6FX2001-5AP25 - Siemens

User Manual 07/2005 Edition

simodrive

Absolute Value Encoder with PROFIBUS-DP

SIMODRIVE sensor

General Information 1

Installation 2

Device Configuration 3

Class 1 and Class 2 4

Encoder Classes,

Version 2.1 and 2.2

Diagnostic Messages 6

Configuration Example

STEP 7 7

DPV2 Functionality-

General Information

Data Transfer

Isochronous Operation

Parameterizing

Isochronous Operation

Non-Cyclic Utilities 11

t Signals/

Diagnostics

Configuring Example

for Isochr. Operation

Technical Data 14

Appendix 15

Index 16

Faul

SIMODRIVE sensor

Absolute Value Encoder with

PROFIBUS-DP

User Manual

Valid for

Product Version

SIMODRIVE sensor Firmware version 2.0

07/05 Edition

SIMODRIVE® Documentation

Printing history

Brief details of this edition and previous editions are listed below.

The status of each edition is shown by the code in the „Remarks“ column.

Status code in the „Remarks" column:

A .... New documentation.

B .... Unrevised reprint with new Order No.

C .... Revised edition with new status.

If factual changes have been made on the page within the same software version, this is indicated by a

new edition coding in the header on that page.

Edition Order No. Remarks

05/97 6SN 1197-0AB10 – 0YP0 A

02/99 6SN 1197-0AB10 – 0YP1 C

03/03 6SN 1197-0AB10 – 0YP2 C

03/04 6SN 1197-0AB10 – 0YP3 C

07/05 6SN 1197-0AB10 – 0YP4 C

Trademarks

SIMATIC®, SIMATIC HMI®, SIMATIC NET®, SIROTEC®, SINUMERIK® and SIMODRIVE® are trademarks of

Siemens. Other product names used in this documentation may be trademarks which, if used by third parties,

could infringe the rights of their owners.

Further information is available on the Internet under:

http://www.siemens.com/motioncontrol

This publication was produced with WinWord V 8.0 and Designer V 7.0

and the DokuTool AutWinDoc.

Other functions not described in this documentation might be

executable in the control. This does not, however, represent an

obligation to supply such functions with a new control or when

servicing.

We have checked that the contents of this publication agree with the

hardware and software described herein. Nevertheless, differences

might exist and therefore we cannot guarantee that they are

completely identical. The information given in this publication is

reviewed at regular intervals and any corrections that might be

necessary are made in the subsequent printings. Suggestions for

improvement are welcome at all times.

Subject to change without prior notice.

Order No. 6SN 1197-0AB10-0YP4

Printed in the Federal Republic of Germany

Siemens-Aktiengesellschaft.

07/05 SIMODRIVE sensor

Contents

General Information.................................................................................................................................1-9

1.1 Absolute value encoders.............................................................................................1-10

1.2 Validity of the documentation and references .............................................................1-10

1.3 Profibus technology ....................................................................................................1-11

Installation..............................................................................................................................................2-13

2.1 Settings in the connecting cover .................................................................................2-15

2.1.1 Node address .............................................................................................................2-15

2.1.2 Bus termination...........................................................................................................2-15

2.2 Connecting-up the signal and power supply cables ....................................................2-17

2.3 Connecting-up the connecting cover ..........................................................................2-18

2.4 Connecting the shielded cable....................................................................................2-19

2.5 Information on mechanically installing and electrically connecting-up

the absolute value encoder.........................................................................................2-19

Device Configuration.............................................................................................................................3-21

3.1 Overview, data transfer principle ................................................................................3-22

3.2 Overview, functionality of the encoder classes ...........................................................3-23

3.3 Overview, data format of the encoder classes ............................................................3-24

Class 1 and Class 2 ...............................................................................................................................4-25

4.1 Note ............................................................................................................................4-27

4.2 Parameterization.........................................................................................................4-28

4.2.1 Direction of rotation..................................................................................................... 4-29

4.2.2 Activating/de-activating Class 2 functionality ..............................................................4-29

4.2.3 Activating/de-activating commissioning diagnostics....................................................4-29

4.2.4 Activating/de-activating the scaling function ...............................................................4-29

4.2.5 Measuring steps per revolution...................................................................................4-29

4.2.6 Total resolution 4-30

4.3 Data transfer in normal operation ...............................................................................4-32

4.3.1 Transferring the process actual value.........................................................................4-32

4.3.2 Preset function............................................................................................................4-32

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SIMODRIVE sensor 07/05

Contents

Encoder Classes, Version 2.1 and 2.2..................................................................................................5-33

5.1 Parameters .................................................................................................................5-35

5.1.1 Activating the manufacturer-specific parameters ........................................................5-35

5.1.2 Required measuring steps ..........................................................................................5-35

5.1.3 Resolution reference...................................................................................................5-36

5.1.4 Activating the commissioning mode............................................................................5-37

5.1.5 Reduced diagnostics ..................................................................................................5-37

5.1.6 Software limit switches................................................................................................5-38

5.1.7 Physical measuring steps ...........................................................................................5-39

5.1.8 Absolute value encoder type.......................................................................................5-40

5.1.9 Dimension units of the velocity ...................................................................................5-40

5.2 Data transfer in the normal mode ...............................................................................5-41

5.3 The commissioning mode ...........................................................................................5-42

5.3.1 Setting the direction of rotation ...................................................................................5-43

5.3.2 Starting teach-in..........................................................................................................5-43

5.3.3 Stopping teach-in........................................................................................................5-44

5.3.4 Preset value ................................................................................................................5-44

Diagnostic Messages ............................................................................................................................6-45

6.1 Overview .....................................................................................................................6-46

6.2 Diagnostic messages which are supported................................................................. 6-47

6.2.1 Expanded diagnostics header..................................................................................... 6-47

6.2.2 Memory errors ............................................................................................................6-47

6.2.3 Operating state ...........................................................................................................6-47

6.2.4 Encoder type...............................................................................................................6-47

6.2.5 Single-turn resolution..................................................................................................6-47

6.2.6 Number of revolutions.................................................................................................6-48

6.2.7 Operating time alarm .................................................................................................. 6-48

6.2.8 Profile version............................................................................................................. 6-48

6.2.9 Software version .........................................................................................................6-48

6.2.10 Operating time ............................................................................................................6-48

6.2.11 Zero offset ..................................................................................................................6-48

6.2.12 Parameterized resolution per revolution .....................................................................6-48

6.2.13 Parameterized total resolution ....................................................................................6-49

6.2.14 Serial number .............................................................................................................6-49

6.3 Status signals using LEDs in the connecting cover ....................................................6-50

Configuration Example STEP 7 ............................................................................................................7-51

7.1 Reading-in the GSD files ............................................................................................7-52

7.2 Configuring the absolute value encoder...................................................................... 7-53

7.3 Selecting the device class...........................................................................................7-54

7.4 Parameterization.........................................................................................................7-55

SIMODRIVE sensor (BN) - 07/05 Edition

07/05 SIMODRIVE sensor

Contents

DPV2 Functionality – General Information .......................................................................................... 8-59

8.1 Isochronous operation ................................................................................................8-61

8.2 Slave-to-slave communication ....................................................................................8-62

Data Transfer Isochronous Operation .................................................................................................9-63

9.1 Run-up ........................................................................................................................9-65

9.1.1 Slave parameterization, configuration.........................................................................9-65

9.1.2 Synchronizing to the clock cycle Global Control .........................................................9-65

9.1.3 Synchronizing the slave application to the master sign-of-life.....................................9-65

9.1.4 Synchronizing the master application to the slave sign-of-life character.....................9-66

9.1.5 Cyclic operation 9-66

9.2 Telegram type 81........................................................................................................9-67

Parameterizing Isochronous Operation.............................................................................................10-69

10.1 Parameter – overview............................................................................................... 10-71

10.2 Device-specific parameters....................................................................................... 10-72

10.2.1 Direction of rotation................................................................................................... 10-72

10.2.2 Scaling/preset/counting direction ..............................................................................10-72

10.2.3 Measuring steps per revolution.................................................................................10-73

10.2.4 Total resolution 10-73

10.2.5 Maximum master sign-of-life character failures ........................................................10-73

10.3 Isochronous parameters ...........................................................................................10-74

10.3.1 TBASE_DP .....................................................................................................................10-74

10.3.2 TDP............................................................................................................................. 10-74

10.3.3 TMAPC .........................................................................................................................10-74

10.3.4 TBASE_IO......................................................................................................................10-74

10.3.5 TI...............................................................................................................................10-74

10.3.6 TO..............................................................................................................................10-75

10.3.7 TDX............................................................................................................................. 10-75

10.3.8 TPLL_W ........................................................................................................................10-75

10.3.9 TPLL_D......................................................................................................................... 10-75

10.4 Slave-to-slave communication ..................................................................................10-76

Non-Cyclic Utilities ..............................................................................................................................11-77

Fault Signals/Diagnostics in Isochronous Operation.......................................................................12-79

12.1 Profibus diagnostics..................................................................................................12-80

12.2 Status signals using the LEDs in the connecting cover.............................................12-81

12.3 Fault codes in G1_XIST2.......................................................................................... 12-82

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SIMODRIVE sensor 07/05

Contents

Configuring Example for Isochronous Operation – STEP 7 ............................................................13-83

13.1 Downloading the GSD file.........................................................................................13-84

13.2 Configuring the absolute value encoder.................................................................... 13-85

13.3 Telegram selection ................................................................................................... 13-86

13.4 Parameterization.......................................................................................................13-87

13.4.1 Device-specific parameters.......................................................................................13-87

13.4.2 Isochronous parameters ...........................................................................................13-88

Technical Data......................................................................................................................................14-91

14.1 Electrical data............................................................................................................14-92

14.2 Mechanical data........................................................................................................14-93

14.3 Ambient conditions ...................................................................................................14-94

14.4 Dimension drawings..................................................................................................14-95

Appendix...............................................................................................................................................15-97

15.1 Additional encoder classes .......................................................................................15-98

15.1.1 Version 2.0 multi-turn................................................................................................15-98

15.1.2 Version 1.1 multi-turn................................................................................................15-98

15.1.3 Version 1.0 multi-turn................................................................................................15-98

15.2 FAQ Absolute value encoders, Profibus ...................................................................15-99

15.3 Terminology............................................................................................................. 15-101

Index .................................................................................................................................................. 16-103

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SIMODRIVE sensor (BN) - 07/05 Edition

General Information

1.1 Absolute value encoders.................................................................................1-10

1.2 Validity of the documentation and references .................................................1-10

1.3 Profibus technology ........................................................................................1-11

SIMODRIVE sensor (BN) - 07/05 Edition 1-9

1 General Information 07/05

1.1 Absolute value encoders

1-10

SIMODRIVE sensor (BN) - 07/05 Edition

1.1 Absolute value encoders

This Manual describes the commissioning and configuring of absolute value

encoders with PROBIFUS-DP interface. The device fulfills the requirements

placed on a Profibus slave in compliance with the Profibus Standard and is

certified by the Profibus User Organization.

The basic principle of operation of the absolute measured value sensing is the

optical scanning of a transparent coding disk which is coupled to the shaft to be

measured. The position of the shaft can be determined by evaluating the code

with a resolution of up to 8192 steps per revolution (13 bit).

For so-called multi-turn devices, other coding disks are coupled through step-

down gearing. These subsequently coupled disks allow the number of shaft

revolutions to be determined in absolute terms (up to 16384 revolutions =

14 bits).

For absolute value encoders with PROFIBUS-DP, the position value, optically

detected, is computed in an integrated microprocessor and the data is

transferred via Profibus.

1.2 Validity of the documentation and references

This documentation applies to absolute value encoders with PROFIBUS-DP

with the following Order No. [MLFB]: 6FX2001-5xPxx from Version A10

onwards; this can be seen in the lowest line on the rating plate.

Version Introduction

date

Introduction

from Serial No.

Feature

A00 May 96 Release for general available with 2xPG9, 1xPG7

A01 Nov 96 Connection cover is supplied with 3xPG9

A02 01.08.97 Gearbox modification; length shortened for MT, length

shortened to 109 mm

A03 01.08.98 For multi-turn encoders, velocity signal averaged over

8 measured values

A04 02.04.99 73871 Online parameterization

LEDs in the connection cover

Velocity output, now also for ST

A05 01.07.00 87133 New shaft version with increased degree of protection for

synchronous flange

A06 04.07.02 114764 Connection cover with de-coupled continuing bus when the

terminating resistor is switched-in

A07 17.09.02 117670 Software change; improved rotary axis routine

A08 01.04.03 125568 Software change: DPV2 functionality (can be called using an

additional GSD file) changeover to 13/25 bit; downwards

compatibility for Class 1 or disabled scaling is implemented by

adapting the encoder software.

A09 01.09.03 133050 Software change: Error message "Operating time

alarm/incorrect limit value" rectified.

A10 01.03.04 144258 Sensor system innovated, change over to Multiturn 27 bit

A11 26.05.04 151904 Change only for 6FX2001-5LP25: Additional hole in the shaft

and dowel pin provided

Standard versions remain at A10

A12 16.08.04 156529 Parameter 964, sub-index 1-4 changed:

Device type adapted to "7010" hex, version and date

A12 20.10.04 161000 Change, reset generator, basis sensor system

07/05 1 General Information

1.3 Profibus technology

Version

GSD file/version Changes

A00

A01

A02

A03

A04 SIEM0024.GSD - Version 2.0

A05 SIEM0024.GSD - Version 2.0

A06 SIEM0024.GSD - Version 3.0 Modification to change over to

DPC31; new encoder also

functional with V2.0

A07 SIEM0024.GSD - Version 3.0

A08 SIEM0024.GSD - Version 3.0

SIEM80F9 - Version 1.0

Clock cycle synchronism and

peer-to-peer data transfer

implemented, can be called using

a special GSD file

"SIEM80F9.GSD"

A09 SIEM0024.GSD - Version 3.0

SIEM80F9 - Version 1.0

A10 SIEM0024.GSD - Version 4.0

SIEM80F9 - Version 1.1

Both GSD files adapted to an

extended measuring range

(16384 revolutions)

A11 SIEM0024.GSD - Version 4.0

SIEM80F9 - Version 1.1

A12 SIEM0024.GSD - Version 4.0

SIEM80F9 - Version 1.1

A12 SIEM0024.GSD - Version 4.0

SIEM80F9 - Version 1.4

Various changes "SIEM80F9":

Default settings, comments

Note regarding GSD files

SIEM80F9: From A08 onwards for functions, clock cycle synchronism and

peer-to-peer data transfer

SIEM0024: Standard DP functionality, new encoder also functional for old

versions. From A10 onwards, for correct teach-in operation, GSD version 4 or

higher must be used.

1.3 Profibus technology

PROFIBUS is a non-proprietary, open fieldbus Standard which is defined by

international Standards EN 50170 and EN 50254. There are 3 versions: DP,

FMS and PA. SIEMENS absolute value encoders support the DP version and

are designed for the usual data transfer rates of up to 12 Mbaud.

In addition to manufacturer-specific functions, the devices support Classes 1

and 2 according to the encoder profile. This device profile can be ordered from

the Profibus User Organization under Order No. 3.062. Additional information

on PROFIBUS can also be obtained from the Profibus User Organization

(functionality, manufacturer, products) as well as Standards and profiles:

Profibus User Organization

Haid-und-Neu-Straße 7

D-76131 Karlsruhe

Tel: +49 721 / 96 58 590

Fax: +49 721 / 96 58 589

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SIMODRIVE sensor (BN) - 07/05 Edition 1-11

1 General Information 07/05

1.3 Profibus technology

1-12

SIMODRIVE sensor (BN) - 07/05 Edition

Space for your notes

Installation

2.1 Settings in the connecting cover ........................................................................2-15

2.1.1 Node address.....................................................................................................2-15

2.1.2 Bus termination ..................................................................................................2-15

2.2 Connecting-up the signal and power supply cables ...........................................2-17

2.3 Connecting-up the connecting cover.................................................................. 2-18

2.4 Connecting the shielded cable ...........................................................................2-19

2.5 Information on mechanically installing and electrically connecting-up the

absolute value encoder ......................................................................................2-19

SIMODRIVE sensor (BN) - 07/05 Edition 2-13

2 Installation 07/05

2.1 Settings in the connecting cover

The absolute value encoder is connected-up through the so-called connecting

cover. This is connected to the rotary encoder through a 15-pin D-Sub plug

connector. It can be removed by releasing 2 screws at the rear of the device.

Bus and power supply cables are fed into the connecting cover through cable

glands and connected to screw terminals.

2-14

SIMODRIVE sensor (BN) - 07/05 Edition

07/05 2 Installation

2.1 Settings in the connecting cover

2.1.1 Node address

A decimal rotary switch in the connecting cover is used to set the Profibus node

address. The weighting (x 10 or x 1) is specified at the switch. Permissible

addresses lie between 1 and 99, whereby each one must be unique in the

complete system. The device address is read-in from the absolute value

encoder when the power supply voltage is switched-on. Address changes by

the master ("Set_Slave_Add") are not supported.

x10

2.1.2 Bus termination

If the encoder is connected at the end or beginning of the bus line, the

terminating resistor must be switched on (slide switch in position "ON"):

R R

ON ON

Node X Last node

Note

When the terminating resistor is switched-in, the bus out is de-coupled!

SIMODRIVE sensor (BN) - 07/05 Edition 2-15

2 Installation 07/05

2.1 Settings in the connecting cover

The bus has only been correctly terminated if the encoder is mounted to the

connecting cover. If the encoder must be replaced in operation (hot swap), then

we recommend that a separate active bus termination is used.

After the address has been set on the hardware side, and where necessary, the

cable terminating-resistor switched-in, then the absolute value encoder can be

commissioned.

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SIMODRIVE sensor (BN) - 07/05 Edition

07/05 2 Installation

2.2 Connecting-up the signal and power supply cables

AB + B +

Terminal Description

B (left) Signal cable B, bus in

A (left) Signal cable A, bus in

- 0 V

+ 10 – 30 V

B (right) Signal cable B, bus out

A (right) Signal cable A, bus out

- 0 V

+ 10 – 30 V

The power supply cables only have to be connected once (it doesn't matter at

which terminals). When the terminating resistor is switched-in the bus out is de-

coupled.

AB ++

SIMODRIVE sensor (BN) - 07/05 Edition 2-17

2 Installation 07/05

2.3 Connecting-up the connecting cover

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.

5 mm 5 mm

55 mm

50 mm

2-18

SIMODRIVE sensor (BN) - 07/05 Edition

07/05 2 Installation

2.4 Connecting the shielded cable

In order to achieve the highest possible noise immunity, shielded cables are

used to transfer signals between the system components. The shields of these

cables are connected at both ends. For specific system configurations an

equalization current can flow through the cable shield which is connected at

both ends. This is the reason that we recommend a potential bonding

conductor.

2.5 Information on mechanically installing and electrically

connecting-up the absolute value encoder

The following points should be observed:

• Do not drop the absolute value encoder or subject it to excessive vibration.

The encoder is a precision device.

• Do not open the absolute value encoder housing (this does not mean that

you cannot remove the cover). If the device is opened and closed again,

then it can be damaged and dirt may enter the unit.

• The absolute 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 inadmissibly high forces.

• Although SIEMENS 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 who are authorized to commission, ground and tag devices,

systems and circuits according to the current state of safety technology.

• It is not permissible to make any electrical changes to the encoder.

• Route the connecting cable to the absolute value 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.

• 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.

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SIMODRIVE sensor (BN) - 07/05 Edition 2-19

2 Installation 07/05

2.5 Information on mechanically installing and electrically connecting-up the absolute value encoder

2-20

SIMODRIVE sensor (BN) - 07/05 Edition

Space for your notes

Device Configuration

3.1 Overview, data transfer principle ....................................................................3-22

3.2 Overview, functionality of the encoder classes ...............................................3-23

3.3 Overview, data format of the encoder classes ................................................3-24

SIMODRIVE sensor (BN) - 07/05 Edition 3-21

3 Device Configuration 07/05

3.1 Overview, data transfer principle

Absolute value encoders with PROFIBUS-DP can be configured and

parameterized corresponding to the requirements of the user. To do this,

so-called GSD files, associated with the device, are downloaded into the

configuring tool. When configuring the encoders various "encoder classes" can

be selected. Selectable parameters and functionality of the device depend on

the selected encoder class. SIEMENS absolute value encoders support all of

the encoder classes described in the following. This means that the functionality

is not restricted from the hardware side and is exclusively defined by the user.

In addition to the "Class 1" and "Class 2" encoder classes, described in the

encoder profile, SIEMENS absolute value encoders offer additional encoder

classes with manufacturer-specific functions.

When configuring the device, configuration and parameter data are defined by

selecting the encoder class. This data, saved in the Profibus master is

transferred once to the absolute value encoder when the system runs-up

(configuration and parameterizing phase – "DDLM_Set_Prm"). It is not possible

to change configuration or parameters during operation (exception:

"Commissioning mode" refer to Section 5.3).

After the configuration and parameter data have been received the absolute

value encoder goes into "normal operation" (cyclic data transfer –

"DDLM_Data_Exchange mode"). Among other things, the position value is

transferred in this mode. The length and format of the data exchanged are also

defined when configuring the device by selecting the appropriate encoder class.

3.1 Overview, data transfer principle

GSD-File

Software Tool database

PLC

Choice of encoder configuration

Parameter settings

Parameter („DDLM_Set_Prm“)

Once at Start-Up

Cyclic Data Transmission

(e.g. position value)

3-22

SIMODRIVE sensor (BN) - 07/05 Edition

07/05 3 Device Configuration

3.2 Overview, functionality of the encoder classes

SIMODRIVE sensor (BN) - 07/05 Edition 3-23

3.2 Overview, functionality of the encoder classes

Designation Cyclic data transfer Parameters which can be

set

Others

Class 1

single-turn

Position value –16-bit input Direction of rotation -

Class 1

multi-turn

Position value – 32-bit input Direction of rotation -

Class 2

single-turn

Position value – 16-bit input

preset value – 16-bit output

Direction of rotation

Gearbox factor

Preset function

Class 2

multi-turn

Position value – 32-bit input

Preset value – 32-bit output

Direction of rotation

Gearbox factor

Preset function

Version 2.1 single-turn Position value (32-bit input)

Preset value/teach-in

(32-bit output)

Direction of rotation

Gearbox factor

Reduced diagnostics

Limit switch

Preset function

Commissioning

mode

Version 2.1

multi-turn

Position value (32-bit input)

Preset value/teach-in

(32-bit output)

Direction of rotation

Gearbox factor

Reduced diagnostics

Limit switch

Preset function

Commissioning

mode

Version 2.2 single-turn Position value (32-bit input)

Preset value/teach-in

(32-bit output)

Velocity

(16-bit input)

Direction of rotation

Gearbox factor

Reduced diagnostics

Limit switch

Units of the velocity output

Preset function

Commissioning

mode

Velocity output

Version 2.2 multi-turn Position value (32-bit input)

Preset value/teach-in

(32-bit output)

Velocity

(16-bit input)

Direction of rotation

Gearbox factor

Reduced diagnostics

Limit switch

Units of the velocity output

Preset function

Commissioning

mode

Velocity output

3 Device Configuration 07/05

3.3 Overview, data format of the encoder classes

3-24

SIMODRIVE sensor (BN) - 07/05 Edition

3.3 Overview, data format of the encoder classes

Configuration

(ID)

Description, refer

Designation

Hex Dec.

Input words

(AWC

-> master)

Output words

(master ->

AWC) Section Page

Class 1 single-turn

(acc. to the encoder profile)

D0 208 1 0

Class 1 multi-turn

(acc. to the encoder profile)

D1 209 2 0

Class 2 single-turn

(acc. to the encoder profile)

F0 240 1 1

Class 2 multi-turn

(acc. to the encoder profile)

F1 241 2 2

4 27

Version 2.1 single-turn F1 241 2 2

Version 2.1 multi-turn F1 241 2 2

Version 2.2 single-turn F1

241

208

Version 2.2 multi-turn F1

241

208

5 35

The following encoder classes are still supported due to ensure upwards

compatibility. However, these encoder classes should not be used for new

projects (description: Refer to the Appendix):

Version 1.0 multi-turn D3 211 4 0 15.1.3 98

Version 1.1 multi-turn D3

211

225

15.1.2 98

Version 2.0 multi-turn F1

241

208

2 15.1.1 98

■

Class 1 and Class 2

4.1 Note ................................................................................................................4-27

4.2 Parameterization.............................................................................................4-28

4.2.1 Direction of rotation......................................................................................... 4-29

4.2.2 Activating/de-activating Class 2 functionality ..................................................4-29

4.2.3 Activating/de-activating commissioning diagnostics........................................4-29

4.2.4 Activating/de-activating the scaling function ...................................................4-29

4.2.5 Measuring steps per revolution.......................................................................4-29

4.2.6 Total resolution ...............................................................................................4-30

4.3 Data transfer in normal operation ...................................................................4-32

4.3.1 Transferring the process actual value.............................................................4-32

4.3.2 Preset function................................................................................................4-32

SIMODRIVE sensor (BN) - 07/05 Edition 4-25

4 Class 1 and Class 2 07/05

4.1 Note

Encoder classes Class 1 and Class 2 are the versions according to the encoder

profile defined by the Encoder Working Group in the Profibus User Organization

(this is available from the PNO under Order No. 3.062).

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SIMODRIVE sensor (BN) - 07/05 Edition

07/05 4 Class 1 and Class 2

4.1 Note

In order to guarantee compatibility to previously supplied devices with a resolution

of 4096 steps per revolution (versions < "A08"), from version "A08" the absolute

value encoders do not operate with the complete resolution of 8192 steps (13

bits) per revolution, but instead with 4096 steps per revolution (12 bits) scaled

value:

1. Utilizing the device in Class 1

2. Utilizing the device in a higher class (Class 2 or manufacturer-specific) with

disabled scaling function (parameter byte 9, bit 3)

3. Using the device in a higher class (Class 2 or manufacturer-specific) with

disabled Class 2 functionality (parameter byte 9, bit 1)

In all three cases, the absolute value encoder generally operates with a 12-bit

resolution (4096 steps) per revolution.

In order to use the full (that specified on the rating plate) resolution of 13 bits

(8192 steps) per revolution, the device must be operated in Class 2 or in a

manufacturer-specific class with the scaling function and with Class 2 functionality

switched-in.

In order to ensure that compatibility is maintained to multi-turn encoders with 4096

revolutions that were previous supplied (version < “A10”). In the following cases,

multi-turn angular encoders, from version “A10” do not operate with the full 16384

revolutions but instead with the reduced number of 4096:

1. Utilizing the device in Class 1

2. Utilizing the device in a higher class (Class 2 or manufacturer-specific) with

disabled scaling function (parameter byte 9, bit 3)

3. Using the device in a higher class (Class 2 or manufacturer-specific) with

disabled Class 2 functionality (parameter byte 9, bit 1)

In all three cases, the absolute value encoder generally operates with the number

rotations reduced to 4096.

In order to use the full (specified on the rating plate) number of 16384 revolutions

(14 bit), the device must be operated in Class 2 or a manufacturer-specific Class

with the scaling enabled and Class 2 functionality enabled.

SIMODRIVE sensor (BN) - 07/05 Edition 4-27

4 Class 1 and Class 2 07/05

4.2 Parameterization

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SIMODRIVE sensor (BN) - 07/05 Edition

4.2 Parameterization

The following table includes an overview of the parameters which can be set

according to the encoder profile as well as their arrangement in the

parameterizing telegram. Generally, parameters are set using user-friendly input

masks in the configuring tool. This means that a precise description of the

parameterizing telegram is normally of little interest to the user.

Octet

(=byte) No.

Parameter Bit No. Details, refer to

1 ... 8 Profibus Standard parameters

9 Direction of rotation 0 Section 4.2.1, page 29

Class 2 functionality 1 Section 4.2.2, page 29

Activate ”Commissioning Diagnostics" 2 Section 4.2.3, page 29

Scaling function 3 Section 4.2.4, page 29

Reserved 4

Reserved 5

Not used for Class 1 and Class 2

...

Measuring steps/revolution Section 4.2.5, page 29

...

Total resolution Section 4.2.6, page 30

...

Reserved (for the encoder profile)

26 Not used for Class 1 and Class 2

(refer to version 2.1 and 2.2)

07/05 4 Class 1 and Class 2

4.2 Parameterization

SIMODRIVE sensor (BN) - 07/05 Edition 4-29

4.2.1 Direction of rotation

The direction of rotation defines the counting direction when the process actual

value is output as the shaft rotates clockwise (CW) or counter-clockwise (CCW)

when viewing the shaft. The count direction is defined by bit 0 in octet 9:

Octet 9 bit 0 Direction of rotation

when viewing the shaft

Output code

0 Clockwise increasing

1 Counter-clockwise increasing

For Class 1, this is the only parameter, which can be set.

4.2.2 Activating/de-activating 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. Bit 1 in octet 9 is set in

order to use the functions of a Class 2 encoder.

Octet 9 bit 1

Class 2 functionality

0 Switched-out

1 Switched-in

4.2.3 Activating/de-activating commissioning diagnostics

This function has no significance for the SIMODRIVE sensor absolute value

encoder.

4.2.4 Activating/de-activating the scaling function

The scaling function enables the resolution per revolution and the selected total

resolution to be parameterized. This switch should always be switched-in, if the

functions of Class 2 (or manufacturer-specific classes) are to be used.

Octet 9 bit 3

Scaling function

0 Switched-out

1 Switched-in

4.2.5 Measuring steps per revolution

The ‘Measuring steps per revolution‘ parameter is used to program the absolute

value 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 per revolution, the output code is no longer in single steps.

For absolute value encoders from version "A06", in this case, a parameter error is

displayed indicating that the device doesn't go into cyclic data transfer.

4 Class 1 and Class 2 07/05

4.2 Parameterization

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SIMODRIVE sensor (BN) - 07/05 Edition

Octet

10 11 12 13

Bit 31 - 24 23 - 16 15 - 8 7 - 0

Data 231 to 224 2

23 to 216 2

15 to 28 2

7 to 20

Required number of measuring steps per revolution

4.2.6 Total resolution

Octet

14 15 16 17

Bit 31 - 24 23 - 16 15 - 8 7 - 0

Data 231 to 224 2

23 to 216 2

15 to 28 2

7 to 20

Selected total resolution in measuring steps

The user can adapt the measuring range of the device using the ‘Total resolution’

parameter: The absolute value encoder counts up to the parameterized total

resolution and then starts again at 0.

Example: 100 steps are selected for each revolution, total resolution 12 800, and

then the absolute value encoder starts again at zero after 128 revolutions and

then counts up to 11 799.

For many configuring tools it is necessary to split-up the value into a high word

and low word; also refer to Page 36.

When entering the parameter "Total resolution" the following must still be

observed:

If n steps per revolution are selected, then the selected total resolution may not

result in the fact that the periods are longer than the maximum available

(physical) number of revolutions of the device (refer to the rating plate). For

instance, for a multi-turn device with 16384 revolutions, the total resolution must

be less than 16384 times the parameterized number of steps per revolution:

Total resolution < measuring steps per revolution x number of revolutions

(physical revolutions)

If this is not observed, then the LEDs in the connecting cover display a

parameterizing error and the device does not go into cyclic data transfer.

For older versions, when selecting the total resolution, an additional rule had to

be observed (refer below). If the total resolution was not selected in compliance

with this rule, when using the device on a so-called endless axis/rotary axis,

when the physical zero was exceeded, a step was output. For new devices

(version A06), this particular problem has been resolved using an internal

software routine. This means that the rule, shown below, can be ignored for new

devices.

07/05 4 Class 1 and Class 2

4.2 Parameterization

SIMODRIVE sensor (BN) - 07/05 Edition 4-31

Note

The internal software routine only intervenes if the device is operational. If the

encoder shaft is rotated further than 4096 revolutions, and if the device is not

connected to the power supply voltage, problems can occur. If this situation

can occur in the application itself, the following rule should also be observed

for new devices:

The periods, i.e. total resolution/measuring steps per revolution must be an

integer number. This must fit an integer number of times (integer multiple) in

16384. Thus, the following equation must apply:

(16384 x measuring steps per revolution) / total resolution = integer number

4 Class 1 and Class 2 07/05

4.3 Data transfer in normal operation

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SIMODRIVE sensor (BN) - 07/05 Edition

4.3 Data transfer in normal operation

The so-called DDLM_Data_Exchange mode is the normal status when operating

the system. When requested to do so, the absolute value encoder sends actual

(position) values to the master. On the other hand, the absolute value encoder can

also receive cyclic data (e.g. the preset value for Class 2 encoders).

4.3.1 Transferring the process actual value

For multi-turn encoders, the actual position value is transferred to the master as

32-bit value (double word):

Word Word 1

Function Status bits

Bit 31 30 29 28 27 26 25

0 0 0 0 0 0 0

Word Word 1

Function Status bits

Bit 24 23 22 21 20 19 18 17 16

X X X X X X X X X

Word Word 0

Function Process actual value

Bit 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0

X X X X X X X X X X X X X X X X

Analog to this, for single-turn encoders data is transferred as 16-bit value (word).

For Class 1 and Class 2 no status bits are included. The position value is max.

27 bit.

4.3.2 Preset function

The encoder zero point can be adapted to the mechanical zero of the system

using the preset function The rotary encoder actual value is set to the required

"preset value" by setting the preset value. The device computes the required zero

offset and saves this in an EEPROM so that it is non-volatile (this takes less than

40 ms).

The preset value is activated by setting bit 31 in the (peripheral) output double

word (this is transferred with a rising signal edge). The preset value is

automatically set after the scaling parameters have been transferred, i.e. the

preset value refers to the scaled actual value.

(This procedure is essentially the same for single-turn encoder versions – in this

case, bit 15 is used to activate the preset value.)

Status bits

Bit 31 30 29 28 27 26 25

Master → AWC 1 0 0 0 0 0 0

AWC → Master 0 0 0 0 0 0 0

Master → AWC 0 0 0 0 0 0 0

AWC → Master 0 0 0 0 0 0 0

Data bits

Bit 2

9 8 7 6 5 4 3 2 1 0

Master → AWC Required value is transferred (= preset value)

AWC → Master New = required process actual value is transferred here

Master → AWC Reset bit 31 – normal mode

AWC → Master New = required process actual value is transferred here

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 time, offsets

can occur, as even when the preset value is set, bus propagation times occur

(bus delay times). The preset value has max. 27 bit.

■

Encoder Classes, Version 2.1 and 2.2

5.1 Parameters .....................................................................................................5-35

5.1.1 Activating the manufacturer-specific parameters ............................................5-35

5.1.2 Required measuring steps ..............................................................................5-35

5.1.3 Resolution reference.......................................................................................5-36

5.1.4 Activating the commissioning mode................................................................5-37

5.1.5 Reduced diagnostics ......................................................................................5-37

5.1.6 Software limit switches....................................................................................5-38

5.1.7 Physical measuring steps ...............................................................................5-39

5.1.8 Absolute value encoder type...........................................................................5-40

5.1.9 Dimension units of the velocity .......................................................................5-40

5.2 Data transfer in the normal mode ...................................................................5-41

5.3 The commissioning mode ...............................................................................5-42

5.3.1 Setting the direction of rotation .......................................................................5-43

5.3.2 Starting teach-in..............................................................................................5-43

5.3.3 Stopping teach-in............................................................................................5-44

5.3.4 Preset value.................................................................................................... 5-44

SIMODRIVE sensor (BN) - 07/05 Edition 5-33

5 Encoder Classes, Version 2.1 and 2.2 07/05

5.1 Parameters

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SIMODRIVE sensor (BN) - 07/05 Edition

Using the manufacturer-specific encoder classes, Version 2.1 and Version 2.2, the

absolute value encoder offers, in addition to the functions in compliance with the

encoder profile, features such as commissioning mode (teach-in mode), velocity

output and limit switch.

The transfer of the individual parameters in the parameterizing telegram is listed in

the following Table. The following also applies in this case: Generally, users apply

the user-friendly input masks (input screen forms) in the configuring tool; the

structure of the parameterizing telegram is only of marginal interest in exceptional

cases.

Details ref. to Octet (byte)

No.

Parameter Bit

No. Sect. Page

1 .. 8 Profibus Standard parameters

Direction of rotation 0 4.2.1 29

Class 2 functionality 1 4.2.2 29

Commissioning diagnostics 2 4.2.3 29

Scaling function 3 4.2.4 29

Reserved 4

Reserved 5

Activate manufacturer-specific parameters (octet 26) 6 5.1.1 35

Reserved 7

10 .. 13 Required measuring steps (ref.: Octet 26 bits 0 and 1) 5.1.2 35

14 .. 17 Total resolution 4.2.6 30

18 .. 25 Reserved

0 Reference for required measuring steps

5.1.3 36

Activate commissioning mode 2 5.1.4 37

Reduced diagnostics 3 5.1.5 37

Reserved 4

Activate lower software limit switch 5 5.1.6 38

Activate upper software limit switch 6 5.1.6 38

Activate the parameter from octet 27 7 5.1.1 35

27 .. 30 Lower limit switch 5.1.6 38

31 .. 34 Upper limit switch 5.1.6 38

35 .. 38 Physical measuring steps 5.1.7 39

Reserved 0

Absolute value encoder type (single/multi-turn) 1 5.1.8 40

Reserved 2

Reserved 3

4 Selecting the dimension units for velocity output

5.1.9 40

Reserved 6

Reserved 7

07/05 5 Encoder Classes, Version 2.1 and 2.2

5.1 Parameters

SIMODRIVE sensor (BN) - 07/05 Edition 5-35

5.1 Parameters

The manufacturer-specific parameters are described in more detail in the following

text. The description of the (also supported) parameters according to the encoder

profile should be taken from Section 4.

5.1.1 Activating the manufacturer-specific parameters

The manufacturer-specific parameter byte 26 is activated using bit 6 in octet 9.

In turn, the manufacturer-specific bytes 27-39 are activated in byte 26.

When selecting the encoder classes, Version 2.1 or Version 2.2, this is realized

automatically. These bits are only of significance if they are directly and manually

parameterized in the hexadecimal notation.

Octet 9 bit 6 Octet 26

0 De-activated

1 Activated

Octet 26 bit 7 Octet 27 – 39

0 De-activated

1 Activated

5.1.2 Required measuring steps

The "required measuring steps" parameter is used to program the device so that

any number of measuring steps, referred to a revolution, the complete measuring

range or any partial measuring range can be covered.

Octet 10 11 12 13

Bit 31 - 24 23 - 16 15 - 8 7 – 0

Data 231 to 224 223 to 216 215 to 28 27 to 20

Required measuring steps

The parameter "Resolution reference" (refer to 5.1.3) is used to define the

reference for the measuring steps entered here. If "per revolution" is selected here

as reference for the requested measuring steps, then the measuring range can be

adapted using the "Total resolution" parameter. In this case, the rules, listed in

Section 4.2.6, should be carefully observed.

Note

For many configuring tools it is necessary to split-up the word into a high word

and low word; also refer to Page 56.

5 Encoder Classes, Version 2.1 and 2.2 07/05

5.1 Parameters

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SIMODRIVE sensor (BN) - 07/05 Edition

5.1.3 Resolution reference

This parameter is used to specify the reference for the "Required measuring steps"

(refer to 5.1.2) which is entered:

− revolution

− maximum total resolution

− physical measuring steps

Requested resolution per revolution

In this case, the position value is scaled so that the position value increases by the

number of required measuring steps at each revolution. In addition, in this

particular case, the "Total resolution" parameter is evaluated. This can be used to

adapt the measuring range (refer to 4.2.6).

Requested resolution per maximum total resolution

The requested measuring steps which are entered refer to the complete measuring

range of the device, i.e. the device outputs the parameterized number of measuring

steps over the complete (physical) number of revolutions.

Requested resolution per physical measuring steps

In this case, the required number of steps refers to the physical measuring steps,

entered using parameter "Physical measuring steps" (also refer to Section 5.1.7).

In this particular case physical steps mean the following: The numerical value

which is read from the coding disk internally from the absolute value encoder (e.g.

4096 steps per revolution for the standard 12-bit version). Gearbox factors can be

freely set using this option.

Reference Octet 26 bit 0 Octet 26 bit 1

Per revolution 0 0

Per maximum total resolution 1 0

Per physical measuring steps

(= steps specified in octet 35-38)

0 1

07/05 5 Encoder Classes, Version 2.1 and 2.2

5.1 Parameters

SIMODRIVE sensor (BN) - 07/05 Edition 5-37

5.1.4 Activating the commissioning mode

Bit 2 in octet 26 represents a switch for the so-called commissioning mode. The

commissioning mode is a specific status of the device which can be used to

transfer additional parameters, extending beyond the preset value, to the absolute

value encoder. When the commissioning mode has been activated, a so-called

"teach-in" can be executed. This means that the gearbox factor can be determined

by directly moving the system. In this particular mode (this can be identified at the

unit as a result of the flashing green LED), the direction of rotation and scaling, set

when configuring the system, are ignored and instead, the values saved in the

EEPROM are used.

The device can also be continually operated in the commissioning mode; however,

we recommend that the parameters, determined in the commissioning mode, are

transferred to the configuring and the device is then subsequently used in the

normal mode (this means that it is possible to replace the device without having to

carry-out a new teach-in).

A detailed description of the commissioning mode is provided in Section 5.3.

Octet 26 bit 2

Commissioning mode

0 Disabled

1 Enabled

5.1.5 Reduced diagnostics

For some Profibus masters, the full number of diagnostic bytes can result in

problems (standard diagnostics: 57 bytes). Especially older masters often cannot

process the full number of diagnostic bytes. With SIEMENS absolute value

encoders it is possible to reduce the number of diagnostic bytes output from the

absolute value encoder to 16. Only 16 diagnostic bytes are output if the "Class 1"

device class is selected.

Octet 26 bit 3

Diagnostics

0 Standard = 57 bytes

1 Reduced = 16 bytes

5 Encoder Classes, Version 2.1 and 2.2 07/05

5.1 Parameters

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SIMODRIVE sensor (BN) - 07/05 Edition

5.1.6 Software limit switches

2 positions can be programmed which when violated (exceeded or fallen below) the

absolute value encoder sets bit 27 in the 32-bit process actual value to "1". This bit

is set to "0" between the two positions. Both limit switch values can be set as

required by appropriately parameterizing them; however the value of the "total

resolution" parameter may not be exceeded. The limit switches are activated using

bits 5 and 6 in octet 26.

Many configuring tools required that the value is split-up into a high word and low

word; also refer to Page 56.

Octet

27 28 29 30

Bit 31 - 24 23 - 16 15 - 8 7 - 0

Data 231 to 224 2

23 to 216 2

15 to 28 2

7 to 20

Lower limit switch in measuring steps (referred to the scaled value)

Octet

31 32 33 34

Bit 31 - 24 23 - 16 15 - 8 7 - 0

Data 231 to 224 2

23 to 216 2

15 to 28 2

7 to 20

Upper limit switch in measuring steps (referred to the scaled value)

Octet 26 bit 5

Lower limit switch

0 Disabled

1 Enabled

Octet 26 bit 6

Upper limit switch

0 Disabled

1 Enabled

07/05 5 Encoder Classes, Version 2.1 and 2.2

5.1 Parameters

SIMODRIVE sensor (BN) - 07/05 Edition 5-39

5.1.7 Physical measuring steps

Octet

35 36 37 38

Bit 31 - 24 23 - 16 15 - 8 7 - 0

Data 231 to 224 2

23 to 216 2

15 to 28 2

7 to 20

Physical measuring steps

The device evaluates this parameter if, the option "Physical measuring steps" is

selected as reference for the required measuring steps (refer to 5.1.3).

A gearbox factor can be freely set using the "Physical measuring steps". In this

case it is specified as to how many measuring steps ("Required measuring steps")

should be output for a specified sub-measuring range. This option is helpful if

"uneven" scaling factors are to be entered.

Here is an example:

Problem: The absolute value encoder should output 400 steps over 3 revolutions.

This number of steps cannot be set with the reference "Required measuring steps

per revolution" (the "Required measuring steps" parameter would have to contain

the value 133,333; however, in this case only integer numbers may be entered).

Remedy:

The "Physical measuring steps" is selected as reference for the requested

measuring steps.

Using the actual (physical) resolution of the device (rating plate) the number of

physical measuring steps is determined over the required measuring range. For an

absolute value encoder with 12-bit standard resolution this would be, for example,

in this particular case

4096 steps/revolution x 3 revolutions = 12288 steps

This value is now entered as "Physical measuring steps" parameter; the actually

required step number of 400 is entered under "Required measuring steps". The

absolute value encoder now outputs 400 steps over a measuring range of 12288

physical steps (i.e. over 3 revolutions).

Note

Many configuring tools require that the value is split-up into a high word and

low word; also refer to Page 57.

5 Encoder Classes, Version 2.1 and 2.2 07/05

5.1 Parameters

5.1.8 Absolute value encoder type

The type of the absolute value encoder (single or multi-turn) is defined in bit 1 of

octet 39. When the encoder class is selected this is realized automatically. The

user must only observe these parameters if the parameterization is done directly in

the hexadecimal code.

Octet 39 bit 1

Type

0 Single-turn

1 Multi-turn

5.1.9 Dimension units of the velocity

The units in which the velocity is output (Version 2.2) is set using this parameter.

This basis is saved in bit 4 and 5 of the octet 39.

Units

Bit 4 Bit 5

Steps/second 0 0

Steps/100 ms 1 0

Steps/10 ms 0 1

Revolutions/minute 1 1

5-40

SIMODRIVE sensor (BN) - 07/05 Edition

07/05 5 Encoder Classes, Version 2.1 and 2.2

5.2 Data transfer in the normal mode

For manufacturer-specific encoder classes, Version 2.1 and Version 2.2 the

process actual value is generally transferred as 32-bit value (double word). In

addition to 25 bits, which are provided for the position value, 7 additional bits are

used as status bits. The master sends the preset value and additional control bits

to the absolute value encoder in the (peripheral) output double word.

For a device class, Version 2.2, the actual velocity is transferred in an additional

(peripheral) input word:

ID F1 hex D0 hex

Status + position actual value Velocity AWC → Master

Status + 224 223 - 216 215 - 28 27 - 20 215 - 28 27 - 20

Preset value + control bits Master → AWC

Control + 224 223 - 216 215 - 28 27 - 20

The status bits in the input double word have the following significance:

Bit 28 Bit 27 Bit 26 Bit 25 Significance

Ready

0 = absolute value encoder not ready

1 = absolute value encoder ready

Operating mode

0 = commissioning mode

1 = normal mode

Software limit switch

0 = lower limit switch ≤ actual value ≤ upper limit

switch

1 = actual value > upper limit switch or actual value <

lower limit switch

Direction of rotation

0 = increasing in the clockwise rotation (when viewing

the shaft)

1 = increasing in the counter-clockwise rotation (when

viewing the shaft)

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5 Encoder Classes, Version 2.1 and 2.2 07/05

5.3 The commissioning mode

If the absolute value encoder is switched into the commissioning mode using the

appropriate parameterization, then gearbox factors can be directly determined in

the system using a so-called "teach-in".

The absolute value encoder signals when it is in the commissioning mode by the

flashing green LED in the connecting cover and using bit 26 in the input double

word (this is set to 0).

In the commissioning mode, the parameters, set in the configuring (direction of

rotation, scaling) are ignored and instead the values, saved in the internal

EEPROM, are used. If the direction of rotation and gearbox factor are changed in

the commissioning mode, then the new values are saved in the EEPROM and the

device operates with these values.

The principle mode of operation in the commissioning mode is as follows:

− The device is installed in the system.

− The commissioning mode is switched-in using the appropriate

parameterization (refer to 5.14).

− If required, the direction of rotation is modified.

− The system is moved into the initial position.

− The start command for the teach-in is transferred to the absolute value

encoder.

− The system is moved to the end position.

− The required step number is transferred to the absolute value encoder with the

teach-in stop command.

− The preset value is set.

− The values, determined in the teach-in phase are transferred into the

configuring (parameter).

− The commissioning mode is switched-out in the parameterization.

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SIMODRIVE sensor (BN) - 07/05 Edition

07/05 5 Encoder Classes, Version 2.1 and 2.2

5.3 The commissioning mode

5.3.1 Setting the direction of rotation

In the commissioning mode, the direction of rotation in which the output code

increases, can be changed online. The actual direction of rotation is displayed

using bit 28 in the input double word (0: increasing/1: decreasing in the clockwise

direction of rotation). The direction of rotation can be reversed using bit 28 in the

output double word.

Status bits Data bits

Bit 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 0

Master → AWC 0 0 0 1 0 0 0 The direction of rotation is changed via bit 28

AWC → Master 0 0 0 0/1 0 0 1 Absolute value encoder acknowledged in bit 0 and bit 28 with a new

direction of rotation

0/1

Master → AWC 0 0 0 0 0 0 0 The changeover operation is completed by resetting bit 28

AWC → Master 0 0 0 0/1 X 0 1 The process actual value is output with a modified direction of rotation

The direction of rotation which is set is saved in a non-volatile fashion in the

EEPROM.

5.3.2 Starting teach-in

After the system has been moved to the beginning of the measuring range, the

teach-in start command is transferred to the absolute value encoder. The device

now internally starts the measuring to determine the gearbox factor.

Status bits Data bits

Bit 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 0

Master → AWC 0 1 0 0 0 0 0 Teach-in is started by setting bit 30

AWC → Master 0 1 0 X X 0 1 The absolute value encoder acknowledges the start of teach-in by setting bit 30

Master → AWC 0 0 0 0 0 0 0 Bit 30 is reset

AWC → Master 0 1 0 X X 0 1 The non-processed actual value is output (gearbox factor = 1, preset is not

active)

Note

The gearbox factor is internally set to 1 and the zero offset is deleted.

SIMODRIVE sensor (BN) - 07/05 Edition 5-43

5 Encoder Classes, Version 2.1 and 2.2 07/05

5.3 The commissioning mode

5.3.3 Stopping teach-in

After the system has been moved over the measuring range using the teach-in stop

command, the step number, required over the traversing measured distance is

transferred. In this case it must be ensured that the physical resolution is not

exceeded (e.g. 3000 steps for quarter of a revolution). Positive and negative

directions of rotation and if the zero is possibly exceeded, are automatically taken

into account. The measuring distance moved through may not exceed 2047

revolutions.

The absolute value encoder transfers the total resolution, calculated by the device,

as response to the teach-in stop command. This value should be documented and

used later in the configuring/parameterization for normal operation of the system.

After this procedure has been completed, the device operates with the new scaling

factor which has just been determined. This is then saved in the EEPROM in a

non-volatile fashion.

Status bits Data bits

Bit 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 0

Master → AWC 0 0 1 0 0 0 0 Number of required steps over the measuring distance moved through

AWC → Master 0 1 1 X X 0 1 The complete resolution f. new gearbox factor is transferred (this should be

documented)

Master → AWC 0 0 0 0 0 0 0 Bit 29 is reset

AWC → Master 0 0 0 X X 0 1 Output of the actual value including the gearbox factor

In order that the encoder can be subsequently replaced without requiring a new

teach-in procedure, the total resolution, determined by the encoder, should be

transferred into the configuring. This is realized by entering the complete resolution,

determined in the teach-in phase (and documented) into the parameter field

"Required measuring steps" (refer to 5.1.2). The "Resolution reference" switch is

then set to "Maximum total resolution" (refer to 5.1.3). For the new configuration it

must be ensured that the direction of rotation (refer to 4.2.1) is correctly entered –

the setting in the commissioning mode must also be taken into account in the

parameterization. The commissioning mode can then be disabled via the

parameterization and the rotary encoder is now used in the "normal mode".

5.3.4 Preset value

The preset value is set in essentially the same way as the procedure described in

4.3.2. The only difference: For the manufacturer-specific classes, Version 2.1 and

Version 2.2, when the preset value is set, this is acknowledged using a status bit:

Status bits Data bits

Bit 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 0

Master → AWC 1 0 0 0 0 0 0 The required value is transferred (= preset value)

AWC → Master 1 0 0 0 0 0 1 New = required process actual value is transferred

Master → AWC 0 0 0 0 0 0 0 Bit 31 is reset – normal mode

AWC → Master 0 0 0 0 0 0 1 New = required process actual value is transferred

■

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Diagnostic Messages

6.1 Overview.........................................................................................................6-46

6.2 Diagnostic messages which are supported.....................................................6-47

6.2.1 Expanded diagnostics header......................................................................... 6-47

6.2.2 Memory errors ................................................................................................6-47

6.2.3 Operating state ...............................................................................................6-47

6.2.4 Encoder type...................................................................................................6-47

6.2.5 Single-turn resolution......................................................................................6-47

6.2.6 Number of revolutions.....................................................................................6-48

6.2.7 Operating time alarm ...................................................................................... 6-48

6.2.8 Profile version.................................................................................................6-48

6.2.9 Software version .............................................................................................6-48

6.2.10 Operating time ................................................................................................6-48

6.2.11 Zero offset ......................................................................................................6-48

6.2.12 Parameterized resolution per revolution .........................................................6-48

6.2.13 Parameterized total resolution ........................................................................6-49

6.2.14 Serial number .................................................................................................6-49

6.3 Status signals using LEDs in the connecting cover ........................................6-50

SIMODRIVE sensor (BN) - 07/05 Edition 6-45

6 Diagnostic Messages 07/05

6.1 Overview

When requested by the master, in the DDLM_Slave_Diag mode, a series of

data is transferred. There are 57 pieces of diagnostics data. Exception:

Reduced diagnostics (refer to 5.1.5). The diagnostics data are output according

to the Profibus Standard (octet 1-6) and the encoder profile rules (from octet 7).

Diagnostics function Data type Diagnostics

octet no.

Encoder class

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

Diagnostics Master Add Octet 4 1

PNO 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 32 15, 16 1

Additional alarm messages Octet String 17 2

Supported alarm messages Octet String 18, 19 2

Alarm messages Octet String 20, 21 2

Supported alarms 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 40 - 43 2

Parameterized total resolution Unsigned 32 44 - 47 2

Serial number ASCII String 48 - 57 2

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07/05 6 Diagnostic Messages

6.2 Diagnostic messages which are supported

SIMODRIVE sensor (BN) - 07/05 Edition 6-47

6.2 Diagnostic messages which are supported

The implemented diagnostics messages are described in more detail below.

6.2.1 Expanded diagnostics header

The length of the extended diagnostic bytes, including diagnostics header, is

contained in diagnostics byte 7.

6.2.2 Memory errors

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

EEPROM no longer functions correctly and the preset value is no longer saved

so that it is kept during power outages (non-volatile data save).

Bit

Definition 0 1

4 Memory error (defect in the

EEPROM)

No Yes

6.2.3 Operating state

The operating parameters which are set can be interrogated using diagnostics

byte 9.

Bit

Definition 0 1

0 Direction of rotation CW CCW

1 Class 2 functionality Off On

2 Diagnostic routine Off On

3 Scaling function Off On

6.2.4 Encoder type

The angular encoder version can be interrogated using diagnostics byte 10.

Byte 10

Definition

0 Single-turn angular encoder

1 Multi-turn angular encoder

6.2.5 Single-turn resolution

The hardware resolution per revolution of the angular encoder can be

interrogated via diagnostic bytes 11-14.

6 Diagnostic Messages 07/05

6.2 Diagnostic messages which are supported

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6.2.6 Number of revolutions

The number of revolutions of the angular encoder which can be differentiated

between on the hardware side, can be interrogated using diagnostic bytes 15

and 16. The two standard values are 1 for single-turn and/or 16384 for multi-

turn.

6.2.7 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 105 hours.

6.2.8 Profile version

The profile version of the angular encoder is saved in diagnostic bytes 24 and

25:

Byte 24 25

Bit 15 - 8 7 - 0

Data 27 to 20 2

7 to 20

Service No. Index

6.2.9 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 27 to 20 2

7 to 20

Service No. Index

6.2.10 Operating time

The angular encoder operating time is 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.

6.2.11 Zero offset

The zero offset is output in diagnostic bytes 32 to 35.

6.2.12 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 5.1.3).

07/05 6 Diagnostic Messages

6.2 Diagnostic messages which are supported

6.2.13 Parameterized total resolution

The parameterized and calculated total resolution can be read-out of diagnostic

bytes 44-47.

6.2.14 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).

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6 Diagnostic Messages 07/05

6.3 Status signals using LEDs in the connecting cover

6-50

SIMODRIVE sensor (BN) - 07/05 Edition

6.3 Status signals using LEDs in the connecting cover

LED rot

/red

LED grün

/green

The connecting cover has two LEDs, which optically represent the status of the

bus at the angular encoder. This red LED is used to display errors and the

green LED is used to display the status of the angular encoder. Each LED can

have one of three conditions: dark, bright, flashing. From the nine combination

possibilities, six are used to display various conditions.

If problems occur when commissioning the device, then initially the status of the

LEDs should be checked; these can often provide important information

regarding the possible cause of the fault.

No. Red LED Green LED Status signal/possible cause

1 Dark Dark Power supply missing

2 Bright Bright Absolute value encoder is ready, but after the

power was connected, it still had not received

configuration data.

Possible causes: Address incorrectly set, bus

cables incorrectly connected

3 Bright Flashing Parameterizing or configuring error

i.e. the encoder receives configuring or

parameterizing data with the incorrect length or

inconsistent data.

Possible cause: for example, the total resolution

has been set too high

4 Flashing Bright Encoder ready, but is not addressed from the

master (for example an incorrect address was

addressed)

5 Bright Dark Encoder doesn’t receive data for a longer period of

time (approx. 40 sec) (for example, the data line

has been interrupted)

6 Dark Bright Standard operation in the Data Exchange mode

7 Dark Flashing Commissioning mode in the Data Exchange mode

■

Configuration Example STEP 7

7.1 Reading-in the GSD files ................................................................................7-52

7.2 Configuring the absolute value encoder.......................................................... 7-53

7.3 Selecting the device class...............................................................................7-54

7.4 Parameterization.............................................................................................7-55

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7 Configuration Example STEP 7 07/05

7.1 Reading-in the GSD files

When used for the first time, the GSD file ("SIEM0024.gsd") must be installed in

order to include the absolute value encoder in the hardware Catalog. To do this,

the "Install new GSD .." item should be selected in the "HW Config" window of

the SIMATIC Manager under the menu item "Options". The appropriate GSD

file ("SIEM0024.gsd" or the German Version "SIEM0024.gsg") should be

selected.

The GSD file can be obtained from SIEMENS.

After the GSD file has been read-in, the absolute value encoder appears in the

hardware Catalog under "PROFIBUS-DP" - "Other field devices" - "Encoder" -

"SIMODRIVE sensor".

For more recent versions of the "SIMATIC Manager" the sensor is already

included in the hardware Catalog.

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07/05 7 Configuration Example STEP 7

7.2 Configuring the absolute value encoder

After the Profibus network has been configured in the hardware configurator

under the menu item "Insert" – "Master system" the absolute value encoder can

be selected from the hardware Catalog and inserted in the network. To do this,

the "SIMODRIVE sensor" device is coupled to the bus by dragging & dropping it

(or by double clicking on the module with the bus selected).

After the device has been inserted, the node address of the slave device is

entered. This must match the address set in the connecting cover.

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7 Configuration Example STEP 7 07/05

7.3 Selecting the device class

As described in Section 3, the functionality of the device depends on the

selected encoder class. After the device, as described, was inserted in the

Profibus network, the required device class can now be selected. In this case,

one of the modules, listed in the hardware Catalog under "SIMODRIVE sensor"

can be dragged&dropped at slot 1 (Table in the lower section of the station

[node] window:

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07/05 7 Configuration Example STEP 7

7.4 Parameterization

Select the absolute value encoder to be parameterized in the configuring and

then double click on slot 1 (Table in the lower area of the station [node]

window). The dialog box "Properties DP slave" is displayed. The default

addresses (if required) of the device can be changed here.

The "Parameterizing" tab should be selected to enter parameters.

The parameters of the device are now entered here. After the "Device-specific

parameter" folder has been selected, then, depending on the encoder class

which has been selected, different parameters can be entered. If there are

several possibilities in the fields located to the right, then an additional selection

window opens with a double click. On the other hand, numerical values are

directly entered. The example indicates the parameter selection for Version 2.2

– the device class with the highest functionality.

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7 Configuration Example STEP 7 07/05

7.4 Parameterization

As a result of the STEP 7 configuring software, 32-bit parameter values (e.g.

total resolution, limit switch, etc.) are split-up into high and low words.

Example:

Decimal Hexadecimal Hexadecimal Decimal

129600 00 01 FA 40 High word: 00 01 1

Low Word: FA 40 64 064

Decimal value "1" is now entered in the high field and decimal value "64 064" in

the low field.

Or:

Divide the value by 65536 – enter the integer part of the result into the high

word and the remainder into the low word:

129600 / 65536 = 1.977539 → integer part = 1 → high word: 1

129600 – 1 x 65536 = 64064 → remainder =

64064 → low word = 64064

The data can also be directly entered in the hexadecimal format. However, this

is significantly more complex; if possible this alternative should not be used.

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07/05 7 Configuration Example STEP 7

7.4 Parameterization

■

SIMODRIVE sensor (BN) - 07/05 Edition 7-57

7 Configuration Example STEP 7 07/05

7.4 Parameterization

7-58

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Space for your notes

DPV2 Functionality – General Information

8.1 Isochronous operation ....................................................................................8-61

8.2 Slave-to-slave communication ........................................................................8-62

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8 DPV2 Functionality – General Information 07/05

8.1 Isochronous operation

The latest generation of SIEMENS Profibus absolute value encoders supports

the new Profibus functionality – isochronous operation and slave-to-slave

communications.

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07/05 8 DPV2 Functionality – General Information

8.1 Isochronous operation

Isochronous communication (equidistance) forms the basis for synchronizing

several drives. In this case, Profibus slaves are synchronized to a cyclic clock

cycle signal (GC) sent by the master as "Global-Control-Command". The

instants in time where the actual value is sensed (TI) and the setpoint transfer

(TO) within the bus cycle (TDP) can be selected in the configured software. This

means that the position values of several axes can be simultaneously sensed to

a precision of just microseconds.

TDP TDP

GC GC GC

TITO

S1 S2 S4S3 MSG Res./ GC S1 S2 S4S3 MSG Res./ GC

TDX TDX

TOmin

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8 DPV2 Functionality – General Information 07/05

8.2 Slave-to-slave communication

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8.2 Slave-to-slave communication

The slave-to-slave communication function allows Profibus slave devices to

"listen to" the actual values of other slaves and use these as setpoints. A slave

device, which provides its actual values to other slaves is called a "Publisher".

Devices which listen to the actual values of other slaves are called

"Subscribers". A master must initiate slave-to-slave communications and this

can be realized within one DP cycle.

■

Data Transfer Isochronous Operation

9.1 Run-up ............................................................................................................9-65

9.1.1 Slave parameterization, configuration .............................................................9-65

9.1.2 Synchronizing to the clock cycle Global Control.............................................. 9-65

9.1.3 Synchronizing the slave application to the master sign-of-life .........................9-65

9.1.4 Synchronizing the master application to the slave sign-of-life character .........9-66

9.1.5 Cyclic operation...............................................................................................9-66

9.2 Telegram type 81 ............................................................................................9-67

SIMODRIVE sensor (BN) - 07/05 Edition 9-63

9 Data Transfer Isochronous Operation 07/05

9.1 Run-up

The absolute value encoder must be operated with the GSD file

"SIEM80F9.GSD" in order to be able to use the new functionality. If the device

was previously used with another GSD file, then the operating voltage must

initially be withdrawn and then it must be switched-in again. An example in

Section 13 explains how the device should be configured.

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07/05 9 Data Transfer Isochronous Operation

9.1 Run-up

The device runs-up to cyclic operation in several phases:

9.1.1 Slave parameterization, configuration

Parameter and configuration data are transferred from the master to the slave.

The parameter structure and possibilities of assigning parameters

(parameterization) are described in more detail in Section 10.

Telegram type 81 (according to the PROFIdrive profile) is the only configuration

possible. Telegram 81 is described in detail in Section 9.2.

Telegram type Output data Input data ID (specific ID format)

81 2 words 6 words 0xC3,0xC1,0xC5,0xFD,0x00,0x51

9.1.2 Synchronizing to the clock cycle Global Control

As soon as the slave application detects the “Operate” state and receives valid

Data_Exchange telegrams, synchronization to the clock cycle Global Control is

started. Initially, a bus cycle time of TDP (from the parameterization, refer to

10.3.2) is assumed and the tolerance window width is a multiple of the

parameterized time TPLL_W (refer to 10.3.8). During the synchronization phase,

the bus cycle TDP is adapted to the real bus cycle and the tolerance window is

decreased down to the parameterized window width TPLL_W (refer to 10.3.8).

The slave application starts with the clock cycle monitoring after

synchronization has been completed. More detailed information on this can be

taken from the PROFIdrive profile.

If the maximum permissible number of clock cycle failures is exceeded, the

error bit is set in the status word, the appropriate error code (refer to 12.3) is

output and the slave application re-attempts to synchronize itself.

9.1.3 Synchronizing the slave application to the master sign-of-life

After having successfully synchronized to the clock cycle Global Control, the

slave application attempts to synchronize itself to the master sign-of-life. It

expects that the master sign-of-life character counter increments itself at each

cycle of the master application. The cycle time of the master application must

be transferred via the parameter TMAPC (refer to 10.3.3). Synchronization can

start at any value of the master sign-of-life. If the value range of the master

sign-of-life character was run-through once error-free, then the synchronization

phase is considered to have been completed and the monitoring of the master

sign-of-life character starts. More detailed information on this subject can be

taken from the PROFIdrive profile.

If a “Sign-of-life error” occurs, the error bit is set in the status word, the

appropriate fault code is output and the slave application re-attempts to re-

synchronize itself.

SIMODRIVE sensor (BN) - 07/05 Edition 9-65

9 Data Transfer Isochronous Operation 07/05

9.1 Run-up

9.1.4 Synchronizing the master application to the slave sign-of-life

character

After the slave application has been successfully synchronized to the master

sign-of-life character, the slave sign-of-life character is set to a value not equal

to 0 and incremented with each bus cycle. This means that the master

application can now synchronize to the slave sign-of-life character.

9.1.5 Cyclic operation

In the cyclic mode, the slave application monitors the sign-of-life character of

the master application. When the sign-of-life character fails, the slave

application automatically tries to re-synchronize itself. As long as the master

sign-of-life character is available error-free, the slave sign-of-life character is

incremented in each bus cycle and can be monitored by the master application.

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07/05 9 Data Transfer Isochronous Operation

9.2 Telegram type 81

Telegram type 81 (based on the Profidrive profile) is transferred in cyclic data

transfer:

Output data (master to the absolute value encoder)

2 x 16 bits (consistent)

STW2 G1_STW1

Input data (absolute value encoder to the master)

2 x 16 bits + 2 x 32 bits (consistent)

ZSW2 G1_ZSW1 G1_XIST1 G1_XIST2

STW2 (16 bits): Master sign-of-life character

4-bit counter, left justified. The master application starts the master sign-of-life

character at any value between 1 and 15. The master increments the counter in

each master application cycle. The value range extends from 1 to 15; a value of

"0" indicates a fault and is skipped in fault/error-free operation.

X X X X 0 0 0 0 0 0 0 0 0 0 0 0

Counter Unused

ZSW2 (16 bits): Slave sign-of-life character

4-bit counter, left justified. The slave application starts the slave sign-of-life

character at any value between 1 and 15 after it has been successfully

synchronized to the clock cycle. The slave increments the counter in each DP

cycle. The value range extends between 1 – 15, a value of "0" indicates a fault

and is skipped in fault/error-free operation.

X X X X 0 0 0 0 0 0 0 0 0 0 0 0

Counter Unused

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9 Data Transfer Isochronous Operation 07/05

9.2 Telegram type 81

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G1_STW1 (16 bits): Encoder control word

Bit Value Significance Description

Reserved, presently it is not used

11 0/1 "Home position mode" Specifies whether the actual value is set to an

absolute value or is to be shifted by a specific

value.

0: set home position (absolute)

1: shift home position

12 1 Set preset/request shift The preset value is set (or the value shifted)

with the rising edge. Default (preset value,

shift): 0

13 1 Request transfer, actual

value 2

Requests that the actual value is additionally

transferred in G1_XIST2. The additional actual

value is generally transferred in the current

version.

14 1 "Park encoder" If this bit is set, then the encoder does not

output any error messages.

15 1 Acknowledge encoder

error

Acknowledges/resets an encoder error.

G1_ZSW1 (16 bits): Encoder status word

Bit Value Significance Description

Reserved, presently it is not used

11 Acknowledges encoder

error being processed

This bit is set if it takes longer than one bus

cycle to reset an error after

acknowledgement.

12 1 Acknowledgement, set

preset/shift value

13 1 Acknowledgement, transfer

actual value 2

The actual value is additionally transferred in

G1_XIST2

14 1 Acknowledgement "Park

encoder"

Acknowledgement "Park encoder": The

encoder does not output any error messages.

15 1 Encoder fault This indicates an encoder fault. The fault

code is output in G1_XIST2.

G1_XIST1 (32 bits): Actual value (position)

The absolute position value is output in G1_XIST1. The output is realized left

justified. The "Shift factor" (number of bits through which the position value is

shifted) can be read-out using parameter P979 (non-cyclic).

G1_XIST2 (32 bits): Actual value 2/error codes

An additional actual value (right justified) is transferred in G2_XIST2. A possible

shift can be read-out using the non-cyclic parameter P979. When a fault

situation occurs, fault codes are output depending on the encoder control word.

■

Parameterizing Isochronous Operation

10.1 Parameter – overview .....................................................................................10-71

10.2 Device-specific parameters .............................................................................10-72

10.2.1 Direction of rotation .........................................................................................10-72

10.2.2 Scaling/preset/counting direction.....................................................................10-72

10.2.3 Measuring steps per revolution .......................................................................10-73

10.2.4 Total resolution................................................................................................10-73

10.2.5 Maximum master sign-of-life character failures ...............................................10-73

10.3 Isochronous parameters.................................................................................. 10-74

10.3.1 TBASE_DP ...........................................................................................................10-74

10.3.2 TDP................................................................................................................... 10-74

10.3.3 TMAPC ...............................................................................................................10-74

10.3.4 TBASE_IO............................................................................................................10-74

10.3.5 TI.....................................................................................................................10-74

10.3.6 TO....................................................................................................................10-75

10.3.7 TDX................................................................................................................... 10-75

10.3.8 TPLL_W ..............................................................................................................10-75

10.3.9 TPLL_D...............................................................................................................10-75

10.4 Slave-to-slave communication.........................................................................10-76

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10 Parameterizing Isochronous Operation 07/05

10.1 Parameter – overview

The parameters which can be set and the various engineering/configuring

possibilities are now described in the following.

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07/05 10 Parameterizing Isochronous Operation

10.1 Parameter – overview

SIMODRIVE sensor (BN) - 07/05 Edition 10-71

10.1 Parameter – overview

The parameter data are transferred in the parameterizing telegram as so-called

"Structured_Prm_Data" blocks:

Byte No. Parameter Data type Details

1-7 Profibus Standard

parameters

Refer to the Profibus

Standard

8-10 DPV1 bytes

11-14 Block header, user

parameters

4 x unsigned8

15 Bit 0 Direction of rotation Bit 10.2.1

15 Bit 1 Scaling/preset/activate

direction of rotation

Bit 10.2.2

15 Bit 3 Scaling function Bit 10.2.2

15 Bit 2, 4- 7 Reserved Presently not used

16 - 19 Measuring steps/revolution Unsigned32 10.2.3

20 - 23 Total resolution Unsigned32 10.2.4

24 Maximum failures, master

sign-of-life character

Unsigned8 10.2.5

25 - 31 Reserved Presently unused

32 - 35 Block header, isochronous

parameters

4 x Unsigned8

36 Version Unsigned8

37 – 40 TBASE_DP Unsigned32 10.3.1

41 - 42 TDP Unsigned16 10.3.1

43 TMAPC Unsigned8 10.3.3

44 - 47 TBASE_IO Unsigned32 10.3.4

48 – 49 TI Unsigned16 10.3.5

50 – 51 TO Unsigned16 10.3.6

52 - 55 TDX Unsigned32 10.3.7

56 - 57 TPLL_W Unsigned16 10.3.8

58 - 59 TPLL_D Unsigned16 10.3.9

10 Parameterizing Isochronous Operation 07/05

10.2 Device-specific parameters

The following device-specific parameters can be set to adapt the absolute value

encoder to the particular application:

10.2.1 Direction of rotation

The direction of rotation defines the direction in which the counter of the output

of the process actual value counts when the shaft rotates clockwise (CW) or

counter-clockwise (CCW) when viewing the shaft. The count direction is defined

by bit 0 in byte 15:

Octet 15 bit 0 Direction of rotation when viewing the

shaft

Output code

0 Clockwise (CW) Increasing

1 Counter-clockwise (CCW) Increasing

10.2.2 Scaling/preset/counting direction

Using this switch, for the absolute value encoder, the scaling, preset and

direction of rotation change functions can be either enabled or disabled.

This switch is important if the device is to be operated with the minimum time TI

of 125 µs. This is only possible if scaling, preset and direction of rotation

selection are disabled. In this particular case, the encoder rejects all data that is

transferred using the parameters “direction of rotation”, measuring steps per

revolution” and “total resolution” and instead uses the following default settings:

Direction of rotation: increasing in the clockwise sense

Measuring steps per revolution: 8192

Total resolution: 33554432

If this functionality “scaling, preset and direction of rotation” is enabled, then the

following must be carefully observed:

TI must be a minimum of 375 µs.

The time which elapses between the setpoint being accepted (TO) up to the

actual value latch (TI) must be a minimum of 375 µs.

Octet 15 bit 1

Scaling/preset/direction of rotation change

0 Disabled

1 Enabled

In order that scaling can be executed, bit 3 must be additionally set in octet 15

(default setting):

Octet 15 bit 3

Scaling function

0 Disabled

1 Enabled

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07/05 10 Parameterizing Isochronous Operation

10.2 Device-specific parameters

10.2.3 Measuring steps per revolution

The ‘Measuring steps per revolution’ parameter is used to assign the absolute

value encoder the required number of steps referred to 1 revolution.

If the parameter value exceeds the actual (physical) basic resolution of the

encoder, then the output value is no longer in single steps. In this particular

case, a parameter error indicates that the device does not go into the cyclic

data transfer mode.

Octet

16 17 18 19

Bit 31 - 24 23 - 16 15 - 8 7 - 0

Data 231 to 224 2

23 to 216 2

15 to 28 2

7 to 20

Required measuring steps per revolution

10.2.4 Total resolution

Octet

20 21 22 23

Bit 31 - 24 23 - 16 15 - 8 7 - 0

Data 231 to 224 2

23 to 216 2

15 to 28 2

7 to 20

Selected total resolution in measuring steps

The user can adapt the measuring range of the device using the ‘Total

resolution’ parameter: The absolute value encoder counts up to the

parameterized total resolution and then re-starts at 0.

Example: 100 steps are selected for each revolution, the total resolution is

12800 and then the absolute value encoder restarts after 128 revolutions and

then counts again up to 11799.

For many configuring tools it is necessary to split-up the value into a high word

and low word (refer to the User Manual). The following should be carefully

observed when entering the parameter "Total resolution":

If n steps per revolution were selected then the selected total resolution may no

longer result in the fact that the periods are longer than the maximum number

of revolution of the device which are available (physically) (refer to the rating

plate). This means, for a multi-turn device with 16384 revolutions, the total

resolution must be less than 16384 x the parameterized number of steps per

revolution:

Total resolution < measuring steps per revolution x number of revolutions

(physical)

If this is not observed, the device outputs a parameter error and does not go

into the cyclic data transfer mode.

10.2.5 Maximum master sign-of-life character failures

The maximum permissible number of master sign-of-life character failures can

be parameterized in parameter byte 24. Default: 1.

SIMODRIVE sensor (BN) - 07/05 Edition 10-73

10 Parameterizing Isochronous Operation 07/05

10.3 Isochronous parameters

Some of the isochronous parameters are set by the user and others by the

configuring tool. The individual parameters are briefly described below:

10.3.1 TBASE_DP

Timebase of the DP cycle time TDP.

Units: 1/12 µs

Set to 125 µs using the GSD file.

10.3.2 TDP

DP cycle time

Units: TBASE_DP

Comprises the following:

− duration of the cyclic utility [service]: This depends on the number of

slaves, telegram length

− duration of the non-cyclic utility [service]: This depends on the maximum

length of the DPV1 telegrams

− duration up to the new DP clock cycle: GAP, token transfer, reserve, Global

Control

The minimum DP cycle time, resulting from the secondary conditions, should be

listed as recommendation when configuring the system; however it is still

possible to enter higher values. The maximum value for TDP is, for absolute

value encoders, 32 ms – the (theoretical) minimum value is 500 µs.

10.3.3 TMAPC

Cycle time of the master application. This is specified as a multiple of TDP and is

used to evaluate the master sign-of-life character.

10.3.4 TBASE_IO

Timebase of TI and TO (instants in time of the actual value sensing/setpoint

transfer)

Units: 1/12 µs

This is set to125 µs using the GSD file.

10.3.5 TI

Instant in time of the actual value sensing referred to the end of the cycle.

Units: TBASE_IO

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07/05 10 Parameterizing Isochronous Operation

10.3 Isochronous parameters

The following rules apply:

The minimum time for TI (this is also specified in the GSD file) is only 125 µs if

the scaling is disabled using the device-specific parameter.

TI must be at least 375 µs if the scaling function is used.

Further, a minimum time must be maintained between the instants that the

setpoint is transferred (this is defined using TO) and the actual value sensing

(this is defined using TI). This minimum time is 125 µs when the scaling function

is disabled and 375 µs when the scaling function is enabled.

10.3.6 TO

Instant in time that the setpoint is accepted referred to the start of the cycle.

Units: TBASE_IO

For an absolute value encoder, the setpoint is a preset value and various

calculations must be carried-out internally before the actual value sensing. This

means that a minimum time must be maintained between the instant that the

setpoint is accepted (this is defined by TO) and the actual value sensing

(defined by TI). When the scaling function is disabled, this minimum time is 125

µs, and when enabled, 375 µs.

Further, the following must apply: TO > TDX + TO_MIN

10.3.7 TDX

Data_Exchange_time

Units: 1/12 µs

This is the time which is required for the cyclic data transfer. This depends on

the number of slaves and telegram lengths.

10.3.8 TPLL_W

Half the tolerance window width.

Units: 1/12 µs

Clock cycles within the tolerance window, defined here, which the encoder

identifies as being valid. When synchronizing, initially the encoder starts with a

multiple of the tolerance window width and then reduces the window down to

the parameterized window width.

10.3.9 TPLL_D

Delay time of the clock cycle signal.

Units: 1/12 µs

This is internally added to the configured cycle time TDP .

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10 Parameterizing Isochronous Operation 07/05

10.4 Slave-to-slave communication

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10.4 Slave-to-slave communication

In order to use the slave-to-slave communication function, the slave-to-slave

communication links must be defined in the configured software. The absolute

value encoder operates as Publisher. This means that so-called Subscribers

can directly "listen to" the encoder data. The procedure when

generating/creating slave-to-slave communication links can be taken from the

documentation of the respective configuring tool.

■

Non-Cyclic Utilities

The following parameters are supported (only reading):

Parameter No. Significance Data type R/W

918 Profibus address Unsigned16 R

922 Telegram type Unsigned16 R

964 Device identification Array[n] Unsigned16 R

965 Profile number Octet String 2 R

979 Sensor format Array[n] Unsigned32 R

More detailed information on the individual parameters can be taken from the

PROFIdrive profile.

■

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11 Non-Cyclic Utilities 07/05

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Space for your notes

Fault Signals/Diagnostics in Isochronous

Operation

12.1 Profibus diagnostics ...........................................................................................12-80

12.2 Status signals using the LEDs in the connecting cover...................................... 12-81

12.3 Fault codes in G1_XIST2 ...................................................................................12-82

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12 Fault Signals/Diagnostics in Isochronous Operation 07/05

12.1 Profibus diagnostics

6 diagnostics bytes are output in accordance with the Profibus Standard:

Diagnostics function Data type Diagnostics, octet number

Station status 1 (refer to: Profibus

Standard)

Octet 1

Station status 2 (refer to: Profibus

Standard)

Octet 2

Station status 3 (refer to: Profibus

Standard)

Octet 3

Diagnostics, master address Octet 4

PNO ID number Octet 5, 6

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07/05 12 Fault Signals/Diagnostics in Isochronous Operation

12.2 Status signals using the LEDs in the connecting cover

Various (fault) states of the devices are displayed using the two LEDs in the

connecting cover:

No. Red LED Green

LED

Status signal/possible cause

1 Dark Dark Power supply missing

2 Bright Bright The absolute value encoder is ready, but has still not

received configuration data after the power was

connected.

Possible causes: Incorrectly set address, bus cables

incorrectly connected

3 Bright Flashing Parameterizing or configuration error

The absolute value encoder receives configuration or

parameter data with the incorrect length or

inconsistent data.

Possible cause: e.g. the total resolution was set too

high

4 Flashing Bright Absolute value encoder is ready, but has still not

been addressed from the master.

(e.g. the incorrect address is being used)

5 Bright Dark Absolute value encoder does not receive any data for

a long period of time (approx. 40 seconds) (e.g. the

data line is interrupted)

6 Dark Bright Normal operation in the data exchange modus

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12 Fault Signals/Diagnostics in Isochronous Operation 07/05

12.3 Fault codes in G1_XIST2

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12.3 Fault codes in G1_XIST2

Encoder faults are displayed by setting fault bits in the encoder status word (bit

15). The appropriate fault codes are output in G1_XIST2:

Error code

(hex)

Significance Description

0F01 Command not supported The command is not supported (e.g.

requested via the control word)

0F02 Master sign-of-life fault This is set if (after the encoder has been

synchronized to the master sign-of-life

character) the maximum permissible

number of sign-of-life character failures has

been exceeded.

0F04 PLL synchronization fault This is set, if after the synchronization to the

clock cycles the maximum permissible

number of clock cycle failures has been

exceeded.

■

Configuring Example for Isochronous

Operation – STEP 7

13.1 Reading-in the GSD file .....................................................................................13-84

13.2 Configuring the absolute value encoder .............................................................13-85

13.3 Telegram selection.............................................................................................13-86

13.4 Parameterization ................................................................................................13-87

13.4.1 Device-specific parameters................................................................................13-87

13.4.2 Isochronous parameters ....................................................................................13-88

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13 Configuring Example for Isochronous Operation – STEP 7 07/05

13.1 Downloading the GSD file

When used for the first time, the GSD file ("SIEM80F9.GSD") must be installed

in order to include the absolute value encoder in the hardware catalog. In this

case, the "Install new GSD.." item must be selected in the window "HW Config"

of the SIMATIC Manager under the menu item "Options". The appropriate GSD

file ("SIEM80F9.GSD") should then be selected.

The GSD file can be obtained from SIEMENS.

After the GSD file has been downloaded, the absolute value encoder appears in

the hardware Catalog under "PROFIBUS-DP" - "Other field devices" -

"Encoder" - "SIMODRIVE sensor isochronous".

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07/05 13 Configuring Example for Isochronous Operation – STEP 7

13.2 Configuring the absolute value encoder

After the Profibus network has been configured in the hardware configurator

under the menu item "Insert" – "Master system" the absolute value encoder can

be selected from the hardware Catalog and inserted in the network. To do this,

the "SIMODRIVE sensor isochronous" device is coupled to the bus by dragging

& dropping it (or by double clicking on the module with the bus selected).

After the device has been inserted, the node address of the slave device is

entered. This must match the address set in the connecting cover.

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13 Configuring Example for Isochronous Operation – STEP 7 07/05

13.3 Telegram selection

After the device was inserted, as described, in the Profibus network, the

telegram can now be selected. Currently, only telegram type 81 is supported.

The module is dragged and dropped at slot 1 (table in the lower section of the

station [node] window).

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07/05 13 Configuring Example for Isochronous Operation – STEP 7

13.4 Parameterization

13.4.1 Device-specific parameters

The dialog box "DP slave properties" is displayed by double clicking on the

encoder to be parameterized. The "parameterizing" table should be selected to

enter parameters.

Various parameters of the device can be defined under (Device-specific

parameter) (refer to 10.2).

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13 Configuring Example for Isochronous Operation – STEP 7 07/05

13.4 Parameterization

13.4.2 Isochronous parameters

Initially, the "Equidistance" function should be configured in the Profibus

network (an appropriate master must be selected supports this functionality):

In the network view double click on the PROFIBUS sub-network.

After selecting the "Properties" button in the properties dialog box select the

"Network settings" tab.

Select the "DP" profile and click on the "Options" button.

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07/05 13 Configuring Example for Isochronous Operation – STEP 7

13.4 Parameterization

In the subsequent dialog box, activate the control box "Activate equidistant bus

cycle" and select the required equidistant (isochronous) DP cycle.

Double-click on the slave to be parameterized and select the “Equidistant” tab.

Activate the control box “Synchronize DP slave to DP cycle”.

Select the required times for TI and TO. In this case, please observe the

minimum and maximum values as well as the rules from Section 10.3.5 and

10.3.6.

After all of the slaves have been configured and parameterized, the equidistant

times for the bus system should be again checked and possibly adapted.

■

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13 Configuring Example for Isochronous Operation – STEP 7 07/05

13.4 Parameterization

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Space for your notes

Technical Data

14.1 Electrical data .......................................................................................................14-92

14.2 Mechanical data....................................................................................................14-93

14.3 Ambient conditions................................................................................................ 14-94

14.4 Dimension drawings..............................................................................................14-95

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14 Technical Data 07/05

14.1 Electrical data

General design According to DIN VDE 0160

Protective Class III, degree of pollution 2,

overvoltage Category II

Power supply voltage 10 - 30 V DC (absolute limit values)

Power drain max. 2.5 watts

EMC Noise emission according to EN 61000-6-4

Noise immunity according to EN 61000-6-2

Bus connection Electrically isolated through an opto

coupler

Interface Line driver according to RS 485

Baud rates 12 Mbaud; 6 Mbaud; 3 Mbaud; 1.5 Mbaud;

500 kbaud; 187.5 kbaud; 93.75 kbaud;

45.45 kbaud; 19.2 kbaud; 9.6 kbaud

Resolution 8192 steps/revolution

Number of revolutions which

are sensed

1 or 16384

Scale accuracy ± ½ LSB

Step frequency LSB Max. 800 kHz

Code type Binary

Electrical lifetime > 105 h

Addressing Using a rotary switch in the connecting

cover

Note

The absolute angular encoder may only be operated with extra low safety

voltage.

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07/05 14 Technical Data

14.2 Mechanical data

Housing Aluminum

Flange Synchronous flange Clamping flange

Diameter of the solid shaft 6 mm 10 mm

Diameter of the hollow shaft

with reducing adapter

15 mm

8 mm, 10 mm, 12 mm

Shaft length 10 mm 20 mm

Shaft loading Axial 40 N, radial 110 N

Friction torque ≤ 3 Ncm

Rotor moment of inertia ≈ 30 gcm2

Lifetime, mechanical refer to the table

Speed 6000 RPM (continuous operation)

Shock immunity (EN 60068-2-27) ≤ 100 g (half sine, 6 ms)

Continuous shock immunity

(EN 60028-2-29)

≤ 10 g (half sine, 16 ms)

Vibration immunity (EN 60068-2-6) ≤ 10 g (10 Hz ... 2000 Hz)

Connection Connecting cover with terminal strip as T

distributor

Weight (incl. connecting cover) Single-turn

Multi-turn

Approx. 500 g

Approx. 700 g

Minimum mechanical lifetime

Lifetime in 108 revolutions at Fa/Fr

40 N/60 N 40 N/80 N 40 N/110 N

Clamping flange 247 104 40

Synchronous flange 822 347 133

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14 Technical Data 07/05

14.3 Ambient conditions

Operating temperature -40 .. +85 °C

Storage temperature - 40 ... + 85 °C

Relative air humidity 98 % (without moisture condensation)

Degree of protection (EN 60529)

Housing/enclosure IP 65

Shaft IP 64

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07/05 14 Technical Data

14.4 Dimension drawings

Synchronous flange

~32

Ø60

Ø42

3xM4x6

3x120°

ø50

ø58

Ø59

63,5

20 20

Single-Turn=82, Multi-Turn=92

Ø5,5-9

Schlüsselweite, wrench size=17

Ø6 f6

Clamping flange

Ø10h8

Single-Turn=82, Multi-Turn=92

Ø59

Ø58

Ø53

Ø36

20 20

Schlüsselweite, wrench size=17

15°

3x120°

3xM4x6

Ø48

3xM3x6

63,5

Ø60

~27

Ø5,5-9

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14 Technical Data 07/05

14.4 Dimension drawings

14-96

SIMODRIVE sensor (BN) - 07/05 Edition

Hollow shaft

20°

Ø63

Single-Turn=100 , Multi-Turn=112

1.3

3.3

Anlagekante

an Momentenstütze

Ø15F7

Ø59

~32

63.5

20 20

Ø60

(lay-on edge

torque support)

** Welleneinstecktiefe (hollow shaft depth)

Max. W ** = 30

Min. W ** = 15 Ø6.5-9

Schlüsselweite, wrench size=17

Ø3.2

Mounting instructions

The clamping ring may only be tightened onto the hollow shaft if the angular

encoder is inserted on the drive element shaft.

The diameter of the hollow shaft can be reduced to 12 mm, 10 mm or 8 mm

using a reducing adapter. This reducing adapter is simply inserted into the

hollow shaft. We do not recommend thinner drive element shafts due to the

mechanical load.

The permissible shaft motions of the drive element are listed in the table:

Axial Radial

Static ± 0.3 mm ± 0.5 mm

Dynamic ± 0.1 mm ± 0.2 mm

■

Appendix

15.1 Additional encoder classes.................................................................................15-98

15.1.1 Version 2.0 multi-turn .........................................................................................15-98

15.1.2 Version 1.1 multi-turn .........................................................................................15-98

15.1.3 Version 1.0 multi-turn .........................................................................................15-98

15.2 FAQ Absolute value encoders, Profibus ............................................................15-99

15.3 Terminology .......................................................................................................15-101

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15 Appendix 07/05

15.1 Additional encoder classes

The encoder classes, listed in the following, are still supported for reasons

regarding upwards compatibility. However, they should no longer be used for

new projects.

15.1.1 Version 2.0 multi-turn

This version only differs from the Version 2.2 by the fact that there are fewer

parameters available in the configuring tool mask.

15.1.2 Version 1.1 multi-turn

This is an older version. Previously, it was unofficially designated as a so-called

Class ”3”. It behaves just like Class 2, but in 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.

15.1.3 Version 1.0 multi-turn

Position value and velocity outputs are available without the possibility of

making a preset. This should no longer be used.

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07/05 15 Appendix

15.2 FAQ Absolute value encoders, Profibus

Problem

When using one of the following Profibus masters and for encoder classes

higher than Class 1, problems occur when running-up the system (bus fault,

encoder does not log-on):

− SIEMENS S5-95U

− Master interface SIEMENS IM 308-B

− Softing PROFIboard

− Allen Bradley 1785 PFB/B

− Mitsubishi A1SJ 71PB92D

Possible cause

Under certain circumstances, the master does not support the full number of

diagnostic bytes (57 bytes) provided by the absolute value encoder.

Remedy

If possible, the maximum number of diagnostics data per slave should be

increased in the master.

If this is not possible, then the absolute value encoder can either be used as

Class1 device (16 diagnostic bytes) or one of the manufacturer-specific Classes

is selected (Version 2.1 or 2.2) and "Reduced diagnostics" is enabled in the

parameterization (refer to Section 5.1.5).

Problem

For COM PROFIBUS Version 5.0, the absolute value encoder cannot be

configured together with the S5-95U.

Cause

The S5-95U does not support the full complement of diagnostics data (57

bytes).

For COM Profibus V5.0, the GSD entry "Max_Diag_Data_Len=57" is checked

and it is prevented from configuring together with the S5-95U.

Remedy

Use COM Profibus Version 3.3, select one of the manufacturer-specific Classes

(Version 2.1 or 2.2) and activate the shortened diagnostics (parameter).

It is only possible to use the device with COM Profibus V5.0 using a modified

GSD file (the slave key "Max_Diag_Data_Len" must be modified).

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15 Appendix 07/05

15.2 FAQ Absolute value encoders, Profibus

Problem

PLC and master interface are switched-in, the bus is active, but the absolute

value encoder does not log-on.

Remedy

To start, check the state of the LEDs in the connecting cover (refer to Section

6.3); under certain circumstances, information can be obtained about the

possible fault causes.

Both LEDs dark: Check the power supply!

Both LEDs bright:

The device is not receiving parameters and configuration data. Check the

address setting in the connecting cover. Check that the bus lines (cables) are

correctly connected (BUS IN/BUS OUT). Check the configuring.

Red LED bright, green LED flashing:

Parameter error! Check the parameterization: e.g. total resolution (refer to

4.2.6)

Problem

Bus faults sporadically occur.

Possible cause

The terminating resistors are not correct

Remedy

Check the terminating resistors!

The 220 Ω terminating resistor must be switched-in at the beginning and at the

end of the bus segment. Measure the resistance between the two data lines! To

do this, the power supply must be powered-down and a measurement made

between connections "A" and "B" in the connecting cover. The measured

resistance value must be approx. 110 Ω (220 Ω parallel 220 Ω).

Possible causes

EMC problems

Remedy

Check as to whether the selected baud rate is permissible for the cable length;

if required, use a lower baud rate. Check the connecting cover that it is correctly

located and ensure that the cables have been correctly routed regarding EMC.

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07/05 15 Appendix

15.3 Terminology

Terminating resistor Resistor to adapt bus cables; terminating resistors are always

required at the end of a cable or segment.

Address 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 that it is non-

volatile.

Baud rate Data transfer rate specified as the number of bits transferred

per second (baud rate = bit rate).

Bus node Device, which can send, receive or amplify data via the bus.

Configuring 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).

DDLM Direct Data Link Mapper. Interface between Profibus-DP

functions and the encoder software.

DDLM_Data_Exchange Operating status of the bus, for standard data transfer.

DDLM_Set_Prm Operating status of the bus, in which configuration data is

sent.

DDLM_Slave_Diag Operating status of the bus, in which diagnostics data are

requested from the slave (e.g. absolute value encoder).

DP Distributed peripherals

Diagnostics Identification, localization, classification, display, additional

evaluation of faults, errors and messages.

Encoder Alternative designation for (angular) encoders or absolute

value encoders

Freeze This is a master command to the slave. This allows the

master to freeze the statuses of the inputs to their

instantaneous value. The input data are only updated again,

when the master sends the UNFREEZE command.

GSD file 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 ➞

Type file).

Master Bus nodes, which can send data on their own initiative, and

define which slave should send data. ➞ Slave

Octet Data unit of 8 bits = 1 byte

Parameterization Transfers specific values (such as resolution per revolution,

direction of rotation, etc.) from the master to the slave (in this

case: absolute value encoder).

This is realized when the system runs-up.

Profibus Process Fieldbus, European fieldbus standard, which is

defined in the PROFIBUS Standard. This specifies functional,

electrical and mechanical characteristics for a bit-serial

fieldbus system.

Slave Bus node, which essentially only sends data when instructed

to do so by the ➞Master. Absolute value encoders are always

slaves.

Type file Similar to a GSD file – is used by older

engineering/configuring tools.

Word Is frequently used, but not in a unified fashion, for a data unit

of 2 bytes.

■

SIMODRIVE sensor (BN) - 07/05 Edition 15-101

15 Appendix 07/05

15.3 Terminology

15-102

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Space for your notes

Index

Class 1 25

Class 2 25

Commissioning mode 42

Configuration 53

Connecting cover

Connecting-up 18

LEDs 50

Settings 15

Connecting-up the signal and

power supply cables 17

Data format 24

Device class

Selecting 54

Dimension drawings 95

Direction of rotation 29

Encoder classes 23

Additional 98

Encoder profile 11

Endless axis 30

FAQ 99

GSD file 101

Reading in 52

Installation 13

Memory error 47

Node 15

Node address 15

Operating time alarm 48

Parameterization 55

Physical measuring steps 34, 36, 39

Preset function 32

Profibus User Organization 11

Reduced diagnostics 37

Required measuring steps 35

Rotary axis 30

Software limit switch 38

Starting teach-in 43

Status bits 41

STEP 7 51

Stopping teach-in 44

Terminating resistors 15

Total resolution 30

Type file 101

Validity of the documentation and

references 10

Velocity

Dimension units 40

SIMODRIVE sensor (BN) - 07/05 Edition 16-103

16 Index 07/05

Space for your notes

16-104

SIMODRIVE sensor (BN) - 07/05 Edition

Siemens AG

Suggestions

Corrections

A&D MC BMS

Postfach 3180

For Publication/Manual:

SIMODRIVE sensor

D-91050 Erlangen

Tel.: +49 (0)180 / 5050-222 [Hotline]

Fax: +49 (0)9131 / 98-63315 [Documentation]

eMail: mailto:motioncontrol.docu@siemens.com

Absolute Value Encoder with PROFIBUS-DP

Manufacturer Documentation

From

Name:

User Manual

Order No.: 6SN 1197-0AB10-0YP4

Edition: 07/05

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Address:

Telephone: __________ /

Telefax: ________ /

Should you come across any printing errors

when reading this publication, please notify us

on this sheet.

Suggestions for improvement are also

welcome.

Suggestions and/or corrections

Siemens AG 2005

Subject to change without prior notice

Order No.:

6SN1197-0AB10-0YP4

ens AG

otion Control Systems

Postfach 3180, D – 91050 Erlangen

Bundesrepublik Deutschland

www.siemens.com/motioncontrol

Siem

Automation and Drive

Printed in the Federal Republic of Germany