BEI Sensors PHU9 User Manual

Absolute Rotary Encoder

BEI IDEACOD SAS

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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

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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

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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

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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

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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

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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

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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

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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

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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

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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

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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

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4.1.6 Total measuring range

Octet 14 15 16 17
Bit 31 – 24 23 – 16 15 - 8 7 - 0
Data 231 to 224 223 to 216 215 to 28 27 to 20
Programmed total measuring range in steps

The parameter „total measuring range“ is
used to adapt the measuring range of the
encoder to the real measuring range of the
application. The encoder counts up until the
position value has reached the programmed
total resolution and starts with 0 again.
Example: 100 steps are programmed for each
revolution (parameter „measuring units per

12800. Then the encoder counts up to 11799,
starts with “0” again after 128 revolutions,
counts up to 11799, and so on.
Note: With many software tools it is necessary
to divide the value into high and low word,
refer to page 34.
When choosing the total resolution the
following rule has to be observed:

revolution“) and the total resolution is set to

If “steps per revolution” are set to “n” the parameter total resolution must not cause periods
longer than the maximum (physical) number of revolutions (see type label), i.e. that the
programmed total resolution of a 65536 revolutions multiturn encoder must be less than 32768 x
the programmed number of steps per revolution (the programmed total resolution of a 32768
revolution multiturn encoder must be less than 32768 x the programmed number of steps per
revolution):
The following rules must be applied:

1) Total resolution < 2 147 483 648

2) Total resolution <= measuring units per revolution x 32768 or

Total resolution = measuring units per revolution x 65536

If these rules are disregarded the encoder will indicate a parameter error and it will not enter the
data exchange mode.

Preliminary 13

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4.2 Data exchange in normal operation

The „DDLM_Data_Exchange mode“ is the
normal operation mode of the device. On
request the encoder transfers the current

4.2.1 Transferring the process value

The multiturn encoder transmits the current
position value as a 32-bit-value (double word)
to the master.

Word

Word 1 Word 0

Function
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

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

The singleturn encoder uses a 16-bit-value
(word) for data transmission.

4.2.2 Preset function

Using the preset function it is possible to adapt
he encoder zero point to the zero point of the
application. When using this function the
current encoder position value is set to the
desired preset value. The integrated
microcontroller calculates the internal zero
point shift.
The preset value is activated if bit 31 in the
(peripheral) output double word is set to 1
(rising edge). As the preset function is used
after receiving the scaling parameters the
preset value refers to the scaled position
value.

(position) value to the master. The encoder
can also receive data from the master (e.g.
the preset value in the class 2 configuration).

Process value

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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 

slave

Slave 

slaver

Master 

slave

Slave 

Master

If high precision is required the preset function
should only be executed if the encoder shaft is
not moving. If the shaft moves quickly during

1 0 Transfer of the required position value (= preset value)

0 0 New = required position value is transferred

0 0 Reset bit 31 – normal mode

0 0 New = required position value is transferred

the preset procedure, this can result in offsets
(because of bus delay times).

Note for Singleturn devices

The procedure is similar with the singleturn­version: Here Bit 15 is used to activate the
preset value. With high resolution singleturn
encoders (16 Bit) it is not possible to set preset
values > 32767 (15 bit), as the MSB is used to

activate the preset. If this functionality is
needed the user has to choose one of the
manufacturer specific BEI IDEACOD-encoder
versions (in these classes the singleturn position
is transmitted as 32-bit-value).

Preliminary 15

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5 Special versions BEI IDEACOD 2.2

The manufacturer-specific encoder
configurations BEI IDEACOD 2.2 offer (in
addition to the functions according to the
Profile for Encoders) features such as
commissioning mode, velocity output and
software limit switches.

Parameter Bit

(byte)
1 .. 8 Profibus Standard Parameters
9

10 .. 13 Desired measuring units (refer to: octet 26 bit 0 and 1) 5.1.2 17
14 .. 17 Total measuring range 4.1.6 13
18 .. 25 Reserved
26

27 .. 30 Lower limit switch 5.1.6 19
31 .. 34 Upper limit switch 5.1.6 19
35 .. 38 Physical impulses 5.1.7 20
39

Code sequence 0 4.1.1 12
Class 2 functionality 1 4.1.2 12
Commissioning Diagnostics 2 4.1.3 12
Scaling function 3 4.1.4 12
Reserved 4
Reserved 5
Activate manufacturer-specific parameters (octet 26) 6 5.1.1 17
Reserved 7

Activate commissioning mode 2 5.1.4 19
Shorter Diagnostics 3 5.1.5 19
Reserved 4
Activate lower limit-switch 5 5.1.6 19
Activate upper limit-switch 6 5.1.6 19
Activate octets 27-39 7 5.1.1 17

Reserved 0
Encoder type (Single-/Multiturn) 1 5.1.8 21
Reserved 2
Reserved 3

Reserved 6
Reserved 7

The following table gives an overview of the
used parameters and the structure of the
parameter telegram.
Usually it is not necessary to know these details
as the parameters are set with user-friendly
software tools.

Details Octet
Section Page

No.

0 Reference for the desired measuring steps

5.1.3 18

1

4 Time base velocity

5.1.9 21

5

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5.1 Parameter

In the following the manufacturer specific
parameters are described in detail. The

Encoders are supported too, description: see
chapter 4.

parameters according to the Profile for

5.1.1 Activate manufacturer-specific parameters

The manufacturer-specific parameter byte 26
is activated with bit 6 in octet 9.
Bit 7 in octet 26 activates further parameter
bytes (27-39).
Usually this happens automatically if the
encoder versions BEI IDEACOD 2.2 are
selected. It is only important for the user to
observe this if the parameters are entered

Octet 9 Bit 6 Octet 26
0 Deactivated
1 Activated

Octet 26 Bit 7 Octet 27 – 39
0 Deactivated
1 Activated

“manually” (directly using hex-code).

5.1.2 Desired measuring units

The parameter „desired measuring units“ is
used to program any required number of steps

over 1 revolution, over the whole measuring
range or over a part of the measuring range.

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

The reference for the desired measuring units is
specified with the parameter „Desired
measuring units reference“ (cp. 5.1.3). If “per
revolution” is selected the measuring range
can be adapted with the parameter “total

measuring range”. Please observe the rules in
section 4.1.6.
Note: With many software tools it is necessary
to divide the value into high and low word,
refer to page 34.

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5.1.3 Desired Measuring units reference

With this parameter the reference for the
desired measuring units (cp. 5.1.2) is
determined, either

-

per revolution

-

per maximum total resolution

-

per number of physical impulses

Desired measuring units per revolution
In this case the position value increases by the
programmed number of steps (desired
measuring units) over one revolution.
Additionally the parameter “total resolution” is
used to achieve an adaptation of the
measuring range (cp. 4.1.6).

Desired measuring units per maximum total
measuring range
The parameter „desired measuring units“ refers
to the complete measuring range of the
encoder, i.e. the encoder gives out the

programmed number of measuring units over
the whole measuring range (4096 revolutions
with the multiturn encoder).

Desired measuring units per physical impulses
The desired measuring units refer to the
physical impulses entered in octets 35-39
(cp.5.1.7). Physical impulses means: The real
value that is read internally from the code disc
(e.g. 4096 steps per revolution with a standard
12-bit-encoder).
With that option it is possible to set gearing
factors freely.

Reference Octet 26 Bit 0 Octet 26 Bit 1
Per revolution 0 0
Per maximum total measuring range 1 0
Per physical impulses

0 1

(= steps specified in octets 35-38)

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5.1.4 Activate commissioning mode

Bit 2 in octet 26 activates the commissioning
mode. This is a special mode with the option
to set further parameters in the data­exchange –mode (additional to the preset
value). In the commissioning mode a „Teach­In“ can be carried out, i.e. the gearing factor
can be determined directly in the machine. In
this special mode (indicated by the flashing
green LED) the parameters set in the system
configuration are ignored by the encoder. It
uses parameters stored in an internal EEPROM
instead.

5.1.5 Shorter Diagnostics

Some Profibus masters, especially older ones,
have problems with the full diagnostic data
length (57 bytes). The BEI IDEACOD encoder
offers the option to reduce the diagnostic
data length to 16 bytes. If Class 1 is used the
standard diagnostic data length is 16 bytes.

5.1.6 Software-limit switch

The commissioning mode can be used
durably, but it is recommended to transfer the
parameters determined with the Teach-In into
the system configuration. Then the encoder
should be used in “normal” operation mode –
so it is possible to exchange the device
without a new Teach-In.
A detailed description of the commissioning
mode can be found in section 5.3.

Octet 26 Bit 2 Commissioning mode
0 Switched off
1 Switched on

Octet 26 Bit 3 Diagnostics
0 Standard = 57 bytes
1 Reduced = 16 bytes

Two positions can be programmed. If the
position value falls below the lower limit switch
or exceeds the higher limit switch, bit 27 in the
32-Bit-process-value is set to 1. Between these
limit switches bit 27 is set to 0. The limit switches
can be set to any value, but the parameter

exceeded. The limit switches are activated
with bits 5 and 6 in octet 26.
Note: With many software tools it is necessary
to divide the values into high and low word,
refer to page 34.

“total measuring range” must not be

Octet 27 28 29 30
Bit 31 - 24 23 - 16 15 – 8 7 - 0
Data 231 to 224 223 to 216 215 to 28 27 to 20
Lower limit switch (in measuring steps, related to the scaled value)

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Octet 31 32 33 34
Bit 31 - 24 23 - 16 15 – 8 7 - 0
Data 231 to 224 223 to 216 215 to 28 27 to 20
Upper limit switch (in measuring steps, related to the scaled value)

Octet 26 Bit 5 Lower limit switch
0 Deactivated
1 Activated

Octet 26 Bit 6 Upper limit switch
0 Deactivated
1 Activated

5.1.7 Physical impulses

Octet 35 36 37 38
Bit 31 - 24 23 – 16 15 – 8 7 - 0
Data 231 to 224 223 to 216 215 to 28 27 to 20
Physical impulses

This parameter is evaluated if the reference for
the „desired measuring units“ is „physical
impulses“ (cp. 5.1.3).
With the „physical impulses“ it is possible to set
a gearing factor freely. The user defines the
output steps („desired measuring steps”) over
a part of the measuring range. This option is
helpful to program scaling factors that result in
a non-integer number of steps over 1
revolution.

Example:
Problem: The position value has to increase by
400 steps over 3 revolutions.

With the reference „steps per revolution“ it is
impossible to program that scaling factor (it
would be necessary to set the parameter
„desired measuring steps“ to 133.33; this is not
possible because the parameter must be an
integer value).

Solution:
Choose „physical impulses“ as reference for
the „desired measuring units“.
Now the number of physical measuring steps
over the desired measuring range is
determined. For this the actual (physical)

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resolution of the encoder (type label) is used.
For our example this would be (with a
standard encoder, 12 Bit resolution):
4096 steps/revolution x 3 revolutions = 12288
steps
Enter this value (12288) as „physical impulses“
and set the „desired measuring units“ to 400.

5.1.8 Encoder type

The encoder type (Singleturn or Multiturn) is
specified in bit 1 octet 39. Generally this bit is
set automatically if the encoder version is
selected. Not used. The encoder type is set
automatically with using parameters resolution

5.1.9 Velocity time base

With this parameter the user can choose the
time base for the velocity output (version BEI
IDEACOD 2.2). The time base is specified in bits
4 and 5 of octet 39.

Now the encoder increases the position value
by 400 steps on a measuring range of 12288
physical steps (3 revolutions).
Note: With many software tools it is necessary
to divide the value into high and low word,
refer to page 34.

and total range, if total range is equal to
resolution, the encoder type is singleturn..

Octet 39 Bit 1 Type
0 Singleturn
1 Multiturn

Time base Bit 4 Bit 5
Steps / second 0 0

Steps / 100 ms 1 0
Steps / 10 ms 0 1
RPM (revolutions per minute) 1 1

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5.2 Data exchange in normal operation

With the manufacturer-specific versions BEI
IDEACOD 2.2 the process value generally is
transmitted as 32-bit-value (peripheral double
word). Apart from 25 bits used for the position
value the 7 other bits are used as status bits.
The output double word contains the preset
value and control bits.
Absolute encoders model series might have
(physical) position values > 25 Bit. The
manufacturer specific BEI IDEACOD versions

upper digits will be overwritten by the status
bits. If the BEI IDEACOD versions are used with
encoders with a total (physical) resolution > 25
Bit, the user has to assure that the position
value is scaled to a maximum output value <

33554432. If position values > 25 Bit are
necessary class 2 should be used.
If version BEI IDEACOD 2.2 is used the current
velocity is transmitted in an additional
(peripheral) input word.

do not support the position values > 25 Bit. The

ID F1 hex D0 hex

Status + position value Velocity Slave  Master
Status + 224 2

23

- 216 2

15

- 28 27 - 20 2

15

- 28 27 - 20

Preset value + control bits Master  slave
Control + 224 2

23

- 216 2

15

- 28 27 - 20

Meaning of the different status bits:

Bit 28 Bit 27 Bit 26 Bit 25 Meaning
Ready

0 = encoder is not ready for operation
1 = encoder is ready for operation

Mode

0 = commissioning mode
1 = normal mode

Software limit switch

0 = lower limit switch  current position value  upper limit
switch
1 = current position value > upper limit switch or
current position value < lower limit switch

Code sequence

0 = increasing clockwise (view onto the shaft)
1 = increasing counter clockwise (view onto the shaft)

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5.3 Commissioning mode

If the commissioning mode is activated in the
encoder parameters, the scaling factor can
be determined directly in the machine by a
„Teach-In“.
The commissioning mode is indicated by the
flashing green LED and bit 26 in the input
double word (bit 26 set to 0).
If the encoder starts up in commissioning
mode the parameters in the system
configuration (code sequence, scaling) are
ignored. Parameters stored in an internal
EEPROM are used instead. If code sequence
or scaling factor are modified in
commissioning mode, the new values will be
stored non-volatile and the encoder works
with this new parameters.
The proceeding in commissioning mode is as
follows:

-

The encoder is installed in the machine /
system.

5.3.1 Setting the counting direction

-

The commissioning mode is activated
(parameter settings, cp. 5.1.4)

-

The counting direction is changed (if
necessary).

-

Machine / system is to be moved to the
start position.

-

The Teach-In-Start command is
transmitted to the encoder.

-

Machine / system is to be moved to the
stop position.

-

With the Teach-In-Stop command the
desired number of steps is transferred to
the encoder.

-

Set the preset value.

-

The parameters in the system
configuration are set to the values
determined with the Teach-In procedure.

-

Commissioning mode is deactivated
(parameter settings).

If the encoder is operating in commissioning
mode, the counting direction (code
sequence) can be changed online. The
current code sequence is indicated with bit 28

in the 32-bit-process value (0: increasing
clockwise / 1: increasing counter clockwise).
With bit 28 in the output double word the
counting direction can be changed.

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 

slave

Slave 

Master

Master 

slave

slave 

Master

0 0 0 1 0 0 0 Changing the counting direction by setting bit 28

0 0 0 0/1 0 0 1 Encoder sends acknowledgement (new counting direction) in bits 0

and 28

0 0 0 0 0 0 0 Changeover is completed by reset bit 28

0 0 0 0/1 X 0 1 Output process value with changed counting direction

The counting direction is stored non-volatile in an internal EEPROM.

0/1

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5.3.2 Teach-In Start

After the machine / system has been moved
to the start-position the Teach-In-Start
command is transmitted to the encoder. The

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 

slave

Slave 

Master

Master 

slave

Slave 

Master

0 1 0 0 0 0 0 Start the Teach-In by setting bit 30 to 1

0 1 0 X X 0 1 Acknowledgement of the encoder by setting bit 30 to 1

0 0 0 0 0 0 0 Reset bit 30

0 1 0 X X 0 1 Non-calculated position value is transmitted (gearing factor = 1, no offset)

Note: The scaling factor is set to 1; the zero
point shift is set to zero.

5.3.3 Teach-In Stop

After moving the machine / system to the
stop-position the Teach-In-Stop command is
send. Together with this command the desired
number of steps over the moved measuring
range is transmitted. The user has to observe
that the physical resolution is not exceeded
(e.g. 20000 steps on a quarter of a revolution).
Positive and negative directions are taken into
account automatically, also the crossing of
the physical zero point. Note: The measuring
range must not exceed the half physical
measuring range of the encoder (i.e. a

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 

SLAVE

SLAVE 

Master

Master 

SLAVE

SLAVE 

Master

0 0 1 0 0 0 0 Number of desired measuring steps (on the traversed measuring range)

0 1 1 X X 0 1 Transfer of the total resolution (should be noted)

0 0 0 0 0 0 0 Reset bit 29

0 0 0 X X 0 1 Output of the current position value, scaled with the new gearing factor

device now starts the internal calculation of a
new scaling factor.

maximum of 32767 revolutions for a multiturn
device with 65536 revolutions.
After receiving the Teach-In-Stop command
the encoder transmits the calculated total
resolution. This value should be noted and
later (when switching the device to normal
mode) entered into the parameter settings.
After this Teach-In procedure the encoder
operates with the new gearing factor (which is
stored non-volatile in the internal EEPROM).

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In order to replace the encoder later without
a new Teach-In procedure, the total
measuring range determined with the Teach­In should be transferred into the system
configuration. For this the „total resolution“
must be entered into the parameter field
„desired measuring units“ (cp. 5.1.2) and the
reference (cp. 5.1.3) must be set to “maximum

5.3.4 Preset value

The preset function is similar to the procedure
described in section 4.2.2. There is only one
difference: When using the manufacturer-

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 

SLAVE

SLAVE 

Master

Master 

SLAVE

SLAVE 

Master

1 0 0 0 0 0 0 Transfer of the required position value (= preset value)

1 0 0 0 0 0 1 New = required position value is transferred

0 0 0 0 0 0 0 Reset bit 31 – normal mode

0 0 0 0 0 0 1 New = required position value is transferred

total measuring range“. When setting the
parameters it should be observed that the
code sequence is correct (the setting of the
counting direction in commissioning mode has
to be transferred to the system configuration).
Subsequently the commissioning mode can
be switched off and the encoder can be used
in normal mode.

specific versions BEI IDEACOD 2.2 there is an
acknowledgement (bit 31 in the input double
word is set to 1):

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6 Diagnostic messages

6.1 Overview

On request of the master the encoder
transmits diagnostic data
("DDLM_Slave_Diag"). The diagnostic data
length is 57 bytes (Exception: shorter

diagnostic data is according to the Profibus
Standard (octets 1-6) respectively according
to the Profile for Encoders (starting from octet

7).

diagnostics, cp. 5.1.5). The format of the

Diagnostic function Data type Diagnostics - octet

number

Station status 1 (ref. to: Profibus

Octet 1 1
Standard)
Station status 2 (ref. to: Profibus

Octet 2 1
Standard)
Station status 3 (ref. to: Profibus

Octet 3 1
Standard)
Diagnostic master address Octet 4 1
PNO identification number Octet 5, 6 1
Extended diagnostic header Octet String 7 1
Alarm messages Octet String 8 1
Operating status Octet String 9 1
Encoder type Octet String 10 1
Resolution per revolution (Hardware) Unsigned 32 11 - 14 1
Number of revolutions (Hardware) Unsigned 16 15, 16 1
Additional alarm messages Octet String 17 2
Supported alarm messages Octet String 18, 19 2
Warnings Octet String 20, 21 2
Supported warnings Octet String 22, 23 2
Profile version Octet String 24, 25 2
Software version Octet String 26, 27 2
Operating time Unsigned 32 28 - 31 2
Zero offset Unsigned 32 32 - 35 2
Manufacturer-specific: offset value Unsigned 32 36 - 39 2
Programmed resolution per revolution Unsigned 32 40 - 43 2
Programmed total resolution Unsigned 32 44 - 47 2
Serial number ASCII String 48 - 57 2

Class

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6.2 Supported diagnostic messages

In the following the different diagnostic
messages are described in detail.

6.2.1 Extended diagnostics header

Byte 7 contains the length of the extended
diagnostics (including header itself).

6.2.2 Operating status

Diagnostic byte 9 contains certain parameters
(set in the system configuration).

Bit Definition 0 1
0 Direction of rotation CW CC

W
1 Class 2 functionality Off On
2 Diagnostic routine Off On
3 Scaling function Off On

6.2.3 Encoder type

Diagnostic byte 10 contains the encoder
version (singleturn or multiturn).

Byte 10 Definition
0 Singleturn encoder
1 Multiturn encoder

6.2.4 Singleturn resolution

Diagnostic bytes 11-14 contain the real
(physical) resolution per revolution of the
encoder.

6.2.5 Number of revolutions

Diagnostic bytes 15 and 16 contain the real
(physical) number of revolutions of the
encoder. Standard values are 1 for singeturn
and 65535 for multiturn devices.

6.2.6 Profile version

Diagnostic bytes 24 and 25 contain the profile
version of the encoder.

Byte 24 25
Bit 15 – 8 7 – 0
Data 27 - 20 27 - 2

0

Revision No. Index

6.2.7 Software version

Diagnostic bytes 26 and 27 contain the
software version of the encoder.

Octet 26 27
Bit 15 – 8 7 - 0
Data 27 to 20 27 to 20

Revision No. Index

6.2.8 Operating time

The operating time of the encoder is not
supported set to FFFFFFFF hex

6.2.9 Zero offset

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

6.2.10 Programmed resolution

The programmed resolution per revolution is
output in diagnostic bytes 40 to 43. The value is
only valid if the scaling factor is based on the
parameter „resolution per revolution“ (cp.

5.1.3).

6.2.11 Programmed total resolution

The programmed, respectively calculated
total resolution is output in diagnostic bytes 44-

47.

6.2.12 Serial number

Diagnostic bytes 48-57 are intended for a serial
number.

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With the current version the serial number is
not saved in the encoder, the bytes contain
the default value 2A hex.

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6.3 Status indication by the LEDs

Two LEDs indicate the status of the encoder in
the profibus network.
The red LED is used to display errors, the green
one displays the status of the encoder. Both
LEDs can have one of three possible
conditions: dark, bright and flashing. Five of

the nine possible combinations are used to
indicate a special condition.

If there are any problems with starting-up the
system, the state of the LEDs can give
important information about the error cause.

No. Red LED Green LED Status / possible cause
1 Dark Dark No power supply.
2 Bright Bright Encoder is ready for operation but it has not received any

configuration data after power on.
Possible causes: address setting incorrect, Bus lines not
connected correctly.

3 Flashing Bright Parameter or configuration error.

The encoder receives configuration or parameter data with
incorrect length or inconsistent data.
Possible cause: parameter value “total measuring range” too

high
4 Dark Bright Normal operation in data exchange mode
5 Dark Flashing Commissioning mode

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7 Configuring with STEP 7

In the following the configuration of the BEI
IDEACOD encoder with the configuration tool
STEP 7 is shown exemplarily. In this example
STEP 7 Version 5.1 and the CPU 315-2DP

7.1 Installing the GSD file

(profibus-master integrated) are used. If there
are questions about other software tools
please contact the manufacturer.

If BEI IDEACOD encoders are used for the first
time it is necessary to install the GSD file
(„POSI0C22.gsd“) to take over the encoder
into the hardware catalogue of the tool:

Choose “Install New GSD” in the “HW Config”­window of the project (menu item “Options”)
and select the GSD-file (“POSI0C22.gsd”).
The GSD file is available from BEI IDEACOD, it
can be downloaded from our homepage

www.bei-ideacod.com.

After the successful installation of the GSD file
the BEI IDEACOD encoder can be found in the
hardware catalogue under „PROFIBUS-DP“ –
„Additional Field Devices“ – „Encoders“ – „
POSI+ “.
In order to represent the encoder with a
bitmap in STEP7 the bitmap file „POSI.bmp“
has to be installed. The procedure is the same
as with the GSD file.

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7.2 Configuring the encoder

After inserting the Profibus master system in the
hardware configuration (“Insert” – “Master
System”) the BEI IDEACOD encoder can be
chosen from the hardware catalogue and
added to the profibus network: Select the
device “POSI+” and drag it with the mouse to
the network (or choose the network and
double click the “BEI IDEACOD encoder”).
Now the slave address has to be entered (has
to be equal to the address setting in the
connection cap).

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7.3 Selecting the encoder version

As described in chapter 3 the functionality of
the encoder depends on the selected
encoder version. After the “POSI+” encoder
has been added to the network the desired

encoder version can be selected. For this, one
of the modules listed under POSI+ encoder has
to be dragged to Slot 1 in the displayed
configuration table of the encoder.

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7.4 Setting the parameters

Select the encoder in the hardware
configuration and double click slot one in the
configuration table of the encoder. The dialog
„Properties – DP slave“ appears. The input and
output addresses can be changed (if desired).
To set the encoder parameters the tab
“Parameter Assignment” has to be selected.

After choosing the „Device-specific
parameters“ the different parameters
(depend on the encoder version) can be set.
If several possibilities are offered for one
parameter the parameters list is opened by

double clicking on it. Numerical values have
to be entered directly. The example shows the
parameters of encoder version BEI IDEACOD

2.2, the version with the highest functionality.

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Due to the software tool STEP7 32-bit parameter values (e.g. total measuring range, software limit
switches) have to be divided into high and low word.

Example:

Decimal Hexadecimal Hexadecimal Decimal (to be entered)
129600 00 01 FA 40 High word 00 01 1
Low word FA 40 64064

The decimal value „1“ has to be entered into the high word parameter field, the value 64064 into
the low word parameter field.

Or:
Divide the value by 65536; enter the integer part of the result into the high word parameter field,
the remainder into the low word field.

129600 / 65536 = 1.977539  integer part = 1  high word = 1
129600 – 1 x 65536 = 64064  remainder = 64064  low word = 64064

It is also possible to enter the parameters directly as hexadecimal code. However this is very
complicated and it should be avoided if possible.

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PROFIBUS USER MANUAL

8 Technical Data

See Datasheets.

9 Appendix

9.1 FAQ absolute encoder Profibus

Problem

There are problems with the profibus network
(bus error, no answer from the encoder) if one
of the following profibus masters is used:

-

SIEMENS S5-95U

-

Master Interface SIEMENS IM 308-B

-

Softing PROFIboard

-

Allen Bradley 1785 PFB/B

-

Mitsubishi A1SJ 71PB92D

Possible cause

Problem

If COM PROFIBUS Version 5.0 is used it is not
possible to insert the POSI+ encoder into the
hardware configuration if the PLC S5-95U is
used.

Cause

The S5-95U does not support the full diagnostic
data length (57 bytes). COM PROFIBUS V5.0
checks the GSD-parameter
„Max_Diag_Data_Len=57“ and prevents the
configuration of both devices together.

Problem

PLC and master are switched on, bus is active,
but there is no answer from the encoder.

Possible solutions

The masters do not support the full diagnostic
data length (57 bytes).

Solution

If it is possible the maximum number of
diagnostic data per slave should be increased
in the master.
If this is not possible the encoder can either be
used as a „class 1“ encoder (diagnostic data
length 16 bytes) or one of the manufacturer­specific versions (BEI IDEACOD 2.1 or 2.2) can
be used with reduced diagnostics (cp. 5.1.5).

Solution

Use COM PROFIBUS Version 3.3, choose one of
the manufacturer-specific BEI IDEACOD­versions (BEI IDEACOD 2.1 or 2.2) and activate
the reduced diagnostics.
If COM PROFIBUS V5.0 is to be used the
configuration of the BEI IDEACOD encoder is
only possible with a modified GSD file (slave
key „Max_Diag_Data_Len“ has to be
changed).

First of all the state of LEDs should be checked
(cp. section 6.3). Possibly this can give hints to
the cause of the problem.
Both LEDs dark: Check power supply!
Both LEDs bright:
Encoder is ready but receives no configuration
or parameter telegrams. Check the address

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setting . Check the connection of the bus lines
(BUS IN / BUS OUT). Check the hardware
configuration in your software tool.
Green LED bright, red LED flashing:

Parameter error! Check parameters, e.g. the
rules for setting the total measuring range (cp.

4.1.6)

36 Preliminary

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Problem

Sporadic bus errors

Possible cause

Terminating resistors not correct

Possible solution

Check terminating resistors!
The resistors of 220  must be switched on at
the beginning and at the end of the bus
segment. Switch off the power supply and
measure the resistance between the
terminals A and B in the connection cap.

The resistance value must be about 110 
(220  parallel 220 ).

Possible cause

EMC problems

Possible solutions

Is the used baud rate acceptable for the
length of the bus lines? Try to use lower
baud rate if necessary. Check the
connection of the cable shield in the
connection cap. Are all cables and
conductions laid according to EMC rules?

9.2 Definitions

Address

Baud rate

A number, which is assigned to each node, no matter whether it is a
master or slave. The address is set (non-volatile) in the connection cap
using rotary switches.
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.
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, configuration and parameter are

transmitted
„DDLM_Slave_Diag“ Operating status, diagnostic data are requested from the slave (e.g.

encoder).
Diagnostics Identification, localization, classification, display, additional evaluation

of faults, errors and messages.
Freeze

This is a master command to the slave. This allows the master to freeze

the states of the inputs (for example of the absolute angular encoder)

to their current value. The input data are only updated again after

reception of the UNFREEZE command.

Preliminary 37

BEI IDEACOD SAS

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PROFIBUS USER MANUAL

GSD file

Master

File that contains slave-specific characteristics. The GSD file is supplied

by the manufacturer of the profibus slave. The GSD format is

standardized (defined in GSD specifications), so configuration tools of

various manufacturers can use the GSD files.

“Active” device in the network that can send data without request.

Controls the data interchange.
Octet Data unit of 8 bits = 1 byte
Profibus

Slave

Terminating resistor

Process Fieldbus, European fieldbus standard, which is defined in the

PROFIBUS Standard (EN 50170). This specifies functional, electrical and

mechanical characteristics for a bit-serial fieldbus system.

Bus node, that only sends data on request of the master. Absolute

rotary encoders are always slaves.

Resistor that terminates the bus cable; terminating resistors are always

required at the end of a cable or segment.
Word Expression used for a data unit of two bytes.

38 Preliminary

BEI IDEACOD SAS

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PROFIBUS USER MANUAL

10 Index

B

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

C

Class 1 ................................................................... 11

Class 2 ................................................................... 11

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

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

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

Connecting

bus lines .............................................................. 6

power supply..................................................... 6

Connection cap

settings................................................................ 5

D

Data format......................................................... 10

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

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

E

Encoder configurations...................................... 9

I

Installation.............................................................. 5

L

LEDs....................................................................... 29

Low word.............................................................. 34

P

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

Parameters .......................................................... 33

Physical impulses

.................................... 16, 18, 20

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

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

Profibus Nutzerorganisation .............................. 4

Profile for Absolute Encoders............................ 4

S

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

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

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

Status bits ............................................................. 22

STEP 7..................................................................... 30

F

FAQ........................................................................ 35

G

GSD file ................................................................. 38

Installation........................................................ 30

H

High word............................................................. 34

T

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

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

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

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

V

Velocity

Time base......................................................... 21

Preliminary 39