS Max W 30 A Min W 15 15 26 59 20 20 Welleneinstecktiefe hollow shaft depth a S Mounting instructions The clamp ring may only be tightened if the shaft of the driving element is in the hollow shaft The diameter of the hollow shaft can be Schl sselweite wrench size 17 Allowed shaft movements of the drive element are listed in the table axial radial reduced to 12mm 10 mm or 8 mm by using an static 0 5 mm adapter this reducing adapter can be dynamic 0 1 mm 0 2 mm pushed into the hollow shaft 38 version 4 03 BE IDEACOD SAS Espace Europ en de l Entreprise T l 33 0 3 88 20 80 80 Fax 33 0 3 88 20 87 87 IDEACOD GE EEN Mail inf
16. point to the zero point of the after receiving the scaling parameters the application When using this function the preset value refers to the scaled position current encoder position value is set to the value desired preset value The integrated microcontroller calculates the internal zero point shift It is stored non volatile in an EEPROM takes less than 40 ms The preset value is activated if bit 31 in the peripheral output double word is set to 1 14 version 4 03 BEI IDEACOD SAS Espace Europ en de l Entreprise IDEACOD 7 rug de Copenhague Mail info bei ideacod com B P 70044 Schiltigheim me F 67013 Strasbourg Cedex Web www beiideacod com T l 33 0 3 88 20 80 80 Fax 33 0 3 88 20 87 87 PRO BUS USER MANUAL Data bits Bit xc o Bla we ae m4 2 2 2 x 416 WN WE S EE We 2 a ile th 7 RER Ep EIER ER EG AE Master gt 1 0 Transfer of the required position va slave ue preset value slaver Master O O Reset bit 31 normal mode slave Slave gt 0 0 New required position value is transferred Master If high precision is required the preset function should only be executed if the encoder shaft is not moving If the shaft moves quickly during Note for Singletum devices The procedure is similar with the singleturn version Here B
17. 33 0 3 88 20 80 80 IDEACOD sue de Copenhague Fa 133 LI 88 2087 87 B P 70044 Schiltigheim Mail info bei ideacod com F 67013 Strasbourg Cedex Web www bei ideacod com PROABUS USER MANUAL 4 1 6 Total measuring range Octet 14 15 16 17 Bit 31 24 7 0 Data ERSTE 27 to 2 Programmed total measuring range in steps The parameter total measuring range is used to adapt the measuring range of the encoder to the real measuring range of the application The encoder counts up until the position value has reached the programmed total resolution and starts with O again Example 100 steps are programmed for each revolution parameter measuring units per revolution and the total resolution is set to 12800 Then the encoder counts up to 11799 starts with O again after 128 revolutions counts up to 11799 and so on Note With many software tools it is necessary to divide the value into high and low word refer to page 34 When choosing the total resolution following rule has to be observed the If steps per revolution are set to n the parameter total resolution must not cause periods longer than the maximum physical number of revolutions see type label i e that the programmed total resolution of a 4096 revolution multiturn encoder must be less than 4096 x the programmed number of steps per revolution the programmed total resolution of a 16384 revolution multiturn encoder must be less than 16384 x the progra
18. 67013 Strasbourg Cedex Web www bei ideacod com PRO BUS USER MANUAL For multiturn devices with 16384 revolution the encoder shaft more than 4096 revolutions rule is as follows if it is necessary to turn the without power supply The period Le Total resolution measuring units per revolution must be an integer and it must fit an integer number of times integer multiple into 16384 So the following equation must apply 16384 x measuring units per revolution Total resolution integer 4 2 Data exchange in nomal operation The DDLM_Data_Exchange mode is the position value to the master The encoder normal operation mode of the device On can also receive data from the master e g request the encoder transfers the current the preset value in the class 2 configuration 4 2 1 Transfening the process value The multiturn encoder transmits the current position value as a 32 bit value double word to the master Word Word 1 Word 0 Function Process value Bit a x 2 2 7 2 3 a4 2 2 2 x w6lwlv we el 4s z ujil9 s 7 6 5 4 3 2 1 Jo OIO XIXIXIXIXIXIXIXIXIXIXIXIXIXIXIXIXIXIXIXIXIXIXIXIXIXIX IX X X The singleturn encoder uses a 1 6 bit value word for data transmission 4 2 2 Preset function Using the preset function it is possible to adapt rising edge As the preset function is used he encoder zero
19. 80 F 33 0 3 88 20 87 87 IDEACOD 7 ruS de Copenhague Ha E B P 70044 Schiltigheim F 67013 Strasbourg Cedex Web www bei ideacod com PRO BUS USER MANUAL 10 Index B L BUS fermination ccsecccessceesecesseeesseeesseeeseeesseees 5 LEDS cnsscstsastevsdssntecasarssasancesdeassssndncsacesteaaasanten ssaue 29 c LOW word 34 e EE 11 M E EE 11 Mechanical Data 36 Code SEQUENCE 1 eccescccssscesesesteeessceesseeeseeees 12 Memory GIT Orsini nna 27 COMMISSIONING mode 23 o Configuring the encoder 31 Connecting Operating time Warning ceseeseeeeeteeeeeees 27 BUS NES rss nn 6 Ordering COC ssh 39 POWET SUPPIY ceceesccesseseeseeesesseesseeseeseesneeaes 6 P Connection cap S DINOS E 5 Parameter SCHINGS cccscesseeeeeeseseteeeeeeesntees 11 Parameters 33 D Physical MpUISeS s s 16 18 20 Data format nie 10 Preset function 14 Desired measuring WAITS nt tee 17 Preset Value 25 Diagnostic MESSAGES e seeeseseseeseseesteseeseeeees 26 Profibus Nutzerorganisation 4 Dimensioned Drohwings 37 Profile for Absolute ENCOCETS ue 4 E S Electrical DOTA ssssssssssssessssessertesserrrrserrresssreree 35 Shorter Diagnostics 19 Encoder configurations E 9 Software limit switch eeeceeeessseeeeeeeeeee 19 Unes nas A1 Station address 5 Endless Operation ssesecreeecerrorereererrcnirnnii 13 te IT EE 22 Environmental Conditions 36 STEP ee dE dee Ee 20 F T FAC aii A 42 Teen aeee 24
20. BE IDEACOD SAS Espace Europ en de l Entreprise T l 33 0 3 88 20 80 80 Fax 33 0 3 88 20 87 87 IDEACOD a EE Mail info bei ideacod com F 67013 Strasbourg Cedex Web www bei ideacod com PRO ABUS USER MANUAL Absolute Rotary Encoder with Profibus DP Interface MHM510 PROF 001 MHK515 PROF 001 User Manual a company of Schneider Electric IDEACOD BEI IDEACOD SAS Espace Europ en de l Entreprise 9 rue de Copenhague B P 70044 Schiltigheim Mail F 67013 Strasbourg Cedex T l 33 0 3 88 20 80 80 Fax 33 0 3 88 20 87 87 info bei ideacod com Web www bei ideacod com PROABUS USER MANUAL DG SIG EE 4 a1 PASINENS eee EE tate 5 5 1 5 Shorter Diagnostics 19 1 1 Absolute Rotary Encocdet en 4 5 1 6 Software limit wich 19 1 2 Profibus technology ccesseceeessteeesesteeeees 4 5 1 7 Physical IMPUISES ccccccceeeesteeeeeeeees 20 2 Installation 5 ge Encoder type og ee 2 5 1 9 Velocity time DOSE eeeeceeeeseeeeeeeeees 21 2 1 Settings in the CONNECTION cap 5 doc 20 X i ration 2 1 1 Station oddress ccecceeessteeeestteeeteteeeeees 5 ba 9 QP 2 1 2 BUS Iemminoflon 5 5 3 COMMISSIONING MOE ENEE 23 3 1 Setting th nting direction 2 2 2 Connecting bus lines and power supply 6 SERIES 4 5 3 2 Teach In Stot 24 2 3 Connecting up the connection cap 6 5 3 3 Teach In Slop 24 2 4 Connecting the screen 7 5 3 4 Preset val
21. C Closed Loop Controller e Configured Stations DP VO slaves DPS DP PA Link G ENCODER ET 2008 ET 200c GI ET 200eco ET 2005 ET 200 Press F1 to get Help Ee 32 version 4 03 BEI IDEACOD SAS Espace Europ en de l Entreprise T l 33 0 3 88 20 80 80 IDEACOD 9 rue de Copenhague Fax 33 0 3 88 20 87 87 B P 70044 Schiltigheim Mail info bei ideacod com F 67013 Strasbourg Cedex Web www bei ideacod com PRO BUS USER MANUAL 7 4 Setting the parameters i x Select the encoder in the hardware Ss E d A n Address ID Parameter Assignment configuration and double click slot one in the a SE RE 0 Type Jut input DESE configuration table of the encoder The dialog en E Length Und Consistent over Properties DP slave appears The input and Statt F 5 K sse ae output addresses can be changed if desired SS Ce S To set the encoder parameters the tab e H Parameter Assignment h t fi S Address Length Unit Consistent over arameter Assignme as to be selected en ch du a End 259 Process image pation gt eege After choosing the Device specific double clicking on it Numerical values have parameters the different parameters to be entered directly The example shows the depend on the encoder version can be set parameters of encoder version BEI IDEACOD If several possibilities are offered for o
22. COD encoder can be chosen from the hardware catalogue and added to the profibus network Select the device BEI IDEACOD Encoder and drag it with the mouse to the network or choose the network and double click the BEI IDEACOD encoder Now the slave address has to be entered has to be equal to the address setting in the connection cap version 4 03 31 BEI IDEACOD SAS r Espace Europ en de l Entreprise T l 33 0 3 88 20 80 80 IDEACOD 9 rue de Copenhague Fax 33 0 3 88 20 87 87 B P 70044 Schiltigheim Mail info bei ideacod com F 67013 Strasbourg Cedex Web www bei ideacod com PRO BUS USER MANUAL 7 3 Selecting the encoder version As described in chapter 3 the functionality of this one of the modules listed under BEI the encoder depends on the selected IDEACOD encoder has to be dragged to Slot encoder version After the BEI IDEACOD 1 in the displayed configuration table of the encoder has been added to the network the encoder desired encoder version can be selected For RG HW Config SIMATIC 300 Station Configuration S7 PROFIBUS DP master system D Universal module Class 1 Singletum Class 1 Multtun Class 2 Singletum Class 2 Mutitun Class 2 Multitum DX Versic BEI1 0 Mukitum BEI1 1 Mukitum BEI2 0 Mukitum BEI2 1 Singletum BEI2 1 Mukitum BEI2 2 Singletum BEI 2 2 Mur 1 Gateway PLC amp Compatible PROFIBUS OP Slaves G
23. ality Commissioning Diagnostics alaala miele NIN IN IN Scaling function Reserved Reserved Activate manufacturer specific parameters octet 26 Reserved Desired measuring units refer to octet 26 bit O and 1 512 7 Total measuring range 4 1 6 8 Naim oO 10 18 AL 17 18 25 26 Reference for the desired measuring steps Reserved Activate commissioning mode a ols Shorter Diagnostics Reserved Activate lower limit switch Activate upper limit switch Activate octets 27 39 Lower limit switch NIA a R WlN O Qo BO 31 34 BS o S 39 Reserved OO lt 0 0 Upper limit switch or for for fo o fon alala l lo fo Physical impulses 20 Encoder type Single Multiturn Reserved Reserved Time base velocity 21 Reserved NIaIAJIA JOJN O nn kal Reserved 16 version 4 03 IDEACOD BEI IDEACOD SAS Espace Europ en de l Entreprise 9 rue de Copenhague B P 70044 Schiltigheim F 67013 Strasbourg Cedex T l 33 0 3 88 20 80 80 Fax 33 0 3 88 20 87 87 Mail info bei ideacod com Web www bei ideacod com PRO BUS USER MANUAL 5 1 Parameter In the following the manufacturer specific parameters are described in detail The parameters according to the Profile for 5 1 1 Activate manufacturerspecific parameters The manufacturer specific parameter byte 26 is activa
24. and 27 contain the software version of the encoder Octet 26 27 Bit 7 0 Data 27 to 20 Revision No Index 6 2 10 Operating time The operating time of the encoder can be read out from diagnostic bytes 28 to 31 If the encoder is connected to the power supply the operating time is stored in an EEPROM every six minutes in 0 1 h steps version 4 03 27 BEI IDEACOD SAS Espace Europ en de l Entreprise T l 33 0 3 88 20 80 80 Fax 33 0 3 88 20 87 87 IDEACOD SE EEN Mail info bei ideacod com F 67013 Strasbourg Cedex Web www bei ideacod com PRO BUS USER MANUAL 6 2 11 Zero offset 6 2 14 Serial number The zero offset is output in diagnostic bytes 32 to 35 6 2 12 Programmed resolution The programmed resolution per revolution is output in diagnostic bytes 40 to 43 The value is only valid if the scaling factor is based on the parameter resolution per revolution cp 5 1 3 6 2 13 Programmed total resolution The programmed respectively calculated total resolution is output in diagnostic bytes 44 47 Diagnostic bytes 48 57 are intended for a serial number With the current version the serial number is not saved in the encoder the bytes contain the default value 2A hex 28 version 4 03 BEI IDEACOD SAS S Espace Europ en de l Entreprise T l 33 013 88 20 80 80 IDEACOD 9 rue de Copenhague Fax 33 0 3 88 20 87 87 B P 70044 Schiltigheim Mail info bei ideacod com F 67013 Strasbo
25. ange due to our permanent strive to improve our products version 4 03 3 BEI IDEACOD SAS Espace Europ en de l Entreprise 9 rue de Copenhague T l 33 0 3 88 20 80 80 Fax 33 0 3 88 20 87 87 IDEACOD B P 70044 Schiltigheim Mail info bei ideacod com F 67013 Strasbourg Cedex Web www bei ideacod com PRO ABUS USER MANUAL 1 General This manual describes installation and the requirements of a Profibus Slave according configuration of the Absolute Rotary Encoder with Profibus DP interface The device meets 1 1 Absolute Rotary Encoder Basic principle of the absolute measurement is the optical scanning of a transparent disk with code print The code disk is connected to the shaft that is to be measured By evaluating the code and two additional incremental signals the absolute position of the shaft can be determined with a resolution of up to 65536 steps per revolution 16 bits 1 2 Profibus technology PROFIBUS is an international open non proprietary fieldbus standard which is defined in the international standards EN 50170 and EN 50254 There are three different versions Profibus DP Profibus FMS and Profibus PA BEI IDEACOD absolute encoders are designed for the DP version They support all Usual baud rates up to 12 MBaud Besides manufacturer specific functions the devices support the classes 1 and 2 according to the Profile for Absolute Encoders this device profile can be ordered under part number
26. ased in the master If this is not possible the encoder can either be used as a class 1 encoder diagnostic data length 16 bytes or one of the manufacturer specific versions BEI IDEACOD 2 1 or 2 2 can be used with reduced diagnostics cp 5 1 5 Solution Use COM PROFIBUS Version 3 3 choose one of the manufacturer specific BEI IDEACOD versions BEI IDEACOD 2 1 or 2 2 and activate the reduced diagnostics If COM PROFIBUS V5 0 is to be used the configuration of the BEI IDEACOD encoder is only possible with a modified GSD file slave key Max_Diag_Data_Len has to be changed Encoder is ready but receives no configuration or parameter telegrams Check the address setting in the connection cap Check the connection of the bus lines BUS IN BUS OUT Check the hardware configuration in your software tool Red LED bright green LED flashing Parameter error Check parameters e g the rules for setting the total measuring range cp 4 1 6 42 version 4 03 BEI IDEACOD SAS Espace Europ en de l Entreprise 9 rue de Copenhague B P 70044 Schiltigheim F 67013 Strasbourg Cedex PRO BUS USER MANUAL T l 33 0 3 88 20 80 80 Fax 33 0 3 88 20 87 87 Mail info bei ideacod com Web www bei ideacod com IDEACOD Problem The resistance value must be about 110 Q Sporadic bus errors 220 Q parallel 220 Q Possible cause Possible cause Terminating resistors not correct Possible solution Check
27. caled value version 4 03 19 BEI IDEACOD SAS Espace Europ en de l Entreprise 9 rue de Copenhague B P 70044 Schiltigheim F 67013 Strasbourg Cedex PRO BUS USER MANUAL T l 33 0 3 88 20 80 80 Fax 33 0 3 88 20 87 87 Mail info bei ideacod com Web www bei ideacod com IDEACOD 34 O 2029 Octet 31 32 33 Bit 31 24 23 16 Data Se Upper limit switch in measuring steps related to the scaled value x Address ID Parameter Assignment Parameters Station parameters EH Device specific parameters E Code sequence Increasing clockwise 0 Scaling function control Enable Desired Measuring units high 1 Desired Measuring units low 4096 Physical impulses high 0 Physical impulses low 4096 Desired measuring units per Revolution Total measuring range high Total measuring range low 64064 Commissioning mode Disable Shorter diagnostics 16 bytes No Lower limit switch Disable Lower limit switch high D Lower limit switch low 0 HE Upper limit switch Enable HEJ Upper limit switch high Disable 5 1 7 Physical impulses Octet 35 36 37 Bit 31 24 23 16 Data Physical impulses This parameter is evaluated if the reference for the desired measuring units is physical impulses cp 5 1 3 With the ohysical impulses it is possible to set a gearing factor freely The user defines the output steps desired measuring ste
28. ce Multiturn Class 2 Position value 16 bit Inout Code sequence Preset function Singleturn Preset value 16 bit Output Scaling factor Class 2 Position value 32 bit Code sequence Preset function Multiturn Input Scaling factor Preset value 32 bit Output BEI IDEACOD 2 1 Position value 32 bit Input Code sequence Preset function Singleturn Preset value Teach In Scaling factor Commissioning mode 32 bit Output Shorter Diagnostics Limit switches BEI IDEACOD 2 1 Position value 32 bit Input Code sequence Preset function Multiturn Preset value Teach In Scaling factor Commissioning mode BEI IDEACOD 2 2 Singleturn BEI IDEACOD 2 2 Multiturn 32 bit Output Position value 32 bit Input Preset value Teach In 32 bit Output Velocity 16 bit Input Position value 32 bit Input Preset value Teach In 32 bit Output Velocity 16 bit Input Shorter Diagnostics Limit switches Code sequence Scaling factor Shorter Diagnostics Limit switches Velocity time base Code sequence Scaling factor Shorter Diagnostics Limit switches Velocity time base version 4 03 Preset function Commissioning mode Velocity Output Preset function Commissioning mode Velocity Output BEI IDEACOD SAS Espace Europ en de l Entreprise T l 33 0 3 88 20 80 80 Fax 33 0 3 88 20 87 87 IDEACOD a ie Mail info bei ideacod com F 67013 Strasbourg Cedex Web www bei
29. crew sealing and cone from the cable gland Remove 55 mm of the cable sheath and 50 mm of the shielding About 5 mm of the wires should be stripped Put screw and sealing on the cable The cone should be mounted under the shielding according to the figure Put the whole cable into the cable gland and tighten the screw 55mm k 50mm 5mm 5mm ON Ei Ietat t Teis Bus In Bus Out Note If a combined cable power supply and bus lines in one cable is used the large cable diameter can lead to problems For these cases BEI IDEACOD offers connection caps with larger cable glands refer to product catalogue 6 version 4 03 BEI IDEACOD SAS S Espace Europ en de l Entreprise T l 33 013 88 20 80 80 9 rue de Copenhague Fax 33 0 3 88 20 87 87 B P 70044 Schiltigheim Mail info bei ideacod com F 67013 Strasbourg Cedex Web www bei ideacod com PRO BUS USER MANUAL IDEACOD 2 4 Connecting the screen To achieve the highest possible noise immunity certain cases a compensation current might shielded cables should be used for data flow over the shield Therefore a potential transmission The shield should be connected compensation cable is recommended to ground on both ends of the cable In 2 5 Instructions for mechanical installation and electical connection of the angular encoder The following points should be observed Do not drop the angular encoder or subject it to
30. data are 3 1 Overview Configuration principle GSD File J Software Tool PLC Choice of encoder configuration Parameter settings mm database determined These data are stored in the profibus master They are transmitted to the slave encoder when the profibus network is starting up DDLM_Set_Prm It is not possible to change parameters or configuration during the normal operation of the device exception Commissioning Mode see chapter 5 3 After receiving configuration and parameter data the absolute encoder enters the normal operating mode cyclic data transmission DDLM_Data_Exchange In this mode the process values e g the position value are transmitted Data length and format are determined by the user when selecting a certain encoder configuration Parameter DDLM_Set_Prm Once at Start Up Cyclic Data Transmission e g position value 8 version 4 03 IDEACOD BEI IDEACOD SAS Espace Europ en de l Entreprise 9 rue de Copenhague B P 70044 Schiltigheim F 67013 Strasbourg Cedex T l Fax Mail 33 0 3 88 20 80 80 33 0 3 88 20 87 87 info bei ideacod com Web www bei ideacod com PRO BUS USER MANUAL 3 2 Overview encoder configurations functionality Designation Cyclic communication Programmable Additional functions parameters Class 1 Position value 16 bit Inout Code sequence Singleturn Class 1 Position value 32 bit Input Code sequen
31. excessive vibration The encoder is a precision device Do not open the angular encoder housing this does not mean that you cannot remove the connection cap If the device is opened and closed again it can be damaged and dirt may enter the unit The angular encoder shaft must be connected to the shaft to be measured through a suitable coupling full shaft version This coupling is used to dampen vibrations and imbalance on the encoder shaft and to avoid inadmissible high forces Suitable couplings are available from BEI IDEACOD Although BEl IDEACOD absolute encoders are rugged when used in tough ambient conditions they should be protected against damage using suitable protective measures The encoder should not be used as handles or steps Only qualified personnel may commission and operate these devices These are version 4 03 personnel who are authorized to commission ground and tag devices systems and circuits according to the current state of safety technology It is not permissible to make any electrical changes to the encoder Route the connecting cable to the angular encoder at a considerable distance or completely separated from power cables with their associated noise Completely shielded cables must be used for reliable data transfer and good grounding must be provided Cabling establishing and interrupting electrical connections may only be carried out when the equipment is in a no voltage cond
32. high and low word Enter this value 12288 as physical impulses refer to page 34 and set the desired measuring units to 400 5 1 8 Encoder type The encoder type Singleturn or Multiturn is specified in bit 1 octet 39 Generally this bit is Octet 39 Bit 1 Type set automatically if the encoder version is o Singleturn selected The user only has to take care of this 1 Multiturn parameter if the parameters are set manually in hex code 5 1 9 Velocity time base With this parameter the user can choose the Time base Bit4 BitS time base for the velocity output version BEI Steps second IDEACOD 2 2 The time base is specified in bits Steps 100 ms 4 and 5 of octet 39 Steps 10 ms RPM revolutions per minute 1 version 4 03 21 IDEACOD BEI IDEACOD SAS Espace Europ en de l Entreprise 9 rue de Copenhague B P 70044 Schiltigheim Mail F 67013 Strasbourg Cedex T l 33 0 3 88 20 80 80 Fax 33 0 3 88 20 87 87 info bei ideacod com Web www bei ideacod com PRO BUS USER MANUAL 5 2 Data exchange in normal operation With the manufacturer specific versions BEI IDEACOD 2 1 and BEI IDEACOD 2 2 the process value generally is transmitted as 32 bit value peripheral double word Apart from 25 bits used for the position value the 7 other bits are used as status bits The output double word contains the preset value and control bits Absolute encoders model series might have upper digits will
33. ideacod com PROABUS USER MANUAL 3 3 Encoder configurations data format Designation Configuratio Input words Output words Encoder gt Master gt Hex Dec Master Encoder Description Class 1 Singleturn According to Profile Class 1 Multiturn According to Profile Class 2 Singleturn According to Profile Class 2 Multiturn According to Profile BEI IDEACOD Singleturn BEI IDEACOD Multiturn BEI IDEACOD 2 2 Singleturn BEI IDEACOD 2 2 Multiturn The following encoder configurations are still supported for reasons of downward compatibility but should not be used for new projects description see Appendix Class 2 Multiturn Fl 241 2 2 9 2 4 4 DX Version BEI IDEACOD Multiturn BEI IDEACOD Multiturn BEI IDEACOD 2 0 E 241 2 2 22 41 Multiturn DO 208 1 10 version 4 03 BEI IDEACOD SAS S Espace Europ en de l Entreprise T l 33 0 3 88 20 80 80 IDEACOD 9 rue de Copenhague Fax 33 0 3 88 20 87 87 B P 70044 Schiltigheim Mail info bei ideacod com F 67013 Strasbourg Cedex Web www bei ideacod com PRO BUS USER MANUAL 4 Class 1 and Class 2 profile The encoder versions Class 1 and Class 2 are Encoders available from the PNO Order No defined by the working group encoder in the 3 062 Profibus Nutzerorganisation in the Profile for 4 1 Parameter settings The following table contains an overview of user to
34. it 15 is used to activate the preset value With high resolution singleturn encoders 16 Bit it is not possible to set preset values gt 32767 15 bit as the MSB is used to Slave gt 0 O New required position value is transferred the preset procedure this can result in offsets because of bus delay times activate the preset If this functionality is needed the user has to choose one of the manufacturer specific BEI IDEACOD encoder versions in these classes the singleturn position is transmitted as 32 bit value version 4 03 15 BEI IDEACOD SAS Espace Europ en de l Entreprise Ses lee Fax 33 0 3 88 20 87 87 B P 70044 Schiltigheim Mail info bei ideacod com F 67013 Strasbourg Cedex Web www bei ideacod com PRO BUS USER MANUAL T l 33 0 3 88 20 80 80 IDEACOD 5 Special versions BEI IDEACOD 2 1 and 2 2 The manufacturer specific encoder configurations BEI IDEACOD 2 1 and BEI IDEACOD 2 2 offer in addition to the functions according to the Profile for Encoders features such as commissioning mode velocity output and software limit switches The following table gives an overview of the used parameters and the structure of the parameter telegram Usually it is not necessary to know these details as the parameters are set with user friendly software tools Octet Parameter Bit Details byte No UE Profibus Standard Parameters Section Page 9 Code sequence Class 2 function
35. ition Short circuits voltage spikes etc can result in erroneous functions and uncontrolled statuses which can even include severe personnel injury and material damage Before powering up the system check alll of the electrical connections Connections which are not correct can cause the system to function incorrectly Fault connections can result in severe personnel injury and material damage BEI IDEACOD SAS Espace Europ en de l Entreprise T l 33 0 3 88 20 80 80 Fax 33 0 3 88 20 87 87 9 rue de Copenhague fe e IDEACOD B P 70044 Schiltigheim Mail info bei ideacod com F 67013 Strasbourg Cedex Web www beiideacod com PRO BUS USER MANUAL 3 Device Configuration The Absolute Encoder with Profibus Interface can be programmed according to the needs of the user The GSD file has to be installed in the used software tool The user has the possibility to choose different encoder configurations Parameters and functionality depend on the selected encoder configuration BEI IDEACOD Absolute Encoders Type MHM510 PROF 001 and MHK515 PROF 001 support all configurations described in the following i e there is no functionality limitation due to the hardware Additionally to the configurations Class 1 and Class 2 according to the Profile for Encoders the BEI IDEACOD Encoder offers configurations with manufacturer specific functions By choosing a certain encoder configuration parameter and configuration
36. know the details of the structure the the parameters according to the Profile for parameters are set in user friendly forms in the Encoders and the structure of the parameter operator software tool telegram Usually it is not necessary for the Octet byte Parameter Bit Nr Details No 1 8 ProfbusStandordParametes 9 Codesequence Lo Section 4 1 2 Page 12 Commissioning Diagnostics 2 Section 4 1 3 Page 12 Section 4 1 4 Page 12 Not used for Class 1 and Class 2 10 Measuring units per revolution Section 4 1 5 Page 12 13 14 Total measuring range Section 4 1 6 Page 13 17 18 Reserved Profile 25 26 Not used for Class 1 and Class 2 Refer to versions BEI IDEACOD 2 1 und 2 2 version 4 03 11 IDEACOD BEI IDEACOD SAS Espace Europ en de l Entreprise 9 rue de Copenhague B P 70044 Schiltigheim Mail F 67013 Strasbourg Cedex T l 33 0 3 88 20 80 80 Fax 33 0 3 88 20 87 87 info bei ideacod com Web www bei ideacod com PRO BUS USER MANUAL 4 1 1 Code sequence The parameter code sequence defines the counting direction of the position value The code increases when the shaft is rotating clockwise CW or counter clockwise CCW view onto the shaft The code sequence is defined in bit O of octet 9 Octet 9 Bit O Direction of rotation when viewing the Code shaft 0 Clockwise CW Increasing 1 Counter clockwise CCW Increasing In Class 1 this is the onl
37. ltiturn max 6 000 RPM Shock EN 60068 2 27 lt 100 g halfsine 6 ms Permanent shock EN 60028 2 lt 10g halfsine 16 ms 29 Vibration EN 60068 2 6 lt 10 g 10 Hz 2 000 Hz Weight standard version Singleturn 550g Multiturn 600g Weight stainless steel version Singleturn 1 100g Multiturn 1 200 g lange Synchro S Hollow shaft B Shaft diameter Shaft length hollow shaft depth min max Minimum mechanical lifetime Flange Lifetime in 108 revolutions with Fa Fr 40N 60N 40N 80N _ 40N 110N 10 Synchro flange 10 x 20 22 110 asi S6 Synchro flange 6 x 10 without shaft sealing 822 347 133 S6 Synchro flange 6 x 10 with shaft sealing max 20 N axial 80 N radial 8 3 Environmental Conditions Operating temperature 40 85 C 40 85 C 98 without liquid state Casing side IP 65 Shaft side IP 64 optional with shaft sealing IP 66 Storage temperature Humidity Protection class EN 60529 36 version 4 03 33 0 3 88 20 80 80 BEI IDEACOD SAS T l Espace Europ en de l Entreprise IDEACOD 9 rue de Copenhague Fax 33 0 3 88 20 87 87 B P 70044 Schiltigheim Mail info bei ideacod com F 67013 Strasbourg Cedex Web www bei ideacod com 8 4 Dimensioned Drawings Synchro flange S available in 2 versions Synchro flange d mm A mm Version S06 Version 10 10h 20 Single Turn 82 Multi Turn 92 Ke 3xM4x6 i I T D
38. mmed number of steps per revolution Total resolution lt measuring units per revolution x real number of revolutions physical If this rule is disregarded the encoder will indicate a parameter error and it will not enter the data exchange mode With older versions a further rule had to be observed see below If this rule was ignored problems occurred when using the device in endless operation when crossing the physical zero point With new devices software version 3 Generation AT or higher this problem is solved by an internal software routine For that reason the 2 rule can be ignored if a new device is used Note The internal software routine only works if the encoder is in operation If it is necessary to turn the encoder shaft more than 1024 revolutions without power supply this can lead to problems the internal routine will not work without power supply In this case the following rule should be observed even with new devices The period i e Total resolution measuring units per revolution must be an integer and it must fit an integer number of times integer multiple into 4096 So the following equation must apply 4096 x measuring units per revolution Total resolution integer version 4 03 13 BEI IDEACOD SAS i Espace Europ en de l Entreprise T l 33 0 3 88 20 80 80 IDEACOD 9 rue de Copenhague Fax 33 0 3 88 20 87 87 B P 70044 Schiltigheim Mail info bei ideacod com F
39. n 4 03 41 BEI IDEACOD SAS Espace Europ en de l Entreprise T l 33 0 3 88 20 80 80 Fax 33 0 3 88 20 87 87 9 rue de Copenhague fe e IDEACOD B P 70044 Schiltigheim Mail dee F 67013 Strasbourg Cedex Web www beiideacod com PRO BUS USER MANUAL 9 3 FAQ absolute enc oder Profibus Problem There are problems with the profibus network bus error no answer from the encoder if one of the following profibus masters is used SIEMENS 5 95U Master Interface SIEMENS IM 308 B Softing PROFlboard Allen Bradley 1785 PFB B Mitsubishi A1SJ 71PB92D Possible cause Problem If COM PROFIBUS Version 5 0 is used it is not possible to insert the BEI IDEACOD encoder into the hardware configuration if the PLC S5 95U is used Cause The S5 95U does not support the full diagnostic data length 57 bytes COM PROFIBUS V5 0 checks the GSD parameter Max_Diag_Data_Len 57 and prevents the configuration of both devices together Problem PLC and master are switched on bus is active but there is no answer from the encoder Possible solutions First of all the state of LEDs in the connection cap should be checked cp section 6 3 Possibly this can give hints to the cause of the problem Both LEDs dark Check power supply Both LEDs bright The masters do not support the full diagnostic data length 57 bytes Solution If it is possible the maximum number of diagnostic data per slave should be incre
40. ne 2 2 the version with the highest functionality parameter the parameters list is opened by Properties DP slave K ES Address ZID Parameter Assignment Parameters 3 Device specific parameters E Code sequence Increasing clockwise 0 Scaling function control Increasing clockwise 0 Desired Measuring units high Increasing counter clockwise 1 Desired Measuring units low 4096 Physical impulses high 0 IS Physical impulses low 4096 Desired measuring units per Revolution HIE Total measuring range high 256 2 Total measuring range low 0 Commissioning mode Disable E Shorter diagnostics 16 bytes No 2 Lower limit switch Disable Lower limit switch high 0 2 Lower limit switch low 0 2 Upper limit switch Disable Upper limit switch high 0 32767 Cancel Help version 4 03 33 BEI IDEACOD SAS Espace Europ en de l Entreprise T l 33 0 3 88 20 80 80 Fax 33 0 3 88 20 87 87 IDEACOD Pee icity Mail info bei ideacod com F 67013 Strasbourg Cedex Web www bei ideacod com PRO ABUS USER MANUAL Due to the software tool STEP7 32 bit parameter values e g total measuring range software limit switches have to be divided into high and low word Example Decimal Hexadecimal Hexadecimal Decimal to be entered 129600 00 01 FA 40 High word 00 01 Low word FA 40 64064 The decimal value 1 has t
41. o be entered into the high word parameter field the value 64064 into the low word parameter field Or Divide the value by 65536 enter the integer part of the result into the high word parameter field the remainder into the low word field 129600 65536 1 977539 integer part 1 high word 1 129600 1 x 65536 64064 remainder 64064 low word 64064 It is also possible to enter the parameters directly as hexadecimal code However this is very complicated and it should be avoided if possible Properties DP slave E xi Address 1D Parameter Assignment Parameters Sy Station parameters HHA Device specific parameters LE Hex parameter assignment User_Prm_Data 0 to 7 00 44 00 01 10 00 00 01 HE User_Prm_Data 8 to 15 F4 40 00 00 00 00 00 00 HE User_Prm_Data 16 to 23 00 00 80 00 00 00 00 00 2 User_Prm_Data 24 to 31 00 7F FF 00 00 10 00 02 Cancel Help 34 version 4 03 8 Technical Data 8 1 Electrical Data General design Power supply voltage Power drain Current consumption EMC Bus connection Interface Baud rates Resolution Number of revolutions Accuracy of division Step frequency Code Lifetime electrical Addressing Note IDEACOD BEI IDEACOD SAS Espace Europ en de l Entreprise 9 rue de Copenhague B P 70044 Schiltigheim F 67013 Strasbourg Cedex PRO BUS USER MANUAL T l
42. o bei ideacod com F 67013 Strasbourg Cedex Web www bei ideacod com PROABUS USER MANUAL 9 Appendix 9 1 Type designation ordering code Description Type Key Reference MHM5 DP Bl B Ee Interface Profibus DP Version B1 Code Binary B Revolutions Bits Singleturn 00 Multiturn 4096 revolutions 12 Multiturn 16384 revolutions 14 Steps per revolution 4096 12 Bits 8192 13 65536 16 Flange Clamp flange Synchro flange Hollow shaft Shaft diameter 10 mm 10 06 mm 06 15 mm hollow shaft 15 Mechanical options Without 0 Shaft sealing IP66 S Stainless steel version V Customized E Connection Connection Cap occ Standard bold further models on request Ordering reference for a 10mm solid shaft absolute multiturn encoder MHMS DP B1 B 12 13 C 100 OCC MHM510 PROF 001 Ordering reference for a 15mm blind shaft absolute multiturn encoder MHKS DP B1 B 12 13 B 150 OCC MHK515 PROF 001 version 4 03 39 BEI IDEACOD SAS Espace Europ en de l Entreprise IDEACOD 9 rue de Copenhague B P 70044 Schiltigheim F 67013 Strasbourg Cedex PRO BUS USER MANUAL Accessories and Documentation Description Reducing adapter 15 mm to 12 mm Reducing adapter 15 mm to 10 mm T l Fax Mail Web 33 0 3 88 20 80 80 33 0 3 88 20 87 87 info bei ideacod com www bei ideacod com Reducing adapter 15 mm to 8 mm only for hollow shaft GSD file is available on our web site www bei
43. on address is read in when switching on the power supply An address change by the Master Set Slave Add is not supported the backside of the encoder Bus lines and power supply are led into the cap via cable glands and connected to terminal blocks 2 1 2 Bus termination If the encoder is connected at the end or beginning of the bus line the termination resistor must be switched on slide switch in position ON R R ON ON device X last device Note The outgoing bus line is disconnected if the resistor is switched on The bus is only correctly terminated when the encoder is connected to the connection cap If the encoder must be changed during operation a separate active bus termination should be used version 4 03 5 IDEACOD BEI IDEACOD SAS Espace Europ en de l Entreprise T l 33 0 3 88 20 80 80 9 rue de Copenhague Fax 33 0 3 88 20 87 87 GE Mail info bei ideacod com Ge e Web www bei ideacod com F 67013 Strasbourg Cedex PRO BUS USER MANUAL 2 2 Connecting bus lines and power supply Clamp Description B left Bus line B Bus in A left Bus line A Bus in OV 10 30 V B right Bus line B Bus out A right Bus line A Bus out OV 10 30 V The power supply has to be connected once no matter which clamps If the terminating resistor is switched on the outgoing bus lines are disconnected 2 3 Connecting up the connection cap Remove s
44. orter Diagnostics Some Profibus masters especially older ones have problems with the full diagnostic data length 57 bytes The BEI IDEACOD encoder offers the option to reduce the diagnostic data length to 16 bytes If Class 1 is used the standard diagnostic data length is 16 bytes 5 1 6 Software limit switch Two positions can be programmed If the position value falls below the lower limit switch or exceeds the higher limit switch bit 27 in the 32 Bit process value is set to 1 Between these limit switches bit 27 is set to O The limit switches can be set to any value but the parameter total measuring range must not be Octet 27 28 Bit 31 24 23 16 15 8 Data SE The commissioning mode can be used durably but it is recommended to transfer the parameters determined with the Teach In into the system configuration Then the encoder should be used in normal operation mode so it is possible to exchange the device without a new Teach In A detailed description of the commissioning mode can be found in section 5 3 Octet 26 Bit 2 Commissioning mode Switched off 1 Switched on Octet 26 Bit 3 Diagnostics Standard 57 bytes 1 Reduced 16 bytes exceeded The limit switches are activated with bits 5 and 6 in octet 26 Note With many software tools it is necessary to divide the values into high and low word refer to page 34 29 30 Lower limit switch in measuring steps related to the s
45. ps over a part of the measuring range This option is helpful to program scaling factors that result in a non integer number of steps over 1l revolution Example Problem The position value has to increase by 400 steps over 3 revolutions Lower limit switch Deactivated 1 Activated Upper limit switch 0 Deactivated 1 Activated 38 7 0 2710 29 With the reference steps per revolution it is impossible to program that scaling factor it would be necessary to set the parameter desired measuring steps to 133 33 this is not possible because the parameter must be an integer value Solution Choose physical impulses as reference for the desired measuring units Now the number of physical measuring steps over the desired measuring range is determined For this the actual physical 20 version 4 03 BE IDEACOD SAS Espace Europ en de l Entreprise T l 33 0 3 88 20 80 80 Fax 33 0 3 88 20 87 87 IDEACOD GE EEN Mail info bei ideacod com F 67013 Strasbourg Cedex Web www bei ideacod com PROABUS USER MANUAL resolution of the encoder type label is used Now the encoder increases the position value For our example this would be with a by 400 steps on a measuring range of 12288 standard encoder 12 Bit resolution physical steps 3 revolutions 4096 steps revolution x 3 revolutions 12288 Note With many software tools it is necessary steps to divide the value into
46. rammed number of measuring units over the whole measuring range 4096 revolutions with the multiturn encoder Desired measuring units per physical impulses The desired measuring units refer to the physical impulses entered in octets 35 39 cp 5 1 7 Physical impulses means The real value that is read internally from the code disc e g 4096 steps per revolution with a standard 12 bit encoder With that option it is possible to set gearing factors freely Reference Octet 26 Bit O Octet 26 Bit 1 Per revolution 0 0 Per maximum total measuring range l Per physical impulses 0 1 steps specified in octets 35 38 18 version 4 03 BEI IDEACOD SAS Espace Europ en de l Entreprise 9 rue de Copenhague T l 33 0 3 88 20 80 80 Fax 33 0 3 88 20 87 87 IDEACOD B P 70044 Schiltigheim Mail info bei ideacod com F 67013 Strasbourg Cedex Web www bei ideacod com 5 1 4 Activate commissioning mode Bit 2 in octet 26 activates the commissioning mode This is a special mode with the option to set further parameters in the data exchange mode additional to the preset value In the commissioning mode a Teach In can be carried out i e the gearing factor can be determined directly in the machine In this special mode indicated by the flashing green LED the parameters set in the system configuration are ignored by the encoder It uses parameters stored in an internal EEPROM instead 5 1 5 Sh
47. request of the master the encoder diagnostic data is according to the Profibus transmits diagnostic data Standard octets 1 6 respectively according DDLM_Slave_Diag The diagnostic data to the Profile for Encoders starting from octet length is 57 bytes Exception shorter 7 diagnostics cp 5 1 5 The format of the Diagnostic function Data type Diagnostics octet Class number Station status 1 ref to Profibus pe i Standard Station status 2 ref to Profibus Octet 2 1 Standard Station status 3 ref to Profibus Octet 3 1 Standard Diagnostic master address PNO identification number Extended diagnostic header Alarm messages Octet Sting ls Encoder type Octet String Resolution per revolution Hardware 1 1 1 1 1 1 1 Number of revolutions Hardware 1 Additional alarm messages 2 2 5 2 Supported alarm messages Octet Sting 1819 Warnings Supported warnings 22 23 2 Profile version 2 Software version 26 27 2 Operating time 28 31 2 Zero offset 2 Manufacturer specific offset value 36 39 2 Programmed resolution per revolution 40 43 2 Programmed total resolution 2 Serial number ASCII String 48 57 2 26 version 4 03 IDEACOD BEI IDEACOD SAS Espace Europ en de l Entreprise 9 rue de Copenhague T l 33 0 3 88 20 80 80 Fax 33 0 3 88 20 87 87 B P 70044 Schiltigheim Mail info bei ideacod com F 67013 Strasbourg Cedex Web www bei ideacod com PROABUS USER MANUAL
48. s transferred to the encoder Set the preset value The parameters in the system configuration are set to the values determined with the Teach In procedure Commissioning mode is deactivated parameter settings in the 32 bit process value 0 increasing clockwise 1 increasing counter clockwise With bit 28 in the output double word the counting direction can be changed Bit 3 xX oH B 7 2B 2 wl wa a x 19 7 1 15 4 1 12 1 9 8 7 6 5 4 3 2 1 40 Master 010101 0 0 0 Changing the counting direction by setting bit 28 slave Slave 10 01019110 011 Master and 28 Encoder sends acknowledgement new counting direction in bits O Q1 Master 0101010 10 10 0 Changeover is completed by reset bit 28 slave slave gt 10 0 0 Q1 X 0 1 Master Output process value with changed counting direction The counting direction is stored non volatile in an internal EEPROM version 4 03 23 BEI IDEACOD SAS Espace Europ en de l Entreprise 9 rue de Copenhague B P 70044 Schiltigheim F 67013 Strasbourg Cedex PRO BUS USER MANUAL T l 33 0 3 88 20 80 80 Fax 33 0 3 88 20 87 87 Mail info bei ideacod com Web www bei ideacod com IDEACOD 5 3 2 Teach In Start After the machine system has been moved to the start position the Teach In Start
49. ted with bit 6 in octet 9 Bit 7 in octet 26 activates further parameter bytes 27 39 Usually this happens automatically if the encoder versions BEI IDEACOD 2 1 or BEI IDEACOD 2 2 are selected It is only important for the user to observe this if the parameters are entered manually directly using hex code 5 1 2 Desired measuring units The parameter desired measuring units is used to program any required number of steps Octet 10 1 Bit 31 24 23 16 15 8 GE Data Encoders are supported too description see chapter 4 Octet 9 Bit Octet 26 Deactivated 1 Activated Octet 26 Bit 7 Octet 27 39 Deactivated 1 Activated over 1 revolution over the whole measuring range or over a part of the measuring range 12 13 7 0 PRO Desired measuring units The reference for the desired measuring units is specified with the parameter Desired measuring units reference cp 5 1 3 If per revolution is selected the measuring range can be adapted with the parameter total measuring range Please observe the rules in section 4 1 6 Note With many software tools it is necessary to divide the value into high and low word refer to page 34 version 4 03 17 BEI IDEACOD SAS Espace Europ en de l Entreprise 9 rue de Copenhague T l 33 0 3 88 20 80 80 Fax 33 0 3 88 20 87 87 IDEACOD B P 70044 Schiltigheim Mail info bei ideacod com F 67013 Strasbourg
50. terminating resistors The resistors of 220 Q must be switched on at the beginning and at the end of the bus segment Switch off the power supply and measure the resistance between the terminals A and B in the connection cap EMC problems Possible solutions Is the used baud rate acceptable for the length of the bus lines Try to use lower baud rate if necessary Check the connection of the cable shield in the connection cap Are all cables and conductions laid according to EMC rules 9 4 Definitions Address A number which is assigned to each node no matter whether it is a master or slave The address is set non volatile in the connection cap using rotary switches Baud rate Data transfer rate specified as the number of bits transferred per second baud rate bit rate Bus Node Device which can send receive or amplify data via the bus DDLM Direct Data Link Mapper Interface between Profibus DP functions and the encoder software DDLM_Data_Exchange Operating status of the bus for standard data transfer DDLM_Set_Prm Operating status of the bus configuration and parameter are transmitted Operating status diagnostic data are requested from the slave e g encoder Identification localization classification display additional evaluation of faults errors and messages Freeze This is a master command to the slave This allows the master to freeze the states of the inputs for example of the absolute angular encoder
51. ue ccescccescnectenesneeseeeeeeenecee 25 2 5 Instructions for mechanical installation 6 Diagnostic messages 26 and electrical connection of the angular G OVENI EW iinarte iii 26 ON COGS EE 7 6 2 Supported diagnostic messages 27 3 Device Configuration 8 6 2 1 Extended diagnostics header 27 3 1 Overview Configuration principle 8 6 2 2 Memor EMOT ceceeeeceeeeeeceeeeeeteeeaeteees 27 3 2 Overview encoder configurations 6 2 3 Operating status 27 IUNCNONOIYE 223860 Seki eecdeetveveectesentiaeelencts 9 6 2 4 Encoder type 6 2 5 Singleturn resolution oo eeeeeeeeeeeeeeeeeee 27 3 3 Encoder configurations data format 10 6 2 6 Number of revoluhons 27 4 Class Land Class 2 profile n22111 11 6 2 7 Operating time warning 27 4 1 Parameter Settings nr 11 6 2 8 Profile VERIOR DEEN 27 6 2 9 Software version 27 4 1 1 Code SSQUENC siisii 12 aoe 4 1 2 Class 2 FUNCHHONOTIHY nn 12 6 210 ea ES a no e 62 11 ZrO OS Ehen 28 4 1 3 Commissioning diagnostics 12 6 2 12 Programmed resolution 28 4 1 4 Scaling fUNCTION 0 eee 12 j 6 2 13 Programmed total resolution 28 4 1 5 Measuring units per revolution 12 e 6 2 14 Serial number 28 4 1 6 Total measuring range 13 4 2 Data exchange in normal operation 14 ES says ingle onion bye LEBSIN ME 4 2 1 Transferring the process value 14 CONNE CIOMCOD ss Es 2e te eue heu 29 4 2 2 Preset function
52. urg Cedex Web www bei ideacod com PRO BUS USER MANUAL 6 3 Satus indication by the LEDs in the connection cap Two LEDs are implemented in the connection cap They optically indicate the status of the encoder in the profibus network Gd po The red LED is used to display errors the green LED gran one displays the status of the encoder Both green LEDs can have one of three possible conditions dark bright and flashing Seven of the nine possible combinations are used to indicate a special condition If there are any problems with starting up the system the state of the LEDs can give important information about the error cause No Red LED Green LED Status possible cause No power supply 2 Bright Bright Encoder is ready for operation but it has not received any configuration data after power on Possible causes address setting incorrect Bus lines not connected correctly 3 Bright Flashing Parameter or configuration error The encoder receives configuration or parameter data with incorrect length or inconsistent data Possible cause parameter value total measuring range too high 4 The encoder is ready for operation but not addressed by the master e g incorrect address in configuration 5 Encoder has not received any data for a longer period about 40 sec Possible cause bus line has been interrupted 6 Normal operation in data exchange mode 7 Dark Flashing Commissioning mode version
53. ving the Teach in Stop command the encoder transmits the calculated total resolution This value should be noted and later when switching the device to normal mode entered into the parameter settings After this Teach In procedure the encoder operates with the new gearing factor which is stored non volatile in the internal EEPROM Status bits Data bits Bit 31 D a Bl y7 6 3 m4 2 a2 a x 9 1 17 1 1 14 we iz n icj9 s8 7 6 5 4 3 2 1 Jo Master 0 011101010 0 Number of desired measuring steps on the traversed measuring range SLAVE SLAVE gt O 1 I X X JO 1 Transfer of the total resolution should be noted Master Master 0 0 0 0 01 0 0 Reset bit 29 SLAVE SLAVE 0 0 0 X X 0 1 Output of the current position value scaled with the new gearing factor Master 24 version 4 03 BEI IDEACOD SAS Espace Europ en de l Entreprise 9 rue de Copenhague T l 33 0 3 88 20 80 80 Fax 33 0 3 88 20 87 87 IDEACOD B P 70044 Schiltigheim Mail info bei ideacod com F 67013 Strasbourg Cedex Web www bei ideacod com In order to replace the encoder later without a new Teach In procedure the total measuring range determined with the Teach In should be transferred into the system configuration For this the total resolution must be entered into the parameter field desired measuring units cp 5 1 2 and the reference cp 5 1 3 must be set to maximum
54. y parameter that can be set 4 1 2 Class 2 functionality Using this switch Class 2 encoders can be CENT restricted to the functionality of Class 1 i e the scaling parameters are disabled To use the class 2 functionalities bit 1 in octet 9 has to be set 4 1 3 Commissioning diagnostics This function has no significance for the BEI IDEACOD encoder 4 1 4 Scaling function The parameter scaling function enables the scaling parameters resolution per revolution and total resolution This switch should always be activated if functions of class 2 or even higher classes BEI IDEACOD 2 1 and BEI IDEACOD 2 2 are to be used 4 1 5 Measuring units per revolution The parameter measuring units per revolution is used to program a desired number of steps over one revolution If the value exceeds the basic physical resolution of the encoder the output code is no longer in single steps Starting with generation B1 Switched off 1 Switched on Octet 9 Bit3 Scaling function 0 Switched off 1 Switched on the encoder indicates a parameter error LED and it will not enter the data exchange mode With high resolution encoders it may be necessary to divide the value into high and low word depending on the software tool refer to page 34 Octet 10 11 12 13 Bit 31 24 23 16 ES ET Data 218 to 28 27 to 2 Desired measuring units per revolution 12 version 4 03 BE IDEACOD SAS 5 T l
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