HEIDENHAIN DPV2 User Manual

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User‘s Manual

PROFIBUS-DP

Interface for Encoders

English (en) 12/2012

Contents

List of tables .......................................................................................................................... 5

List of figures ......................................................................................................................... 7

1 General information ....................................................................................................... 8

1. 1 Encoder gateway .................................................................................................... 8

1. 2 Absolute encoders ................................................................................................. 8

1. 3 PROFIBUS technology ........................................................................................... 9

1.3.1 PROFIBUS DP functionality levels ............................................................. 9

1. 4 References ............................................................................................................ 10

1.4.1 Abbreviations ............................................................................................. 10

2 Encoder gateway installation ...................................................................................... 11

2.1 Settings inside the gateway .................................................................................. 11

2.1.1 Node address ............................................................................................ 12

2.1.2 Bus termination ......................................................................................... 13

2.2 Power supply ......................................................................................................... 14

2.3 BUS lines ............................................................................................................... 16

2.4 Shielding philosophy ..............................................................................................18

2.5 GSD file ..................................................................................................................18

2.6 LED indication ........................................................................................................ 19

3 Absolute encoder installation .................................................................................... 20

3.1 Settings inside the encoder ................................................................................. 20

3.1.1 Node address ........................................................................................... 20

3.1.2 Bus termination ........................................................................................ 21

3.2 Connecting the encoder ....................................................................................... 22

3.2.1 Bus lines ................................................................................................... 24

3.3 Shielding philosophy ............................................................................................. 26

3.4 GSD file ................................................................................................................. 26

3.5 LED indication ....................................................................................................... 27

4 Configuration example ................................................................................................ 28

4.1 Device description file installation (GSD-file) ....................................................... 28

4.2 Setting the encoder gateway configuration ......................................................... 29

4.3 Setting encoder gateway parameters .................................................................. 32

4.4 Isochrone mode parameter settings -BUS .......................................................... 34

4.5 Isochrone mode parameter settings DPV2 slave ................................................ 36

Contents

5 PROFIBUS IO data description ................................................................................... 37

5.1 Encoder profile for PROFIBUS version 4.1 .......................................................... 37

5.2 Application class definition ................................................................................... 38

5.3 Standard signals ................................................................................................... 38

5.4 Standard telegrams .............................................................................................. 39

5.4.1 Standard telegram 81 ............................................................................... 39

5.4.2 Standard telegram 82 ............................................................................... 40

5.4.3 Standard telegram 83 ............................................................................... 41

5.4.4 Standard telegram 84 ............................................................................... 42

5.5 Format of G1_XIST1 and G1_XIST2 ..................................................................... 43

5.6 Format of G1_XIST3 ............................................................................................. 44

5.7 Control word 2 (STW2_ENC) ............................................................................... 45

5.8 Status word 2 (ZSW2_ENC) ................................................................................. 46

5.9 Control word (G1_STW) ....................................................................................... 47

5. 10 Status word (G1_ZSW)......................................................................................... 48

5.11 Isochronous operation .......................................................................................... 49

6 Alarms and warnings ................................................................................................... 51

6.1 Alarm mechanism ................................................................................................ 51

6.2 Channel related diagnosis .................................................................................... 51

6.3 Faults ..................................................................................................................... 52

6.4 Error message ...................................................................................................... 53

7 Acyclic parameter data ................................................................................................ 54

7. 1 Acyclic data exchange .......................................................................................... 54

7. 2 Identification and Maintenance (I&M functions) ................................................. 54

7. 3 Base mode parameter access ............................................................................. 55

7.3.1 General characteristics ............................................................................. 55

7.3.2 Parameter requests and responses ......................................................... 55

7.3.3 Changing the preset value........................................................................ 55

7.3.4 Reading the preset value .......................................................................... 56

7. 4 Detailed description of supported parameters .................................................... 57

7.4.1 Parameter 918, read only ......................................................................... 57

7.4.2 Parameter 922, read only ......................................................................... 57

7.4.3 Parameter 925, read/write ........................................................................ 57

7.4.4 Parameter 964, read only ......................................................................... 57

7.4.5 Parameter 965, read only ......................................................................... 57

7.4.6 Parameter 971, read/write ........................................................................ 57

7.4.7 Parameter 974, read only .......................................................................... 57

7.4.8 Parameter 975, read only ......................................................................... 58

7.4.9 Parameter 979, read only ......................................................................... 58

7.4.10 Parameter 980, read only ......................................................................... 59

7.4.11 Parameter 65000 read/write .................................................................... 59

7.4.12 Parameter 65001, read only ..................................................................... 59

7.4.13 Parameter 65002, read/write ................................................................... 60

7.4.14 Parameter 65003, read only ..................................................................... 60

7. 5 Example of reading and writing to a parameter .................................................. 60

7.5.1 Used blocks .............................................................................................. 61

Contents

8 Functionality in the PROFIBUS DPV2 device ........................................................... 66

8.1 Code sequence .................................................................................................... 67

8.2 Class 4 functionality ............................................................................................. 67

8.3 G1_XIST1 Preset control ...................................................................................... 68

8.4 Scaling function control ........................................................................................ 68

8.5 Alarm channel control ........................................................................................... 69

8.6 Compatibility mode .............................................................................................. 70

8.7 Preset value .......................................................................................................... 71

8.8 Scaling function parameters ................................................................................ 73

8.8.1 Measuring units per revolution ................................................................ 73

8.8.2 Total measuring range ............................................................................... 74

8.9 Maximum master sign-of-life failures .................................................................. 78

8. 10 Velocity measuring units ...................................................................................... 79

8.11 Encoder profile version ......................................................................................... 80

8.12 Operating time...................................................................................................... 81

8.13 Offset value .......................................................................................................... 81

8.14 Acyclic data ........................................................................................................... 82

8.14.1 PROFIdrive parameters ............................................................................ 82

8.14.2 Encoder parameter numbers ................................................................... 83

8.14.3 Parameters 6500 and 65002 -Preset value ............................................. 84

8.14.4 Parameter 65001 operating status parameter structure ......................... 85

8.14.5 Encoder specific parameter 65003- Operating status 64 bit structure ... 87

8.14.6 I&M functions ........................................................................................... 88

9 Encoder state machine ................................................................................................ 89

9.1 Normal operation state......................................................................................... 90

9.1.1 Profile version 4.x ..................................................................................... 90

9.1.2 Profile version 3.x ..................................................................................... 90

9.1.3 Profile version 3.x and 4.x ........................................................................ 90

9.2 Parking state ......................................................................................................... 90

9.3 Set/shift home position (Preset) ........................................................................... 90

9.3.1 Preset depending on different telegrams ................................................ 90

9.3.2 Absolute preset with negative value ........................................................ 91

9.4 Error state ............................................................................................................. 91

9.5 Error acknowledgement ....................................................................................... 91

9.6 Start up ................................................................................................................. 91

10 Revision history ............................................................................................................ 92

List of tables

Table 1 Termination switch settings ........................................................................ 13

Table 2 Pinning M12 power supply connector ....................................................... 14

Table 3 Pinning M12 bus in/out connectors ........................................................... 16

Table 4 Available GSD file for DPV2 gateway ......................................................... 18

Table 5 LED indication ............................................................................................. 19

Table 6 Terminating switch settings ........................................................................ 21

Table 7 Pinning M12 power supply ......................................................................... 22

Table 8 Pinning M12 bus in/out lines ...................................................................... 24

Table 9 Available GSD file for DPV2 encoder ......................................................... 26

Table 10 LED indication encoder .............................................................................. 27

Table 11 Standard signals .......................................................................................... 38

Table 12 Supported telegrams .................................................................................. 39

Table 13 Format of G1_XIST3 ................................................................................... 44

Table 14 STW2_ENC definition ................................................................................. 45

Tabl e 15 Detailed assignment of control word2 (STW2_ENC) ................................ 45

Table 16 ZSW2_ENC definition ................................................................................. 46

Table 17 Detailed assignment of Status word 2 (ZSW2_ENC) ................................ 46

Table 18 G1_STW implementation requirements .................................................... 47

Table 19 G1_ZSW implementation requirements .................................................... 48

Table 20 Channel related diagnostics ....................................................................... 51

Table 21 Faults ........................................................................................................... 52

Table 22 Sensor status word..................................................................................... 53

Table 23 Write of preset value .................................................................................. 55

Table 24 Read of preset value, parameter request .................................................. 56

Table 25 Read of preset value, parameter response ............................................... 56

Table 26 Used hardware components ...................................................................... 60

Table 27 Used software components ....................................................................... 60

Table 28 Parameters of SFB52 ................................................................................. 64

Table 29 Parameters of SFB53 ................................................................................. 64

Table 30 Supported functions ................................................................................... 66

Tabl e 31 Code sequence attributes .......................................................................... 67

Table 32 Class 4 functionality attributes ................................................................... 67

Table 33 G1_XIST1 Preset control attributes ............................................................ 68

Table 34 Scaling function control attributes .............................................................. 68

Table 35 Alarm channel control attributes ................................................................. 69

Table 36 Compatibility mode attributes .................................................................... 70

Table 37 Compatibility mode definition .................................................................... 70

Table 38 Preset value parameters ............................................................................. 72

Table 39 Single turn scaling parameters ................................................................... 73

List of tables

Table 40 Total measuring range ................................................................................. 74

Table 41 Maximum master sign-of-life parameter ................................................... 78

Table 42 Parameter Velocity measuring unit............................................................. 79

Table 43 Coding of velocity measuring units ............................................................ 79

Table 44 Encoder profile version parameter ............................................................. 80

Table 45 Operating time parameter .......................................................................... 81

Table 46 Offset value parameter ............................................................................... 81

Table 47 Supported PROFIdrive parameters ............................................................ 82

Table 48 Encoder specific parameter ....................................................................... 83

Table 49 Structure of parameter 65000 Preset value .............................................. 84

Table 50 Structure of 65002 Preset value 64 bit ...................................................... 84

Table 51 Structure of 65001 Encoder operating status ............................................ 85

Table 52 Detailed structure of 65001 Operating status ........................................... 85

Table 53 Parameter 65001 Sub index 1: Operating status ....................................... 86

Table 54 Structure of 65003 Operating status 64 bit ............................................... 87

Table 55 Structure of 65003 Operating status 64 bit ............................................... 87

Table 56 Supported I&M functions ........................................................................... 88

Table 57 Revision history .......................................................................................... 92

List of figures

Figure 1 Placement of screws ................................................................................... 11

Figure 2 PCB-view of a cable gland PROFIBUS gateway ........................................ 12

Figure 3 Orientation of M12 power supply connector ............................................. 14

Figure 4 Terminal connections of power supply cables ........................................... 15

Figure 5 Orientation of M12 bus connectors ........................................................... 16

Figure 6 PCB-view of a cable gland encoder ........................................................... 20

Figure 7 Orientation of M12 power supply connector ............................................. 22

Figure 8 Terminal connections of power supply cables ........................................... 23

Figure 9 Orientation of M12 bus connectors ........................................................... 24

Figure 10 Terminal connections of bus line cables .................................................... 25

Figure 11 Overview of encoder profiles ..................................................................... 37

Figure 12 Absolute value in G1_XIST1 ....................................................................... 43

Figure 13 Absolute value in G1_XIST2 ....................................................................... 43

Figure 14 Sequence of the DP-cycle in isochronous mode ....................................... 49

Figure 15 DB1, request data block ............................................................................. 61

Figure 16 DB2, response data block .......................................................................... 61

Figure 17 DB3, instance data block of SFB52 ............................................................ 62

Figure 18 DB4, instance data block of SFB53 ............................................................ 62

Figure 19 OB1, read and write operation ................................................................... 63

Figure 20 Diagnostic address of slot 1 ....................................................................... 65

Figure 21 Variable table ............................................................................................... 65

Figure 22 Cyclic scaling ............................................................................................... 75

Figure 23 Non-cyclic scaling G1_XIST 1 Preset control enabled ............................... 76

Figure 24 Non-cyclic scaling G1_XIST 1 Preset control disabled ............................... 77

General information

1 General information

This manual describes the installation procedures and configuration of HEIDENHAIN absolute encoders and encoder gateways with PROFIBUS DPV2 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. 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.

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 application class 3 and 4 according to the encoder profile

3.162 v4.1. 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 Straβe 7 D 76131 Karlsruhe Tel: +49 721 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. HEIDENHAIN have a separate manual for DPV0 devices.

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.

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).

General information

PROFIBUS

Process Field Bus

PROFIBUS and Profinet International

PNO

PROFIBUS Nutzerorganisation e.V.

GSD

German term "Gerätestammdaten". A GSD is the device database file, also called device datasheet.

Decentral Periphery

Input data

Data which the master receives from the encoder

Output data

Data which the encoder receives from the master.

I&M

Identification and Maintenance

MS1 AR

PROFIBUS MS1 AR (Acyclic data exchange between master (class1) and slave)

MS2 AR

PROFIBUS MS2 AR (Acyclic data exchange between master (class2) and slave)

Organization Block

1.4 References

1.4.1 Abbreviations

Profile Encoder V4.1, Order No. 3.162

Profile Drive Technology, PROFIdrive V4.1, Profibus International, Order Nr: 3.172

PROFIBUS Guidelines, Part 1: Identification & Maintenance Functions V1.1, Profibus International, Order Nr: 3.502

PROFIBUS Guidelines, Part 3: Diagnosis, Ala rms and Time Stamping V1.0, Profibus International, Order No. 3.522

PROFIBUS Guidelines: PROFIBUS Interconnection Technology V1.1, Profibus International, Order No. 2.142

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

back cover

Encoder gateway installation

Screw terminals

Bus termination switch (on/off)

Node address switches

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.

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

There is a 220ohms resistor between bus A and bus B line.

Off

Not a valid setting

Off

Not a valid setting

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

Power supply M12 version

Function

+E Volt (9-36V)

Not connected

0 Volt

Not connected

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

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 ga te way. 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 (9-36Vdc). The 0V 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 0V terminals are also connected to each other, i.e it does not matter to which pair the +E Volt and 0Volt are connected to.

Encoder gateway installation

to 1.5 mm2. Permissible outer cable diameter

Encoder gateway installation

Bus in line

Bus out line

Function

Not connected

VP 1 A 2 A

Not connected

DGND

3 B 4 B 4

Chassis

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

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 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.

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

. Permissible outer cable diameter is ø 8 mm to ø

Encoder gateway installation

GSD file

Gateway functionality

GSD file

Gateway PROFIBUS DPV2 (For rotary encoders)

ENC_OB21

Gateway PROFIBUS DPV2 (For linear encoders)

ENC_0918

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

In order to start using the PROFIBUS DP gateway, a device description file needs to be downloaded and imported to the configuration software. The device description file is called a Generic Station Description file and contains the necessary implementation parameters needed for a PROFIBUS DP device.

Available GSD files can be downloaded from

www.heidenhain.com

Table 4 Available GSD file for DPV2 gateway

The GSD data is saved in the PROFIBUS master and 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 ID-number shall be used, the gateway needs to be restarted before it can use the new GSD file.

2.6 LED indication

Bus status

Module

Meaning

Cause

Off

No power

Red

Green

No connection to other

exchange

- Bus disconnected

available/switched off

Red 2)

No connection to other

PROFIBUS PCB.

No connection to EnDat

Blinking 1)

Green

Parameterization or

- Configuration received

parameterization.

Green

Red

System failure

- Diagnosis exists, slave in

data exchange mode.

Green

Data exchange and encoder function properly.

Encoder gateway installation

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.

Table 5 LED indication

1. The blinking frequency is 0.5 Hz. Minimal indication time is

2. Position error is when an alarm occurs in the encoder or if the

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

3 sec.

EnDat encoder is disconnected from the PROFIBUS interface PCB.

Absolute encoder installation

Screw terminals

Bus termination Node address

switches

3 Absolute encoder installation

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.

Figure 6 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.

switch (on/off)

3.1.2 Bus termination

Bit1

Bit2

Effect

There is a 220ohms resistor between bus A and bus B line.

Off

Not a valid setting

Off

Not a valid setting

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 end of each bus segment in order to ensure error-free operation. In case of the encoder with cable glands such terminators are integrated inside the back cover and can be activated via dip switches as shown in figure 6. If the device is un-powered the A and B lines are internally terminated by a 220Ω resistor.

Table 6 Terminating switch settings

When encoders with M12 connectors are used the termination should be done using a terminating resistor plug.

Note: When encoders with M12 terminating resistor plugs

are used, the internal terminating switch shall not be activated.

Absolute encoder installation

Power supply M12 version

Function

+E Volt (9-36V)

Not connected

0 Volt

Not connected

Power supply

3.2 Connecting the encoder

The power supply connection of M12 equipped encoders are constituted by a male A-coded 4 pin M12 connector.

Figure 7 Orientation of M12 power supply connector

Table 7 Pinning M12 power supply

Encoders equipped with cable glands are delivered with a dust protection foil from the factory. The protection foil needs to be removed prior to install the cables. It is recommended that encoders with cable gland are equipped with a shielded power supply cable with conductor area between

0,34 mm

t o 1.5 mm2. Permissible outer cable diameter is ø 6 mm to ø 8 mm for the power supply cable. Located inside the back cover are two screw terminals containing the required power supply terminals marked (+) and (-). In the case were the encoder 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 (+) terminal shall be used to connect the +EV-line (9-36 Vdc). The (-) terminal shall be used to connect the 0 V-line.

Figure 8 Terminal connections of power supply cables

Note: Tighten all screws in the terminal, even if no cable has

been attached.

Absolute encoder installation

Bus in line

Bus out line

Function

Not connected

A 2 A

Not connected

DGND

3 B 4 B 4

Chassis

Bus in

Bus out

3.2.1 Bus lines

Figure 9 Orientation of M12 bus connectors

Table 8 Pinning M12 bus in/out lines

The cable gland encoders 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 line 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.

The (A) terminal shall be used to connect the A-line. The (B) terminal shall be used to connect the B-line.

Figure 10 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 terminal the bus lines are connected to.

Absolute encoder installation

. Permissible outer cable diameter is ø 8 mm to

Absolute encoder installation

GSD file

Gateway functionality

GSD file

Absolute encoder PROFIBUS DPV2

Enc_0aaa

3.3 Shielding philosophy

3.4 GSD file

In order to start using an absolute encoder with PROFIBUS DP interface, a device description file needs to be downloaded and imported to the configuration software. The device description file is called a Generic Station Description file and contains the necessary implementation parameters needed for a PROFIBUS DP device.

Available GSD files can be downloaded from

www.heidenhain.com.

Table 9 Available GSD file for DPV2 encoder

The GSD data is saved in the PROFIBUS master and transferred once to the encoder when the system is powered on. If the encoder has been started with one GSD file and a new GSD file with a different ID-number shall be used, the encoder needs to be restarted before it can use the new GSD file.

3.5 LED indication

Bus status

Module

Meaning

Cause

Off

No power

Red

Green

No connection to other

exchange

- Bus disconnected

switched off

Red 2)

No connection to other

and PROFIBUS PCB.

No connection to EnDat

Blinking 1)

Green

Parameterization or

- Configuration received

parameterization.

Green

Red

System failure

- Diagnosis exists, slave in

- Position error

Green

Data exchange. Slave and operation OK

Absolute encoder installation

In order to determine the status of the encoder two LEDs are visible from the rear end of the encoder. 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 red (BUS) and a bicolor, Red/Green, LED (MODULE).

device. Criteria :No data

device. No connection between EnDat encoder

configuration fault

Table 10 LED indication encoder

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.

- Master not available/

encoder at power up.

differs from the supported configuration.

- Parameter error in the

data exchange mode.

Configuration example

4 Configuration example

This chapter will illustrate how to set up and configure an encoder gateway with PROFIBUS DPV2 in isochronous operation. In the example below a Siemens Step 7 PLC and SIMATIC MANAGER was used.

4.1 Device description file installation (GSD-file)

In order to start using an encoder gateway with PROFIBUS interface, a device description file needs to be downloaded and imported to the configuration software.

The latest available GSD file can be downloaded from

www.heidenhain.com.

Installation of GSD-files in SIMATIC MANAGER

1. Select Options -> Install GSD File and click the Browse button

to navigate to the location of the GSD file. If a bitmap picture representing the encoder is requested, make sure that the bitmap file is located in the same folder as the GSD file. A bitmap file is included in the zip-file avaliable from www.heidenhain.com.

2. Select the GSD file and click the Install button to start installing

the selected GSD file.

4.2 Setting the encoder gateway configuration

Once the GSD file has been installed, the encoder gateway can be found in the SIMATIC MANAGER-> HW Config under PROFIBUS DP ->Additional Field Devices->Encoders. Select the appropriate device to be configured. Drag and drop the device onto the PROFIBUS DP system as shown in the picture below. In the example below, the HEIDENHAIN DPV2 Gateway was chosen. If more than one device is connected and is to be configured, then the following steps need to be performed once for each connected device.

Configuration example

When dropping the encoder on the BUS a PROFIBUS address must be assigned, naturally this address must be the same as assigned on the hardware address switches located inside the unit.

Configuration example

If appropriate enter a name for the device.

If double clicking on the unit on the bus, the properties window will open.

The next step is to choose the data length and the type of data that is to be sent to and from the controller. This is done by choosing different telegrams.

Configuration example

Available telegrams for the HEIDENHAIN DPV2 Gateway can be found by expanding the device. In the example below, standard telegram 81 is used. Drag and drop the telegram onto slot 1 as shown in the picture below. For more information regarding the different telegrams refer to chapter 5.4.

Note: The steps described above needs to be performed for each

connected device.

Configuration example

4.3 Setting encoder gateway parameters

To set the parameter data, choose the device and then double click on the line according to below.

In the Properties windows that opens, open the Parameter Assignment tab.

To set the parameter data, change the value of the different parameters by clicking on the Value field for the respective parameter. Please note that the parameter Class 4 Functionality must be enabled in order to use some of the available parameters. For more information regarding this, see chapter 8.2.

Once the configuration and parameterization of the device has been completed, the settings need to be saved and compiled. This is done by clicking on the Save and Compile option under the Station tab.

The settings then need to be downloaded to the controller. This is done by clicking on the Download option under the PLC Ta b.

Configuration example

4.4 Isochrone mode parameter settings -BUS

The Isochronous mode settings of the BUS are accessed by double clicking on the bus in the BUS structure view. Then the properties for DP master system will open.

Click on the Properties button.

Choose the Network Settings tab. For highest performance make sure that 12 Mbps baud rate and DP profile is chosen. Then, click on the options Button.

Configuration example

In this view the DP cycle time as well as the time parameters can be set. If the Slave Synchronization button is marked all slaves on the bus will have the same time parameters. In this mode all slaves on the BUS will sample data at the same time and the real isochronous mode is obtained. To activate the clock synchronous operation, mark the check boxes according to below.

Note: The steps described above needs to be performed for

each connected device.

Configuration example

4.5 Isochrone mode parameter settings DPV2 slave

Double click on the slave device to open the properties window and open the Isochronous Mode tab to change the settings. Activate the clock synchronous operation by marking the check box according to below.

The different time parameter can be set whereas the time base parameters are controlled by the master. The individual DP slave isochronous mode settings enable individual data sample time as the TI can be set uniquely for each slave.

5 PROFIBUS IO data description

5.1 Encoder profile for PROFIBUS version 4.1

The functionality of this profile is divided in two application classes, Class 3 and Class 4. The use of the name application class is new in this profile and conforms to the Encoder class in the DPV0 profile.

For further information regarding the encoder functionality refer to the device profile. The profile and PROFIBUS technical information can be ordered at PNO in Karlsruhe, Germany

(www.profibus.com).

PROFIBUS IO data description

Figure 11 Overview of encoder profiles

PROFIBUS IO data description

Significance

Abbreviation

Length (Bits)

Data type

Velocity value A

NIST_A

Signed

Velocity value B

NIST_B

Signed

Control word

G1_STW

Unsigned

Status word

G1_ZSW

Unsigned

Position value 1

G1_XIST1

Unsigned

Position value 2

G1_XIST2

Unsigned

Position value 3

G1_XIST3

Unsigned

Control word 2

STW2_ENC

Unsigned

Status word 2

ZSW2_ENC

Unsigned

5.2 Application class definition

HEIDENHAIN´s PROFIBUS devices can be configured as class 3 or class 4 PROFIBUS DP device according to the encoder profile v.4.1. Class 3 offers the basic functionality and Class 4 offers the basic functionality and additional full scaling and preset functionality.

CLASS 3 Device with base mode parameter access and limited

CLASS 4 Device with scaling, preset and base-mode parameter

5.3 Standard signals

The table below describes the standard signals that are used to configure the IO data.

parameterization of the device functionality. Isochronous mode is not supported.

access. Isochronous mode is supported.

Table 11 Standard signals

5.4 Standard telegrams

Encoder gateway

Absolute encoder

Standard telegram 81

Supported

Standard telegram 82

Supported

Not supported

Standard telegram 83

Supported

Not supported

Standard telegram 84

Supported

Not supported

IO Data (word)

1 2 Set point

STW2_ENC

G1_STW

IO Data (word)

1 2 3 4 5 6 Actual value

ZSW2_ENC

G1_ZSW

G1_XIST1

G1_XIST2

Configuration of the devices is made by choosing different telegram structures. The telegrams are used to specify the data length and which type of data that are sent to and from the master. The supported telegrams for the different devices are shown in table 12 below.

Table 12 Supported telegrams

5.4.1 Standard telegram 81

Standard telegram 81 uses 4 bytes for output data from the master to the device and 12 bytes of input data from the device to the master.

Output data from the master:

2 bytes Control word 2 (STW2_ENC) 2 bytes Control word (G1_STW)

PROFIBUS IO data description

Input data to the master:

2 bytes Status word 2 (ZSW2_ENC) 2 bytes Status word (G1_ZSW) 4 bytes Position value 1 (G1_XIST1) 4 bytes Position value 2 (G1_XIST2)

PROFIBUS IO data description

IO Data (word)

Set point

STW2_ENC

G1_STW

IO Data (word)

1 2 3 4 5 6 7

Actual value

ZSW2_ENC

G1_ZSW

G1_XIST1

G1_XIST2

NIST_A

5.4.2 Standard telegram 82

Standard telegram 82 uses 4 bytes for output data from the master to the encoder gateway and 14 bytes of input data from the encoder gateway to the master.

Output data from the master:

2 bytes Control word 2 (STW2_ENC) 2 bytes Control word (G1_STW)

Input data to the master:

2 bytes Status word 2 (ZSW2_ENC) 2 bytes Status word (G1_ZSW) 4 bytes Position value 1 (G1_XIST1) 4 bytes Position value 2 (G1_XIST2) 2 bytes Velocity value A (NIST_A)

Note: Telegram 82 is only supported by the encoder gateway.

It is not supported by the absolute encoder.

5.4.3 Standard telegram 83

IO Data (word)

Set point

STW2_ENC

G1_STW

IO Data (word)

1 2 3 4 5 6 7

Actual value

ZSW2_ENC

G1_ZSW

G1_XIST1

G1_XIST2

NIST_B

Standard telegram 83 uses 4 bytes for output data from the master to the encoder gateway and 16 bytes of input data from the encoder gateway to the master.

Output data from the master:

2 bytes Control word 2 (STW2_ENC) 2 bytes Control word (G1_STW)

Input data to the master:

2 bytes Status word 2 (ZSW2_ENC) 2 bytes Status word (G1_ZSW) 4 bytes Position value 1 (G1_XIST1) 4 bytes Position value 2 (G1_XIST2) 4 bytes Velocity value B (NIST_B)

Note: Telegram 83 is only supported by the encoder gateway.

It is not supported by the absolute encoder.

PROFIBUS IO data description

IO Data (word)

Set point

STW2_ENC

G1_STW

IO Data (word)

1 2 3 4 5 6 7 8 9

Actual value

ZSW2_ENC

G1_ZSW

G1_XIST3

G1_XIST2

NIST_B

5.4.4 Standard telegram 84

Standard telegram 84 uses 4 bytes for output data from the master to the encoder gateway and 20 bytes of input data from the encoder gateway to the master.

Output data from the master:

2 bytes Control word 2 (STW2_ENC) 2 bytes Control word (G1_STW)

Input data to the master:

2 bytes Status word 2 (ZSW2_ENC) 2 bytes Status word (G1_ZSW) 8 bytes Position value 3 (G1_XIST3) 4 bytes Position value 2 (G1_XIST2) 4 bytes Velocity value B (NIST_B)

Note: Telegram 84 is only supported by the encoder gateway.

It is not supported by the absolute encoder.

Note: In standard telegram 84, G1_XIST2 is used to transfer

error codes and optionally position values if the measuring length exceeds 64 bits.

5.5 Format of G1_XIST1 and G1_XIST2

The G1_XIST1 and G1_XIST2 signals consist of the absolute position value in binary format. By default the G1_XIST 1 signal is equal to the G1_XIST2 signal. The format of the actual position values in G1_XIST1 and G1_XIST2 is shown below.

Format definition for G1_XIST1 and G1_XIST2:

• All values are presented in binary format

• The shift factor is always zero (right aligned value) for both

G1_XIST1 and G1_XIST2.

• The setting in the encoder parameter data affects the position

value in both G1_XIST1 and G1_XIST2.

• G1_XIST2 displays the error message instead of the position

value if an error occurs. See also chapter 6.4 Error Message.

Example: 25 bit multi turn absolute encoder with gateway (8192

steps per revolution, 4096 distinguishable revolutions)

M = Multi turn value (Distinguishable revolutions) S = Single turn value (number of steps per revolutions)

PROFIBUS IO data description

Figure 12 Absolute value in G1_XIST1

Figure 13 Absolute value in G1_XIST2

PROFIBUS IO data description

IO Data (word)

1 2 3

Format

64 bit position value

5.6 Format of G1_XIST3

G1_XIST3 is a 64 bit position value which is used to support encoders with a resolution exceeding 32 bits.

Format definition for G1_XIST3:

• 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 Class 4 is enabled.

Table 13 Format of G1_XIST3

5.7 Control word 2 (STW2_ENC)

Bit

Function

0...6

Reserved

Fault acknowledge

8,9

Reserved

Control by PLC

Reserved

12...15

Controller sign-of-life

Bit

Valu e

Significance

Comments

Fault acknowledge (0->1)

The fault signal is acknowledged with a

a fault depends on the type of fault.

No significance

Control by PLC

Control via interface. EO IO is valid.

No control by PLC

EO IO data not valid, except sign-of-life

12-15

Controller sign-of-life

The control word 2 (ZSW2_ENC) is referred to as the master sign of life and it includes the fault buffer handling and Control by PLC mechanism from PROFIdrive STW1 and the Controller Sign-OfLife mechanism from PROFIdrive STW2. This signal is mandatory for controlling the clock synchronization.

Table 14 STW2_ENC definition

PROFIBUS IO data description

positive edge. The encoder reaction to

Table 15 Detailed assignment of control word2 (STW2_ENC)

PROFIBUS IO data description

Bit

Function

0...2

Reserved

Fault present/No fault

4,8

Reserved

Control requested

10,11

Reserved

12...15

Encoder sign-of-life

Bit

Valu e

Significance

Comments

Fault present

Unacknowledged faults or currently not

fault numbers are in the fault buffer.

No fault

Control requested

The automation system is requested to assume control.

No control requested

Control by automation system is not

by another interface.

12-15

Encoder sign-of-life

5.8 Status word 2 (ZSW2_ENC)

The status word 2 (ZSW2_ENC) is referred to as the slave’s sign of life and it includes the fault buffer handling and Control by PLC mechanism from PROFIdrive ZSW1 and the Slave Sign-Of-Life mechanism from PROFIdrive ZSW2. This signal is mandatory for controlling the clock synchronization.

Table 16 ZSW2_ENC definition

acknowledged faults are present. The fault reaction is fault-specific and devicespecific. The acknowledging of a fault may only be successful if the fault case has disappeared or has been removed before. If the fault has been removed the encoder returns to operation. The related

Table 17 Detailed assignment of Status word 2 (ZSW2_ENC)

possible, only possible at the device or

5.9 Control word (G1_STW)

Bit

Function

0...7

Function requests: Reference mark search, measurement on the fly

8..10

Reserved

Home position mode (absolute/relative)

Request set/shift of home position (Preset)

Request absolute value cyclically

Activate parking sensor

Acknowledging a sensor error

The control word controls the functionality of major encoder functions.

Table 18 G1_STW implementation requirements

Note: If the sensor parking is activated (bit 14=1) the device

is still on the bus with the slave sign of life active and encoder error and diagnostics switched off.

PROFIBUS IO data description

Bit

Function

0...7

Function status: Reference mark search, measurement on the fly

Probe 1 deflected

Probe 2 deflected

Reserved, set to zero

Requirement of error acknowledgement detected.

Set/shift of home position executed

Transmit absolute value cyclically

Parking sensor active

Sensor error

5.10 Status word (G1_ZSW)

The status word defines encoder states, acknowledgements, error messages of major encoder functions.

Table 19 G1_ZSW implementation requirements

Note: If bit 13 Transmit absolute value cyclically or bit 15

Sensor error is not set there is no valid value or error code transferred in G1_XIST2.

Note: Bit 13 Transmit absolute value cyclically cannot be set

at the same time as bit 15 Sensor error as these bits are used to indicate either a valid position value transmission (bit 13) or the error code transmission (bit 15) in G1_XIST2.

PROFIBUS IO data description

5.11 Isochronous operation

Clock Synchronous Operation at PROFIBUS DP is done by using the PROFIBUS DP-V2 Isochronous Mode. Clock cycle synchronous operation in the PROFIBUS DP Isochronous Mode is implemented by using an isochronous clock signal. This cyclic, isochronous clock signal is transmitted as Global Control telegram from the DP-master (class 1) to all PROFIBUS slaves. Thus, the slaves supporting isochronous operation may synchronies their applications (internal/Slave Clock) with the Master Clock.

Figure 14 Sequence of the DP-cycle in isochronous mode

TI (Input time)

This is the time for actual value acquisition. The time TI refers to the end of the DP-Cycle. The minimum time for TI is 375 µs for the gateway and 125µs for the absolute encoder. There has to be a minimum time of 125µs between TI and TO.

TO (Output time) Time TO refers to the start of the DP-cycle. The time TO is the time for setpoint transfer . For the encoder and the gateway the time TO is insignificant.

TJ (Jitter Time) TJ mirrors the time in which the clock jitter lasts. The clock jitter is the shifting of the Global Control (GC) telegram with respect to time.

TDX (Data_Exchange Time) This time is the sum of the transmission times of all Data_Exchange telegrams for all slaves.

PROFIBUS IO data description

TMSG (Message Time)

The times TMSG may elapse to handle all acyclic services between the master and slave. These acyclic services shall be executed after the cyclic services. To ensure an Isochronous DP cycle this part shall be limited.

TDP (DP-Cycle Time) TDP is the time a DP cycle lasts.

Content of a DP cycle:

SYNCH: Global_Control telegram for synchronization. The end of the Global_Control (GC) telegram marks the beginning of a new DP cycle.

DX: Data_Exchange With the service Data_Exchange, user data exchange between master and slave 1-n is executed sequentially.

MSG: acyclic services. After cyclic transmission the master may transmit an acyclic service. e.g. parameter request via MS1/MS2 AR.

RES: Reserve The reserve consists of the "active spar time" which is used as an active rest (master transmits to itself) and the "passive spar time".

6 Alarms and warnings

Diagnostic function

data type

Valu e

Comments

Octet number

Header

Unsigned8

0x81

Identifier x

Channel

Unsigned8

0x40

Input channel 0

2 Type of diagnosis

Unsigned8

See 6.3

6.1 Alarm mechanism

There are three ways to get diagnosis information from the PROFIBUS encoder:

• By a read parameter access to the Parameter 65001 where

information on the current status of the Faults and Warnings and the support of the individual diagnosis functions can be read out.

• By the evaluation of the Error bit in the Sensor Status word

G1_ZSW and additionally the evaluation of the Error code transmitted in G1_XIST2.

• By the use of the Extended Diagnosis in the Diagnosis

telegram where the diagnosis objects are transmitted by the Channel Diagnosis mechanism further described in this chapter.

6.2 Channel related diagnosis

The encoder diagnosis is reported to the master as channel related diagnosis if the alarm channel control bit is set. If the Alarm channel is switched of only the first 6 bytes of the diagnostic telegram are realized (Diag.Ext_Diag = 0): Station_status_1, Station_status_2, Station_status_3, Diag_Master_Add and Ident_Number. The diagnostic reason is entered in turns and the length of each entry is 3 octets

Alarms and warnings

Table 20 Channel related diagnostics

Alarms and warnings

Definition

Error type

Position error

Memory error

6.3 Faults

If a fault occurs, the corresponding identifier is signaled in a diagnostic telegram. Faults can be cleared after the sensor error is acknowledged by the controller by setting bit 15 in the Control word (G1_STW). A fault is only cleared when the functionality is within the specification and the position value correct. A going fault is indicated by a diagnostic telegram without the previously sent fault.

Table 21 Faults

Error type: 22

Definition: Position value error GSD entries: Channel_Diag (22) = "Position value error" Channel_Diag_Help (22) = The encoder has an internal error and is not able to provide an accurate position value, change encoder"

Error type: 24

Definition: Memory error GSD entries: Channel_Diag (24) = "Memory error" Channel_Diag_Help (24) = "The encoder has an internal error and is not able to provide an accurate position value, change encoder"

6.4 Error message

Supported diagnosis

Error code in G1_XIST2

Description

Sensor group error

0x0001

The encoder fails to read the correct position value

Memory error

0x 1001

The encoder fails to read the stored

volatile memory.

Command not supported

0x0F01

User parameter data assignment error

G1_STW and STW2_ENC.

Masters sign-of-life fault

0x0F02

The number of permissible failures the controllers life sign was exceeded.

Diagnosis information can be obtained by monitoring of the Error bit in the Status word G1_ZSW (bit 15) and evaluation of the error code transmitted in G1_XIST2.

Table 22 Sensor status word

Alarms and warnings

offset or preset values from the non

or command error in commands word

Acyclic parameter data

7 Acyclic parameter data

7.1 Acyclic data exchange

In addition to the cyclic data exchange, the PROFIBUS encoder also supports acyclic data exchange. The acyclic data exchange is transferred over the non-real time channel and is used to read out and write status information from and to the slave device. The acyclic data exchange is conducted in parallel to the cyclic data communication.

Example of acyclic data:

• Reading of diagnostic

• Reading of I&M functions

• Reading of PROFIdrive parameters

7.2 Identification and Maintenance (I&M functions)

Encoders according to the encoder profile 3.162 also support I&M functionality. The main purpose of I&M functions is to support the end user if the device is acting faulty or missing some of its functionality. I&M functions could be seen as an electronic nameplate containing common information regarding the device and its manufacturer.

According to the PROFIBUS specification all IO-devices must at least support the following I&M functions:

• Order ID

• Hardware Version

• Software Version

• Product type

• Manufacturer ID

For more information regarding additional I&M supported functions refer to chapter 8.14.6.

7.3 Base mode parameter access

Write of Preset value, parameter 65000 parameter request

Request reference

0x00

Request ID

0x02

0x02->Change value, 0x 01->read value

DO-ID (axis)

0x 01

Drive object ID

No of parameters

0x 01

Attribute

0x 10

0x 10->value

No of elements

0x00

Parameter number

0xFDE8

Parameter 65000

Sub index

0x0000

Format

0x04

Data type integer 32

Number of values

0x 01

7.3.1 General characteristics

A single acyclic parameter can be transmitted in one access. A parameter access can be up to 240 bytes long.

7.3.2 Parameter requests and responses

Request header: Request ID, DO-ID and number of parameters of the access.

Parameter address: One address for each parameter, if several parameters are accessed.

Parameter value: If the Request ID is 0x02 (change value) the value is set in the request and if the Request ID is 0x01 (request value), the value appears in the reply.

7.3.3 Changing the preset value

The table below shows the structure of a change value request.

Acyclic parameter data

Table 23 Write of preset value

Acyclic parameter data

Read of preset value, parameter 65000, parameter request

Request reference

0x00

Request ID

0x 01

0x 01->read value

DO-ID (axis)

0x 01

Drive object ID

No of parameters

0x 01

0x01 Read one parameter

Attribute

0x 10

0x 10->value

No of elements

0x00

Parameter number

0xFDE8

Parameter 65000

Sub index

0x0000

Read of preset value, parameter 65000, parameter response

Request reference

0x00

mirrored

Response ID

0x 01

0x 01->read value

DO-ID (axis)

0x 01

mirrored

No of parameters

0x 01

Format

0x04

0x04=data type unsigned 32

No of values

0x 01

Values or errors

0x00,0x00x, 0x00,0x64

Preset value 100

7.3.4 Reading the preset value

The tables below show the structure of a read value request.

Table 24 Read of preset value, parameter request

Table 25 Read of preset value, parameter response

7.4 Detailed description of supported parameters

7.4.1 Parameter 918, read only

918 unsigned int, presents the node address of the device.

7.4.2 Parameter 922, read only

922 unsigned int, presents which telegram is used. Telegram 81, 82, 83 or 84 is possible.

7.4.3 Parameter 925, read/write

925 unsigned int, maximum allowed MLS (Master sign-of-life) error. Parameter 925 may be used to set a maximum on how many consecutive Sign-of-life failures may occur.

7.4.4 Parameter 964, read only

964 unsigned int, Device indentification

964[0] = Manufacturer Id. This is set during manufacturing of the encoder. 964[1] = 0 DU Drive unit type, always set to 0. 964[2] = 201 Software version 964[3] = 2009 Software year 964[4] = 2805 Software day and month 964[5] = 1 Number of drive objects (D

7.4.5 Parameter 965, read only

965 OctetString 2, Encoder profile number

965[0] =0x3D Encoder profile number 965[1] = 31 or 41 Encoder profile version, set by customer (user_parameters)

7.4.6 Parameter 971, read/write

971 unsigned int, Store the local parameter set to a non volatile memory. Preset value is saved when writing value 1 and is set to 0 by the encoder firmware when finished. This means that the preset value has been saved when reading back value 0.

7.4.7 Parameter 974, read only

9 74 unsigned int 974[0] = 96 Max array length supported by parameter channel. 974[1] = 1 Numbers of multi parameters, 1 = no support of multi parameters. 974[2] = 1000 max time to process parameter request, n x 10 ms.

Acyclic parameter data

7.4.8 Parameter 975, read only

975 unsigned int, Encoder object identification

975[0] = Manufacturer Id, Set in the production. 975[1] = 7011 DO type 975[2] = 201 Software version 975[3] = 2009 Software year 975[4] = 2805 Software day and month 975[5] = 0x0005 Profidrive DO type class 5 = encoder interface 975[6] = 0x8000 Profidrive SUB class 1, Encoder application class 4 supported. 975[7] = 0x0001 Drive object Id (DO ID).

7.4.9 Parameter 979, read only

979 unsigned long, Sensor format

979[0] = 0x00005111 Number of index describing encoders,

Numbers of described encoders, Version of parameter structure

979[1] = 0x80000000 Sensor type Bit 31 = 1 if configuration and parameterization is OK Bit 0 = 0 Rotary encoder, Bit 0 = 1 linear encoder Bit 1 = 0 always set to 0 Bit 2 = 0 32 bit data, Bit 2 = 1 64 bit data

979[2] = 8192 Encoder scaled resolution 979[3] = 0 Shift factor for G1_XIST1. Always set to 0. 979[4] = 0 Shift factor for G1_XIST2. Always set to 0. 979[5] = 1 or 4096 Singleturn = 1, Multiturn = 4096 979[6] = 0 979[7] = 0 979[8] = 0 979[9] = 0 979[10] = 0

7.4.10 Parameter 980, read only

980[0] = 918

980[8] = 979

980[16] = 65002

980[1] = 922

980[9] = 61000

980[17] = 65003

980[2] = 925

980[10] = 61001

980[3] = 964

980[11] = 61002

980[4] = 965

980[12] = 61003

980[5] = 971

980[13] = 60004

980[6] = 974

980[14] = 65000

980[7] = 975

980[15] = 65001

65001[0] = 0x000C0101

Header, Version of parameter structure and numbers of indexdescribing the encoder.12 index and version 1.01

65001[1] = Operating status

(Bit 4 alarm channel control is always set with profile version 4.x)

65001[2] = Alarm

65001[3] = Supported alarms

65001[4] = Warning

65001[5] = Warnings supported

65001[6] = 0x00000401

Encoder profile version. Always set to this value.

65001[7] = Operating time

65001[8] = Offset value

65001[9] = Singleturn value,

Scaled value

65001[10] =

Total measuring length, scaled value (Linear = 1)

65001[11] =

Velocity measuring unit, see chapter 8.10.

This parameter shows the supported parameters 980 unsigned int

7.4.11 Parameter 65000 read/write

Used with telegram 81-83 65000 signed long, preset value 32 bit.

7.4.12 Parameter 65001, read only

Used with telegram 81-84 65001 unsigned long

Acyclic parameter data

65003[0]=

0x0000000000040101 Header Version of parameter structure and numbers of index describing encoder. 4 index and version 1.01

65003[1]=

Offset value 64 bit

65003[2]=

Singleturn value 64 bit, scaled value

65003[3]=

total measuring range in measuring units 64 bit, scaled value (Linear =1)

Hardware components

Master

SIEMENS S7F-CPU

CPU 315F-2 PN/DP

Slave device

PROFIBUS encoder

Software components

SIMATIC STEP 7

V5.4 + SP5

GSD file for absolute encoder

GSD Enc_0aaa.gsd

7.4.13 Parameter 65002, read/write

Used with telegram 84 65002 signed long long, Preset value 64 bit.

7.4.14 Parameter 65003, read only

Used with telegram 84 65003 unsigned long long,

7.5 Example of reading and writing to a parameter

This is an example of S7 blocks used for reading and writing to parameter 65000 (preset value). Experience with S7 programming and Statement List programming language STL is required.

Table 26 Used hardware components

Table 27 Used software components

7.5.1 Used blocks

Acyclic parameter data

Write record block SFB53 WRREC Read record block SFB52 RDREC Instance data blocks DB3 and DB4 Request data block DB1 Response data block DB2 Organization blocks OB1, OB82 and OB86

SFB52

SFB52 is standard S7 block for reading parameters.

SFB53

SFB53 is standard S7 block for writing parameters.

DB1

DB1 is the request data block.

Figure 15 DB1, request data block

DB2

DB2 is the response data block.

Figure 16 DB2, response data block

Acyclic parameter data

DB3

DB3 is the instance data block SFB52

Figure 17 DB3, instance data block of SFB52

DB4

DB4 is the instance data block of SFB53

Figure 18 DB4, instance data block of SFB53

Acyclic parameter data

OB1

OB1 controls the read and write operation

Figure 19 OB1, read and write operation

Acyclic parameter data

Parameter

Declaration

Data type

Description

REQ

INPUT

BOOL

REQ=1 Enables data transfer

INPUT

DWORD

Logical address of the PROFIBUS

module address 2039)

MLEN*

INPUT

INT

Maximum length of the record information in bytes.

VALID

OUTPUT

BOOL

New record has been received and is valid

BUSY

OUTPUT

BOOL

Busy=1 during read operation

ERROR

OUTPUT

BOOL

Error=1 read error

STATUS

OUTPUT

DWORD

Block status or error code

LEN*

OUTPUT

INT

Length of record information

RECORD

IN_OUT

ANY

Target area for the record

Parameter

Declaration

Data type

Description

REQ

INPUT

BOOL

REQ=1 Enables data transfer

INPUT

DWORD

Logical address of the PROFIBUS

module address 2039)

LEN*

INPUT

INT

Length of the record information in bytes.

DONE

OUTPUT

BOOL

Data record was transferred

BUSY

OUTPUT

BOOL

Busy=1 during write operation

ERROR

OUTPUT

BOOL

Error=1 write error

STATUS

OUTPUT

DWORD

Block status or error code

RECORD

IN_OUT

ANY

Data record

Parameters of SFB52

Table 28 Parameters of SFB52

Parameters of SFB53

DP module or sub module (PAP-

Table 29 Parameters of SFB53

DP module or sub module (PAP-

Acyclic parameter data

Diagnostics address of slot 1

Figure 20 Diagnostic address of slot 1

Variable table

With the variable table the user can monitor and modify variables.

Figure 21 Variable table

Functionality in the PROFIBUS DPV2 device

Function

Note/Remarks

Code sequence

Class 4 functionality

G1_XIST1 Preset control

Scaling function control

Alarm channel control

Compatibility mode

Preset value

Preset value 64 bit

Only supported by the encoder gateway

Measuring units per revolution

Total measuring range

Measuring units per revolution 64 bit

Only supported by the encoder gateway

Total measuring range 64 bit

Only supported by the encoder gateway

Maximum master sign-of-life failures

Velocity measuring unit

Only supported by the encoder gateway in DPV1

Encoder profile version

Operating time

Supported by absolute

only in DPV1

Offset value

Offset value 64 bit

Only supported by the encoder gateway

8 Functionality in the PROFIBUS DPV2 device

This chapter describes the functions that have been implemented in PROFIBUS DPV2 devices from HEIDENHAIN. The table below shows the supported functions and if there are any limitations.

Table 30 Supported functions

encoder and encoder gateway

8.1 Code sequence

Attribute

Meaning

Valu e

Increasing position values with clockwise rotation (seen from shaft side)

CCW

Increasing position values with counter clockwise rotation (seen from shaft side)

Attribute

Meaning

Valu e

Enable

Scaling/Preset/ code sequence control enabled

Disable

Scaling/Preset/ code sequence control disabled

The code sequence defines whether the absolute position value should increase during clockwise or counter clockwise rotation of the encoder shaft seen from flange side. The code sequence is by default set to increase the absolute position value when the shaft is turned clockwise (0).

Table 31 Code sequence attributes

Note: The position value will be affected when the code

sequence is changed during operation. It might be necessary to perform a preset after the code sequence has been changed.

Note Code sequence for the linear scale is not supported by

the gateway.

8.2 Class 4 functionality

This parameter enables or disables the measuring task functions Scaling, Preset and Code sequence. If the function is enabled, scaling and Code sequence control affects the position value in G1_XIST1, G1_XIST2 and G1_XIST3. A preset will in this case always affect G1_XIST2 and G1_XIST3 but if the parameter G1_XIST1 Preset control is disabled the preset will not affect the position value in G1_XIST1.

Functionality in the PROFIBUS DPV2 device

Table 32 Class 4 functionality attributes

Functionality in the PROFIBUS DPV2 device

Attribute

Meaning

Valu e

Enable

G1_XIST1 is affected by a preset command

0 Disable

Preset does not affect G1_XIST1

Attribute

Meaning

Valu e

Enable

Scaling function is enabled

Disable

Scaling function is disabled

8.3 G1_XIST1 Preset control

This parameter controls the effect of a preset on the G1_XIST1 actual value. If Class 4 functionality is activated and G1_XIST1 Preset control is disabled, the position value in G1_XIST1 will not be affected by a Preset.

Table 33 G1_XIST1 Preset control attributes

Note: This parameter is disabled by setting the value to 1.

Note: There is no functionality of this parameter if the class 4

functionality parameter is disabled.

8.4 Scaling function control

This parameter enables or disables the Scaling function of the encoder.

Table 34 Scaling function control attributes

Note: Class 4 functionality must be enabled to use this

parameter

Functionality in the PROFIBUS DPV2 device

Attribute

Meaning

Valu e

Enable

Profile specific diagnosis is switched on

Disable

No profile specific diagnosis(default)

8.5 Alarm channel control

This parameter enables or 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 (default value) only the communication related alarms are sent via the alarm channel. If the value is one (1) also encoder profile specific faults and warnings are sent via the alarm channel.

Table 35 Alarm channel control attributes

Functionality in the PROFIBUS DPV2 device

Attribute

Meaning

Valu e

Enable

Compatibility with encoder profile v3.1

Disable

No backward compatibility (default)

Function

Compatibility mode enabled (=0)

Compatibility mode disabled (=1)

Control by PLC

Ignored, the control word

supported and is set to 0.

Supported User parameter

Supported

Not supported, one sign-of-life

life sign monitoring.

User parameter

Supported

Not supported, the application

parameter

P965 Profile version

31 (v3.1)

41 (v4.1)

8.6 Compatibility mode

This parameter defines if the encoder should run in a mode compatible to Version 3.1 of the Encoder Profile. See below for an overview of functions affected when the compatibility mode is enabled.

Table 36 Compatibility mode attributes

(STW2_ENC)

(G1_STW) and setpoint values are always valid. Control requested (ZSW2_ENC) is not

Maximum master sign-of-life failures

Alarm channel control

Table 37 Compatibility mode definition

failure tolerated. PROFIdrive P925 is optional to control the

alarm channel is active and controlled by a PROFIdrive

8.7 Preset value

The preset value function enables adaptation of the position value from the encoder to a known mechanical reference point of the system. The preset function sets the actual position of the encoder to zero (= default value) or to the selected preset value. A preset value can be set more than once and it can be stored to the non-volatile memory using PROFIdrive parameter 971.

The preset function has an absolute and a relative operating mode selectable by bit 11 in the Control word (G1_STW). Bit 11 and bit 12 in the Control word controls the preset in the following way.

Normal operating mode: Bit 12=0

In this mode, the encoder will make no change in the output value.

Preset mode absolute: Bit 11 =0, Bit 12 = 1

In this mode, the encoder reads the current position value and calculates an internal offset value from the preset value and the current position value. The position value is then shifted with the calculated offset value to get a position value equal to the preset value. No preset will be made if a negative preset value is used while trying to initiate an absolute preset.

Preset mode relative: Bit 11 =1, Bit 12 = 1

In this mode the position value is shifted by the preset value, which could be a negative or a positive value set by encoder parameter 65000 or 65002.

Functionality in the PROFIBUS DPV2 device

Parameter

Meaning

Data type

Preset value

The preset value for encoders with a measuring range of maximum 32 bits

Integer32

Preset value 64

The preset value for encoders with a measuring range exceeding 32 bits

Integer64

The steps below should be followed from the master when modifying the Preset value parameters:

• Read the requested Preset value parameter and check if the

returned value meets the application requirements. If not, proceed with the following steps.

• Write the Preset value into the individual parameter.

• Store the value in the non volatile memory by PROFIdrive

parameter 971 if the value should be valid also after the next power on sequence.

Table 38 Preset value parameters

Note: The preset function should only be used at encode

standstill

Note: The number of possible preset cycles is unlimited.

Note: If scaling is used the preset function shall be used after

the scaling function to ensure that the preset value is entered in the current measuring unit.

Note: There is no preset activated when the preset value is

written to the encoder. The preset function is controlled by bits in the control and status words (G1_STW and G1_ZSW) and bit in the operating parameters. The preset value is used when a preset is requested by bit 12 in the Control word (G1_STW).

8.8 Scaling function parameters

Parameter

Meaning

Data type

Measuring units per revolution

The single turn resolution in measuring steps

Unsigned 32

Measuring units per

The single turn resolution in

resolution exceeding 32 bits.

Unsigned 64

The scaling function converts the encoder’s physical absolute position value by means of software in order to change the resolution of the encoder. The scaling parameters will only be activated if the parameter Class 4 functionality and Scaling function control are enabled. The permissible value range for the scaling is limited by the resolution of the encoder.

Singleturn encoders up to 31 bit and multiturn encoders up to 37 bits resolution are supported by the encoder gateway. When using encoders with higher resolution than 31 bits together with the encoder gateway, telegram 84 must be used.

8.8.1 Measuring units per revolution

This parameter sets the singleturn resolution of the encoder. In other words it is the number of different measuring steps during one revolution of the encoder.

Example: For a 13-bit encoder with a single turn resolution of

13 bits the permissible value range for "Measuring units per revolution" is between 20 and 213 (8192).

Functionality in the PROFIBUS DPV2 device

revolution 64 bit

Table 39 Single turn scaling parameters

measuring steps for encoders with a

Note: The parameter Measuring units per revolution 64 bit is

only supported by the encoder gateway.

Note: After downloading new scaling parameters, the preset

function must be used to set the encoder starting point to absolute position 0 or to any required starting position within the scaled operating range.

Functionality in the PROFIBUS DPV2 device

Parameter

Meaning

Data type

Total measuring range in measuring units

The total measuring range in measuring steps

Unsigned 32

Total measuring range

64 bit

The total measuring range for

32 bits

Unsigned 64

8.8.2 Total measuring range

This parameter sets the total measuring range of the encoder. The total measuring range is calculated by multiplying the single turn resolution with the number of distinguishable revolutions.

in measuring units

encoders with a range exceeding

Table 40 Total measuring range

Note: The parameter Total measuring range in measuring

units 64 bit is only supported by the encoder gateway.

Example: The total measuring range for a 25 bit multi turn

encoder with a 13 bit single turn resolution and a 12 bit multi turn resolution, the permissible value range for the "Total measuring range" is between 2 (33 554 432).

The total measuring range is calculated as below:

Measuring units per revolution x Total measuring range = 8192

If the encoder gateway is used and the total measuring range is higher than 31 bit, telegram 84 and acyclic encoder parameter 65002 and 65003 must be used. In this case the 64 bit values are used and the 32 bit values are set to zero (0) by the encoder.

Note: Telegram 84 and parameter 65002 and 65003 are only

supported by the encoder gateway.

and 225

(213) x 4096 (212) = 33554432

Functionality in the PROFIBUS DPV2 device

The devices have two different operating modes, depending on the specified measuring range. When the device receives a parameter message, it checks the scaling parameters if a binary scaling can be used. If binary scaling can be used, the device selects operating mode A (see following explanation). If not, operating mode B is selected.

A. Cyclic operation (Binary scaling)

Cyclic operation is used when operating with 2X number of turns (2, 4, 8, 16, 32, 64, 128, 256, 512, 1024, 2048. 4096.. number of turns). If the desired total measuring range is equal to the specified single turn resolution * 2X (where x<= 12) the encoder operates in endless cyclic operation (0 - max - 0 -max..). If the position value increases above the maximum value by rotating the encoder shaft, the encoder continues from 0.

Example of a cyclic scaling:

Total measuring range= Measuring units per revolution x number of revolutions

Measuring units per revolution = 1000 Number of revolutions= 32(=25=2x2x2x2x2) (32 equals 25 means that a binary scaling will be used)

Total measuring range = 1000 x 32 =32000

Figure 22 Cyclic scaling

Functionality in the PROFIBUS DPV2 device

B. Non-cyclic operation

If the desired total measuring range is not equal to the specified single turn resolution * 2X (where x<= 12) the encoder operates in non-cyclic operation. The non-cyclic operation is affected by the parameter G1_XIST 1 Preset control as described below.

G1_XIST1 Preset control=Enabled

If the position value increases or decreases outside the maximum value or below 0 with the parameter G1_XIST 1 Preset control enabled, the device outputs the maximum position value within the scaled total range for both position values G1_XIST 1 and G1_XIST 2.

Example of non-cyclic scaling with G1_XIST 1 Preset control enabled:

Total measuring range= Measuring units per revolution x number of revolutions

Measuring units per revolution = 10 0 Number of revolutions= 50 (=50 is not equal to 2X where x<=12 means that a non cyclic scaling will be used)

Total measuring range = 100 x 50 = 5000

Figure 23 Non-cyclic scaling G1_XIST 1 Preset control enabled

Functionality in the PROFIBUS DPV2 device

G1_XIST1 Preset control = disabled

With the parameter G1_XIST 1 preset control disabled, and if the position value increases or decreases outside the maximum value or below 0, the device will output the maximum position value within the scaled total range for the position value G1_XIST 2. The position value G1_XIST 1 is not limited to the scaled total range. For the position value G1_XIST 1, the device will continue to output a position value within the encoder’s total measuring range (up to 33554432 positions for a 25 bit encoder)

Example of non-cyclic scaling G1_XIST 1 Preset control disabled:

Measuring units per revolution = 10 0

Total measuring range = 5000 (number of revolutions 50)

Figure 24 Non-cyclic scaling G1_XIST 1 Preset control disabled

Functionality in the PROFIBUS DPV2 device

Parameter

Meaning

Valu e

Maximum master sign-of-life failures

The number of permissible failures of the masters life sign

1..255 LSB

MSB

Handling 64 bits data

Siemens hardware configuration tool does not support 64 bit data type, so when writing larger numbers than 32 bit into the configuration tool, this needs to be done according to below:

Example: Total measuring range in measuring units = 2

= 6871947673610 = 0x00000010 00000000

4 byte 4 byte

Take the 4 least significant bytes (LSB) above and convert to decimal: 0x00 00 00 00 = 0 = Total measuring range LSB

Then take the 4 most significant bytes (MSB) above and convert to decimal: 0x00 00 00 10 = 16 = Total measuring range MSB

In the configuration software enter the decimal values: Total measuring range LSB = 0 Total measuring range MSB = 16

8.9 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).

Table 41 Maximum master sign-of-life parameter

Note: This parameter is only supported in compatibility

mode.

Functionality in the PROFIBUS DPV2 device

Parameter

Meaning

Valu e

Velocity measuring units

Definition of the units for the encoder velocity value

See table 41.

Velocity measuring units

Valu e

Steps/s

Steps/100ms

Steps/10 ms

RPM

8.10 Velocity measuring units

This parameter defines the coding of the velocity measuring units used to configure the signals NIST_A and NIST_B which are included in Telegram 82-84. Standard telegram 81 has no velocity information included and the encoder does not use the velocity unit information in this case. The encoder gateway supports Telegram 82, 83 and 84 and needs a declaration of the velocity measuring unit.

Table 42 Parameter Velocity measuring unit

Table 43 Coding of velocity measuring units

Functionality in the PROFIBUS DPV2 device

Bits

Meaning

0..7

Profile version, least significant number (value range:0-99), decimal coding

8..15

Profile version, most significant number (value range:0-99), decimal coding

16..31

Reserved

The velocity calculations are made with a maximum of 19 bits resolution. If the resolution is higher than 219, the value used for velocity calculations is automatically reduced to 2

Example: For an encoder gateway used with a 37 bit multi turn

encoder with a 2 multi turn resolution, the maximum single turn value for velocity calculations will be 2 encoder the maximum resolution can be up to 31 bit, but the value used for velocity calculations will in this case also be 2

Note: In case of the step/s unit, an average is made over

200ms and the value is multiplied by 5.

Note If scaling has been set on the device the velocity

calculation is based on the scaled position value. Consequently the accuracy of the velocity value is dependent of the scaling set to the device.

Note: The velocity function is only supported when using the

encoder gateway and DPV1 functionality.

8.11 Encoder profile version

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.

single turn resolution and a 2

. For a single turn

Table 44 Encoder profile version parameter

8.12 Operating time

Parameter

Meaning

Data type

Operating time

The accumulated power on time

Unsigned32

Parameter

Meaning

Data type

Offset value

The offset value for encoders with a measuring range of maximum 32 bits

Integer32

Offset value 64 bit

The offset value for encoders with a measuring range exceeding 32 bits.

Integer64

The operating time monitor stores the operating time for the device in operating hours. The operating time is saved every six minutes in the non-volatile memory in the device. This happens as long as the device is powered on.

If the operating time function is not used the operating time value is set to the maximum value (0xFFFF FFFF).

Table 45 Operating time parameter

Note: The parameter Operating time is only supported by

the absolute encoder and encoder gateway in DPV1.

8.13 Offset value

The offset value is calculated in the preset function and shifts the position value with the calculated value. The offset value is stored in a non volatile memory and can be read from the encoder at any time. The data type for the offset value is a 32 bit or 64 bit binary value with sign, whereby the offset value range is equal to the measuring range of the device.

The preset function is used after the scaling function. This means that the offset value is indicated according to the scaled resolution of the device.

Functionality in the PROFIBUS DPV2 device

Table 46 Off set value parameter

Note: The offset value is read only and cannot be modified

by a parameter write access.

Functionality in the PROFIBUS DPV2 device

Prm.No

Significance

Data type

Read/Write

918

Node address

Unsigned16

922

Telegram selection

Unsigned16

925

Number of Controller sign-of-life failures which may be tolerated

Unsigned16

R/W

964

Device identification

Array [n] Unsigned16

R 965

Encoder profile number

Octet string 2

971

Transfer to non-volatile memory

Unsigned16

9 74

Base mode parameter access service identification

Array[n] Unsigned16

975

Encoder object identification

Array[n] Unsigned16

979

Sensor format

Array[n] Unsigned32

980

List of supported parameters

Array[n] Unsigned16

8.14 Acyclic data

HEIDENHAIN PROFIBUS DPV2 devices support the following acyclic data exchange functions.

8.14.1 PROFIdrive parameters

The encoder profile V4.1 has adopted certain standard PROFIdrive parameter. The HEIDENHAIN devices support the following PROFIdrive parameters:

Table 47 Supported PROFIdrive parameters

8.14.2 Encoder parameter numbers

Prm.No

Significance

Data type

Read/ Write

Note

65000

Preset value

Integer32

R/W

65001

Operating status

Array[n] Integer32

R 65002

Preset value 64 bit

Integer64

R/W

Only supported by the encoder gateway

65003

Operating status 64 bit

Array[n] Integer64

Only supported by the encoder gateway

The table below specifies the encoder specific parameter that is supported by the HEIDENHAIN PROFIBUS DPV2 devices.

Table 48 Encoder specific parameter

Note: The parameters 65000 and 65003 are not supported by

the absolute encoder.

Functionality in the PROFIBUS DPV2 device

PNU

65000

Significance

Preset value

Data type

Integer32

Access

Read and write

Validity range

Profile specific

Explanation

The preset value sets the value for the preset function. The

start up if stored.

PNU

65002

Significance

Preset value 64 bit

Data type

Integer64

Access

Read and write

Validity range

Profile specific

Explanation

The preset value sets the value for the preset function. The

start up if stored.

8.14.3 Parameters 6500 and 65002 -Preset value

The parameter 65000 and 65002 sets the value for the preset function. The parameter 65002 should be used if the preset value exceeds 32 bits. For more information regarding the Preset function control, see chapter 8 . 7.

preset value can be stored in the non-volatile memory by PROFIdrive parameter 971 and will be reloaded at each

Table 49 Structure of parameter 65000 Preset value

preset value can be stored in the non-volatile memory by PROFIdrive parameter 971 and will be reloaded at each

Table 50 Structure of 65002 Preset value 64 bit

Functionality in the PROFIBUS DPV2 device

PNU

65001

Significance

Encoder operating status

Data type

Array[n] Integer32

Access

Read

Validity range

Profile specific

Explanation

The operating status displays the status of the encoder.

Sub index

Meaning

Note/limitations

Header

Operating status

2 Faults

Supported Faults

4 Warnings

5 Supported warnings

Encoder profile version

Operating time

Only supported in DPV1 for

absolute encoder

Offset value

Measuring units per revolution

Total measuring range in measuring units

Velocity measuring unit

Only supported in DPV1 for the encoder gateway

8.14.4 Parameter 65001 operating status parameter structure

This parameter structure is 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 Profile for Drive Technology, PROFIdrive V4.1, order nr 3.172 available from PROFIBUS and PROFINET International.

Table 51 Structure of 65001 Encoder operating status

Table 52 Detailed structure of 65001 Operating status

the encoder gateway and the

Functionality in the PROFIBUS DPV2 device

Bits

Definition

Code sequence

Class 4 functionality

G1_XIST1 Preset control

Scaling function control

Alarm channel control

Compatibility mode

6..7

Reserved for the encoder manufacturer

8..31

Reserved for future use

Sub index 1: Operating status

In sub index 1 the status of different encoder functions can be read out. The mapping of the respective functions is according to the table below.

Table 53 Parameter 65001 Sub index 1: Operating status

Functionality in the PROFIBUS DPV2 device

PNU

65003

Significance

Encoder operating status 64 bit

Data type

Array[n] Integer64

Access

Read

Validity range

Profile specific

Explanation

The operating status displays the status of the encoders

Sub index

Meaning

Header

Offset value 64 bit

Measuring units per revolution 64 bit

Total measuring range in measuring units 64 bit

8.14.5 Encoder specific parameter 65003- Operating status 64 bit structure

The parameter structure 65003 is only supported by the encoder gateway and is a read only structure where information on the 64 bit parameter values can be found.

Table 54 Structure of 65003 Operating status 64 bit

Table 55 Structure of 65003 Operating status 64 bit

Note: The parameter 65003 is only supported by the encoder

gateway.

Functionality in the PROFIBUS DPV2 device

I&M parameter

Octets

Comment

Header

Manufacturer specific

Not used

I&M block

MANUFACTURER_ID

Manufacturer Id

ORDER_ID

Encoder part number

SERIAL_NUMBER

Encoder serial number

HARDWARE_REVISION

Not used

SOFTWARE_REVISION

Software revision

REVISION_COUNTER

Not used

PROFILE_ID

Encoder profile number

PROFILE_SPECIFIC_TYPE

Type of encoder

IM_VERSION

Version of the I&M profile

IM_SUPPORTED

Value=0 means support of I&M

8.14.6 I&M functions

In addition to the PROFIdrive parameter 964, Device identification, I&M functions are supported by the devices. The I&M functions can be accessed with data set index 255. The following I&M functions are supported.

Table 56 Supported I&M functions

Encoder state machine

9 Encoder state machine

Encoder state machine

9.1 Normal operation state

9.1.1 Profile version 4.x

If using encoder complying with encoder profile v4.1, then bit 10 Control by PLC in Control word 2 needs to be set before the data in Control word is valid. If not set, Control word is not used by the encoder firmware.

9.1.2 Profile version 3.x

If using encoders complying with encoder profile 3.x, the data in Control word is always valid and bit 9 Control requested in Status word 2 is always cleared.

9.1.3 Profile version 3.x and 4.x

When using telegram 81-83 and Control word bit 13 Request absolute value cyclically is set, then Status word bit 13 Transmit absolute value cyclically is set. Status word bit 13 is cleared (bit 13=0) when Control word bit 13 is cleared. Status word bit 13 is always cleared, when using telegram 84 due to the fact that no absolute value is sent in G1_XIST2.

9.2 Parking state

This state can be reached from any other state. The position value in G1_XIST1, G1_XIST2 and G1_XIST3 are set to zero. Errors are cleared and alarms are disabled in parking mode.

9.3 Set/shift home position (Preset)

The Set/shift home position is initiated when Control word bit 12 Request set/shift of home position is set. In this case the Status word bit 12 Set/shift of home position executed is set to 1. In order to initiate a set/shift home position, Class 4 functionality must be enabled (see chapter 8.2), otherwise there will be an error in G1_XIST2.

9.3.1 Preset depending on different telegrams

When using standard telegram 81-83, the acyclic encoder parameter 65000 Preset value 32 bit shall be used to set a preset value (<=32 bit) for the encoder. If the acyclic encoder parameter 65002 Preset value 64 bit is used in this case, an error message on the acyclical parameter channel will be returned. With telegram 81-83, the operating status must be read by encoder parameter 65001 Operating status 32 bit.

9.3.2 Absolute preset with negative value

Preset data sent with acyclic encoder parameter 65000 or 65002 are signed values. The relative preset mode uses signed preset values, but with the absolute preset mode no preset will be made if a negative preset value (set with encoder parameter 65000 or

65002) is used while trying to initiate an absolute preset.

9.4 Error state

This state is reached when an error has occurred. The encoder can enter this state from both the normal operation state and the set/shift home position state. If an error occurs, the Status word bit 15 Sensor error is set, and the error code is displayed in G1_XIST2 instead of the position value.

9.5 Error acknowledgement

This state is reached when an error has occurred, and Control word bit 15 Acknowledging a sensor error has been set. The Status word bit 11 Requirement of error acknowledgment detected and Status word bit 15 Sensor error are set to 1.

9.6 Start up

This state is only reached when Control word bit 14 Activate parking sensor are cleared (=0). Once the Control word bit 14 are cleared, it takes about 500ms before the Status word bit 14 Parking sensor active are set to zero (=0). The reason for the delay is that before the encoder goes to normal operation mode, an initializing of the encoder is made.

Encoder state machine

Revision history

Revision

Date

changes

Rev. 1.0

2011-12-23

First release

10 Revision history

Table 57 Revision history

DR. JOHANNES HEIDENHAIN GmbH

Dr.-Johannes-Heidenhain-Straße 5

83301 Traunreut, Germany

{ +49 8669 31-0 | +49 8669 5061

E-mail: info@heidenhain.de

www.heidenhain.de

749176-21 · 01 · A · 02 · 12/2012 · PDF

HEIDENHAIN DPV2 User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

Contents

List of tables

List of figures

1 General information

1.1 Encoder gateway

1.2 Absolute encoders

1.3 PROFIBUS technology

1.3.1 PROFIBUS DP functionality levels

1.4 References

1.4.1 Abbreviations

2 Encoder gateway installation

2.1 Settings inside the gateway

Figure 1 Placement of screws

2.1.1 Node address

Figure 2 PCB-view of a cable gland PROFIBUS gateway

2.1.2 Bus termination

2.2 Power supply

Figure 3 Orientation of M12 power supply connector

Figure 4 Terminal connections of power supply cables

2.3 BUS lines

Figure 5 Orientation of M12 bus connectors

2.4 Shielding philosophy

2.5 GSD file

2.6 LED indication

3 Absolute encoder installation

3.1 Settings inside the encoder

3.1.1 Node address

Figure 6 PCB-view of a cable gland encoder

3.1.2 Bus termination

3.2 Connecting the encoder

Figure 7 Orientation of M12 power supply connector

Figure 8 Terminal connections of power supply cables

3.2.1 Bus lines

Figure 9 Orientation of M12 bus connectors

Figure 10 Terminal connections of bus line cables

3.3 Shielding philosophy

3.4 GSD file

3.5 LED indication

4 Configuration example

4.1 Device description file installation (GSD-file)

4.2 Setting the encoder gateway configuration

4.3 Setting encoder gateway parameters

4.4 Isochrone mode parameter settings -BUS

4.5 Isochrone mode parameter settings DPV2 slave

5 PROFIBUS IO data description

5.1 Encoder profile for PROFIBUS version 4.1

Figure 11 Overview of encoder profiles

5.2 Application class definition

5.3 Standard signals

5.4 Standard telegrams

5.4.1 Standard telegram 81

5.4.2 Standard telegram 82

5.4.3 Standard telegram 83

5.4.4 Standard telegram 84

5.5 Format of G1_XIST1 and G1_XIST2

Figure 12 Absolute value in G1_XIST1

Figure 13 Absolute value in G1_XIST2

5.6 Format of G1_XIST3

5.7 Control word 2 (STW2_ENC)

5.8 Status word 2 (ZSW2_ENC)

5.9 Control word (G1_STW)

5.10 Status word (G1_ZSW)

5.11 Isochronous operation

Figure 14 Sequence of the DP-cycle in isochronous mode

6 Alarms and warnings

6.1 Alarm mechanism

6.2 Channel related diagnosis

6.3 Faults

6.4 Error message

7 Acyclic parameter data

7.1 Acyclic data exchange

7.2 Identification and Maintenance (I&M functions)

7.3 Base mode parameter access

7.3.1 General characteristics

7.3.2 Parameter requests and responses

7.3.3 Changing the preset value