HEIDENHAIN DPV0 User Manual
User‘s Manual
PROFIBUS-DP
Interface for Encoders
English (en)
7/2014
Contents
Contents
List of tables .......................................................................................................................... 4
List of figures ......................................................................................................................... 5
1 General information ....................................................................................................... 6
1. 1 Encoder gateway .................................................................................................... 6
1. 2 Absolute encoders ................................................................................................. 6
1. 3 PROFIBUS technology ........................................................................................... 7
1.3.1 PROFIBUS DP functionality levels ............................................................. 7
1.3.2 References .................................................................................................. 8
1.3.3 Abbreviations .............................................................................................. 8
2 Encoder gateway installation ....................................................................................... 9
2.1 Settings inside the gateway ................................................................................... 9
2.1. 1 Node address ............................................................................................ 10
2.1.2 Bus termination ......................................................................................... 11
2.2 Power supply ......................................................................................................... 12
2.3 BUS lines ............................................................................................................... 14
2.4 Shielding philosophy .............................................................................................. 16
2.5 GSD file .................................................................................................................. 16
2.6 LED indication ....................................................................................................... 18
3 Absolute encoder installation .................................................................................... 19
3.1 Settings inside the encoder .................................................................................. 19
3.1.1 Node address ............................................................................................ 19
3.1.2 Bus termination ........................................................................................ 20
3.2 Connecting the encoder ....................................................................................... 21
3.2.1 Bus lines ................................................................................................... 23
3.3 Shielding philosophy ............................................................................................. 25
3.4 GSD file ................................................................................................................. 25
3.5 LED indication ....................................................................................................... 27
4 Profile overview, DPV0 version 1.1. ............................................................................ 28
4.1 DPV0 encoder classes ......................................................................................... 29
2
Contents
5 Encoder and Gateway functionality, DPV0 .............................................................. 31
5.1 Basic functionality ................................................................................................. 31
5.2 PROFIBUS data transfer principle ........................................................................ 31
5.2.1 During Configuration (DDLM_Chk_Cfg mode) ........................................ 31
5.2.2 During Parameterization (DDLM_Set_Prm mode) .................................. 31
5.2.3 Normal operation (DDLM_Data_Exchange mode) .................................. 32
5.3 Configuration, DPV0 ............................................................................................. 32
5.4 Parameterization, DPV0 ....................................................................................... 32
5.4.1 Code sequence......................................................................................... 34
5.4.2 Class 2 functionality .................................................................................. 34
5.4.3 Commissioning diagnostics ..................................................................... 34
5.4.4 Scaling function control ............................................................................ 35
5.4.5 Measuring units per revolution ................................................................ 35
5.4.6 Total measuring range (units) ................................................................... 37
5.4.7 Velocity control.......................................................................................... 38
5.4.8 Velocity calculation .................................................................................... 39
5.5 Data transfer in normal operation (DDLM_Data_Exchange) ............................... 40
5.5.1 Data exchange mode ............................................................................... 40
5.5.2 Preset function ......................................................................................... 41
5.6 Diagnostics ........................................................................................................... 43
5.6.1 Diagnostic Header .................................................................................... 45
5.6.2 Alarms ....................................................................................................... 45
5.6.3 Operating Status ....................................................................................... 47
5.6.4 Encoder type............................................................................................. 48
5.6.5 Singleturn resolution or measuring step .................................................. 49
5.6.6 Number of distinguishable revolutions .................................................... 49
5.6.7 Additional alarms ...................................................................................... 50
5.6.8 Supported alarms ..................................................................................... 50
5.6.9 Warnings ................................................................................................... 51
5.6.10 Supported warnings ................................................................................. 52
5.6.11 Profile Version ........................................................................................... 53
5.6.12 Software Version ....................................................................................... 53
5.6.13 Operating time .......................................................................................... 54
5.6.14 Offset value ............................................................................................... 55
5.6.15 Offset value of the encoder manufacturer............................................... 55
5.6.16 Scaling parameters settings ..................................................................... 56
5.6.17 Encoder serial number ............................................................................. 57
6 Encoder commissioning example, DPV0 ................................................................. 58
7 Revision history ............................................................................................................ 61
3
List of tables
List of tables
Table 1 Termination switch settings ......................................................................... 11
Table 2 Pinning M12 power supply connector ....................................................... 12
Table 3 Pinning M12 bus in/out connectors ........................................................... 14
Table 4 Available GSD file for DPV0 gateway ......................................................... 16
Table 5 LED indication ............................................................................................. 18
Table 6 Te rminating switch settings ........................................................................ 20
Table 7 Pinning M12 power supply connector ....................................................... 21
Table 8 Pinning M12 bus in/out lines ...................................................................... 23
Table 9 Available GSD file for DPV0 encoders ........................................................ 25
Table 10 LED indication encoder .............................................................................. 27
Table 11 Operating parameters in DPV0 .................................................................. 32
Table 12 Octet9, Parameter definition ...................................................................... 33
Table 13 Singleturn scaling parameters format ........................................................ 36
Table 14 Multiturn scaling parameters format .......................................................... 36
Table 15 Octet 39 Velocity Control ............................................................................ 39
Table 16 Data exchange 32-bits ................................................................................ 40
Table 17 Data exchange -16 b its ............................................................................... 41
Table 18 Preset value, 32-bit format ......................................................................... 42
Table 19 Preset value, 16-bit format.......................................................................... 42
Table 20 Diagnostic message, DPV0 ........................................................................ 44
Table 21 Diagnostic header ....................................................................................... 45
Table 22 Alarms ......................................................................................................... 46
Table 23 Operating status ......................................................................................... 47
Table 24 Diagnostic, encoder .................................................................................... 48
Table 25 Diagnostic, singleturn resolution ................................................................ 49
Table 26 Diagnostics, number of distinguishable revolutions .................................. 49
Table 27 Diagnostics, additional alarms .................................................................... 50
Table 28 Diagnostics, supported alarms ................................................................... 50
Table 29 Diagnostics, warnings ................................................................................ 51
Table 30 Diagnostics, supported warnings ............................................................... 52
Table 31 Diagnostics, profile version ........................................................................ 53
Table 32 Diagnostics, software version .................................................................... 54
Table 33 Diagnostic, operating time ......................................................................... 54
Table 34 Diagnostics, offset value ............................................................................ 55
Table 35 Diagnostics, offset value of the encoder manufacturer ............................ 55
Table 36 Diagnostics, scaling parameter setting ...................................................... 56
Table 37 Diagnsotics, encoder serial number........................................................... 57
Table 38 Revision history........................................................................................... 61
4
General information
List of figures
Figure 1 Placement of screws .................................................................................... 9
Figure 2 PCB-view of a cable gland PROFIBUS gateway ........................................ 10
Figure 3 Orientation of M12 power supply connector ............................................. 12
Figure 4 Terminal connections of power supply cables ........................................... 13
Figure 5 Orientation of M12 bus connectors ........................................................... 14
Figure 6 Terminal connections of bus line cables .................................................... 15
Figure 7 PCB-view of a cable gland encoder ........................................................... 19
Figure 8 Orientation of M12 power supply connector ............................................. 21
Figure 9 Terminal connections of power supply cables ........................................... 22
Figure 10 Orientation of M12 bus connectors ........................................................... 23
Figure 11 Terminal connections of bus line cables .................................................... 24
Figure 12 Overview encoder profile and related documents .................................... 28
Figure 13 Basic functionality ....................................................................................... 31
Figure 14 Cyclic scaling ............................................................................................... 37
Figure 15 Non-cyclic scaling ........................................................................................ 38
5
General information
1 General information
This manual describes the installation procedures and
configuration of HEIDENHAIN absolute encoders and encoder
gateways with PROFIBUS DPV0 functionality.
1.1 Encoder gateway
The advantages of the gateway concept is that it allows the use
of small and very robust EnDat encoders, which make the
encoder gateway solution suitable in applications where very high
ambient temperature is a limiting factor.
Another benefit with the gateway solution is that in case of an
encoder error occurs, the EnDat encoder can easily be replaced
without the need to disconnect the PROFIBUS line. The encoder
gateway supports singleturn encoders with up to 31 bit resolution
and multiturn encoders with up to 37 bits resolution with the
limitations described in this manual.
1.2 Absolute encoders
With an absolute encoder each angular position is assigned a
coded position value generated by a code disc equipped with
several parallel fine graduations tracks which are scanned
individually. On singleturn encoders, i.e. an encoder producing
absolute positions within one revolution, the absolute position
information repeats itself with every revolution. So called multiturn
encoders can also distinguish between revolutions. The numbers
of unique revolutions is determined by the resolution of the
multiturn scanning and repeats itself after the total resolution is
reached.
6
1.3 PROFIBUS technology
PROFIBUS is a powerful and versatile 2-wire non-proprietary open
field bus standard defined by several international standards such
as EN 50170, IEC 61158 together with different device profiles.
There are 3 different PROFIBUS versions available today, DP, FMS
and PA. HEIDENHAIN products support the Decentralized
Peripherals (DP) version. In addition to manufacturer-specific
functions, the HEIDENHAIN devices described in this manual
supports class 1 and 2 according to the encoder profile 3.062. The
encoder device profile describing encoder functionality and
additional information about PROFIBUS can be ordered from
PROFIBUS User Organization, PNO.
PROFIBUS User Organization
Haid-und-Neu Straße 7
D 76131 Karlsruhe, Germany
Te l : + 4 9 721 96 58 590
Fax: + 49 721 96 58 589
www.profibus.com
Web:
1.3.1 PROFIBUS DP functionality levels
The main functions of the different levels are as follows:
DPV0: Supports the basic functionality for the PROFIBUS
protocol. In principal this means the cyclical I/O communication
and diagnostics. This manual only covers DPV0 functionality.
DPV1: The most important benefits with DPV1 are the expanded
functions for the acyclical data communication and alarm
handling. This is a precondition for parameterization and calibration
of field devices over the bus in runtime. HEIDENHAIN have a
separate manual for DPV1/DPV2 devices.
DPV2: In addition to the functionality above, DPV2 includes
expansions that are required for time critical applications such as
motion control. This means functions such as slave-to-slave
communications and isochronous data exchange (time
synchronization). HEIDENHAIN have a separate manual for
DPV1/DPV2 devices.
General information
7
General information
PROFIBUS
Process Field Bus
PI
PROFIBUS and Profinet International
PNO
PROFIBUS Nutzerorganisation e.V.
GSD
German term "Gerätestammdaten". A GSD is the
device database file, also called device
datasheet.
DP
Decentral Periphery
Input data
Data which the master receives from the
encoder
Output data
Data which the encoder receives from the
master.
PDU
Protocol Data Unit
DDLM
Direct Data Link Mapper, the interface between
PROFIBUS
software
DDLM_Set_Prm
Interface during parameterization
DDLM_Data_Exchange
DDLM_Slave_Diag
DDLM_Chk_Cfg
Interface during data exchange
Interface during diagnostics data transfer
Interface during configuration
1.3.2 References
1.3.3 Abbreviations
Profile Encoder V1.1, Order No. 3.062
-DP functions and the encoder
8
2 Encoder gateway installation
2.1 Settings inside the gateway
The encoder gateway addressing switches and bus termination
must be configured during commissioning of the device. This is
done by removing the back cover, i.e. screwing off the three
screws at the rear of the gateway.
Figure 1 Placement of screws
Encoder gateway installation
Screws to remove
ba ck cover
9
Encoder gateway installation
Screw terminals
Bus termination
switch (on/off)
Node address
2.1.1 Node address
The node address of the encoder gateway can be set via three
decimal rotary switches located inside the back cover. The
weighting, x100, x10 and x1 are specified on the circuit board
besides the switches. Permissible address range is between 0
and 126 but the lower addresses 0 to 2 are usually used by the
master and not recommended to be used by the device. Each
address used in a PROFIBUS network must be unique and may
not be used by other devices.
The device address is only read and adopted when the gateway
power supply is switched on. A restart of the gateway is therefore
required in order to adopt changes done to the address settings.
10
switches ()
Figure 2 PCB-view of a cable gland PROFIBUS gateway
Example: To set the node address to 115, the switch to the left
(x100) shall be set to 1, the switch in the middle(x10)
should also be set to 1 and the switch to the right(x1)
shall be set to 5.
2.1.2 Bus termination
Bit1
Bit2
Effect
On
On
There is a 220 ohms resistor between bus
A and bus B line.
On
Off
Not a valid setting
Off
On
Not a valid setting
Off
Off
There is no resistor between bus A and
bus B line.
In a PROFIBUS net, all devices are connected in a bus structure.
Up to 32 devices (master and/or slaves) can be connected in one
segment. When more devices are needed repeaters should be
used to amplify the signals between segments. An active
termination must be added in the beginning and the end of each
bus segment in order to ensure error-free operation. In case of the
gateway with cable glands such terminators are integrated inside
the back cover and can be activated via dip switches as shown in
figure 2. If the device is un-powered the A and B lines are
internally terminated by a 220 Ω resistor.
Table 1 Termination switch settings
When encoder gateways with M12 connectors are used the
termination should be done using a M12 terminating resistor plug.
Note: When M12 terminating resistor plugs are used, the
internal terminating switch shall not be activated.
Encoder gateway installation
11
Encoder gateway installation
Power supply M12 version
Function
Pin
+E Volt
1
Not connected
2
0 Volt
3
Not connected
4
Power supply
2.2 Power supply
The power supply connection of M12 equipped gateways are
constituted by a male A-coded 4 pin M12 connector.
Figure 3 Orientation of M12 power supply connector
12
Table 2 Pinning M12 power supply connector
Encoder gateways equipped with cable glands are delivered with
a dust protection foil from the factory. The protection foil needs to
be removed prior to installing the cables.
It is recommended that gateways equipped with cable glands are
equipped with a shielded power supply cable with conductor area
between 0,34 mm
is ø 6 mm to ø 8 mm for the power supply cable. The power
supply screw terminal is located inside the back cover of the
gateway.
In the case were the gateway is the last node in the bus-structure
and only the cable glands for Supply and Bus-in is in use, the Bus
out cable gland should be replaced with a M16 filler plug to
ensure proper sealing.
The +E terminal shall be used to connect +E Volt.
The 0 V terminal shall be used to connect 0 Volt.
Figure 4 Terminal connections of power supply cables
Note: Tighten all screws in the terminal, even if no cable
has been attached.
Note: The two +E terminals are connected to each other
and the two 0 V terminals are also connected to
each other, i.e it does not matter to which pair the
+E Volt and 0 Volt are connected to.
Encoder gateway installation
2
to 1. 5 m m2. Permissible outer cable diameter
13
Encoder gateway installation
Bus in line
Bus out line
Function
Pin
Function
Pin
Not connected
1
VP 1 A 2 A
2
Not connected
3
DGND
3
B 4 B
4
Chassis
5
Chassis
5
Bus in
Bus out
2.3 BUS lines
The PROFIBUS bus line connections of the M12 equipped
devices are constituted by a male B-coded 5 pin M12 connector
(bus in), and a female B-coded 5 pin M12 connector (bus out).
Figure 5 Orientation of M12 bus connectors
14
Table 3 Pinning M12 bus in/out connectors
The cable gland gateway shall be equipped with twisted pair
shielded cable in accordance with EN 50170 and PROFIBUS
guidelines. The guidelines recommend a conductor area higher
than 0,34 mm
ø 10 mm for the bus lines cables. Located inside the back cover
are four screw terminals containing the required bus line
terminals marked A and B. Cable glands not used, should be
replaced with a M16 filler plug to ensure proper sealing.
Figure 6 Terminal connections of bus line cables
Note: Tighten all screws in the terminal, even if no cable
has been attached.
Note: The two A terminals are internally connected to
each other and the two B terminals are also
connected to each other so it does not matter to
which the bus lines are connected to.
Encoder gateway installation
2
. Permissible outer cable diameter is ø 8 mm to
15
Encoder gateway installation
GSD file
Gateway functionality
GSD file
Gateway PROFIBUS DPV0
(For rotary encoders)
ENC_A400
2.4 Shielding philosophy
To achieve the highest possible noise immunity and resistance
against other EMI related disturbances the bus and power supply
cables shall always be shielded. The screen should be connected
to ground on both ends of the cable. In certain cases
compensation current might flow over the screen. Therefore a
potential compensation wire is recommended.
2.5 GSD file
PROFIBUS Gateways can be configured and parameterized
corresponding to the requirements of the user. When the system
is started, the PROFIBUS devices are set and configured in
DDLM_Set_Prm mode, i.e the application class set by means of
the GSD file in the configuration tool and the operating
parameters are transferred to the respective slave.
Available GSD files can be downloaded from
www.heidenhain.com
16
Table 4 Available GSD file for DPV0 gateway
When configuring the gateways two device classes (Class 1
or Class 2) can be selected as described in chapter 4.
Selectable parameters and functionality of the device depend
on the selected encoder class. This data, saved in the
PROFIBUS master is transferred once to the gateway when
the system is powered on. If the gateway has been started
with one GSD file and a new GSD file with a different IDnumber shall be used, the gateway needs to be restarted
before it can use the new GSD file.
After the configuration and parameter data have been received,
the gateway enters normal operation with cyclic data transfer i.e.
“DDLM_Data_Exchange mode”.
Encoder gateway installation
Installation of GSD-files:
1) Select and save the GSD file for the respective device from
www.heidenhain.com and then copy the *.gsd file into the respective
directory of the PROFIBUS configuration tool.
2) Select the bitmap file of the respective device and copy the *.bmp file into the
respective directory of the PROFIBUS configuration tool.
3) Update the GSD files (SCAN).
17
Encoder gateway installation
Bus status
Module
Meaning
Cause
Off
Off
No power
Red
Green
No connection to other
exchange
- Bus disconnected
available/switched off
Red2)
Red2)
No connection to other
PROFIBUS PCB.
No connection to EnDat
Blinking1)
Green
Parameterization or
- Configuration received
parameterization.
Green
Red
System failure
- Diagnosis exists, slave in
data exchange mode.
Green
Green
Data exchange and encoder
function properly.
2.6 LED indication
In order to determine the status of the gateway two LEDs are
visible on the front of the gateway. The module LED indicates
status of the module itself. The bus LED indicates the status of
the bus. The table below defines the diagnostic messages using a
bi-colored red/green LED for bus and module.
device. Criteria: No data
device. No connection
- Master not
encoder at power up.
between EnDat encoder and
configuration fault
differs from the supported
configuration.
- Parameter error in the
Table 5 LED indication
1)
The blinking frequency is 0.5 Hz. Minimal indication time is 3 sec.
2)
Position error is when an alarm occurs in the encoder or if the EnDat encoder is
disconnected from the PROFIBUS interface PCB.
18
3 Absolute encoder installation
Screw terminals
Bus termination
Node address
switches
3.1 Settings inside the encoder
The encoder node address and bus termination must be
configured during commissioning of the device. This is done by
removing the back cover, i.e. screwing off the three screws at the
rear of the encoder.
3.1.1 Node address
The node address of the encoder can be set via two decimal
rotary switches located inside the back cover. The weighting, x10
or x1 are specified beside the switches. Permissible address
range is between 0 and 99 but the lower addresses 0 to 2 are
usually used by the master and not recommended to be used by
the device. Each address used in a PROFIBUS network must be
unique and may not be used by other devices.
The device address is only read and adopted when the encoder
power supply is switched on. A restart of the encoder is therefore
required in order to adopt changes done to the address settings.
Absolute encoder installation
switch (on/off)
Figure 7 PCB-view of a cable gland encoder
Example: If the node address shall be set to 85, the left (x10)
switch shall be set to 8 and the right (x1) switch shall
be set to 5.
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