absolute rotary encoder with profibus-dp interface user
Contents
1. Configurations No 1 and 3 3 4 15 8 7 0 2 bis 2 2 bis 2 Data_Exchange 32 Bits 3 4 5 6 7 8 47 32 31 16 15 0 2 bis 2 2 pis 2 2 bis 2 Data_Exchange 64 Bits Version 1 02 Page 8 of 30 Info UME DP FRABA SENSORSYSTEME 4 Programmable Encoder Parameters In the following the encoder parameters are described which can be programmed according to the chosen configuration The Class 2 and 3 parameters use the DDLM_Set_Prm function Programmable parameters are shown in the table below Parameter Data Parameter Encoder Class Overview Operating Parameter Octet 9 Version 1 02 Parameter Code Sequence Class 2 functionality Commissioning diagnostics Scaling function control Page 9 of 30 Parameter Reserved Time base velocity Info UME DP FRABA SENSORSYSTEME 4 1 Code Sequence The code sequence defines whether increasing position values are output when the encoder shaft rotates clockwise CW or counterclockwise CCW as seen on shaft The code sequence bit is set with the code sequence bit 0 in the operating parameters Octet 9 increasing increasing 4 2 Class 2 Functionality This bit enables disables the device class 2 functionality The default setting is disabled 0 which means that a DP Master must set this bit to be able to use the class 2 functions When the class 2 functionality is disabled the encoder2. tT TTT II ete et TT TT YT Hiele eS AAA eS SN ese ESET STS aT Se Bray TT Fehi eiee sts hehhe pe 81 sof 29 28 27 20 25 24 23 22 23 20 19 18 17 vol 5 14 13 2 9 10 ef sf 7 e s af a efi ol Word 1 HIGH Word Word 0 LOW Word According to the example following values have to be typed into the WINDOWS mask HIGH word Binary 10101010 AAh 170 decimal LOW word Binary 1001111011110001 9EFIh 40689 decimal An easier way of calculation is to transform the total measuring units into hexadecimal code 11 184 810 AA 9E Flh pushing the button Hex and typing in the values like written above Attention If the configuration is changed after programming the encoder parameters these parameters will be stored in the RAM until the first power down Version 1 02 Page 27 of 30 Info UME DP 8 Technical Data 8 1 Electrical Data General Layout Supply Voltage Power Consumption EMC Bus connection Interface Clock Frequency Resolution Accuracy of Division Step Rate Code Electrical Lifetime Device Addressing PNO Certificate Attention FRABA SENSORSYSTEME according to DIN VDE 0160 10 30 V DC absolute limits max 3 5 Watt electro magnetical emission according to EN 50081 2 electro magnetical compatibility according to EN 50082 2 galvanically separated by opto couplings Line Driver according to RS 485 max 12 MBaud up to 4006 steps revolution up to 4096
3. 9 Scaling Function Po anes Version 1 02 Page 11 of 30 Info UME DP FRABA SENSORSYSTEME 4 5 Time Base Velocity Encoder in Class 3 configuration transmit the current velocity additionally to the process value The velocity is calculated three times over the time base which is set with bit 7 in octet 9 by measuring the difference of the encoder steps and after that averaged over the last 16 values With each new measurement the oldest velocity value is taken off and the new is averaged in With the parameter Time Base Velocity the time base can be chosen between ms and 10 ms Time Base Velocity ON 3 Measurements 1 ms 3 Measurements 10 ms 4 6 Measuring Units per Revolution The parameter Measuring Units per revolution is used to program the desired number of steps per revolution Each value between 1 and 4096 can be realized 10 11 12 13 31 24 23 16 15 8 7 0 2 bis 2 2 bis 2 2 bis 2 2 bis 2 Measuring Units per Revolution If a value larger than 4096 8192 for a 13 Bit encoder is set the process value of the encoder will not be single stepped and values will be skipped while rotating the shaft So it is recommended to keep the measuring units per revolution below 4096 measuring units Version 1 02 Page 12 of 30 Info UME DP FRABA SENSORSYSTEME 4 7 Total Measuring Range in Measuring Units This parameter is used to program the desired number of measuring
4. center of SIEMENS guarantees an error free communication of the encoder in all Profibus DP systems Version 1 02 Page 4 of 30 Info UME DP 1 1 Definitions Termination resistor Baudrate Busdevice Diagnostic FREEZE GSD File DP DDLM PROFIBUS FRABA SENSORSYSTEME Resistor for wire adaptation of bus cables termination resistors are necessary at all cable and segment ends Velocity of the transmission given in number of transmitted bits per second Baudrate Bitrate Device which sends receives or repeats data via the bus network Detection localisation classification display further check of errors malfunctions and messages is a master command to the slave That way the master can freeze the status of inputs to the actual values The input data will be refreshed when the command UNFREEZE is sent by the master Device Specific File File in which the slave specific abilities are stored for the master Decentral Peripherial Direct Data Link Mapper Interface between Profibus DP functions and the Encoder Software PROcess Fleldbus european fieldbus norm which is manifastated in the PROFIBUS Norm EN 50170 It sets the functional electrical and mechanical specifiactions for the bit serial fieldbus system Following abriviations are used in this user manual API Absolute Position Value CW Clockwise Code seugence in clockwise rotation as seen on shaft side CCW Counterclockwise Code
5. ABA SENSORSYSTEME 5 3 Operating Status Octet 9 in the diagnostic function gives information on encoder internal parameters Definition 0 Code sequence CW CCW ib Bue f Class 2 functionality No Yes 2 Commissioning diagnostics No not supported Yes Scaling function Disabled Enabled Time base velocity Ims 10 ms 5 4 Encoder Type The encoder type can be read in Octet 10 of the diagnostic function The encoder type is given in hex code Definition Single Turn absolute rotary encoder Multi Turn absolute rotary encoder 5 5 Single Turn Resolution The diagnostic octet 11 to 14 gives the number of measuring steps per revolution that are output for the absolute singleturn position value The value is stored in binary code 5 6 Number of Distinguishable Revolutions The number of distinguishable revolutions that the encoder can output is given in octet 15 and 16 of the diagnostic function The value is stored in binary code 5 7 Additional Alarms Diagnostic octet 17 is reserved for additional alarms which are currently not assigned Version 1 02 Page 17 of 30 Info UME DP 5 8 Supported Alarms FRABA SENSORSYSTEME Information on supported alarms can be read in diagnostic octets 18 and 19 ESPE ee E EAN E E 5 9 Warnings Definition Position error Supply Voltage error Not supported Current too high Not supported Commissioning diagnostics Memory error Reserved Not supp
6. O ERr m A NAO 8 4 Programmable Encoder ParameterS oooooconccconnccnonoccnncccnonocnnnnn nn rre nnnn cnn rre 9 ANACOO SSGUENES A eine en ns 10 A 2 Glass 2 Func Vta a vga A A A ah aahy daar Vaud adaon E Tau am 10 4 3 Commissioning Diagnostics OPTION ner re ree 11 44 SSGING FUNCION ac 11 ADs TIMES BASS VEO midi A A A E ds 12 4 6 Measuring Units per Revoluti oo Ee rre 12 4 7 Total Measuring Range in Measuring UNITS re renee eo 13 4 8 Preset VAU miii id aiii 13 5 DIAGNOSTIC IMPONMTION soe sii ova n ces cetes aai 15 6 WSTOMN ON 3c ccccccecetccies cdsctsacedezes casetecgancetdenescdactssacdesshacestecaeacetdauas casts saedessacecsstcnenasidsnedesecteeustessaeecstticeateteeys 21 6 1 CONNECTING TNE CONNECTION CAP evite eee a ea 21 6 2 settings iN ne CONNESCHON COP isis iia ada 21 63 Y perl ici A oo 22 7 Seting Up Of DP MASTEN iii init ia ata a a aa eaaa 23 FALLOAGING OF LYS Flessen na AAN AAA A AA o 23 Ta Configuration Of The DP SlOVE isis cede ri OEA AE ON AA OE S 24 9 TeCANiCAal DATA cocina canina A TET 28 Sr A EISSMICAV DA it A A A do ia ad Suen tes 28 8 2 Mechanical DIT A A A AA dd 29 AS minis iera nanon aaa a annia aa aiae ae aaa aia i S aa 30 Version 1 02 Page 3 of 30 Info UME DP FRABA SENSORSYSTEME 1 Introduction Absolute rotary encoders provide a definite value for every possible position All this values are reflected on one or more code discs The beams of infrared LEDs are sent through code discs and
7. PROFIBUS DP Hostbezeichnung S5 115U CPU 943B Hostsystem lt 1 gt Stationstyp IM 308 C iia Stationsnummer 1 s Stationsbezeichnung Mastersystem lt 1 gt Stationstyp AVC SB8xx xxxx Stationsnummer 3 Stationsbezeichnung EA A00 Offline A Stan FE com ET 200 17 44 Version 1 02 Page 24 of 30 Info UME DP FRABA SENSORSYSTEMIE In the slave parameters the desired configuration of the encoder can be selected by pushing the button Configuration 4 COM ET 200 Datei Bearbeiten Projektieren Dokumentation Service Fenster Hilfe id Ubersicht Mastersysteme FRABA ET2 Mastersystem Stationsnummer 1 tcc TEE a REE Slaveparameter Hostbeze Familie Stationstyp Bestellnummer Class 1 16Bit resolution Class 1 32Bit resolution Class 2 16Bit resolution Class 2 32Bit resolution FRABA resol fveloc 32Bit FRABA resol pres jveloc 32Bit O keiner ayz PEU E SYNC f hig E0 A 0 Offline Start FE com ET 200 ZE Microsoft Word Dokument2 Y Explorer VA 17 59 Chose one of the six configurations as mentioned before which fits best to your application In the following screen the numbers of the used Input and Output words according to the selected configuration has to be typed in Version 1 02 Page 25 of 30 Info UME DP FRABA SENSORSYSTEMIE After configurating the encoder all operational parameters can be programmed Following screen will be displayed wh
8. SENSORSYSTEMIE ABSOLUTE ROTARY ENCODER WITH PROFIBUS DP INTERFACE USER MANUAL FRABA SENSORSYSTEME Impressum FRABA Sensorsysteme GmbH SchanzenstraBe 35 D 51063 K ln Telefon 49 0 221 96213 0 Telefax 49 0 221 96213 20 Internet httpo www fraba com e mail sensor fraba com Copyright The company FRABA Sensorsysteme GmbH claims copyright on this documentation It is not allowed to modify to extend to hand over to a third party and or to copy this documentation without written approval by the company FRABA Sensorsysteme GmbH Alteration of Specifications reserved Technical specifications which are described in this manual are subject to change due to our permanent strive to improve our products Document Information File name UME DP Publication 07 02 1997 Version number 1 02 Author PHF Service Phone For technical support questions and suggestions to improve our products and documentations call our telephone line 49 0 221 96213 0 Version 1 02 Page 2 of 30 Info UME DP FRABA SENSORSYSTEME Contents Page ISINTOCUCHON ni AR Ani TR ic 4 A O O 5 2 Network of ProfibUs DP i vico ias o do bid a aE a bart es 6 3 Encoder CHOSSIfCARON ccoo sees stacecseudes edana ipar taana aaran taceea steeeeeedidcaieasdeseeetes feces 7 3 Class ENCOdEr aiota ona air Aa Sa T Aa aia ANTINES Eaa raaa an aaa Na ANATA Taraia 7 SZ Class 2 3 q e 070 5 ariii nai tnan aa n anis a ea aa iia 7 Oe A ENC
9. bsolute encoders of Class 1 are non programmable Depending on the resolution two configurations can be chosen Configuration Input Word Output Word Description 0 16 Bit Pl 2 0 32 Bit PI If the resolution of the encoder is less than 16 Bit configuration 1 can be chosen The PI is transmitted to the PROFIBUS Master according to the resolution of the hardware side of the encoder 3 2 Class 2 Encoder The absolute encoders of Class 2 are programmable Depending on the resolution two configurations can be chosen Configuration Input Word Output Word Description o MIGBIRPL 16 Bit PW 2 82 BP 2 32 Bit PW Is the resolution of the encoder less than 16 Bit configuration No 3 can be chosen Class 2 encoders offer extensive programming possibilities e g preset function and programmable resolution Version 1 02 Page 7 of 30 Info UME DP FRABA SENSORSYSTEME 3 3 Class 3 Encoder The absolute encoders of Class 3 are according Class 2 encoders with the additional output of the velocity Following configurations are possible Conf No Configuration Input Word Output Word Description Class Length No No 3 4 16BitPr al 0 16 Bit PW 3 4 B82 BP pS 2 32 Bit PW The encoder with configuration no 5 can be programmed as Class 2 encoders except the preset function The Pl is transmitted in the DDLM_Data_Exchange Modus according to following telegramm
10. detected by Opto arrays The output signals are electronically amplified and the resulting value is transferred to the interface The absolute rotary encoder has a maximum resolution of 8192 steps per revolution 13 Bit The Multi Turn version can detect up to 4096 revolutions 12 Bit Therefore the largest resulting resolution is 25 Bit 2 33 554 432 steps The standard Single Turn version has 12 Bit the standard Multi Turn version 24 Bit The absolute angular encoder meets all specifications according to Profibus DP DIN 19245 part 1 and part 3 The integrated Profibus DP interface of the encoder guarantees the maximum transmission rate of 12 MBaud The implemented software supports all functions of the encoder profile for Profibus DP Class 1 and Class 2 The process data is generally transmitted in binary code Following parameters of the absolute rotary encoder can be directly programmed via the Profibus DP network without any extra device Code sequence Complement Measuring units per revolution Total measuring range in measuring units Preset value Output of current velocity To reduce significantly the installation time one of the provided type files supports the windows version of the COM ET 200 This software package is supplied by SIEMENS for the master module IM 308 C of the SIMATIC S5 and for a variety of modules for the SIMATIC S7 The successful conformity and interoperability test at the interface
11. e 29 of 30 Info UME DP FRABA SENSORSYSTEME 8 3 Drawings Synchro Flange Y or Z Flange Single Turn 82 Multi Tum 109 mm Y Flange 10 Z Flange 10 f 20 Clamp Flange F Flange M4x8 Single Turn 82 Multi Turn 109 30 58 52 136 Info UME DP Page 30 of 30 Version 1 02
12. en the mostly used configuration 4 was chosen 4 COM ET 200 Datei Bearbeiten Projektieren Dokumentation Service Fenster Hilfe 2 elm let K id bersicht Mastersysteme NONAME ET2 MI Mastersystem Stationsnummer 1 Busbezeis ano Inu nn Slaveparameter Hostbeze Konfigurieren AWC 58xx xxxx 3 lt gt Parametername a Increasing clockwise omissioning diag control Disable lass 2 functional No caling function control Disable Measuring units per revolution 4096 otal measuring range units hi otal measuring rangefunitsio 0 Hilfe zur aktuellen Bearbeitung Start FE com ET 200 Microsoft Word Dokument 17 45 The different parameters which can be programmed are explained in chapter 4 With button Selection an overview of possible values is displayed and can be picked out The number of measuring units per revolution is free selectable between 1 and 4096 The total resolution is up to 24 Bit free selectable but must not be equal or lower than the measuring units per revolution Depending on the WINCOM software the total resolution is devided into LOW and HIGH word which means that the 24 Bit total resolution are devided into Bit O 15 LOW word and Bit 16 31 HIGH word Version 1 02 Page 26 of 30 Info UME DP FRABA SENSORSYSTEME Example for programming of the total resolution in measuring units Desired number of measuring units over the total measuring range 11 184 809 steps Decimal
13. es of the master module typefile and bitmap Version 1 02 Page 22 of 30 Info UME DP FRABA SENSORSYSTEME 7 Setting Up of DP Master The setting up of the Profibus DP master is shown as an example at the master module IM 308 C with the software package COM ET 200 WINDOWS Version 2 0 7 1 Loading of Type Files After copying the according type files to the directory type_files and the according bitmap to the directory 1Bifmap the COM ET 200 can be started Firstly the type files have to be loaded by klicking in the menu File the topic Loading Type Files A message of successful loading is not displayed on screen 7 2 Configuration Master System After that in the menu File topic Open or a already existing configuration file can be opened Then a master system can be selected from the overview with a pre defined station number Version 1 02 Page 23 of 30 Info UME DP FRABA SENSORSYSTEMIE 7 3 Configuration of the DP Slave After loading the type files an additional button Encoder is displayed After klicking on this button the device type AWC58XX XXXX is displayed Select this type and move it with the mouse for attaching it at the master as shown below This way the DP slave FRABA encoder is added to the configuration table COM ET 200 Datei Bearbeiten Projektieren Dokumentation Service Fenster Hilfe BIG Gs ad Ubersicht Mastersysteme NONAME ET2 TALESCE SCORE SN Busbezeichnung
14. nostic function gives the DP encoder profile version implemented in the encoder The octets are combined to a revision number and a index Example Profile version 1 40 Octet no 24 25 Binary code 00000001 01000000 Hex 40 24 OoOo 5 15 8 o Ae Zbis2 2bi822 Revision no Index Version 1 02 Page 19 of 30 Info UME DP FRABA SENSORSYSTEME 5 11 Software Version Octet 26 and 27 of the DDLM_Slave_Diag function give the encoder software version The octets are combined to a revision number and an index like the Profile version 24 CY 15 8 I eae 4 Pose T Zb Revision no Index 5 12 Operating Time The operating time monitor stores the operating time for the encoder in operating hours The operating time is stored every 6 minutes in the encoder non volatile memory as long as the encoder is power supplied The operating time value is presented in 0 1 hours as an unsigned 32 binary value of the function DDLM_Slave_Diag This function is in preparation and will be implemented to the end of 1997 Until then the value FF FF FF FF h is permanently stored Version 1 02 Page 20 of 30 Info UME DP FRABA SENSORSYSTEME 6 Installation 6 1 Connecting the Connection Cap AbschluBwiderst nde Termination resistors J Ger teadresse Device address 6 2 Settings in the Connection Cap The settings of the Profibus DP device address are achieved by 8 dip switches in
15. orted Not supported Not supported Supported Supported Supported Supported Supported Warnings indicate that tolerances for certain internal parameters of the encoder have been exceeded In contrast to alarms warnings do not imply incorrect position values Octet 20 and 21 of the diagnostic function shows the status of the warnings If a warning occurs then the Ext_Diag bit in the Diagnostic function is set to logical high until the warning is cleared All warnings are cleared after the diagnostic message is read from the encoder but if tolerances are still exceeded the warning will be set again For the operating time limit Bit 4 the warning is only set again after power on sequence The warnings are not implemented yet but will be at the end of 1997 Definition Frequency exceeded No Temperature exceeded No EN Light control reserve Not reached 3 7 Version 1 02 Reserved Reserved CPU Watchdog Status OK Operating time limit warning No Page 18 of 30 Reached Reset generated Yes Info UME DP FRABA SENSORSYSTEME Informations on supported warnings can be read in the diagnostic octets 22 and 23 Notsupported Supported EM Temperature warning Notsupported Supported 2 Ughtcontrolreserve waming Not supported Supported Not supported Supported Notsupported Supported Reserved Reserved Reserved 5 10 Profil Version Octet 24 and 25 of the diag
16. performs exactly like a class 1 encoder To use class 2 functionality set bit 1 in Octet 9 Bit 1 Class 2 Functionality Po anes Attention If the encoder is set to Class 1 functionality all programmed parameters will be stored in the RAM until first turn off Version 1 02 Page 10 of 30 Info UME DP FRABA SENSORSYSTEME 4 3 Commissioning Diagnostics optional With the commissiong diagnostic function it is possible to check the encoder components responsible for position detection at encoder standstill In conjunction with the position alarms this enables an extensive check of the correctness of the position values The commissioning diagnostics are initiated by the bit 2 in octet 9 If errors are detected it will be announced by the commissioning diagnostic alarm bit in the diagnostic function see Alarms Bit 2 Commissioning Diagnostics Co anes The commission diagnostic function is optional To find out if the encoder supports commissioning diagnositcs the Operating Status should be read with the diagnostic function and the commisssioning diagnostic bit checked 4 4 Scaling Function With the scaling function the encoder internal numerical value is converted in software to change the physical resolution of the encoder The parameters Measuring Units per Revolution and Total Measurng Range in Measuring Units are the scaling parameters set by the scaling function control bit 3 in octet
17. revolutions V2 LSB max 100 kHz valid code Binary gt 10 h programmable by 8 Dip switches in connection cap No Z00175 dated August 06 1996 Absolute rotary encoders must only be used with protected voltage extra low PNO Profibus NutzerOrganisation The Profibus Trade Organization PNO is the only institution which is allowed to certificate Profibus components on conformity and interoperability Version 1 02 Page 28 of 30 Info UME DP 8 2 Mechanical Data Housing Flange Shaft Diameter Shaft Length Shaft Loading Friction Torque Inertia of Rotor Lifetime RPM Shock Stability IEC 68 2 27 Vibration Stability IEC 68 2 6 Connection Operating Temperature Storage Temperature Humidity Degree of protection EN 60529 Casing Side Shaft Side Weight incl connection cap 5H Optional with shaft sealing IP 65 up to 0 5 bar Version 1 02 FRABA SENSORSYSTEME Aluminium Synchro Flange Y Z Clamp Flange F 6mm 10 mm 10 mm 10 mm 20 mm axial 10 N radial 20 N axial 20 N radial 110 N lt 1 Nem lt 5 Necm 20 gem 50 gem gt 10 h at 1000 min 6000 min continously 10000 min shorttime lt 200 m s 12 ms lt 100 m s 10 Hz 1000 Hz Connection Cap as T Coupling with clamps 0 70 C 40 85 C 98 without liquid state Shaft 6 mm Shaft 10 mm IP 65 IP65 IP 54 IP 65 Single Turn 500 y Multi Turn 700 y Pag
18. sequence in counterclockwise rotation as seen on shaft side PW Preset Value Pl Process Value vc Velocity Version 1 02 Page 5 of 30 Info UME DP FRABA SENSORSYSTEME 2 Network of Profibus DP The interface of the absolute rotary encoder is based on the regulations of PROFIBUS DP DIN 19245 Part 1 and 3 To use the encoder with Profibus DP interface as a slave in the network a master module for Profibus DP is required in a PLC E g following master modules can be used PLC Master Module SIMATIC S5 IM 308 B SIMATIC S5 IM 308 C SIMATIC S7 CPU 315 2 integrated SIMATIC S7 CPU 342 5 DP SIMATIC S7 CPU S7 DP Software Package COM ET 200 V4 X COM ET 200 WINDOWS Step 7 NCM Step 7 Step 7 V2 X V3 X Below the connection to the PROFIBUS DP is shown schematically EEE Profibus DP In following pages it is taken for granted the use of the software packages COM ET 200 and COM ET 200 WINDOWS Version 1 02 Page 6 of 30 Info UME DP FRABA SENSORSYSTEME 3 Encoder Classification The absolute encoders with Profibus DP interface transmit the process value and optionally the velocity in binary code There are two different classes of encoders the non programmable version Class 1 and the programmable versions Class 2 3 Six configurations are possible by the implemented software This way the requirements of a variety of applications can be met by this encoder 3 1 Class 1 Encoder The a
19. the connection cap Possible allowed addresses are between 3 and 124 decimal and each can only be used once The connection cap can easily be opened for installation by removing the two cap screws The following example shows how the device address 123 decimal is set NC ff MM switch OFF Log 1 4 M 2 1 switchON Lo0g0 O all 64 32 16 8 2 1 123 Version 1 02 Page 21 of 30 Info UME DP FRABA SENSORSYSTEME There are three resistors provided in the connection cap which must be used as a line termination on the last device Termination resistors off off DOL EAN JL Device X last device After the settings are done in the connection cap and the bus lines are hooked up from the master to the devices the encoder can be powered on 6 3 Type Files For running the encoder at all kinds of Profibus DP masters a variety of type files were written which are stored on the floppy disc named DK DP FRAB4711 GSD CP 5412 A2 PC card CP 342 5 master module for S7 IM 308 C WINDOWS COM V3 X CPU S7 DP STEP7 Package V3 X Bosch Master others Typ4 X FR47 1 1TE 200 english IM 308 B COMET200 V4 X File directory Type file Bit map Master Module Software package GSD Typ5 X FR4711BX 200 IM 308 C WINDOWS COM V2 0 AWCS58xXXn BMP CPU 315 2 STEP7 Package V2 X CPU S7 DP STEP7 Package V2 X The according files type file and bit map to the used master module have to be copied to the working directori
20. ue in binary code Satusbits Preset Value NINA t 31 30 29 zal 27 28 25 24 23 22 21 20 19 10 17 16 15 14 ta 2 11 10 9 8 7 6 5 4 3 2 o Ps Faafoe oa pepe E E E pepe pepe pe pepe pepe Dee pepe eee x pee The encoder reads the current position value and calculates an offset value from the preset value and the read position value The position value is shifted with the calculated offset value When the output position value equals the preset value after appr 100 ms the preset mode is ended and the MSB can be set to zero by the master The offset value can be read with the diagnostic function and is securely stored in case of voltage breakdown in the encoder Flash EPROM The internal programming time of the Flash EPROM takes about 2 seconds During that time period no process values can be transmitted The burn cycles of the Flash EPROM are limited to approximately 100 000 cycles Attention The preset function should only be used at encoder standstill Version 1 02 Page 14 of 30 Info UME DP FRABA SENSORSYSTEME 5 Diagnostic Information The encoder supports extensive diagnostic routines A large number of different parameters can be tested via the network Diagnostic Function Data Diagnostic Encoder Class Type Octet Number diia Extended Diagnostic Head Octet 7 1 Alarms Octet 8 Operating Status Octet 9 Encoder Type Octet 10 Measuring Units per unsigned 32 11 14 Number of Revol
21. units over the total measuring range This value must not exceed the total resolution of the encoder with 16777216 steps 25 Bit 33554432 If the encoder is used in a continous measuring application the parameter must be programmed in values with powers of 2 2 with x lt 12 14 15 16 17 31 24 23 16 15 8 7 0 2 bis 2 2 bis 2 2 bis 2 2 bis 2 Total Measuring Range in Measuring Units 4 8 Preset Value The parameter Preset Value is the desired position value which should be reached at a certain physical position of the axis The position value of the encoder is set to the desired process value by the parameter Preset The preset value must not exceed the parameter Total Measuring Range in Measuring Units The preset function is used after the scaling function which means that the preset value is given in the current measuring units The preset value is written to the encoder as output data in the Data_Exchange function The MSB of the preset value controls the preset function in the following way Normal operating mode MSB 0 Bit 31 optional Bit 15 for configuration no 3 The encoder will make no change in preset value FE Ee ee Ga ee EEE alar papas pepape pepe pepe ERR RRR Version 1 02 Page 13 of 30 Info UME DP FRABA SENSORSYSTEME Preset mode MSB 1 Bit 31 optional Bit 15 for configuration no 3 With MSB 1 the encoder accepts the transferred value Bit 0 24 as a preset val
22. utions unsigned 32 15 16 Additional Alarms Octet 17 Supported Alarms Octet 18 19 Warnings Octet 20 21 Supported Warnings Octet 22 23 Profile version Octet 24 25 String Software version Octet 26 27 String Operating Time Unsigned 32 28 31 Version 1 02 Page 15 of 30 Info UME DP FRABA SENSORSYSTEME 5 1 Extended Diagnostic Header The diagnostic header byte 7 specifies the length of the encoder diagnostics including the header byte The format of the length value is hexadecimal For the encoders with Class 1 configuration the length of the encoder specific diagnostics is 10 bytes OA hex Data 0 PERO xxh Length including header 5 2 Alarms An alarm is set if malfunction in the encoder could lead to incorrect process values Octet 8 in the diagnostic function DDLM_Slave_Diag shows the status of the alarms Additional alarms for class 2 encoders are added in diagnostic octet 17 If an alarm occurs then the Ext_Diag bit and the Stat_Diag bit in the diagnostic function is set to logical high until the alarm is cleared and the encoder is able to provide an accurate process value Alarms are cleared when the functionality is within the specification and the process value is correct Definition Position error Supply Voltage error Commissioning diagnostics Memory error The output of these alarms is in preparation ELN Ea a A ra e REA Version 1 02 Page 16 of 30 Info UME DP FR
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