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Absolute Rotary Encoder with Profibus

1. 34 6 1 2 Bus termination cceeeeeeeeeeeeeeeeeeeeeeeee 34 6 2 Connecting up the connection cap 04 35 6 3 Connecting the screen sses 35 6 4 Instructions to mechanically install and electrically connect the angular encoder 36 7 Angular encoder and the COM Profibus 37 7 1 Reading in the GSD files ee 37 7 2 Configuring the master system 37 7 3 Selecting and parameterizing the DP slave 38 8 Technical data cccssseesssseeeseeeeeeeeeeees 42 8 1 Electrical data ccccccccccccccccccecssssseseeeeeeeeeeees 42 8 2 Mechanical data ccccccccccccssssssseeeeeeeeeees 43 USER MANUAL MHM5 PROFIBUS IDEACOD BEI TECHNOLOGIES INC 8 3 Dimension drawingS eee eects 44 9 2 3 Version IDEACOD 1 0 Multiturn 00 46 9 Attachment cccsseeeeesssceeeeeesseeeeeeeeees 45 Big EN GT SION Class MUI Dee NBEO ects 9 1 Conversion table decimal binary 9 3 Instructions and experience made with special bus nodes software ecesceceseesteeeeesseeeeeeessneeees 47 hexadecimal nisreen eaii 45 A n E ISi sfini 9 2 Special encoder profile versions 46 9 4 Type designation ordering codsErreur Sign t noi detini 9 2 1 Version IDEACOD 2 0 Multiturn A6 10 NdEX misii 50 9 2 2 Version IDEACOD 1 1 Multiturn 46 Revision 03 01 USER MANUAL MHM5 PROFIBUS Paae 3 BE
2. BE IDEACOD BEI BEI TECHNOLOGIES INC INC Absolute Rotary Encoder with Profibus DP Interface User Manual BE Contents 1 Introduction cceeseseseeeeeceeeeeeeeeeeeeneeeeees 4 1 1 Definitions and abbreviations 00ee 4 1 2 Mode of operation of an absolute angular ONCOdOr eae a a a 6 1 3 General information about Profibus 9 1 4 Configuring a Profibus DP network 11 2 Encoder profile classification 22 2 12 2 1 Selecting the encoder configuration 12 3 Class 1 and Class 2 profile cseee 15 3 1 Parameterization cee eeeeseeseeeeeeeeeeeees 3 1 1 Code SEQUENCE eee eee eeeeeees 3 1 2 Class 2 functionality 3 1 3 Commissioning diagnostics 3 1 4 Scaling function 0 eee eres 3 1 5 Measuring units per revolution 3 1 6 Total measuring range 3 2 Data exchange in normal operation 19 3 2 1 Transferring the process actual value 19 3 2 2 Preset VAIUC eeeeseceeeneceseeseeeenereneeeners 20 4 IDEACOD 2 2 and IDEACOD 2 1 Profile 20 4 1 Manufacturer specific functions 0 0 20 4 1 1 Activating octet 26 0 eee 22 4 1 2 Desired measuring units 22 4 1 3 Desired measuring units reference 23 4 1 4 Activating the commissioning mode 23 4 1 5 Shorter diagnostics 0 0 0 eee 24 4 1 6 Activating octet 27 39 oe 24 4 1 7 Lower l
3. 31 34 Upper limit switch 4 1 8 25 35 38 Physical impulses 41 9 25 39 Reserved 0 Encoder type Single Multiturn 1 4 1 10 26 Reserved 2 G Reserved 3 i Velocity time base 4 4 1 11 26 5 Reserved 6 z Reserved 7 Revision 03 01 USER MANUAL MHM5 PROFIBUS Paae 21 BE 4 1 1 Activating octet 26 The functionality in the commissioning mode is prepared using octet 26 The detailed procedure is described under 4 2 This bit is automatically activated by selecting IDEACOD 2 1 or IDEACOD 2 2 However it is only important when manually parameterizing 4 1 2 Desired measuring units The parameter desired measuring units per xxx Xxx refer to 4 1 3 is used to program the angular encoder so that a required number of IDEACOD BEI TECHNOLOGIES INC Octet 10 11 Bit 31 24 23 16 Data Palos Octet 9 Bit6 Octet 26 0 switched out 1 switched in Further for Versions IDEACOD 2 1 and IDEACOD 2 2 bit 7 in octet 26 must be set Refer to 4 1 6 steps can be realized either referred to one revolution the complete measuring range or any sub measuring range 12 13 15 8 7 0 al iD 2 to 2 Desired measuring units per xxx Bits 0 and 1 in octet 26 are used to define the reference for the value entered here refer to 4 1 3 When selecting per revolution in addition the value saved in octet 14 17 is used also refer to 3 1 6 and is used to set short
4. A search for new active nodes on the bus differentiation is made by the value of the Start 2 Data telegram with variable data length This Delimiter SD 1 Request_FDL_Status FDL Fieldbus Data 3 Telegram with a fixed data length SD A2 Link also known as Layer 2 The Start hex Delimiter has the value 10 hex This telegram 4 Token telegram only between masters SD is also sent from an active station always DC hex Paae 10 USER MANUAL MHM5 PROFIBUS used in the SRD utility send and request data with acknowledge SD 68 hex BE IDEACOD BEI TECHNOLOGIES INC 1 4 Configuring a Profibus DP network The interface of the absolute angular encoder is angular encoder as SLAVE with the Profibus DP based on the PROFIBUS DP Standard EN interface an interface board is required in the 50170 In order to be able to use an absolute control system which acts as PROFIBUS master PLC Profibus Master z alimman O 10 30 V DC 10 30VDC 10 30VDC 10 30 V DC Schematic PROFIBUS network with separate power supply As a result of the connection cap design of IDEACOD absolute value encoders the power supply can also be fed via the bus cable X Profibus Master 10 30 V DC Schematic of a PROFIBUS network with power supply looped through Revision 03 01 USER MANUAL MHM5 PROFIBUS Paae 11 BE 2 Encoder profile classification
5. standard operation DDLM_Data_Exchange mode Some information is transferred at run up however the preset value is only transferred during normal operation The control system configures the angular encoder when the system runs up i e the encoder profile selected by the user is transferred to the angular Revision 03 01 USER MANUAL MHM5 PROFIBUS IDEACOD BEI TECHNOLOGIES INC belong to Class 2 but offer additional functions If these functions are not required for the particular application then the standard Class 1 and Class 2 versions allow angular encoders to be used without having to struggle with detailed information encoder also refer to Section 2 Encoder profile classification Depending on the version which was selected the parameter data defined by the user is transferred to the angular encoder parameterization Generally this is realized automatically and the parameters are entered into a mask in the operator control software e g COM Profibus refer to Section 7 However in some cases it is necessary to individually process the bits and bytes Data is transferred according to the Profibus profile as shown in the schematic in the following table Paae 15 IDEACOD BEI TECHNOLOGIES INC BE Overview of the significance of the various bits and bytes when the bus runs up Octet byte No Parameter Bit No Details refer to TE 9 section 3 1 1 page 16 section 3 1 2 pa
6. 40 43 2 Parameterized total resolution Unsigned 32 44 47 2 Serial number ASCII String 48 57 2 Profibus Profile for Encoders PNO Order No 3 062 Paae 30 USER MANUAL MHM5 PROFIBUS BE 5 2 Supported diagnostics messages The implemented diagnostics messages are described in more detail below The messages which are not supported are either not relevant for 5 2 1 Extended diagnostics header The length of the extended diagnostic bytes including diagnostics header is contained in Bit Y 6 Data 0 5 2 2 Memory error Bit 4 in diagnostics byte 8 is used to display whether a memory error has occurred Memory errors means in this case that the angular encoder Bit Definition 4 Memory error defect in the EEPROM 5 2 3 Operating status The operating parameters which are set can be interrogated using diagnostics byte 9 Bit Definition 0 Direction of rotation 1 Class 2 functionality 2 Diagnostic routine 3 Scaling function 1 Class 2 functionality disabled means that the angular encoder is in the operating status Class 1 Also refer to 3 1 2 Revision 03 01 USER MANUAL MHM5 PROFIBUS IDEACOD BEI TECHNOLOGIES INC IDEACOD absolute value encoders or have not been implemented diagnostics byte 7 The format of the length value is written in hexadecimal code 5 0 xxh Lange der Diagnosebytes EEPROM no longer functions correctly and the preset value is no longer saved so that
7. Paae 24 USER MANUAL MHM5 PROFIBUS BE 4 1 8 Upper limit switch A total of two positions can be programmed When these positions are fallen below or exceeded the absolute value encoder sets bit 27 to one in the 32 bit process actual value within the range it is zero Both limit switch values may not exceed the value IDEACOD BEI TECHNOLOGIES INC set for parameter Total measuring range The Upper limit switch is activated using bit 6 in octet 26 and the position value for the upper limit switch is saved in octets 31 to 34 Octet 31 32 33 34 Bit 31 24 23 16 15 8 7 0 Data PO om Ae DP iy 2S 2 to 2 Upper limit switch in measuring steps 4 1 9 Physical impulses The Physical impulses function is activated with bit O and 1 in byte 26 refer to 4 1 3 Page 23 These physical impulses are used to freely set a gear factor The number of steps which should be Octet 35 36 Bit Data BN oe Bea Revision 03 01 USER MANUAL MHM5 PROFIBUS In units as the encoder outputs them after parameterization output for a specified partial measuring range are entered namely the Physical impulses The value for the Physical impulses is saved in octets 35 to 38 37 38 2 to 2 2 to 2 Paae 25 BE 4 1 10 Angular encoder type The angular encoder type is specified in bit 1 of octet 39 Generally this bit is automatically set when the appropriate class i
8. can be loaded under the menu item Open in the File menu or a new configuration file generated with the New menu package If you have questions regarding other project tools please contact that manufacturer in GSD files under the menu File A signal is not output to indicate that the GSD files were successfully read in item After this a master system with the previously defined station number can be selected from the overview il New Master System xi Address _ Master Host Selection Master Station Type 5 95U DP 7 Master CP 5412 A2 SOFTNET DP IM180 Master 505 CP5434 DP SIMADYN D SS52 ASx88 TM IM180 V3 Master Default Master Host Station Type 5 115U_ CPU 941A Cancel 5 115U Z CPU 941B 5 115UZH 7 CPU 942A 5 115U H 7 CPU 942B 5 115U 7 CPU 943A 5 115U 7 CPU 943B 5 115U 7 CPU 944A 5 115U 7 CPU 944B 5 115U 7 CPU 945 5 135U 7 CPU 922 5 135U 7 CPU 928 z 6E 5 308 3UC11 6ES5 941 7UA13 Revision 03 01 USER MANUAL MHM5 PROFIBUS Paae 37 BE IDEACOD BEI TECHNOLOGIES INC 7 3 Selecting and parameterizing the DP slave After the GSD files have been read in the button using the mouse the encoder is attached to Encoder button is displayed After clicking on the the master and the address entered sA COM PROFIBUS File Edit Configure Service Documentation Window Help ees id Overview of Mast
9. diagnostics bytes The problem is solved by switching on the reduced diagnostics Refer to Section 4 1 5 on page 24 Removing the fault In the memory configuration of the DP master the parameter for the maximum number of diagnostics data per slave is set to 32 default This must be set to a number bigger than 57 As an alternative the number of diagnostics data can be reduced Refer to Section 4 1 5 on page 24 Paae 49 BE 10 Index A Allen Bradley 1785 Profibus Master Problems Withtvisitiecvith anand 49 Cc Code sequence Changing in the commissioning mode 28 Code Sequence cesceeceeseeeseseneeneneeeeeaes 16 COM ET 200 How does one program with the 00 49 GOM ProtibUs iiinis Commissioning mode ACTIVATING eect eect teeter eee terete Connection cap WEDS EER E A 33 COUpliN Giit eranan 36 D Diagnostics Aee lea o a E ET 24 Diagnostics data Requesting the essseseseesssereeeeeeeees 49 G Gearbox factor Automatic calculation 00 eee 26 GSD file aie aaia aia 12 H High WOA ivivicccnisaitustinenetucaeere 41 l IM 308 B Fault at rUM UD sec scateccncscsestasctensceaaenvcieciavices 48 L Limit switch Display when fallen below or exceeded 27 Lower software limit switch Upper software limit switch IDEACOD BEI TECHNOLOGIES INC LOW WOld sc nin nnna 41 M Master Number of diagnostic bytes eee 24 Memory CmrrOl eeeeee
10. specific number of revolutions it starts to count again at zero Normally this would be 4096 revolutions however using the Total measuring range parameter even shorter periods can be selected Example 100 steps are selected for each revolution total resolution 12 800 and then the angular encoder starts again at zero after 128 revolutions and then counts up to 11799 The angular encoder configurations IDEACOD 2 2 and IDEACOD 2 1 offer a user friendly technique so that for example gear factors can be simply entered and the total resolution associated with the gear factor is automatically set The period length is always 4096 revolutions However also when using rotary axes a sequence can repeat IDEACOD BEI TECHNOLOGIES INC With older versions certain rules had to be observed when selecting the total resolution because of the encoder principle refer to 1 1 In the case of ignoring the following rules problems occurred when using the device in endless operation when crossing the physical zero point With new devices Software version 3 or higher this problem is solved by an internal software routine Therefore rule number 2 can be ignored itself after a defined number of revolutions and the angular encoder should start again after this number of revolutions periods If another period length is required e g the process always repeats itself after 8 revolutions the following rules should be observe
11. 00 60 60 10100000 AO 224 100000 E0 33 0010000 21 97 01100001 61 61 10100001 Ai 225 11100001 E1 34 00100010 22 98_ 01100010 62__ 10100010 A2 226 100010 E2 35 0010001 23 99 01100011 63 10100011 A3 227 11100011 E3 36 00100100 24 100 01100100 64 10100100 A4 228 100100 E4 KEHN 25 101 01100101 65 65 10100101 A5 229 11100101 E5 38 00100110 26 02 01100110 66 10100110 A6 230 11100110 E6 39 0010011 27 103101100111 67 10100111 A7 231 100111 E7 40 00101000 28 104101101000 es 68 10101000 A8 232 11101000 E8 41 00101001 29 105 01101001 69 69 10101001 A9 233 101001 E9 42 00101010 2A 106 01101010 70 10101010 AA 234 101010 EA 43 0010101 2B 107 01101011 6B 71 10101011 AB 235 11101011 EB 44 00101100 2c 108 01101100 72 10101100 AC 236 101100 EC 45 0010110 2D 09 01101101 jeD 73 10101101 AD 237 11101101 ED 46 00101110 2E 110101101110 74 10101110 AE 238 101110 EE 47 0010111 2F monon 75 10101111 AF 239 11101111 EF 48 00110000 30 112101110000 76 10110000 BO 240 110000 Fi 49 0011000 B31 113 01110001 77 10110001 Bi 241 11110001 Fi 50 00110010 32 114 01110010 78 110110010 B2 242 11110010 F2 51 00110011 33 11501110011 79 10110011 B3 243 110011 F 52 _ 00110100 34 11601110100 80 10110100 B4 244 11110100 F4 53 00110101 35 17 01110101 81 10110101 B5 245 110101 F 54 00110110 36 118 01110110 82 10110110 B6 246 11110110 F6 55 00110111 3
12. 1 2 Bus termination The terminating resistors must be switched in if the encoder is used as an end device The terminating resistors are set using the double dip switches in the connecting cover device X last device ON ON 1 2 1 2 Note The bus has only been correctly terminated if the encoder is mounted to the connecting cover If the encoder has to be replaced in operation then we recommend that a separate active bus termination is used The angular encoder can be commissioned after the address has been set per hardware and the cable terminating resistor has been switched in if required Paae 34 USER MANUAL MHM5 PROFIBUS BE 6 2 Connecting up the connection cap The pressure screw insert and taper sleeve must be removed from the cable gland Approximately 55 mm of the bus cable sheath must be removed and approximately 50 mm of the braided screen Approximately 5 mm insulation must be removed from the individual conductors The pressure screw and insert are then threaded onto the cable The taper sleeve is pushed under the screen as shown in the drawing The complete assembly is then inserted in the cable gland and the pressure screw tightened 55mm k 50mm 5mm 5mm Revision 03 01 USER MANUAL MHM5 PROFIBUS IDEACOD BEI TECHNOLOGIES INC 6 3 Connecting the screen To achieve the highest possible noise immunity the data transmission between di
13. 10 etc Revision 03 01 USER MANUAL MHM5 PROFIBUS Paae 41 BE 8 Technical data 8 1 Electrical data General design Power supply voltage Power drain EMC IDEACOD BEI TECHNOLOGIES INC According to DIN VDE 0160 Protective Class Ill degree of pollution 2 overvoltage Category Il 10 30 VDC max 3 5 Watt Noise emission according to EN 50081 2 Noise immunity according to EN 50082 2 Bus connection Interface Baud rates Resolution Number of revolutions Scale accuracy Step frequency Code type Lifetime electr Addressing Note Electrically isolated through opto couplers Line driver according to RS 485 12 MBaud 6 MBaud 3 MBaud 1 5 MBaud 500 kBaud 187 5 kBaud 93 75 kBaud 19 2 kBaud 9 6 kBaud 4096 steps revolution optional 8192 steps revolution 1 or 4096 LSB max 100 kHz Binary gt 10 h Using rotary switches in the connection cap The absolute angular encoder may only be operated with extra low safety voltage Paae 42 USER MANUAL MHM5 PROFIBUS BE IDEACOD BEI TECHNOLOGIES INC 8 2 Mechanical data Housing Aluminum Flange Synchro Y Synchro Z Clamp F Shaft diameter 6mm 10 mm Shaft length 20 mm Shaft loading axial 20 N radial 110 N Friction torque lt 5Ncm Rotor moment of inertia 50 gem Lifetime gt 10 h at 1000 RPM Speed 6000 RPM continuous operation 10000 RPM briefly Shock immunity IEC 68 2 27 lt 200 m s
14. 12 ms Vibration immunity IEC 68 2 6 lt 100 m s 10 Hz 1000 Hz Connection connection cap with T coupler functionality Operating temperature oem eb 10 1G Storage temperature 40 85 C Relative air humidity 98 without moisture condensation Degree of protection EN 60529 shaft IP 65 IP 65 Weight incl connection cap Single Turn approx 500 g Multi Turn approx 700 g bis 0 5 bar Revision 03 01 USER MANUAL MHM5 PROFIBUS Paae 43 BE IDEACOD BEI TECHNOLOGIES INC 8 3 Dimension drawings Clamp Flange F eee eee Paae 44 USER MANUAL MHM5 PROFIBUS BE IDEACOD BEI TECHNOLOGIES INC 9 Attachment 9 1 Conversion table decimal binary hexadecimal 0 00000000 oo 64 _ 01000000 o 28 10000000 80 192 000000 CO 1 00000001 lor 65 01000001 29 10000001 81 193 11000001 C1 2 00000010 02 66 01000010 30 10000010 82 194 000010 C2 00000017 03 67 _ 01000011 31 10000011 83 195 11000011 C3 4 00000100 o4 68 01000100 32 10000100 84 196 000100 C4 5 _ 00000101 o5 69_ 01000101 33 10000101 85 197 11000101 c5 6 00000110 joe 70 01000110 34 10000110 86 198 11000110 C6 7 _ 00000111 oz z1 01000111 35 10000111 87 199 000111 C7 a 00001000 os 72_ 01001000 36 10001000 88 200 11001000 c8 9 00001001 0
15. 13 bit version For the case that the resolution per revolution is selected the total resolution saved in octets 14 17 are used Always refer to the comments under 3 1 6 Reference Octet 26 Bit 0 Octet 26 Bit 1 per revolution 0 0 per maximum total measuring range 1 0 per physical impulses 0 1 steps specified in octet 35 38 4 1 4 Activating the commissioning mode Bit 2 in octet 26 represents a switch for the commissioning mode This switch is for example available in the selection menu for COM Profibus The commissioning mode is a special status in the DDLM_Data_Exchange mode If it is activated this Revision 03 01 USER MANUAL MHM5 PROFIBUS can be identified when the green LED in the unit flashes then other parameters besides the preset value can be transferred to the angular encoder These are then saved so that they are not lost when the power goes down non volatile A gear Paae 23 BE factor can be determined by directly moving the system for details refer to 4 2 The system is ready to operate in this status If all of the parameters have been optimized then the Bit 2 Octet 26 Inbetriebnahmemodus Ausgeschaltet 1 Eingeschaltet 4 1 5 Shorter diagnostics For some Profibus masters it is important that the full number of diagnostic bytes are not output as this could otherwise cause problems This is the case for older masters Please refer to the documentation of th
16. 20l sl 1a 171 1el 15 141 131 121 111 sol al sl zi el 5 al sl al slo 4 of of of of of oJ M gt S S gt M M gt S ol ol som ood ol olol olol Note If high precision is required the preset mode should only be executed when the encoder shaft is at a standstill If the shaft moves quickly during this IDEACOD BEI TECHNOLOGIES INC to these scaled quantities The preset value is transferred in the Data_Exchange mode by setting bit 31 It takes less than 40 ms to save the preset so that it is not lost when the power fails After the preset value has been received bit 31 is set as acknowledgment and the actual process actual value is immediately re output The procedure is shown below as table required process actual value preset value is transferred here new required process actual value is transferred here Reset to normal mode new required process actual value is transferred here time offsets can occur as even when the preset value is set bus propagation times occur bus delay times 4 IDEACOD 2 2 and IDEACOD 2 1 Profile With these versions IDEACOD offers a multitude of functions which shift the intelligence from the control into the slave devices in the sense of distributed peripherals The user can use these 4 1 Manufacturer specific functions This version is especially characterized by the ability to parameterize on line and the so called Teachin In the DDLM_Data_Excha
17. 7_ majoron 83 10110111 B7 247 110111 F 56 00111000 38 12001111000 84 10111000 B8 248 11111000 F8 57 00111001 39_ 121 01111001 85 10111001 B9 249 111001 Fi 58 00111010 3A_ 122 01111010 86 10111010 BA 250 111010 F 59 00111011 3B 123 01111011 8710111011 BB 251 1111011 FB 60 00111100 3c 12401111100 88 10111100 BC 252 111100 F 61 00111101 3D 25 01111101 89 10111101 BD 253 11111101 FD 62 00111110 BE 126101111110 90 10111110 BE 254 111110 F 63_ 00111117 BE a7 fori oi 10114117 BF 255 41111111 FF Revision 03 01 USER MANUAL MHM5 PROFIBUS Paae 45 BE 9 2 Special encoder profile versions 9 2 1 Version IDEACOD 2 0 Multiturn This version differs from the Version 2 2 only by the fact that there are fewer selection fields displayed in the COM Profibus mask H4 lt gt fl Parameterize Encoder Parameter Name 9 2 2 Version IDEACOD 1 1 Multiturn This is an older version Previously it was unofficially designated as a so called Class 3 In Edition 1 03 of this Manual it is listed under Number 6 It behaves just like Class 2 but in 9 2 3 Version IDEACOD 1 0 Multiturn Corresponds to Number 5 in the 1 03 Edition of this Manual Position value and velocity outputs 9 2 4 Version Class 2 Multiturn DX Version Old version with a reduced number of diagnostics data Should only be used with older encoders with DX in the type key Paae 46 IDEACOD BE
18. 9 73 01001001 49 37 10001001 89 201 001001 c9 10 00001010 0A z4 01001010 38 10001010 8A 202 11001010 CA 11 00001011 0B 75 01001011 39 10001011 8B 203 001011 CB 12 00001100 loc 76 01001100 40 10001100 8C 204 11001100 CC 13 00001101 0D z7 01001101 41 10001101 8D 205 001101 cD 14 00001110 JOE 78 _ 01001110 42 10001110 8E 206 001110 CE 15 00001111 oF 79 01001111 43 10001111 8F 207 11001111 CF 16 00010000 10 80 01010000 44 10010000 90 208 010000 DO 17 00010001 a 81 01010001 45 10010001 91 209 11010001 D1 18 00010010 2 82_ 01010010 46 10010010 92 210 010010 D2 19 00010011 T3 83 01010011 47 10010011 93 211 11010011 D3 20 00010100 4 84_ 01010100 48 10010100 94 212 010100 D4 21 00010101 15 85 01010101 49 10010101 95 213 11010101 D5 22 00010110 16 86 01010110 50 10010110 96 214 11010110 D6 23 00010111 7 87 01010111 57 51 10010111 97 215 010111 D7 24 00011000 8 88 01011000 58 52 10011000 98 216 11011000 D8 25 00011001 9 89 01011001 59 53 10011001 99 217 011001 D9 26 00011010 TA 90 101011010 54 10011010 9A 218 11011010 DA 27 00011011 B o1 01011011 55 10011011 9B 219 011011 DB 28 00011100 C 92 101011100 56 10011100 9C 220 11011100 DC 29 00011101 nD 93 01011101 5D 57 10011101 9D 221 011101 DD 30 00011110 E 94 01011110 5E 58 10011110 9E 222 011110 DE 31 0001111 F 95 01011111 5F 59 10011111 9F 223 11011111 DF 32 00100000 20 96 011000
19. Bit 1 in octet 9 is set in order to use the functions of a Class 2 encoder 3 1 3 Commissioning diagnostics This function has no significance for the IDEACOD absolute value encoder 3 1 4 Scaling function The scaling function enables the resolution per revolution AU and the selected total resolution GGA to be parameterized This switch should always be switched in if the functions of Class 2 are to be used or even higher classes IDEACOD 2 1 IDEACOD 2 2 3 1 5 Measuring units per revolution The Measuring units per revolution parameter is used to program the angular encoder so that a required number of steps can be realized referred to one revolution If a value greater than the basic resolution of the absolute value encoder is selected as resolution Octet Bit Data IDEACOD BEI TECHNOLOGIES INC Octet 9 Bit 1 Class 2 functionality 0 switched out 1 switched in Octet 9 Bit 3 Scaling function switched out 1 switched in per revolution the output code is no longer in single steps Thus it should be observed that the required resolution does not exceed the resolution of the absolute value encoder defined by the hardware 13 7 0 2 to 2 Measuring units per revolution Revision 03 01 USER MANUAL MHM5 PROFIBUS Paae 17 BE 3 1 6 Total measuring range Using the Total measuring range parameter the user can program the angular encoder so that after a
20. HM5 PROFIBUS Paae 39 BE You can now enter the parameters for the angular encoder If several possibilities are offered in the fields to the right an additional window opens by fl Parameterize Encoder 4 lt gt Parameter Name Encoder 4 lt gt fl Parameterize Parameter Name Paae 40 IDEACOD BEI TECHNOLOGIES INC double clicking On the other hand numerical values are directly entered Version IDEACOD 2 2 was selected in the example illustrated here 3 1 1 S 16 3 1 4 S 17 4 1 2 S 22 4 1 9 S 25 4 1 3 S 23 3 1 6 S 18 4 1 4 S 23 4 1 5 S 24 4 1 7 S 24 4 1 7 S 24 4 1 8 S 25 USER MANUAL MHM5 PROFIBUS BE IDEACOD BEI TECHNOLOGIES INC E Parameterize Encoder 4 lt gt Parameter Name 4 1 8 S 25 4 1 8 S 25 4 1 11 S 26 As a result of the COM Profibus software the of up to 24 bits is sub divided into bits 0 15 LOW complete resolution is sub divided between LOW word and bits 16 31 HIGH word and HIGH words i e the required total resolution Here is an example Decimal Hexadecimal Hexadecimal Decimal 129600 00 01 FA 40 High word 1 Low word FA 40 64064 Decimal value 1 is now entered in the high field format However this is extremely tedious and and decimal value 64 064 in the low field The data should be done taking into account the COM can also be directly entered in the hexadecimal Profibus documentation Octet 9 Octet
21. I TECHNOLOGIES INC addition outputs the velocity It is still available if a user does not wish to make any changes however it should no longer be used for new systems are available without the possibility of making a preset This should no longer be used USER MANUAL MHM5 PROFIBUS BE IDEACOD BEI TECHNOLOGIES INC 9 3 Instructions and experience made with special bus nodes software Experience gained by users with specific bus nodes and software packages is now provided in the following text The problems which have occurred are essentially independent of the IDEACOD absolute value encoders However this information can be extremely useful and we wish to make it available to all users However IDEACOD cannot accept any liability for the correctness of the information and the tips which are given IDEACOD is very grateful for you feedback if you have made experiences of this kind In that way we can communicate them to other users Thank you Power connected the angular encoder does not log on Problem The PLC and the master interface group have been powered up the bus is active but the installed encoder does not log on Occasional faulty encoder values Problem When transferring the encoder values faults can occasionally occur The bus can also go into a fault condition Reproducible steps for a special encoder position Problem At a specific position the encoder jumps to a value w
22. Note IDEACOD BEI TECHNOLOGIES INC Readers who already have sufficient experience in handling Profibus and absolute angular encoders and who use the COM Profibus or another comparable configuring software can skip the introductory section and start with section 6 Page 34 1 Introduction In recent years a wide spectrum of various fieldbus systems for industrial automation has appeared and Profibus is one of the most successful IDEACOD was from the beginning one of the leading manufacturers of absolute rotary encoders with Profibus interface The version from 1999 for which this manual was written represents another step forward Several new features have been integrated and the user friendliness has been further improved without sacrificing the backwards compatibility The new parameters in the menu fields of COM Profibus and other project tools IDEACOD absolute value encoders fulfill all of the requirements of a node station for a Profibus DP network and they are appropriately certified This Manual is intended to provide the user with an overview of the various functions of the absolute angular encoder and support when it comes to solving user problems We always appreciate feedback regarding improvements and suggestions GSD Files allows the direct input of device 1 1 Definitions and abbreviations Terminating resistor Resistor to adapt bus cables terminating resistors are always required at the en
23. ROFIBUS BE IDEACOD BEI TECHNOLOGIES INC Overview of the various encoder classes and configurations Part 1 IDEACOD 2 2 Single Multiturn This is the configuration which offers most functions In addition to be able to set preset values and to change the direction of rotation in standard operation there is a special start up mode with which the gear factor can be set using a teach in technique Two software limit switches are available and the velocity can be output in selectable units There is an option to output a reduced number of diagnostic bytes Refer to Section 4 IDEACOD 2 1 Single Multiturn Class 1 Single Multiturn Class 2 Single Multiturn As for IDEACOD 2 2 Single Multiturn or without velocity output Refer to Section 4 This only allows the direction of rotation to be adjusted Refer to Section 3 The direction of rotation gear factor preset value can be set Refer to Section 3 IDEACOD 2 0 Multiturn IDEACOD 1 1 Multiturn IDEACOD 1 0 Multiturn Class 2 Multiturn DX Version Special version as for IDEACOD 2 2 but with fewer fields in the COM Profibus mask this should only be used in special cases refer to the Appendix Manufacturers specific version refer to the Appendix Manufacturers specific version refer to the Appendix Manufacturers specific version refer to the Appendix Highlighted Standard Revision 03 01 USER MAN
24. The absolute value encoder with Profibus DP interface transfers the process actual value and if required the velocity in the binary code In addition a preset value and with the manufacturer specific profiles IDEACOD 2 1 and IDEACOD 2 2 additional information can be transferred by setting special bits in the DDLM_Data_Exchange mode The Profibus Trade Organization PTO has defined encoder profiles which are designated as Class 1 and Class 2 These are available as documentation from the PTO Order No 3 062 A differentiation is made between non To choose between the different profile versions a GSD File is used The user can select the version that fits his hard and software Generally a differentiation should be made between Type files and GSD files The GSD file should always be used as standard This is available from IDEACOD on a floppy disk Order type Disk with Profibus GSD Files or in the Internet 2 1 Selecting the encoder configuration The user has a full range of possibilities with the profile Version 2 1 and Version 2 2 Version 2 2 differs from 2 1 in so much that in addition the velocity can be output Two software limit switches can be set reduced diagnostics activated this is important for some of the older masters and the on line parameterization or Commissioning mode enabled This mode allows in addition to the preset value also the direction of rotation to be changed on line It also offers
25. UAL MHM5 PROFIBUS Paae 13 BE IDEACOD BEI TECHNOLOGIES INC Overview of the various encoder classes and configurations Part 2 Designation Configuration Number of input Number of output Description hexa deci words words refer to section deci mal encoder control mal gt control gt encoder Class 1 Singleturn DO 208 1 3 Class 1 Multiturn D1 209 2 Class 2 Singleturn FO 240 1 Class 2 Multiturn F1 241 2 IDEACOD 2 2 Singleturn F1 241 2 4 with velocity DO 208 1 IDEACOD 2 2 Multiturn F1 241 2 with velocity DO 208 1 IDEACOD 2 1 Multiturn F1 241 2 without velocity IDEACOD 2 1 Singleturn F1 241 2 without velocity IDEACOD 2 0 Multiturn F1 241 2 9 2 1 DO 208 1 IDEACOD 1 1 Multiturn D3 211 4 9 2 2 velocity preset E1 225 0 IDEACOD 1 0 Multiturn D3 211 4 9 2 3 velocity Class 2 Multiturn DXVersion F1 241 2 9 2 4 Paae 14 USER MANUAL MHM5 PROFIBUS BE 3 Class 1 and Class 2 profile These versions are the classic versions which were defined by the encoder working group in the Profibus User Organization in the Profile for encoder this can be obtained from the PNO Order No 3 062 IDEACOD 2 2 and IDEACOD 2 1 also 3 1 Parameterization A differentiation must be made between two statuses when it comes to data transfer On one hand the phase when the system runs up when the angular encoder is parameterized DDLM_Set_Prm mode and on the other hand
26. a very user friendly technique in which the gear factor can be directly Paae 12 IDEACOD BEI TECHNOLOGIES INC parameterizable Class 1 and parameterizable Class 2 absolute angular encoders When configuring the IDEACOD absolute value encoder the user specifies if the encoder should operate as Class 1 or Class 2 In addition IDEACOD manufacturer specific functions can be selected Note Class 1 and Class 2 encoders have nothing to do with Class 1 and Class 2 Masters It is quite possible to use a Class 2 encoder with a Class 1 Master www IDEACOD com The Type files should only be used for older types of masters which cannot process any GSD files In this case only Class 1 and Class 2 profiles are supported The hardware of the absolute encoder apart form the difference between multi and single turn encoders is always the same This allows the same encoder to be used in a wide filed of applications set at the system teach in procedure For some applications the simple profile Class 2 or even Class 1 are sufficient IDEACOD is also still providing this profile for this particular case Further IDEACOD is providing other versions which are described in Section 9 2 These involve especially older versions which for reasons of compatibility should still be available For new projects we recommend that profile IDEACOD 2 1 or IDEACOD 2 2 is used The later if the velocity output is required USER MANUAL MHM5 P
27. allows the master to freeze the states of the inputs for example of the absolute angular encoder to their instantaneous value The input data are only updated again when the master sends the UNFREEZE command Master device data file in which the slave specific properties and characteristics are defined The GSD is a file which is made available for most Profibus nodes stations by the manufacturer The GSD formats are unified so that the corresponding control software can access it also refer to gt Type file Bus nodes which can send data on their own initiative and define which slave should send data Slave Data unit of 8 bits 1 byte Process Fieldbus European fieldbus standard which is defined in the PROFIBUS Standard EN 50170 This specifies functional electrical and mechanical characteristics for a bit serial fieldbus system Transfers specific values such as resolution per revolution direction of rotation etc from the master to the encoder This is realized when the system runs up Bus node which essentially only sends data when instructed to do so by the Masters Absolute rotary encoders are always slaves Associated with the GSD and is mainly used for Siemens devices and software also refer to gt 9 2 Special encoder profile versions Is frequently used but not in a unified fashion for a data unit of 2 bytes Further the following abbreviations are used in this Us
28. bed in 3 2 2 For version IDEACOD 2 1 and mode IDEACOD 2 2 the preset value can be set both in Revision 03 01 USER MANUAL MHM5 PROFIBUS Paae 27 BE 4 2 2 Setting the counting direction The direction in which the angular encoder counts up can be changed on line during the commissioning mode The master can changeover the direction of rotation set in the angular encoder using bit 28 The angular encoder itself outputs the selected direction to the master in this bit If it is Peete _ saci a T sae ai ay alae a le alee ole isi ellolalnlolelalzlsl slalal2l o M gt S olo oloro of Cms olololol olofo som lolol oloon ol 1 Note The preset value refer to 3 2 2 must be set again after this function 4 2 3 Teach in START Start the measurement in order to determine the gear factor which is required so that the angular encoder outputs a number of steps specified by the user when the system traverses through a specific distance Later with the teach in STOP procedure refer to 4 2 4 the user enters the M Master function __Statusbits atabits o o ooo o MEP EEEEEEEE M gt S s m ol i oloo ol 1 mss ol olol of ol oo ssm ol al oloon ol 4l Note The gear factor is internally set to 1 and the zero offset is deleted Paae 28 lon The encoder now acknowledges the ne IDEACOD BEI TECHNOLOGIES INC zero then the encoder counts up in the clockwise direction of
29. coder in the normal operating mode refer to 4 1 4 USER MANUAL MHM5 PROFIBUS BE IDEA COD BEI TECHNOLOGIES INC The recommended sequence when using the start The data are transferred in normal operation up mode is to first set the direction of rotation and according to the schematic below The velocity is then possibly use teach in and then finally to set only output in version IDEACOD 2 2 the preset as the preset is changed by the first procedures mentioned ID F1 hex DO hex Significance Status position actual value Velocity Status 2 27 2 25 2 27 2 215 28 27 2 The master sends 4 bytes to the angular encoder The 4 bytes have the following significance Significance Preset value status Status 2 oF lee Bea oe The status bits have the following significance Bit 25 Ready 0 angular encoder is not ready 1 angular encoder is ready Bit 26 Mode 0 commissioning mode 1 normal mode Bit 27 Software limit switch 0 lower limit switch process actual value e upper limit switch 1 process actual value e lower software limit switch or process actual value upper software limit switch Bit 28 Code sequence Bit 28 0 Direction of rotation clockwise when viewing the shaft Bit 28 1 Direction of rotation counter clockwise when viewing the shaft 4 2 1 Preset value The preset value is set analog to the method the commissioning mode as well as in the normal descri
30. culated with the new qea IDEACOD BEI TECHNOLOGIES INC The calculated total resolution value output should be noted and later if the system is re configured for final normal operation set After this procedure the new gear factor is saved in the encoder so that it is not lost during power outages non volatile Note The preset value refer to 3 2 2 must be set again after this function is now sent to the encoder Resetting factor is outp In order that the encoder can be subsequently replaced without having to repeat the teach in procedure the total resolution determined by the encoder should be transferred into the Profibus master This is realized by entering the total resolution in the Desired Measuring units field refer to 4 1 2 and then the Desired measuring units per switch should be set to Maximal total measuring range refer to 4 1 3 The commissioning mode should then be switched out refer to 4 1 4 The encoder then operates in the normal mode Note It should be observed that for this new configuration the direction of rotation is correctly entered If this was changed in the commissioning mode refer to 4 2 2 then the direction of rotation must be set in the same way when the configuring operation is repeated Revision 03 01 USER MANUAL MHM5 PROFIBUS Paae 29 BE 5 Diagnostic messages Numerous diagnostic data are provided in EN 50170 the Profibus Standa
31. d with new devices rule no 2 can be ignored 1 If steps per revolution were selected then the selected total resolution GGA cannot cause the periods to be longer than the maximum 4096 revolutions This means that the selected total resolution must be less than 4096 times the number of steps per revolution GGA lt 4096 xn If this is not observed then the LEDs in the connecting cover display parameterizing error refer to 5 3 2 The periods i e GGA n must be an integer number This must fit an integer number of times integer multiple in 4096 Thus the following equation must apply 4096 GGA n 4096 x n GGA integer number This function is not monitored No error message is output Note Must only be observed with devices older than Software version 3 Paae 18 USER MANUAL MHM5 PROFIBUS BE The value for the selected total measuring range is saved in octets 14 to 17 IDEACOD BEI TECHNOLOGIES INC Octet 14 15 16 17 Bit 15 8 7 0 Data 2 to 2 Selected total measuring range in measuring steps Note In order that the resolution can be parameterized to be effective per revolution Class 2 functionality and the scaling function must be switched in 3 2 Data exchange in normal operation This is the normal status when the system is operational When requested to do so the angular encoder sends the actual values to the control system It can then also receive data This is the pre
32. d of a cable or segment A number which is assigned to each node no matter whether it is a master or slave The setting is realized in the connecting cover using rotary switches so Data transfer rate specified as the number of bits transferred per second baud Device which can send receive or amplify data via the bus When configuring the master signals the angular encoder how it is to behave e g the number of input and output words also refer to DDLM_Set_Prm Identification localization classification display additional evaluation of faults Address that it is non volatile Baud rate rate bit rate Bus node Configuring Diagnostics errors and messages DDLM DDLM_Data_Exchange DDLM_Set_Prm DDLM_Slave_Diag Direct Data Link Mapper Interface between Profibus DP functions and the encoder software Operating status of the bus for standard data transfer Operating status of the bus in which configuration data is sent Operating status of the bus in which diagnostics data are requested from the slave for example the absolute angular encoder DP Paae 4 Distributed peripherals USER MANUAL MHM5 PROFIBUS IDEACOD BE BEI TECHNOLOGIES INC Encoder Alternative designation f angular encoders or absolute value encoders Freeze GSD file Master Octet Profibus Parameterization Slave Type file Word This is a master command to the slave This
33. e activated USER MANUAL MHM5 PROFIBUS BE IDEACOD BEI TECHNOLOGIES INC Master interface IM 308 B How can the encoder be programmed Problem The COM ET 200 software does not support the WINDOWS version Can the encoder still be programmed Calling the diagnostic functions Problem How does one access the diagnostics information Removing the fault Normally the encoder cannot be simply programmed using this software as it is necessary to be extremely knowledgeable about the individual bits in the parameter octet We do not recommend such a programming procedure We recommend that the IM 308 C is used as the IM 308 B will also be shortly discontinued Removing the fault The diagnostic functions can be called up via the DDLM_Slave_Diag They are also transferred each time the master board runs up It is not possible to call up the information in the Data_Exchange mode Allen Bradley 1785 PFB B Profibus Master and Mitsubishi A1SJ 71PB92D Profibus Master Problem When the class 2 functionality is switched on the encoder does not go on line Class 1 however does not cause any problems Softing PROFlboard Problem When the class 2 functionality is switched on the values from the encoder are only updated once when the encoder is switched on Class 1 however does not cause any problems Revision 03 01 USER MANUAL MHM5 PROFIBUS Removing the fault These masters can process a maximum of 32
34. e master board for the number of possible diagnostic bytes For the IDEACOD 4 1 6 Activating octet 27 39 Octets 27 39 are activated with bit 7 in octet 26 This bit is automatically activated by selecting version IDEACOD 2 1 or IDEACOD 2 2 This bit should only be taken into account if the parameters are directly entered as hexadecimal values 4 1 7 Lower limit switch A total of two positions can be programmed When these two positions are fallen below or exceeded the absolute value encoder sets bit 27 to 1 in the 32 bit process actual value within the range it is zero IDEACOD BEI TECHNOLOGIES INC determined quantities should be directly entered in the DDLM_Set_Prm mode the bus is run up again with a configuration and the commissioning mode disabled absolute value encoders it is possible to reduce the number of diagnostic bytes output from the angular encoder to 16 Octet 26 Bit 3 Diagnostics 0 Standard 57 bytes 1 Reduced 16 sytes Bit 7 Octet 27 39 0 switched out 1 switched in Both limit switch values may not exceed the value set for parameter Total measuring range The lower limit switch is switched in using bit 5 in octet 26 The position value for the Lower limit switch is saved in octets 27 to 30 30 27 28 29 31 24 23 16 Ba a 2 to 2 Octet Bit Data Lower limit switch in measuring steps In units as the encoder outputs them after parameterization
35. eeeeseeeeeeeeeseeeeeeeeeeeentees 31 Mitsubishi A1SJ 71PB92D Profibus Master Problems with a e 49 N Node address SOWING ee o baad eesa cays races scteatsavst aticatureasraas 34 0 Operating parameter Interrogating the eee eee creer 31 Operating time OUTPUT OF ses catia cncse caress EE 32 Operating time alarm eee eee eee 32 P Periodic processes sessiseeeeereererrerrersrrrrn 18 Physical impulses esssseeseenerreereeresrsrreresnee 25 Preset valie vinene da i ante 20 Profile VErSiON ccccceeeseeeseeeeeeeeeeteeeeeeaeens 32 S Semaphore interlocking 48 Softing PROFIboard Problems With ss ciisirissssiiecserrisestiisreccsees 49 Software version Saved in the angular encodet 066 32 SLAtUS DIS Aseissa naaie 27 Steps in the actual values 47 48 T Teach In lanl wien EN eee 28 LOD ccs eset eaaae R 29 Terminating resistors eere 34 Total measuring range eee eee eres 18 Paae 50 USER MANUAL MHM5 PROFIBUS BE IDEACOD BEI TECHNOLOGIES INC TYPO TGs ceasasesvsdetereseasee tees Gassceavasnveivedivakisnartene 12 V Type nee E E ae ee ie Velocity When they are TequIred isien 2 Time DaS ies cevetiececceecencecheatescccceeeins canesce cates 26 Which configuration has to be selected 12 Revision 03 01 USER MANUAL MHM5 PROFIBUS Paae 51
36. er Manual API Absolute position actual value AU Resolution per revolution CW Clockwise Clockwise direction of rotation when viewing the shaft CCW Counter clockwise Counter clockwise direction of rotation when viewing the shaft GGA Selected total resolution MGA _ Maximum total resolution i e resolution specified from the hardware generally 2 PW Preset value PI Process actual value VC Velocity Revision 03 01 USER MANUAL MHM5 PROFIBUS Paae 5 BE IDEACOD BEI TECHNOLOGIES INC 1 2 Mode of operation of an absolute angular encoder Angular encoders have the task of converting the position angular position of a shaft into a number This number is then transferred onwards in a digital form The basic principle is that light from an LED is radiated through a transparent disc coding disk which is coded and the bright dark pattern is converted into digital signals GRAY 4096 N 46 W 681 Coding disk with Gray code Each angular position corresponds to another sequence of zeros of ones which uniquely defines the position as a result of the angular encoder hardware This is also the decisive difference to incremental angular encoders which only sense the change in the angular position but not the absolute position If an incremental angular encoder is rotated without it being operational e g it is in a no voltage condition when the equipment is powered up again the angular
37. er Systems doc ET2 Master 1 m Master system lt 1 gt DP Master System PROFIBUS Address 1 Station Type CP 5412 A2 PROFIBUS Address 1 Station Description Master system lt 1 gt Station Type IDEACOD_DP_ENCODE DO OED IS A daten 6S 3 Example of configuration Slave Diagnostics Status ontral Create GSD File Double click for slave parameters Offline The menu in which the station type is selected is The IDEACOD encoder should then be selected then displayed Slaveeigenschaften SIMODRIVE sensu 6FA2001 xxxxx ENCODER x Bezeichnung PROFIBUS Adresse 11 PE FREEZE fahiu RW cvair thin Anspechibemmachuny Fehlcrmeldcmoduz keiner QYZ PEU BE IDEACOD BEI TECHNOLOGIES INC If you now click on Configure then the menu window is displayed in which the profile can be selected E Preset Configuration x Standard version without 1 0 Multiturn velocity output refer to g Section 4 Page 20 21 Singleturn 2 1 Multiturn Standard version with 2 2 Singleturn velocity output refer to 2 2 Multiturn Section 4 Page 20 Also refer to Section 2for the various versions The following window now appears Click on the Refer to the COM Profibus and control Parameterize button documentation for the significance of Identification and Input and output address fl Configure Encoder 4 lt gt Revision 03 01 USER MANUAL M
38. er periods than 4096 revolutions If a value greater than the basic resolution of the angular encoder is selected as resolution per Paae 22 revolution the output code is no longer a single step code Thus it should be observed that the required resolution does not exceed the angular encoder resolution specified by the hardware 4096 steps per revolution for 12 bit encoders and 8192 steps per revolution for 13 bit encoders USER MANUAL MHM5 PROFIBUS BE 4 1 3 Desired measuring units reference Here a decision is made to the reference for the Desired measuring units resolution entered in octet 10 13 i e either e required number of steps per revolution e required number of steps per 4096 revolutions total maximum resolution e required number of steps per the number of Physical impulses saved in octet 35 39 also For example the selection field in COM Profibus looks like this E Desired measuring units per Revolution Maximal total measuring range Physical impulses 0000 Parameter Value Gear factors can be freely set using the later option Whereby it should be noted that if the resolution is higher than the physical one the single step functionality is lost IDEACOD BEI TECHNOLOGIES INC refer to 4 1 9 Physical impulses means The numerical value as the encoder internally reads from the coding disc This is always 4096 steps per revolution 8192 steps for the
39. fferent components goes over screened cable The screen should be connected to ground on both ends of the cable In certain cases a compensation current might flow over the screen Therefore a potential compensation wire is recommended Paae 35 Paae 36 IDEACOD BE BEI TECHNOLOGIES INC The following points should be observed Do not drop the angular encoder or subject it to excessive vibration The encoder is a precision device Do not open the angular encoder housing this does not mean that you cannot remove the connection cap If the device is opened and closed again then it can be damaged and dirt may enter the unit The angular encoder shaft must be connected to the shaft to be measured through a suitable coupling This coupling is used to dampen vibrations and imbalance on the encoder shaft and also avoid inadmissible high forces Suitable couplings are available from IDEACOD Although IDEACOD absolute value encoders are rugged when used in tough ambient conditions they should be protected against damage using suitable protective measures Care should be taken that they are not installed so that they can be used as handles or even steps Only qualified personnel may commission and operate these devices These are personnel 6 4 Instructions to mechanically install and electrically connect the angular encoder who are authorized to commission ground and tag devices systems and circuits according to
40. ge 17 Commissioning diagnostics section 3 1 3 page 17 Scaling function control section 3 1 4 page 17 Reserved Reserved Is not used for Class 1 and Class 2 refer to optional versions IDEACOD 2 1 and 2 2 10 Measuring units per revolution section 3 1 5 page 17 13 14 Total measuring range section 3 1 6 page 18 17 18 Reserved for the encoder profile 25 26 Is not used for Class 1 and Class 2 refer to optional Versions IDEACOD 2 1 and 2 2 3 1 1 Code sequence The code sequence defines the counting direction when the process actual value is output as the shaft rotates clockwise CW or counter clockwise Octet 9 Bit 0 Direction of rotation when viewing the shaft 0 Clockwise CW 1 Counter clockwise CCW For Class 1 this is the only parameter which can be set It should be observed that when the direction of rotation is possibly changed in the start up mode this is only available for IDEACOD 2 1 and IDEACOD 2 2 this is overwritten when re commissioning For example if the angular Paae 16 CCW when viewing the shaft The count direction is defined by bit 0 in octet 9 Output code increasing increasing encoder is no longer used in the commissioning mode but in the standard mode USER MANUAL MHM5 PROFIBUS BE 3 1 2 Class 2 functionality Using this switch Class 2 angular encoders can be restricted to the functionality of Class 1 i e the parameterizing capability is disabled
41. hich is not plausible and is generally extremely high The phenomena can be reproduced Revision 03 01 USER MANUAL MHM5 PROFIBUS Removing the fault Power down the PLC Remove the connecting cover of the encoder Check the encoder addressing Re mount the connecting cover Power up Also refer to Alarm messages using the LEDs in the connection cap on page 33 Removing the fault Check that the terminating resistors in the last bus node are switched in If the last node is an encoder then the terminating resistors in the connection cap must be switched in Check the screen connection in the connection cap Removing the fault The Total resolution total measuring units range has been selected too high with respect to the Number of steps per revolution This means that zero crossovers occur at the incorrect position and in conjunction with a set preset value non plausible values are displayed Also refer to 3 1 6 Paae 47 BE IDEACOD BEI TECHNOLOGIES INC Master interface IM 308 B The bus goes into a fault condition at each run up Problem The bus immediately goes into a fault condition at each power on Removing the fault First check whether the terminating resistors for the last bus node are switched in and the addressing is correct If everything is correct then the reason can be in the limited range of the diagnostic bytes The Sporadic encoder steps Problem The encoder positi
42. imit Switch eee 24 4 1 8 Upper limit switch eee 25 4 1 9 Physical impulses 0 eee 25 4 1 10 Angular encoder type 0 eee 26 4 1 11 Velocity time base ee 26 4 2 Normal operation and commissioning mode 26 4 2 1 Preset ValUC cc eeeeeseeseeeseeeseeeneeeeeeenes 27 4 2 2 Setting the counting direction 28 4 2 3 Teach in START cee eeeeeeeeeseeeeeeeeeeeees 28 Paae 2 IDEACOD BEI TECHNOLOGIES INC 4 2 4 Teach In STOP eseeeeeesteeeeeeseeeeeneeeees 29 5 Diagnostic messages csessseeeeees 30 SA OVENVIEW innsean aAA aS 30 5 2 Supported diagnostics messages 5 2 1 Extended diagnostics header 5 2 2 Memory error 0 0 eeeeeeeeeereeeeeeeneneeeeeeeees 5 2 3 Operating status eee 5 2 4 Encoder type 5 2 5 Single turn resolution 5 2 6 Number of revolutions c cceeeeeeeee 5 2 7 Operating time alarm 5 2 8 Profile version n se 5 2 9 Software version eeen 5 2 10 Operating time 5 211 Zero OfSCt s ncnncawocunenn Gasca 5 2 12 Parameterized resolution per revolution 32 5 2 13 Parameterized total measuring range 32 5 2 14 Serial MUMDEL 0 cece eects eeneeeeteeeeee 32 5 3 Alarm messages using the LEDs in the COMMECHOMN CAD oi seiccessscsoacus adtess evatvunt edgevesusoateneies 33 6 Installation eceseeeseceeeeseeeeseeeeeteeneeeeneeeees 34 6 1 Settings in the connection Cap ee 34 6 1 1 Node address
43. ion 03 01 USER MANUAL MHM5 PROFIBUS Paae 7 BE Here is an example of how this relationship could look like X2 IDEACOD BEI TECHNOLOGIES INC X2 f X1 Xi 0 This represents a decisive advantage The control system is relieved by shifting this conversion Direction of rotation complement Xi 16 777 215 process out of the control system into the encoder The output values can be influenced as follows This defines whether the angular encoder counts up when rotating clockwise or when rotating counter clockwise Resolution per revolution AU Number of steps by which the value increases by for each revolution Total resolution GA This parameter specifies the highest number which the output position values can assume Preset value PW The user can assign a value to any position of the angular encoder shaft the preset value The preset value must lie within the total resolution Gear factor A factor x X2 can be entered this defines the ratio between the physical resolution and the required resolution The gear factor can be Note As the position values are periodically repeated after 4096 revolutions the function dependent on this f x1 must also be repeated at the latest after 4096 revolutions This has important consequences when using Endless operation i e the shaft rotates an unlimited number of times in a specific direction and at some time exceed
44. it is kept during power outages non volatile data save 0 a No Yes Paae 31 BE 5 2 4 Encoder type The angular encoder version can be interrogated using diagnostics byte 10 The code is saved in the hexadecimal notation Code 00h Single turn angular encoder Oth Multi turn angular encoder Definition 5 2 5 Single turn resolution The physical resolution per revolution of the angular encoder can be interrogated via diagnostic bytes 11 14 The value is saved in the binary code 5 2 6 Number of revolutions The physical number of revolutions of the angular encoder can be interrogated using diagnostic bytes 15 and 16 The value is saved in binary code The two standard values are 1 for singleturn and or 4096 for multiturn 5 2 7 Operating time alarm The alarm signal when the operating time is exceeded is output in bit 4 of diagnostic byte 20 This bit is set after 10 hours Bit Definition 0 4 Operating time alarm No Yes 5 2 8 Profile version The profile version of the angular encoder is saved in diagnostic bytes 24 and 25 Octet 24 25 Bit 7 0 Data 2 2 By 2R Revision No Index Paae 32 IDEACOD BEI TECHNOLOGIES INC 5 2 9 Software version The software version of the angular encoder is saved in diagnostic bytes 26 and 27 Octet 26 27 Bit 15 8 7 0 Data 2 to 2 2 to 2 Revision No Index 5 2 10 Operating time The angular encoder operating time i
45. nge mode this on line parameterization not only allows the preset value to be set but in addition also the Paae 20 functions but he does not have to The system is fully harmonized to the users requirements and features which are not required can be disabled direction of rotation and the capability of automatically calculating the resolution An overview of the individual bytes for IDEACOD 2 1 and IDEACOD 2 2 is provided in the following table USER MANUAL MHM5 PROFIBUS BE IDEACOD BEI TECHNOLOGIES INC Overview of the significance of the various bits and bytes when running up the bus versions IDEACOD 2 2 and IDEACOD 2 1 Octet byte No Parameter Bit No Details refer to Section Page 1 8 Reserved for PROFIBUS specific data 9 Code sequence 0 3 1 1 16 Class 2 functionality 1 3 1 2 17 Activate Commissioning Diagnostics 2 3 1 3 17 Scaling function control 3 3 1 4 17 Reserved 4 Reserved 5 Activate octet 26 6 ahili 22 Reserved 7 z 10 13 Desired measuring units per xxx 4 1 2 22 refer to octet 26 bit 0 and 1 14 17 total measuring range 3 1 6 18 18 25 Reserved for the encoder profile 26 Desired measuring units reference 0 4 1 3 23 1 Activate commissioning mode 2 4 1 4 23 Shorter diagnostics 16 bytes 3 4 1 5 24 Reserved 4 Activate lower limit switch 5 4 1 7 24 Activate upper limit switch 6 4 1 8 25 Activate octet 27 39 7 4 1 6 24 27 30 Lower limit switch 4 1 7 24
46. on values sporadically jump and cannot be directly reproduced e g by actually moving the encoder in the system or manually moving the shaft Further the step generally only occurs for one machine cycle of the PLC control Further the bus does not go into a fault condition Cause The PLC control accesses data on the Profibus Master IM 308C The encoder does not control PLC data accesses to the IM308 C The user must ensure that his programming is correct Type files Several older software packages e g COMET 200 or Windows COM V 2 0 cannot process any GSD files For these cases please use the type files Please contact you software vendor for details Paae 48 encoder provides 57 diagnostic bytes However the IM 308 B can only process 32 bytes This results in bus errors The encoder can be operated as Class 1 encoder on the bus as in this case only 10 diagnostic bytes are transferred However if the programming capability is required the abbreviated diagnostics can be switched in for Version 2 1 and Version 2 2 Refer to 4 1 5 Removing the fault 1 Always read out the encoder values in the following sequence a Most significant address b Least significant address 2 Devices addressed in the Q range must be read out from the highest address to the lowest address in order to guarantee data consistency 3 When using a multi processor control which accesses a Profibus master the semaphore interlocking must b
47. played using the LEDs Lfd Nr 1 2 Rote LED Dark Bright Bright Flashing Bright Dark Dark Revision 03 01 gr ne LED Dark Bright Flashing Bright Dark Bright Flashing Statusmeldung M gliche Ursache Power supply missing Encoder ready but has not received any configuration data after power on Parameterizing or configuring error i e the encoder receives configuring or parameterizing data with the incorrect length or inconsistent data for example the total resolution has been set too high Encoder ready but is not addressed from the master for example an incorrect address was addressed Encoder doesn t receive data for a longer period of time approx 40 sec for example the data line has been interrupted Standard operation in the Data Exchange mode Commissioning mode in the Data Exchange mode USER MANUAL MHM5 PROFIBUS Paae 33 BE 6 Installation 6 1 Settings in the connection cap 6 1 1 Node address The node station address is simple to set using the rotary switch under the connecting cover _AbschluBwiderstande_ Termination resistors ___ Gerateadresse Device address Permissible addresses lie between 0 and 99 whereby each one must be unique in the complete system The user can simply remove the connecting cover for installation purposes by releasing two screws on the angular encoder IDEACOD BEI TECHNOLOGIES INC 6
48. position information is lost and it is necessary to re reference the machine which can be complex For an absolute angular encoder in such a case position changes are also sensed without a power supply voltage being available and after the operating voltage is switched in again transferred to the higher level control system The coding disk allows individual revolutions to be coded The standard resolutions are 4096 steps 2 and 8192 steps 2 per revolution For so called multi turn versions a gearbox with additional coding discs is integrated in the angular encoder This means that up to 4096 revolutions can be sensed As a result of the hardware there is also an absolute assignment to the angular range 4096 steps revolution x 4096 revolutions 16 777 215 steps These values are absolute i e there is an absolute zero point and after 4096 revolutions the same values are read out again Sensors are used to read out the data which then convert the bright dark pattern into digital electrical signals Paae 6 USER MANUAL MHM5 PROFIBUS BE IDEACOD BEI TECHNOLOGIES INC This code value is now converted in the angular the coding discs is therefore assigned a new encoder The user can influence this conversion in numerical value x1 gt X2 f x1 This relationship is various ways and therefore adapt the output always linear values to his requirements Value x read out from Revis
49. rd The widest range of values can be interrogated via the bus The 5 1 Overview When requested by the master by using DDLM_Slave_Diag a series of data is transferred IDEACOD BEI TECHNOLOGIES INC diagnostic data supported by the IDEACOD encoder will now be described Exception Shorter diagnostics refer to 4 1 5 The diagnostics data are output according to the There are 57 pieces of diagnostics data encoder profile rules Diagnostics function Data type Diagnostics Encoder class octet number Station status 1 ref to Profibus Standard Octet 1 1 Station status 2 ref to Profibus Standard Octet 2 1 Station status 3 ref to Profibus Standard Octet 3 1 Diagnostic Master Address Octet 4 1 PTO identification number Octet 5 6 1 Extended diagnostics header Octet String 7 1 Alarm messages Octet String 8 1 Operating status Octet String 9 1 Encoder type Octet String 10 1 Resolution per revolution hardware unsigned 32 11 14 1 Number of revolutions hardware unsigned 16 15 16 1 Additional alarm messages Octet String 17 2 Supported alarm messages Octet String 18 19 2 Warnings Octet String 20 21 2 Supported warnings Octet String 22 23 2 Profile version Octet String 24 25 2 Software version Octet String 26 27 2 Operating time Unsigned 32 28 31 2 Zero offset Unsigned 32 32 35 2 Manufacturer specific Offset value Unsigned 32 36 39 2 Parameterized resolution per revolution Unsigned 32
50. rotation when viewing the shaft If it is one it counts up in the counter clockwise direction of rotation selected direction of rotation in bit 0 and bit 28 required number after the distance has actually been traversed e g in manual operation This function allows the gear to be automatically calculated The measuring path may not exceed 2047 revolutions The teach in mode is activated by setting bit 30 Acknowledging by setting bit 30 to 1 Non calculated process actual value gear factor 1 no preset active USER MANUAL MHM5 PROFIBUS BE 4 2 4 Teach In STOP The path difference calculation is started and displayed using this function The calculation can only be realized if the teach in START procedure refer to 4 2 3 was first executed When entering the required number of steps it should be observed that the physical resolution is not exceeded e g entering 3000 steps for a quarter of a revolution Positive and negative directions of rotation are automatically taken into account and also if the zero is exceeded _M Master tnaion Sawspts SS ME E E EE E M gt S S gt M M gt S ol s m od doron ol 4 Number of steps which the encoder should outp _ Numer of steps which the encoder should output is now sent to the encoder _ ol al afonol of al Transfer of the total measuring range for the new gear factor this should be note ol of of of of ol The process actual value cal
51. s the 4096 revolutions With former encoder versions this problem resulted in restrictions regarding the programming of Paae 8 alternatively entered to the value Resolution per revolution resolution per revolution and total resolution when using the device in endless operation From software version 3 on the problem which occurs when crossing the physical zero point is solved by an internal software routine So there are no more restrictions for the use in endless operation USER MANUAL MHM5 PROFIBUS BE 1 3 General information about Profibus Profibus was the first international open non proprietary fieldbus standard for building management production and process automation There are three different versions Profibus FMS Profibus PA and Profibus DP The IDEACOD absolute rotary encoders are designed for the DP version The competent contact partner for the Profibus system in general with a broad spectrum of The IDEACOD absolute rotary encoders fulfill all of the requirements according to Profibus DP from DIN 19245 Parts 1 and 3 The integrated Profibus DP interface of the absolute value encoder is IDEACOD BEI TECHNOLOGIES INC information about the technology manufacturer and suppliers is PROFIBUS Trade Organization PTO Haid und Neu StraBe 7 D 76131 Karlsruhe Germany Tel 49 721 96 58 59 0 Fax 49 721 96 58 58 9 designed for a maximum data transfer rate of 12 MBa
52. s kept in diagnostic bytes 28 to 31 When the power supply voltage is connected the operating time is saved every six minutes in 0 1h steps in the angular encoder 5 2 11 Zero offset The zero offset is output in diagnostic bytes 32 to 35 5 2 12 Parameterized resolution per revolution The parameterized resolution per revolution is saved in diagnostic bytes 40 to 43 This value is only valid if the gearbox factor was calculated in the parameter mask using the setting Resolution per revolution refer to 4 1 3 5 2 13 Parameterized total measuring range The parameterized and calculated total resolution can be read out of diagnostic bytes 44 47 5 2 14 Serial number Diagnostic bytes 48 57 are provided for a serial number This signal has presently not been implemented The bytes are pre assigned hex 2A default value USER MANUAL MHM5 PROFIBUS IDEACOD BE BEI TECHNOLOGIES INC 5 3 Alarm messages using the LEDs in the connection cap The connection cap has two LEDs which optically the angular encoder Each LED can have one of represent the status of the bus at the angular three conditions dark bright flashing From the encoder This red LED is used to display errors nine combination possibilities six are used to and the green LED is used to display the status of display a special condition green LED gr n Ea Sy The connection cap from outside Overview of the various conditions dis
53. s selected 4 1 11 Velocity time base The velocity output units can be selected using bits 4 and 5 in octet 39 Velocity time base Steps 1000 ms 0 IDEACOD BEI TECHNOLOGIES INC Angular encoder type Singleturn Multiturn 1 In the case of the steps 1000 ms unit an average is made over 200 ms and the value multiplied by Steps 100 ms Steps 10 ms RPM Revolutions per minute 1 4 2 Normal operation and commissioning mode Two different conditions of the DDLM_Data_Exchange mode are available with the versions IDEACOD 2 1 and IDEACOD 2 2 Especially the teach in technique in the commissioning mode allows gear factors to be simply determined directly in the system In this case the system is brought to the start of the range to be traversed e g a distance of 4 m and then the teach in routine is started refer to 4 2 3 Now for example the range is traversed manually With the teach in stop routine refer to 4 2 4 the Paae 26 user enters how many steps he wishes to have along this particular path e g 4000 steps each step would then correspond to 1 mm The encoder internally calculates the new gear factor and automatically sets it It is saved so that it is not lost during power outages non volatile The device then provides the total resolution This should be noted and later when the system is finally commissioned set using a new configuration and it then recommended to operate the en
54. set value for Class 2 angular encoders Other 3 2 1 Transferring the process actual value In the standard operating mode 31 bit 15 for single turn versions MSB 0 bit If the parameterizing is changed then it maybe necessary to set earlier set presets in standard operation as they now refer to the modified scaling values can also be transferred with the configuration IDEACOD 2 1 and IDEACOD 2 2 configurations refer to Section 1 The versions below refer to multi turn versions but can be considered exactly like single turn encoders The angular encoder does not change the preset value unction Status bits Process actual value 31 s0 29 28 27 26 25l 24 23 22 21 20 19 18 17 16 15 14 13 12 14 10 ol elz el 5 4 faol of ol of of ol of ob x Ix Ix x x bx x Px fx fx bx Lo fx Dx Px boc Px bo Px bed bef Revision 03 01 USER MANUAL MHM5 PROFIBUS Paae 19 BE 3 2 2 Preset value The preset value is the process actual value which should then be output when the axis is in a certain physical position Using the preset value parameter the value output from the angular encoder is defined at a specific angular position The preset value may not exceed the total resolution parameter The preset value is set after the scaling parameter Resolution per revolution is transferred and Total resolution is set and refers ee T l _S Save Bt _ 31 30 291 28 27 26 251 24 23 22l 21
55. the current state of safety technology e It is not permissible to make any electrical changes to the encoder e Route the connecting cable to the angular encoder at a considerable distance away or completely separated from power cables with their associated noise Completely screen cables must be used for reliable data transfer and good grounding must be provided e Cabling establishing and interrupting electrical connections may only be carried out when the equipment is in a no voltage condition Short circuits voltage spikes etc can result in erroneous functions and uncontrolled statuses which can even include severe personnel injury and material damage Before powering up the system check all of the electrical connections Connections which are not correct can cause the system to function incorrectly and fault connections can result in severe personnel injury and material damage USER MANUAL MHM5 PROFIBUS IDEACOD BE BEI TECHNOLOGIES INC 7 Angular encoder and the COM Profibus The Profibus DP master commissioning is illustrated using as an example the IM 308 C interface board with the COM Profibus software 7 1 Reading in the GSD files COM Profibus can be started after the GSD file has been copied into the directory GSD and the bitmap into the directory Bitmap The type files are first read in by selecting the menu item Read 7 2 Configuring the master system An existing configuration file
56. ud The integrated software supports all of the functions of the official encoder profile for Profibus DP Data is always output in the binary code Call telegram DP Master Output data Header Info Input data DP Slave Response telegram Schematic overview of data transfer for Profibus DP A basic differentiation is made between the following states when exchanging data Configuring and parameterizing phase DDLM_Set_Prm This is active when the system runs up 2 DDLM_Data_Exchange mode Standard operation the masters sends an inquiry which the angular encoder responds with the actual position process actual value and additional data for example velocity 3 DDLM_Slave_Diag In this status the slave sends diagnostics data to the master Revision 03 01 USER MANUAL MHM5 PROFIBUS Paae 9 BE DP SRD Request variable information field length IDEACOD BEI TECHNOLOGIES INC DP Master Slave SRD Response variable information field length Telegram formats SRD Send and request data with acknowledge Data are sent and received in a message cycle Syn Synchronisation Time SA Source Address SD Start Delimiter FC Function Code LE Length DU Data Unit Ler repeated Length FCS Frame Check Sequence DA Destination Address ED End Delimiter always 16 hex For PROFIBUS DP a differentiation is made after the GAP time has expired in order to between four various telegram types

Absolute Rotary Encoder with Profibus

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