User Manual Profinet
Contents
1. em 33 ST SignOlLite Code edit INTERFACE VAR GLOBAL master sign of life UINT 0 stw2 onc saved WORD 0 Stw2_temp WORD 0 END_VAR PROGRAM Task fe END INTERFACE IMPLEMENTATION PROGRAM Task SigrolLife stw2 onc saved onc AND 16 0 increment master sign of ife mod 16 master sign of master sign of 1661000 IF master sign of ife 0 THEN sign of must have value between 1 and 15 master sign of lite 16 1000 END IF isend ms to slave stu temp 2 temp AND 16 0FFF OR WORD master sign ot 1 Solerteueberragen stw2_enc stw2_temp ORstw2_enc_ saved stw die VO variable END_PROGRAM END IMPLEMENTATION Simotion System clock setup a 34 Append SignOtLife Progran on IPOSynchronous task eet perm rpm levem Dae eem Um Isle I pw man 35 New ST Program Samples II PROGRAM mt_1 Read Single parameter I PROGRAMmt 2 Read Multi parameter INTERFACE PROGRAM background PROGRAM mt 1 PROGRAM mt 2 END INTERFACE IMPLEMENTATION VAR GLOBAL Parameter lesen MT1 zaehler UDINT2. User parameter Mar supported Not supported one Sigh alure Master Sign Ot tolerated P925 is optional to control the Life failures life sign monitoring Use parameter Alarm Supported Not supported the application alarm channel control channelis active and controlled by a PROFidrive parameter P65 Profle version SU ATA 3 117 Preset value 3 11 7 1 Telegram 81 84 With the Preset value itis possible to adapt the encoder zero point to the zero point of the appli cation 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 tis stored in a per manent memory 10 ms Not Set Preset only in standstill Thereis no preset activated when the Preset value is written to the encoder The preset func tion s controlled by the bits in sensor control and status words G1 STW andGt_ZSW The Preset value is used when a preset is requested by bit 12in the Sensor control word Gr STW Class 4 functionality mustbe enabled Ifthe Preset value is greater than the total resolution then error no 002 comes back tothe base mode parameter response Low or High limit exceeded Parameter Meaning Data type Preset value Preset value wil defined wit asynchronous data exchange Integer 32 Default value 0 Sample for a parameter order to set Preset with Record Read Write for SIMATI
3. Maximum Master Sig OFUfeaures T 17 1Bt Velocity measuring unit T T oso 18 Device Parameter Function Slot Sub slot Index Offset Presdvaus T T OE0 Va Parameter Number 65000 16 i 383 Vendor Parameter Function Sio Subst Index Oset Length 10 Preset value T T 01000 3 10 Patronized Parameter According the Profidrive profile the following parameters are available Record Read Write Index 0xB02E Create Parameter Request Program example Parameter Read R mber Parameter Read oniy J Read Write 522 Telegram selection 925 Nuribar of fe sign failures that may be tolerated 554 Drive Unit identification 555 Profile number Transtar nie a nonvalatile memory E DO identication 978 sensor format 580 Number Tst of defined parameter 55000 Preset 85007 Operating status Parameter model Sample of configuration according Encoder Profile V4 1 ae po ee 1 3 11 Rotary encoder function description Details of this functionality are available on the next pages Function Implementation Description i Ciass4 3 Chapter funcionaliyis Code sequence x
4. PLL failure The DP cycle TDP has been exceeded through telegram repetition Example Permanent LS failure see Figure 1 TMLS 5 x TMAPC the strategy of the Sign Of Lif failure counter is explained in chapter 5 1 4 Tuso Controler LS reference Controler LS actual lall 0 50 TT Figure 1 Example Long term Sign OF Life faire of the controller Example Temporary LS allure see Figure 2 and Figure 3 TMLS faiure counteris explained in chapter 2 4 Fairer counter x TMAPC The strategy of the Sign ature counter D Response Figure 3 Example Temporary failure of the controller LS positive deviation double step 41 Convair factual Li L2 Fane ante ly le lel Response Faas Figure 2 Example failure of the controler LS deviation Conteris aema 1 3 38 Contoter 5 cus es 523 DO s Sign Ot Life DO LS Transmission DO LS A 4 bit counter in status word 2 is used as Sign Of Life for the DO The DO increments this counter with each DP cycle Synchronization 00 15 The DO application stars the DO s Sign Ot Lite with an arbitrary value b
5. e g absolute encoders are remotely assigned field de vices and IO supervisors programming devices are used for and dignos The engineering of PROFINET IO is done similar to PROFIBUS The field buses Le Ethemet topclogies are assigned to control systems during configuration The IO device is configured in the actual system based on the contents ofits GSDML fl After completion of the engineering the installer loads the data for the expansion into the IO con troller PLC and the IO controller assumes data exchange withthe IO device IO device is addressed within PROFINET and also possibly by external IT components through its IP address Data can be exchanged from the IO controller to the IO device and vice versa cyclically for process data Apart from this parameter data can be exchanged acyclically during engineering of the IO device or by the use of PLC programming blocks 1 3 Features of the Encoder Integrated Boot loader for customer firmware upgrades gt Round axis Endless shaft Neighbouring detection Engineering identification call Different fiters for velocity Used Profinet Encoder Profile 4 0 4 1 Installation Electrical Connection The rotary encoder is connected by 4 pin M12 connector for the power supply and two 4 pin D Coded M12 connector for Ethernet The Encoder uses a second D coded connector and provides integrated switch functionality On or in the packaging
6. 0 set the other bits ipi up rom Controller to Encoder Preset 32 Bit Unsigned Integer ERST 8130 BO Preset Control Preset value lt Total Resolution lithe Preset value is greater than the total resolution then will set the Preset value to the maxi resolution 1 3 11 8 Offset value The offset value is calculated in the preset function and shifts the position value with the calcu lated value 21 3 11 9 Scaling parameters The Scaling parameters will be used to change the resolution This parameter will only affect to the output valves ifthe Scaling function is activated Parameter Weaning Data ype unis per revelutom mge tum resolution in steps Unsigned Measuring step measuring range measuring Total measuring range measuring Unsigned 58 units steps 3 11 10Max Master Sign Of Life failures Parameter Meaning Value Meximum Waster Sigh OF Le Number oT permissioleTalures of T the masters sign 3 11 11Velocity measuring units This parameter defines the coding of velocity measuring units used to configure the values NIST_A and NIST_B Only Telegrams 82 84 uses the velocity outputs With each cycle will calculate the velocity from the position value To get high velocity preci sionitis necessary to use a short cycle timo Velocity measuring unit Value Sieps T Steps 1005 1
7. 161 1571 Standard Telegram 82 TO Data Word T point GT STWI Data DWord T Achual value ENT Standard Telegram 83 Data DWord 2 G1 STWI 16 Data DWord T 2 3 Acua value 175472 ENC Gi ZSWT er XST Standard Telegram 84 Data DWord 3 2 Sepon 8742 ENC GT STWI TO Data DWordy T SITTSTIS E Adusvsus 2542 ENC GIZSWI 61 0573 Manufacture Telegram 860 With this telegram it not necessary to set special bits to get cyclic data transmission Itis ajar according the Profibus functionality and suppor an easy way to set a customer preset value dur ing the running PLC The velocity value uses the format that is defined in the Velocity measuring unit No control word Status word Sign monitoring Output 32 Bit Unsigned Preset value Bit 31 Preset Control less than Total Resolution Input 32 BitUnsigned Position Value 32 Bit Integer Velocity Value Input Data Input data from Encoder to Controller 8 Bytes Position value 32 Bt Unsigned nieger Velocity value 32 Signed Integer Bytes Byes WSE LSE WSE TSE Output Data Output data from Controller to Encoder 4 Bytes Preset 32 Bit Unsigne
8. PNO No 3 172 No 3 502 Encoder erori Class tand2 PO No 3052 PROFEUS PROFINET Network 32 Encoder Classes Descrplion Thode snot SUBHOTETTATY 4 models supported RT Encoder functions Function Implementation Class 3 Class rode sequence Class 4 funciionally x x GT XISTT Preset contro X x Scaling function control X x Alarm channel control X x Preset value x x Preservalus Measuring unis per revolution 7 Measuring step X x Total measuring range X x Measuring units per revolution 3X x measuring range 5451 Te x Vaximum Master Siga OT Life failures Ds x measuring unit 7 Encoder Profile version X x Operating time Offset value Dd x Offset value usd x Found axis Endless shat x x locity iter If Class 4 functionality is activated Signal list for Cyclic Data Transmission gnal No Significance Abbreviation Length bi Sign 3 Masters sign oF We 5142 16 4 lave s sign of Te WZ EN 15 value NIST 15 value E NISTE 37 Control word 16 Siatus word GIZSW 16 Position value Gi XIBTT 32 T Position value EJ 5 Position value ot Format Position Value NOTE The alignment in the dat
9. Question Why can set the preset value or the other parameters Answer in class 3 with activated class 4 functionality class 4 is it possible to set the parameters If necessary itis important to use class 4 or to activate the class 4 func tionality in the Hardware Manager 58 Question On using the D410 the error Synchronization error between Profibus and Profi net popped up What is to do Answer Both systems have to use the same cycle time Ifthe Profinet cycle time amounts 1 ms then must use the Profibus same time See the next Hardcopy with the settings for 1 me mo Pe det 25 ee 8 Question Whatis the different between Encoder Profil4 0 and 4 1 Answer 30 GAST Postion value Tet aligned Counter value right aligned SDM MAP Parameier Telegrams Separate Telegrams 59
10. change request Data type Error as negative partial response Instead of a data type the folowing are possibe Byte description and toxs Word Double word Number of Values Number of the following values or number of the following data type elements number of oc tets in case of OctetString In case of write request of OcletSiring the correct length shall be supplied otherwise the drive shall responds with error 0x18 number of values are not consis tent see Table 32 47 Values The values of the parameter ith values consist at an ada number of bytes a zero byte is appended in order to secre In the case of a positive partial response the parameter value contains the following Format Data Type or Byte Word Double Word Number of values the values Inthe case of a negative partial response the parameter value contains the following Format error No of values Value error value error number Inthe case of a negative response the parameter value may contain the following Format error No of values 2 Value 1 Error Value 1 error number Value 2 Error Value 2 subindex of the first array element where the error occurs Purpose after faulty write access to an array not all values shall be repeated Inthe case ofa positive partial response without values the parameter value contains the following Format zero Number of values values Nat all combinations consi
11. lass 4 Tonctionaliy TT T XISTT Preset contror TF Scaling function contror 7 TF Alarm channel control X x 3115 Compaiiiity mode X x 3115 Preset value Dg x 3717 Prasat value Weasurngumis per revolution Measuring step 7 TS Toi measuring ange 7 TS Measuring units per revolution SADT X Total measuring range 640i 3X x Maximum Master Sigm OF Life failures X x 31110 eicciy measuring uni 7 TETT Encoder Prone version TEE Operating time Offseivalue X x Ofset value 64 Bi 3X x Round axis Endless shat X x 3113 Wat XT 18 ana 3112 3113 3114 3115 3115 Code sequence The parameter code sequence defines the counting direction of the position value The code increases when the shaft is rotating clockwise CW or counter clockwise CCW view onto the shati sequence Direction of rotation when viewing the shaW Code sequence Clockwise CW Increasing T Counter cockwse COW Decreasing Class 4 functionality The parameter Class 4 functionality defines that the scaling preset and code sequence affects the position value in G1 XISTI 2 and3 Class coniror Class function defauiy Deactivated T Adivaied Preset control for G1_XIST1 The parameter preset control defines the preset functionality If parameter Class 4 is activated and Preset control is disabled then the Preset will not be affected for G1 XIS
12. of the connector is the mounting description Connector Ethernet 4 pin female D coded Connector power supply 4 pin male A coded Pin Number Signal GRD TOV 2 2 Signal asignment 221 RJ45 M12 crossed gna Tee 222 RJ45 M12 straight Te 223 M12 MI2 crossed Tee 2 3 Diagnostic LEDs LED Color DescripiionforLED ON Acier Yellow Incoming and outgoing trafic at part T Tink Green Link to anather Etremet component via port T vez Yellow Incoming and outgoing data al part Tink Green Link to another Etreret component via port Green Status T details see next table Red Status 2 details see nex table flashes with 2 Hz if engineering identification is activated and link connection is available 2 4 Status LED indication BUT ve Sus Meaning caus Green Bus failure OFF connecten T controler Us disconnected Criteria data exchange IO Contoller not available itched off notin un N Wrong staton address assigned Qut Criteria connection avail sot outside tne permed range However the slave did coneguraven of he save di switch to the data ders rom the nominal configuralon lex
13. 0 MTI read value8OQL 0 stop read value BOOL 0 retval SiructHetReadDriveParam MT2 zachler UDINT 0 36 MT2 read muliBOOL 0 MT2 stop read 1 0 MT2 retvalSiructRetReadDriveMultiParametor liParameterauftr ge allgemein logadd DINT 0 param number single UDINT 0 param number muliARRAY 0 38 OF UDINT number param UDINT 3 END VAR PROGRAM Background VAR read value cld BOOL MT2 read muli 088001 END VAR IF MT read value t AND read value old 0 THEN MT stop read 0 starttask MolionTask 1 END IF read value old MT1 read value number param param number 40 927 param number multi 1 65000 param number multi2 971 IF MT2 read multi t AND read mul MT2 stop read muli 0 starttask MolionTask 2 i old 0 THEN END IF 2 read multi old MT2 read muli MT2 read muli 0 END PROGRAM Motion Task 1 PROGRAM mt 1 1 zaehlerst real _teaddriveparameter ioid INPUT logaddress logadd paramelernumber param number single mumbercfelemert subindex 0 commandid _getCommandlD IF MT1_stop_read_value 0 THEN _restartiask MotionTask_1 ELSE MT _read_value 0 END IF END PROGRAM II Motion Task2 PROGRAM mt 2 MT2 zaehler MT2 zaehler t MT2 _readdrivemuttiparameter ioid INPUT logaddress log
14. 4Encoder Profile version eee anaa 42 421 422 Configuring with STEP7 Installing the GSDML fi Engineering a Hohner encoder into project Standard Encoder no Standard Encoder with PDEV Module Access Point Parameter setup HW Config IRT Setu IRT Topology LLDP Link Layer Discovery Protocol SIMOTION SCOUT IRT communication IRT settings User data reliability General Controllers Sigh Of Life C LS Transmission 40 DO s Sigh OF Life DO LS Transmission 00 15 42 Counting strategy for the Sign Of Life failure counter 43 Error codes in G1_XIST2 Base Mode Parameter Access General General characteristics DO addressing modes Parameter requests and parameter responses 45 Coding 49 Data flow 51 Contiguring with PC Worx FAQ 1 1 Introduction This manual describes the implementation and configuration of an absolute rotary encoder with PROFINET interface The device fulfils the requirements of a PROFINET IO device with RT re altime or IRT isochronous real time classification Absolute rotary encoder The basic principle of an absolute rotary encoder is the optical sampling of a transparent code disc which is fixed with the driving shaft The absolute rotary encoder has a maximum resolution of 65 536 steps per revolution 16 bits The multi turn version can detect up to 16 384 revolutions 14 b
15. AUTOMAZIONE SRL Technical Manual Absolute Encoder ProfiNet Rev2 1 1 Introduction 11 Absolute rotary encoder 12 PROFINET technology 13 Features of the Encoder 2 Installation 21 Electrical Connection 22 Pin Signalasignment 221 RJ45 MI2 crossed 222 RJ45 M12 straight 223 MI2 MI2 crossed 23 Diagnostic LEDs 24 Status LED indi 25 Notes on the mechanical Installation and on the electrical Connection 3 Device configuration 31 Standardization 32 Encoder Classes 33 Signal list for Cyclic Data Transmission 331 Format Position Value 332 Encoder control word STW2_ENC 333 Encoder status word 262 334 Encoder control word 335 Encoder status word G1_ZSW 34 Standard manufacture telegrams 35 Configuration principle 36 Rotary encoder functionality overview 37 Rotary encoder functions data format Parameter for Acyclic Data Transmission 381 Base Mode Parameter 382 Device Parameter 383 Vendor Parameter 39 Patronized Parameter 310 Rotary encoder function description 3 10 1 Code sequence 3 102 Class 4 functionally 3 103 Preset control for G1 3 104 Scaling function control 3 10 5 Alarm channel control 3 10 6 Compatiilty modo 3 107 Preset value 3 10 8 Offset value 3 109 Scaling parameters Master Sign Of Life failures 3 10 11 Velocity measuring units 12 fiter Shaft RoundAxis 3 10 1
16. Base mode parameter response Request Header Request Reference Unique identification ofthe requestiresponse pair for the master The master changes he request reference wth eachnew requestor example modulo 255 The Slave mirrors the request reference in he response RequestiD two IDs are defined Request parameter Change parameter parameter change may be stored ether in volatile or non volatile RAM according tothe de Vice A changed parameter natis stored in volatile RAM may frst be stored in ROM with pa rameter P971 Thediferentifion Value Descrption Text is added to ine address as an atribute Theditrentaton Word Double Word is added to he parameter values as formal Fortne ditferentiation Single Aray Parameter No of Clements in he parameter ad dress gt Response ID Miroring of the request ID with supplement information whether the request was executed positvely or negatively Request parameter postive Request parameter negative it was not possible to execute the request entirely or par tall Change parameter positive Change parameter negative t was not possible to execute the request entirely or partial 1y 46 response is negative error numbers are entered per partial response instead of values 0010 For Base Mode Parameter Access Local irrelevant In the parameter re sponse the DOID out of the request is mirrored For Base Mode Parameter Access Global DO addressing inf
17. Bit 10 in stw2 and Bit 13 in g1_stw1 Profile 4 0 realized with GSDML V2 2 Hohner 20100808 Profile 4 1 with newer files Distinguishable Revolutions Multium value S Pulses Single tum steps per revolution pense vale in GI 572 61 XisTa For 64bit position values is the G1 XIST3 available The binary value will transmit without shifting factor LEES T I 3 I Format Dit position valie 342 343 Encoder control word STW2 4 Bit counter left justified The master application starts sign of ife with any value between 1 and 15 The master increases the counter in every cycle of the master application Valid values for the master s sign oflite are 1 to 15 0 indicates an error andis left out in normal operation Bit Function Implementation Class 3 Class d 08 Reserved currently nor used 10 Control by PLC x x currently norused Controller Sigh B Value lgnificance Comments ontot via TO Daa is vaid T PLC EOTO Data 5 not valid Except Sign OF ite 7215 Controller Sign OF Lie Send continuous counting value from 0 io 15 Encoder status word ZSW2 4 Bitcounter and 15 after successful synchronizat
18. C CPU300 RecordWriteDatal 0 00 0x02 0x00 0x01 JI Header 0x10 0x00 0xFD 0xE8 0x00 0 00 Parameter Address Preset Ox430x010x000x00 0x00 0x64 Parameter Value Preset 100 0x64n Meaning 0x00 0x02 0x00 0 01 1 Header No of Parameters 1 AxsNo DO4D 0 Request ID 2 Change value Request Reference 20 0x10 0x00 0xFD 0xE8 0x00 0x00 Parameter Address Preset Subindex LOW Byte Subindex HIGH Byte Parameter Number PNU LOW Byte Parameter Number PNU HIGH Byte of Elements Attribute Ox430x010x00 0x00000 0184 Parameter Value Preset Valu Preset Value LSB Preset Value Preset Value Preset Value MSB No of Values 1 Format 0x43 DWORD oder 4 Ingeger 3281 siMATICS7 srass CALL WRREC DB53 REQ activate stb request ID DW 16 0 il logical slot address gt adapt INDEX WittesBo2E record index number sizeof RecordWriteData LEN 16 Ji data lenghhin byte DONE request finished BUSY lbusy bit ERROR M41 3 itemrorbit STATUS MD45 error number iferrorbit 1 RECORD RecordWriteData record buffer address gt adapt 31172Telogram 860 With this manufacture telegram tis easy to set a user defined preset value during the running application according to the Profibus functionality In this case set bi 31 of the Output Data to 1 and then back to 0 For a different preset value than
19. Ot OLS DOLS 02 7 Fae counter 170 Response oce Figure 4 Example Permanent failure of the DO LS 42 524 Example Temporary LS failure see Figure 5 and Figure 6 TSLS 5 x TDP the strategy of the Sign Ot Lite aiure explained in chapter 5 1 4 amens LS actua il Fairer counter 5 Response erme Fue Temporary othe DO LS pegate devin Tee E DLS ecu whe ers Faker cour 15018 Response rawe Figure 6 Example Temporary failure ofthe DO LS positive deviation double step Counting strategy for the Sign Of Life failure counter strategy which is applied in order to prevent fast shuntdown for a sporadically faulted control ler or DO application is described in the following text This strategy guarantees that at least a specific percentage of the telegrams shall be valid before a Drive Axis is powered down counter is defined the DO side in which for each deviation independently of whether is a positive or negative deviation between the expected and actually transferred value for th
20. Steps 2 3 3 11 12Velocity filter The velocity value can used with three different exponential moving average fiter types Default Fine Parameter Weaning Velocity fiter lect forthe parameter Fine Normal Coarse Integer 32 Ratio between old and actual velocity value Fine 7 3 Normal 96 4 Coarse 9964 3 11 13Endless Shaft RoundAxis Normally the period i e Total resolution measuring units per revolution must be an integer andit must fit an integer number of times integer multiple into 4096 for an encoder with 12 Bit or the revolutions This means that i e 100 or 325 revolutions could make trouble So the fol lowing equation must apply 4096 x measuring units per revolution Total resolution integer But this Profinet encoder solves this problem automatically The encoder checks if the parame ters need the endless shaft and activates the functionality by sel Note The internal software routine only works if the encoder is in operation I itis necessary urn the encoder shaft more than 1024 revolutions without power supply this can lead prob lems the internal routine will not work without power supply With this function there will be save additional values in the intemal EEPROM 22 3 11 14Encoder Profile version 42 The Encoder Profile Version is the version of the Encoder Profil document implemented in the encoder This para
21. T1 Preset control Preset function T Preseidoes nat affect XISTT v defauiy XIST is affected by a Preset command Scaling function control The parameter scaling function control enable disenable the scaling function If not the phys ical position value is returned by the rotary encoder This is only available class 4 control is ac tivated Sealing function contrat Scaling function D Deactivated Activated Alarm channel control The parameter Alarm channel control defines the length of diagnostic telegram the Alarm channel is deactivated then will only transmit the first 6 bytes of the diagnostic telegram Alarm channel control Alarm channel function C defaut Deactivated T vated Compatibility mode This parameter defines if the encoder should run in a mode compatible to Version 3 1 ofthe En coder Profile See next tables for an overview of the functions affected when the compatibility modo is enabled Compatibility mode Compatibility function Wearing T Enable Dmpatiilty wih Encoder Prolie VET Disable No backward compatibility 19 Function Compatibility mode Compatibility mode Enable 1 Enable 0 Controlby PLC Tgnored the Control word upporied STW2 ENC G1 STW and setpoint values are always valid Control requested ZSW2 ENC is sup ported and is set to 0
22. a frame left or right aligned is considered for each individual resolu tion G1 and 61 XIST2 the ransmitterdposition values in binary format An example absolute encoders is given below Attention The alignment of the output format or right aligned remains constant and has an effect to the adjusted resolution The number of transmitted bits depends onthe resolution 10 Example 25 bit Multi tum absolute encoder 8192 steps per revolution 4096 distinguishable revolutions Allvalues are presented in binary format G1_XIST2 displays the error telegram instead of the fight aligned position value if error occurs Theshiting factors in sensor format display the actual format P979 Subindex 4 Shift factor for G1_XIST2 0 The settings in the Encoder parameter data affect the position value in both G1 XIST and GI XIST2 Case Encoder Profile 4 0 The default setting is G1 XIST1 left aligned P979 Subindex 3 Shift factor for G1_XIST1 32 Total resolution next binary value G1_XIST1 send values independent Bit 10 in stw2 and Bit 13 in g1_stw1 Case Encoder Profile 4 1 The default setting is G1_XIST right aligned Ita 32bit counter that starts with the absolute position value After increasing maximum counter value start again with 0 or after 0 decreasing to the maximum counter value P979 Subindex 3 Shift factor G1_XIST1 0 G1_XIST1 send values independent
23. add mumberofparameters number of param parameternumber param number nexicommand WHEN COMMAND DONE commandid getCommandlD IIMT2 read mulii 0 IF MT2 stop read 0 THEN restarttask MotionTask 2 ELSE MT2 read mulii 0 END IF END PROGRAM IMPLEMENTATION 38 39 522 IRT communication IRT settings Itis possible to set the upper limit for IRT transmission The smallest time User data reliability General For both transmission directions Controller lt gt DO user data reliability is achieved using a Sign Ot Life 4 bit counter The value range ofthe Sign Ot Liteis only 1 to 15 respectively 0 invalid since DO that does not support the fail safe mode receives a data telegram in the clear mode with the Output Data setto 0 thus failure of the Sign Of Life may be recognized only 1 LS Dis not permissible Through the DO s Sig O Lite a maximum ratio of TMAPC TDP of 14 1 is possible Regardless ofthe ratio tho counters always incremented to the maximum value 15 In Muhi Avis Drive Units he reaction to Sign OF Life failures is axial Depending onthe devico the re action to one Drive Axis may affect more Drive Axis Controller s Sign Ot Life C LS Transmission C LS 44 counter is used in Control Word 2 refer to 3 43 as the Sign Ot Life for the controller Tris counter is incremented the control
24. change mode Biking Paramena SHVETTEONIOUIS TI WORT Sontquraton Wrong staton address assigned tut lexchange not outside the rango Criteria data exchangecor Aetual contauraton ot siave dit fect fers rom the nominal configuration However the stave did not witch to he data exchange N OFF Data exchange Brave and operation 2 5 Notes on the mechanical Installation and on the electrical Connection The following points have to be particularly observed Warning ES Warning Commissioning and operation ofthis electrical device must be performed by qualified personnel only These are presons with the authorization to commission according to Fail Safe Technology ground and mark devices systems and circuits Disconnect the votage before wiring opening and closing electrical connections Short circuits voltage peaks and simiar in malfunction and in uncontrolled States or in considerable personal and damage to property 7 Check electrical comections bebre switching the plant Incorect connections result malfunction wrong connection can result considerable personal inju Ties and damage to property Do not open the rotary encoder housing this does not refer to the removal of the coven Improper cpening or dosing of he device can result in damages and in soil ing Electrical o
25. d Integer BIST Bi 30 Preset Contvor Prestvalus Total Resolution 14 a7 a8 39 The rotary encoder with PROFINET interface can be programmed according to the needs of the user The GSDML pertaining to the rotary encoder has to be installed in the used PLC engi neering software tool Rotary encoder functionality overview Function Communication channel Position value inpui IO device gt controller Preset output controller gt TO device 108456 sequence scaling funcion Acyclic inputouiput Rotary encoder functions data format PROFINET IO devices are set up in modules Each module can be plugged in physical and or logical slots These are subdivided into sub slots individually to accommodate further data hier archy One sub slot can contain several cyclic input output channels as well as acyclic record channels used for parameters There are two versions of PLC available Some of them support only one sub slot Other ones i e S7 400 support several sub slots work with both PLCs there are in the GSDML fle two directories Standard and Encoder Profile 4 Hohner rotary encoders offer for the standard profile one slot address 0 with one sub slot address 0 for all device data for old PLC s that doesn t support several sub slots Device parameters are grouped together records in the PROFINET inte
26. e con troller Sign Of Life itis incremented by ten For each additional deviation the counter is again incremented by ten If a deviation between the expected and received controller Sign Of Life is not recognized the counter is decreased by one The minimum value Which may then be count ed down to is zero This is simultaneously the value from which counting is started This method ensures that more than 90 of the telegrams transferred continuous operation originate from an undisturbed controller application Profile parameter 925 axis specifi data type Unsigned 16 may be used to set a maximum how many consecutive controller Sign Of Life failures may occur for an initial counter value of zero and without any intermediate valid sequences without failure of a Drive Axis Depending on the previous history itis possible that just a few controller Sign Ot Life failures are sufficient to cause a failure of a Drive Axis If the Drive Axis is powered down the Sign O Lite failure counter maintains value up to the start of the re synchronization operation 43 525 53 Inthe example in Figure 7 the Sign Ot Life failure counter in the Drive Axis is viewed over time with respect to the transferred controler Sign Of Life The maximum number of controller Sign Of Life failures which may be tolerated was set to three in parameter 925 Figure 7 Value of the DO Sign OF Life failure counter axis specific with re
27. er in each controller application cycle and thus also identifies the computation of the postion controller first OP cycle in the TMAPC The DO re the new Sign OF Life of the controller together with the new setpoint atthe time TO inthe following DP cycie Synchronization C LS The Controller application starts the Controller LS with an arbitrary value between 1 and 15 at the eariest when changing rom Preparation gt Synchronization Monitoring C LS Il in a Controller application cycle the DO application does not recognize a correct count i e postive a negative deviation is recognized itinitially processes with the old telegram data from the last valid controller telegram For setpoint generation device specfi failure strategy may be used 40 It the DO application does not recognize the expected numerical value after a parameterized number of controller application cycles TMLS n may be selected via profile pa rameter 925 also refer to chapter 5 1 4 the affected Drive Axis messages a faut After fault ac knowledgement the DO application then attempts to automaticaly resynchronize itself to the Sign OF Life of the controller application Depending on the particular application a new start be required Ifthe Sign OF Life fails may be for the following reasons Sign Ot Lite failure Failure ofthe controller application level with DP transmission still operational
28. etween 1 and 15 after successful PLL synchronization and at the change n gt 1 of the controller s Sign Of Lite Monitoring DO LS If the controller application does not recognize a correct count in a controller application cycle positive or negative deviation has been recognized it initially uses the old telegram data from the last valid DO telegram To generate the actual value a device specifi failure strategy may be implemented It the controller application does not recognize the expected numerical value after a parameter ized time TSLS n n may be parameterized or defined depending on the manufacturer of the controller application the affected Drive Axis is shut down by the controller application possibly also involved drives and an appropriate fault is signaled to the user The controller application then attempts to automatically re synchronize itself the Sign Ot Life of the DO ap plication Depending on the particular application re start may be required or it may be suff cient to acknowledge the faut Example reasons forthe Sign Of Life to fail may be Sign Ot Life tailure Failure of the DO application level while DP transmission is still functioning DO failure the sense of DP DO does nat respond although telegram was repeated Example Permanent LS failure see Figure 4 TSLS Lite failure is explained in chapter 5 1 4 X TDP the strategy of the Sign
29. evice the Profinet network The partner port before and behind of the replaced device save relevant information s so that no additional configuration is necessary But the flag for activate Support Device replacement without re placement medium must be activated in Ob ject Properties Interface under tab General 28 Topology Setup 29 IRT Encoder Interface Dialog e pm pem ge tm ee pc uv a L3 NCI IRT Encoder interiace X1 Tab a The minimum time for Ti is 1254 je EU IRT Sign OF Life in Dialog Module Access Point Slot 1 Subslot 1 Only for IRT top High Performance Synchronous Application IRT Encoder interface X1 Tab Application The minimum time for is 1255 Controller Life Sign Monitoring IRT Sign Of Life Monitoring active Compatibility mode disable IRT Sign OF Life Monitoring not active Compatibility mode enable 31 4 7 SIMOTION SCOUT 10 Create IO tabi SIMOTION SCOUT IRT Top Setup Sign Ot Life Monitoring for Motion synchronous Application 32 Creating Sign OtLife Program Insert ST Program Le i d sjala wal
30. f the rotary encoder are nat allowed Connection fines to the rotary encoder have to be laid in large distance or locally separated to energy ines which are subject to interferences For a save dala trans completely shielded cables have to be used grounding has to be ensured the rotary encoder and avoid shacking The rotary encoder is a precision instrument The absolute value rotary encoders by ier are robust but in very rough environment they should be protected against damage by suitable protective mea sures In particular they should not be installed such that they could be suited as olding lever or step Do not subsequerty handie the drive shaft Do not subsequerty hande the housing The shaft ofthe rotary encoder shaft version has to be connected to the to measured via sulable coupling This coupling is used to dampen impacts and balance errors ard to avoid unacceptable high forces to the shat of te retary encoder Suitable couplings are available as accessories Device configuration 3 1 Standardization This actual generation of PROFINET devices is based on the Encoder Profile V4 0 V4 1 PNO No 3 162 With this standardization it possible to substitute all products that fulfill t cation See the next figure with the coherences 0 7 a specif T
31. g the request data structure onto the Parameter Access Point PAP data record When the write operation finishes the parameter manager state machine is triggered according to the next Figure The transfer ofthe Base Mode Parameter Access response from the DO DU parameter manager to the client is done by reading the response data structure out of the Parameter Accoss Point PAP data record The response to the read access is dependent on the intemal state of the parameter manager according to the next Figure Commoner Communication System DU DO Parameter Manager Seven 5 Parameter p 51 Configuring with PC Worx In the following chapter the configuration of the Hohner encoder with the configuration tool is shown exemplary In this example PC Worx Version 6 00 25 SP2 56 with workaround for GSDML import are used here are questions about details please contact the manufactur Creating a New Project Ca itc mte Instaling the GSDML ou Insertthe PROFINET IO Encoder below the PROFINET IO controller nade Ifthe device catalogis hidden shaw it by selecting the View Device Catalog Open the Hohner device catalog ST Single Turn 1 without PDav no IRT PDev necessary for extended setup AutoCrossing AutoNegoiation FastStarUp Topology 52 tor IRT neig
32. hborhood detection port setup ENCOERUTET UF 30 58 00 Epor Ram ner Fire zans step D EI Pci Rem ona ates Hed 53 Choose your Encoder type from Device Catalog list and inser Profinet Network Step 2 Open Module Catalog and select device in device catalog Step Select one ol the Standard telegram inset it per drag and drop Stoned enzo M OCD tuned Tongan suas Tengen Ul oy IP Adcress will set automatically but be jchanged manual by user Hardcopy version with PDey Setting Encoder Parameters in Device Details dialog Mapping Variable to the Standard telegram VO Data gt Create new parameter table 54 Sample Right click and insert new Global variable and map to the Address Create new Variable as Local and connect to the Mapped Variable with drag and drop Mark the Variable and start to connect Sample Online debugging mode 56 Inthe next hardcopy is available the complete running project Uca E If some e
33. he Drive Unit For access of global parameters the 00 10 0 may also be used This address mode serves or compatibility reasons PROFIBUS and should not be used by new PROFINET IO contra ler and Supervisor application processes Parameter requests and parameter responses A parameter request consists of three segments Request header ID forthe request and number of parameters which are accessed Multi Axis and Modular drives Addressing of one DO Parameter address Addressing of aparameter It several parameters are accessed there are correspondingly mary parameter addresses The parameter address appears only in the request not in the response Parameter value Per addressed parameter there is a segment for the parameter values Depending on the re quest ID parameter values appear only in ether the request or in the reply The following telegram contents are displayed in words a word or 2 bytes per lino Words double words will have the most significant byte being transmitted first big endian see Figure 8 Words and double words Word Double word Byer Figure 8 Byte order for Words and Double words 45 According to the Base Mode Parameter Access the structure ofthe parameter request and pa rameter response shown in the next tables mode parameter request
34. ion to the cates an error and is left out in normal operation left justified The slave application starts the sign of with any value between 1 slave application in every DP cycle Valid values for the slave s sign of 1 to 15 0 indi clock pulse The counter is increased by the Bi Function Implementation Crass LEEI Reserved currently not used Control requested Mandatory Mandatory Reserved currently not used 12 15 Encoder Sign OF Life Mandatory Bi Value Significance Comments T Control requested The automation system is requested io assume control No contol by PLC EO TO Data s nat valid Except Sign OFUfe Encoder Send back continuous Controller Sign OF Life counting value from Oto 15 12 3 44 Encoder control word 345 Value Function Comments 0 10 Reserved currently not used Homepostion Speaties postion value shall ba serio a previously programmed absolute value shifted by this value 0 set home position preset absolute 1 shit home position preset relative offset 12 1 Betpreset Preset resp shif is set when changing this Bito T frequest shit rising edge Default preset value shit 0 Warning After setting the preset the offset will be save inthe n
35. its Therefore the larg est resulting resolution is 30 bits 22 1 073 741 824 steps The standard single tum version has bits the standard muli tum version 25 bits PROFINET technology PROFINET is an Industrial Ethernet standard merging plant automation with other enterprise It provides comparable functionality to PROFIBUS with techniques used by engineering IT and management personnel Established IT standards are employed as basis of communication TCP UDP IP XML is used description language for device profiles GSDML files Two ways of using PROFINET are available PROFINET IO similar to PROFIBUS DP as dis tributed lO system and PROFINET as a modular component based system for larger sys tems PROFINET offers scalable communication for different applications in industrial automation PROFINET non real ime is suited for non time critical process automation with clock Tales of roughly 100 msec PROFINET RT real time offers a communication channel with optimized performance 10 msec clock rate for most factory automation tasks PROFINET IRT isochronous real time employs special communication hardware to enable Clock rates of ess than 1 msec anda jiter precision of less than 1 usec This channel is mainly fuse for motion control applications PROFINET IO uses a view of distributed similar to PROFIBUS DP IO controllers e g PLCs an automation program IO devices
36. l scan for devices on Ethernet and wil displays them in a window The rotary encoder should be displayed under the device type Hohner Select this entry and click Flash to have the identification LED flash with 2 Hz Click OK to take the MAC address of the chosen device to the previous window and select Use IP parameters The MAC address is available on the type label on the botiom left see picture below with red marking Enter the IP address and subnet mask for the encoder that you previously assigned and cick Assign IP configuration enter the device name previously chosen in the text fied Device name and click Assign Please note It more than one rotary encoder is used in the same PROFINET network each encoder must have a different and each encoder must SRo assigned its name before another is connect ed to the network 25 43 44 Module Access Point Parameter setup double click on the Module Access Point will open the window with the is of parameters This parameters wil transmit to the encoder on each star of the PLC HW Config IRT Setup Onthenexi screenshots are the necessary steps available for an coummunicati 4 5 IRT Topology 4 4 6 LLDP Link Layer Discovery Protocol The Link Layer Discovery Protocol allows re placing a d
37. meter is not affected by the Compatibilty mode settings B s Meaning Prone Version Teast significant number value range U 097 decimal coding 15 Profile Version most significant number value range 0 98 decimal coding 16 31 Reserved Configuring with STEP7 the following chapter the configuration of the Hohner encoder with the configuration tool Hardwaremanager STEP 7 is shown exemplary In this example STEP 7 Version 5 4 SP4 and the CPU 315 2 or Simotion Scout with single axis controller D410 PROFINET con troller integrated are used I there are questions about other software tools please contact the manufacturer Installing the GSDML file Hohner encoders are used for the first time it is necessary to install the GSDML file to import encoder parameterization into the hardware catalogue of the too Choose Install GSD File in the HW Config window of the project menu item Options and select the GSDML ie The GSDML is supplied by Hohner free of charge from www hohner it In order to represent the encoder with a bitmap in STEP7 the bitmap fle wil be installed automatically with the GSDML both files must be in the same directory The main number of the Soft ware Release inthe GSOML fie and the Firmware must be the same Le 4 Fe i TES Dial After the successi in Dan Veet ure stalaion of the GSDML ca E the Hohner e
38. meters in one access multiparameter requests gt Aways just one parameter request is being processed at a time no pipelining Aparameter requestiparameter response shall a data block 240 bytes default The re qUests replies are not spit up over several data blocks The maximum length of the data blocks may be less than 240 bytes depending on Device characteristics or bus configuration No spontaneous messages will be transmitted For optimized simultaneous access to different parameters for example operator interface screen contents multiparameter requests will be defined There are no cyclic parameter requests Alter run up the parameters shall be at least readable every stato DO addressing modes The Base Mode Parameter Access is defined with two diferent DO address modes according to the following definition Base Mode Parameter Access Local In this address mode only the local parameters of the DO are accessible to which the where the parameter access point attached is related Access of global parameters is also possible The 0040 in parameter request header is significance Base Mode Parameter Access Global In this address mode all parameters of the Drive Unit are accessible to which the CO where the parameter access point is attached is elated The 0040 in the parameter request is used for accessing of local parameters inside t
39. ncoder be found in the hardware catalog un der 40 Additional Field Devic es Encoders Possibly you need to pomes update the hardware cat alog by choosing tons gt Update catalog gineering a Hohner encoder into a STEP project To engineer the rotary encoder into a project drag the device ENCODER on to an existing PROFINET ethernet network or choose the network and double click the Encoder See the red arrow Then move the telegram to the free slot orange arrow 23 42 1 Standard Encoder Asynchronous RT Communication for Controller which does not support IRT functionality 422 Standard Encoder with PDEV Asynchronous RT IRT Communication for Controller which supports IRT functionality Standard 24 Double click the rotary encoder icon to set communication parameters that the PLC will use Set a device name and by clicking Ethernet the IP address of the Hohner encoder Also under the 10 cycle tab set the desired update limeThe device name and IP address have to be set physically within the rotary encoder Connect the and rotary en coder to ethemet and switch them Click PLC gt Ethernat gt Edit Ether mat Node and click Browse for acces sible ethernet nodes in the new window STEPT wil
40. ncoder parameter i e Totalresolution in the table 1 MAP device parameter missing then contact PhoenixContact for an additional workaround 57 FAQ 1 Question Why don t get back positions values in g1_xist2 Answer According the encoder profile itis necessary to set Bit 10 to 1 in stw2 and bit 13 in 1 581 See the next hardcopy Or an error is given and is not confirmed gt DATA 2 Question Why don t work the neighboring detection Answer The encoder supports the protocol it is necessary to use the newest version of Step 7 Simotion Scout The flag Device replacement without replacement medium must be active in the Properties window under General 3 Question What is to do if one encoder has to replace by a new one Answer See answer 2 or chapter 4 3 4 Question Inthe application is single tum encodarin use Can this replaced by a multitu encoder too and what isto do Answer There is nothing to do A multitum can substitute a single turn automatically 5 Question Why don t work the communication between encoder and PLC correct Answer The Firmware of the PLC and the STEP 7 with minimum Hot fix 6 Simotion Scout has to use the newest firmware that support IRT 2 2 or Stack version 3 1 for devices 6 Question What is the easiest way to set the preset value Answer Use Telegram 860 See chapter about Preset setting 7
41. on volatile memory In this 5 10ms the encoder not send position values 13 Reauestabsclute Request of additional cyclic Vansmission of The absolute alue cyclically factual position in G1 XIST2 no other data needs to bq transferred due to commands or errors the absolute posi rion value willbe transmitted automatically r fictae parking i he activate parking sensor bits set encoder ensor ransmits no error messages 15 _ Reknawledging a Request to acknowledge reseta Encoder status word G1_ZSW Bi Value Meaning Comments Reserved currently not used cknowiedge Seti Te reset of a sensor oror aer acknowledging ment sensor error fakes longer than one bus cycle in process Set preset shit Acknowledgement for set preset request shit reference point lexecuted abso Reknowiedgamant Tor request abscluts value cyclicall lute value cycli cally Parking sensor Acknowledgement for activate parking sensor The activated lencoder transmits no error messages T T Sensor arrar ncicates a sensor eror A device specie emor Codes fransmittedin G1 XIST2 13 3 5 Standard manufacture telegrams Standard Telegram 81 10 Data DWord T z epon SIWZ ENC Details about the variables are available in chapter 3 4 TO Data DWord T 3 T4 Acualvaus 2542 G1 ZSWT
42. ormation used for Multis or Modular drives This enables various axes DOs to be able to be accessed each with a ded cated parameter number space inthe drive same PAP No of Parameters Inthe case of muti parameter requests specifying the number o the folowing Parameter Ad ress ardor Parameter Value For angle requests Ine No of parameters 1 Dela Value range 1 to 39 The value range may be reduced or extended wach shall be indicated by Notice that fora muli parameer request the PROF lave Drive Unit shall he parameter vale areas in the fesponse message m the same order as n the coresponing muti parameter request message Parameter Address Attribute Type of object whichis being accessed Value range Value Description Text Number of Elements Number of array elements that are accessed or length of string which is accessed Default value range 0 1 to 234 The value range may be reduced or extended which shall be indicated by P37 Special Case Number of Elements 0 ifvalues are accessed recommended for non ndexed parameters Parameter Number Addresses the parameterthatis being accessed Value range 110 85535 Subindex Ext array or the descri on element fais eng accessed Valu range O DES 5352 Parameter Value Format Format and number specify the location nthe telegram to which subsequent values are as Signed Value range Zero without values as positive partial response to a
43. purse at toner rave aroma eines te ven esit me atrum area fes Fees aire imperiti nega save ve won net Seen es ma a Tt mera aes cao vest Naar fe 5 E sends malam be cae 50 536 In general every PROF Idrive Drive Unit shall support Base Mode parameter read and write re quests with the data types Byte Word and Double Word mandatory If PROFIdrive Drive Unit also supports additional data types it shall behave in the following manner Incase of a parameter read request sponse Incase of a parameter write request it shall check the data type and signal an error if param eter types do not match Ifthe PROF Idrive Drive Unit does not support additional data types it shall behave in the follow ing manner the parameter write request with an error response if data types do not match The error numbers 0x00 0x13 are taken from PROF itive Profile Version 2 Values that cannot be assigned are reserved for future use error with error number 0x05 0x16 0x17 or 0x18 occurs while processing a mulli parameter change value request al further parameter requests in the multi parameter request shall be aborted shal signal the corresponding data type inthe read re Data flow The transfer of the Base Mode Parameter Access request to the DO DU parameter manager is done by writin
44. rface The following table gives an overview aver addresses of Hohner rotary encoder s data channels Fd um Parameter for Acyclic Data Transmission The user parameter data is sent to the encoder in the startup phase as a Record Data Object using the data record For the mapping of the different encoder functions into the user data section of the Record Data Object In addition to the parameter data configuration the en coder supports a number of PROFidrive parameters and encoder specific parameters accessi ble the Acyclic Data Exchange service 15 392 With the actual GSDML you can download from www hohner it it is possible to change the telagram type without changing the MAP parameters Bst Wt Base Mode Parameter Function Slot Sub Slot Index 107 rode sequence T T TBt Class 4 funcional T T fosoj 0 1 XISTT Preset contol T T fosoj 02 18t Scaling function contrar 1 T oso 03 Alarm channel coniror T 04 Tompatbity mode T T oero os Measuring units per revolution 1 Total measuring range T s
45. spect to the trans ferred controller Sign Of Lite The same strategy is recommended when monitoring the DO Sign Of Life in the controller However it has not been defined with which parameter the maximum number of tolerable DO Sign Ot Life character failures may be parameterized Error codes in G1_XIST2 Error codes are sent in G1_XIST2 if an error occurs NOTE Clock cycle synchronous applications the encoder additionally indicates the error described by error code 0x0F04 Synchronization fault by setting the encoder s Sign Of Life to zero 5 15 0 GLXISTZ Weaning Explanation 0 0 04 SymehronizatonTau The number of permissible failures Tar the Bus signal was exceeded Base Mode Parameter Access General Inthis subclause the access to parameters via the Base Mode is defined A request language wil be defined for the access The requests and the replies are transmitted by use of the Acyclic Data Exchange mechanism of the Communication System The Base Mode Parameter Access exists because of compatibility reasons due to former PRO Fldrive profile and every drive shall be able to handle the Base Mode Parameter Access man datory 44 5 2 533 534 General characteristics wide address each for parameter number and subindex Transmission of complete arrays or parts of them or the entire parameter description Transmission of different para
46. sting of attribute number of elements and subindex are permitted referto next table A parameter which is natindexed in the profile may be realized with indices inthe Drive Unit if the response to a Parameter Access is profle specif 48 535 Coding Tho coding the fields in parametar request parameter response Base IVbdo Parameter Ac E Brie sone eserves Tm oo I ETE 49 shalloutput an error if reserved valuosar accessed Thoorrornum bors in Base Modo parameter responses er canat be cipe Change secas s prar cone rane I We rex eder sanae C ense aces eel oD ov be E bat note changes 77 sons nos Aces uana eater ae sott Erie Memes NN Conon reasons E Comma 3 ae ones 8 aab penes emen SSEETTT pev cesset rene z E us ot
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