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16/06/17
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INDEX
1. Safety summary ................................................................................................................. 1
2. Identification ...................................................................................................................... 3
3. Mechanical installation ...................................................................................................... 4
3.1 Solid shaft encoders ...................................................................................................... 4
3.1.1 Customary installation ............................................................................................ 4
3.1.2 Installation using fixing clamps (code LKM-386) ..................................................... 4
3.1.3 Installation using a flange (code ST-58-FLNG) ....................................................... 5
3.2 Hollow shaft encoders .................................................................................................... 6
3.2.1 AMT58-H15 ............................................................................................................ 6
4. Electrical connections ....................................................................................................... 7
4.1 PWR Power supply connector (Fig.1) ........................................................................... 7
4.2 P1 Port 1 and P2 Port 2 connectors (Fig.1)................................................................... 8
4.3 Ground connection (Fig.1) ............................................................................................. 8
4.4 MAC address and IP address ....................................................................................... 8
4.5 Diagnostic LEDs (Fig.1) ................................................................................................ 9
5. Getting started 10
5.1 Configuring the encoder with Siemens SIMATIC STEP 7 ........................................... 10
5.2 Mac address ................................................................................................................ 10
5.3 Encoder installation under STEP 7 environment ......................................................... 11
5.3.1 Description of the GSDML file .............................................................................. 11
5.3.2 Installing the GSDML file ...................................................................................... 12
5.3.3 Inserting the module in the Profinet-IO system ..................................................... 15
5.3.4 Device name and IP address at delivery .............................................................. 17
5.3.5 Setting the device name ....................................................................................... 17
5.3.6 Checking the device name ................................................................................... 26
5.3.7 Setting the IP address .......................................................................................... 27
5.4 Setting the parameters: Parameter Access Point ........................................................ 30
5.5 Resetting the parameters to default factory values ..................................................... 32
6. Profinet interface ............................................................................................................. 37
6.1 A brief introduction to Profinet ..................................................................................... 37
6.2 Profinet encoders from Datalogic Automation s.r.l. ..................................................... 38
6.2.1 Overview of the encoder profiles .......................................................................... 39
6.3 Application Class definition ......................................................................................... 39
6.3.1 Application Class 3 ............................................................................................... 39
6.3.2 Application Class 4 ............................................................................................... 39
6.4 Encoder Object model ................................................................................................. 39
6.5 Encoder object architecture ......................................................................................... 40
7. PROFINET IO data description ....................................................................................... 42
7.1 Telegrams ................................................................................................................... 42
7.1.1 Standard Telegram 81 .......................................................................................... 42
7.1.2 Standard Telegram 82 .......................................................................................... 42
7.1.3 Standard Telegram 83 .......................................................................................... 43
7.1.4 Standard Telegram 84 .......................................................................................... 43
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8. Cyclic Data Exchange–Standard signals ....................................................................... 44
G1_XIST1 ......................................................................................................................... 45
G1_XIST2 ......................................................................................................................... 46
G1_XIST3 ......................................................................................................................... 47
STW2_ENC ....................................................................................................................... 47
Control by PLC .................................................................................................................. 47
ZSW2_ENC ....................................................................................................................... 48
Control requested .............................................................................................................. 48
G1_STW ........................................................................................................................... 49
Home position mode ......................................................................................................... 49
Request set/shift of home position .................................................................................... 49
Request absolute value cyclically ...................................................................................... 51
Activate parking sensor ..................................................................................................... 51
Acknowledging a sensor error ........................................................................................... 52
G1_ZSW ........................................................................................................................... 52
NIST_A ............................................................................................................................. 52
NIST_B ............................................................................................................................. 52
9. Acyclic Data Exchange .................................................................................................... 53
9.1 Index 0xAFF0: Identification & Maintenance (I&M) functions ...................................... 53
9.2 Index 0xB02E : supported PROFIdrive specific parameters ....................................... 54
P922 – Telegram Selection ........................................................................................... 54
P964 – Profidrive Parameter : Device identification ....................................................... 54
P965 – Encoder profile number ..................................................................................... 54
P971 – Transfer to non volatile memory ........................................................................ 54
P975 – Encoder object identification ............................................................................. 55
P979 – Sensor format .................................................................................................... 56
P980 – Number list of defined parameter ...................................................................... 56
P61001 – IP of station ................................................................................................... 56
9.3 Index 0xB02E : supported encoder specific parameters ............................................. 57
P65000 – Preset value ................................................................................................... 57
P65001 – Operating status ............................................................................................ 57
9.4 Index 0xBF00 : user parameter data ........................................................................... 59
Code sequence ............................................................................................................. 59
Class 4 functionality ....................................................................................................... 60
G1_XIST1 preset control ............................................................................................... 60
Scaling function control ................................................................................................. 61
Alarm channel control .................................................................................................... 61
Compatibility mode ........................................................................................................ 62
Scaling function parameters .......................................................................................... 62
Measuring units / Revolution ......................................................................................... 63
Total measuring range ................................................................................................... 63
Maximum Master Sign-Of-Life failures .......................................................................... 64
Velocity measuring units ................................................................................................ 65
9.5 "Red Zone" .................................................................................................................. 66
10. Diagnostics and Alarms .................................................................................................. 68
10.1 Acyclic diagnosis parameter ...................................................................................... 69
10.2 Error messages via the Alarm Channel ..................................................................... 69
10.2.1 Use of the ChannelErrorType ............................................................................. 70
10.3 Error codes in ............................................................................................................ 70
10.4 LED indication ........................................................................................................... 70
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11. Real time class communication ..................................................................................... 71
11.1 Real-time classes in PROFINET IO .......................................................................... 71
11.2 Real-Time class 2 (RT2) – Not synchronized ............................................................ 71
11.3 Real-Time class 3 (IRT_TOP) (RT3) ......................................................................... 73
11.3.1 Setting an isochronous communication .............................................................. 74
11.4 OB61 ......................................................................................................................... 85
11.5 PIP (Process Image Partition) ................................................................................... 86
11.5.1 Consistency ........................................................................................................ 86
11.5.2 SFC126 “SYNC_PI” ............................................................................................ 87
11.5.3 SFC127 “SYNC_PO” .......................................................................................... 87
11.6 Domain Management ............................................................................................ 88
11.7 Topology Editor ..................................................................................................... 92
11.8 Message monitoring .............................................................................................. 96
12. Encoder replacement using LLDP ................................................................................. 97
13. Read & write records in acyclic communication .......................................................... 98
13.1 Example: reading and writing a parameter (Preset Value) ........................................ 99
13.1.1 System Function Block 52 (SFB52) .................................................................... 99
13.1.2 System Function Block 53 (SFB53) .................................................................... 99
13.1.3 Data Block 1 (DB1) ........................................................................................... 100
13.1.4 Data Block 2 (DB2) ........................................................................................... 100
13.1.5 Data Block 3 (DB3) ........................................................................................... 101
13.1.6 Data Block 4 (DB4) ........................................................................................... 101
13.1.7 Organization Block 1 (OB1) .............................................................................. 102
13.1.8 Function 1 (FC1) ............................................................................................... 102
13.1.9 Function 2 (FC2) ............................................................................................... 103
13.1.10 Acyclic request of Preset ................................................................................ 104
13.2 Monitoring a variable ............................................................................................... 105
14. Encoder state machine .................................................................................................. 106
14.1 Normal operation diagram ....................................................................................... 107
14.2 Preset diagram ........................................................................................................ 108
14.3 Parking sensor diagram .......................................................................................... 109
14.4 Error diagram .......................................................................................................... 1 10
14.4.1 Acknowledgment of acknowledgeable sensor error ......................................... 110
14.4.2 Acknowledgment of not acknowledgeable sensor error .................................... 111
15. Integrated web server .................................................................................................... 112
15.1 Firmware upgrade ................................................................................................... 119
15.2 Setting the preset value........................................................................................... 125
16. Default parameters list .................................................................................................. 128
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Subject Index
A
Acknowledging a sensor error ............... 52
Activate parking sensor.......................... 51
Alarm channel control ............................ 61
C
Class 4 functionality ............................... 60
Code sequence ...................................... 59
Compatibility mode ................................ 62
Control by PLC ...................................... 47
Control requested .................................. 48
Controller Sign-Of-Life ........................ 47
E
Encoder Sign-Of-Life ........................... 48
G
G1_STW ................................................ 49
G1_XIST1 .............................................. 45
G1_XIST1 preset control ....................... 60
G1_XIST2 .............................................. 46
G1_XIST3 .............................................. 47
G1_ZSW ................................................ 52
H
Home position mode .............................. 49
I
Index 0xAFF0 ........................................ 54
Index 0xB02E
supported encoder specific parameters
....................................................... 57
supported PROFIdrive specific
parameters ..................................... 54
Index 0xBF00 ......................................... 59
M
Maximum Master Sign-Of-Life failures ... 64
Measuring units / Revolution .................. 63
N
NIST_A .................................................. 52
NIST_B .................................................. 52
P
P61001 – IP of station ............................ 56
P65000 – Preset value ........................... 57
P65001 – Operating status .................... 57
P922 – Telegram Selection .................... 54
P964 – Profidrive Parameter
Device identification ........................... 54
P965 – Encoder profile number ............. 54
P971 – Transfer to non volatile memory 54
P975 – Encoder object identification ...... 55
P979 – Sensor format ............................ 56
P980 – Number list of defined parameter
........................................................... 56
R
Request absolute value cyclically .......... 51
Request set/shift of home position ......... 49
S
Scaling function control .......................... 61
Standard Telegram 81 ........................... 42
Standard Telegram 82 ........................... 42
Standard Telegram 83 ........................... 43
Standard Telegram 84 ........................... 43
STW2_ENC ........................................... 47
T
Total measuring range ........................... 63
V
Velocity measuring units ........................ 65
Z
ZSW2_ENC ........................................... 48
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Table of figures
Figure 1 - Connectors and diagnostic LEDs ........................................................................ 7
Figure 2 - Installing the GSDML file ................................................................................... 12
Figure 3 - Selecting the GSDML file .................................................................................. 13
Figure 4 - GSDML file installation ...................................................................................... 13
Figure 5 - Scrolling through Profinet families and categories ............................................. 14
Figure 6 - Inserting a module in the Profinet-IO system ..................................................... 15
Figure 7 - Inserted module ................................................................................................. 15
Figure 8 - Adding the Standard Telegram .......................................................................... 16
Figure 9 - Assigning the device name ................................................................................ 19
Figure 10 - Assigning the IP address ................................................................................. 20
Figure 11 - Downloading data to the PLC .......................................................................... 21
Figure 12 - Assigning the device name .............................................................................. 22
Figure 13 - Confirming the device name ............................................................................ 23
Figure 14 - Edit Ethernet Node dialog box ......................................................................... 24
Figure 15 - Edit Ethernet Node confirmation ...................................................................... 25
Figure 16 - Browsing the network ...................................................................................... 25
Figure 17 - Verifying device name ..................................................................................... 26
Figure 18 - Verifying device name ..................................................................................... 26
Figure 19 - Setting the IP address ..................................................................................... 27
Figure 20 - Browsing the network ...................................................................................... 28
Figure 21 - Assigning IP configuration ............................................................................... 29
Figure 22 - Edit Ethernet Node confirmation ...................................................................... 29
Figure 23 - Browsing the network ...................................................................................... 30
Figure 24 - Entering the Parameter Access Point dialog box ............................................. 30
Figure 25 - Parameter Access Point properties ................................................................. 31
Figure 26 - Downloading data to the PLC .......................................................................... 31
Figure 27 - Parameter Access Point help messages ......................................................... 32
Figure 28 - Restoring default values .................................................................................. 33
Figure 29 - Reset to factory settings .................................................................................. 34
Figure 30 - Reset first confirmation message .................................................................... 34
Figure 31 - Reset second confirmation message ............................................................... 35
Figure 32 - Reset executed message ................................................................................ 35
Figure 33 - Checking data after reset ................................................................................ 36
Figure 34 - Setting the Not synchronized role of the IO controller ..................................... 72
Figure 35 - Setting the Not synchronized role of the IO device .......................................... 73
Figure 36 - Setting the sync master role of the IO controller .............................................. 74
Figure 37 - Setting the sync slave role of the IO device ..................................................... 75
Figure 38 - CPU property sheet ......................................................................................... 76
Figure 39 - PIP of OB61 ..................................................................................................... 77
Figure 40 - OB61: assigning IO device in isochronous mode ............................................ 78
Figure 41 - Standard Telegram as isochronous submodule .............................................. 79
Figure 42 - Setting PIP for Standard Telegram IOs ........................................................... 80
Figure 43- Configuring the IO controller topology .............................................................. 81
Figure 44 - Configuring the IO device topology .................................................................. 82
Figure 45 - Checking the Profinet IO isochronous mode ................................................... 83
Figure 46 - Isochronous Mode dialog box .......................................................................... 84
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Figure 47 - OB61 ............................................................................................................... 85
Figure 48 - Process Image Partition .................................................................................. 86
Figure 49 - Assigning the IO device to a sync domain ....................................................... 89
Figure 50 - Domain management dialog box ..................................................................... 90
Figure 51 - Sync domain details dialog box ....................................................................... 91
Figure 52 - Entering the Topology Editor ........................................................................... 92
Figure 53 - Topology Editor: Table view ............................................................................ 93
Figure 54 - Topology Editor: Offline/Online comparison .................................................... 94
Figure 55 - Topology Editor: Graphic view ......................................................................... 95
Figure 56 - Message monitoring ........................................................................................ 96
Figure 57 - Link Layer Discovery Protocol (LLDP) ............................................................. 97
Figure 58 - Base mode parameter request and response ................................................. 98
Figure 59 - SFB52 ............................................................................................................. 99
Figure 60 - SFB53 ............................................................................................................. 99
Figure 61 - DB1 ............................................................................................................... 100
Figure 62 - DB2 ............................................................................................................... 100
Figure 63 - DB3 ............................................................................................................... 101
Figure 64 - DB4 ............................................................................................................... 101
Figure 65 - OB1 ............................................................................................................... 102
Figure 66 - FC1 ................................................................................................................ 102
Figure 67 - FC1 ................................................................................................................ 103
Figure 68 - FC2 ................................................................................................................ 103
Figure 69 - Acyclic request of Preset value ...................................................................... 104
Figure 70 - Monitoring a variable ..................................................................................... 105
Figure 71 - Encoder state machine .................................................................................. 106
Figure 72 - Opening the web server ................................................................................ 112
Figure 73 - Web server Index page ................................................................................. 113
Figure 74 - Encoder Information page ............................................................................. 113
Figure 75 - Firmware upgrade page ................................................................................ 114
Figure 76 - Status & Alarms page .................................................................................... 114
Figure 77 - Encoder Parameters page ............................................................................. 115
Figure 78 - Encoder Specific Profile Parameters page .................................................... 115
Figure 79 - Encoder Specific Profile Parameters page 1 ................................................. 116
Figure 80 - Encoder Specific Profile Parameters page 2 ................................................. 116
Figure 81 - Identification & Maintenance page ................................................................. 117
Figure 82 - Change the preset value page ....................................................................... 118
Figure 83 - Reserved area page ...................................................................................... 118
Figure 84 - Opening the web server ................................................................................ 120
Figure 85 - Web server Index page ................................................................................. 120
Figure 86 - Confirming the access to the Firmware upgrade page .................................. 121
Figure 87 - Firmware upgrade page ................................................................................ 121
Figure 88 - Web server stopped ...................................................................................... 122
Figure 89 - Firmware upgrade executable file .................................................................. 122
Figure 90 - Starting the firmware upgrade operation ....................................................... 123
Figure 91 - Firmware upgrade operation process ............................................................ 124
Figure 92 - Opening the web server ................................................................................ 125
Figure 93 - Web server Index page ................................................................................. 126
Figure 94 - Confirming the access to the Preset page ..................................................... 126
Figure 95 - Changing the Preset value ............................................................................ 127
Figure 96 - Preset value stored properly .......................................................................... 127
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Typographic and iconographic conventions
In this guide, to make it easier to understand and read the text the following typographic
and iconographic conventions are used:
parameters and objects of both Datalogic Automation s.r.l. device and interface are
coloured in ORANGE;
alarms are coloured in RED;
states are coloured in FUCSIA.
When scrolling through the text some icons can be found on the side of the page: they are
expressly designed to highlight the parts of the text which are of great interest and
significance for the user. Sometimes they are used to warn against dangers or potential
sources of danger arising from the use of the device. You are advised to follow strictly the
instructions given in this guide in order to guarantee the safety of the user and ensure the
performance of the device. In this guide the following symbols are used:
This icon, followed by the word WARNING, is meant to highlight the
parts of the text where information of great significance for the user can
be found: user must pay the greatest attention to them! Instructions
must be followed strictly in order to guarantee the safety of the user and
a correct use of the device. Failure to heed a warning or comply with
instructions could lead to personal injury and/or damage to the unit or
other equipment.
This icon, followed by the word NOTE, is meant to highlight the parts of
the text where important notes needful for a correct and reliable use of
the device can be found. User must pay attention to them! Failure to
comply with instructions could cause the equipment to be set wrongly:
hence a faulty and improper working of the device could be the
consequence.
This icon is meant to highlight the parts of the text where suggestions
useful for making it easier to set the device and optimize performance
and reliability can be found. Sometimes this symbol is followed by the
word EXAMPLE when instructions for setting parameters are
accompanied by examples to clarify the explanation.
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Preliminary information
This guide is designed to provide the most complete information the operator needs to
correctly and safely install and operate the following encoders fitted with Profinet interface:
AMT58…PN (DAP 1 : multiturn encoder 13 +14 bits)
To make it easier to read the text, this guide can be divided into some main sections.
In the first section (from chapter 1 to chapter 4) general information concerning the safety,
the mechanical installation and the electrical connection.
In the second section (chapter 5) information on how to install and configure the encoder
in the STEP 7 development environment as well as tips for setting up and running properly
and efficiently the unit are provided.
In the third section (from chapter 6 to chapter 12) both general and specific information is
given on the Profinet interface.
In this section the interface features and the parameters implemented in the unit are fully
described.
In the last section (from chapter 13 to chapter 15) some examples of programming and
advanced maintenance information are explained.
Page 11
A
Glossary of Profinet terms
PROFINET IO, like many other networking systems, has a set of unique terminology.
Table below contains a few of the technical terms used in this guide to describe the
PROFINET IO interface. Sometimes they also refer more specifically to the S7
programming environment. They are listed in alphabetical order.
Acyclic
Communications
AP Application Process - The application process running in the device.
API The value of the API (Application Process Identifier) parameter
Unscheduled, on demand communications. Diagnostic messages from
an IO Supervisor to an IO Device are Acyclic. Refer to page 58.
PROFINET supports a default Application Processes and additional
profile specific application processes.
specifies the application that is processing the IO data. PROFINET
standard IEC 61158 assigns profiles to certain APIs (PROFIdrive,
PROFIslave) which are defined by the PROFINET User Organization.
The standard API is 0.
Application class An application class specifies a number of mandatory functions and
addition optional functions to be supported by an IO device. The
Profinet encoders can be configured as CLASS 3 and CLASS 4
PROFINET IO devices according to the encoder profile. Refer to page
41
AR Application Relation - The relationship between a PROFINET IO
Controller and an IO device. A PROFINET IO device can support more
than one Application Relationship.
Bus
Channel A single IO point. A Channel can be discrete or analog.
Consumer Status The Status an IO device provides to an IO Controller for the data it
CR Communication Relationship - A virtual communication channel within
Cyclic
Communications
Data block In contrast to code blocks, data blocks (DB) do not contain Step 7
bus is a communication medium connecting several nodes. Data
can be transferred via serial or parallel circuits, that is, via electrical
conductors or fiber optic.
consumes from IO Controller.
an AR.
Scheduled, repetitive communications. IO data and alarm transfers are
cyclic.
statements. They are used to save data, i.e. variable data which are
processed by the user program. Global data blocks serve to
accommodate user data which can be used by all other blocks.
DCP Discovery Control Protocol - A communications protocol with
PROFINET IO that allows an IO Controller or Supervisor to find every
PROFINET IO device on a subnet.
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Determinism Determinism means that a system responds in a predictable
(deterministic) manner.
Device name Before an IO device can be addressed by an IO controller, it must have a
device name. In PROFINET, this method was selected because it is
simpler to work with names than with complex IP addresses.
Refer to page 18
Encoder
Profile
Function Functions (FC) are code blocks which can be programmed by the user. A
Function block Function blocks (FB) are code blocks with a “memory” which are
Frame ID The two-byte field in the Ethernet frame which defines the type of
GSD The properties of a PROFINET device are described in a GSD file
The PROFINET profile for Encoders is intended to define a standard
application interface for encoders. The profile is a supplement to the
PROFIdrive profile, so it is mandatory to read the PROFIdrive profile
before implementing the encoder profile. Profinet encoders from Datalogic
Automation s.r.l.comply with the Encoder Profile Specifications V4.1
version 3.162. See also “Profile“.
FC does not have a “memory”. Temporary variables as well as
parameters transferred to the function when the latter is called are saved
in a L stack. They are lost following processing of the FC.
programmed by the user. They have an assigned instance data block
(instance DB) as memory. Parameters transferred to a FB as well as the
static variables are saved in this data block. An FB contains a program
which is always executed when the FB is called by another code block.
Function blocks facilitate the programming of frequently repeated,
complex functions.
PROFINET IO message.
(General Station Description) that contains all the information required for
configuration. In PROFINET IO, the GSD file is in XML format. The
structure of the GSD file conforms to ISO 15734, which is the world-wide
standard for device descriptions. Refer to page 11
GSDML General Station Description Markup Language – The file containing the
XML description of the PROFINET IO device. Refer to page 11
IO Controller Device used to address the connected IO devices. This means that the IO
controller exchanges input and output signals with assigned field devices.
The IO controller is often the controller on which the automation program
runs. Refer to page 39
IO Device A decentralized field device that is assigned to one of the IO controllers
(e.g. remote IO, encoders, valve terminals, frequency converters,
switches, etc.). Refer to page 39
IO Parameter
Server
IO Supervisor Programming device, PC or HMI device used for commissioning and
IP address The IP address is the name of the unit in a network using the Internet
An IO Parameter Server is a server station, usually a PC, for loading and
saving the configuration data (records) of IO Devices.
diagnostics of IO Controllers and IO Devices. Refer to page 39.
protocol. Refer to page 8.
Page 13
IRT Synchronized transmission procedure for the cyclic exchange of IRT data
A
between PROFINET devices. A reserved bandwidth within the send clock
is available for the IRT IO data. The reserved bandwidth ensures that the
IRT data can be transmitted at reserved, synchronized intervals whilst
remaining uninfluenced even by other greater network loads (e.g. TCP/IP
communication or additional real time communication). The "high
flexibility" enables simple planning and expansion of the system. A
topological configuration is not required. Refer to page 77.
MAC address The MAC address is an identifier unique wordlwide consisting of two
parts: the first 3 bytes are the manufacturer ID and are provided by IEE
standard autority; the last three bytes represent a consecutive number of
the manufacturer. Refer to page 8.
Module Modules are user defined components that plug into slots. Modules can
be real or virtual.
NRT Non Real Time - The non Real Time PROFINET IO Channel.
Configuration and diagnostic messages are transferred over the NRT
Channel.
Organization
block
Profile Profiles define application-specific functionality to ensure the openness of
Provider
Status
Proxy A device which maps non PROFINET IO data to PROFInet.
range of organization blocks (OB) are designed to execute the user
program. OBs are the interface interface between the user program and
the operating system of a CPU. They permit event-controlled processing
of special program components within the user program.The order in
which the user program is executed is defined in the organization blocks.
PROFIBUS and PROFINET is utilized consistently. PI Profiles can cover
simple devices such as encoders by defining how signals are used and
how they are physically connected. However, profiles are increasingly
covered more complex systems or requirements. Profiles such as
PROFIdrive and PROFIsafe deliver active functionality as well. An
advanced profile covering active power management for end devices like
lasers and robots is now under development with the aim of bringing
significant reductions in energy consumption for the automotive industry.
Profiles guarantee quicker system design and they support faster device
interchange, promoting competition amongst vendors, increased choice
for users and full interoperability.
The Status an IO device provides to an IO Controller with the data
transferred to the Controller.
Real-time Real-time means that a system processes external events within a
defined time. If the reaction of a system is predictable, one speaks of a
deterministic system. The general requirements for real-time are
therefore: deterministic response and defined response time. Refer to
page 77.
RT Real Time - The Real Time PROFINET IO Channel. I/O and Alarm Data
are transferred over the RT Channel. Refer to page 77.
Slot A group of one or more Subslots. Slots can be real or virtual.
Standard
signal
The encoder profile defines a series of standard signals which are used to
configure the IO data. Refer to page 46.
Page 14
Submodule
A
A
A
Subslot A group of one or more channels. Subslots can be real or virtual.
component of a module that is plugged into a subslot. A submodule is
real or virtual.
Sync domain
System
function
System
function block
TCP/IP The Ethernet system is designed solely to carry data. It is comparable to
ll PROFINET devices that are to be synchronized via PROFINET IO with
IRT must belong to a sync domain. The sync domain consists of precisely
one sync master and at least one sync slave. IO controllers and switches
can hold the role of a sync master or sync slave. Other IO devices
support only the role as sync slave. Refer to page 94.
System functions (SFC) are integral functions in the operating system of a
S7 CPU. In addition, SFCs are frequently called implicitly by SFBs. SFCs
can be called by the user program like normal functions. SFCs are used
to implement a number of important system functions for Profinet IO.
System function blocks (SFB) are integral functions in the operating
system of a S7 CPU. SFBs can be called by the user program like normal
function blocks. SFBs are used to implement a number of important
system functions for Profinet IO.
a highway as a system for transporting goods and passengers. The data
is actually transported by protocols.
This is comparable to cars and commercial vehicles transporting
passengers and goods on the highway.
Tasks handled by the basic Transmission Control Protocol (TCP) and
Internet Protocol (IP) (abbreviated to TCP/IP):
1. The sender splits the data into a sequence of packets.
2. The packets are transported over the Ethernet to the correct recipient.
3. The recipient reassembles the data packets in the correct order.
4. Faulty packets are sent again until the recipient acknowledges that
they have been transferred successfully.
Telegram
Topology Network structure. Commonly used structures:
Transmission
rate
User program The user program contains all instructions, declarations and data for
telegram is a rigidly defined bit stream carrying data. A telegram
specifies the data length and the type of data which is sent to and from
the IO controller. The encoder profile supports Standard Telegrams 81,
82, 83 and 84. Refer to page 44.
Line topology;
Ring topology;
Star topology;
Tree topology.
Refer to page 94.
Data transfer rate (in bps).
signal processing required to control a plant or a process. It is assigned to
a programmable module (for example CPU) and can be structured in
smaller units (blocks).
Page 15
List of abbreviations
Table below contains a list of abbreviations (in alphabetical order) which may be used in
this guide to describe the PROFINET IO interface. Sometimes they also refer more
specifically to the S7 programming environment.
AR Application Relation
API Application Process Identifier
C-LS Controller’s Sign-Of-Life
CR Communication Relation
DB Data block
DO Drive Object
DO-LS Driver Object Sign-Of-Life
DU Drive Unit
EO Encoder Object
EU Encoder Unit
FB Function block
FC Function
I&M Identification & Maintenance
IRT Isochronous Real Time Ethernet
IRT Flex IRT “High Flexibility”
IRT Top IRT “High Performance”
GSDML General Station Description Markup Language
IO Input/Output
IP Internet Protocol
LLDP Link Layer Discovery Protocol
LS Sign-Of-Life
MAC Media Access Control
MAP Module Access Point
MLS Master Sign-Of-Life
OB Organization block
PAP Parameter Access Point
PI PROFIBUS and PROFINET International
RT Real Time Ethernet
SFB System function block
SFC System function
TCP Transmission Control Protocol
T
Master Application Cycle Time
MAPC
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AMT58x-PN ProfiNET®
1. Safety summary
Safety
Always adhere to the professional safety and accident prevention
regulations applicable to your country during device installation and
operation;
installation and maintenance operations have to be carried out by
qualified personnel only, with power supply disconnected and
stationary mechanical parts;
device must be used only for the purpose appropriate to its design:
use for purposes other than those for which it has been designed
could result in serious personal and/or the environment damage;
high current, voltage and moving mechanical parts can cause serious
or fatal injury;
warning ! Do not use in explosive or flammable areas;
failure to comply with these precautions or with specific warnings
elsewhere in this manual violates safety standards of design,
manufacture, and intended use of the equipment;
Datalogic Automation s.r.l. assumes no liability for the customer's
failure to comply with these requirements.
Electrical safety
Turn OFF power supply before connecting the device;
connect according to explanation in section ”Electrical
connections”;
in compliance with 2014/30/EU norm on electromagnetic
compatibility, following precautions must be taken:
- before handling and installing the equipment, discharge electrical
charge from your body and tools which may come in touch with the
device;
- power supply must be stabilized without noise; install EMC filters on
device power supply if needed;
- always use shielded cables (twisted pair cables whenever possible);
- avoid cables runs longer than necessary;
- avoid running the signal cable near high voltage power cables;
- mount the device as far as possible from any capacitive or inductive
noise source; shield the device from noise source if needed;
- to guarantee a correct working of the device, avoid using strong
magnets on or near by the unit;
- minimize noise by connecting the shield and/or the connector housing
and/or the frame to ground. Make sure that ground is not affected by
noise. The connection point to ground can be situated both on the
device side and on user’s side.
The best solution to minimize the interference must be carried out by
the user. Provide the ground connection as close as possible to the
encoder. We suggest using the ground point provided in the cap, use
one TCEI M3 x 6 cylindrical head screw with two tooth lock washers.
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AMT58x-PN ProfiNET®
Mechanical safety
Install the device following strictly the information in the section 3
“Mechanical installation;
mechanical installation has to be carried out with stationary
mechanical parts;
do not disassemble the unit;
do not tool the unit or its shaft;
delicate electronic equipment: handle with care; do not subject
the device and the shaft to knocks or shocks;
respect the environmental characteristics of the product;
unit with solid shaft: in order to guarantee maximum reliability
over time of mechanical parts, we recommend a flexible
coupling to be installed to connect the encoder and user's shaft;
make sure the misalignment tolerances of the flexible coupling
are respected;
unit with hollow shaft: the encoder can be mounted directly on a
shaft whose diameter has to respect the technical
characteristics specified in the purchase order and clamped by
means of the collar and, when requested, the anti-rotation pin.
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2. Identification
Device can be identified through the ordering code, the serial number
and the MAC address printed on the label applied to its body.
Information is listed in the delivery document too.
Please always quote the ordering code, the serial number and the
MAC address when reaching Datalogic Automation s.r.l. for
purchasing spare parts or needing assistance.
For any information on the technical characteristics of the product
refer to the technical catalogue.
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AMT58x-PN ProfiNET®
3. Mechanical installation
WARNING
Installation and maintenance operations have to be carried out by
qualified personnel only, with power supply disconnected. Shaft and
mechanical components must be in stop.
For any information on the mechanical data and the electrical
characteristics of the encoder please refer to the technical catalogue.
3.1 Solid shaft encoders
Mount the flexible coupling 1 on the encoder shaft;
fix the encoder to the flange 2 (or to the m ounting bell) by means
of the screws 3;
secure the flange 2 to the support (or the mounting bell to the
motor);
mount the flexible coupling 1 on the motor shaft;
make sure the alignment tolerances of the flexible coupling 1 are
respected.
3.1.1 Customary installation
a [mm] b [mm] c [mm] d [mm]
AMT58 36 H7 48 - -
3.1.2 Installation using fixing clamps (code LKM-386)
4
AMT58
a [mm] b [mm] c [mm] d [mm]
36 H7 - 67 -
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AMT58x-PN ProfiNET®
3.1.3 Installation using a flange (code ST-58-FLNG)
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AMT58x-PN ProfiNET®
3.2 Hollow shaft encoders
3.2.1 AMT58-H15
Mount the encoder on the motor shaft using the reducing sleeve 8
(if supplied). Avoid forcing the encoder shaft;
fasten the fixing plate 4 to the rear of the motor using two M3
cylindrical head screws 5;
fix the collar 3 to the encoder shaft (apply threadlocker to screw 3).
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4. Electrical connections
WARNING
Power supply must be turned off before performing any electrical
connection!
Never force manually the rotation of the shaft not to cause
permanent damages!
For any information on the mechanical and electrical characteristics
of the encoder please refer to the technical catalogue.
Figure 1 - Connectors and diagnostic LEDs
4.1 PWR Power supply connector (Fig.1)
M12 4-pin male connector with A coding is used for power supply.
Description Pin
+10VDC
+30VDC
n.c. 2
0VDC 3
n.c. 4
7
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AMT58x-PN ProfiNET®
4.2 P1 Port 1 and P2 Port 2 connectors (Fig.1)
Two M12 4-pin female connectors with D coding are used for
Ethernet connection through port 1 and port 2.
Description Pin
Tx Data + 1
Rx Data + 2
Tx Data - 3
Rx Data - 4
4.3 Ground connection (Fig.1)
To minimize noise connect properly the shield and/or the connector
housing and/or the frame to ground. Connect properly the cable
shield to ground on user's side. Datalogic's EC- pre-assembled
cables are fitted with shield connection to the connector ring nut in
order to allow grounding through the body of the device. Datalogic's
E- connectors have a plastic gland, thus grounding is not possible. If
metal connectors are used, connect the cable shield properly as
recommended by the manufacturer. Anyway make sure that ground
is not affected by noise. It is recommended to provide the ground
connection as close as possible to the device. We suggest using the
ground point provided in the cap (see Figure 1, use 1 TCEI M3 x 6
cylindrical head screw with 2 tooth lock washers).
4.4 MAC address and IP address
The unit can be identified in the network through the MAC address
and the IP address. MAC address has to be intended as a
permanent and globally unique identifier assigned to the unit for
communication on the physical layer; while the IP address is the
name of the unit in a network using the Internet protocol. MAC
address is 6-byte long and cannot be modified. It consists of two
parts, numbers are expressed in hexadecimal notation: the first three
bytes are used to identify the manufacturer (OUI, namely
Organizationally Unique Identifier), while the last three bytes are the
specific identifier of the unit. The MAC address can be found on the
label applied to the encoder. The IP address (and the subnet mask)
must be assigned by the user to each interface of the unit to be
connected in the network. For additional information on the MAC
address refer to the section “5.2 Mac address” on page 10.
For additional information on the IP address refer to the section
“5.3.7 Setting the IP address” on page 27.
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AMT58x-PN ProfiNET®
4.5 Diagnostic LEDs (Fig.1)
Six LEDs located in the cap of the encoder (see Figure 1) are meant
to show visually the operating or fault status of the encoder and the
Profinet interface. The meaning of each LED is explained in the
following tables.
LED Description
L1 (green) Link 1: link to another Ethernet component through port 1
A1 (yellow) Activity 1: incoming and outgoing traffic through port 1
S1 (green) Status 1: see table below
S2 (red) Status 2: see table below
L2 (green) Link 2: link to another Ethernet component through port 2
A2 (yellow) Activity 2: incoming and outgoing traffic through port 2
S1 Status 1
green
OFF OFF No power
ON ON
ON
S2 Status 2
red
Blinking
at 1 Hz
Meaning Cause
No connection to another
device
Criteria: no data exchange
Parametrization fault, no
data exchange
Criteria: data exchange is
correct but the encoder
does not switch to the
data exchange mode
Unit switched off
Cable disconnected
Bus disconnected
Master not available or
switched off
Slave not configured yet
or wrong configuration
A wrong address has
been assigned to the unit
Actual configuration of
the slave differs from the
nominal configuration
Diagnostic data exists,
OFF ON System failure
slave in data exchange
mode
Data exchange, the
ON OFF
encoder is working
Correct operation
properly
Blinking
at 1 Hz
OFF
Flash memory upgrade
process is active (see on
page 119)
The user is upgrading the
flash memory
Cable disconnected
Power switched off
Internal error
Flash memory damaged
OFF
Blinking
at 1 Hz
Flash memory upgrade
process failed (see on
page 119)
Upgrade process aborted
before completion
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5. Getting started
5.1 Configuring the encoder with Siemens SIMATIC STEP 7
In this manual some screenshots are shown to explain how to install
and configure the encoder in a supervisor.
In the specific example the development environment is STEP 7 V5.5
+ SP1 with SIEMENS PLC CPU 315-2 PN / DP.
Therefore, the installation of the GSDML file, the assignement of the
IP address and the device name, the configuration of the encoder in
the network, topology, diagnostics, etc. will always refer to the
aforementioned development tools.
If you need to install the encoder using a different configuration tool,
please read and follow carefully the instructions given in the
documentation provided by the manufacturer.
5.2 Mac address
The MAC address is an identifier unique wordlwide.
The MAC-ID consists of two parts: the first 3 bytes are the
manufacturer ID and are provided by IEE standard autority; the last
three bytes represent a consecutive number of the manufacturer.
NOTE
The MAC address is always printed on the encoder label for
commissioning purposes.
The MAC address has the following structure:
Bit value 47 ... 24 Bit value 23 ... 0
10 B9 FE X X X
Company code (OUI) Consecutive number
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AMT58x-PN ProfiNET®
5.3 Encoder installation under STEP 7 environment
5.3.1 Description of the GSDML file
The functionality of a PROFINET IO device is always described in a
GSDML file. This file contains all data that are relevant for
engineering as well as for data exchange with the IO device.
PROFINET IO devices can be described using XML-based GSD.
The description language of the GSD file, i.e. GSDML (General
Station Description Markup Language) is based on international
standards. As the name suggests, the GSD file is a languageindependent XML file (Extensible Markup Language).
Profinet encoders from Datalogic Automation s.r.l. are supplied with
their own GSDML file: AMT58-xxx-13x14-PN.
See the enclosed documentation or click www.datalogic.com to get
the GSDML file.
WARNING
Please always comply with the specifications indicated in the
following table:
GSDML file
version
Encoder HW
version
Encoder SW
version
User's guide
version
From release
20131024 to ...
1 1.01 1.0
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AMT58x-PN ProfiNET®
5.3.2 Installing the GSDML file
In the menu bar of the HW Config window, press Options and then
Install GSD File … command.
Figure 2 - Installing the GSDML file
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AMT58x-PN ProfiNET®
The Install GSD Files dialog box will appear. Press the Browse ...
button to choose the folder where the GSDML file is located. Please
make sure that the bitmap file representing the encoder is located in
the same folder as the GSDML file. Select the file and press the
Install button to install it.
Figure 3 - Selecting the GSDML file
As soon as the operation is carried out, a confirmation dialog box will
appear on the screen.
Figure 4 - GSDML file installation
Now scroll through the directory tree in the left pane of the HW
Config window and select the path ENCODERS family can be found
inside the folder.
The installation modules are contained in the directories
MULTITURN (for multiturn version encoders).
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Figure 5 - Scrolling through Profinet families and categories
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5.3.3 Inserting the module in the Profinet-IO system
Now we need to install the module of the desired model.
For instance, we want to configure the AMT58 model.
In the right pane open the Datalogic directory and then choose the
MULTITURN directory. Drag the required module AMT58 to the
window on the left and drop it on the PROFINET-IO system.
Figure 6 - Inserting a module in the Profinet-IO system
The inserted module will appear as shown in the following
screenshot:
Figure 7 - Inserted module
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AMT58x-PN ProfiNET®
Now we need to choose the data length and the type of data that
should be sent to and from the IO controller, thus we need to install a
Standard Telegram. Four types of telegrams with different
characteristics are available: Standard Telegram 81, Standard
Telegram 82, Standard Telegram 83 and Standard Telegram 84. For
detailed information on the Standard Telegrams refer to the section
“7.1 Telegrams” on page 44.
For instance we need to install the Standard Telegram 83.
To do this select the desired Telegram available for the
HMx16/16384PT module (it can be found under
HMx16/16384PT\MULTITURN 30 bit MODULE) and drag and drop it
onto the variables table in the bottom left, as shown in the Figure.
Figure 8 - Adding the Standard Telegram
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AMT58x-PN ProfiNET®
5.3.4 Device name and IP address at delivery
In a Profinet network it is mandatory that each IO device is provided
with its own Device name and IP address. By default, before delivery
the device name of the encoder is set to a blank string and its IP
address is set to 0.0.0.0.. When the system boots up, the IO
controller assigns the IP address to the IO device. Please make sure
that the Assign IP address via IO controller check box in the
Properties dialog box is selected if the IP address has to be assigned
to the encoder via the IO controller. Anyway the assignment of the IP
Address can be disabled by deselecting the Assign IP address via IO
controller check box. In this case the IP address set in the IO device
is used (the IP address is uploaded from the internal memory). You
are required to enter the Device name first and then the IP address.
5.3.5 Setting the device name
Before the PROFINET IO controller can address a PROFINET IO
device, a name has to be assigned to the PROFINET IO device.
PROFINET uses this method because names are easier to use and
recall than complex IP addresses. Devices on an Ethernet subnet
must have unique names.
NOTE
An IO Device does not have a device name when delivered. By
default, the device name of Datalogic's Profinet encoders is set to a
blank string.
The device names must satisfy DNS (Domain Name System)
conventions:
Names are limited to a total of 127 characters (letters,
numbers, dashes or dots).
Any component part (that is, a character string between two
dots) of the device name may only be up to 63 characters
long.
Names cannot contain any special character such as umlauts,
parentheses, underscores, forward or backward slashes,
empty spaces, etc. The dash is the only special character
allowed.
Names must neither start nor end with the minus "-" sign.
There are a couple of ways to assign the device name to the
encoder.
The steps are described in the following tables.
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AMT58x-PN ProfiNET®
Steps for system startup
Controller
Checking of device name
Assignment of IP address
Connection establishment
Data exchange
Startup response
Device
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AMT58x-PN ProfiNET®
Mode 1
Enter the Properties dialog box by double clicking the encoder icon in
the HW Config window and set the device name in the Device name
field. Check that the Assign IP address via IO controller check box is
selected if you want the IP address being assigned by the IO
controller; otherwise deselect it if you want it to be uploaded from the
internal memory of the IO device.
Figure 9 - Assigning the device name
NOTE
The device name default setting is the name from the GSD file. With
integral Profinet interfaces, the device name is derived from the short
description. If several devices of the same type are arranged in the
same Profinet IO system, Step 7 automatically supplements the
name from the GSD file with a serial number. The second device is
assigned the extension “-1”, the third device the extension “-2”, etc.
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AMT58x-PN ProfiNET®
Press the Ethernet... button in the Node in PROFINET IO system
group if you want to assign an IP address different from the one
suggested by the system.
Figure 10 - Assigning the IP address
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AMT58x-PN ProfiNET®
Download data to the PLC pressing the Download button in the
Toolbar.
Figure 11 - Downloading data to the PLC
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AMT58x-PN ProfiNET®
Now press PLC, Ethernet and then Assign Device Name... command
in the menu bar of the HW Config window.
Figure 12 - Assigning the device name
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AMT58x-PN ProfiNET®
Choose the device you need to change the name in the Device name
drop box and then press the Assign name button.
Figure 13 - Confirming the device name
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AMT58x-PN ProfiNET®
Mode 2
As explained for the Mode 1, first of all enter the Properties dialog
box by double clicking the encoder icon in the HW Config window
and set the device name in the Device name field. Then press PLC,
Ethernet and then Edit Ethernet node command in the menu bar of
the HW Config window. Press the Browse... button to find all the
nodes connected to the network. Select the IO device you want to
assign the Device name to. The MAC address of the encoder is
written on the encoder label. In the Assign device name group below
in the dialog box, enter the desired name in the Device name field.
Press the Assign Name button to confirm.
Figure 14 - Edit Ethernet Node dialog box
NOTE
The device name default setting is the name from the GSD file. With
integral Profinet interfaces, the device name is derived from the short
description. If several devices of the same type are arranged in the
same Profinet IO system, Step 7 automatically supplements the
name from the GSD file with a serial number. The second device is
assigned the extension “-1”, the third device the extension “-2”, etc.
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AMT58x-PN ProfiNET®
The following confirmation message will appear on the screen.
Figure 15 - Edit Ethernet Node confirmation
After completing the operation, we can easily check the entered
Device Name. To do this press again the Browse... button in the Edit
Ethernet node page to find all the nodes connected to the network.
Check that the encoder is listed properly in the page.
Figure 16 - Browsing the network
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AMT58x-PN ProfiNET®
5.3.6 Checking the device name
After completing the operation, we recommend the Device Name to
be checked. To do this press PLC, Ethernet and then Verify Device
Name... command in the menu bar of the HW Config window.
Figure 17 - Verifying device name
In the Verify Device Name dialog box, check that the encoder is
listed properly with correct Device name and status.
Figure 18 - Verifying device name
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AMT58x-PN ProfiNET®
5.3.7 Setting the IP address
To help with configuration you are required only once to assign an IP
address. When configuring the PROFINET IO controller in the HW
Config window, STEP 7 opens a dialog for selecting the IP address
and the Ethernet subnetwork.
When the system boots up, the IO controller assigns the IP address
to the IO device. Please make sure that the Assign IP address via IO
controller check box in the Properties dialog box is selected if the IP
address has to be assigned to the encoder via the IO controller.
Anyway the assignment of the IP Address can be disabled by
deselecting the Assign IP address via IO controller check box. In this
case the IP address set in the IO device is used (the IP address is
uploaded from the internal memory). By default, before delivery the
IP address of the encoder is set to 0.0.0.0..
After having set the Device name, you can set the IP Address. To set
the IP address first enter the Properties dialog box by double clicking
the encoder icon in the HW Config window. Check that the Assign IP
address via IO controller check box is selected if you want the IP
address being assigned by the IO controller; otherwise deselect it if
you want it to be uploaded from the internal memory of the IO device.
Press the Ethernet... button in the Node in PROFINET IO system
group if you want to assign an IP address different from the one
suggested by the system. Press the OK button to confirm. Download
data to the PLC pressing the Download button in the Toolbar.
Figure 19 - Setting the IP address
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AMT58x-PN ProfiNET®
If you want to change both the IP address and the subnet mask you
can also proceed as follows.
Press PLC, Ethernet and then Edit Ethernet node command in the
menu bar of the HW Config window. Press the Browse... button to
find all the nodes connected to the network. Select the IO device you
want to assign the IP address to. The MAC address of the encoder is
written on the encoder label. Select the LIKA ROTACOD device type
and then press the OK button to confirm.
Figure 20 - Browsing the network
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AMT58x-PN ProfiNET®
In the Set IP configuration group, enter the required IP address in the
IP address field; enter the required subnet mask in the Subnet mask
field below. Press the Assign IP configuration button to confirm.
Figure 21 - Assigning IP configuration
The following confirmation message will appear on the screen.
Figure 22 - Edit Ethernet Node confirmation
Now press the OK button to close the message and then press again
the Browse... button in the Edit Ethernet node page to find all the
nodes connected to the network and check whether the encoder is
listed properly in the page.
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AMT58x-PN ProfiNET®
Figure 23 - Browsing the network
The new IP address has been assigned.
5.4 Setting the parameters: Parameter Access Point
Double click the Parameter Access Point slot 1.1 of the module to
open the dialog box where the encoder parameters are listed.
Figure 24 - Entering the Parameter Access Point dialog box
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The Properties – Parameter Access Point property sheet will appear.
Enter the Parameters tabbed page to display the complete list of the
parameters available for the Profinet encoder.
The encoder specific parameters implemented by the manufacturer
are shown in the table. The parameters data is transferred to the
encoder using 0xBF00 data record at each system boot up.
To set the parameter data, select the value in the drop-down list next
to each parameter in the column Value.
For detailed information on the implemented parameters, please
refer to the section “9.4 Index 0xBF00 : user parameter data” on
page 64.
Figure 25 - Parameter Access Point properties
After having changed any parameter values, you need to download
data to the PLC pressing the Download button in the Toolbar.
Figure 26 - Downloading data to the PLC
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Please note that a description / help message appears on the display
when you move the cursor over the items listed on the left.
Figure 27 - Parameter Access Point help messages
5.5 Resetting the parameters to default factory values
Default values are provided to each parameter of the device and are
preset at the factory by Datalogic Automation s.r.l. engineers. The
first time you install the encoder, it will operate using the default
values. They allow the operator to run the IO device for standard and
safe operation. They are plainly not optimized for specific application
yet they provide maximum performance for most systems. To suit the
specific application requirements it may be advisable and even
necessary to enter new parameters instead of the factory default
settings.
There could be exceptional circumstances where it would be
necessary for you to restore the default values of the settable
parameters. When this is the case, you have to use the Reset
command.
NOTE
When you restore the default values, please always consider that:
the encoder parameters will be restored to the default values;
the encoder offset will be reset;
the Device Name will be lost and replaced with a blank string;
the IP address wil be set to 0.0.0.0;
the parameters associated with the IP range will be set to 0.
WARNING
The execution of this command causes all the values which have
been set previously next to each parameter to be overwritten!
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NOTE
The complete list of machine data and relevant default parameters
preset by Datalogic Automation s.r.l. engineers is available on page
130.
When you need to restore the default values proceed as follows.
Press PLC, Ethernet and then Edit Ethernet node command in the
menu bar of the HW Config window. In the Edit Ethernet Node dialog
box press the Browse... button to find all the nodes connected to the
network. Select the LIKA ROTACOD device type you need to reset
the parameters. The MAC address of the encoder is written on the
encoder label. Press the OK button to confirm.
Figure 28 - Restoring default values
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The Edit Ethernet Node dialog box will show the identification
parameters of the chosen device. Now press the Reset button in the
Reset to factory settings box below in the dialog box.
Figure 29 - Reset to factory settings
You will be requested to confirm the operation. Press the YES button
in the message that appears on the screen.
Figure 30 - Reset first confirmation message
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AMT58x-PN ProfiNET®
If the device is online and an application relation (AR) is currently
established, a second message will appear on the screen. Again you
will be requested to confirm the operation by pressing the YES
button.
Figure 31 - Reset second confirmation message
Press the OK button to close the message.
Figure 32 - Reset executed message
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When the operation is carried out, browse the network by pressing
the Browse... button in the Edit Ethernet Node dialog box to find all
the nodes connected to the network. The LIKA ROTACOD device
type will provide the value 0.0.0.0 under the IP address item and a
blank string under the Name item.
Figure 33 - Checking data after reset
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AMT58x-PN ProfiNET®
6. Profinet interface
6.1 A brief introduction to Profinet
PROFINET IO is the open industrial network devised for automation
applications and built on the Ethernet application layer (TCP/IP and
IT standards). For PROFINET IO the layers 1 through 7a of the
ISO/OSI (Open Systems Interconnection) reference model are
exclusively based on internationally proven standards. The
functionality of PROFINET is defined in layer 7b. PROFINET IO
complies with IEEE802.3 Ethernet Standard and follows the
standards IEC 61158 and IEC61784, so it is 100% Ethernet
compatible.
Its technology development and standardization are entrusted to
Profibus & Profinet International (PI), the international umbrella
organization including members of more than 1400 companies
(www.profibus.com).
PROFINET IO is expressly developed to connect controllers (named
IO controllers, equivalent to Profibus DP Masters), peripheral devices
(named IO devices, similar to Profibus DP Slaves) and programming
devices / PCs (named IO supervisors) with Ethernet Real Time (RT)
and Isochronous Real Time (IRT) communication all the way. Real
Time channel is used for time-critical process data and allows to
meet the real-time requirements of the automation engineering (cycle
times < 500 µs, jitter < 1 µs); while IRT is suitable for sophisticated
motion control and high performance applications in factory
automation and permits cycle times lower than 250 µs with less than
1 µs jitter. The standard TCP/IP channel is used for parametrization,
configuration and acyclic read/write operations.
A PROFINET IO system requires at least one IO Controller and one
IO Device. The most frequent network topologies can be
implemented and even mixed together including Star, Line, Tree and
Ring structures by means of copper or fiber-optic cables. The
number of devices (each one fitted with its own MAC address, IP
address and device name) which can be connected in the
PROFINET network is virtually unlimited. The transmission rate is
100Mbit/s with full duplex communication (Fast Ethernet).
PROFINET IO Devices are configured using a configuration tool
which acts as the IO Supervisor. The IO Supervisor uses a GSD
(General Station Description) file based on XML language, thus it is
called GSDML file, see on page 11.
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6.2 Profinet encoders from Datalogic Automation s.r.l.
PROFINET encoders from Datalogic Automation s.r.l. fully comply
with the encoder profile specifications V4.1 version 3.162, the
encoder profile is based on the PROFIdrive profile. For any
information on the encoder profile please refer to the following
document:
ENCODER PROFILE. Technical specifications for Profibus and
Profinet related to PROFIdrive edited by PI International.
Furthermore these encoders fulfil the requirements of the Application
Classes 3 and 4, thus they are intended for clock-synchronous
(isochronous) real-time applications with cyclic and synchronous data
transmission. Anyway they can also be used in applications without
clock synchronization. For detailed information on the application
classes refer to the section “6.3 Application Class definition” on page
41.
PROFINET encoders supports the standard telegrams 81, 82, 83
and 84. Further information can be found in the section “7.1
Telegrams“ on page 44.
The IO data is transferred to and from the Encoder Object (EO, see
the section “6.4 Encoder Object model” on page 42) via the Cyclic
Data Exchange Service. The EO comprises the following mandatory
functionalities:parameters;
measuring task (i.e. position value, velocity value, …);
IO data (cyclical transmission of control and actual values);
support for Alarm Mechanism.
Among the parameters available in the Profinet encoders from
Datalogic Automation: code sequence, scaling function, preset
(Class 4 functionalities), position readout, offset value, velocity value,
velocity measuring unit, acyclic Error Data communication and
diagnostic information.
PROFINET at a glance
Number of
stations
Setting the
IP-
Address
Setting the
baud rate
Transmissio
n rate
Cable
length
Cable
Virtually
unlimited
38
Software /
automatic
via DCP
M12 D-
-
100 Mbit/s
full duplex
Up to 100
m / 330 ft
coded
Profinet
connectors
Page 55
AMT58x-PN ProfiNET®
6.2.1 Overview of the encoder profiles
6.3 Application Class definition
The encoder profile defines two application classes: Class 3 and
Class 4. A number of mandatory functions are specified for each
application class, in addition all optional functions must be
recognized by the encoder and handled so that the controller is able
to determine whether an optional function is supported.
NOTE
There is no relation between the Encoder application classes and the
application classes defined in the PROFIdrive profile.
6.3.1 Application Class 3
Encoder with base mode parameter access and limited
parametrization of the encoder functionality. Isochronous mode is not
supported.
6.3.2 Application Class 4
Encoder with scaling, preset, isochronous mode and base mode
parameter access. A Class 4 configured encoder fully supports all
functionalities according to the encoder profile V4.1.
Datalogic Automation encoders fulfill the requirements of CLASS 4
6.4 Encoder Object model
The Figure shows the general Encoder Object (EO) architecture.
Central element of the EO is the Measuring Task where the
measurements are made and the results are calculated. The
properties of the EO is represented and controlled by parameters.
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The parameters are administered in the Parameter Data Base. To
access EO parameters, Acyclic Data Exchange service is used. For
periodic transportation of control values to the EO and actual values
from the EO, the Cyclic Data Exchange service is used. Exception
situations out of the Measuring Task and the General State Machine
may be signaled by the Alarm Mechanism to the controlling device.
The EO shall comprise as minimum mandatory functionality:
Parameters;
Measuring Task;
IO Data (control value, actual value);
Support for Alarm Mechanism;
Optional functionality;
Clock Synchronous operation.
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6.5 Encoder object architecture
The Figure shows the general architecture and the mapping of the
Encoder Object (EO) architectural elements to Communication
Objects of the Peripheral Device for PROFINET IO. General with
PROFINET IO the EO is mapped exactly to one Module/Slot. Slot 0
is exclusively reserved for Device representative purpose and
therefore shall not used for any Encoder module. Valid Slot numbers
for Encoder Objects are from 1 to 0x7FFF. Every EO contains at
least the mandatory Module Access Point (MAP) which is mapped to
a dedicated EO representative Submodule. This MAP Submodule
contains at least the mandatory Parameter Access Point (PAP) which
is mapped to a dedicated Record Data Object. Via the EO
representative Submodule (MAP) and the specified Record Data
Object the access to the EO parameter manager is possible. The EO
parameter manager has access to the EO local Parameter Data
Base. In addition to the mandatory MAP submodule, the EO may
contain additional submodules which may be used to:
represent communication end points for IO Data (cyclic data
channel) and also to structure the IO Data in data blocks
(telegrams, signals).
represent physical or logical Subobjects of the EO.
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7. PROFINET IO data description
7.1 Telegrams
A telegram is a rigidly defined bit stream carrying data. In each
telegram the data length and the type of data which is sent to and
from the IO controller is specified. PROFINET interface devices
communicate and stay in sync by sending each other telegrams. The
encoder profile supports four types of telegrams: Standard Telegram
81, Standard Telegram 82, Standard Telegram 83 and Standard
Telegram 84. They are described hereafter. Standard signals are
fully described in the section “Cyclic Data Exchange – Standard
signals” on page 46.
7.1.1 Standard Telegram 81
The Standard Telegram 81 is the default telegram. It uses 4 bytes to
output data from the IO controller to the encoder and 12 bytes to
input data from the encoder to the IO controller.
Output data CONTROLLER => DEVICE
2 bytes 2 bytes
IO Data 1 2
Set point
Input data DEVICE => CONTROLLER
2 bytes 2 bytes 4 bytes 4 bytes
IO Data 1 2 3 4 5 6
Actual value
7.1.2 Standard Telegram 82
STW2_ENC G1_STW
ZSW2_ENC G1_ZSW G1_XIST1 G1_XIST2
The Standard Telegram 82 uses 4 bytes to output data from the IO
controller to the encoder and 14 bytes to input data from the encoder
to the IO controller.
Output data CONTROLLER => DEVICE
2 bytes 2 bytes
IO Data 1 2
Set point
Input data DEVICE => CONTROLLER
2 bytes 2 bytes 4 bytes 4 bytes 2 bytes
IO Data 1 2 3 4 5 6 7
Actual
value
42
STW2_ENC G1_STW
ZSW2_ENC G1_ZSW G1_XIST1 G1_XIST2 NIST_A
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7.1.3 Standard Telegram 83
The Standard Telegram 83 uses 4 bytes to output data from the IO
controller to the encoder and 16 bytes to input data from the encoder
to the IO controller.
Output data CONTROLLER => DEVICE
2 bytes 2 bytes
IO Data 1 2
Set point
STW2_ENC G1_STW
Input data DEVICE => CONTROLLER
2 bytes 2 bytes 4 bytes 4 bytes 4 bytes
IO Data 1 2 3 4 5 6 7 8
Actual
value
ZSW2_ENC G1_ZSW G1_XIST3 G1_XIST2 NIST_B
7.1.4 Standard Telegram 84
The Standard Telegram 84 uses 4 bytes to output data from the IO
controller to the encoder and 20 bytes to input data from the encoder
to the IO controller.
Output data CONTROLLER => DEVICE
2 bytes 2 bytes
IO Data 1 2
Set point
STW2_ENC G1_STW
Input data DEVICE => CONTROLLER
2 bytes 2 bytes 8 bytes 4 bytes 4 bytes
IO Data 1 2 3 4 5 6 7 8 9 10
Actual
value
ZSW2_ENC G1_ZSW G1_XIST3 G1_XIST2 NIST_B
NOTE
In the Standard Telegram 84, G1_XIST2 is used to transfer the error
codes and optionally the position values if the measuring length
exceeds 64 bits.
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8. Cyclic Data Exchange–Standard signals
IO data is transferred via the Cyclic Data Exchange. A series of
standard signals are defined to configure the IO data. In the following
table the standard signals are summarily described.
Significance
Abbreviatio
n
Length
(bits)
Data type
Sensor 1 position actual
value 1
Sensor 1 position actual
value 2
Sensor 1 position actual
value 3
Encoder Control word 2
Encoder Status word 2
Sensor 1 control word
Sensor 1 status word
Speed actual value A
Speed actual value B
G1_XIST1
G1_XIST2
G1_XIST3
STW2_ENC
ZSW2_ENC
G1_STW
G1_ZSW
NIST_A
NIST_B
32 Unsigned
32 Unsigned
64 Unsigned
16 Unsigned
16 Unsigned
16 Unsigned
16 Unsigned
16 Signed
32 Signed
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8.1 List of the available standard signals
G1_XIST1
[Unsigned, 32 bits]
It is defined as Sensor 1 position actual value 1. This signal is the
actual (real) absolute position of the encoder expressed in binary
notation.
Format definition:
all values are represented in binary notation;
the recommended default shift factor is zero (right aligned
value) for both G1_XIST1 and G1_XIST2;
the settings in the encoder parameter data affect the position
value in both G1_XIST1 and G1_XIST2.
Example
Here follows a format example.
25-bit absolute multiturn encoder, 13-bit singleturn resolution (8192
counts per revolution), 12-bit multiturn resolution (4096 revolutions)
M = Multiturn value, number of revolutions
S = Singleturn value, number of counts per revolution
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MSB LS
B
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
M M M M M M M M M M M M S S S S S S S S S S S S S
Absolute position value in G1_XIST1
MSB LS
B
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
M M M M M M M M M M M M S S S S S S S S S S S S S
Absolute position value in G1_XIST2
G1_XIST2
[Unsigned, 32 bits]
It is defined as Sensor 1 position actual value 2. By default this signal
is the actual (real) absolute position of the encoder expressed in
binary notation yet it has a different meaning if an error is active.
If no error is active:
this signal informs about the actual position value of the encoder,
provided that the bit Request absolute value cyclically (bit 13 of
control word G1_STW) is set to 1; otherwise this value is 0.
If an error is active:
this signal informs about the active error. For the complete list of the
error codes refer to the section “10.3 Error codes in G1_XIST2“
Format definition:
all values are represented in binary notation;
the recommended default shift factor is zero (right aligned
value) for both G1_XIST1 and G1_XIST2;
the settings in the encoder parameter data affect the position
value in both G1_XIST1 and G1_XIST2;
G1_XIST2 displays the error telegram instead of the position
value if an error occurs.
For the format example see G1_XIST1 above.
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G1_XIST3
[Unsigned, 64 bits]
It is defined as Sensor 1 position actual value 3. This 64-bit position
value is intended to support the encoders having a measuring length
which exceeds 32 bits G1_XIST3 has the following format:
binary format;
the actual position value is always right aligned, a shifting
factor is not used;
the settings in the encoder parameter data affect the position
value in G1_XIST3 if Application Class 4 is enabled.
IO data 1 2 3 4
Format 64-bit position value
STW2_ENC
[Unsigned, 16 bits]
It is defined as Encoder control word 2. Control word STW2_ENC
includes the Control by PLC mechanisms from PROFIdrive STW1
and the Controller Sign-Of-Life mechanism from PROFIdrive
STW2. mechanism from PROFIdrive STW2.
Bit Meaning
0 … 6 Reserved
7 Not used
8 … 9 Reserved
10 Control by PC
11 Reserved
12 … 15 Controller Sign-Of.Life
Control by PLC
Bit 10
If the Compatibility mode is enabled (see on page 90), then bit 10
Control by PLC is ignored. In this case control word G1_STW and
setpoint are always checked.
If the Compatibility mode is disabled (see on page 90), then bit 10
Control by PLC is checked. So control word G1_STW and setpoint
are checked only if the bit Control by PLC is set.
Bit Value Significance Comment
10
Control from
1
PLC
No control
0
from PLC
Control via interface, EO IO Data is
processed.
EO IO Data not valid, except Sign-OfLife.
Controller Sign-Of-Life
Bits 12 … 15
For more information on the control word STW2_ENC please refer to
the PROFIdrive Technical Specification document.
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ZSW2_ENC
[Unsigned, 16 bits]
It is defined as Encoder status word 2. The encoder status word 2
ZSW2_ENC includes the Control by PLC mechanism from
PROFIdrive ZSW1 and the Slave Sign-Of-Life mechanism from
PROFIdrive ZSW2.
Bit Meaning
0 … 2 Reserved
3 Not used
4 … 8 Reserved
9 Control requested
10 … 11 Reserved
12 … 15 Encoder Sign-Of.Life
Control requested
Bit 9
Bit Value Significance Comment
9
Control
1
Requested
No Control
0
requested
The automation system is requested to
assume control.
Control by the automation system is
not possible, only possible at the
device or by another interface.
Encoder Sign-Of-Life
Bits 12 … 15
For more information on the status word 2 ZSW2_ENC please refer
to the PROFIdrive Technical Specification document.
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G1_STW
[Unsigned, 16 bits]
It is defined as Sensor 1 control word. This control word controls the
functionality of major encoder functions.
Bit Meaning
0 … 7 Not used
8 … 10 Reserved
11 Home position mode
12 Request set/shift of home position
13 Request absolute value cyclically
14 Activate parking sensor
15 Acknowledging a sensor error
NOTE
If the Activate parking sensor is activated (bit 14 = 1) the encoder
is still on bus with the slave Sign-Of-Life active and the encoder error
and diagnostics switched off.
Home position mode
Bit 11
Request set/shift of home position
Bit 12
The preset function is controlled by bits 11 and 12 in this Sensor 1
control word G1_STW and acknowledged by the bit 12 Set/shift of
home position executed in the sensor status word G1_ZSW.
The preset value is 0 by default and may be set by an acyclic data
exchange parameter defined in the parameters section (see P65000
– Preset value on page 85). The preset function has an absolute
and a relative operating mode selectable by mean of the bit 11 Home
position mode in this Sensor 1 control word G1_STW (0 =absolut e;
1 = relative). Bit 11 and bit 12 in the Sensor 1 control word G1_STW
control the preset function as described in the table below.
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A
Bit 12 Bit 11 Action
0 X Normal operating mode.
The encoder will make no change in the output
value.
1 0 Preset mode absolute
The encoder reads the current position value and
calculates an internal offset value from the preset
value P65000 –Preset value and the read position
value. The position value is then shifted with the
calculated offset value to get the current position
value equal to the preset value. The encoder
acknowledges the preset by setting the bit 12
Set/shift of home position executed in the sensor
status word G1_ZSW. Now bit 12 Request
set/shift of home position in the sensor 1 control
word G1_STW can be set to zero by the Master.
The encoder will end the preset cycle
by clearing the bit 12 Set/shift of home position
executed in the sensor status word G1_ZSW.The
new internal offset value can be read with an
acyclic data exchange parameter (if implemented)
and is securely stored in case of voltage breakdown
and uploaded again at each power on.
1 1 Preset mode relative (offset)
The encoder uses the preset value P65000 –
Preset value as a relative offset value. In this mode
the current position value is shifted by the value
deriving from the preset value.
EXAMPLE
preset value “1000” is intended to
shift the current position value by 1000
steps in the positive counting direction.
So a “real” position value of “5000” will have the
value “6000” after the relative shifting sequence.
The encoder will set bit 12 Set/shift of home
position executed in the sensor status word
G1_ZSW to acknowledge the execution of the
shifting. Bit 12 Request set/shift of home position
in the sensor control word G1_STW can now be set
to zero by the Master. The encoder will end the
preset cycle by clearing the bit 12 Set/shift of
home position executed in the sensor status word
G1_ZSW.The internal offset value will be shifted
according to the transferred preset value. The new
offset value is securely stored in case of voltage
breakdown and uploaded again at each power on.
The Preset command automatically saves the calculated internal
offset values.
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NOTE
Refer also to the index P65000 – Preset value on page 85; to
G1_XIST1 preset control on page 88; and to the section “14.2
Preset diagram” on page115.
EXAMPLE
An example of setting the Preset value is provided on page 106.
Request absolute value cyclically
Bit 13
Bit Significance Comment
13 =1 : Request absolute
value cyclically
Request of additional cyclic
transmission of the current
absolute position in G1_XIST2
Activate parking sensor
Bit 14
Bit Significance Comment
14 =1 : Activate parking
sensor
Request to stop monitoring the
measuring system and the
current value measurements in
the drive. This makes it possible
to disconnect the encoder from
the line without having to change
the drive configuration or causing
a fault. In this case all current
errors of the encoder are cleared.
The parking of the encoder while
the drive is running is not allowed
and will result in a sensor
interface error (error code 0x03 in
G1_XIST2)
See also “14.3 Parking sensor diagram” on page 116.
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Acknowledging a sensor error
Bit 15
Bit Significance Comment
15 =1 : Acknowledging a
sensor error
Request to acknowledge a
sensor error (bit 15 Sensor error
of G1_ZSW)
G1_ZSW
[Unsigned, 16 bits]
It is defined as Sensor 1 status word. This status word defines the
states, acknowledgments and error messages of the encoder and its
main functions.
13) or the error code transmission (bit 15) in G1_XIST2.
Bit Meaning
0 … 9 Not used
10 Reserved
11 Requirements of error acknowledge detected
12 Set/shift of home position executed
13 Transmit absolute value cyclically
14 Parking sensor active
15 Sensor error
NOTE
If bit13 Transmit absolute value cyclically or bit15 Sensor error
are not set, there is no valid value or error code transferred in
G1_XIST2.
NOTE
Bit 13 Transmit absolute value cyclically and bit 15 Sensor error
cannot beset at the same time as they are used to indicate either a
valid position value transmission (bit
NIST_A
[Signed, 16 bits]
It is defined as Current velocity value A.
Velocity value is calculated every 100 ms.
Refer also to the parameter Velocity measuring units on page 70.
NIST_B
[Signed, 32 bits]
It is defined as Current velocity value B.
Velocity value is calculated every 100 ms.
Refer also to the parameter Velocity measuring units on page 70.
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9. Acyclic Data Exchange
In addition to the Cyclic Data Exchange (see the section “Cyclic Data
Exchange – Standard signals”), the Acyclic Data Exchange gives the
possibility to read and write parameters over the non real time
channel.
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9.1 Index 0xAFF0: Identification & Maintenance (I&M) functions
Profinet encoders from Datalogic Automation only implement I&M 0
Module (IM0).
IM0 is accessible with record 0xAFF0 and provides general
information on the device such as vendor ID, order ID, serial number,
etc.
9.2 Index 0xB02E : supported PROFIdrive specific parameters
P922 – Telegram Selection
[Unsigned16, RO]
It indicates the type of telegram which is currently in use. Possible
values: 81, 82, 83 and 84.
P964 – Profidrive Parameter : Device identification
[Array[0 … 5], unsigned16, RO]
Index Sub Meaning Value Access
964 0 Manufacturer ID (Vendor ID assigned by
PI)
964 1 DU Drive unit type (Vendor specific) 1 RO
964 2 Software version xxxx RO
964 3 Software year yyyy RO
964 4 Software day and month dd.mm RO
964 5 Number of Drive Object (DO) 1 RO
0x239 RO
P965 – Encoder profile number
[Octet string 2, RO]
Index Sub Meaning Value Access
965 0 Encoder profile number 0x3D RO
965 1 Encoder profile version, set by customer 31 or 41 RO
P971 – Transfer to non volatile memory
[Unsigned16, RW]
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It is used to save the current local parameters on a non volatile
memory. Write “1” to save the parameters. The encoder confirms
save by writing “0” on this parameter.
Index Sub Meaning Value Access
971 0 Save on non volatile memory variable RW
P975 – Encoder object identification
[Array[0 ... 7], unsigned16, RO]
Index Sub Meaning Value Access
975 0
975 1 DO type (Vendor specific) 0x01 RO
975 2 Software version xx.xx RO
975 3 Software year yyyy RO
975 4 Software day and month dd.mm RO
975 5 Profidrive DO type classification
975 6 Profidrive DO subclassification 1
975 7 Drive object ID (DO ID) 0x01 RO
Manufacturer ID (Vendor ID
assigned by PI)
0x239 RO
0x05
encoder interface
0x8000 (encoder
Application Class
4 supported)
RO
RO
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P979 – Sensor format
[Array[0 … 5], unsigned16, RO]
Index Sub Meaning Value Access
979 0 Header 0x00005011 RO
979 1 Sensor type 0x8000000
0
979 2 Sensor Resolution variable RO
979 3 Shift factor for G1_XIST1 0 RO
979 4 Shift factor for G1_XIST2 0 RO
979 5 Determinable resolutions variable RO
RO
P980 – Number list of defined parameter
[Array[0 … 8], unsigned16, RO]
Index Sub Meaning Value Access
980 0 P922 – Telegram Selection 922 RO
980 1
980 2 P965 – Encoder profile number 965 RO
980 3
980 4 P975 – Encoder object identification 975 RO
980 5 P979 – Sensor format 979 RO
980 6 P61001 – IP of station 61001 RO
980 7 P65000 – Preset value 65000 RO
980 8 P65001 – Operating status 65001 RO
P964 – Profidrive Parameter : Device
identification
P971 – Transfer to non volatile
memory
964 RO
971 RO
P61001 – IP of station
[Unsigned32, RO]
Index Sub Meaning Value Access
61001 0 IP address assigned to the encoder variabl
e
RO
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9.3 Index 0xB02E : supported encoder specific parameters
P65000 – Preset value
[Unsigned32, RW]
Preset function is meant to assign a desired value to a known
physical position of the system. The chosen physical position will get
the value set next to this index and all the previous and following
mechanical positions will get a value according to it. Preset value can
be saved on the internal memory using the parameter P971 –
Transfer to non volatile memory.
See also Home position mode and Request set/shift of home
position in G1_STW on pag e 76; and G1_XIST1 preset control on
page 65.
Index Sub Meaning Value Acces
s
65000 0 Preset value variable RW
EXAMPLE
An example of setting the Preset value is provided on 105.
P65001 – Operating status
[Array[0 ... 11], unsigned32, RO]
This parameter has a read only structure where information on the
encoder operating status can be found. It is a complement to the
PROFIdrive parameter 979 described in the PROFIdrive profile.
Index Sub Meaning Value Access
65001 0 Header 0x000C0101 R0
See
65001 1 Operating status
65001 2 Faults
65001 3 Supported faults 0x0030 R0
65001 4 Warnings (*) 0x0 R0
65001 5 Supported warnings 0x0 R0
65001 6 Encoder profile version (**) 0x401 R0
65001 7 Operating time 0xFFFFFFFF R0
65001 8 Offset value (related to G1_XIST1) variable R0
65001 9 Measuring units per revolution variable R0
65001 10
65001 11 Velocity measuring unit
Total measuring range in measuring
units
(user setting)
“Operating
status table
values“
See “Faults
table“
variable R0
variable (***) R0
R0
R0
(*) Warnings are not supported in this encoder.
(**) The encoder profile version is the version of the encoder profile
document implemented in the encoder. This parameter is not
affected by the Compatibility mode settings.
(***) See Velocity measuring units in the section “9.4 Index
0xBF00 : user parameter data“ on page 64.
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Operating status table values
Bit Meaning
0 Code sequence
1 Class 4 functionality
2 G1_XIST1 preset control
3 Scaling function control
4 Alarm channel control
5 Compatibility mode
6-7 Reserved to the encoder manufacturer
8-31 Reserved for future use
Faults table
Bit Meaning
0 … 3 Not used
4
5
Commissioning diagnostic
Memory error
6 … 31 Not used
Supported faults table
Bit Meaning
0 … 3 Not used
4 Commissioning diagnostics supported
5 Memory error supported
6 … 31 Not used
Offset value is calculated in the preset function and is intended to
shift the position value. The offset value is saved on the internal
memory. This parameter is a read-only parameter.
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9.4 Index 0xBF00 : user parameter data
The 31-byte user parameter data listed in the table below is sent to
the encoder in the start-up phase using the data record 0xBF00.
User Data
Parameter Data Type Default Comment
Code sequence Bit 0 (CW) Byte 0 bit 0
Class 4 functionality Bit 1 (enabled) Byte 0 bit 1
G1_XIST1 preset control Bit 0 (enabled) Byte 0 bit 2
Scaling function control Bit 0 (disabled) Byte 0 bit 3
Alarm channel control Bit 0 (disabled)
1 (disabled)
Compatibility mode Bit
Reserved 0 Set to 0 Byte 0 bits 6-7
Measuring units /
Revolution
Total measuring range
Maximum Master Sign-Of-
Life failures
Velocity measuring units Unsigned8
Reserved 0x00 Set to 0 Bytes 19-30
Unsigned6
4
Unsigned6
4
Unsigned8 1
(profile
V4.1)
variable
variable
0
(Steps/rev)
Only supported in
Compatibility mode
Only supported in
Compatibility mode
Octet
Number
Byte 0 bit 4
Byte 0 bit 5
Bytes 1-8
Bytes 9-16
Byte 17
Byte 18
NOTE
Default values are highlighted in bold in the following tables.
Code sequence
Code sequence sets whether the absolute position value output by
the encoder increases when the encoder shaft rotates clockwise (0
= CW) or counter-clockwise (1 = CCW). CW and CCW rotations are
viewed from shaft end. This parameter is processed only if Class 4
functionality is is enabled.
Attribute Meaning Value
Absolute position value increasing
CW
with clockwise rotation (viewed from
0
shaft end)
Absolute position value increasing
CCW
with counter-clockwise rotation
1
(viewed from shaft end)
WARNING
Changing this value causes also the position calculated by the
controller to be necessarily affected. Therefore it is mandatory to
execute a new preset after setting this parameter.
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Class 4 functionality
For any information on the implemented Application Classes refer to
the section “6.3 Application Class definition” on page 64.
If it is enabled, Code sequence, G1_XIST1 preset control and
Scaling function control affect the position value in G1_XIST1,
G1_XIST2 and G1_XIST3. However the preset will not affect the
position value in G1_XIST1 if the parameter G1_XIST1 preset
control is disabled; it will always affect G1_XIST2 and G1_XIST3
instead.
Attribute Meaning Value
Code sequence, G1_XIST1 preset
Disable
control and Scaling function
0
control disabled
Code sequence, G1_XIST1 preset
Enable
control and Scaling function
1
control enabled
G1_XIST1 preset control
This parameter is available only if Class 4 functionality is enabled.
This parameter controls the effect of a preset on the G1_XIST1
actual value. When it is enabled, Preset will affect the position value
in G1_XIST1.
Attribute Meaning Value
Enable
G1_XIST1 is affected by a Preset
command
0
Disable Preset does not affect G1_XIST1 1
WARNING
G1_XIST1 preset control is disabled by setting the value 1.
NOTE
There is no functionality of this parameter if the Class 4
functionality parameter is disabled.
EXAMPLE
An example of setting the Preset value is provided on page 105.
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Scaling function control
This parameter enables / disables the Scaling function. When this
parameter is disabled, the device uses the hardware singleturn and
multiturn resolutions; when it is enabled, the device uses the
resolutions set next to the parameters Measuring units / Revolution
and Total measuring range. Refer also to the section “Scaling
function parameters”on page 67.
Attribute Meaning Value
Disable Scaling function disabled 0
Enable Scaling function enabled 1
NOTE
There is no functionality of this parameter if the Class 4
functionality parameter is disabled.
Alarm channel control
This parameter enables / disables the encoder specific Alarm
channel transferred as Channel Related Diagnosis. This functionality
is used to limit the amount of data sent in isochronous mode.
If the value is zero (0 = default value), only the communication
related alarms are sent via the alarm channel. If the value is one (1),
also the encoder specific faults and warnings are sent via the alarm
channel.
For further information refer also to the section “10.2 Error messages
via the Alarm Channel”.
Attribute Meaning Value
Disable No profile specific diagnosis 0
Enable Profile specific diagnosis 1
NOTE
This parameter is only supported in compatibility mode (see
Compatibility mode on page 67).
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Compatibility mode
This parameter defines whether the encoder has to run in a mode
compatible with Version 3.1 of the Encoder Profile. See the table
below for an overview of the functions affected when the compatibility
mode is enabled.
Attribute Meaning Value
Enable Compatibility with Encoder Profile V3.1 0
Disable No backward compatibility 1
Function
Control by PLC
(STW2_ENC)
Compatibility mode
Enabled (=0)
Ignored. The control
word G1_STW and
Compatibility mode
Disabled (=1)
Supported
setpoint values are
always valid.
Control requested
(ZSW2_ENC) is not
supported and is set to
0
User parameter
Maximum
Master SignOf- Life
failures
User parameter
Alarm channel
control
Supported Not supported. One
Sign-Of-Life failure
tolerated. P925 is
optional to control the life
sign monitoring
Supported Not supported. The
application alarm
channel is active and
controlled by a
PROFIdrive parameter
P965 – Encoder
31 (V3.1) 41 (V4.1)
profile number
Scaling function parameters
Using the scaling function parameters the encoder absolute position
value is converted by software in order to change the resolution of
the encoder. The scaling parameters will only be activated if the
parameters Class 4 functionality and Scaling function control
are enabled.
The permissible range for the scaling parameters is limited by the
hardware encoder resolution.
EXAMPLE
In a 25-bit encoder having a singleturn resolution of 13 bits (8192
cpr) and a multiturn resolution of 12 bits (4096 revolutions), the
permissible value for the Measuring units / Revolution is between
0
and 213 (213 = 8192) while the permissible value for Total
2
measuring range is between 2 and 2
62
25
(225 = 33554432).
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Measuring units / Revolution
It is used to program a user specific resolution per each revolution
(singleturn resolution). Allowed values are equal to or lower than the
hardware counts per revolution (physical singleturn resolution). We
suggest setting values that are a power of 2 (1, 2, 4, … 2048, 4096,
…). See the parameter Scaling function control below.
Default = hardware counts per revolution (min. = 1, max. = hardware
counts per revolution)
NOTE
There is no functionality of this parameter if the Scaling function
control parameter is disabled.
EXAMPLE
The HS58 PT Profinet singleturn encoder has a singleturn resolution
of 18 bits (262144 cpr); the permissible value for the Measuring
units / Revolution will be between 20 and 218 (218 = 262144).
NOTE
When you change the value next to this parameter, then you are
required to enter a new preset.
Total measuring range
This parameter sets the number of distinguishable steps over the
total measuring range. Allowed values are equal to or lower than the
total hardware resolution value (physical multiturn resolution).
We recommend the Number of revolutions to be set to a power of 2.
The set Number of revolutions results from the following calculation:
Total measuring range
Number of revolutions =
Measuring units /
Revolution
Setting the Number of revolutions to a value which is a power of 2
is meant to avoid problems when using the device in endless
operations requiring the physical zero to be overstepped. If you set
the Number of revolutions which is not a power of 2, a so-called
"Red Zone" is generated before the physical zero.
For more detailed information refer to the section 9.5 "Red Zone" on
page 71).
Default = total hardware resolution (min. = 2, max. = total hardware
resolution)
NOTE
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There is no functionality of this parameter if the Scaling function
control parameter is disabled.
EXAMPLE
The HM58 PT Profinet encoder has a singleturn resolution of 16 bits
(65536 cpr) and a multiturn resolution of 14 bits (16384 revolutions);
the permissible value for the Measuring units / Revolution will be
between 20 and 216 (216 = 65536) while the permissible value for the
Total measuring range will be between 2 and 230 (230 =
1073741824).
NOTE
When you change the value next to this parameter, then you are
required to enter a new preset.
Maximum Master Sign-Of-Life failures
With this parameter the number of allowed failures of the master’s
sign of life is defined. The default value is one (1).
Default = 1 (min. = 1, max. = 255)
NOTE
This parameter is only supported in compatibility mode
(Compatibility mode).
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Velocity measuring units
This parameter defines the coding of the velocity measuring units
used to configure the signals NIST_A and NIST_B. Standard
telegram 81 has no velocity information included and the encoder
does not use the velocity measuring unit information in this case.
Standard telegrams 82, 83 and 84 include velocity output and need a
declaration of the velocity measuring unit.
Parameter Meaning Value
Velocity measuring
units
Definition of the units for the
encoder velocity output value
See table
below
Velocity measuring
Value
units
Steps / s 0
Steps / 100 ms 1
Steps / 10 ms 2
RPM 3
Default = 0 (min. = 0, max. = 3)
NOTE
Please note that the velocity value is always calculated every 100
ms.
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9.5 "Red Zone"
The so-called “Red Zone” problem occurs when the Number of
revolutions (i.e. the Total measuring range / Measuring units /
Revolution) is not a power of 2.
When this problem arises, the device must operate within the “red
zone” for a certain number of positions. The size of the “red zone” is
variable. To calculate it we must subtract the overall set resolution
from the overall physical resolution of the device as many times as
until the difference is less than the overall set resolution. When the
encoder crosses the limit of the last value in the overall physical
resolution, a counting error occurs, i.e. a jump in the position count.
The problem is represented graphically in the following Figure.
EXAMPLE
HM58 16/16384 PT multiturn encoder
Physical resolution:
Singleturn physical resolution = 65536 counts/rev. = 16 bits
(216)
14
Multiturn physical resolution = 16384 revolutions = 14 bits (2
Overall physical resolution = 1073741824 = 30 bits (2
30
)
)
Set values:
Measuring units / Revolution = 65536 = 216
Total measuring range = 442236928 = it is NOT a
power of 2
It results from this:
Number of revolutions = 6748 = it is NOT a power of 2
This can be proved easily:
Overall physical resolution
Overall set resolution
1073741824
=
442236928
=
2,427...
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It follows that for 189267968 positions (1073741824 - 442236928 * 2
= 189267968), i.e. for 11552 revolutions, the encoder will work within
the limits of the so-called “red zone”. After position 189267968 (i.e. at
the end of the “red zone”) a position error (namely, a “jump” in the
position count) would happen as the following position would be “0”.
See the Figure in the previous page.
NOTE
Make attention using the values sent by the encoder while working
within the limits of the “Red Zone”. When the encoder changes from
normal status to “Red Zone” status (and vice versa) a jump of
position occurs.
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10. Diagnostics and Alarms
Diagnostics data is always transferred acyclically using Record Data
communication over the non real time channel. A PN-IO controller
can request diagnostic data from the PN-IO device using RDO
(Record Data Object) services.
Alarm data is transmitted from the IO device to the IO controller via
the RT channel.
The encoder errors are divided into Faults and Warnings, they are
defined as follows.
FAULT
A Fault is set if a malfunction in the encoder could lead to incorrect
position values.
WARNING
Warnings indicate that the tolerance for certain internal parameters of
the encoder has been exceeded. Unlike faults, warnings do not imply
incorrect position values.
NOTE
Please note that warnings are not supported in this encoder.
There are several diagnosis mechanisms that are used to monitor
encoder diagnostics.
Please refer to the table below for an overview of the available
diagnosis mechanisms.
Function Reference
Acyclic diagnosis parameter P65001 –
Operating status
Channel related diagnosis via the Alarm
Channel
Error codes in G1_XIST2 See on page 76
LED indication See on page 76
See on page 75
See on page 75
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10.1 Acyclic diagnosis parameter
With the Acyclic parameter P65001 – Operating status the current
status of the Encoder Faults and Warnings as well as the support of
the individual Fault and Warning bits can be read from the encoder.
For detailed information on the parameter P65001 – Operating
status.
10.2 Error messages via the Alarm Channel
The encoder diagnosis is reported to the controller via the Alarm
channel as Channel Related Diagnosis. Both warnings and faults are
reported in the same manner but with different error types.
NOTE
In compatibility mode (see the parameter Compatibility mode on
page 67), channel related diagnostics can be switched off by the
Alarm channel control parameter, please refer to its description on
page 66.
For a detailed definition of the use of the channel related diagnosis
please refer to the Alarm mechanism definition for the respective
communication system in the mapping part of the profile.
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10.2.1 Use of the ChannelErrorType
For Profinet the encoder faults and warnings are mapped to the
ChannelErrorTypes defined in the PROFIdrive profile, see the tables
below. This means that there are no specific codes defined for
standalone encoders and a PROFINET controller will interpret the
errors from an encoder in the same ways as an error coming from a
drive. Refer also to the parameter Refer also to the parameter
P65001 –Operating status.
Error type Definition Explanation
The encoder failed to read saved offset or
0x9000
Memory error
preset values from the internal non volatile
memory.
0x9011
Commissioning
diagnostic
User parameter data assignment error.
10.3 Error codes in
Error codes are sent in G1_XIST2 if an error occurs. For information
about G1_XIST2 refer to page 48.
G1_XIST2 Meaning Explanation
0x0F02
0x0F04
0x1001
Master’s sign of life
fault
Synchronization
fault
Memory error
The number of permissible failures of the
master’s sign of life was exceeded.
The number of permissible failures for the
bus cycle was exceeded.
Error while writing on or reading the
internal non volatile memory.
User parameter data assignment error.
0x1002
Parametrization
error
Example: Measuring units / Revolution
and Total measuring range not
compatible.
10.4 LED indication
Errors are further indicated through LEDs. Six LEDs located in the
cap of the encoder (see Figure 1) are meant to show visually the
operating or fault status of the encoder and the Profinet interface.
For detailed information refer to the section ““4.5 Diagnostic LEDs
(Figure 1)”.
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11. Real time class communication
Within PROFINET IO, process data and alarms are always
transmitted in real time. Real-Time for PROFINET (RT) is based on
the definitions of IEEE and IEC for high-performance data exchange
of I/O data. RT communication constitutes the basis for data
exchange in PROFINET IO.
Real-time data are handled with higher priority compared to
TCP(UDP)/IP data. This method of data exchange allows bus cycle
times in the range of a few hundred milliseconds to be achieved.
Isochronous data exchange with PROFINET is defined in the
Isochronous-Real-Time (IRT) concept. IRT communication is always
clock synchronized and only possible within an IRT domain.
Isochronous realtime communication differs from realtime
communication mainly in its isochronous behavior: the start of a bus
cycle can deviate by a maximum of 1 µs (jitter is less then 1 µs). IRT
is required in motion control applications (positioning operations), for
example. This communication is required, for example, for highaccuracy closed-loop control tasks.
11.1 Real-time classes in PROFINET IO
To enable enhanced scaling of communication options and, thus,
also of determinism in PROFINET IO, real-time classes have been
defined for data exchange. From the user perspective, these classes
involve unsynchronized and synchronized communication.
PROFINET IO differentiates the following classes for RT
communication.
They differ not in terms of performance but in determinism.
11.2 Real-Time class 2 (RT2) – Not synchronized
In real-time class 2 frames are transmitted via unsynchronized
communication (anysochronous communication).
To activate the real-time class 2 both the IO controller and the IO
device must be set exactly the same as “Not synchronized”. To do
this proceed as follows.
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11.2.1 Setting an anisochronous communication
To configure the IO controller (Figure 34) double click the PN-IO slot
X2 to open the PN-IO properties dialog box. The Properties – PN-IO
property sheet will appear. Enter the Synchronization tabbed page
and select the Not synchronized value in the drop-down menu of the
Synchronization role item. Confirm pressing the OK button.
Figure 34 - Setting the Not synchronized role of the IO controller
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To configure the IO device (Figure 35) double click the Interface slot
X1 of the module to open the interface properties dialog box. The
Properties – Interface property sheet will appear. Enter the
Synchronization tabbed page and select the Not synchronized value
in the drop-down menu of the Synchronization role item. Confirm
pressing the OK button.
Figure 35 - Setting the Not synchronized role of the IO device
11.3 Real-Time class 3 (IRT_TOP) (RT3)
Isochronous data exchange with PROFINET is defined in the
Isochronous-Real-Time (IRT) concept. IRT communication is always
clock synchronized and only possible within an IRT domain.
Isochronous realtime communication differs from realtime
communication mainly in its isochronous behavior: the start of a bus
cycle can deviate by a maximum of 1 µs (jitter is less then 1 µs).
This communication is required, for example, for high-accuracy
closed-loop control tasks.
Only industrial IRT switches can be used.
Typical cycle time 1 ms or less. All network components must
support PROFINET IRT frame priority processing. Position values
are captured with an accuracy of +/- 1 µs or better, with respect to
the highly accurate bus clock.
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11.3.1 Setting an isochronous communication
To activate the real-time class 3 both the IO controller and the IO
device must be configured. To do this proceed as follows.
To configure the IO controller (Figure 36) double click the PN-IO slot
X2 to open the PN-IO properties dialog box. The Properties – PN-IO
property sheet will appear. Enter the Synchronization tabbed page
and select the Sync master value in the drop-down menu of the
Synchronization role item; select the High performance value in the
drop-down menu of the IRT option item. Confirm pressing the OK
button.
Figure 36 - Setting the sync master role of the IO controller
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To configure the IO device (Figure 35) double click the Interface slot
X1 of the module to open the interface properties dialog box.
The Properties – Interface property sheet will appear.
Enter the Synchronization tabbed page and select the Sync slave
value in the drop-down menu of the Synchronization role item; select
the High performance value in the drop-down menu of the IRT option
item. Confirm pressing the OK button.
Figure 37 - Setting the sync slave role of the IO device
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Now double click the CPU slot 2 in the CPU configuration table to
open the CPU properties dialog box. The Properties – CPU 315 ...
property sheet will appear. Enter the Synchronous Cycle Interrupts
tabbed page and press the Details button.
Figure 38 - CPU property sheet
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The OB61 dialog box will appear on the screen. Set the value “1”
next to the Process image partition(s) item. Confirm pressing the OK
button.
NOTE
For more information on PIPs (Process Image Partitions) refer to the
section “11.5 PIP (Process Image Partition)”.
Figure 39 - PIP of OB61
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Now set the encoder in isochronous mode.
To do this double click the Interface slot X1 of the module to open the
interface properties dialog box.
The Properties – Interface property sheet will appear. Enter the IO
cycle tabbed page and select the OB61 value in the drop-down menu
of the Assign IO device in isochronous mode item.
For further information see also the section “11.4 OB61”.
Figure 40 - OB61: assigning IO device in isochronous mode
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Press the Isochronous Mode Modules / Submodules … button below
in the Properties – Interface property sheet and enter the
Isochronous Modules / Submodules dialog box.
Check that an isochronous submodule has been installed (Standard
Telegram 83 in the example). Confirm pressing the OK button.
Figure 41 - Standard Telegram as isochronous submodule
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Double click the Standard Telegram slot 1.2 of the module to open
the telegrams properties dialog box. The Properties – Standard
Telegram property sheet will appear. Enter the Addresses tabbed
page and set the process image of the isochronous submodule as
PIP 1. Select the PIP1 value in the drop-down menu of the Process
image items in both Inputs and Outputs group boxes.
Confirm pressing the OK button.
NOTE
For more information on PIPs (Process Image Partitions) refer to the
section “11.5 PIP (Process Image Partition)”.
Figure 42 - Setting PIP for Standard Telegram IOs
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Now you need to set a connection between the port of the controller
and the port of the encoder. Please check the specific configuration
of your Profinet network. In the example the port 2 of the IO controller
is connected to the port 1 of the IO device; see Figure 55.
So, first configure the IO controller and set its port 2 to be connected
to the port 1 of the IO device. Double click the X2 P2 R PORT 2 slot
in the CPU configuration table and open the Port 2 properties dialog
box. The Properties – PN-IO – Port 2 property sheet will appear.
Enter the Topology tabbed page and set the Port 1 (X1 P1) value in
the drop-down menu in the Partner port item of the Partners group
box. Confirm pressing the OK button.
Refer also to section “11.7 Topology Editor”.
Figure 43- Configuring the IO controller topology
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Then configure the IO device and set its port 1 to be connected to the
port 2 of the IO controller. Double click the X1 P1 PORT 1 slot in the
Device configuration table and open the Port 1 properties dialog box.
The Properties – Interface – Port 1 property sheet will appear.
Enter the Topology tabbed page and set the Port 2 (X2 P2 R) value
in the drop-down menu in the Partner port item of the Partners group
box. Confirm pressing the OK button.
Refer also to section “11.7 Topology Editor”.
Figure 44 - Configuring the IO device topology
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Finally check the Profinet IO isochronous mode.
Right click the 2 CPU slot in the CPU configuration table and press
the PROFINET IO Isochronous mode command.
Figure 45 - Checking the Profinet IO isochronous mode
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The Isochronous Mode dialog box will appear on the screen.
The installed Standard Telegram is the only submodule which
provides IO data.
In this page you can check which IO devices / modules / submodules
have been set in isochronous mode with the IO controller.
Figure 46 - Isochronous Mode dialog box
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