User Manual Absolute Singleturn/Multiturn Encoder for
Contents
1. ATR CG EHK Industrial Automation USER MANUAL ABSOLUTE SINGLETURN MULTITURN ENCODERS FOR PROFIBUS DP User Manual Absolute Single Multiturn Encoders Profibus iii Hans Turck GmbH amp Co KG Copyright Protection The content of this documentation is protected by copyright Hans Turck GmbH amp Co KG It may not be altered expanded reproduced nor circulated to third parties without prior written agreement of the Hans Turck GmbH amp Co KG Liability to modification without notice As a result of ongoing efforts to improve our products we reserve the right to make changes at any time to technical information contained in the document to hand Warranty Disclaimer Hans Turck GmbH amp Co KG provides no guarantee neither tacit nor express in respect of the whole manual whether this applies to the original German text or to the English translation and assumes no liability for any damage neither direct nor indirect however caused Document information Revised 02 2011 Screen printouts used Profibus Master Tool Fa Bihl amp Wiedemann Hans Turck GmbH amp Co KG Hans Turck GmbH 8 Co KG Witzlebenstra e 7 e 45472 M lheim Ruhr e Germany Tel 0208 4952 0 e Fax 0208 4952 264 www turck com 1 2 0211 User Manual Absolute Single Multiturn Encoders Profibus d Table of Contents 1 GENER RTT SLE 1 4 PROFIBUS DP BASICS een iu eR ES FERE GR OR Uo S GR er OR Co once apa n eR UH2. When there are more than 32 stations on the bus repeaters must be inserted to connect the individual bus segments The maximum line length depends on the transmission speed refer to Table 2 The line length indicated can be extended by means of using repeaters It is recommended not to connect more than 3 repeaters in succession Baud rate Kbit s 9 6 19 2 93 75 187 5 500 1500 12000 Range Segment 1200 m 1200 m 1200 m 1000 m 400 m 200 m 100 m Table 2 Range depending on the transmission speed for A type cable Hans Turck GmbH 8 Co KG Witzlebenstra e 7 e 45472 M lheim Ruhr e Germany Tel 0208 4952 0 e Fax 0208 4952 264 www turck com 3 5 0211 User Manual Absolute Single Multiturn Encoders Profibus iii 4 Cable shielding According to EN 50 170 it is up to the user whether to use a shielded or an unshielded cable Unshielded cables are allowed in interference free environments However the following points argue for systematic use of shielded cables a An area free from interference exists at best inside shielded cabinets But as soon as this contains other electronic devices such as relays and contactors then this is no longer guaranteed b The use of unshielded cables requires additional protective measures against over voltage at the bus signal inputs This is why we recommend on principle the use of shielded cables for the bus lines This recommendation extends also to the possible use of power supply cables coming
3. e g 1408 binary values are identified by the letter b e g 1101b and hexadecimal values with an h e g 680h after the numerals The values shown in bold are to be entered on the rotary switches Example Left figure high order rotary switch right figure low order rotary switch Dez Hex Dez Hex Dez Hex ez Hex 20 64 40 96 60 01 133 21 41 197 61 2 foz 34 22 ee 42 98 62 os 35 23 e7 as 99 les __ 4 04 36 24 168 44 100 64 5 os 37 25 e9 45 101 65 je os as 26 70 as 102 66 7 07 139 27 m a7 103 67 8 os 40 28 72 as 104 68 9 oo 41 29 73 aa 105 69 110 0A 42 2A 174 4A 106 6a 11 os 43 28 75 48 107 6B 12 oc 44 2c 76 ac 108 lec 13 0D 48 2D 177 4D 109 6D 14 oE 46 2e 78 je 110 6E 115 or 47 ar 79 aF 114 6F 16 fio fas so so 50 112 70 Hz 49 fai fei fsi 13 171 lis 12 50 32 s2 s2 114 72 aa fis 51 33 fes ss 115 73 14 52 34 eq 54 116 74 21 15 53 ss es ss 117 75 22 16 54 se se se 118 76 23 17 155 37 87 57 119 77 24 18 se se se se 120 78 25 19 57 s9 s9 s9 121 79 26 1A 58 3A 90 SA 122 7A 27 18 se sB 91 5B 122 7B a pe m pe ode m Te 29 1D 161 3D E 5D 125 7D lso fie 62 se 94 5E 126 7E ee foe pe e ar Hans Turck GmbH 8 Co KG e WitzlebenstraBe 7 e 45472 M lheim Ruhr e Germany Tel 0208 4952 0 e Fax 0208 4952 264 e www turck com 21 21 0211
4. M al Industrial Automation www turck com Hans Turck GmbH amp Co KG Witzlebenstra e 7 45472 M lheim an der Ruhr Germany Tel 49 0 208 4952 0 Fax 49 0 208 4952 264 E Mail more turck com Internet www turck com o oz A
5. a a a a a aaa a aa 7 9 SPEED VALUES mp X m 7 9 8 EXTENDED DIAGNOSTIGS 4u 0 u0nuna aan nam cuu Cu EE ama 8 10 L DEVICE PROFILE FOR ENCODER Ska dns een a ais daa eas eis A tees ence teas uses Gnas UPON ERAN bees Goan esis Gnas enue EROR nen bean cone GacedeunGaesGseneeas URU URN UAR das 8 10 Class 1 Mandatory for all DP encoders 2 00200200020020000002000000nunnnnonun nun onnnnnnnnnnnunnnnnnunsnnnnunsnnnnunsnnnnunnnnnnunsnnnnunsnnnnnnnsnnsnsnnnnunsnnnn 8 10 Class 2 Optional Functionality 2 siasiasvasisa savann vasdvasasiad s iva ensure hasse suo sus aas aa eas s vase avava ad snes anne ama ska ee re 8 10 9 INITIAL START UP GENERAL DEVICE SETTINGS u2220 20000000000000nn0n nun nun nun nun nun nun nun n nun nun nun nn nun 9 11 Node number Device address auasi MM MEM Nessie 9 11 10 SET STATION ADDRESS SSR Teer 10 11 11 EXTERNAL POSITION RESET u 424424004 nne nmama ann nam an nannnnannanannnnn ann ann nun nn nn nn ann ann nnannannannnnnnnnnnnnnenn 11 11 12 PROFIBUS CONNECTION P3 use ernennen Ener 12 12 SUPPLY WOU TAGE SERSBRURBERREENRERTERERRERTEEEFERELERTREEFRREREREREREFRRERFRERREEFRRERREREREFEREREREERERTEREREREREERFRRRERRERFEREREREBRERFERFEFREERERFEREREREEREREERRERERERERERREREREEREETERERRS 12 12 13 PROFIBUS CONNECTION M12 enuanannanuenannenaanennennenaanennennanennennenaanennennen
6. capacitance lt 30 pF per metre Conductor section gt 0 34 mm corresponds to AWG 22 Cable type twisted pair 1x2 or2x2or 1x4 conductors Loop resistance lt 110 Ohm per km Signal damping max 9 dB over the whole length of the cable section Shielding Copper braid shielding or braid shielding and foil shielding Hans Turck GmbH 8 Co KG Witzlebenstra e 7 e 45472 M lheim Ruhr e Germany Tel 0208 4952 0 e Fax 0208 4952 264 www turck com 4 6 0211 User Manual Absolute Single Multiturn Encoders Profibus ae 5 Characteristics of the Multiturn Encoder on the Profibus PNO Ident Number The TURCK Absolute Singleturn Multiturn Encoder has the PNO Ident Number FF40 Hex This number is registered at the PNO Profibus User Organization as an unique identification The according GSD Files are named as follows Multiturn Series TRCKFF40 GSD Singleturn Series TRKSFF40 GSD Start phase of the encoder on the PROFIBUS When the encoder starts up it is in the Baud Search state Once the baud rate has been recognized it switches to the WAIT_PRM state and waits for the parameter data from the DP Master Parametrization is initialized automatically when the DP Master starts up The following parameters are transmitted to the encoder count direction and the measuring length in steps for more details see the Encoder Profile from the PNO When the correct parameter data have been successfully transferred the encoder switches to
7. from external power sources to the PROFIBUS devices e g for repeaters Double shielded cables are particularly suitable for environments with strong EMC interference In this case in order to ensure optimal protection the whole surface of the external shielding braided shield and the inner shielding foil shield must be connected at both cable ends to the protective earth by means of an earth clip Shielding rules When using a shielded bus cable it is recommended to connect the shield at both ends to the protective earth using low induction connections This ensures the highest possible electromagnetic compatibility EMC One exception concerns separated potentials e g in refineries generally in these plants earthing is permitted at one end only The connection between the cable shielding and the protective earth is best done using the metallic device housing and the screw terminal of the plug connector Here it should be noted that discharge via the pin does not represent an optimal solution To achieve the best EMC it is better to expose the cable shielding at a suitable location and to connect it to the protective earth e g the metallic cabinet frame using a low induction cable link that should be kept as short as possible This can be done for example with a shielding clip before the bus plug Cable specification A type cable for PROFIBUS DP Surge impedance 135 to 165 Ohm for a measurement frequency of 3 to 20 MHz Cable
8. logical storage of the I O data If the parameter sets are present the master system starts up the slaves one by one either on the users request or automatically The first diagnostic cycles identify the slaves on the bus Only those slaves sending an error free feedback will subsequently be parametrized with the corresponding data being stored in the master If diagnostic and parameter cycles have been carried out correctly configuration cycles follow next During this process required data stored in the master and actual configuration data stored the slave are compared Only error free slaves are automatically integrated to the refresh by the master ready to transfer operating data For diagnostic purposes the Master provides a diagnostic buffer for each slave which can be read by the user for other purposes To simplify the diagnostics a general diagnostic field is kept simultaneously which shows bitwise whether a Slave has diagnostic data ready or not 3 General wiring instructions Installation instructions for RS 485 All devices are connected within a bus structure line Up to 32 stations master or slaves can be linked together in one segment The bus is terminated at the beginning and at the end of each segment by an active bus termination terminating resistors To ensure disturbance free operation both bus terminations must always remain powered The bus termination is provided ready to activate in the device of in the connector
9. to sensor Return device to manufacturer for flashing O 1 x short Sensor fault checking Break 1 6 sec PWR Diag Red LED flashing Incorrect node address Check Profibus flashing C 2 x short Profibus short circuit Break 1 6 sec Termination fault Q General RESET Switching the device on with the SET Key pressed Display LED Description Cause of error Addendum Err Short flashing of red Diagnostic mode Device is ready for diagnostics flashing LED Switch the encoder off Turn the encoder back on and press the SET key for approx 3 sec The red LED flashes Q Switch the device off again When the encoder is rebooted all values will be reset to their default settings 20 Definitions Explanation of Symbols This symbol highlights those parts of the text to which particular attention must be paid This is to N ensure correct usage and to eliminate danger This symbol provides important advice concerning the proper handling of the encoder Non observance of this advice can lead to malfunctions of the encoder or in the vicinity O This symbol refers to a special characteristic Parameter settings S Hans Turck GmbH 8 Co KG WitzlebenstraBe 7 e 45472 M lheim Ruhr e Germany Tel 0208 4952 0 e Fax 0208 4952 264 e www turck com 20 20 0211 User Manual Absolute Single Multiturn Encoders Profibus N 21 Decimal Hexadecimal Conversion Table With numerical data the decimal values are given as numerals with no affix
10. 2 Master Default settings after a Power on is the address 125 0x7D for SSA_Support Only valid addresses will be stored in a non volatile memory and are active by now The Node number 0 is reserved and must not be used by any node The resulting node numbers lie in the range 1 7Dh hexadecimal 1 125 decimal 11 External Position Reset Q The device can be set to a reset position by means of the built in SET key The resulting position is 0 The resulting offset between the physical zero position of the disc and the electronic zero position can be interrogated via the extended diagnostics header PER ON SH P Class 2 s UL Position O As per illustration Hans Turck GmbH 8 Co KG e WitzlebenstraBe 7 e 45472 M lheim Ruhr e Germany Tel 0208 4952 0 e Fax 0208 4952 264 e www turck com 11 11 0211 User Manual Absolute Single Multiturn Encoders Profibus A 12 Profibus connection PG Bus connection with separate power supply and PG cable gland connection O Undo both screws on the bus cover and take off the bus cover from the encoder Pull the incoming bus cable through the left cable gland and connect it to the left terminal B and terminal A Pull the cable shield further onto the cable gland If further devices follow in the bus segment Run continuing cable through the right cable gland and connect to terminal B and terminal A Supply voltage Pull the supply voltage for the encoder th
11. 8 Co KG e WitzlebenstraBe 7 e 45472 M lheim Ruhr e Germany Tel 0208 4952 0 e Fax 0208 4952 264 www turck com 1 3 0211 User Manual Absolute Single Multiturn Encoders Profibus ae 1 General PROFIBUS DP basics This description provides information concerning the implementation of the PROFIBUS DP transmission protocol in the slave mode in our devices It should be noted that the extent of the functions described might be limited according to the device or application With protocol conversions in particular as a rule fewer functions are used The profile required The link between the decentralized process operation and the central control via the communication system takes place in the lowest hierarchy level of field or process buses On this level the main requirements are a simple protocol operation and short data transmission times for the communication This ensures the fastest system reaction time to the dynamic states of the peripherals In addition to the classic data exchange the acyclic transmission of parameter diagnostic and configuration data must be possible without radically impeding the real time capability of the bus This is the only way to guarantee the achievement of good quality diagnostic data and safe operation Characteristics The main task of PROFIBUS DP is the cyclic transmission of the process data from the control system to the peripheral equipment and vice versa The access procedure uses the master sla
12. At closed housings the switch is set to the preorded node address or to OxFF for set station address with software Termination OFF Switch setting off Index hex Name Standard value Encoder Profile Set prm9 ts Operating Parameter Bit 3 Scaling on Class2 on CW Set_prm 10 13 Measuring Units per Revolution 8192 13 Bit Set_prm 14 17 Total Measuring Range 33554432 25 Bit The original Standard Values Default values on delivery can be reloaded by pressing the button on the rear when switching on restore parameters If errors have occurred during programming of the objects and if these parameters have been saved in the EEPROM it will not be possible to address the encoder next time it is switched on to clear the error reset of the encoder 18 General Reset of the device Please note that all programmed parameters will be lost Switch the encoder off Turn the encoder back on and press the SET Key for approx 3 sec until the DIAG LED flashes Switch the device off again When the encoder is rebooted all values will be reset to their default settings SSA address is 125 only for devices with an external SET Key in other cases the device should be returned to the factory Hans Turck GmbH 8 Co KG e WitzlebenstraBe 7 e 45472 M lheim Ruhr e Germany Tel 0208 4952 0 e Fax 0208 4952 264 e www turck com 18 18 0211 User Manual Absolute Single Multiturn Encoders Profibus i 19 LED Monitoring during ope
13. ER C En Ua Qua P ER Ee Gees sage deus ToU ERE ss Cu AS Ko OR eR UR CER aa QN CN tees QUAE CR UM E OR e caus da ea ARES UR ER URN ERE GRIS US UE 1 4 keldi del ao T II A A a a secs censcenseesrceenecseessece 1 4 CHARACTERISTICS M MERAK 1 4 PROTECTIVE FUNCTIONS TNR NOR RR RN eine RNC 1 4 2 TAHTA rec ES er ER 2 5 3 GENERAL WIRING INSTRUCTIONS inusc nuns GE ui qnEu Es Fan u ia aa ae ann ilmal 3 5 NSTALLATION INSTRUCTIONS FOR RS AS PO TE TET EODD a aa a a a a a a 3 5 A CABLES STE Da aan 2 9 4 6 5 CHARACTERISTICS OF THE MULTITURN ENCODER ON THE PROFIBUS eene 5 7 PNO IDENT uide 5 7 START PHASE OF THE ENCODER ON THE PROFIBUS u hr 5 7 CONFIGURATION AND PARAMETERISATION 22 25h 5 7 CONFIGURATION ccccecatccusccudecacacesecudcceeacedacedadeaacetanenseeeacenetabacseecstetsiaeseaceaucedudsanceansedneeancuaneaueesaecauesenesconeatecauseamecatacehacahecesedereuunecenscsseuenecsiss 5 7 6 DEVICE PROFILE PROFILE FOR ENCODER V1 1 z z2u02u020 20 00a0nannnnan nun ann annan nun nun annan nun nun an nnnannannunnnnenn 6 8 CONFIGURATION ee ee aan a aasa ila jaaa aas 6 8 7 PROFIBUS ENCODER PROFILE 3062 VERSION 1 1 Leere eere erre eene neun nnn enhn nnns 7 9 PRESEESEETINGE ann ann aa aa an ma aa ea E aa a a a a a a
14. annennennanennennennnen nen Rr sensa 13 12 BUS TEL MINOR TT TT T ea lu nee n ol mut 13 13 14 INSTALLATION NOTES WHEN USING HOUSINGS WITH CABLE GLANDS enne 14 13 15 PARAMETERIZATIQON mus usu on nm Rn nn aa nn ann ann nam nn ann mann UMA MNN m 15 14 IE SCHAU ee ae een ccv RC 16 15 12 BEFAULTSELTNGS ON DELIVERY ee a ee ee 17 18 ENCODER duele II T T E E E E EEEE A A E 17 18 18 GENERAL RESET OF THE DEVICE oesie a a a een 18 18 19 LED MONITORING DURING OPERATION 2 2 u2022420020 0020000 ann ann an nam ann ann an nun ann ann an nnnnnnannannunannannunannannannenn 19 19 RED LED DIAGNOSTICS 2022002 00a a a aaa i a a a a a a a aan aaa aan an a ae a a eie 19 19 YELLOW U 2 8 55 oce 19 19 GREEN LED PWR BUS VOLTAGE seines 19 19 LED COMBINATIONS DURING OPERATION ssescucnssersscedunsannscucecvasevescvenovancrerevewsvdsosencsewosoadsenesewesesosmnexenosonaseserenswesbeonevenovanavasevevsecsdwesdverewoveraees 19 19 GENERAL RESET SWITCHING THE DEVICE ON WITH THE SET KEY PRESSED asesessssssessscssoesesssessecssesescssssesssessscssoesssssessssssessscsssesesssessssssesessssssesssese 19 20 20 RIZ VILE US ets ee cee ee cece ee a eee LA LL AUS a LAJA A a UA seat 20 20 21 DECIMAL HEXADECIMAL CONVERSION TABLE 0 cccceceeceeceececeececeeceecesceceeceeseseeseeseseeeeseuseeeesenssaes 21 21 Hans Turck GmbH
15. lave_Diag Slave_Diag Slave_Diag Set_prm Set_prm Octet N 17 18 19 20 21 22 23 24 25 26 27 28 31 32 35 36 39 40 43 44 47 48 57 10 13 14 17 Data Type Octet String Octet String Octet String Octet String Octet String Octet String Unsigned 32 Signed 32 Signed 32 Unsigned 32 Unsigned 32 ASCII String Unsigned 32 Unsigned 32 Name Additional Alarms Supported Alarms Warnings Supported Warnings Profile Version Software Version Operating Time Offset Value Manufacturer Offset Value Measuring Units per Revolution Total measuring range in measuring units SerialNumber Measuring Units per revolution Total measuring range in measuring units Hans Turck GmbH 8 Co KG Witzlebenstra e 7 e 45472 M lheim Ruhr e Germany e Tel 0208 4952 0 e Fax 0208 4952 264 e www turck com 8 10 0211 User Manual Absolute Single Multiturn Encoders Profibus A 9 Initial Start up General Device Settings Node number Device address Setting the node number for the address using both rotary switches and adjust the number to the according address R1 for the low order addresses R2 for the high order value Example R1 set to F R2 set to 3 3Fh corresponds to 63 decimal 10 Set Station address SSA Adjust both rotary switches to position F for software set station address support with a Class2 Master The software set station address support can only be carried out with a Class
16. les are listed below Configuration Editor x Module List 3z Bit Input Output consistent 32 Bit Input consistent 16 Bit Input Output consistent 16 Bit Input consistent MOR 13 Bit TMA 25 Bit Speed APM 16 Bit Input Speed 5teps sec 32 Bit Input Detault Parameter Current Configuration 32 Bit Input Output consistent Speed APM 15 Bit Input Curent Parameter 00 04 00 01 00 0010 00 00 OLI 7 configurations are available for the regular operation of the encoder 32 bit input output consistent 32 bit input consistent 16 bit input output consistent 16 bit input consistent MUR 13 bit and TMR 25 bit 32 bit input output consistent all can combined with Speed RPM 16 bit consistent or Speed Units s 32 bit consistent Hans Turck GmbH 8 Co KG WitzlebenstraBe 7 e 45472 M lheim Ruhr e Germany Tel 0208 4952 0 e Fax 0208 4952 264 www turck com 6 8 0211 User Manual Absolute Single Multiturn Encoders Profibus ae 7 Profibus Encoder Profile 3062 Version 1 1 Class 2 32 Bit resolution Input Output consistent The encoder uses 2 input words and 2 output words which are each consistently transmitted over the bus Class 2 32 Bit resolution Input consistent The encoder uses 2 input words which are each consistently transmitted over the bus Class 1 16 Bit resolution Input Output consistent The encoder uses 1 input word and 1 output word which are each consisten
17. lue Data Type Lower Limit Upper Limit 5 Value for Resolution per Revolution MUR Example 3600 steps per revolution Text Value Data Type Lower Limit Upper Limit Hans Turck GmbH 8 Co KG e WitzlebenstraBe 7 e 45472 M lheim Ruhr e Germany Tel 0208 4952 0 e Fax 0208 4952 264 e www turck com 16 16 0211 User Manual Absolute Single Multiturn Encoders Profibus iii i 6 Value for total resolution c2 5t mput output co x Example Value for total resolution 36000 Parameter Name TMA Position range 0 36000 Test el Revolutions 10 Value 36000 Data Type Unsigned32 Lower Limit i Upper Limit 268435456 d Standard Scaling o With MUR and TMR o One revolution is equivalent exactly to MUR TMR values Positionscaieg Position usa Singleturn resolution MUR TMR If the scaling values TMR MUR cannot be divided without a rest there will be an error at the limits of the position values value 0 and maximum position This can be avoided with a multiple value of MUR to TMR Hans Turck GmbH 8 Co KG e WitzlebenstraBe 7 e 45472 M lheim Ruhr e Germany Tel 0208 4952 0 e Fax 0208 4952 264 e www turck com 16 17 0211 User Manual Absolute Single Multiturn Encoders Profibus d 17 Default settings on delivery C e Factory set parameters on delivery A Description Setting Switch Baud rate Automatic Node address 63 Switch setting 3Fh 63
18. ns Turck GmbH 8 Co KG e WitzlebenstraBe 7 e 45472 M lheim Ruhr e Germany Tel 0208 4952 0 e Fax 0208 4952 264 e www turck com 15 14 0211 User Manual Absolute Single Multiturn Encoders Profibus N 16 Scaling Standard Scaling o With MUR and TMR o One revolution is equivalent exactly to MUR TMR values Position cated PoSitionunscateg Singleturn resolution MUR TMR Alternative Scaling o With NDR and TMR o NDRrevolutions are equivalent exactly to the TMR values Position cated Positio ynscatea NDR Singleturn resolution TMR TMR 1 Code sequence CW u x Possible settings Parameter Name Code sequence Increasing clockwise 0 CW Increasing counter clockwise 1 CCW Text Increasing clockwise 0 Value fo Data Type Lower Limit Upper Limit 2 Class 2 functionality on Class 2 must be turned on when scaling is active Text Value Data Type Lower Limit Upper Limit Hans Turck GmbH 8 Co KG e WitzlebenstraBe 7 e 45472 M lheim Ruhr e Germany Tel 0208 4952 0 e Fax 0208 4952 264 e www turck com 16 15 0211 User Manual Absolute Single Multiturn Encoders Profibus N 3 Scaling function control on When scaling is turned on Position depends on the values MUR and TMR Parameter Name NATAN Aae EN Test Enabled Value Data Type Lower Limit Upper Limit 4 Scaling type MUR TMR Scaling type MUR TMR Te Va
19. on Format is in Big Endian Input word Input word Byte 0 Byte 1 Byte 2 Byte 3 Format Max 0 0 RPM 0 17 70 RPM 6000 E8 90 RPM 6000 00 63 FF 9C Units s 6553500 FF 9C 00 64 Units s 6553500 Speed limits Singleturn Encoder 600 rpm higher speed shows ffffh as value Multiturn encoder 12000 rpm higher speed shows ffffh as value Hans Turck GmbH 8 Co KG Witzlebenstra e 7 e 45472 M lheim Ruhr e Germany Tel 0208 4952 0 e Fax 0208 4952 264 www turck com 7 9 0211 User Manual Absolute Single Multiturn Encoders Profibus Industr A 8 Extended Diagnostics 1 Device profile for encoders Class 1 Mandatory for all DP encoders Function Octet N Data Type Name Data_Exchange 1 4 Unsigned 32 Position Value input Data_Exchange 1 4 Unsigned 32 Preset Value output Data_Exchange 1 4 Unsigned 32 Speed Value input units s Data_Exchange 1 4 Unsigned 16 Speed Value input rpm RD_inp 1 4 Unsigned 32 Position Value RD_inp 1 4 Unsigned 32 Speed Value Slave_Diag 7 Octet String External Diagnostic Header Slave_Diag 8 Octet String Alarms Slave_Diag 9 Octet String Operating Status Slave_Diag 10 Octet String Encoder Type Slave_Diag 11 14 Unsigned 32 Singleturn Resolution Slave Diag 15 16 Unsigned 16 Number of Revolution Set_prm 9 Octet String Operating Parameters Class 2 Optional Functionality Function Slave_Diag Slave_Diag Slave_Diag Slave_Diag Slave_Diag Slave_Diag Slave_Diag Slave_Diag Slave_Diag S
20. parameters are excluded from data exchange Any failure of the station is recorded by the master and issued to the user inform of a diagnostic message Transmission breakdown is detected by the slave through time monitoring and causes the outputs to switch off EMV disturbances are virtually filtered out by means of a difference signal thanks to the particularly noise immune RS485 transmission system Data transmission errors are recognized by frame and check sum controls and lead to the retransmission of the telegram Hans Turck GmbH 8 Co KG Witzlebenstra e 7 e 45472 M lheim Ruhr e Germany Tel 0208 4952 0 e Fax 0208 4952 264 www turck com 1 4 0211 User Manual Absolute Single Multiturn Encoders Profibus ae 2 Start up Before start up of a PROFIBUS DP system unique bus addresses must be assigned to all connected stations including the master system This is the only way to ensure unambiguous addressing on the bus As an option the station addresses can also be assigned via the bus The physical system settings are made using the parameter set of the Master In addition to the bus address of the Master this set includes for example the baud rate the time out delays and the number of repetitions of the transmission Along with the Master parameter set a Slave data set must be saved for each Slave to be activated A data set contains the parameter assignment and configuration data of the Slave and the address indicator for the
21. ration red LED DIAGnostics yellow LED BUS green LED PWR Bus voltage Annunciator LED Description Cause of error Addendum PWR No bus voltage No power to device Check power supply OFF C present Power supply unit defective PWR Bus voltage present Device is in configuration ON C Device ready for mode operation BUS Device is waiting for GSD module must be Observe combination with DIAG OFF e C configuration or loaded and sent to the LED parameterisation encoder BUS Connection to Master Exchange of process data ON C established DATA Exchange Mode The individual LED annunciators can of course also occur in combinations Master can be either a PLC or a second communication partner Operating voltage LED combinations during operation Annunciator LED Description Cause of error Addendum PWR BUS Data Exchange Device will exchange position data ON C C Mode Diag Red LED flashing Over temperature Connection to Master interrupted flashing Q Sensor monitoring additional causes of error Diagnostic Single bit function error header is requested Sensor current monitoring Hans Turck GmbH 8 Co KG e WitzlebenstraBe 7 e 45472 M lheim Ruhr e Germany Tel 0208 4952 0 e Fax 0208 4952 264 e www turck com 19 19 0211 User Manual Absolute Single Multiturn Encoders Profibus iii Error Display after switching on Display LED Description Cause of error Addendum PWR Diag Red LED flashing Data connection fault
22. rough the central cable gland and connect it to the terminals on the left V and OV Place the cable shield onto the cable gland see wiring diagram View into the opened bus cover Description from left to right Abbreviation Description Direction Profibus LAN OVolt Supply V UB Supply OV OVolt Supply V UB Supply A Profibus 13 Profibus Connection M12 Terminal assignment M12 connector version Bus in Signal BUS A BUS B Shield Pin Bus out Signal BUS VDC BUS A BUS GND BUS B Shield Pin 01 2 3 4 5 1 for powering an external Profibus DP terminating resistor Hans Turck GmbH 8 Co KG e WitzlebenstraBe 7 e 45472 M lheim Ruhr e Germany Tel 0208 4952 0 e Fax 0208 4952 264 e www turck com 13 12 0211 User Manual Absolute Single Multiturn Encoders Profibus Bus termination The bus termination is set via hardware using both DIP switches on the bus cover on the rear ofthe encoder When the switch is set to ON gt the termination is active If the device is the final station on the bus then the looped through Profibus must be actively terminated at both ends with a bus terminating resistor between A andB O At closed housings it is necessary to order with termination adjusted the right way otherwise it e is mandatory to adapt an external resistor 14 Installation notes when using housings with cable glands Only use approved Profibu
23. s cables with suitable shielding as bus or connection cable Place the cable shield on the cable gland Hans Turck GmbH 8 Co KG e WitzlebenstraBe 7 e 45472 M lheim Ruhr e Germany Tel 0208 4952 0 e Fax 0208 4952 264 e www turck com 14 13 0211 User Manual Absolute Single Multiturn Encoders Profibus ae 15 Parameterization In order to carry out a general parameterization of the device first select a module from the GSD file KUEB5868 GSD SS 1 Module List Current Configuration Example 32 Bit Input Output consistent Speed APM 16 Bit Input 3z Bitlnput Output consistent 32 Bit Input consistent 16 Bitlnput Output consistent 16 Bit Input consistent MLIEZT3 Bit TMA 25 Bit Speed APM 16 Bit Input Speed 5teps sec 32 Bit Input Detault Parameter Curent Parameter A 00 04 00 01 00 0010 00 00 OLI x Hee GT With the parameter telegram except for the 25 bit configuration the following can be defined Code Sequence Octet 9 Bit 0 o O clockwise o 1 counter clockwise Class 2 functionality Octet 9 Bit 1 o O no o 1 yes Scaling enabled Octet 9 Bit 3 o O no o 1 yes Scaling type Octet 9 Bit 7 o 0 Standard MUR TMR o 1 Alternative NDR TMR Scaling parameter MUR or NDR Octets 10 13 o MUR Measuring Units per Revolution o NDR Number of Distinguished Revolutions Scaling parameter TMR Octets 14 17 o TMR Total Measuring Range Ha
24. the WAIT_CFG state The PROFIBUS Master then sends a configuration byte to determine the number of inputs outputs If the configuration byte is correct the encoder switches to the state DATA_EXCHANGE Configuration and Parameterization The parameterization i e the transfer of the parameters for count direction encoder resolution etc normally occurs within the configuration program for the PROFIBUS Master used To do this the type file or GSD device file should be copied to the respective directory for type or GSD files With some programs such as COM PROFIBUS or STEP7 Manager an update of the internal device list hardware catalog must be carried out within the software For more information about integrating field devices please refer to the documentation for the software you are using The two steps described below are normally necessary for integrating and parametrizing the encoder in a Master system Configuration For configuration purposes i e to input the length and type of the I O on the PROFIBUS the configuration programme normally provides an input mask screen in which independently of the desired configuration the identifier has normally already been set as a default so that only the I O addresses remain to be entered Depending on the required configuration that is desired the encoder allocates a varying number of input and output words on the PROFIBUS The following parameters described are also dependent on the req
25. tly transmitted over the bus Class 1 16 Bit resolution Input consistent The encoder uses 1 input word which is consistently transmitted over the bus Combination with Class 2 32 Bit resolution input consistent speed in units s or Class 2 16 Bit resolution input consistent speed in rpm The encoder uses max 2 input words which are each consistently transmitted over the bus Default setting Scaling on 25 Bit total resolution Class 2 32 Bit resolution MUR 13Bit TMR 25Bit O Preset setting In Class 2 mode the encoder can be adjusted over the PROFIBUS to any position value in the value range of 27 bit or 15 Bit This is done by setting the most significant bit MSB of the output data 2 31 for configuration Class 2 32 bit or 2 15 for configuration Class 2 16 bit The Preset Value that is transmitted in the data bytes O 3 is accepted as the position value with the rising edge of bit 32 bit 7 of data byte 3 The encoder then continues counting from this position Readjustment is then only possible after the control bit has been reset There is no acknowledgment of this action via the inputs Speed values All modules can be combined with the configuration of an additional Speed value The input words are increased to a maximum length of 8 bytes 64 bit depending on the configuration of the speed value The speed value is signed and depends on the count direction Positive values in CW negative in CCW directi
26. uired configuration The GSD device file e g TRCKFF40 GSD contains five required configurations for PNO Class1 and 2 each with 16 and 32 Bit resolution Hans Turck GmbH 8 Co KG Witzlebenstra e 7 e 45472 M lheim Ruhr e Germany Tel 0208 4952 0 e Fax 0208 4952 264 www turck com 5 7 0211 User Manual Absolute Single Multiturn Encoders Profibus iii 6 Device Profile Profile for Encoder V1 1 This profile describes a manufacturer independent and mandatory determination of the interface for encoders It is defined in the protocol which Profibus functions are used as well as how they are to be used This standard permits an open manufacturer independent bus system The device profile is divided into two object classes Physical position Absolute position Output position value e Class C1 describes all the basic functions which the encoder should contain e Class C2 contains a number of extended functions which must either be supported by encoders of this class Mandatory or which are optional Class C2 devices thus contain all the C1 and C2 mandatory functions as well as additional manufacturer dependent optional functions An address area is also defined in the profile which can be reserved for a manufacturer s own proprietary special functions Configuration The configuration program normally provides an input mask i e where you enter the data for resolution count direction etc The individual modu
27. ve principle Here in the polling operation a master communicates with its assigned slave devices one after the other on the bus A data exchange is initiated by a request telegram and ended by an acknowledgement telegram from the slave concerned So each slave only becomes active after a call from the master This avoids a simultaneous bus access The hybrid access procedure of PROFIBUS allows a combined operation of several bus masters and even a mixed operation of PROFIBUS DP and PROFIBUS FMS within a bus section However the prerequisite for this is the correct configuration of the bus system and the unambiguous assignment of the Slave devices to the Masters PROFIBUS DP distinguishes two types of Master The Class 1 Master carries out the cyclic transmission of the operating data and supplies the user data The Class 1 Master can be addressed by a Class 2 Master using certain functions Direct access to the Slaves is not permitted The functions are limited to support services such as reading the diagnostic information of the slaves A Class 2 Master is thus also understood as a programming or diagnostic device Protective functions PROFIBUS DP is equipped with many protective functions ensuring safe and fault free communication of the peripheral equipment not only in harsh environments but also in the event of external interference or failure of one or more stations Wrong parameter settings are recognized directly in that stations having the wrong
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