BEI Sensors PHU9 User Manual

Absolute Rotary Encoder

BEI IDEACOD SAS

Espace Européen de l’Entreprise
9, rue de Copenhague
B.P. 70044 Schiltigheim
F 67013 Strasbourg Cedex

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PROFIBUS USER MANUAL

®

PROCESS FIELD BUS

with Profibus-DP-Interface

POSI+

User Manual

BEI IDEACOD SAS

Espace Européen de l’Entreprise
9, rue de Copenhague
B.P. 70044 Schiltigheim
F 67013 Strasbourg Cedex

Tél : [phone]
Fax : [phone]
Mail :

[e-mail]

Web : www.bei-ideacod.com

PROFIBUS USER MANUAL

1 General ........................................................... 4

1.1 Absolute Rotary Encoder............................4

1.2 Profibus technology ....................................4

2 Installation....................................................... 5

2.1 Settings in the connection cap..................5

2.1.1 Station address......................................5

2.1.2 Bus termination......................................5

2.2 Connecting bus lines and power supply ..6

2.3 Connecting the screen...............................7

2.4 Instructions for mechanical installation
and electrical connection of the angular

encoder.............................................................. 7

3 Device Configuration ....................................8

3.1 Overview – Configuration principle...........8

3.2 Overview encoder configurations -

functionality ....................................................... 9

3.3 Encoder configurations - data format ....10

4 Class 1 and Class 2 profile ..........................11

4.1 Parameter settings .................................... 11

4.1.1 Code sequence..................................12

4.1.2 Class 2 functionality ............................12

4.1.3 Commissioning diagnostics................12

4.1.4 Scaling function .................................. 12

4.1.5 Measuring units per revolution...........12

4.1.6 Total measuring range........................ 13

4.2 Data exchange in normal operation...... 14

4.2.1 Transferring the process value ........... 14

4.2.2 Preset function.....................................14

5 Special versions BEI IDEACOD 2.2 ..............16

5.1 Parameter ..................................................17

5.1.1 Activate manufacturer-specific

parameters ...................................................17

5.1.2 Desired measuring units......................17

5.1.3 Desired Measuring units reference....18

5.1.4 Activate commissioning mode..........19

5.1.5 Shorter Diagnostics.............................. 19

5.1.6 Software-limit switch............................19

5.1.7 Physical impulses .................................20

5.1.8 Encoder type .......................................21

5.1.9 Velocity time base ..............................21

5.2 Data exchange in normal operation ......22

5.3 Commissioning mode ...............................23

5.3.1 Setting the counting direction ...........23

5.3.2 Teach-In Start.......................................24

5.3.3 Teach-In Stop.......................................24

5.3.4 Preset value .........................................25

6 Diagnostic messages...................................26

6.1 Overview ....................................................26

6.2 Supported diagnostic messages..............27

6.2.1 Extended diagnostics header............27

6.2.2 Operating status..................................27

6.2.3 Encoder type .......................................27

6.2.4 Singleturn resolution ............................27

6.2.5 Number of revolutions.........................27

6.2.6 Profile version .......................................27

6.2.7 Software version ..................................27

6.2.8 Operating time ....................................27

6.2.9 Zero offset.............................................27

6.2.10 Programmed resolution ....................27

6.2.11 Programmed total resolution ...........27

6.2.12 Serial number.....................................27

6.3 Status indication by the LEDs ......................29

7 Configuring with STEP 7 ................................30

7.1 Installing the GSD file.................................30

7.2 Configuring the encoder..........................31

7.3 Selecting the encoder version .................32

7.4 Setting the parameters .............................33

8 Technical Data .............................................35

9 Appendix ......................................................35

9.1 FAQ absolute encoder Profibus ...............35

9.2 Definitions ...................................................37

10 Index..............................................................39

2 Preliminary

BEI IDEACOD SAS

Espace Européen de l’Entreprise
9, rue de Copenhague
B.P. 70044 Schiltigheim
F 67013 Strasbourg Cedex

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Fax : [phone]
Mail :

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PROFIBUS USER MANUAL

Specifications are subject to change without

notice

Technical specifications, which are described
in this manual, are subject to change due to
our permanent strive to improve our products.

Publication: May 2009
Version: Preliminary

Preliminary 3

BEI IDEACOD SAS

Espace Européen de l’Entreprise
9, rue de Copenhague
B.P. 70044 Schiltigheim
F 67013 Strasbourg Cedex

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[e-mail]

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PROFIBUS USER MANUAL

1 General

This manual describes installation and
configuration of the Absolute Rotary Encoder
with Profibus DP interface. The device meets

1.1 Absolute Rotary Encoder

the requirements of a Profibus Slave according
to the PROFIBUS standard. It is certified by the
“Profibus Nutzerorganisation” in Germany.

Basic principle of the absolute measurement is
the optical scanning of a transparent disk with
code print. The code disk is connected to the
shaft that is to be measured. By evaluating the
code and two additional incremental signals
the absolute position of the shaft can be
determined with a resolution of up to 8192

1.2 Profibus technology

PROFIBUS is an international, open, non­proprietary fieldbus standard which is defined
in the international standards IEC 61158. There
are three different versions: Profibus DP,
Profibus-FMS and Profibus-PA. BEI IDEACOD
absolute encoders are designed for the DP
version V0. They support all usual baud rates
up to 12 MBaud.
Besides manufacturer-specific functions, the
devices support the classes 1 and 2 according
to the Profile for Absolute Encoders (this
device profile can be ordered under part
number 3.062 from the “Profibus
Nutzeroganisation”). Further information about
profibus (functionality, manufacturer,
products), standards and device profiles are
available from the PNO:

steps (13 bits) or 65536 steps per revolution (16
bits).
The absolute shaft position over up to 65536
revolutions (16 bits).
The position value is calculated in an
integrated microprocessor and transmitted
over the Profibus.

Profibus Nutzerorganisation (PNO)
Haid-und-Neu-Straße 7
D-76131 Karlsruhe
Tel.: ++49 (0) 721 / 96 58 590
Fax: ++49 (0) 721 / 96 58 589

www.profibus.com

4 Preliminary

BEI IDEACOD SAS

Espace Européen de l’Entreprise
9, rue de Copenhague
B.P. 70044 Schiltigheim
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PROFIBUS USER MANUAL

2 Installation

The Absolute Encoder is connected with 3 M12
connectors..

2.1 Settings in the connection cap

2.1.1 Station address

The station (node) address is set by using the 8
DIP switches .The DIP n°8 is not used. Possible
addresses are between 0 and 126. Each
address can only be used once in the
network. The station address is read in when

Address Dip 1 Dip 2 Dip 3 Dip 4 Dip 5 Dip 6 Dip 7 Dip 8

0 OFF OFF OFF OFF OFF OFF OFF OFF
1 ON OFF OFF OFF OFF OFF OFF OFF
2 OFF ON OFF OFF OFF OFF OFF OFF
3 ON ON OFF OFF OFF OFF OFF OFF

...
124 OFF OFF ON ON ON ON ON OFF
125 ON OFF ON ON ON ON ON OFF

ON ON

Bus termination Address

2.1.2 Bus termination

If the encoder is connected at the end or
beginning of the bus line the termination
resistor must be switched on with DIP switches
n°1 et n°2.

switching on the power supply. An address
change by the Master (“Set_Slave_Add“) is
not supported by the version with DIP switches.
The address is coded with binary format:
OFF=0 ON=1, DIP8=OFF

Note

If the encoder must be changed during
operation, a separate active bus termination
should be used.

Preliminary 5

BEI IDEACOD SAS

Espace Européen de l’Entreprise
9, rue de Copenhague
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PROFIBUS USER MANUAL

2.2 Connecting bus lines and power supply

Pin assignment of the B coded 5 pin male M12 connector on the device side:

Pin assignment of the B coded 5 pin female M12 connector on the device side:

Power supply plus (5V) and Data ground are insulated from the supply voltage. Using power supply (P5V)
and Data ground with an external termination line.

Pinning for A coded 4 pin male M12 Power supply connector,

Power supply voltage between +5V DC and +30V DC

6 Preliminary

BEI IDEACOD SAS

Espace Européen de l’Entreprise
9, rue de Copenhague
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PROFIBUS USER MANUAL

2.3 Connecting the screen

To achieve the highest possible noise immunity
shielded cables should be used for data
transmission. The shield should be connected

certain cases, a compensation current might
flow over the shield. Therefore a potential
compensation cable is recommended.

to ground on both ends of the cable. In

2.4 Instructions for mechanical installation and electrical connection of the angular encoder

The following points should be observed:

• Do not drop the angular encoder or
subject it to excessive vibration. The
encoder is a precision device.

• Do not open the angular encoder
housing (this does not mean that you
cannot remove the connection cap). If
the device is opened and closed again,
it can be damaged and dirt may enter
the unit.

• The angular encoder shaft must be
connected to the shaft to be measured
through a suitable coupling (full shaft
version). This coupling is used to dampen
vibrations and imbalance on the
encoder shaft and to avoid inadmissible
high forces. Suitable couplings are
available from BEI IDEACOD.

• Although BEI IDEACOD absolute
encoders are rugged, when used in
tough ambient conditions, they should be
protected against damage using suitable
protective measures. The encoder should
not be used as handles or 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
angular encoder at a considerable
distance or completely separated from
power cables with their associated noise.
Completely shielded 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.
Fault connections can result in severe
personnel injury and material damage.

Preliminary 7

BEI IDEACOD SAS

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9, rue de Copenhague
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PROFIBUS USER MANUAL

3 Device Configuration

The Absolute Encoder with Profibus-Interface
can be programmed according to the needs
of the user. The GSD-file has to be installed in
the used software tool. The user has the
possibility to choose different encoder
configurations. Parameters and functionality
depend on the selected encoder
configuration. BEI IDEACOD-Absolute Encoders
support all configurations described in the
following, i.e. there is no functionality limitation
due to the hardware. Additionally to the
configurations „Class 1“ and „Class 2”
(according to the Profile for Encoders) the BEI
IDEACOD Encoder offers configurations with
manufacturer-specific functions.
By choosing a certain encoder configuration
parameter and configuration data are

3.1 Overview – Configuration principle

determined. These data are stored in the
profibus master. They are transmitted to the
slave (encoder) when the profibus network is
starting up („DDLM_Set_Prm“). It is not possible
to change parameters or configuration during
the normal operation of the device
(exception: “Commissioning Mode”, see
chapter 5.3).
After receiving configuration and parameter
data the absolute encoder enters the normal
operating mode (cyclic data transmission –
„DDLM_Data_Exchange“). In this mode the
process values (e.g. the position value) are
transmitted. Data length and format are
determined by the user when selecting a
certain encoder configuration.

8 Preliminary

BEI IDEACOD SAS

Espace Européen de l’Entreprise
9, rue de Copenhague
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PROFIBUS USER MANUAL

3.2 Overview encoder configurations - functionality

Designation Cyclic communication Programmable

parameters

Class 1

Position value –16 bit Input Code sequence ­Singleturn
Class 1

Position value - 32 bit Input Code sequence ­Multiturn
Class 2
Singleturn

Position value –16 bit Input

Preset value – 16 bit Output

Code sequence
Scaling factor

Class 2
Multiturn

Position value - - 32 bit

Input

Code sequence
Scaling factor

Preset value – 32 bit Output
BEI IDEACOD 2.2
Singleturn

Position value (32 bit Input)

Preset value / Teach-In

(32 bit Output)

Velocity

-

Code sequence

-

Scaling factor

-

Shorter
Diagnostics

-

Limit switches

-

Velocity time base

(16 bit Input)
BEI IDEACOD 2.2
Multiturn

Position value (32 bit Input)

Preset value / Teach-In

(32 bit Output)

Velocity

-

Code sequence

-

Scaling factor

-

Shorter
Diagnostics

-

Limit switches

-

Velocity time base

(16 bit Input)

Additional functions

Preset function

Preset function

Preset function
Commissioning mode
Velocity Output

Preset function
Commissioning mode
Velocity Output

Preliminary 9

BEI IDEACOD SAS

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PROFIBUS USER MANUAL

3.3 Encoder configurations - data format

Configuratio

n

Hex Dec.

Input words
(Encoder ->
Master)

Output words
(Master ->
Encoder)

Class 1 Singleturn

D0 208 1 0
(According to
Profile)
Class 1 Multiturn

D1 209 2 0
(According to
Profile)
Class 2 Singleturn

F0 240 1 1
(According to
Profile)
Class 2 Multiturn

F1 241 2 2
(According to
Profile)
BEI IDEACOD 2.2
Singleturn
BEI IDEACOD 2.2
Multiturn

F1

D0

F1

D0

241
208
241
208

2

2
1
2

2
1

Description Designation

Chapter Page

4 11

5 16

10 Preliminary

BEI IDEACOD SAS

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PROFIBUS USER MANUAL

4 Class 1 and Class 2 profile

The encoder versions Class 1 and Class 2 are
defined by the working group encoder in the
„Profibus Nutzerorganisation“ in the “Profile for

4.1 Parameter settings

Encoders” (available from the PNO, Order No.

3.062).

The following table contains an overview of
the parameters according to the Profile for
Encoders and the structure of the parameter

user to know the details of the structure – the
parameters are set in user-friendly forms in the
operator software tool.)

telegram. (Usually it is not necessary for the

Octet (= byte)

No.

1 ... 8 Profibus Standard Parameters

9

Commissioning Diagnostics 2 Section 4.1.3, Page 12

Not used for Class 1 and Class 2

10

...

13

14

...

17

18

...

25

26

...

Measuring units per revolution Section 4.1.5, Page 12

Not used for Class 1 and Class 2

(Refer to versions BEI IDEACOD 2.2)

Parameter Bit Nr. Details

Code sequence 0

Class 2 functionality 1 Section 4.1.2, Page 12

Scaling function 3 Section 4.1.4, Page 12

Reserved 4
Reserved 5

Total measuring range Section 4.1.6, Page 13

Reserved (Profile)

6

7

Preliminary 11

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4.1.1 Code sequence

The parameter „code sequence“ defines the
counting direction of the position value. The
code increases when the shaft is rotating

clockwise (CW) or counter-clockwise (CCW)
(view onto the shaft). The code sequence is
defined in bit 0 of octet 9:

Octet 9 Bit 0 Direction of rotation when viewing the

Code

shaft
0 Clockwise (CW) Increasing
1 Counter-clockwise (CCW) Increasing

In Class 1 this is the only parameter that can be set.

4.1.2 Class 2 functionality

Using this switch Class 2 encoders can be
restricted to the functionality of Class 1, i.e. the
scaling parameters are disabled. To use the
class 2 functionalities bit 1 in octet 9 has to be
set.

Octet 9 Bit 1 Class 2 functionality
0 Switched off
1 Switched on

4.1.3 Commissioning diagnostics

This function has no significance for the BEI
IDEACOD encoder.

4.1.4 Scaling function

The parameter „scaling function“ enables the
scaling parameters „resolution per revolution“
and „total resolution“. This switch should
always be activated if functions of class 2 (or
even higher classes BEI IDEACOD 2.1 and BEI

Octet 9 Bit 3 Scaling function
0 Switched off

1 Switched on

IDEACOD 2.2) are to be used.

4.1.5 Measuring units per revolution

The parameter „measuring units per
revolution“ is used to program a desired
number of steps over one revolution. If the
value exceeds the basic (physical) resolution
of the encoder, the output code is no longer
in single steps. Starting with generation “B1”

the encoder indicates a parameter error (LED)
and it will not enter the data exchange mode.
With high resolution encoders it may be
necessary to divide the value into high and
low word (depending on the software tool),
refer to page 34.

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
Desired measuring units per revolution

12 Preliminary