Absolute Rotary Encoder with Profibus-DP
Contents
1. 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 1 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 0 1 Direction of rotation Class 2 functionality 0 1 2 Diagnostic routine 3 Scaling function Off On 6 2 4 Encoder type Diagnostic byte 10 contains the encoder version singleturn or multiturn Definition Singleturn encoder 1 Multiturn encoder Page 28 BEI Sensors Profibus Manual serie M 6 2 5 Singleturn resolution 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 warning Bit 4 in diagnostic byte 21 indicates an operating time warning The bit is set after 10 hours 6 2 8 Profile version Diagnostic bytes 24 and 25 contain the profile version of the encoder Byte 24 25 Bit 15 8 7 0 Data 2 2 232 Revision No Index 6 2 9 Software version Diagnostic bytes 26 and 27 contain the softwa2. BEI sensors PIRJOIFJ I BiU S Absolute Rotary Encoder with Profibus DP Interface DPC1B version User Manual 5 1 2 Desired measuring units ee 18 T Generals siceesscncetaecandicenstecnaeesedecencaretiagesstcentere 3 5 1 3 Desired Measuring units reference 19 1 1 Absolute Rotary Encoder 3 5 1 4 Activate commissioning mode 20 1 2 Profibus technology c ccceseeeeeeeeeeeees 4 5 1 5 Shorter Diagnostics eeeeeeeeees 20 7 5 1 6 Software limit SWitCh 44 20 2 Installation ce cecstenteetececacesduavarave 5 EIER 5 1 7 Physical impulses u 21 2 1 Settings in the connection cap 5 5 1 8 Enesderiype s nn 22 2 1 1 Station address 22200u0sesnnneeeeenenenn 5 519 Velocity time base ann 22 2 1 2 Bus termination ceee 5 5 2 Data exchange in normal operation 23 2 2 Connecting bus lines and power supply 6 eres 5 3 Commissioning Mode snee 24 2 3 Connecting up the connection cap with cable 5 3 1 Setting the counting direction 24 GIANGS ics ieee cis 0 0 ein 6 5 3 2 Teach In Start ann 25 2 4 Assignment for M12 connectors AH58 5 3 3 Teach In Stop ceeceecssecseeeseeseeeeeens 25 B1DP 072 serraria ti nohea ieta 7 5 3 4 Preset V lUGia inori ieina 26 2 5 Connecting the screen 8 6 Diagnostic messages unnnnenenannenennnnnnnnnunnen 27 2 6 Instructions for mechanical installation and 6 1 OVE
3. The counting direction is stored non volatile in an internal EEPROM Page 24 BEI Sensors Profibus Manual serie M Revision 03 10 5 3 2 Teach In Start After the machine system has been moved to the start position the Teach In Start command is Status bits Data bits transmitted to the encoder The device now starts the internal calculation of a new scaling factor Bit 31 ojl alsi 27 6 3 a2 2 2 21 D 19 18 17 16 15 4 13 12 1 o 9 8 7 6 5 4 3 2 1 Jo Master 01 11 0 0 01 0 0 MHM5 Start the Teach In by setting bit 30 to 1 MHM5 0 1 0 xX x 0 1 Master Acknowledgement of the encoder by setting bit 30 to 1 Master 01 0 010 010 0 Reset bit 30 MHM5 MHM5 0 1 0 xX x 0 1 Master Note The scaling factor is set to 1 the zero point shift is set to zero 5 3 3 Teach In Stop 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 into account automatically also the crossing of the physical taken 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 Status bits Data bits
4. hardware configuration Inser Master en System the encoder can be chosen from the i hardware catalogue and added to the profibus Transmission rate 1 5 Mbps network Select the device Encoder and drag it subnet with the mouse to the network or choose the Us ee network and double click the encoder Dee Now the slave address has to be entered has to be equal to the address setting in the connection Cap Page 32 BEI Sensors Profibus Manual serie M Revision 03 10 7 3 Selecting the encoder version As described in chapter 3 the functionality of the this one of the modules listed under encoder has encoder depends on the selected encoder version to be dragged to Slot 1 in the displayed After the encoder has been added to the network configuration table of the encoder the desired encoder version can be selected For HW Config SIMATIC 300 Station Configuration 57 ah station Edt Insert PLC yew Options Window Help 218 x Dejs S je dale Sm 2 ve Ta PS 307 108 a l I PROFIBUS DP master system 1 5 J Addtional Field Devices General Drives vo FG Encoders Sga BEI Encoder Universal module Class 1 Singletum Class 1 Mudtituen Class 2 Singletuin Class 2 Mutum Class 2 Mudtituen DX Versic BEI1 0 Mutitum BEI1 1 Mutiturn BEI2 0 Mulkitum BEI2 1 Singletum BEI21 Mukitum BEI2 2 Singletum BE 2 2 Mutinan
5. Non calculated position value is transmitted gearing factor 1 no offset multiturn device with 4096 revolutions and a maximum of 8181 revolutions for the 14 Bit multiturn After receiving 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 Bit 31 3 2 2B 27 6 BH a4 23 2 21 oI 19 18 17 16 5 4 13 12 1 0 9 8 7 6 5 4 3 2 1 0 Master 0 10 1 0 010 0 MHM5 Number of desired measuring steps on the traversed measuring range MHM5 7 0 1 11 X x 0 1 Transfer of the total resolution should be noted Master Master 01 0 01 0 01 0 0 Reset bit 29 MHM5 MHM5 101 01 0 x x 0 1 Output of the current position value scaled with the new gearing factor Master Revision 03 10 BEI Sensors Profibus Manual serie M Page 25 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 total 5 3 4 Prese
6. choose one of the manufacturer specific encoder versions in these classes the singleturn position is transmitted as 32 bit value Revision 03 10 5 Special versions 2 1 and 2 2 The manufacturer specific encoder configurations 2 1 and 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 byte Parameter Bit Details No No Section Page 1 8 Profibus Standard Parameters 9 Code sequence 0 4 1 1 13 Class 2 functionality 1 4 1 2 13 Commissioning Diagnostics 2 4 1 3 13 Scaling function 3 4 1 4 13 Reserved 4 Reserved 5 Activate manufacturer specific parameters octet 26 6 5 1 1 18 Reserved 7 10 13 Desired measuring units refer to octet 26 bit O and 1 5 1 2 18 14 17 Total measuring range 4 1 6 14 18 25 Reserved 26 Reference for the desired measuring steps 0 5 1 3 19 1 Activate commissioning mode 2 5 1 4 20 Shorter Diagnostics 3 5 1 5 20 Reserved 4 Activate lower limit switch 5 5 1 6 20 Activate upper limit switch 6 5 1 6 20 Activate octets 27 39 7 5 1 1 18 27 30 Lower limit switch 5 1 6 20 31 34 Upper lim
7. counting direction of the position value The code shaft The code sequence is defined in bit 0 of increases when the shaft is rotating clockwise octet 9 Octet 9 Bit 0 Direction of rotation when viewing the shaft Code 0 Clockwise CW Increasing 1 Counter clockwise CCW Increasing In Class 1 this is the only parameter that can be set 4 1 2 Class 2 functionality Using this switch Class 2 encoders can be 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 Octet 9 Bit1 Class 2 functionality Switched off 1 Switched on 4 1 3 Commissioning diagnostics This function has no significance for the encoder 4 1 4 Scaling function The parameter scaling function enables the scaling parameters resolution per revolution and Octet 9 Bit 3 Scaling function total resolution This switch should always be Switched off 1 Switched on activated if functions of class 2 or even higher classes 2 1 and 2 2 are to be used 4 1 5 Measuring units per revolution The parameter measuring units per revolution is error LED and it will not enter the data exchange used to program a desired number of steps over mode one revolution If the value exceeds the basic With high resolution encoders it may be necessary physical resolution of the encoder the output to divide the value into high and low word
8. ground and tag devices systems and circuits Page 8 Do not drop the angular encoder or subject it to 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 Although 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 personnel who are authorized to commission BEI Sensors Profibus Manual serie M 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 carri
9. 5 of octet 39 Time base Bit 4 Bit5 Page 22 BEI Sensors Profibus Manual serie M on a measuring range of 12288 physical steps 3 revolutions Note With many software tools it is necessary to divide the value into high and low word refer to page 35 Octet 39 Bit 1 Singleturn 1 Multiturn Steps second Steps 100 ms Steps 10 ms RPM revolutions per minute 1 12 1010 Revision 03 10 5 2 Data exchange in normal operation With the manufacturer specific versions 2 1 and 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 MHM5 might have physical position values gt 25 Bit The manufacturer specific versions do not support the ID F1 hex 23 216 Status 24 Master gt MHM5 Preset value control bits Control 2 23 2 Meaning of the different status bits Bit26 Bit25 Meaning Bit 28 Bit27 215_ 98 position values gt 25 Bit The upper digits will be overwritten by the status bits If the 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 ver
10. 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 reduced to 12mm 10 mm or 8 mm by using an adapter this reducing adapter can be pushed into the hollow shaft Page 40 BEI Sensors Profibus Manual serie M Schl sselweite wrench size 17 Allowed shaft movements of the drive element are listed in the table radial static dynamic 0 2 mm Revision 03 10 10 Appendix 10 1 Type designation ordering code Description Interface Version Code Revolutions Bits Steps per revolution Bits Flange Shaft Diameter Mechanical options Connection Type Key MHM5 MHK5 DP C1 B Profibus DP C1 Binary B Singleturn 00 Multiturn 4 096 revolutions 12 Multiturn 16 384 revolutions 14 4 096 0 09 8 192 0 04 65 536 0 005 Clamp Flange Full Shaft 10 mm Synchro Flange Full Shaft 6 mm Synchro Flange Full Shaft 10 mm Blind Hollow Shaft 15 mm Without Shaft sealing IP66 Stainless steel version Customized With connection cap AH58 B1DP 3PG With connection cap AH58 B1DP 2M20 With connection cap AH58 B1DP 072 3x M12 Anschluss Without connection cap Standard bold further models on request Revision 03 10 BEI Sensors Profibus Manual serie M 12 13 16 C10 S06 10 B15 QD lt a H3P H2M H3B HCC Page 41 Accessori
11. no longer be used 10 2 4 Class 2 Multiturn DX Version Old version with reduced number of diagnostic data Should only be used with older encoders with DX in the type key Revision 03 10 BEI Sensors Profibus Manual serie M compatibility They should not be used in new projects Properties DP slave 4 x Address ID Parameter Assignment Increasing clockwise 0 Desired Measuring units high Desired Measuring units low 4096 2 Commissioning mode Enable a Hex parameter assignment compatibility but it should not be used for new projects Page 43 10 3 FAQ absolute encoder 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 S5 95U Master Interface SIEMENS IM 308 B Softing PROFIboard Allen Bradley 1785 PFB B Mitsubishi A1SJ 71PB92D Possible cause The masters do not support the full diagnostic data length 57 bytes Problem If COM PROFIBUS Version 5 0 is used it is not possible to insert the 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 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
12. opened by double Properties DP slave x Address ID Parameter Assignment Parameters 2 Device specific parameters Increasing clockwise 0 Scaling function control Increasing clockwise 0 E Desired Measuring units high Increasing counter clockwise 1 2 Desired Measuring units low 4096 Physical impulses high 0 Physical impulses low 4096 Desired measuring units per Revolution Total measuring range high 256 Total measuring range low 0 Commissioning mode Disable Shorter diagnostics 16 bytes No Lower limit switch Disable Lower limit switch high 0 Lower limit switch low 0 E Upper limit switch Disable E Upper limit switch high 0 E Upper limit switch low 32767 Cancel Help Page 34 BEI Sensors Profibus Manual serie M Revision 03 10 Due to the old versions of software tool STEP7 32 bit parameter values e g total measuring range software limit switches have to be divided into high and low word This is not necessary with the new STEP7 versions and our actual GSD file Example for the old GSD file Decimal 129600 Hexadecimal Hexadecimal 00 01 FA 40 High word 00 01 Low word Decimal to be entered 64064 The decimal value 1 has to be entered into the high word parameter field the value 64064 into the low word parameter field Or Divide
13. over 3 revolutions Revision 03 10 BEI Sensors Profibus Manual serie M Lower limit switch Deactivated 1 Activated Upper limit switch Deactivated 1 Activated 37 38 7 0 2 to 2 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 resolution of the encoder type label is used For our example this would be with a standard encoder 12 Bit resolution Page 21 4096 steps revolution x 3 revolutions 12288 steps Enter this value 12288 as physical impulses and set the desired measuring units to 400 Now the encoder increases the position value by 400 steps 5 1 8 Encoder type The encoder type Singleturn or Multiturn is specified in bit 1 octet 39 Generally this bit is set automatically if the encoder version is selected The user only has to take care of this 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 for the velocity output version 2 2 The time base is specified in bits 4 and
14. Diagnostics Limit switches Preset function Commissioning mode 2 1 Multiturn 2 2 Singleturn 2 2 Multiturn Page 10 Position value 32 bit Input Preset value Teach In 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 Code sequence Scaling factor 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 BEI Sensors Profibus Manual serie M Preset function Commissioning mode Preset function Commissioning mode Velocity Output Preset function Commissioning mode Velocity Output Revision 03 10 3 3 Encoder configurations data format Designation Configuration Input words Output words Description Master gt Chapter Page Encoder Class 1 Singleturn According to Profile Class 1 Multiturn According to Profile 12 Class 2 Singleturn According to Profile Class 2 Multiturn According to Profile 2 1 Singleturn 2 17 2 1 Multiturn 2 2 2 Singleturn 2 1 2 2 Multiturn F1 241 2 2 DO 208 1 The following encoder configurations are still supported for reasons of downward compatibility but should not be used for new projects descr
15. E E Gateway Puc E Compatible PROFIBUS DP Slaves E CoredLoop Controller E Configwed Stations E OP V0 slaves E DPASi amp E DP PA Link ENCODER 2 ET 2008 3 E ET 2000 E ET 200eco a 5a u 202 ET 2005 ET 200L gt amp Press F1 to get Help cha Revision 03 10 BEI Sensors Profibus Manual serie M Page 33 7 4 Setting the parameters Select the encoder in the hardware configuration lt lt Address ID Parameter Assignment and double click slot one in the configuration table Der of the encoder The dialog Properties DP slave Output appears The input and output addresses can be ae changed if desired To set the encoder os parameters the tab Parameter Assignment has to Out input Direct Entry Length Unit Consistent over E a Words F Total length z image partition E be selected Address Length Unit Consistent over Stat 256 R 3 os z oaeo z End 259 menean e El Data for Speci Mavimum 14 bytes hexadecimal separated by comma or blank space After choosing the Device specific parameters clicking on it Numerical values have to be entered the different parameters depend on the encoder directly The example shows the parameters of version can be set encoder version 2 2 the version with the highest If several possibilities are offered for one functionality parameter the parameters list is
16. LEDs green 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 Green LED Status possible cause No power supply 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 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 Bright The encoder is ready for operation but not addressed by the master Ba TI e g incorrect address in configuration Dark Encoder has not received any data for a longer period about 40 sec Possible cause bus line has been interrupted Normal operation in data exchange mode Flashing Commissioning mode BEI Sensors Profibus Manual serie M Revision 03 10 7 Configuring with STEP 7 In the following the configuration of the encoder with the configuration tool STEP 7 is shown exemplarily In this example STEP 7 Version 5 1 7 1 Installing the GSD file If 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 cat
17. V EW eee ecceeeeeeeeeeteeecneeeeeeceeeaeeeeneeaeenens 27 electrical connection of the angular encoder 8 6 2 Supported diagnostic messages 28 3 Device Configuration unsuusannennannnannnannnn 9 6 2 1 Extended diagnostics header 28 3 1 Overview Configuration principle 9 6 2 2 Memory erfor nneeessnnnnennennnerennnnn nennen 28 6 2 3 Operating status nennen 28 3 2 Overview encoder configurations 6 2 4 Encoder type 28 functionality 2 10 6 2 5 Singleturn resolution 28 3 3 Encoder configurations data format 11 6 2 6 Number of revolutions 28 4 Class 1 and Class 2 profile 12 8 221 Operating ime MAING See ane 28 6 2 8 Profile version eeeennesneeeer seen 28 4 1 Parameter settings en 12 0 Somare Verg ON ee 28 Hele COJE SEQUENCE ee 13 6 2 10 Operating time 28 4 1 2 Class 2 functionality ee 13 6 2 11 Zero offset anna 29 4 1 3 Commissioning diagnostics 13 6 2 12 Programmed resolution 29 4 1 4 Scaling function uurs2neeer seen 13 6 2 13 Programmed total resolution 29 RL SMSSEHLNG units per TEVOluNON stnn 2 6 2 14 Serial number 29 4 1 6 Total measuring range 14 6 3 Status indication by the LEDs in the 4 2 Data exchange in normal operation 15 connection CAP eerenneenesnnnnnennnnnennnnnnnen ne
18. aled value Page 20 BEI Sensors Profibus Manual serie M Revision 03 10 Octet 31 32 33 34 Bit 31 24 23 16 15 8 7 0 Data 2 to 2 Upper limit switch in measuring steps related to the scaled value Properties DP slave xl Address ID Parameter Assignment Parameters Value Sy Station parameters Hoy Device specific parameters E Code sequence Increasing clockwise 0 caling function control Enable Desired Measuring units high 1 Desired Measuring units low 4096 E Physical impulses high 0 E Physical impulses low 4095 E Desired measuring units per Revolution otal measuring range high 1 otal measuring range low 64064 Commissioning mode Disable horter diagnostics 16 bytes No ower limit switch Disable ower limit switch high 0 ower limit switch low 0 2 Upper limit switch Enable E Upper limit switch high Disable Octet 35 36 Bit Data Physical impulses This parameter is evaluated if the reference for the desired measuring units is physical impulses cp 5 1 3 With the physical impulses it is possible to set a gearing factor freely The user defines the output steps desired measuring steps 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 1 revolution Example Problem The position value has to increase by 400 steps
19. alogue of the tool RHW Config SIMATIC 300 Station Station Edit Insert PLC View Options Window Help Customize Specify Module Configure Network Symbol Table Report System Error 0 UR Edit Catalog Profile Update Catalog Install New GSD Import Station S50 and the CPU 315 2DP 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 Fhrl AlE E trl H Gle T After the successful installation of the GSD file the encoder can be found in the hardware catalogue under PROFIBUS DP Additional Field Devices Encoders Encoder In order to represent the encoder with a bitmap in STEP7 the bitmap file UHM5DPxxn bmp has to be installed The procedure is the same as with the GSD file Revision 03 10 BEI Sensors Profibus Manual serie M Page 31 7 2 Configuring the encoder HW Config SIMATIC 300 Station Configuration 57 ly station Edit Insert PLC View Options Window Help Dele S S Ole ui am 2 ve a a DP PA Link ENCODER E ET 200eco a ET 2005 ET 200L Press F1 to get Help Properties PROFIBUS interface FRABA Encoder x After inserting the Profibus master system in the General Parameters
20. atile 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 rising edge As the preset function is used after Revision 03 10 BEI Sensors Profibus Manual serie M receiving the scaling parameters the preset value refers to the scaled position value Page 15 Data bits Bit 31 32 2 23 7 2 5 23 2 21 a 19 7 16 15 4 13 12 11 10 9 8 7 6 5 4 3 2 1 0 Master 1 0 Transfer of the required position value preset value MHM5 MHM5 gt 0 O New required position value is transferred Master Master 0 0 Reset bit 31 normal mode MHM5 MHM5 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 the Note for Singleturn devices The procedure is similar with the singleturn version Here Bit 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 activate the preset Page 16 BEI Sensors Profibus Manual serie M preset procedure this can result in offsets because of bus delay times If this functionality is needed the user has to
21. be checked cp section 6 3 Possibly this can give hints to the cause of the problem Both LEDs dark Check power supply Page 44 BEI Sensors Profibus Manual serie M Solution If it is possible the maximum number of diagnostic data per slave should be increased 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 2 1 or 2 2 can be used with reduced diagnostics cp 5 1 5 Max_Diag_Data_Len 57 and configuration of both devices together Solution Use COM PROFIBUS Version 3 3 choose one of the manufacturer specific versions 2 1 or 2 2 and activate the reduced diagnostics If COM PROFIBUS V5 0 is to be used the configuration of the encoder is only possible with a GSD file slave key Max_Diag_Data_Len has to be changed prevents the modified Both LEDs bright 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 Revision 03 10 Problem Sporadic bus errors Possible cause Terminating resistors not correct Possible solution Check terminating resistors The resi
22. bus lines in one cable is used the large cable diameter can lead to problems For these cases offers connection caps with larger cable glands refer to product catalogue BEI Sensors Profibus Manual serie M Revision 03 10 2 4 Assignment for M12 connectors AH58 B1DP 072 Connecting the data lines and the power supply Data lines and power supply are connected to 5 pin M12 connector 5 pin M12 female socket 4 pin M12 connector Revision 03 10 BEI Sensors Profibus Manual serie M 5pin connector left Pin Description not connected Bus line A Bus in not connected Bus line B Bus in not connected 5pin female socket center Pin Description not connected Bus line A Bus out not connected AJIN Bus line B Bus out 5 not connected 4pin connector right Pin Description 10 30 V DC not connected OV not connected If the terminating resistor is switched on the outgoing bus lines are disconnected Page 7 2 5 Connecting the screen To achieve the highest possible noise immunity a compensation current might flow over the shield shielded cables should be used for data Therefore a potential compensation cable is transmission The shield should be connected to recommended ground on both ends of the cable In certain cases 2 6 Instructions for mechanical installation and electrical connection of the angular encoder The following points should be observed
23. code is no longer in single steps Starting with depending on the software tool refer to page 35 generation B1 the encoder indicates a parameter Octet 10 11 12 13 Bit 7 0 Data 2 to 2 Desired measuring units per revolution Revision 03 10 BEI Sensors Profibus Manual serie M Page 13 4 1 6 Total measuring range Octet Bit Data 17 7 0 2 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 0 again Example 100 steps are programmed for each Then the encoder counts up to 11799 starts with 0 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 35 When choosing the total resolution the following revolution parameter measuring units per rule has to be observed revolution and the total resolution is set to 12800 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 th
24. d Operating status diagnostic data are requested from the slave e g encoder Identification localization classification display additional evaluation of faults errors and messages 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 to their current value The input data are only updated again after reception of the UNFREEZE command BEI Sensors Profibus Manual serie M Page 45 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 rotary encoders are always slaves Terminating resistor Resistor that terminates the bus cable terminating resistors are always required at the end of a cable or segment Type file Similar to GSD file is used with older configuration software tools Word Expression used for a data u
25. e Encoders gt 4 Ss Shorter Diagnostics uur42s44un nennen nennen 20 Software limit switch en 20 Station address nneeeeeeee senene eee eeee neee seeeeeee 5 Stat s Dits hades aids 23 STEP Tgr a es 31 T Teach In Start aoeeoe ee nener ereeer reesen 25 Teach In Stop uueesesessnnennessnnnnnen nennen nenn 25 Technical Data 2444440 nen 37 Total measuring range 14 Type designation uuerssseseessnnnnn essen nennen 41 Typetile r eu ee 46 V Velocity Time base 32223 aha 22 BEI Sensors Profibus Manual serie M Page 47 12 Revision index Revision Date Revision Changed to new type key DPC new technical drawings new connection cap 9 4 2010 03 10 4 5 Page 48 BEI Sensors Profibus Manual serie M Revision 03 10
26. e programmed total resolution of a 16384 revolution multiturn encoder must be less than 16384 x the programmed 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 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 problems occurred when using the device in endless operation when crossing the physical zero point With new devices software version 3 Generation A1 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 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 Page 14 BEI Sensors Profibus Manual serie M Revision 03 10 For multiturn devices with 16384 revolution the
27. ed out when the equipment is in a no voltage condition 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 all 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 Revision 03 10 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 Absolute Encoders Type MHM5 MHKS5 DPC1B XXXX XXXX OCC 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 Encoder offers configurations with manufacturer specific functions By choosing a certain encoder configuration parameter and configuration data are determined 3 1 Overview Configuration principle GSD File J Software Tool Choice of encoder configuration Parameter settings Revision 03 10 mm database J PLC BEI Sensors Profibus Manua
28. emental signals the absolute position Revision 03 10 BEI Sensors Profibus Manual serie M 10 2 Further encoder configurations 43 10 2 1 Version 2 0 Multiturn 43 10 2 2 Version 1 1 Multiturn 43 10 2 3 Version 1 0 Multiturn 43 10 2 4 Class 2 Multiturn DX Version 43 10 3 FAQ absolute encoder Profibus 44 10 4 Definitions 0 cece cece ceeeeeeeeeeeeeeeeeaeenenees 45 WA WN OX GRPRRREBE REF ARERFEHEERBE REF ERERFENSEEBE SEE ERERFERFEFERSSETE 47 12 Revision index 2222 220200022nnn0000000nnnn nn 48 Publication March 2010 Version 4 5 requirements of a Profibus Slave according to the PROFIBUS standard It is certified by the Profibus Nutzerorganisation in Germany of the shaft can be determined with a resolution of up to 65536 steps per revolution 16 bits So called Multiturn devices use reduction gears and further code disks to determine the absolute Page 3 shaft position over up to 16384 revolutions 14 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 encoders are designed for the DP version They support all usual baud rates up to 12 MBaud Besides manufacturer specif
29. es and Documentation Description Article name Article number Aluminium housing with 3x M12 cable glands for AH 58 B1DP 3PG 0246370340 cable diameters between 6 5 9 mm Stainless steel housing with 3x M12 cable glands for AH 58 B1DP 3PG VA 0246370355 cable diameters between 6 5 9 mm Aluminium housing with 3x M12 connectors AH58 B1DP 072 0246370359 Aluminium housing with 2x M20 cable glands for AH 58 B1DP 2M20 0246370344 cable diameter between 9 13 mm Shaft coupling Drilling 10 mm 10mm 29100450 Drilling 6 mm 6 mm 29100350 Clamp disc 4 pcs encoder 32400155 Clamp half ring 2 pcs encoder 32400152 Reducing Ring 15 mm auf 12 mm RR12 32220291 15 mm auf 10 mm RR10 32220292 15 mm auf 8 mm RR8 32220295 k k not for hollow shaft only for hollow shaft Page 42 BEI Sensors Profibus Manual serie M Revision 03 10 10 2 Further encoder configurations The encoder versions described in the following are still supported for reasons of downward 10 2 1 Version 2 0 Multiturn This version differs from version 2 2 in the fact that there is a smaller number of parameters shown in the configuration tool 10 2 2 Version 1 1 Multiturn This is an older version formerly called Class 3 It is similar to class 2 but has an additional velocity output It is still available for reasons of downward 10 2 3 Version 1 0 Multiturn Output of position value and velocity without preset function Should
30. 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 ca one 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 Page 5 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 30V The power supply has to be connected once no matter which clamps If the terminating resistor is switched on lines are disconnected the outgoing bus 2 3 Connecting up the connection cap with cable glands Remove screw 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 50 mm 5mm 5mm Page 6 Note If a combined cable power supply and
31. ic 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 3 062 from the Profibus Nutzeroganisation Further information about profibus functionality manufacturer products standards and device profiles are available from the PNO absolute Page 4 BEI Sensors Profibus Manual serie M The position value is calculated in an integrated microprocessor and transmitted over the Profibus Profibus Nutzerorganisation PNO Haid und Neu Stra e 7 D 76131 Karlsruhe Tel 49 0 721 96 58 590 Fax 49 0 721 96 58 589 www profibus com Revision 03 10 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 the backside 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 station address is read in when switching on the power supply An address change by the Master Set_Slave_Ada is not supported Revision 03 10 BEI Sensors Profibus Manual serie M of the encoder Bus lines and power supply are led into the cap via cable
32. ing range Please observe the rules in section 4 1 6 Page 18 BEI Sensors Profibus Manual serie M Note With many software tools it is necessary to divide the value into high and low word refer to page 35 Revision 03 10 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 Properties DP slave 3 x Address 1D Parameter Assignment Parameters Value B Station parameters EH Device specific parameters E Code sequence i 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 Revoution Total measuring range high Total measuring range low Commissioning mode Physical impulses Shorter diagnostics 16 bytes No Lower limit switch Disable Lower
33. iption see Appendix Class 2 Multiturn F1 241 2 2 10 2 4 43 DX Version 1 0 Multiturn 1 1 Multiturn 2 0 Multiturn Revision 03 10 BEI Sensors Profibus Manual serie M Page 11 4 Class 1 and Class 2 profile The encoder versions Class 1 and Class 2 are defined by the working group encoder in the Profibus Nutzerorganisation in the Profile for 4 1 Parameter settings The following table contains an overview of the parameters according to the Profile for Encoders and the structure of the parameter telegram Octet byte No Parameter 1 8 Profibus Standard Parameters Encoders available from the PNO Order No 3 062 Usually it is not necessary for the user to know the details of the structure the parameters are set in user friendly forms in the operator software tool Bit Nr Details 9 Code sequence Class 2 functionality Commissioning Diagnostics Section 4 1 2 Page 13 Section 4 1 3 Page 13 Section 4 1 4 Page 13 Scaling function Reserved Not used for Class 1 and Class 2 10 Measuring units per revolution Section 4 1 5 Page 13 13 14 Total measuring range Section 4 1 6 Page 14 17 18 Reserved Profile 25 26 Not used for Class 1 and Class 2 Refer to versions 2 1 und 2 2 Page 12 BEI Sensors Profibus Manual serie M Revision 03 10 4 1 1 Code sequence The parameter code sequence defines the CW or counter clockwise CCW view onto the
34. it switch 5 1 6 20 35 38 Physical impulses 5 1 7 21 39 Reserved 0 Encoder type Single Multiturn 1 5 1 8 22 Reserved 2 Reserved 3 Time base velocity 4 5 1 9 22 5 Reserved 6 Reserved 7 Revision 03 10 BEI Sensors Profibus Manual serie M Page 17 5 1 Parameter In the following the parameters are described in manufacturer specific detail The 5 1 1 Activate manufacturer specific parameters The manufacturer specific parameter byte 26 is activated with bit 6 in octet 9 Bit 7 in octet 26 activates further parameter bytes 27 39 Usually this happens automatically if the encoder 2 1 or 2 2 are selected It is only important for the user to observe this if the parameters are entered manually directly using hex code versions 5 1 2 Desired measuring units The parameter desired measuring units is used to program any required number of steps over 1 parameters according to the Profile for Encoders are supported too description see chapter 4 Octet 9 Bit 6 Octet 26 Deactivated 1 Activated Octet 27 39 Deactivated 1 Activated revolution over the whole measuring range or over a part of the measuring range 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 measur
35. l serie M 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 Pe gt gt Cyclic Data Transmission e g position value Page 9 3 2 Overview encoder configurations functionality Designation Class 1 Singleturn Class 1 Multiturn Class 2 Singleturn Class 2 Multiturn Cyclic communication Position value 16 bit Input Position value 32 bit Input Position value 16 bit Input Preset value 16 bit Output Position value 32 bit Input Preset value 32 bit Output Programmable parameters Code sequence Code sequence Code sequence Scaling factor Code sequence Scaling factor Additional functions Preset function Preset function 2 1 Singleturn Position value 32 bit Input Preset value Teach In 32 bit Output Code sequence Scaling factor Shorter
36. limit switch high 0 Lower limit switch low 0 Upper limit switch Disable E Upper limit switch high 0 Maximal total measuring range the encoder gives out the programmed number of measuring units over the whole measuring range 4096 revolutions with the multi turn 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 0 Octet 26 Bit 1 Per revolution 0 0 Per maximum total measuring range 1 0 Per physical impulses 0 1 steps specified in octets 35 38 Revision 03 10 BEI Sensors Profibus Manual serie M Page 19 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 i
37. nit of two bytes Page 46 BEI Sensors Profibus Manual serie M Revision 03 10 11 Index B Bus termination uuerssseneeersnnnn nennen nennen 5 C Class Vivica un ae 12 Class 2 2222 a Mami 12 Code sequence eier 13 Commissioning Mode seee 24 Configuring the encoder 32 Connecting pus line Si 2 224 an 6 Power SUPPLY 0 eee eeeeeeeeeeeeeseeeeeeeenaeeeeeeeeees 6 Connection cap SOHINGS earshot atin em 5 D Data format 11 Desired measuring units a n 18 Diagnostic messages 27 Dimensioned Drawings ecen 39 E Electrical Data nr RR 37 Encoder configurations 22444s nn en 10 further 22a a 43 Endless operation vissri 14 Environmental Conditions 4 38 F FAQs aaa 44 G GSD fe een 46 Installation u444444B4 ernennen nennen 31 H High word ans 35 I Installation ee 5 Revision 03 10 L iD ERRE aires ee a Sea 30 Low word eee 35 M Mechanical Data nen 38 Memory error ee 28 0 Operating time warning eeen 28 Ordering cod u 220 41 P Parameter settings u 2224ur nennen nennen 12 Parameters c cccecceceeeseeeecaeceeeeeseeneaeeeeees 34 Physical impulses 17 19 21 Preset function ccccccceeseceeceeeeeeeeseneeeeeees 15 Preset value cccccceceeeceeeeeaeceeeeeeeeneaeeeeees 26 Profibus Nutzerorganisation 4444 4 Profile for Absolut
38. nnen nn 30 4 2 1 Transferring the process value 15 4 2 2 Preset function 15 7 Configuring with STEP 7 nee 31 5 Special versions 2 1 and dann 17 7 1 Installing the GSD file 4 31 5 1 Parameters 2 scevesol en es 18 a ln NE Dane CH iee aaa 22 5 1 1 Activate manufacturer specific 7 3 Selecting the encoder version 33 parameters ER RER REEL TE ELL IRRE 18 7 4 Setting the parameters SRI oa arn tea 34 Page 2 BEI Sensors Profibus Manual serie M Revision 03 10 8 Technical Data ccsseeeeessesssseeeeeeeeees 37 8 1 Electrical Data ernennen 37 8 2 Certificates an t 37 8 3 Mechanical Data uu ernennen 38 8 4 Environmental Conditions 38 9 Dimensioned Drawings unsnnsennennnennnnnnnnnn 39 10 Appendix u anne 41 10 1 Type designation ordering code 41 Specifications are subject to change without notice Technical specifications which are described in this manual are subject to change due to our permanent strive to improve our products 1 General This manual describes installation and configuration of the Absolute Rotary Encoder with Profibus DP interface The device meets the 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 incr
39. nstead 5 1 5 Shorter Diagnostics Some Profibus masters especially older ones have problems with the full diagnostic data length 57 bytes The 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 0 The limit switches can be set to any value but the parameter total measuring range Octet 27 28 Bit Data 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 must not be 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 35 29 30 7 0 27 to 2 Lower limit switch in measuring steps related to the sc
40. of revolutions optional up to 65536 steps revolution 1 Singleturn 4096 or 16384 Multiturn Accuracy of division Step frequency Code Operating live MTTFa Addressing Note LSB up to 12 Bit 2 LSB up to 16 Bit max 800 kHz Binary 16 73 13 55 years at 40 C Single Multi Turn with connection cap 146521 h 118694 h at 40 C Single Multi Turn with connection cap 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 8 2 Certificates UL proved RoHS Reach ISO 9001 Revision 03 10 File E251481 According EG Direktive 2002 95 EG Not affected BEI Sensors Profibus Manual serie M Page 37 8 3 Mechanical Data Housing Lifetime Max shaft loading Inertia of rotor Friction torque Aluminum optional stainless steel Dependent on shaft version and shaft loading refer to table Axial 40 N radial 110 N lt 30 gem lt 3 Nem lt 5 Nem without with shaft sealing RPM continuous operation Shock EN 60068 2 27 Singleturn max 12 000 RPM Multiturn max 6 000 RPM lt 100 g halfsine 6 ms Permanent shock EN 60028 2 29 lt 10 g halfsine 16 ms Vibration EN 60068 2 6 lt 10 g 10 Hz 2 000 Hz Weight standard version Weight stainless steel version Singleturn 550g Multiturn 600g Singleturn 1 100g Multiturn 1 200 g S
41. on status 3 ref to Profibus Standard Diagnostic master address PNO identification number Extended diagnostic header Alarm messages Operating status Encoder type Resolution per revolution Hardware Number of revolutions Hardware Additional alarm messages Supported alarm messages Warnings Supported warnings Profile version Software version Operating time Zero offset Manufacturer specific offset value Programmed resolution per revolution Programmed total resolution Serial number Revision 03 10 diagnostic data is according to the Profibus Standard octets 1 6 respectively according to the Profile for Encoders starting from octet 7 Data type Diagnostics octet number Class Octet KR Octet 20 Octet 2 h Octet CE Octet 66 N Octet Sting DZ Octet Sting 8 Octet String 9 1 OctetString 10 Unsigned 32 11 14 4 Unsigned 16 15 16 1 Octet String 17 e Octet String 18 19 e Octet String 2021 k Octet String 2 Octet String 24 25 h Octet String 2627 f Unsigned 32 28 31 k Unsigned 32 32 35 12 Unsigned 32 36 39 2 Unsigned 32 40 43 _ k Unsigned 32 44 47 _ _ p ASCII String 48 57 2 BEI Sensors Profibus Manual serie M Page 27 6 2 Supported diagnostic messages 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 error
42. re version of the encoder Octet 26 27 Bit 7 0 Data 2710 2 Index Revision No 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 Revision 03 10 6 2 11 Zero offset 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 Revision 03 10 BEI Sensors Profibus Manual serie M 6 2 14 Serial number 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 Page 29 6 3 Status indication by the LEDs in the connection cap LED rot red amp No Red LED Dark 2 Bright 3 Bright 4 Flashing 5 Bright 6 Dark 7 Dark Page 30 Two LEDs are implemented in the connection cap They optically indicate the status of the encoder in the profibus network The red LED is used to display errors the green fin ean one displays the status of the encoder Both
43. rule is as follows if it is necessary to turn the encoder shaft more than 4096 revolutions without power supply 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 16384 So the following equation must apply 16384 x measuring units per revolution Total resolution integer 4 2 Data exchange in normal operation The DDLM_Data_Exchange mode is the normal operation mode of the device On request the encoder transfers the current position value to the 4 2 1 Transferring the process value The multiturn encoder transmits the current position value as a 32 bit value double word to the master master The encoder can also receive data from the master e g the preset value in the class 2 configuration Word Word 1 Word 0 Function Process value Bit alal Bl a7 wo sjal wl 2 21 v 19 8 17 16 5 4 3 2 1 o 9 8 7 6 5 4 3 2 1 0 0JOIXIXIXIXIX IXIXIXIXIXIXIXIXIXIXIXIXIXIXI XIX IXIX IXIXIXIXIXIXIX The Singleturn encoder uses a 16 bit value word for data transmission 4 2 2 Preset function Using the preset function it is possible to adapt he encoder zero point to the zero point of the application When using this function the current encoder position value is set to the desired preset value The integrated microcontroller calculates the internal zero point shift It is stored non vol
44. sion 2 2 is used the current velocity is transmitted in an additional peripheral input word DO hex Velocity 215_ 98 2 20 27 2 Ready 0 encoder is not ready for operation 1 encoder is 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 Revision 03 10 BEI Sensors Profibus Manual serie M Page 23 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
45. stors 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 The resistance value must be about 110 Q 220 Q parallel 220 Q Possible cause 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 and B in the connection cap 10 4 Definitions Address AWC Baud rate Bus Node Configuring DDLM DDLM_Data_Exchange DDLM_Set_Prm DDLM_Slave_Diag Diagnostics Freeze Revision 03 10 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 Abbreviation Absoluter Winkelcodierer German Absolute Rotary Encoder Data transfer rate specified as the number of bits transferred per second baud rate bit rate Device which can send receive or amplify data via the bus When the master configures the slave the properties of the slave are specified e g number of input and output bytes Direct Data Link Mapper Interface between Profibus DP functions and the encoder software Operating status of the bus for standard data transfer Operating status of the bus configuration and parameter are transmitte
46. t value The preset function is similar to the procedure described in section 4 2 2 There is only one difference When using the manufacturer specific 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 versions 2 1 or 2 2 there is an acknowledgement bit 31 in the input double word is set to 1 Status bits Data bits Bit alol 2 2 z 4 2 2 21 w 19 18 17 16 15 14 13 12 1 0 9 8 7 6 5 4 3 2 1 Jo Master 1 0 0 0 0 0 0 Transfer of the required position value preset value MHM5 MHM5 1 0 0 0 0 0 1 Master New required position value is transferred Master 0 01 0 0 0 0 0 Reset bit 31 normal mode MHM5 MHM5 0 0 0 0 0 0 1 Master Page 26 BEI Sensors Profibus Manual serie M New required position value is transferred Revision 03 10 6 Diagnostic messages 6 1 Overview On request of the master the encoder transmits diagnostic data DDLM_Slave_Diag The diagnostic data length is 57 bytes Exception shorter diagnostics cp 5 1 5 The format of the Diagnostic function Station status 1 ref to Profibus Standard Station status 2 ref to Profibus Standard Stati
47. 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 in the 32 bit process value 0 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 is 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 parameter settings deactivated increasing clockwise 1 increasing counter clockwise With bit 28 in the output double word the counting direction can be changed Bit 31 B B 27 6 B 4 B 2 21 w 19 18 17 16 15 4 13 12 1 0 9 8 7 6 5 4 3 2 1I 0 Master 0 01 0 1 0 0 0 Changing the counting direction by setting bit 28 MHM5 MHM5 0 0 0 N 0 0 1 Master Encoder sends acknowledgement new counting direction in bits 0 and 28 n Master 101010 0 O 0 0 Changeover is completed by reset bit 28 MHM5 MHM5 0 0 0 M x 0 Master Output process value with changed counting direction
48. 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 Revision 03 10 BEI Sensors Profibus Manual serie M Page 35 Properties DP slave 21 Station parameters Device specific parameters ex parameter assignment User Pm Data 0 to 7 User_Prm_Data B to 15 E User_Pm_Data 16 to 23 2 User_Prm_Data 24 to 31 Page 36 BEI Sensors Profibus Manual serie M Revision 03 10 8 Technical Data 8 1 Electrical Data General design According to DIN VDE 0160 Protective Class III degree of pollution 2 over voltage Category II Power supply voltage Power drain Current consumption 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 EMC Bus connection Emitted interference according to EN 61000 6 4 Noise immunity according to EN 61000 6 2 Electrically isolated by optocouplers Interface Line driver according to RS 485 Baud rates 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 Resolution Standard 4096 steps revolution Number
49. ynchro S Clamp C Hollow shaft B Flange Shaft diameter Shaft length hollow shaft depth min max Minimum mechanical lifetime Flange C10 Clamp flange 10 x 20 S10 Synchro flange 10 x 20 S6 Synchro flange 6 x 10 without shaft sealing 8 15 mm 30 mm Lifetime in 10 revolutions with Fa F m 22 347 133 S6 Synchro flange 6 x 10 with shaft sealing max 20 N axial 80 N radial 8 4 Environmental Conditions Operating temperature Storage temperature Humidity Protection class EN 60529 40 85 C 40 85 C 98 without liquid state Casing side IP 65 Shaft side IP 64 optional with shaft sealing IP66 Page 38 BEI Sensors Profibus Manual serie M Revision 03 10 9 Dimensioned Drawings Synchro flange S available in 2 versions Synchro flange d mm I mm Version S06 646 10 Version S10 10hs 20 Single Turn 67 Multi Tum 77 3x120 Edelstahl stainless steel Schl sselweite wrench size 17 Clamp flange C 3xM4x6 Mes Edelstahl stainless steel Schl sselweite wrench size 17 Revision 03 10 BEI Sensors Profibus Manual serie M Page 39 Hollow shaft B Single Turn 98 Multi Turn 108 59 061 an Drehmomentenstitze lay on edge Anlagekante torque support Max W 30 Min W 15 Welleneinstecktiefe hollow shaft depth Edelstahl stainless steel Mounting
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