User's Manual PROFIBUS-DP
Contents
1. vices of differing manufacturers PROFIBUS is suited for time critical applications as well as for complex tasks Other technical and manufacturer independent information is availa ble on the Internet at http www profibus com Parameters and diagnostic ranges are reserved for manufac turer specific functions The position value of the encoder is transferred in binary format The encoder profile can be obtained from the Profibus user organization PNO in Karlsruhe Germany under the order number 3 062 1 1 1 Abbreviations PROFIBUS PROFIdrive PI PNO GSD DP Input data Output data PDU DDLM DDLM Set Prm DDLM Data Exchange DDLM Slave Diag I amp M General Information Process Field Bus standardized field bus for automation and production technology Process Field drive standard profile for drive technology in combination with the Profibus communication system PROFIBUS International PROFIBUS Nutzerorganisation e V PROFIBUS user organization German expression Ger testammdaten A GSD is the device database file also called device datasheet Decentral Periphery Profibus user interface layer 7 in the OSI reference model Data that the master receives from the encoder Data that the encoder receives form the master Protocol Data Unit Direct Data Link Mapper the interface between PROFIBUS DP functions and the encoder software Interface during parameterization Interface2. The data type for the offset value is a 32 bit binary value with algebraic sign The value range cor responds to the measuring range of the encoder The manu facturer offset value is given in the number of steps corres ponding to the basic resolution of the encoder The value is stored in write protected memory and can only be changed by the encoder manufacturer In practice this value is of no importance to the user Encoder Functions DPVO DDLM_Slave_Diag Bits 31 24 23 16 15 8 7 0 Data 231 _ 224 223 _ 216 215 _ 28 27 20 Manufacturer offset value Table 29 Diagnostics manufacturer offset value 4 6 16 Scaling parameters settings The scaling parameters are set in the DDLM_Set_Prm func tion The parameters are stored in octets 40 to 47 of the di agnostic data The Measuring steps per revolution and To tal measuring range in measuring steps parameters specify the desired resolution of the encoder The status bit of the scaling function in the operating status octet 9 of the diag nostic data indicates whether the scaling function is active Values preset by the encoder manufacturer Measuring steps per revolution singleturn resolution Total measuring range in measuring steps singletum resolution x number of distinguishable revolutions The data type for both values is 32 bits without algebraic sign DDLM_Slave_Diag Bits 31 24 23 16 15 8 7 0 Data 231
3. activate the functionality bit of class 2 in the parameter mes sage DDLM_Set Prm to enable the use of class 2 functions The status bit of the scaling function is set when the scaling function is activated and the resolution of the encoder is cal culated using the scaling parameters DDLM_Slave_Diag Bits 7 0 Operating status 31 Encoder Functions DPVO 0 Code sequence Increasing position values Increasing position values for clockwise revolutions for counterclockwise revolu seen from the flange tions seen from the flange 1 Class 2 functions No not supported Yes 2 Configuration diagnostics No not supported Yes 3 Scaling function status Scaling disabled Scaling enabled 4 5 Currently 6 not assigned 7 Table 17 Operating status 4 6 4 Encoder type The type of encoder can be read in octet 10 of the diagnostic function The type of encoder is defined in hexadecimal cod ing in the range from 0 to FF DDLM_Slave_Diag Bits 0 FF Encoder type 00 Absolute singletum encoder 01 Absolute multitum encoder 02 Absolute singletum encoder with electronic revolution counter 03 Incremental rotary encoder 04 Incremental rotary encoder with battery buffer 05 Incremental linear encoder 06 Incremental linear encoder with battery buffer 07 Absolute linear encoder 08 Absolute linear encoder with periodic coding 09
4. see chapter 2 1 1 Configuring the DPVO slave To configure the encoder for 25 bit position value plus veloci ty data choose the Encoder Class 2 32 Bit velocity configu ration option in the map structure Insert the chosen configu ration by dragging it to the configuration area in the lower left of the window Assigning parameters to the DPVO slave Open the parameterization view by double clicking the confi guration row in the configuration view RTT Config LL138 Configuration locprj 8 x Bly Station Edit Insert PLC View Options Window Help la x olele q amp e i cft 28 el Poe Stena SM PROFIBUS DP Additional Field Devices PROFIBUS 1 DP master system 11 zi Encoders ropes 0 Tr odule Address ID Parameter Assignment lass2 16 Bit lass2 32 Bit Parameters lass 16 Bit 3 amp Station parameters lass 32 Bit echio parametes_ _ 32 Bit velocity o Clockwise CW US DP Slaves Class 2 functionality Enable Commissioning diagnostics No Scaling function control Disable Scaling Measuring units per revolution 8182 E Total measuring range 33554432 amp Velocity output unit Steps 1000ms 25 PROFIBUS Encoder E Hex parameter assignment Cancel Help H Network Components H SIMADYN a SIMATIC amp C3 SIMODRIVE zl Insertion possible Chg Mstart M simatic Manager locpri_ S
5. PNO No 3 172 PNO No 3 502 Encoder Profile Class 3 and 4 PNO No 3 162 PROFIBUS DP EN50170 Vol 2 Encoder Profile Class 1 and 2 PNO No 3 062 Figure 7 Overview of encoder profiles and related PROFIBUS documents A GSD file is used to choose between the different profile versions The user can select the version that fits his hard ware and software The GSD file can be downloaded from www heidenhain de 3 1 DPVO Encoder Classes The encoder can be configured as a class 1 or class 2 PROFIBUS slave device As an option the rotational speed in formation of the encoder can be accessed for Class 2 encod ers CLASS 1 In class 1 configuration only output values are assigned Depending on the encoder resolution this is one output word 16 bits or two 32 bits The following functions can be performed e Reversal of counting direction e Diagnostic data up to octet 16 Configuration data Singletum Class 1 16 bits DOnex 1 input data word data consistency Multitum Class 1 32 bits DOhex 2 input data words data consistency The data values to be transmitted are double words Therefore buffer consistency is used in this case The buffer consistency ensures that the entire data buffer is transmitted as one unit and cannot be in terrupted by other CPU processes CLASS 2 Profile Overview In class 2 configuration output values and input words are assigned Depending on the encoder resolution this is
6. alarms ssssseeeeenne nennen 34 4 6 9 WaMiNdS vies aie ee er ede de nec e P ld 35 4 6 10 Supported warnings seseeenenee 36 4 6 11 Profile Version 5 eL petet ae ete dede ree 36 List of Tables 4 6 12 Software version essen nennen nenn 37 4 6 13 Operating time sssseseeeeeneenen eene 37 4 6 14 Offset value esssesseeeeeeeenneen nennen eene 38 4 6 15 Manufacturer offset value sssssssseeeeneee 38 4 6 16 Scaling parameters settings ssseeeeeee 39 4 6 17 Encoder serial number sse 40 5 Example for Commissioning a Rotary Encoder DPVO 41 6 Encoder Functions DPV 2 uuuuunuu2n0nnnuunuunununnnnnnunununnnnnnnnuununnnnnnnnnnnnnunnnnnnnnnnnnnn 44 6 1 Isochronous Operators serps Adin iNav dite es 45 6 2 Exchange of Acyclic Data eene 46 6 2 1 PROFIdrive parameters sse 46 6 2 2 Encoder specific parameters sssseeeeeeees 47 6 2 3 I amp M functions sen ea 48 6 3 Slave to Slave Commumnication seen 48 6 4 Configuration Isochronous Operation seen 48 6 5 Parameterization Isochronous Parameters sse 49 6 6 Diagnostic Messages DPV2 sssssseeeeemeeeneennnns 51 6 6 1 OVerVieW re sea e pa p PM dedere bins 51 6 6 2 Error m
7. e Currently n not assigned e FF Table 18 Diagnostics encoder type 8 Encoder Functions DPVO 4 65 Singletum resolution or measuring step The meaning of the singleturn resolution in the diagnostic function differs depending on the type of encoder For rotary or angle encoders the diagnostic octets 11 to 14 in dicate the physical resolution as the number of measuring steps per revolution that is transmitted for the absolute single tum position value The maximum singletum resolution is 232 For linear encoders the measuring steps are shown in respect to the resolution of the encoder i e each increment of the measuring step equals the actual resolution of the linear en coder in use Typical values for linear resolution are 1 um to 40 um DDLM_Slave_Diag Octet 11 12 13 14 Bits 31 24 23 16 15 8 7 0 Data 231 224 223 _ 216 215 _ 28 27 20 Singleturn resolution Table 19 Diagnostics singleturn resolution 4 6 6 Number of distinguishable revolutions The number of distinguishable revolutions the encoder can transmit is defined by octets 15 and 16 of the diagnostic func tion In accordance with the formula below the measuring range for a multitum encoder results from the number of dis tinguishable revolutions multiplied by the singletum resolu tion The maximum number of distinguishable revolutions is 65 536 16 bits Measuring range number of distinguishable revo
8. essen 28 Table 14 Diagnostic information DPVO c cccssscsssessesessseesssessseessees 29 Table 15 Diagnostic header nnns 30 Table 16 AlatTrs ecciesia texere oen cena toca tr eh nd ae na 31 Table 17 Operating status sse nennen enne 32 Table 18 Diagnostics encoder type ssesseeeene 32 Table 19 Diagnostics singletum resolution seseessss 33 Table 20 Diagnostics number of distinguishable revolutions 33 Table 21 Diagnostics additional alarms eeseeeeeeene 34 Table 22 Diagnostics supported alarms eee 34 Table 23 Diagnostics warnings seseseseseseseeeenenenen enne 35 Table 24 Diagnostics supported wamings eeeees 36 Table 25 Diagnostics profile version 37 Table 26 Diagnostics software version ccccecescessseceseeesseessnseessneessaees 37 Table 27 Diagnostics operating time see 38 Table 28 Diagnostics offset value uenenseeesenenneneennnnnenennnnnnnennnnennnn nennen 38 Table 29 Diagnostics manufacturer offset value esses 39 Table 30 Diagnostics scaling parameter settings 39 Table 31 Diagnostics encoder serial number seessssss 40 Table 32 Standard telegram 81 sssssssssseeeenenes
9. h If the operating time function is not used the encoder manu facturer sets it to the maximum value FFFF FFFFhex The encoder manufacturer can define a maximum operating time If this limit is exceeded the Maximum operating time ex ceeded bit is activated see Chapter 4 6 9 37 Encoder Functions DPVO DDLM_Slave_Diag Octet 28 29 30 31 Bits 31 24 23 16 15 8 7 0 Data 231 224 223 _ 216 215 28 27 20 Operating time Table 27 Diagnostics operating time 4 6 14 Offset value The offset value is calculated by the preset function and shifts the position value by the calculated value The offset value is stored in the encoder and can be read from the diag nostic octets 32 to 35 The data type for the offset value is a 32 bit binary value with algebraic sign and the offset value range is equal to the measuring range of the encoder The preset function is applied after the scaling function This means that the offset value is indicated according to the scaled resolution of the encoder DDLM_Slave_Diag Octet 32 33 34 35 Bits 31 24 23 16 15 8 7 0 Data 231 224 223 _ 216 215 _ 28 27 20 Offset value Table 28 Diagnostics offset value 4 6 15 Manufacturer offset value The manufacturer offset value indicates the offset value set by the encoder manufacturer This value gives information on the shift of the position zero point relative to the physical zero point of the encoder
10. input data words 2 output data words for the preset value data consistency Encoder Functions DPVO Optional configuration Octet 1 2 Bits 15 8 7 0 Data 215 28 27 20 Data Exchange 16 bits Table 11 Data exchange 16 bits Configuration data Encoder class 1 D116 1 input data word data consistency Encoder class 2 F03e 1 input data word 1 output data word forthe preset value data consistency 4 5 2 Preset function The preset function enables adapting the encoder s position value to a known mechanical reference point of the system The preset function sets the actual value of the encoder to zero or to the selected preset value If the Data Exchange function is activated the preset value is stored in non volatile memory in the encoder as an input value In case of a power interruption the preset value is reloaded at start up If the scaling function is active the preset function is applied after the scaling function This means that the preset value is en tered in the current measuring step unit The most significant bit MSB of the preset value controls the preset function as follows Standard mode MSB 0 bit 31 optionally bit 15 The encoder does not change the preset value Activated mode MSB 1 bit 31 optionally bit 15 For MSB 1 the encoder accepts the transmitted value bits O to 30 as preset value in binary code The encoder reads the current position value and calculates
11. one output word 16 bits or two 32 bits The following functions are available in addition to the class 1 functions e Scaling function e Preset function e Speed read out e Extended diagnostic data Configuration data Singletum Multitum Position velocity Class 2 16 bits FOhex 1 input data word 1 output data word for the preset value Data consistency Class 2 32 bits FOhex 2 input data words 2 output data words for the preset value Data consistency Class 2 32 16 bits F1 D0hex 3 input data words 2 output data words for the preset value Data consistency The selection of the class depends on the demands required by the application but for enabling full functionality of the en coder choosing class 2 32 bit speed is recommended 3 2 DPV2 Encoder Classes In general the encoders with PROFIBUS DPV2 interface are divided into two classes As opposed to DPVO there is only one configuration option telegram 81 regardless of the class CLASS 3 In class 3 configuration only output position val ues are assigned Further functions are not available Configuration data Standard telegram 81 17 Profile Overview CLASS 4 In class 4 configuration output values and input words are assigned Depending on the encoder resolution this is one output word 16 bits or two 32 bits The following functions are available in class 4 parameterization e Code sequence e Scaling funct
12. self The bus LED indicates the status of the bus The table below defines the diagnostic messages using the red BUS and red green MODULE LEDs The function of the LED dis play is the same in DPVO and DPV2 modes Bus Module Meaning Cause Dark Dark No power Red Green No connection to another device Bus not connected Criterion no data exchange Master not available switched off Red Red No connection to another device No connection to EnDat encod 2 2 No connection between EnDat er at power up base encoder and PROFIBUS PCB Blinking Green Parameterization or configura The received configuration dif red tion fault fers from the supported confi 1 guration Parameter error in the parame terization Dark Red System failure Diagnosis available slave in data exchange mode Position error Dark Green Data exchange Slave and operation OK Table 4 LED display 1 The blinking frequency is 0 5 Hz The minimum indication time is 3 s 2 There is a position error when an alarm occurs in the en coder or if the EnDat base encoder is disconnected from the PROFIBUS interface PCB Profile Overview 3 Profile Overview The encoder device profiles for PROFIBUS DPVO DPV1 and DPV2 define the functionality of encoders connected to a PROFIBUS DP bus There are two encoder profiles available 3 062 and 3 162 for defining the functionality of the encoder for the different versions of PROF
13. slaves The preset function can be carried out only in this operating mode Data exchange is described in Chapter 4 5 4 3 Configuration DPVO The configuration of a DPVO encoder is conducted by choos ing the encoder class i e by setting the input output data structure The configuration options are 16 bit 32 bit or 32 bit 16 bit speed input data for an explanation see Chapter 3 1 4 4 Parameterization DPVO The PROFIBUS DPVO encoder is parameterized by means of the operating parameters The values selected in the configu ration tool are saved in the DP master and are transferred to the PROFIBUS DP slave each time the network is started The following table lists all available parameters Parameter Data type Parameter Device class octet number Code sequence Bit 9 1 Class 2 functions Bit 9 2 Configuration diagnostics Bit 9 Optional Scaling function Bit 9 2 Encoder resolution 32 bit unsigned 10 13 2 Total measuring range steps 32 bit unsigned 14 17 2 Manufacturer specific functions Bit 26 28 Optional Speed control 2 bits 39 2 ext Table 5 Operating parameters in DPVO The operating parameters described in octet 9 are defined bit by bit as follows Octet 9 Bits 7 0 Data 27 20 Operating parameters Encoder Functions DPVO Bit Definition 0 1 0 Code sequence Clockwise CW Counterclockwise CCW Rising po
14. 224 223 _ 216 215 _ 28 27 20 Encoder resolution DDLM_Slave_Diag Bits 31 24 23 16 15 8 7 0 Data 231 224 223 _ 216 215 _ 28 27 20 Total measuring range Table 30 Diagnostics scaling parameter settings 8 Encoder Functions DPVO 4 6 17 Encoder serial number Octets 48 to 57 of the diagnostic function provide the serial number of the encoder as an ASCII string of 10 characters DDLM Slave Diag Bits 79 0 Data ASCII Serial number Example of a serial number ASCII string 30 30 30 35 39 46 38 44 45 35 Serial hex 0 0 0 5 9 F 8 D E 5 Serial dec 9434 2629 Table 31 Diagnostics encoder serial number 8 Example for Commissioning a Rotary Encoder DPVO 5 Example for Commissioning a Rotary Encoder DPVO This example uses a Siemens master and the SCOUT confi guration software The example is intended to illustrate the commissioning of a PROFUBUS DPVO encoder with a 25 bit absolute rotary encoder and velocity information Copying the GSD file First copy the GSD file enc_a401 gsd and the bitmap file into the appropriate directory for the Siemens configuration soft ware GSD Selecting the DPVO slave To select the encoder click the PROFIBUS encoder icon in the tree structure on the right side of the window Drag the encoder onto the bus to add it as shown in the upper left w
15. 44 Table 33 Telegram 81 signals sese 44 Table 34 Supported PROFIdrive parameters seen 46 Table 35 Supported encoder specific parameters ssss 47 Table 36 Supported operating parameters ccscsssecsersessseessseessseessees 47 Table 37 Supported I amp M functions uuerenseesenenneneennnnnenensnnnnneennnnnenennnnnnnnn 48 Table 38 Encoder parameters DPV2 c cccccscssssecssssessereesseessseessseeeesaees 49 Table 39 Parameters of the isochronous mode sess 50 Table 40 Diagnostic messages DPV2 sse 51 Table 41 Error messages DPV2 unuunnennnennnannnnnnnnnnnnnnnnnnnnnnnnnn nennen nn 51 4 List of Figures List of Figures Figure 1 View of PROFIBUS encoder PCB and cable glands 8 Figure 2 Position of the M12 power supply connector 9 Figure 3 Terminal connection of power supply cables 10 Figure 4 Position of the M 12 bus connectors sssseeeeeee 10 Figure 5 Terminal connection of bus line cables sssse 11 Figure 6 Cable assembly principle eeeeeeeee 12 Figure 7 Overview of encoder profiles and related PROFIBUS documents 16 Figure 8 Basic encoder functions essere 19 Figure 9 Cyclic scaling 2 rcr de
16. FTWARE REVISION Software revision including software version status e g V1 3 0 REVISION COUNTER 0x0000 not used PROFILE ID 3D00 encoder profile DPV2 PROFILE SPECIFIC TYPE See table in encoder profile IM VERSION Version of the I amp M profile IM SUPPORTED 0 obligatory I amp M support Table 37 Supported I amp M functions 6 3 Slave to Slave Communication The HEIDENHAIN PROFIBUS encoder supports the slave to slave communication principle as a slave i e as publisher 6 4 Configuration Isochronous Operation A class 3 or class 4 encoder type can be selected to configure a DV2 encoder Chapter 3 2 describes the functionality of the various encoder class types but standard telegram 81 is used for I O data regardless of the class Encoder Functions DPV2 6 5 Parameterization Isochronous Parameters The parameterization of the DPV2 encoder functionality is di vided into two steps The parameterization data is transferred to the encoder in Structure_ Prm_Data blocks The parameters for the general encoder functionality are listed below Parameter Data type Octet number Class Code sequence Bit 4 bit O 4 Class 4 enable Bit 4 bit 1 4 G1 XIST1 preset control Bit 4 bit 2 4 Scaling function control Bit 4 bit 3 4 Ext Diag enable Bit 4 bit 4 4 Measuring steps per revolution Unsigned32 5 8 4 Total measuring range Unsigned32 9 12 4 M aximum tolera
17. HEIDENHAIN User s Manual PROFIBUS DP Interface for Encoders English en 12 2010 Table of Contents cq ur nn na 4 i du 5 1 General Information eese esee een sena nsn na tuna anna tuna tn natn nasa nana uaa uaa 6 11 The PROFIBUS Technology eese 6 L1 Abbr viations u 2er cte deren ge dera 7 2 Encoder Installation 2 22220nn0nnsannsannuannuannunnnunnnnnnnnnnunnnunnnunnnunnnunneunnunnnunnnnn 8 2 1 Settings Inside the Encoder sse 8 2 1 1 Node address dne felting eth et reg 8 2 12 B sterminatlon ep Oda ie RR REM 9 2 2 Connecting the Encoder sssssssssssseeenenen nennen 9 2 21 Power Supply dre epe et pi tege da 9 2 222 BUS lites iere crecer gn 10 2 3 Installation of the Gateway eee 11 2 4 Shielding Strategy ssssssseeeeeeneen nennen 12 2 5 GSD Files or t exce gp patus dese o atur at ee a it 12 2 6 BED DiSplay 2 aneignen d Hen Ubi taedet 14 3 Profile Overview 15 3 1 DPVO Encoder Classes sssseeeeeen ene 16 3 2 DPV2 Encoder Classes sse nennen 17 4 Encoder Functions DPVO eere nnnm nmn nnn n nm nmn uuu n nu am sn uuu un 19 4 1 Basic Encoder Functions nnns 19 4 2 PROFIBUS Da
18. IBUS DP Please refer to the illustration on the following page for an overview of the two different encoder profiles and the standards related to these profiles Encoder profile for DPVO version 1 1 order no 3 062 The operating functions of this profile are divided into two device classes Class 1 encoders offer basic functions that all PROFIBUS DP encoders must support A class 1 encoder can optionally support selected functions of class 2 but these functions must be implemented according to the profile In order to support earlier PROFIBUS DP implementations the size of the protocol data units PDU is limited to 16 bytes Class 2 encoders must support all functions of class 1 as well as those of class 2 Parameters and diagnostic ranges are re served for manufacturer specific functions Encoder profile for DPV1 and DPV2 version 3 1 order no 3 162 This profile also has two classes of devices Class 3 with the basic functions and class 4 with the full range of scaling and preset functions Optional functions are defined in addition to the mandatory functions of classes 3 and 4 For further information regarding the encoder functionality please refer to the device profiles These profiles and PROFIBUS technical information can be ordered from the PNO in Karlsruhe Germany www PROFIBUS com Profile Overview PROFIBUS DP V2 IEC 61158 PROFIdrive I amp M Functions
19. If the user wants to scale the encoder to a singleturn resolu tion of 4000 unique positions per revolution and the total number of revolutions to 3200 the following configuration is to be selected Encoder resolution 400019 steps Total measuring range in measuring steps 4000 steps x 3200 revolutions 12 800 00010 Entry in the master configuration software Measuring steps per revolution 4000 Total measuring range steps 12 800 000 Encoder Functions DPVO 4 4 6 Total measuring range steps The total measuring range is defined by the parameter Total measuring range in measuring steps The encoder has two different operating modes depending on the specified mea suring range When the encoder receives a parameter mes sage it checks the scaling parameters for whether binary scaling can be used If binary scaling can be used the encod er selects operating mode A see following explanation If not operating mode B is selected A Cyclic operation binary scaling Measuring mode A is selected if the encoder operates with 2x revolutions number of revolutions equals 2 4 8 16 32 64 128 256 512 1024 2048 or 4096 If the desired measuring range is equal to the specified sin gletum resolution lt 2X with x lt 12 the rotary encoder oper ates in endless cyclic operation from O to max position val ue from 0 to max position value etc If rotation of the axis to be measured causes the position val
20. O identification number Bit 5 6 1 Extended diagnostic header Octet string 7 1 Alarms Octet string 8 1 Operating status Octet string 9 1 Encoder type Octet string 10 1 Singletum resolution rotary encoder 32 without sign 11 14 1 Measuring step linear encoder Number of distinguishable revolutions 16 without sign 15 16 1 Additional alarms Octet string 17 2 Supported alarms Octet string 18 19 2 Wamings Octet string 20 21 2 Supported wamings Octet string 22 23 2 Profile version Octet string 24 25 2 Software version Octet string 26 27 2 Operating time 32 without sign 28 31 2 Offset value 32 with sign 32 35 2 Manufacturer offset value 32 with sign 36 39 2 Encoder resolution 32 without sign 40 43 2 Total measuring range 32 without sign 44 47 2 Serial number ASCII string 48 57 2 Reserved for future definitions 58 61 2 Table 14 Diagnostic information DPVO Encoder Functions DPVO Note The length of the diagnostic information of class 1 is limited to 16 bytes This is compati ble with former DP versions For PROFIBUS DP class 2 encoders the length of the encoder specific diagnostic data including the extended diagnostic header is 57 bytes The DDLM Slave Diag memory range up to octet 99 is re served for future diagnostic data of class 2 4 6 1 Diagnostic header The header byte specifies the length of the encoder diagnos tics including the header byte The format of the transmission length is hexadecimal F
21. age of the encoder has been read However if the toler ances are still exceeded the waming is activated again The waming Maximum operating time exceeded bit 4 is not activated again until the next time the system is switched on Note Not every encoder supports every waming Please refer to the diagnostic information un der Supported Wamings see chapter 4 6 10 for information on the support of specific wamings DDLM Slave Diag Octet 20 21 Bits 15 8 7 0 Wamings Bit Definition 0 1 0 Frequency exceeded No Yes 1 Temperature exceeded No Yes 2 Light control reserve Not reached Reached 3 CPU monitoring status OK Reset 4 Maximum operating time No Yes exceeded 5 Battery charge OK Too low 6 Reference point Reached Not reached 7 Currently s not 15 assigned Table 23 Diagnostics wamings 35 Encoder Functions DPVO 4 6 10 Supported wamings Diagnostic octets 22 and 23 contain information on supported warnings DDLM Slave Diag Octet 22 23 Bits 15 8 7 0 Supported warnings Bit Definition 0 1 0 Frequency waming Not supported Supported Temperature waming Not supported Supported 2 Light control reserve waming Not supported Supported 3 CPU monitoring status waming Not supported Supported 4 Maximum operating time ex Not supported Supported ceeded warning 5 Battery charge warni
22. an offset value on the basis of the preset value The position value is shifted by the calculated offset value If the output position value equals the preset value the preset mode is terminated and the M SB can be set to 0 by the master The resulting offset value can be read by means of the diagnostic function Note The preset function should be used only dur ing standstill of the encoder The encoder type limits the number of possible preset cycles please consult HEIDENHAIN for more information 27 Encoder Functions DPVO Preset value format 2 words 32 bits Bits 31 30 24 23 16 15 8 7 0 Data 0 1 230 224 223 216 215 28 27 20 Preset Preset value up to 31 bits control bit Table 12 Preset value 32 bit format Preset value format 1 word 16 bits Bits 15 14 8 7 0 Data 0 1 214 28 27 20 Preset control bit Preset value up to 15 bits Table 13 Preset value 16 bit format 4 6 Diagnostics The diagnostic information contains diagnostic data that is de fined in the PROFIBUS DP specification octet 1 to 6 as well as encoder specific diagnostic data 9 Encoder Functions DPVO DDLM_Slave_Diag Diagnostic function Data type Diagnostic Device octet number class Station status 1 Bit 1 1 Station status 2 Bit 2 1 Station status 3 Bit 3 1 Diagnostic master address Bit 4 1 PN
23. at Array n Unsigned32 R Table 34 Supported PROFIdrive parameters Encoder Functions DPV2 6 2 2 Encoder specific parameters In addition to the PROFIdrive parameters the DPV2 encoder profile also defines encoder specific parameters 65000 Preset value Integer 32 RAW 65001 Operating parameters Array n Unsigned32 R Table 35 Supported encoder specific parameters The HEIDENHAIN encoder supports preset values and the fol lowing subindex parameters of operating parameters 65001 Header Operating status Alarms Supported alarms Warnings Supported wamings Encoder profile version Not supported operating time Offset value WO CO NI DD aj BB WI Njej Encoder resolution m eo Total measuring range Table 36 Supported operating parameters 47 Encoder Functions DPV2 6 2 3 I amp M functions In addition to PROFIdrive parameter 964 device identification the encoder also supports the I amp M functions The I amp M functions can be accessed with record index 255 The HEIDENHAIN en coder supports the following I amp M functions Contents Coding Header Manufacturer specific Security code for write access to parameters I amp M block MANUFACTURER_ID Manufacturer Id 284 ORDER ID Encoder part number SERIAL NUMBER Encoder serial number HARDWARE REVISION 0x0000 not used SO
24. ce used integrated encoder or gateway In addition a distinction between DPVO or DPV2 functionality is made by selecting a different GSD file All available GSD files can be ordered or downloaded from www heidenhain de GSD files Encoder type and functionality Sapte Integrated encoder DPVO enc_a401 Integrated encoder DPV2 enc_Oaaa Table 3 Available GSD files Encoder Installation During configuration of the encoders the various encoder classes can be selected as described in the following chap ters The selectable parameters and functionality of the de vice depend on the selected encoder class This data saved in the PROFIBUS master is transferred to the encoder once the system is powered on After the configuration and parameter data have been re ceived the encoder enters normal operation with cyclic data transfer i e DDLM_Data_Exchange mode Installation of the GSD files 1 On the data carrier select the GSD file of the respective device and copy the gsd file into the appropriate direc tory of the PROFIBUS configuration tool 2 On the data carrier select the bitmap file of the respec tive device and copy the bmp file into the appropriate directory of the PROFIBUS configuration tool 3 Update the GSD files SCAN Encoder Installation 2 6 LED Display Two LEDs on the rear of the encoder indicate the encoder status The module LED indicates the status of the module it
25. direction of shaft rotation Note If one of the time based velocity units is used and scaling is set for the encoder the veloci ty calculation is based on the scaled position value Consequently the accuracy of the ve locity value depends on the scaling set for the encoder 25 Encoder Functions DPVO Parameter for the velocity unit octet 39 Octet 39 Bits 7 0 Data 27 20 Velocity function EESTI SESS ERE nc m Ep qem qp eme 0 Lp erg eg sepe EJ EL E Revolutions per minute Table 9 Octet 39 velocity function 4 5 Data Transmission in Normal Mode DDLM_Data_Exchange The DDLM_Data_Exchange mode is the normal status of the absolute encoder during operation In this mode the position value is transmitted from the encoder cyclically The output data can also be sent to the encoder as preset commands 4 5 1 Data exchange mode The current position value is transmitted to the master as 32 bit values double word or optionally the encoder supports a position value length of 16 bits for singletum encoders The position value is right aligned in the data field DDLM_Data_Exchange mode Standard configuration Octet 1 2 3 4 Bits 31 24 23 16 15 8 7 0 Data 231 224 223 _ 216 215 _ 28 27 20 Data_Exchange 32 bits Table 10 Data exchange 32 bits Configuration data Encoder class 1 Dli6 2 input data words data consistency Encoder class 2 F13e 2
26. during data exchange normal operation Interface during diagnostics data transmission Identification and Maintenance Encoder Installation 2 Encoder Installation 2 1 Settings Inside the Encoder The encoder node address and bus termination must be confi gured during commissioning of the device This is done by remov ing the back cover i e unscrewing the three screws on the rear of the encoder 2 1 1 Node address The node address of the encoder can be set via two decimal rota ry switches located inside the back cover The weighting x10 and x1 is specified beside the switches The permissible address range is between 0 and 99 but the lowest addresses 0 to 2 are usually used by the master and should not be used by the en coder Each address used in a PROFIBUS network must be unique and may not be used by other devices The device address is only read and adopted when the en coder power supply is switched on A restart of the encoder is therefore required in order to adopt changes made to the address settings Bus termination on off Node address switches Figure 1 View of PROFIBUS encoder PCB and cable glands Encoder Installation 2 1 2 Bus termination In a PROFIBUS network all devices are connected with each other in a bus structure Up to 32 devices masters and or slaves can be connected per segment If more devices are needed re peaters must be used to amplify the signals between segments An active te
27. e 1 000 ms min 0 500 ms max 32 000 ms Master application cycle 2 000 ms 2 x 1 000 ms Factor Constant DP bus cycle time Cancel Help Figure 15 Parameter settings for the isochronous mode DP slave The various time parameters can be set whereas the time based parameters are controlled by the master The individual settings for the DP slave isochronous mode enable individual data sample times as Tj can be set separately for each slave The master application cycle factor is used if the application requires that the master application cycle time be different from the bus cycle time Please note that if the factor is 1 the slave will not read the Master s Life Sign in each bus cycle for example if the factor is set to 2 the Master s Life Sign will only come every second bus cycle Encoder Commissioning Example DPV2 Isochronous Operation 7 2 Parameter Settings for the Isochronous Mode Bus The Isochronous Mode parameter can also be set on the bus Double click the bus in the bus structure view at upper left see chapter 5 to access the properties of the DP master system Proceed as described below to access the general bus sochronous Mode parameters Click the Properties button Properties DP master system General Group Properties Group Assignment Short Description DP master system Name Master System No 2 Subnet PROFIBUS 1 Properties C
28. enables thorough checking of whether the position values provided by the abso lute encoder are correct The commissioning diagnostics function is started by the commissioning bit in the operating parameters If an error is found within the absolute encoder the diagnostic function indicates this with the commissioning diagnostics alarm bit see Chapter 4 6 2 The commissioning diagnostics function is an option To find out whether the encoder supports commissioning diagnos tics the diagnostic function must read the operating status and the commissioning diagnostics bit must be checked 4 4 4 Scaling function The scaling function uses a software program to convert the encoder s physical absolute position value in order to change the resolution of the encoder The parameters Measuring units per revolution and Total measuring range in measuring steps are the scaling parame ters set by the parameter function in octets 10 to 17 Scaling is active only if the control bit for the scaling function is set If the scaling function bit is set to 0 the scaling function is dis abled Note After downloading new scaling parameters the Preset function must be used to set the encoder starting point to the absolute posi tion O or to any desired starting position within the scaled operating range 4 4 5 Measuring steps per revolution The total measuring range is calculated by multiplying the singletum resolution with the number of distingui
29. essages esseseeee nene 51 6 6 3 Isochronous synchronization principle 52 7 Encoder Commissioning Example DPV2 Isochronous Operation 53 7 1 Parameter Settings for the Isochronous M ode DPV2 Slave 54 7 2 Parameter Settings for the Isochronous M ode Bus 55 List of Tables List of Tables Table 1 Pin layout of the M12 power supply connector 9 Table 2 Pin layout of the M12 BUS in out lines sese 10 Table 3 Available GSD files 024044044 nen sees seas esas eae eeaeseaeseeeeeeeeee 12 Table 4 LED display eessessseeseseesseeeene ennt nnn nnne 14 Table 5 Operating parameters in DPVO ccccccsscesssecsseessseessseessseeessaees 20 Table 6 Octet 9 parameter GefiNitiOn ccsccccssecsssecseeeesseeessneessseeesaees 21 Table 7 Format of the singletum scaling parameters 23 Table 8 Format of the multitum scaling parameters 23 Table 9 Octet 39 velocity function ssssseeeeeee 26 Table 10 Data exchange 32 bits ssssssssseeeenenes 26 Table 11 Data exchange 16 bits ssessssssseeeeenenes 27 Table 12 Preset value 32 bit format sse 28 Table 13 Preset value 16 bit format
30. i lt Pit gt Figure 13 Basic principle of the DP cycle in isochronous mode GC Global control signal Top DP cycle time 1 ms to 32 ms default 2 ms depending on the number of slaves on the bus Ti At the start of T all slaves must read the posi tion data During T all slaves must put the sampled data in the respective buffer ready for the Master to read this process must be com pleted before the next GC TTo During To the slave reads the diagnostic data from the master and executes it MSG Res GC Channel for acyclic data parameter channel Encoder Functions DPV2 6 2 Exchange of Acyclic Data The exchange of acyclic data is conducted in the parameter channel The exchange of acyclic data enables parameteriza tion during runtime The exchange of acyclic data is con ducted parallel to the cyclic data communication but with a lower priority The parameters accessible in the acyclic data channel are divided into different categories 6 2 1 PROFIdrive parameters The encoder profile for DPV2 has adopted certain standard PROFIdrive parameters The HEIDENHAIN encoder supports the following parameters 918 Node address Unsigned16 R 922 Telegram selection Unsigned16 R 925 Number of master sign of life failures that can be tolerated R W 964 Device identification Array n Unsigned16 R 965 PROFIdrive profile number Octet string 2 R 971 Transfer to non volatile memory Unsigned16 WwW 979 Sensor form
31. indow XH Config LL138 Configuration locprj Bly Station Edit Insert PLC View Options Window Help olalla a amp ele sus coftb sej xe 18 xl is Fe SS s i a PROFIBUS DP EC Additional Field Devices EC Encoders S PROFIBUS Encoder J Universal module j Encoder Class2 16 Bit Encoder Class2 32 Bit Encoder Class 16 Bit j Encoder Class1 32 Bit f Encoder Class2 32 Bit velocity E Compatible PROFIBUS DP Slaves EZ Closed Loop Controller a Configured Stations E DP V0 slaves EC DP AS E E DP PA Link E ENCODER e ET 2008 e ET 20C E ET 200eco Encoder Class2 32 Bit velocity 1 cGy ET 200i5 7 E73 gt Encoder Coss SPEI veka 8 6 e ET 200L GET 200M ET 2005 e ET 200U fo ET 200K H Function Modules H IDENT s IPC EH NC a Network Components m SIMADYN B E SIMATIC m SIMODRIVE PROFIBUS 1 DP master system 1 D li lus p4oq rbs 25 PROFIBUS Encoder Insertion possible i AMstart A SIMATIC Manager locprj urforskar Ci siemensist BhHw Config LL138 C BY Microsoft Word Dokume SERPOLZD oi Figure 11 Commissioning example DPVO 41 Example for Commissioning a Rotary Encoder DPVO A PROFIBUS address must be assigned when dropping the encoder onto the bus Naturally this address must be the same as that assigned using the hardware address switches on the encoder PCB
32. ion e Preset function e Extended diagnostic data Configuration data Standard telegram 81 Encoder Functions DPVO 4 Encoder Functions DPVO 4 1 Basic Encoder Functions The figure below gives an overview of the basic encoder functions and how these functions are implemented within the encoder Physical position Basic function lt ____ Code sequence _ Singletum resolution Absolute position Number of distinguishable revolutions Scaling function gt Encoder resolution Total measuring range Status of the scaling function Preset function _ Preset value gt Offset value Output position value Figure 8 Basic encoder functions 4 2 PROFIBUS Data Transmission Principle PROFIBUS DP devices can be configured according to the user s needs and the parameters can be set to fit these re quirements In this context it is useful to know that PROFIBUS offers three different types of data transmission 4 2 1 Selection of the parameterization DDLM Set Prm mode When the system is started the PROFIBUS devices are pa rameterized DDLM Set Prm mode i e the encoder class is set by means of the GSD file in the configuration tool see Chapter 3 and the operating parameters see Chapter 4 are transferred to the respective slave 19 Encoder Functions DPVO 4 2 2 Normal mode DDLM_Data Exchange mode In the normal mode DDLM_Data Exchange mode data is exchanged between master and
33. lication and can t be set in dividually for each slave Parameter Data type Value Comments Structure Length Unsigned8 Ox1C decimal 28 Structure Type Unsigned8 0x04 IsoM parameters Slot no Unsigned8 0x00 Communication with entire device Reserved Unsigned8 0x00 Version Unsigned8 0x01 First revision TBASE_DP Unsigned32 375 750 1500 Set by master Tpp Unsigned16 Set by master TMAPC Unsigned8 Set by master TBASE IO Unsigned32 Set by master Ti Unsigned16 Set by master To Unsigned16 Set by master Tpx Unsigned32 Set by master TPLL W Unsigned16 Set by master TPLL D Unsigned16 Set by master Table 39 Parameters of the isochronous mode The various time based parameters are defined in the PROFI drive V3 1 profile chapter 6 2 1 For general explanations and comments see chapter 6 1 of this manual Encoder Functions DPV2 6 6 Diagnostic Messages DPV2 6 6 1 Overview Encoder profile 3 162 defines the support for alarms and waming messages The HEIDENHAIN PROFIBUS encoder supports the following alarm ae nemi ewe O o emeem m 0 Table 40 Diagnostic messages DPV2 Error type 22 Definition Position value error GSD inputs Channel Diag 22 Position value error Channel Diag Help 22 The encoder has an internal error 6 6 2 Error messages Error messages are sent in G1 XIST2 The HEIDENHAIN PROFIBUS encoder supports erro
34. lutions x singletum resolution DDLM_Slave_Diag Bits 15 8 7 0 15 16 Number of distinguishable revolutions Table 20 Diagnostics number of distinguishable revolutions Encoder Functions DPVO 4 6 7 Additional alarms Diagnostic octet 17 indicates additional alarms for device Bits class 2 DDLM_Slave_Diag 7 0 0 Additional alarms Currently not assigned Table 21 Diagnostics additional alarms 4 6 8 Supported alarms Diagnostic octets 18 and 19 contain information on the sup ported alarms Bits DDLM_Slave_Diag 15 8 Supported alarms 0 Position error Not supported Supported 1 Voltage supply error Not supported Supported 2 Current is too high Not supported Supported 3 Configuration diagnostics Not supported Supported 4 Memory error Not supported Supported 3 Currently e not 15 assigned Table 22 Diagnostics supported alarms 4 6 9 Wamings Encoder Functions DPVO Warnings indicate that tolerances for certain internal parame ters of the encoders have been exceeded Contrary to alarms no faulty position values are expected in case of wamings Octets 20 and 21 of the diagnostic function indicate the sta tus of the wamings If a warning is set the Ext_Diag bit in the diagnostic function is set to logical 1 until the waming is re set All warnings are deleted as soon as the diagnostic mes s
35. minals with the power supply terminals marked and The terminal is used to connect the Up line DC 9 V to 36 V The terminal is used to connect the 0 V line Figure 3 Terminal connection of power supply cables Necessary mating connectors for rotary encoders with M12 connecting element Bus input M12 connector female 5 pin B coded Bus output M12 coupling male 5 pin B coded BUS in BUS out a Figure 4 Position of the M12 bus connectors Function PIN Function PIN Not connected 1 VP 1 A 2 A 2 Not connected 3 DGND 3 B 4 B 4 Shield 5 Shield 5 Table 2 Pin layout of the M 12 BUS in out lines Encoder Installation The rotary encoders with cable glands must have twisted pair shielded cables in accordance with EN 50170 and PROFIBUS guidelines The guidelines recommend a line cross section greater than 0 34 mm2 The permissible cable outside diameter is 6 mm to 8 mm On the PCB there are four screw terminals with the bus line terminals marked A and B The A terminal is used to connect the A line green The B terminal is used to connect the B line red Figure 5 Terminal connection of bus line cables Note Since the two A terminals are intemally connected to each other as are the two B terminals it does not mat ter to which A or B terminal the bus lines are connected 2 3 Installation of the Gateway 1 Remove the cover of the gateway ho
36. mode all slaves on the bus will sample data at the same time and the real isochronous mode is achieved Note Please refer to the respective manufacturer s information on the configuration of other PROFIBUS DP master interface modules 57 HEIDENHAIN DR JOHANNES HEIDENHAIN GmbH Dr Johannes Heidenhain Stra e 5 83301 Traunreut Germany 49 8669 31 0 FAX 49 8669 5061 E mail info heidenhain de www heidenhain de 749 176 00 A 02 12 2010 PDF Zum Abheften hier falzen Fold here for filing
37. ng Not supported Supported 6 Reference point waming Not supported Supported 2 Currently ad not 15 assigned Table 24 Diagnostics supported wamings 4 6 11 Profile version Octets 24 and 25 of the diagnostic function contain the PROFIBUS DP profile version implemented in the encoder The octets are combined as revision number and index Example Profile version 1 40 Octet no 24 25 Binary code 00000001 01000000 Hex 1 40 DDLM_Slave_Diag Encoder Functions DPVO Octet 24 25 Bits 15 8 7 0 Data 27 20 27 20 Revision number Index Profile version Table 25 Diagnostics profile version 4 6 12 Software version Octets 26 and 27 of the DDLM_Slave_Diag function contain the software version of the encoder The octets are combined as revision number and index Example Software version 1 40 Octet no 26 27 Binary code 00000001 01000000 Hex 1 40 DDLM_Slave_Diag Octet 26 27 Bits 15 8 7 0 Data 27 20 27 20 Revision number Index Software version Table 26 Diagnostics software version 4 6 13 Operating time The operating time monitor stores the operating time of the encoder in operating hours The operating time is saved every six minutes in the encoder s non volatile memory This hap pens as long as the encoder is under power The DDLM Slave Diag function displays the operating time as a 32 bit value without algebraic sign in increments of 0 1
38. omment Cancel Help Figure 16 IDP master settings bus Select the Network Settings tab For highest performance select the 12 M bps baud rate and the DP profile 55 Encoder Commissioning Example DPV2 Isochronous Operation Properties PROFIBUS General Network Settings Highest PROFIBUS Address 6 Change Transmission Rate Profile User Defined Bus Parameters Cancel Help Figure 17 Network settings bus Click the Options button Options Constant Bus Cycle Time Cables Optimization Optimize DP cycle and Ti To if necessary Recalculate Number of Pas OPs TDs etc on PROFIBUS Configured o Total fo Time base Constant DP Cycle 1 000 ES ms 0 125 ms Details permitted times ms 0 625 32 000 Slave Synchronization IV Times Ti and To same for all slaves otherwise make setting in slave properties Time base Time Ti read in process values 0 000 ms 0 125 ms permitted times ms 0 125 1 000 Time base Time To output process values 0 000 ES ms 0 125 ms permitted times ms 0 375 1 000 Cancel Help Figure 18 Parameter settings for the isochronous mode bus Encoder Commissioning Example DPV2 Isochronous Operation The DP cycle time and the time based parameters can be set on this tab If the Slave Synchronization box is checked all Slaves of the bus have the same time based parameters In this
39. or PROFIBUS DP class 1 encoders the length of the encoder specific diagnostic data is 10 bytes OAhex DDLM Slave Diag Octet 7 Bits 7 6 5 0 Data 0 0 xxh Set to 00 Length including header Extended diagnostics Table 15 Diagnostic header 4 6 2 Alarms An alarm is triggered if a malfunction in the encoder can lead to incorrect position values Octet 8 in the diagnostic function DDLM Slave Diag indicates the status of the alarms Addi tional alarms for device class 2 are added to diagnostic octet 17 If an alarm is triggered the Ext Diag bit and the Stat Diag bit in the diagnostic function are set to high until the alarm is re set and the encoder can provide correct position values Alarms can be reset deleted when all encoder parameters are within the specified value ranges and the position value is correct Note Not every encoder supports every alarm For class 2 encoders the Supported alarms diag nostic information see chapter 4 6 8 enables you to find out which specific alarm bits are supported Encoder Functions DPVO DDLM_Slave_Diag Bits 7 0 Position error Currently not assigned Table 16 Alarms 4 6 3 Operating status Octet 9 in the diagnostic function provides information about encoder specific parameters A class 2 encoder sets the func tionality bit for class 2 commands to show the DP master that all commands of class 2 are supported The DP master must
40. r messages according to and is not able to provide an accu rate position value change en coder the profile Error Meaning Description 0x0001 Sensor group error The encoder is not able to provide a correct posi position error tion value OxOFO1 The command is not supported In G1_STW1 the master application sent a com mand that is not supported by the encoder OxOFO2 Master s sign of life fault The number of permissible failures of the master s life sign was exceeded OxOFO4 Synchronization fault The number of permissible failures for the bus cycle signal was exceeded Table 41 Error messages DPV2 Note If the preset value is negative and an absolute preset is entered error message OxFO1 com mand not supported is set The limit for error OxOFO4 Synchronization fault is by default 5 i e up to five consecutive synchronization faults are allowed before an error message is sent 51 Encoder Functions DPV2 6 6 3 Isochronous synchronization principle The chart below describes the synchronization principle of the encoder when adapting to a synchronized DP cycle IRT mode operation 1 Start up Standard PROFIBUS commissioning i e Installation Power up Configuration DPV2 GSD file mandatory Parameterization 2 Synchronization The encoder is synchronized with the DP cycle according to the parameterization selected 3 Master Life Sign After synchroni
41. rmination must be added to the beginning and end of each bus segment in order to ensure error free operation In rota ry encoders such terminators are integrated on the PCB and can be activated via dip switches as shown in Figure 1 If the power supply to the device is interrupted the A and B lines are internal ly terminated by a 220 O resistor If an encoder with M12 flange sockets is used a terminating resistor plug is necessary for termination This plug is attached similar to an M12 connector Male as well as female contacts can be used to terminate the two ends of the bus 2 2 Connecting the Encoder The unit may only be installed by an authorized electrician National and international regulations regarding the installation of electrical facilities must be followed 2 2 1 Power supply Necessary mating connector for rotary encoders with M12 connecting element Power supply M 12 connector 4 pin A coded Power supply Power supply for M12 version Function PIN DC 9Vto36V 1 Not connected 2 OV 3 Not connected 4 Figure 2 Position of the Table 1 Pin layout of the M12 power supply connector M12 power supply connector Encoder Installation 2 2 2 Bus lines The rotary encoders with cable glands must always have a shielded power supply cable with a line cross section be tween 0 34 mm and 1 5 mm2 The permissible cable outside diameter is 8 mm to 10 mm On the PCB there are two screw ter
42. shable revo lutions The default settings for singletum encoders are Measuring steps per revolution 819210 213 Total measuring range in measuring steps 819210 213 20 The default settings for multitum encoders are Measuring steps per revolution 819210 213 Total measuring range in measuring steps 33 554 43210 213 212 Encoder Functions DPVO Format of the scaling parameters Octet 10 11 12 13 Bits 31 24 23 16 15 8 7 0 Data 231 224 223 _ 216 215 _ 28 27 20 Encoder resolution Table 7 Format of the singletum scaling parameters Octet 14 15 16 17 Bits 31 24 23 16 15 8 7 0 Data 231 _ 224 223 _ 216 215 _ 28 27 20 Total measuring range Table 8 Format of the multiturn scaling parameters The data format for both scaling parameters is 32 bits without algebraic sign with a value range from 20 to 232 The per missible value range is limited by the resolution of the rotary encoder For a 25 bit encoder with a singleturn resolution of 13 bits the permissible value range for Measuring steps per revolution is from 2 to 213 8192 and for the Total mea suring range in measuring steps the permissible value range is from 20 to 225 33 554 432 The scaling parameters are se curely stored in the PROFIBUS DP master and are reloaded into the encoder upon each power up Both parameters are output data in 32 bit format Example of scaling and entry
43. sition values when Rising position values when shaft rotated clockwise shaft rotated counterclockwise seen from flange side seen from flange side Class 2 functions Deactivated Activated Configuration diagnostics No Yes Scaling function Scaling deactivated Scaling activated Scaling parameters are loaded into octets 10 to 17 T Reserved for future 7 applications Table 6 Octet 9 parameter definition 4 4 1 Code sequence The code sequence defines whether the absolute position value should increase during clockwise or counterclockwise rotation of the shaft encoder seen from flange side The code sequence is by default set to increase the absolute posi tion value when the shaft is turned clockwise 0 4 4 2 Class 2 functions This bit activates or deactivates class 2 functionality As a de fault the class 2 function bit for PROFIBUS DP encoders is set to inactive 0 This means that this bit must be activated during parameterization to support the class 2 functions Note If a class 1 encoder uses some optional class 2 functions the class 2 bit must be set 21 Encoder Functions DPVO 4 4 3 Configuration diagnostics The commissioning diagnostics function makes it possible for the encoder to perform an intemal diagnostic test of the en coder components responsible for position detection during a standstill of the encoder i e light unit photovoltaic cells etc In combination with the position alarms it
44. stified absolute position value from encoder Sensor 1 G1 XIST1 Actual posi tion value 1 Sensor 1 G1 XIST2 Input right justified absolute position value from encoder Actual posi tion value 2 l Sensor1 G1_ZSW1 16 Input status word from status word encoder j Table 33 Telegram 81 signals Encoder Functions DPV2 Control word 2 bits 12 to 15 is referred to as the master s sign of life and status word 2 bits 12 to 15 as the slave s sign of life These signals are essential for controlling the clock synchronization The G1_XIST1 and G1_XIST2 signals consist of the absolute position values in binary format By default G1_XIST1 is left aligned and G1 XIST2 is right aligned in case of differing formats the shift factor is in para meter P979 see chapter 6 2 1 Both G1 XIST1 and G1 XIST2 are affected by changes in the parameterization and in case of encoder error the error message is displayed in G1 XIST2 6 1 Isochronous Operation The isochronous operation mode is used when real time posi tioning is required The basic principle is that all PROFIBUS devices on the network are clock synchronized with the mas ter using a global control broadcast enabling simultaneous da ta acquisition from all slaves with microsecond accuracy The synchronization is monitored using sign of life messages Gc Gc MSG Res GC S3 S4 sc Res GC Tomin gt T H To
45. ta Transmission Principle eeeeese 19 4 2 1 Selection of the parameterization DDLM Set Prm mode 19 4 2 2 Normal mode DDLM_Data Exchange mode 20 4 3 Configuration DPWVO ui rent ne pne egi PP Pe EA A 20 4 4 Parameterization DPVO uuserseennennnnsnnsenennnnnnnnnnnnnnnnennnnn nennen nenn 20 4 4 1 Code sequence ce eee ra ena pro rre ene 21 4 4 2 Class 2 functions esessssseeeennem nennen 21 4 4 3 Configuration diagnostics sseee 22 4 4 4 Scaling function ssessseeeennnen nemen 22 4 4 5 Measuring steps per revolution 22 4 4 6 Total measuring range steps see 24 4 4 7 Velocity function ssssssseeeeeeneenen nennen 25 4 5 Data Transmission in Normal Mode DDLM Data Exchange 26 4 5 1 Data exchange mode sse 26 4 5 2 Preset f hction an ege odd cg ts 27 4 6 DIagnostics 5 8 0 oci abo pee bed neat 28 4 6 1 Diagnostic header sssseeemenee 30 4 62 Alarms ndo eee t on ed i nter pr d te EE efe n 30 4 6 3 Operating status mene 31 4 6 4 Encodertype ee eee ipee ceni e s 32 4 6 5 Singleturn resolution or measuring step 33 4 6 6 Number of distinguishable revolutions ss 33 4 6 7 Additional alarms esee 34 4 6 8 Supported
46. ted failures of Unsigned8 13 4 MasterLifeSign Table 38 Encoder parameters DPV2 The parameter functions code sequence class 4 enable scaling and scaling control are analogous to the corresponding parameters in DPVO For an explanation see chapter 4 4 Note In order to meet the timing requirement during isochronous operation the encoder only tole rates binary scaling for the singletum and mul titum resolutions The G1_XIST1 control bit determines whether the preset value can affect the position value presented in G1_XIST1 If the control bit is set to 1 the preset value will not affect the posi tion value in G1_XIST1 Note This bit only affects G1 XIST1 If the preset is set it will affect the position value presented in G1 XIST2 regardless of the status of this con trol bit Encoder Functions DPV2 If the Ext_Diag enable control bit is set to 0 default value only the first six bytes of the diagnostics message are trans mitted If the bit is set to 1 the complete diagnosis is availa ble i e the channel related diagnosis is transmitted The MasterLifeSign byte is used for enabling programming of the number of allowed failures of the master sign of life When the number is reached an error message 0xOF02 is sent as diagnosis in the G1_XIST2 signal The following parameters must be considered when parame terizing the isochronous mode The time based parameters are globally set by the master app
47. ter teen 24 Figure 10 Acyclic scaling 25 Figure 11 Commissioning example DPVO seen 41 Figure 12 Parameter assignment DPVO sss 42 Figure 13 Basic principle of the DP cycle in isochronous mode 45 Figure 14 Parameter assignment DPV2 Class 4 53 Figure 15 Parameter settings for the isochronous mode DP slave 54 Figure 16 IDP master settings bus 55 Figure 17 Network settings bus nennen 56 Figure 18 Parameter settings for the isochronous mode bus 56 General Information 1 General Information This manual describes installation and configuration options of the HEIDENHAIN encoders with PROFIBUS DP interface The PROFIBUS DP gateway is therefore the solution of choice for applications with high ambient temperature Encoders with integral PROFIBUS DP interface are advantageous if a very compact solution is required In view of the certification by PNO PROFIBUS user organiza tion all products can be used in all PROFIBUS DP systems without restrictions Among other things this means that all possible baud rates the complete address range and the de vice characteristics are supported according to the PROFIBUS device profile for encoders L1 The PROFIBUS Technology PROFIBUS is a manufacturer independent and open field bus standard defined by the international standards EN 50170 and EN 50254 PROFIBUS enables communication between de
48. ue of the encoder to exceed the maximum value total measuring range the en coder indicates 0 as the position value again Example of cyclic scaling Measuring steps per revolution Total measuring range 1000 32 000 25 2 number of revolutions 32 Position 32 000 Measuring range Figure 9 Cyclic scaling Encoder Functions DPVO B Acyclic operation If the measuring range is used to limit the value range of the encoder to a value other than the specified singletum resolu tion 2X the output position value is limited within the oper ating range If rotation of the encoder shaft causes the posi tion value to exceed the maximum value or fall below 0 the encoder indicates the value of the measuring range See fig ure below Example of acyclic scaling Measuring steps per revolution Total measuring range 100 5000 number of revolutions 50 Position Scaled 5 000 total range 0 MAX Measuring range Figure 10 Acyclic scaling 4 4 7 Velocity function The velocity data can be accessed if class 2 32 bit velocity configuration is used In this case the input data consists of 32 bit position data plus 16 bit signed velocity data The veloc ity value is negative in counterclockwise direction if the code sequence is set to clockwise If the measured velocity is greater than the value that can be preset for the selected velocity unit the value is set to Ox7FFF 32768 or 0x8000 32768 depending on the
49. using 2 Strip the cable ends by a suitable length leaving approx 15 mm of the cable shield for connection to the cable gland Slide the power cable through the cable gland Connect the wires of the power supply through the ter minal block E and 0 V Tighten the terminal screws 5 Tighten the cable gland and ensure that the shielding is connected with the gland Pw For the installation of the encoder with PROFIBUS DP inter face please see the mounting instructions supplied with the product PONE NEN ES OER tep For 11 Encoder Installation 2 4 Shielding Strategy 2 5 GSD Files g be wo m Ge Figure 6 Cable assembly principle To achieve the highest possible noise immunity and resis tance against EMI related disturbances the bus and power supply cables must always be shielded The shield must be grounded at both ends of the cable In certain cases compen sation current might flow through the braiding Therefore a potential compensation line is recommended Absolute encoders with PROFIBUS can be configured and pa rameterized corresponding to the requirements of the user When the system is started the PROFIBUS devices are set and configured in DDLM_Set_Prm mode i e the encoder class is set by means of the GSD file in the configuration tool and the operating parameters are transmitted to the respec tive slave HEIDENHAIN offers various GSD files depending on the type of PROFIBUS devi
50. ust be used and that Encoder Class 4 must be chosen during configuration Assigning parameters to the DPV2 slave The parameterization view of the DPV2 Class 4 encoder Properties DP slave General Parameter Assignment sochrone Mode Parameters Ey Station parameters 2 pP Interrupt Mode Dpvo SEE NN Davee ey parameters a Code sequence Increasing clockwise 0 Class 4 Enable Enable G1 XIST1 Preset control Disable Scaling Function control Disable Ext Diag Enable Disable E Measuring units per revolution 8192 Total measuring range 33554432 E Maximum Failures Masterlifesign 1 Hex parameter assignment Value Cancel Help Figure 14 Parameter assignment DPV2 Class 4 The desired parameterization is added in the value field Chapter 6 5 describes the functions and possibilities of each parameter Encoder Commissioning Example DPV2 Isochronous Operation 7 1 Parameter Settings for the Isochronous Mode DPV2 Slave The parameters for the isochronous operation mode can be set on the Isochronous Mode tab of the DP slave proper ties Properties DP slave General Parameter Assignment Isochrone Mode Time Ti read in process values 0 125 ms Timebase 0 125 ms min 0 125 ms max 0 625 ms Time To output process values 0 375 gt ms Timebase 0 125 ms min 0 375 ms max 0 875 ms DP cycle with constant bus cycle tim
51. yutforskar C siemenstst BM HW Config LL138 C BY Microsoft Word Dokume BERTOLID wis Figure 12 Parameter assignment DPVO The desired parameter values are added in the value field Chapter 4 4 describes the functions and possibilities of each parameter Example for Commissioning a Rotary Encoder DPVO After the parameters have been added the encoder will enter data exchange mode and is thereby commissioned for the bus Note Please refer to the respective manufacturer s information on the configuration of other PROFIBUS DP master interface modules Encoder Functions DPV2 6 Encoder Functions DPV2 The DPV2 GSD file can be used to configure the PROFIBUS DP encoder to include DPV2 functionality DPV2 functionality includes isochronous operation acyclic data exchange and slave to slave communication A DPV2 encoder can only be configured to use standard telegram 81 for I O data meaning 4 byte output and 12 byte input Standard telegram 81 is de fined in the PROFIdrive profile and is adapted to the DPV2 PROFIBUS profile for encoders 3 162 Standard telegram 81 Setpoint STW2 G1_STW1 Output data from master Actual value ZSW2 G1_ZSW1 G1 XIST1 G1 XIST2 Input data to master Table 32 Standard telegram 81 The mapped signals are described in the following table master master Input control word from encoder M word 2 word 2 Sensor 1 G1 STW1 control m word 1 Input left ju
52. zation the encoder expects to read the Master Life Sign MLS The MLS is generated by the master and presented in STW2 control word 2 bits 12 to 15 The MLS is counted during each DP cycle 1 to 15 cyclically 0 is not a va lid value 4 Slave Life Sign After the encoder is synchronized with the MLS it acknowl edges this by generating the Slave Life Sign SLS The SLS is presented in ZSW2 status word 2 bits 12 to 15 In accor dance with the MLS it must be counted from 1 to 15 cyclically 0 is not a valid value although it is not mandatory that MLS and SLS be identical in each DP cycle 5 Operating mode After detection of the correct SLS by the master any current error codes must be acknowledged This is done by the mas ter clearing bit 15 in the sensor control word G1_STW The encoder acknowledges this by resetting the sensor error code bit 15 in the sensor status word G1 ZSW and also clears the error message presented in G1 XIST2 If this is done suc cessfully the encoder is in operating mode and fully synchro nized with the DP cycle Encoder Commissioning Example DPV2 Isochronous Operation 7 Encoder Commissioning Example DPV2 Isochronous Operation This example is intended to illustrate the commissioning of a PROFIBUS DPV2 encoder in isochronous operation The basic principle for adding the encoder to the bus is the same as for DPVO see chapter 5 The exceptions are that the GSD file enc Oaaa gsd m
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