USER MANUAL ABSOLUTE ROTARY ENCODER
Contents
1. X any number of position value Object 2104h Limit Switch Minimum Value This object defines the maximum value for a working area of the encoder The value has to be less than the configured total resolution set in object 6002h If the position value has reached or exceeded this limit value than the bit30 in the Subindex Description position value is set till the position is above the minimum value of the limit switch The function of the limit switch can be enabled disabled by setting a bit in the object 2110h Limit Switch Control Data Type Default Value Access Oh Limit Switch Minimum Value Status bits Func Position value tion lUnsigned 32 lo rw BitNo 31 30 29 28 27 26 25 24 23 22 21 20 O 1 XIX X XXX X any number of position value Object 2110h Limit Switch Control This object the switches from each other LSB bit 0 controls the controls independently limit Limit Switch Minimum Value and bit 1 controls the Limit Switch Maximum Value If the corresponding bit is set to logical 1 the Limit Switch is activated Page 31 UME OCD E2A2 Release 20130222 POSITAL FRABA USER MANUAL ABSOLUTE ROTARY ENCODER ETHERNET POWERLINK Subindex Description IData Type Default Value2. 11 11 5 Diagnostic 12 5 1 Function of LEDs for Port 12 Page 2 UME OCD E2A2 POSITAL FRABA USER MANUAL ABSOLUTE ROTARY ENCODER ETHERNET POWERLINK Function of LEDs for Powerlink 12 Network Configuration 13 Configuration see 13 Definition of NODE IDs 14 Project 15 XDD FIBI 15 Import the Encoder to the Project Tool 15 Add to a Network 16 Online 18 Configuration Network 19 Initial Configuration 20 Example Device Configuration 21 Diagriostic 22 Powerlink Protocol Version 2 24 Powerlink Cycle 24 Encoder Profile 25 Manufacturer Specific Profile 30 Glossary seen 33 Release 20130322 POSITAL FRABA USER MANUAL ABSOLUTE ROTARY ENCODER ETHERNET POWERLINK General Security Advise Important Information Read these instructions carefully and look at the equipment to become familiar with the device before trying to install operate or maintain
3. Parsen der Dateien fur SmartE dt Unterst tzung Parsen abgeschlossen Datei D openCONFORMANCE XDD 0x00000042_PowerlinkRotaryE ncoder_OCD_V02 07 xdd erfolgreich importiert Datei D openCONFORMANCE XDD 0x00000042_PowerlinkRotaryEncoder_OCD_V02 07 xdd erfolgreich importiert ES Ausgabe Debugger Konsole amp Suchen in Dateien J Autrufliste Debugger Watch SE Haltepunkte 2 Querverweis Referenzliste F r Hilfe Fl dr cken itcpip RT 1000 DAIP 10 0 0 110 CKDA 0 REPO 11159 ANSL 1 220 0571 45 V3 0 RUN 26 31 Sp 2 The displayed parameters contain in the name the object number and name from the device profile DS 406 see chapter Encoder Device Profile Furthermore the data type is given in short form as 016 unsigned 16 bit and U32 unsigned 32 bit In the field initial value the desired configuration value can be set In the case that the encoder is exchanged the managing node master will detect this because of changed configuration and transmits these initial value to the new device This Page 20 UME OCD E2A2 allows an easy replacement and also easy first integration Regarding the Preset Value the user has to take special care If the encoder is exchanged the parameters 6000 hex 6001 hex and 6002 hex make sense But the preset value 6003 hex will be set at the current position and the user has to
4. Oh Limit Switch Minimum Value Unsigned 32 0 lw Bit 0 Control Limit Switch Minimum Bit 1 Control Limit Switch Maximum Bit 2 7 Reserved Page 32 UME OCD E2A2 Release 20130222 11 Glossary POSITAL FRABA USER MANUAL ABSOLUTE ROTARY ENCODER ETHERNET POWERLINK Term Explanation 10 Base T Transmission line with 10 Mbit data transmission rate 100 Base T Transmission line with 100 Mbit data transmission rate ASCII American Standard Code for Information Interchange ASCII describes as code the correlation from digital integers to a normal font described character Batch file Script program for MS DOS Baud rate Transmission rate it displays the transmission bits per second Binary Numeric system with value 0 or 1 Browser Software program to display HTML Sides on different operating systems Linux Unix Windows 5 Terminations for transmission rates up to 100 Mbit CRC The cyclic redundancy check is a method from the information technology to control a checksum for data to reduce errors by the transmission EMC Electromagnetic compatibility there are rules to verifying devices Ethernet Ethernet is a computer network technology based on frames Fast Ethernet Transmission technology with 100 Mbit transmission rate FCS Bytes The Frame Check Sequenz Bytes are a 32 Bit CRC Checksum Flash Internal memory saved data wil
5. RJ45 M12 straight Signal RJ45 Pin M12 Pin Signal TX 3 1 TX 6 3 Rx 1 2 Rx 2 4 Rx M12 M12 crossed Signal M12 Pin M12 Pin Signal TX 1 2 Rx 3 4 Rx 2 1 TX Rx 4 3 Page 11 UME OCD E2A2 Release 20130322 POSITAL FRABA USER MANUAL ABSOLUTE ROTARY ENCODER ETHERNET POWERLINK 5 Diagnostic LED s The encoder provides on the backside of the Furthermore there are two LEDs to indicate the connection cap several diagnostic LEDs For each network status for Powerlink named and port of the HUB there is a functional combined Status The exact meaning of the LED indication LED for link status and activity named 5 is specified in the following tables 5 1 Function of LEDs for HUB Port LED Color Status Description for LED on LS DA 1 Green On LINK is active for HUB port 1 Blinking Activity on HUB port 1 LS DA 2 Green On LINK is active for HUB port 2 Blinking Activity on HUB port 2 5 2 Function of LEDs for Powerlink LED Color Status Description for LED on Error Red On Not allowed node number 0 240 255 decimal Internal communication error Buffer underrun overflow Collision CRC error Loss of SoC Off No error Status Green Off Not active Flickering Basic Ethernet mode Single flash Pre Operational 1 Double flash Pre Operational 2 Triple flash Ready to operate On Operational Bl
6. anzeigen Modul einf gen Modul ersetzen zk Abbrechen 7 3 Add to a Network Then you will get back to the general view and you have to open the interface card in the left window of the physical view and select ffne Powerlink D ASprojects Kopie von fraba_test4_static_map iraba_test4_static_map apj Config Automation Studio V 3 0 90 18 1 5 468187 Datei Bearbeiten Ansicht Einf gen ffnen Projekt Versionskontrolie Online Extras icd Hilfe iugum bd ee ac K 74 25 i 4 220 0571 45 USB1 Ly USB 2 Display e JJ SubSkgt Lys One IF2 POWERLINK 1 0 Zuordnung IF2 POWERLINK Konfiguration S eBESIGNER Einf gen us Gehe zu Master Eintrieren Freigeben Uparede Select in the right part of the window the salve module and the entry Einf gen Page 16 UME OCD E2A2 Release 20130222 POSITAL FRABA USER MANUAL ABSOLUTE ROTARY ENCODER ETHERNET POWERLINK new window named Modulparameter will open where the user can configure the node ID in the entry field Knotennummer Take care that this Modulparameter 1 Modul FRABA System POWERLINK Gerate Typ POWERLINK Controller Bestellnummer FRAB Posital Absolute Rotary Moduladresse keine ETHERNET 8 R ckwand Nummer keine POWERLINK Adresse keine Version 1 0 Knotennummer f Muss mit dem Knotennummem
7. 78 88 ab 06 TO 01 05 26 26 00 00 00 00 8001 00 00 00 00 b9 01 Of el 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 0000 00 00 Frame 51359 60 bytes on wire 480 bits 60 bytes captured 480 bits on interface 0 Ethernet II Src CamilleB 56 78 9a 00 12 34 56 78 9a Dst EPLv2 ASnd 01 11 1e 00 00 04 In this screen shot you can see a log of configuration telegrams SDO messages In the right column the direct on transmission with read write and the related object in hexadecimal Page 22 UME OCD E2A2 1 Fie C TEMP wieshark FA2FBSTE EBCF 4BBS SEZD Packets 140286 Displayed 18 Marked 0 Dropped 0 _ Profile Default with sub index is displayed So it is easy to control which parameter objects of the encoder are set For getting this kind of view the filter has to be set in the following way Release 20130322 POSITAL FRABA USER MANUAL ABSOLUTE ROTARY ENCODER ETHERNET POWERLINK epl asnd sdo cmd response The symbol defines an logical or operation epl asnd sdo cmd read by index index With the sample above we would just give idea epl asnd sdo cmd data size how a diagnosis is possible and there are many epl asnd sdo cmd write by index data other ways to conduct this with other tools or filter settings Page 23 UME OCD E2A2 Release 20130322 POSITAL FRABA USER MANUAL ABSOLUTE ROTARY ENCODER ETHERNET POWERLINK 8 Powerlink
8. ID 1 9 Pruefe Revisionsnummer i Long Pruefe Produktcode Ee Kanaele PostionValue_U32_16004 i a 9 Zyklische Uebertragung g 9 Datentyp Geraetespezifische Parameter 59 OperatingParameters_U16_16000 Datentyp g Initialwert MeasuringUritsPerRev 032 16001 9 Datentyp 19 lritialwert TotaMeasuringRange 1132 16002 9 Datentyp 19 lnitialwert 54 PreselValue U32 16003 ia 9 Datentyp tii PLCL CPU sLLSSLIFZSTI VO Konfiguration C testSDOsttestSDOCydlic Ansi C 9 Online Einstellungen 2 PLCL CPU SLL SS1 POWERLINK 56 Aus Service Mode ausloesen wenn Modul nicht vorhanden ist Controlled Node 22 Aus Output Daten am Anfang des Zyklus im PRes Frame des Managing Node versenden Aus Aus Aus Pruefe richtigen Geraetetyp ein 0x00000042 Pruefe auf richtige Hersteller ID Aus Pruefe richtige Flevisionsnummer ein 0x00004532 Pruefe auf richtigen Produktcode Objekte fuer zyklische Uebertragung Lesen UDINT UNSIGNED32 Werden beim Hochlauf an das Geraet uebertragen UINT UNSIGNED18 4 Wird beim Hochlauf gesetzt Loeschen um den Wert zu erhalten UDINT UNSIGNED32 3600 Wird beim Hochlauf gesetzt Loeschen um den Wert am Geraet zu erhalten UDINT UNSIGNED32 7200 Wird beim Hochlauf gesetzt Loeschen um den Wert am zu erhalten UNSIGNED32 UDINT FBE 0x00000042_PowerlinkRotaryEncoder_OCD_V02 07 Ausgabe
9. device Subindex Description Data Type Default Value Access Oh Supported Alarms Unsigned 16 th Ro Object 6505h Warnings The object provides the status of warnings of the device Subindex Description Data Type Default Value Access Oh Warnings Unsigned 16 Oh ro Object 6506h Supported Warnings The object provides the supported warnings of the device No warning is supported Subindex Description Data Type Default Value Access Oh Supported Warnings Unsigned 16 10h ro Object 6507h Profile and Software Version This object provides the implemented encoder device profile version and the manufacturer specific software version Subindex Description Data Type Default Value Access Oh Profile and Software Version Unsigned 32 xxyy0302h ro The value is divided into the profile version part and the Software version part Each part is divided in upper version and lower version MSB LSB Software Version xx yy Profile Version 3 2 Upper Software Version Lower Software Version Upper Software Version Lower Software Version XX yy XX yy Page 28 UME OCD E2A2 Release 20130222 POSITAL FRABA USER MANUAL ABSOLUTE ROTARY ENCODER ETHERNET POWERLINK Object 6509h Offset Value This object contains the offset value It is been calculated by the preset function and shifts the physical position value with the desired value Subind
10. fur Smart dit Unterst tzung Parsen abgeschlossen E Ausgabe Debugger Konsole amp Suchen in Dateien 2 Aufrufliste Debugger Watch SE Haltepunkte 2 Querverweis ig Referenzliste Importiert ein Feldbusgerat tcpip RT 1000 DAIP 10 0 0 110 0 REPO 11159 ANSL 1 2200571 45 V3 08 RUN 160 5 0 Page 15 UME OCD E2A2 Release 20130322 POSITAL FRABA USER MANUAL ABSOLUTE ROTARY ENCODER ETHERNET POWERLINK Another window is opening go to the section POWERLINK Ger te and select the right XDD file for the used encoder type Bitte ein Controller Modul ausw hlen 32d xl Systemfamilie B amp R X67 X57BC8321 Bus Controller POWERL 7 8321 1 X67 Bus Controller 7 8321 112 X67 Bus Controller 7 8331 X67 Bus Controller THERN XB7BC8513 L12 Bus Controller POW POWERLINK POWERLINK Gerste POWERLINK Ger te FRABA Posital Absolute Rotary FRABA Posital Absolutd Posital Absolute Rotary V2 0 FRABA Posital Abs FRABA Posital Absolute Rotar Posital Absolutd Posital Absolute Rotary Posital Absolutd FRABA Posital Absolute Rotar FRABA Posital Absolutd 1 FRAB i lutd KEB Lenze EMF21911B POWERLINK Allgemeine POWERLINI Lenze Frequenzumrichte Kundenspezifische POWERLINK V2 iCN POWERLINK V2 intellig 2 Komponenten
11. mapped to the output data It is the object 6004 hex The mapping is fixed because a modification is not possible Release 20130322 POS TAL F RA BA USER MANUAL ABSOLUTE ROTARY ENCODER ETHERNET POWERLINK 7 6 Initial Configuration In the section Device Specific parameter the values for the displayed parameters will Ger tespezifische Parameter configured be transmitted in the start up phase But this is only the case if the configuration has been changed in the encoder that means different to the values set in the project tool D ASprojects Kopie von fraba_test4_static_map fraba_test4_static_map api Configl Automation Studio V 3 0 9018 1 5 468187 Datei Bearbeiten Ansicht Einf gen ffnen Projekt Versionskontrolle Online Extras Fenster Hilfe idle bg a fy og ou 1888 RO QOL B PLCI 4PP220 0571 45 PLC1 CPI 1 0 Bed USB 1 F6 Lk IFE STI Ed USB2 IF L IF7 ST1 Display 051 8 1 SubSlot svi C 378231 851 12 Ski Ji FRABA Posital Absolute Rotary Encoder PLC1 CPI 1 0 h Logical view configuration view Physical view 1008 2 gt amp amp S Lt 09 E p SLISSTIF2STI E 7 Allgemein joo 9 Modulueberwachung 25 009 Powerlink Parameter 9 Modus Antwort Timeout us i Ausgangsdaten im PResMN Multiplexed Station i 9 Verkettete Station Ee Emeitet Pe Geraetetyp pruefen Pep 9 Pruefe Hersteller
12. mechanically Page 6 UME OCD E2A2 geared code disks to as many as 16 384 27 revolutions These encoders are fully capable of operating in rugged industrial settings Release 20130322 POSITAL FRABA USER MANUAL ABSOLUTE ROTARY ENCODER ETHERNET POWERLINK 2 7 Singleturn The measuring system in the single turn module consists of a light source a code disc pivoted in a precision ball bearing and an opto electronic scanning device A LED is used as a light source which shines through the code disc and onto the screen behind The tracks on the code disk are 2 8 Multiturn Linear systems normally need more than one turn of a shaft A single turn encoder is unsuitable for this type of application because of the additional requirement of the number of turns The principle is relatively simple Several single turn encoders are Page 7 UME OCD E2A2 evaluated by an opto array behind the reticle With every position another combination of slashes in the reticle is covered by the dark spots on the code disk and the light beam on the photo transistor is interrupted That way the code on the disc is transformed into electronic signals Fluctuations in the intensity of the light source are measured by transistor and another an additional photo electronic circuit compensates for these After amplification and conversion the electronic signals are available for evaluation Single turn encoders specify the absol
13. switches shall be set to address 0 The factory default software node ID is 165 and can be modified by SDO telegrams afterwards to the desired value 6 2 Definition of NODE IDs The following table shows the definition for the NODE IDs used in a Powerlink network Powerlink Node ID Naming Description acc To EPSG DS 301 V1 1 0 O C ADR INVALID General not allowed 1 239 Controlled node like encoder 240 C_ADR_MN_DEF_NODE_ID Managing node 241 250 Reserved 251 C_ADR_SELF_ADR_NODE_ID Pseudo node ID Used for self addressing 252 C_ADR_DUMMY_NODE_ID Dummy node 253 C_ADR_DIAG_DEF_NODE_ID Diagnostic node 254 C_ADR_RT1_DEF_NODE_ID Router Powerlink to legacy Ethernet 255 C_ADR_BROADCAST Broadcast message Page 14 UME OCD E2A2 Release 20130222 POSITAL FRABA USER MANUAL ABSOLUTE ROTARY ENCODER ETHERNET POWERLINK 7 Project Integration This integration description is an example related project tool or hardware set up using a Powerlink to B amp R control units and automation studio In network general the user can integrate the encoder in any 7 4 XDDFile A XDD file describes the properties and functions An actual XDD file can be downloaded from the of the sensor like timings and configurable sensor website www posital com parameters By using the XDD file an easy and abstract integration of a Powerlink device in a The format of the XDD file is XML and is simila
14. D_V02 07 xdd erfolgreich importiert Datei D openCONFORMANCE XDD 0x00000042_PowerlinkRotaryEncoder_OCD_V02 07 xdd erfolgreich importiert ES Ausgabe Debugger Konsole amp Suchen in Dateien J Autrufliste Debugger Watch SE Haltepunkte 2 Querverweis Referenzliste F r Hilfe Fl dr cken 1000 DAIP 10 0 0 110 CKDA 0 REPO 11159 ANSL 1 220 0571 45 V3 08 RUN Ze 11 5 2 In the section Powerlink Parameter can be decided if the encoder is a multiplexed station or not Multiplexed means that the encoder position value is not read in each Powerlink cycle to achieve a short cycle time and high bandwidth of network data Multiplexed station configured off results in a transmission of position value in each Powerlink cycle so the application has a high update rate It really depends on the requirements of the customer In the next configuration section Extended Erweitert you can configure what entries in the Page 19 UME OCD E2A2 Identity object 1018 hex are read and checked This is useful to guarantee that the right devices are configured in the network and matching the project settings We recommend to activate the check on the manufacturer ID Hersteller ID and product code Pr fe Produktcode On the higher logical level you see the section Channel Kanaele Here we the position value which can be
15. LINK 25 EHE Nam 0000000000 Jet 4PP220 0571 45 PLCLCPI 1 0 E yf SLISSTIFZSTI FBE 0x00000042_PowerlinkRotaryEncoder_OCD_VO2 07 Be USB1 lm Tt h festi 18 47 Allgemein Dee USB 2 ep 9 Modulueberwachung Aus Service Mode ausloesen wenn Modul richt vorhanden ist Cu IFZSTI Gi Poweilink Parameter Display pst Modus Controlled Node F JJ SubSlot 501 9 Antwort Timeout us 22 C 3F78231 551 12 ke Ausgangsdaten im PResMN Aus Output Daten am Anfang des Zyklus im PRes Frame des Managing Node versenden h A ski Multiplexed Station Aus 9 FRABA Postal Absolute Rotary Encode 1 1 1 0 vais smn FA ein 0500000042 Pruefe auf richtige Hersteller ID 9 Pruefe Revisionsnummer Aus j i 9 Pruefe Produktcode ein 0x00004532 Ee Kanaele 1 Bi PositiorValue_U32_16004 Geraetespezifische Parameter p Q Pruefe Hersteller ID Pruefe richtige Revisionsnummer Pruefe richtigen Produktcode Objekte fuer zyklische Uebertragung Werden beim Hochlauf an das uebertragen OperatingParameters U16 16000 MeasuringUnitsPerRev_U32_16001 TotalMeasuringRange_U32_16002 H PreselValue U32 16003 fil Logical view Configuration view P Physical view Parsen der Dateien fur SmartE dt Unterst tzung Parsen abgeschlossen Datei D openCONFORMANCE XDD 0x00000042_PowerlinkRotaryEncoder_OC
16. POSITAL FRABA USER MANUAL ABSOLUTE ROTARY ENCODER ETHERNET POWERLINK AMERICA FRABA Inc 1800 East State Street Suite 148 Hamilton NJ 08609 2020 USA T 1 609 750 8705 F 1 609 750 8703 www posital com info posital com ETHERNET mH 931 POWERLINK EUROPE FRABA AG Carlswerkstrasse 13c 51063 Cologne Germany T 49 221 96213 0 F 49 221 96213 20 www posital com info posital eu ASIA FRABA Pte Ltd 20 Kallang Avenue Singapore 339411 Singapore T 65 65148880 F 65 62711792 www posital sg info posital sg Content 1 Introductions To Install Encoder 5 5 2 2 InttOQuctlOTi eee teens 6 6 2 1 General Definitions 6 6 1 2 2 Intended Usage 6 6 2 2 3 Interfaces isset 6 7 2 4 Maintenance aaaaaaaavaxannannnnnnnnannna 6 7 1 2 5 Intended Time of Usage 6 7 2 2 6 Detailed Measurement Principle 6 7 3 2 iu tete ierit 7 7 4 2 8 7 7 5 2 9 Ethernet eet 8 7 6 3 Hardware Set Up 7 7 and Ethernet Connection 9 7 8 3 1 Network 9 8 4 Connection an Absolute Encoder 10 81 4 1 Connector Ethernet Powerlink 10 9 4 2 Connector Power Supply 10 10 4 3 Ethernet
17. Protocol Version 2 The Powerlink protocol version 2 is a standard communication protocol and offers for manufac turer and customer maximum of independence because it is an open protocol and not a manu facturer specific solution The organization Ether net POWERLINK Standardization Group can be contacted for any general information and assis tance Organization web site address www ethernet powerlink org 8 1 Powerlink Cycle The Powerlink protocol offers an isochronous communication A deterministic transmission is a requirement out of high performance applications The deterministic network cycle is achieved with a time slot principle which is controled by the managing node With the SoC telegram Start of Cyclic the EPL cycle is initiated Afterwards the MN managing node is sending a poll request to PReq PReq to CN 1 to CN2 Controlled Nodes CN Page 24 UME OCD E2A2 Our standard Powerlink encoder is capable to support both Powerlink protocol versions 1 and 2 The customer hasn t got to do a device configura tion for a specific protol because the encoder has an auto detection What must be taken into account It is not allowed to change the protocol during runtime During power up the network must be in a defined state regarding used protocol so that the encoder can detect the protocol version telegrams each node whereby the CN controlled node is sending immediately a response This frame is call
18. check if the set preset value at the current the machine fulfills the encoder position in Release 20130222 POSITAL FRABA USER MANUAL ABSOLUTE ROTARY ENCODER ETHERNET POWERLINK requirement desired position If not then you can set the preset value by two methods 1 Method Drive to the desired position and set the preset value as initial value again In the case that the initial value is already identical you have to set in between any other value 7 7 Example Device Configuration Please refer to the type shield to get the type of the encoder and check the data sheet which can be downloaded from the website www posital com If you have the following encoder type 13 Bit resolution per turn 2 8192 steps per turn 12 Bit numer of turns 4096 number of turns values the to 3600 and TotalMeasuringRange to 7200 The encoder is In the example for initial MeasuringUnitsPerRev is set internal calculating a gearing factor to adapt the physical resolution to the customer demand The encoder outputs 3600 steps per turn with 0 1 degree resolution and after two turn starts with position value 0 again There is no mechanical blockage when the end of the measuring range is reached Be aware that the specific values for Page 21 UME OCD E2A2 2 Method Configure the encoder to the right position value by driving to the desired position Then send an SDO configuration telegram in the Powerlink cycle to set the Prese
19. ed isochronous phase and covers real time With the Start of Asynchronous an asynchronous phase is started data telegram SoA and closed by an AsyncSend telegram Our Powerlink encoder i e PRes from MN Release 20130222 POSITAL FRABA USER MANUAL ABSOLUTE ROTARY ENCODER ETHERNET POWERLINK 9 Encoder Profile The CANopen Device profiles have been overtaken for the Powerlink protocol to minimize integration effort for the customer This means for encoders that device parameters are corresponding to the profile DS406 In the following table the supported parameters are listed Object Description Data type Access type 6000h Operating Parameters Unsigned 16 r w 6001h Measuring units per revolution Unsigned 32 r w 6002h Total measuring range in measuring units Unsigned 32 r w 6003h Preset value Unsigned 32 r w 6004h Position Value Unsigned 32 r w 6500h Operating status Unsigned 16 r 6501h Single turn resolution Unsigned 32 r 6502h Number of distinguishable revolutions Unsigned 32 r 6503h Alarms Unsigned 16 r 6504h Supported alarms Unsigned 16 r 6505h Warnings Unsigned 16 r 6506h Supported warnings Unsigned 16 r 6507h Profile and Software Version Unsigned 32 r 6509h Offset Value Unsigned 32 r 650Bh Serial Number fits to Identity Object 1018h Unsigned 32 r Object 6000h Operating Parameters This object shall indicate the functions for code sequence commissionin
20. end this log to Posital for further evaluation purposes Anyhow our experience is that this tool has also restrictions at very low Powerlink cycles and that you cannot trust time stamps and the order of logged telegrams In those cases the hard time logger module from B amp R is strongly recommended to find time related critical issues and reliable logs Beckhoff Microsoft s Packet Scheduler Device NPF_ F42FB51E E8CF 4B85 SE2D AF5AA452D315 Wireshark 1 8 5 SVN Rev 47350 from trunk 1 8 File Edt View Go Capture Analyze Statistics Telephony Tools Intemals Help gasealcuxeoueesecszisBaaa F ak amp 8 o6 g Filter Vests cmd eadbyindexindex llepLasnd sdo cmd data size epLasnc Expression Clear Appl Save No Time Source Destination Protocol EPL EPL EPL EPL EPL EPL EPL EPL EPL EP EP EPL EPL EPL EPL EPL EPL info E Ethernet POWERLINK 000 0110 MessageType Asynchronous send Asnd 6 Destination 240 Oxf0 Managing Node Source 1 0x01 Controlled Node ServiceID 500 5 0010 01 ReceivesequenceNumber 9 Receivecon Connection valid 2 SendsequenceNumber 9 tere oe Sendcon Connection valid 2 SDO Transaction ID 0 t SDO Response Response 1 SDO Abort Transfer OK 0 SDO segmentation Expedited Transfer 0 0 00 SDO Command ID Write by Index 1 500 Segment size 0 01 11 le 00 00 04 00 12 34 56
21. er Revolution This object shall indicate the number of distinguishable steps per revolution Subindex Description Data Type Default Value Access Oh Measuring units per revolution Unsigned 32 See type rw shield Attention The XDD file has as default value 2000 hex This value has to be adapted in the project tool to the specific encoder value Please refer to the type shield for the type key and data sheet Object 6002h Total Measuring Range in Measuring Units This object shall indicate the number of distinguishable steps over the total measuring range Subindex Description Data Type Default Value Access Oh Total measuring steps Unsigned 32 see type shield rw Attention The XDD file has as default value 1000 hex This value has to be adapted in the project tool to the specific encoder value Please refer to the type shield for the type key and data sheet Page 26 UME OCD E2A2 Release 20130322 POSITAL FRABA USER MANUAL ABSOLUTE ROTARY ENCODER ETHERNET POWERLINK Object 6003h Preset Value This object indicates the preset value for the output position value The encoder output position can be set to a desired value Preset value Subindex Description Data Type Default Value Access Oh Preset Value Unsigned 32 Oh rw Object 6004h Position Value This object contains the process value of the encoder Subindex Description Data Type Default Va
22. esponsibility for technical inaccuracies or omissions Specifications are subject to change without notice Page 34 UME OCD E2A2 Release 20130222
23. evelopments are intensely done on additional real time mechanisms e g Ethernet Powerlink With the Ethernet Powerlink protocol a deterministic time behavior is achieved and the jitter effect for synchronization is below 1 ps This makes the synchronization over a network with huge number of devices very effective and reliable A detailed description of the network in described in the following chapters Release 20130322 POSITAL FRABA USER MANUAL ABSOLUTE ROTARY ENCODER ETHERNET POWERLINK 3 Hardware Set Up and Ethernet Connection 3 1 Network Topology kinds of topologies possible The connection of the encoder Using Ethernet there are different can be made directly to a hub or as a daisy chain where the integrated hub of the encoder is used With the last method an installation as a line structure can be built up like known from standard field bus systems e g CANopen The sensor can be connected to other devices by usage of straight or crossover network cable because the PHY of the encoder is capable to realize Auto crossover You need at least a cable of category Catbe to get a data transfer rate up to 100 Mbit To increase noise immunity only cables with foil and copper netting shield should be used S UTP twisted pair AWG26 Page 9 UME OCD E2A2 The symbolized structure shows a classic star topology and a line cabling structure An integrated hub in encoder version type OCD E2A2 please refer to
24. ex Description Data Type Default Value Access Oh Offset value Integer 32 ro Object 650Bh Serial Number This object contains the serial number of the device The serial number is identical with the value in object 1018h subindex 4h Subindex Description Data Type Default Value Access Oh Serial Number Unsigned 32 See type sign ro Page 29 UME OCD E2A2 Release 20130222 POSITAL FRABA USER MANUAL ABSOLUTE ROTARY ENCODER ETHERNET POWERLINK 10 Manufacturer Specific Profile The encoder has also manufacturer specific objects for configuration or parameter setting listed in the following table and detailed explanation Object Description Data type Access type 3000h Software Node ID Unsigned 8 r w 2104h Limit Switch Minimum Value Unsigned 32 r w 2105h Limit Switch Maximum Value Unsigned 32 r w 2110h Limit Switch Control Unsigned 8 r w Object 3000h Software Node ID This object defines the node ID of the encoder via software setting For usage of this feature a function has to be enabled at factory The factory default setting for the node ID is 165 decimal A5h If another value is desired this can be handled by SDO telegrams It is necessary to store the setting into the EEPROM by usage of the object 1010h to prevent a loss of configuration after power off Subindex Description The user is responsible for the right node ID setting in the network to prevent do
25. g diagnostic control and scaling function control Subindex Description Data Type Default Value Access Oh Operating Parameter Page 25 UME OCD E2A2 Unsigned 16 4h rw Release 20130322 POSITAL FRABA USER MANUAL ABSOLUTE ROTARY ENCODER ETHERNET POWERLINK Code sequence The code sequence defines whether increasing or decreasing position values are output in case the encoder shaft rotates clockwise or counter clockwise as seen from the point of view of the shaft Scaling function control With the scaling function the encoder numerical value is converted in Bit structure for the operating parameters Bit 15 14 13 12 E 10 8 7 software to change the physical resolution of the encoder revolution object 6001h and total measuring units object 6002h are the scaling The measuring units per measuring range in parameters The scaling function bit is set in the operating parameters If the scaling function bit is set to zero the scaling function is disabled j o e s 4 s 12 use ms ms Ms MS R n n n n n n n sec cs Table Description MS Manufacturer Specific Function not available R Reserved for future use MD Measuring direction not available SFC Scaling function 0 disable 1 enable CD Commissioning diagnostic control not availabe CS Code sequence 0 CW 1 CCW Object 6001h Measuring Units p
26. ilitary and industrial applications with Powerlink protocol The products 2 1 General Definitions are compliant with standard DS406 POWERLINK encoder device profile and Ethernet Communication Profile Specification EPSG DS 301 V1 1 0 In the following chapters general definitions are described 2 2 Intended Usage The absolute rotary encoder measures the physical measure and angle and revolutions and converts this into a digital position value transmitted via the Powerlink bus according to the Powerlink communication profile EPSG DS301 to The encoder shall be other field devices 2 3 Interfaces The sensor has one Powerlink interface with integrated HUB functionality to support a daisy 2 4 Maintenance For the device is no maintenance necessary 2 5 Intended Time of Usage connected to a Powerlink network according to EPSG DS301 and shall only be used for this purpose The sensor can be used in applications like positioning tasks or length measurements General applications could be like cranes construction machines lifts packing machines etc chain cable structure and supports the profile Specification EPSG DS 301 V1 1 0 Refer to the data sheet of the Absolute Rotary Encoder 2 6 Detailed Measurement Principle The absolute rotary encoders use highly integrated Opto ASICs providing a resolution up to 16 bits 65 536 steps per turn For multiturn models the measuring range is extended by the
27. inking Stopped Page 12 UME OCD E2A2 Release 20130322 POSITAL FRABA USER MANUAL ABSOLUTE ROTARY ENCODER ETHERNET POWERLINK 6 Network Configuration A 6 1 Configuration The setting of the controlled node node number is achieved by 2 hexadecimal coded turn switches on the outside of the connection cap Possible addresses are between 1 and 239 whereby every address can only be used once in a Powerlink segment The switches are HEX coded so the node number is calculated as follows EPL node ID decimal switchx16 hex value 16 switchx1 hex value 1 Example Rotary switch x16 A Rotary switch x1 5 EPL node ID decimal A hex value 16 5 hex value 1 EPL node ID decimal 10 decimal value 16 5 decimal value 1 EPL node ID decimal 165 Page 13 executed without opening the housing UME OCD E2A2 A dismounting of the connection cap is not allowed All configurations can be directly IP address for Powerlink The IP address is set up with a part named net ID 192 168 100 which is constant and Host ID EPL node ID The resulting 192 168 100 EPL node ID According to the example above the resulting IP Address would be 192 168 100 165 IP address for Powerlink is Release 20130322 POSITAL FRABA USER MANUAL ABSOLUTE ROTARY ENCODER ETHERNET POWERLINK Set up for Software Node ID If the node ID shall be set up via EPL telegrams then the node
28. it The following special messages appear throughout this documentation or on the equipment to warn of potential hazards or to call attention to information that clarifies or simplifies a procedure The addition of this symbol to a Danger or Warning safety label indicates that an electrical hazard exists which will result in personal injury if the instructions are not followed This is the safety alert symbol It is used to alert you to potential personal injury hazards Obey all safety messages that follow this symbol to avoid possible injury or death Please Note Electrical equipment should be serviced only by qualified trained personnel No responsibility is assumed by POSITAL for any consequences arising out of the use of this material This document is not intended as an instruction manual for untrained persons Page 3 UME OCD E2A2 About this Manual Background This user manual describes how to install and configure an Absolute Rotary Encoder with Powerlink interface General technical data and mechanical drawings specified the document data sheet which can be downloaded from the website www posital com Relate Note 22 March 2013 Version number 1 0 UME OCD E2A2 Klaus Matzker Version date Reference number Author Imprint FRABA B V Jan Campertstraat 5 6416 SG Heerlen The Netherlands T 49 221 96213 920 F 49 22196213 10 Internet http www posital com e mail i
29. l be available after power down HTML The Hypertext Markup Language is a document format used in the World Wide Web to be displayed by a browser HTTP The Hypertext Transfer Protocol is a stateless transmission protocol for data transmission HUB The hub connects different network segments e g in an Ethernet network IP Address IP address allow a logic addressing from computer in a network IP Protokoll The Internet Protocol is widespread in computer networks It is the implementation of the internet layer of the TCP IP model Mbit Transmission rate or baud rate million bits per second OSI Modell The Open System Interconnection reference model is a open layer model for the organisation of a communication PPP Packet The Point to Point Protocol will be need for a connection establishment It enables the transmission between different network protocols SMTP Simple Mail Transfer Protocol manages the transmission of e mails Switch A switch is an electronic device to connect computers e g network segments in a local network Unlike a hub a switch uses stacks to avoid network collisions TCP The Transmission Control Protocol is a connection orientated transmission protocol in a network TCP Client MS DOS program available from FRABA to communicate with the Page 33 encoder UME OCD E2A2 Release 20130222 POSITAL FRABA USER MANUAL ABSOLUTE ROTARY ENCODER ETHERNET POWERLINK Disclaimer FRABA B V We do not assume r
30. lue Access Oh Process Value Unsigned 32 Object 6500h Operating Status This object shall provide the operating status of the encoder It gives information on encoder internal programmed parameters Subindex Description Data Type Default Value Access Oh Operating status Unsigned 16 4 ro Object 6501h Singleturn Resolution The object contains the physical measuring steps per revolution of the absolute rotary encoder A value written in object 6001h must be lower than defined in 6501 Subindex Description Data Type Default Value Access Oh Singleturn Resolution Unsigned 32 see type shield ro Object 6502h Number of Distinguishable Revolutions This object contains number of revolutions of the absolute rotary encoder A value written in object 6002h must be lower than defined as the multiplication of object 6501h and 6502h Object 6002h lt 6501h 6502h Subindex Description Data Type Default Value Access Oh Number of Revolutions Unsigned 16 see type shield ro Page 27 UME OCD E2A2 Release 20130222 POSITAL FRABA USER MANUAL ABSOLUTE ROTARY ENCODER ETHERNET POWERLINK Object 6503h Alarms The object shall provide the status of alarms of the device Subindex Description Data Type Default Value Access Oh Alarms Unsigned 16 Oh Ro Object 6504h Supported Alarms The object shall provide the supported alarms of the
31. nfo posital eu Copyright The company FRABA B V this documentation It is not allowed to modify to claims copyright on extend to hand over to a third party and to copy this documentation without written approval by the company FRABA B V nor is any liability assumed for damages resulting from the use of the information contained herein Further this publication and features described herein are subject to change without notice Release 20130322 POSITAL FRABA USER MANUAL ABSOLUTE ROTARY ENCODER ETHERNET POWERLINK User Annotation The FRABA B V welcomes all reader to send us feedback and commands about this document You can reach us by e mail at info posital eu Page 4 UME OCD E2A2 Release 20130322 POSITAL FRABA USER MANUAL ABSOLUTE ROTARY ENCODER ETHERNET POWERLINK 1 Introductions to Install Encoder Do not remove the connection cap A The absolute rotary encoder must be connected to the main signal ground over the machine chassis or by means of a separate potential compensating line Do not stand on the encoder Do not adapt the driving shaft additionally XA Avoid mechanical load Do not adapt the housing additionally Page 5 UME OCD E2A2 Release 20130322 POSITAL FRABA USER MANUAL ABSOLUTE ROTARY ENCODER ETHERNET POWERLINK 2 Introduction This manual explains how to install and configure the Absolute Rotary Encoder with Powerlink interface applicable for m
32. on view Physical view a 1 arsen der Dateien fur Smart dit Unterst tzung Parsen abgeschlossen Datei D openCONFORMANCE XDD 0x00000042_PowerlinkRotaryEncoder_OCD_V02 07 xdd erfolgreich importiert Datei D openCONFORMANCE XDD 0x00000042_PowerlinkRotaryEncoder_OCD_V02 07 erfolgreich importiert Debugger Konsole amp Suchen in Dateien Sj autrutliste E Debugger Watch S Haltepunkte Querverweis jg Referenzliste F r Hilfe dr cken tcpip RT 1000 DAIP 10 0 0 110 CKDA 0 REPO 11159 ANSL 1 4PP220 0571 45 v3 08 RUN Ze 1 Spi Page 18 UME OCD E2A2 Release 20130322 POSITAL FRABA USER MANUAL ABSOLUTE ROTARY ENCODER ETHERNET POWERLINK 7 5 Configuration Network For setting the network configuration and operation via right mouse click the menu entry Offne I O mode of the encoder you have to select in the Konfiguration physical view of the left part the encoder again and D ASprojects Kopie von fraba_test4_static_map fraba_test4_static_map apj Configl Automation Studio V 30 90 18 1 5 468187 Datei Bearbeiten Ansicht Einf gen ffnen Projekt Versionskontrolle Online Extras Fenster Hilfe P a 8 uou r d Or 2 1008 r y Physi 2 PLCI CPU SLLSSLIFZSTI VO Konfiguration x C testSDOstestsDOCyclicc Ansi G Online Einstellungen 2 PLCI CPU SLLSSI POWER
33. r project tool is realized A detailed knowledge of like an EDS file used in the CANopen world Powerlink is not needed to configure the device 7 2 Import the Encoder to the Project Tool Select in the main menue Extras the entry Feldbus Gerat importieren like shown in the screen shot D ASprojects Kopie von fraba_test4_static_map fraba_test4_static_map api Config Automation Studio V 3 0 90 18 1 5 468187 Datei Bearbeiten Ansicht ffnen Projekt Versionskontrolle Online Extras Fenster imam didi X mr om BIS d bertragungsliste erstellen 1008 zc e M i G 3 2 Physical View M k Compact Flash erzeugen dicc Ansi q BB Online Einstellungen x v Sexe Denies o PLCI ARsim CLP 4PP220057145 10 PP22 E dem Remote Erg P In aktiver Lokale INA Ziel H Beschreibun let USB1 IFB BH 10 switchboard In Leaked Lijs FESTI T AE konfiguration Krotennummer IP Adresse Z des Zielsyste Gad USB 2 5 1 10 0 0 110 4d 4PP220057145 2 10 L IFZSTi P1 1 192 168 0 172 Display 051 2 _ Feldbus Gerat importieren 8 1 SubSlot sn 18t DTM Katalog aktualisieren Lg 551 1 2 hei ski Upgrades Code Snippet Manager Optionen 4 Bp Logical view 8 configuration view f Physical view 4 Parsen der Dateien
34. schalter bereinstimmen Optionalen Hardware Modulnamen eingeben Zur ck Abbrechen Page 17 UME OCD E2A2 configuration value is identical with the setting of the hardware rotary switch in the connection cap or the software configured node ID Release 20130222 POSITAL FRABA USER MANUAL ABSOLUTE ROTARY ENCODER ETHERNET POWERLINK 7 4 Online Diagnostic After this configuration you can see in the left part device you can choose ffne I O Zuordnung In of the window in the physical view an added the opened window on the right side you can device FRABA Posital Absolute Rotary Encoder watch the transmitted position value and the When you select with the right mouse key this module state of the device D ASprojects Kopie von test static test static Automation Studio V 3 0 90 18 1 5 468187 Datei Bearbeiten Ansicht Einf gen ffnen Projekt Versionskontrolle Online Extras Fenster Hilfe ida e e1x by TE 14 52 04 02 11 45 1008 8 6 61124211 12 10 K amp C testSDO testSDOCydlic c Ansi C BB Online Einstellungen 2 1 511551 POWERLINK id PLC1 CPU SL1 SS1 1F2 ST1 VO Zuordnung x 4PP220 0571 45 PLC1 CPI 1 0 USB 1 IFE Ch IFESTI USB2 IF Q Positional UDINT BH B Display 081 11 SubStot svi 3F78291 551 1 2 1 0 B Logical view 4B Configurati
35. t value This is the recommended and professional way object 6001 hex and 6002 hex are only activated in the encoder if in the object 6000 hex bit 2 is set to one Otherwise the physical value and highest resolution is send out and the initial values will be ignored With the preset value you can set the encoder position to the desired value in your application Inside the sensor an offset is calculated and stored in a non volatile memory Take care to conduct a storing command for the encoder that the set preset value and calculated offset value in the encoder is stored and a power loss don t lead to lost position position jump For storing a SDO command is used and a specific signature save has to be written in the object 1010 hex For more details refer to the profile EPSG DS 301 V1 1 0 Release 20130322 PO F 9 R A AL A USER MANUAL ABSOLUTE ROTARY ENCODER ETHERNET POWERLINK 7 8 Diagnostic it diagnosis with standard Ethernet If problems occur is possible to conduct like Wireshark http www wireshark org It is one tool tools of many available on the market which can be used because Powerlink is using standard Ethernet frames With this tool an interpretation of Ethernet frames according to Powerlink is possible Just the right filter EPL has to be selected and the user has a powerful tool In case of problems it is recommended to log a trace for own analysis or s
36. the data sheet for more information about the type key offers both star or more useful a line structure Only hubs shall be used because of low frame jitter and latency time and no switches For fulfilling time requirements up to 7 hubs encoder with integrated HUB can be connected together with a maximum cable length of 100m These requirements are specified in Powerlink specification For more details visit the web site www ethernet powerlink org Release 20130322 POSITAL FRABA USER MANUAL ABSOLUTE ROTARY ENCODER ETHERNET POWERLINK 4 Connection an Absolute Encoder The encoder is connected by a 4 pin A coded M12 connector for the power supply and two 4 pin D coded M12 connector for Ethernet 4 1 Connector Ethernet Powerlink 4 pin female D coded Pin Number Signal 1 TX 2 Rx 3 TX 4 Rx 4 2 Connector Power Supply 4 pin male A coded Pin Number Signal 1 Power supply 10V 30V 2 Reserved not connected 3 Power supply GND 4 Reserved not connected Page 10 UME OCD E2A2 Sketch on encoder view 3 4 lt 2 1 e Q L 2 Sketch on encoder view 4 3 e e 1 2 Release 20130322 4 3 Ethernet Cables RJ45 M12 crossed POSITAL FRABA USER MANUAL ABSOLUTE ROTARY ENCODER ETHERNET POWERLINK Signal RJ45 Pin M12 Pin Signal TX 3 2 6 4 Rx 1 1 TX Rx 2 3
37. uble definitions and resulting conflicts This object is hard wired with the object 1F93h sub index SWNodelD_U8 to guarantee data If Object 1F93h sub Index 3 is then the value automatically in object 3000h This object 3000h is introduced to offer the user an easy kind of consistency modified is also overtaken configuration within the Automation Studio from B amp R Data Type Default Value Access Oh Software Node ID Object 2105h Limit Switch Maximum Value This object defines the maximum value for a working area of the encoder The value has to be less than the configured total resolution set in object 6002h If the position value has reached or Unsigned 8 A5h rw significant bit MSB Bit31 in the position value is set till the position is below the maximum value of the limit switch The function of the limit switch can be enabled disabled by setting a bit in the object exceeded this limit value than the highest 2110h Limit Switch Control Subindex Description IData Type Default Value Oh Limit Switch Maximum Value lUnsigned 32 lw Page 30 UME OCD E2A2 Release 20130222 POSITAL FRABA USER MANUAL ABSOLUTE ROTARY ENCODER ETHERNET POWERLINK Func Status Position value tion bits BitNo 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 1 0 XI XIX XIXIXIXIX X XI X XIX X X X X X XX X X
38. ute position for one turn of the shaft i e for 360 After one turn the measuring range is completed and starts again from the beginning connected using a reduction gear The first stage supplies the resolution per turn the stages behind supply the number of turns In the following picture you can see the gearing module with the several stages of reduction gears Typical Applications Packing Machines Robots Printing Machines Theater Moving Platforms There are several types of encoder versions Please refer to the datasheets to find out which is the best version for your application Release 20130322 POSITAL FRABA USER MANUAL ABSOLUTE ROTARY ENCODER ETHERNET POWERLINK 2 9 Ethernet The present developments in the field of Industrial Ethernet are based on the vision of an integrated access of all data of a company through a uniform communication system higher levels of enterprise communication Ethernet is the main medium of data transfers Combined with other IT technologies it is internationally standardized In the long run automation engineers will benefit from the rapid technological progress in the mass markets of IT and web technologies Ethernet technically provides a system with higher data transfer rates than common field bus systems Page 8 UME OCD E2A2 TCP IP and UDP do have a statistical access method to access the medium thereby prohibiting determined response times Many d
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