HEIDENHAIN PROFINET User Manual

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User‘s Manual

PROFINET

Interface for Encoders

English (en) 6/2014

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Content

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

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

1 Introduction .................................................................................................................... 9

1. 1 About absolute encoders ................................................................................. 9

1. 2 About PROFINET technology .......................................................................... 10

1. 3 Encoder Profiles ............................................................................................... 12

1. 4 References ....................................................................................................... 13

1. 5 Abbreviations ................................................................................................... 14

2 Installation..................................................................................................................... 15

2.1 Cables and standards ...................................................................................... 15

2.2 Connectors and pin configuration ................................................................... 16

2.3 Shielding concept of the encoder ................................................................... 17

2.4 MAC-address ................................................................................................... 17

2.5 LED indication ................................................................................................. 18

3 Configuration example ................................................................................................ 19

3.1 Device description file installation (GSDML) ................................................... 19

3.2 Setting encoder configuration ........................................................................ 21

3.3 Setting encoder device name ......................................................................... 24

3.4 Setting encoder parameters ........................................................................... 28

3.5 Isochronous real time settings (RT Class 3) ................................................... 31

4 PROFINET IO data description ................................................................................... 35

4.1 Encoder profile overview, PNO order no.3.162 ............................................. 35

4.2 Application Class definition ............................................................................. 36

4.3 Standard signals .............................................................................................. 36

4.4 Standard telegrams ........................................................................................ 37

4.4.1 Standard Telegram 81 ...................................................................... 37

4.4.2 Standard Telegram 82 ...................................................................... 38

4.4.3 Standard Telegram 83 ...................................................................... 39

4.4.4 Standard Telegram 84 ...................................................................... 40

4.5 Manufacturer telegram 59001 ........................................................................ 41

4.6 Format of G1_XIST1 and G1_XIST2 ............................................................... 42

4.7 Format of G1_XIST3 ....................................................................................... 43

4.8 Control word 2 (STW2_ENC) .......................................................................... 44

4.9 Status word 2 (ZSW2_ENC) ........................................................................... 45

4.10 Control word (G1_STW).................................................................................. 46

4 .11 Status word (G1_ZSW) ................................................................................... 47

4.12 Real time communication ............................................................................... 48

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Content

5 Alarms and warnings ................................................................................................... 50

5.1 Diagnostics and Alarms .................................................................................. 50

5.2 Channel diagnostics ........................................................................................ 50

5.3 Sensor status word ......................................................................................... 51

6 Acyclic Parameter Data ................................................................................................ 52

6.1 Acyclic data exchange ..................................................................................... 52

6.2 Identification and Maintenance (I&M functions) ............................................ 52

6.3 Base mode parameter access........................................................................ 53

6.3.1 General characteristics .................................................................... 53

6.3.2 Parameter requests and responses ............................................... 53

6.3.3 Changing the preset value .............................................................. 53

6.3.4 Reading the preset value ................................................................ 54

6.4 Supported parameters .................................................................................... 55

6.4.1 Parameter 922, read only ................................................................ 55

6.4.2 Parameter 925, read/write .............................................................. 55

6.4.3 Parameter 964, read only ................................................................ 55

6.4.4 Parameter 965, read only ................................................................ 55

6.4.5 Parameter 971, read/write .............................................................. 55

6.4.6 Parameter 974, read only ................................................................ 55

6.4.7 Parameter 975, read only ................................................................ 56

6.4.8 Parameter 979, read only ................................................................ 56

6.4.9 Parameter 980, read only ................................................................ 57

6.4.10 Parameter 61000, read/write .......................................................... 57

6.4.11 Parameter 61001, read only ............................................................ 57

6.4.12 Parameter 61002, read only ............................................................ 57

6.4.13 Parameter 61003, read only ............................................................ 57

6.4.14 Parameter 61004, read only ............................................................ 57

6.4.15 Parameter 65000 read/write ........................................................... 57

6.4.16 Parameter 65001, read only ............................................................ 58

6.4.17 Parameter 65002, read/write .......................................................... 58

6.4.18 Parameter 65003, read only ............................................................ 58

6.5 Example of reading and writing to a parameter............................................. 59

6.5.1 Used blocs ....................................................................................... 60

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Content

7 Functional description of the encoder ...................................................................... 68

7. 1 Code sequence ............................................................................................... 69

7. 2 Class 4 functionality ........................................................................................ 69

7. 3 G1_XIST1 Preset control ................................................................................ 70

7. 4 Scaling function control .................................................................................. 70

7. 5 Alarm channel control ..................................................................................... 71

7. 6 Compatibility mode ......................................................................................... 72

7. 7 Preset value .................................................................................................... 73

7. 8 Scaling function parameters ............................................................................ 74

7.8.1 Measuring units per revolution ........................................................ 74

7.8.2 Total measuring range ..................................................................... 75

7. 9 Maximum Master Sign-of-Life failures ........................................................... 79

7. 10 Velocity measuring units ................................................................................. 80

7. 11 Encoder profile version ................................................................................... 81

7. 12 Operating time ................................................................................................ 81

7. 13 Offset value ..................................................................................................... 82

7. 14 Acyclic data ..................................................................................................... 83

7. 14.1 PROFIdrive parameters ................................................................... 83

7.14.2 Encoder parameter numbers .......................................................... 84

7.14.3 Parameter 65000 and 65002- Preset value .................................... 85

7.14.4 Parameter 65001-Operating status ................................................. 86

7.14.5 Parameter 65003- operating status 64 bit ...................................... 89

7.14.6 Identification & Maintenance functions.......................................... 90

8 Firmware upgrade ........................................................................................................ 91

8.1 Firmware upgrade in a PROFINET network .................................................. 92

8.2 Error handling .................................................................................................. 96

8.3 TFTP server installation .................................................................................. 98

9 Encoder replacement using LLDP ............................................................................ 10 0

10 Encoder state machine ...............................................................................................106

10.1 Normal operation state .................................................................................. 10 7

10.1.1 Profile version 4.x ........................................................................... 10 7

10.1.2 Profile version 3.x ........................................................................... 10 7

10.1.3 Profile version 3.x and 4.x .............................................................. 107

10.2 Parking state .................................................................................................. 10 7

10.3 Set/shift home position (Preset) .................................................................... 10 7

10.3.1 Preset depending on different telegrams ...................................... 108

10.3.2 Absolute preset with negative value ............................................. 108

10.4 Error state ...................................................................................................... 10 8

10.5 Error acknowledgement ................................................................................ 108

10.6 Start up ........................................................................................................... 108

11 Frequently asked questions FAQ ..............................................................................10 9

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List of tables

Table 1 Bus Connection .......................................................................................... 16

Table 2 Power supply connection ........................................................................... 16

Table 3 Led indication .............................................................................................. 18

Table 4 GSDML file ................................................................................................. 19

Table 5 Standard signals .......................................................................................... 36

Table 6 Output data Telegram 81 ............................................................................ 37

Table 7 Input data Telegram 81 ............................................................................... 37

Table 8 Output data Telegram 82 ............................................................................ 38

Table 9 Input data Telegram 82 ............................................................................... 38

Table 10 Output data Telegram 83 ............................................................................ 39

Table 11 Input data Telegram 83 ............................................................................... 39

Table 12 Output data Telegram 84 ............................................................................ 40

Table 13 Input data Telegram 84 ............................................................................... 40

Table 14 Format of G1_XIST3 ................................................................................... 43

Table 15 Control word 2 (STW2_ENC) ...................................................................... 44

Table 16 Detailed assignment of control word 2 (STW2_ENC) ............................... 44

Table 17 Status word 2 (ZSW2_ENC) ....................................................................... 45

Table 18 Detailed assignment of status word 2 (ZSW2_ENC) ................................ 45

Table 19 Control word (G1_STW) ............................................................................. 46

Table 20 Status word (G1_ZSW) ............................................................................... 47

Table 21 Channel diagnostics .................................................................................... 50

Table 22 Sensor status word..................................................................................... 51

Table 23 Changing the preset value .......................................................................... 53

Table 24 Reading the preset value (request) ............................................................ 54

Table 25 Reading the preset value (response).......................................................... 54

Table 26 Hardware components ............................................................................... 59

Table 27 Software components ................................................................................ 59

Table 28 Parameters of SFB52 ................................................................................. 63

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

Table 30 Supported encoder functions ..................................................................... 68

Table 31 Code sequence ........................................................................................... 69

Table 32 Class 4 functionality .................................................................................... 69

Table 33 G1_XIST1 Preset control ............................................................................ 70

Table 34 Scaling function control .............................................................................. 70

Table 35 Alarm channel control ................................................................................. 71

Table 36 Compatibility mode ..................................................................................... 72

Table 37 Compatibility mode overview..................................................................... 72

Table 38 Measuring units per revolution .................................................................... 74

Table 39 Maximum master Sign of life failures ........................................................ 79

Table 40 Velocity measuring units............................................................................. 80

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List of tables

Table 41 Encoder profile ............................................................................................ 81

Table 42 Operating time ............................................................................................ 81

Table 43 Offset value ................................................................................................. 82

Table 44 Supported PROFIdrive parameters ............................................................ 83

Table 45 Encoder parameter numbers ..................................................................... 84

Table 46 Parameter 65000, Preset value .................................................................. 85

Table 47 Parameter 65002, Preset value 64 bit ........................................................ 85

Table 48 Parameter 65001, Operating status ........................................................... 86

Table 49 Parameter 65001, Sub index ...................................................................... 87

Table 50 Parameter 65001, Sub index 1 ................................................................... 88

Table 51 Parameter 65003, Operating status 64 bit ................................................ 89

Table 52 Parameter 65003, Sub index ...................................................................... 89

Table 53 Identification & Maintenance ..................................................................... 90

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List of figures

Figure 1 Bus connectors .......................................................................................... 16

Figure 2 Power supply connector ............................................................................ 16

Figure 3 Installation of GSDML file .......................................................................... 20

Figure 4 Encoder configuration ................................................................................. 21

Figure 5 Example of connected encoder ................................................................. 22

Figure 6 Telegram selection ...................................................................................... 23

Figure 7 Selected telegram....................................................................................... 23

Figure 8 How to set encoder device name .............................................................. 24

Figure 9 Device name ............................................................................................... 24

Figure 10 Assign device name ................................................................................... 25

Figure 11 Assign name ............................................................................................... 26

Figure 12 How to verify device name......................................................................... 26

Figure 13 Verify device name ..................................................................................... 27

Figure 14 Parameter Access point ............................................................................. 28

Figure 15 Parameter data............................................................................................ 29

Figure 16 Save and compile ........................................................................................ 29

Figure 17 Download settings ...................................................................................... 30

Figure 18 Open Interface properties .......................................................................... 31

Figure 19 RT Class option ........................................................................................... 31

Figure 20 Interface properties..................................................................................... 32

Figure 21 IO Cycle properties ..................................................................................... 32

Figure 22 Port settings ................................................................................................ 33

Figure 23 Topology settings ........................................................................................ 33

Figure 24 Domain management ................................................................................. 34

Figure 25 Overview of encoder profiles ..................................................................... 35

Figure 26 Absolute value in G1_XIST1 ....................................................................... 42

Figure 27 Absolute value in G1_XIST2 ....................................................................... 42

Figure 28 Real time Communication .......................................................................... 48

Figure 29 Request data block, DB1 ............................................................................ 60

Figure 30 Response data block, DB2 ......................................................................... 60

Figure 31 Instance data block, DB3 ............................................................................ 61

Figure 32 Instance data block, DB .............................................................................. 61

Figure 33 Organization block, OB1 ............................................................................. 62

Figure 34 Diagnostic address of slot 1 ....................................................................... 65

Figure 35 Variable table ............................................................................................... 66

Figure 36 Cyclic operation ........................................................................................... 76

Figure 37 Non cyclic operation, preset control enabled ............................................. 77

Figure 38 Non cyclic operation, preset control disabled ............................................ 78

Figure 39 Firmware upgrade startpage ...................................................................... 92

Figure 40 Firmware upgrade settings......................................................................... 93

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List of figures

Figure 41 Firmware upgrade confirmation page ........................................................ 94

Figure 42 Firmware upgrade status page .................................................................. 95

Figure 43 SolarWinds TFTP server ............................................................................. 98

Figure 44 SolarWinds TFTP server settings ............................................................... 99

Figure 45 LLDP Properties ........................................................................................ 100

Figure 46 LLDP Port configuration ............................................................................ 101

Figure 47 LLDP Partner port settings ....................................................................... 102

Figure 48 Open Topology editor ................................................................................ 103

Figure 49 Topology editor.......................................................................................... 103

Figure 50 Edit Ethernet node .................................................................................... 104

Figure 51 Factory reset ............................................................................................. 105

Figure 52 Factory set confirmation ........................................................................... 105

Figure 53 Encoder state machine ............................................................................. 106

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1 Introduction

1.1 About 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 single turn encoders, i.e. an encoder producing absolute positions within one revolution, the absolute position information repeats itself with every revolution. So called multi turn encoders can also distinguish between revolutions. The numbers of unique revolutions is determined by the resolution of the multi turn scanning and repeats itself after the total resolution is reached. A major benefit of absolute encoder type is that if the encoder loses power, the encoder is able to keep track of its position also if the shaft is turned during the power loss. This is due to the genuine absolute scanning principle.

An absolute encoder can also be used to calculate a digital speed value. By internally dividing the difference in position with a small delta time an accurate speed value can be calculated and transmitted to the subsequent electronics for closed loop control.

Introduction

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Introduction

1.2 About PROFINET technology

PROFINET is the open industrial Ethernet standard of PROFIBUS & PROFINET International (PI) for automation. PROFINET uses TCP/IP and IT standards, and is in effect, real-time Ethernet . The PROFINET concept features a modular structure so that users can select the cascading functions themselves. They differ essentially because of the type of data exchange to fulfill the partly very high requirements of speed.

In conjunction with PROFINET, the two perspectives PROFINET CBA and PROFINET IO exist. PROFINET CBA is suitable for the component-based communication via TCP/IP and the real-time communication for real-time requirements in modular systems engineering. Both communication options can be used in parallel.

PROFINET IO was developed for real time (RT) and isochronous real time (IRT) communication with the de-centralized periphery. The designations RT and IRT merely describe the real-time properties for the communication within PROFINET IO.

To achieve these functions, three different protocol levels are defined:

• TCP/IP for PROFINET CBA and the commissioning of a plant with reaction times in the range of 100ms

• RT (Real-Time) protocol for PROFINET CBA and PROFINET IO applications up to 1 ms cycle times

• IRT (Isochronous Real-Time) for PROFINET IO applications in drive systems with cycles times of less than 1ms

Interfacing the peripherals devices such as encoders is implemented by PROFINET IO. Its basis is a cascading real-time concept. PROFINET IO defines the entire data exchange between controllers (devices with "master functionality") and the devices (devices with "slave functionality"), as well as parameter setting and diagnosis.

PROFINET IO is designed for the fast data exchange between Ethernet-based field devices and follows the provider-consumer model. The configuration of an IO-System has been kept nearly identical to the "look and feel" of PROFIBUS.

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A PROFINET IO system consists of the following devices:

• The IO Controller, which contains the automation program and controls the automation task.

• The IO Device, which is a field device such as an encoder, mon- itored and controlled by an IO Controller.

• The IO Supervisor is software typically based on a PC for set- ting parameters and diagnosing individual IO Devices.

An application relation (AR) is established between an IO Controller and an IO Device. These ARs are used to define communication relations (CR) with different characteristics for the transfer of parameters, cyclic exchange of data and handling of alarms.

The characteristics of an IO Device are described by the device manufacturer in a General Station Description (GSD) file. The language used for this purpose is the GSDML (GSD Markup Language) - an XML based language. The GSD file provides the supervision software with a basis for planning the configuration of a PROFINET IO system.

Within PROFINET IO, process data and alarms are always transmitted in real time (RT). Real time in PROFINET is based on the definition of IEEE and IEC, which allow for only a limited time for execution of real-time services within a bus cycle. The RT communication represents the basis for the data exchange for PROFINET IO and real-time data are always treated with a higher priority than TCP (UDP)/IP data.

Introduction

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Introduction

1.3 Encoder Profiles

Profiles are pre-defined configurations of the functions and features available from PROFINET for use in specific devices or applications such as encoders. They are specified by PI (PROFIBUS & PROFINET International) working groups and published by PI. Profiles are important for openness, interoperability and interchangeability, so that the end user can be sure that similar equipments from different vendors perform in a standardized way. HEIDENHAIN comply with the definitions in the encoder profile

3.162, version 4.1. The encoder device profile describing encoder functionality and additional information about PROFINET can be ordered from PROFIBUS User Organization, PNO.

PROFINET is generally defined by PROFIBUS & PROFINET International (PI) and backed by the INTERBUS Club and, since 2003, is part of the IEC 61158 and IEC 61784 standards.

PROFIBUS User Organization

Haid-und-Nue Straβe 7 D 76131 Karlsruhe Te l: + 49 721 96 58 590 Fax: + 49 721 96 58 589

www.profibus.com

Web:

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1.4 References

Introduction

Profile Encoders for PROFIBUS and PROFINET V4.1, Order No. 3.162

Profile Drive Technology, PROFIdrive V4.1, PROFIBUS International, Order No. 3. 172

PROFIBUS Encoder Profile V1.1, PROFIBUS International, Order No. 3.062

PROFIBUS Guidelines, Part 1: Identification & Maintenance Functions V1.1, PROFIBUS International, Order No. 3.502

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

PROFINET Application Layer Service Definition Application Layer Protocol Specification, Version 2.0, PROFIBUS International, Order No. 2.332

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

PROFINET Guidelines: PROFINET Cabling and Interconnection Technology V1.99, PROFIBUS International, Order No. 2.252

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Introduction

1.5 Abbreviations

PI PROFIBUS and PROFINET International IO Input/Output DO Drive Object DU Drive Unit AR Application Relation CR Communication Relation MLS Master Sign-Of-Life RT Real Time Ethernet IRT Isochronous Real Time Ethernet IsoM Isochronous Mode LLDP Link Layer Discovery Protocol GSD General Station Description GSDML General Station Description Markup Language UDP User Datagram Protocol TCP Transmission Control Protocol IP Internet Protocol DHCP Dynamic Host Configuration Protocol TFTP Trivial File Transfer Protocol MAC Media Access Control I&M Identification & Maintenance

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2 Installation

A summary of the PROFINET guideline: PROFINET Cabling and interconnection Technology V 1.99, PROFIBUS International, Order No 2.252 is provided in this section.

2.1 Cables and standards

Two shielded copper cables twisted in pairs are defined as the normal transmission medium for PROFINET networks. In such networks the signal transmission is performed in accordance with 100BASE-TX at a transmission speed of 100 Mbps (FastEthernet).

Only shielded cables and connecting elements are allowed in a PROFINET network. The individual components have to satisfy the requirements of Category 5 in accordance with IEC 11801. The entire transmission path has to meet the requirements of Class D in accordance with IEC 11801. Furthermore, PROFINET cables shall have a cable cross-section of AWG 22 in order to enable even complex cabling structures through minimum damping. For this reason, the specification of the PROFINET cables supports a modular setup, which ensures an IEC 11801-compliant structure on adherence to simple installation rules.

Transmission channels lengths are determined by the type of cable being used. The choice of cable is to be such that a transmission channel length of 100 meter is achieved between two active network devices. The use of a high number of plug connections has a negative effect on attenuation and reflection and consequently reduces the transmission channel length. A maximum of three interconnections can be inserted between two active devices without reduction of the permissible transmission lengths of 100 meters.

Installation

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Installation

Table

Table 2 Power supply connection

2.2 Connectors and pin configuration

M12 connectors are used for connecting the bus lines to the encoder. The M12 connector used is a 4-pin female shielded D-coded version.

The correct arrangement of the bus connectors are specified as follows:

Port 1

Port 2

Figure 1 Bus connectors

Note: The encoder provides integrated switch functionality

between the two M12 connectors used for PROFINET communication. It is important to distinguish between these ports when IRT-communication is used.

The M12 connector used for power supply of the encoder is constituted by a 4-pin male shielded A-coded version. The correct arrangement of the power supply line is specified as follows:

Supply

Figure 2

Power supply connector

Note: Passive T-couplings are not possible to use in a

PROFINET network. All devices must be connected through active network components.

Signal Function Pin

Tx+ Transmission data + 1

Tx- Transmission data - 3

Rx+ Receiver data + 2

Rx- Receiver data - 4

1 Bus Connection

Signal Function Pin

+E Vo lt Power supply 1

Not connected - 2

0 Volt 0 Volt 3

Not connected - 4

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2.3 Shielding concept of the encoder

Automation systems in an industrial environment are subjected to high levels of electromagnetic disturbance. Switching large electrical loads creates high interference levels that can be picked up in various ways by electronic devices with detrimental effects. Even under such conditions, electric components within an automation system must still guarantee a continuous, uninterrupted function.

The electromagnetic compatibility (EMC) of the entire plant must be ensured by using suitably designed components and assembling them correctly to make up the system. Data cabling is considered as a passive system and cannot be tested for EMC compliance individually. Nevertheless, cabling and connection elements for PROFINET supports compliance with devices requirements by providing a high-quality, comprehensive shielding concept.

To achieve the highest possible noise immunity and resistance against other EMC 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.

2.4 MAC-address

PROFINET IO field devices are addressed using MAC addresses and IP addresses. All field devices have a unique MAC address. The MAC address is constituted by a 6 byte Ethernet address for each individual station and is unique worldwide. The MAC address consists of two parts, the first 3 bytes represents the manufacturer-specific ID and the last 3 bytes represents a consecutive number. The MAC address of the encoder is printed on the encoder label for commissioning purposes.

Installation

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Installation

Bus

Module

Meaning

Cause

Off

No power

Red

Green

No connection to anoth-

change

- bus disconnected

Blinking* red

Green

Parameterization fault,

- Slave not configured

Wrong station address

tion

Green

Red

System failure

Diagnosis exists, slave in data exchange mode

Green

Data exchange and encoder functions properly

Blinking* green

Blinking green

Firmware upgrade in process

Blinking* red

Blinking red

Failure during firmware upgrade

The blinking frequency is 0.5 Hz. Minimal indication time is 3 seconds.

2.5 LED indication

The following table defines diagnostic indications shown by the encoders two bi-colored LEDs.

er device. Criteria: No data ex-

no data exchange Criteria: Data exchange correct, however the encoder did not switch to the data exchange mode

- Master not availble/ switched off

yet or wrong configuration

assigned

- Actual configuration of the slave differs from the nominal configura-

Table 3 Led indication

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3 Configuration example

GSDML file

GSDML-V2.2-JH-PROFINET-Encoder-xxxxxxxx.xml

This chapter will illustrate how to setup and configure a PROFINET encoder for working in RT Class 1 mode. In the following examples SIMOTION SCOUT V.4.1.5.6 and D435 motion controller is used. Please refer to the manufacturer of the configuration tool if other configuration tools are being used.

3.1 Device description file installation (GSDML)

In order to start using an absolute encoder with PROFINET 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 Markup Language file and contains the necessary implementation parameters needed for a PROFINET IO device.

The GSDML file can be downloaded from

Table 4 GSDML file

Configuration example

www.heidenhain.com

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Configuration example

Installation of GSDML-files

Figure 3 Installation of GSDML file

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 GSDML file. A bitmap file is included in the zip-file downloadable from

www. heidenhain.com.

2. Select the GSD file and click the Installbutton to start installing the selected GSD file.

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3.2 Setting encoder configuration

When the GSD file has been installed the supported encoder types can be found in the HW Configuration under PROFINET IO>Additional Field Devices->Encoders->JH Group PROFINET Encoders. Select either multi turn 25 bit or single turn 13 bit encoder, dependent on the type of encoder to be configured. Drag and drop the encoder onto the PROFINET IO system as shown in the picture below. In the example below one 25 bit multiturn encoder was chosen. If more than one encoder shall be configured, then the following steps need to be done once for each device.

Configuration example

Figure 4 Encoder configuration

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Configuration example

When correctly done, the encoder will appear on the PROFINET IO system as shown in figure 5 below.

Figure 5 Example of connected encoder

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Configuration example

Figure

The next step will be to choose the data length and the type of data that should be sent to and from the IO controller. This is done by choosing different telegrams. Available telegrams for the multiturn 25 bit encoder can be found under Multiturn 25 Bit -> EO Multiturn. In the example below standard telegram 81 is used. Drag and drop the telegram onto slot 1, sub slot 2 as shown in the figure 6 below. For more information regarding the different telegrams refer to chapter 4.4.

6 Telegram selection

The Standard Telegram 81 will appear on slot 1 sub slot 2 according to figure 7 below.

Figure 7 Selected telegram

Note: The steps above need to be performed once for each

device.

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Configuration example

3.3 Setting encoder device name

In a PROFINET network all IO devices needs to have a unique device name. The encoders are delivered without any device name preset from the factory. To set the encoder device name, double click on the encoder icon to open the Properties window.

Figure 8 How to set encoder device name

In the Properties window, enter an appropriate device name in the Device name field.

Figure 9 Device name

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Make sure that the checkbox Assign IP address via IO controller is checked if the IP address for the encoder should be assign via the IO controller.

Then select PLC-> Ethernet->Assign Device Name to open the Assign device name window.

Figure 10 Assign device name

Configuration example

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Configuration example

Choose the device on which the device name should be changed and then click on the Assign name button to adopt the changes and then click on the Close button. The MAC address of the encoder is written on the encoder label.

Figure 11 Assign name

Note: All connected devices need to be assigned a unique

device name.

After changing device name, it is recommended to verify that the performed change has been done. This is done by opening the Verify Device Name window found under PLC->Ethernet->Ver ify Device Name.

Figure 12 How to verify device name

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Configuration example

In the Verify Device Name window, verify that the Device name has changed and the status is OK as shown in the example according to figure 13 below.

Figure 13 Verify device name

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Configuration example

3.4 Setting encoder parameters

This chapter describes how to change the user parameters in the encoder.

To set the encoder user parameters double click on the Parameter Access point field located under slot 1.1 as shown in figure 14, to open the Properties window.

Figure 14 Parameter Access point

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Configuration example

In the Properties window, choose the Parameters" tab. To set the parameter data, change the value of the different parameters by clicking on the drop down list in the Value field for the respective parameter. For more information regarding parameter data, see chapter 7.

Figure 15 Parameter data

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

Figure 16 Save and compile

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Configuration example

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

Figure 17 Download settings

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3.5 Isochronous real time settings (RT Class 3)

This example is intended to illustrate the commissioning of a PROFINET encoder in isochronous operation. In the example below STEP 7 v5.4 SP5 and SIMOTION D435 motion controller is used. The basic principal for configuration and parameterization of the encoder is the same as described in chapter 3.2-3.4.

To set the IRT settings of the encoder, double click on the Interface field located under slot 0, sub slot X1 to open the Properties window.

Figure 18 Open Interface properties

Under the Synchronization tab change the value for the Parameter RT Class to IRT and the IRT option parameter to High Performance according to the picture below.

Configuration example

Figure 19 RT Class option

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Configuration example

Under the Application tab check the box for Operate IO device/application in isochronous mode.

Figure 20 Interface properties

Under the IO Cycle tab change the Update Time Mode to fixed factor.

Figure 21 IO Cycle properties

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Before the encoder can operate in IRT mode it is necessary to set from which port of the encoder the connection to the network has been done.

To set the topology double click on the port from which the encoder is connected to the network. This is either slot 0 sub slot P1 or slot 0 sub slot P2. In the example in figure 22 below Port 1 is used on the encoder. For port description of the encoder see chapter 2.2 Connectors and pin configuration.

Figure 22 Port settings

Under the Topology tab change the Partner port to the used port of your IO controller.

Configuration example

Figure 23 Topology settings

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Configuration example

When the above steps have been performed, it is recommended to verify that the setting for the encoder and the IO controller is correct. This is done by opening the Domain management Window found under Edit->PROFINET IO.

Verify that the RT Class is set to IRT and that the IRT option is set to High performance.

Figure 24 Domain management

The encoder is now prepared for operating in IRT mode.

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4 PROFINET IO data description

4.1 Encoder profile overview, PNO order no.3.162

This manual is related to encoders that fulfills the demands and functionality according to encoder profile V4.1 (PNO no 3.162). The operating functions for encoders according to this profile are divided into two application classes, named Class 3 and Class 4. For an overview of the different encoder profile for PROFIBUS and PROFINET and the related standards, see figure 25 below.

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

www.profinet.com).

(

PROFINET IO data description

Figure 25 Overview of encoder profiles

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PROFINET 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

4.2 Application Class definition

The PROFINET encoders can be configured as a class 3 or class 4 PROFINET IO device according to the encoder profile V.4.1 (PNO no 3.162). A Class 4 configured encoder fully supports all functionality according to the encoder profile V4.1.

CLASS 3 Encoder with base mode parameter access and limited parame-

terization of the encoder functionality. Isochronous mode is not supported.

CLASS 4 Encoder with scaling, Preset and base mode parameter access.

Isochronous mode is supported.

4.3 Standard signals

Tabl e 5 below describes the standard signals that are used to configure the IO data. The signals are described in the chapters that follow.

Table 5 Standard signals

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4.4 Standard telegrams

IO Data (word)

Byte

0 1 2 3 Set point

STW2_ENC

G1_STW

IO Data (word)

1 2 3 4 5 6 Byte

0 1 2 3 4 5 6 7 8 9 10

Actual value

ZSW2_ENC

G1_ZSW

G1_XIST1

G1_XIST2

Configuration of PROFINET encoders are 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 IO controller. The following standard telegrams are supported.

4.4.1 Standard Telegram 81

Standard telegram 81 uses 4 bytes for output data from the IO controller to the encoder and 12 bytes of input data from the encoder to the IO-controller.

Output data from the IO controller:

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

Table 6 Output data Telegram 81

Input data to the IO controller:

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).

PROFINET IO data description

Table 7 Input data Telegram 81

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PROFINET IO data description

IO Data (word)

1 2 Byte

0 1 2 3 Set point

STW2_EN

G1_STW

IO Data (word)

1 2 3 4 5 6 7

Byte

0 1 2 3 4 5 6 7 8 9 10

Actual value

ZSW2_ENC

G1_ZSW

G1_XIST1

G1_XIST2

NIST_A

4.4.2 Standard Telegram 82

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

Output data from the IO controller:

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

Table 8 Output data Telegram 82

Input data to the IO controller:

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)

Table 9 Input data Telegram 82

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4.4.3 Standard Telegram 83

IO Data (word)

1 2 Byte

0 1 2

Set point

STW2_ENC

G1_STW

IO Data (word)

1 2 3 4 5 6 7

Byte

0 1 2 3 4 5 6 7 8 9 10

Actual value

ZSW2_ENC

G1_ZSW

G1_XIST1

G1_XIST2

NIST_B

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

Output data from the IO controller:

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

Table 10 Output data Telegram 83

Input data to the IO controller:

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)

PROFINET IO data description

Table 11 Input data Telegram 83

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PROFINET IO data description

IO Data (word)

1 2 Byte

0 1 2

Set point

STW2_ENC

G1_STW

IO Data (word)

1 2 3 4 5 6 7 8 9

Byte

0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 1 9

Actual value

ZSW2 _ENC

G1_ZS W

G1_XIST3

G1_XIST2

NIST_B

4.4.4 Standard Telegram 84

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

Output data from the IO controller:

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

Table 12 Output data Telegram 84

Input data to the IO controller:

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)

Table 13 Input data Telegram 84

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

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

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4.5 Manufacturer telegram 59001

IO Data (word)

1 2 Byte

0 1 2

Bits

31(MSB)

30-24

23-16

15-8

7-0(LSB)

Preset control bit

Preset value < total resolution

IO Data (word)

1 2 3

Byte

0(MSB)

1 2 3(LSB)

4(MSB)

5 6 7(LSB)

Actual value

Position value 32 bit Unsigned in

Velocity value 32 bit Signed int

The manufacturer telegram 59001 is a simplified telegram to get cyclic data transmission and also the possibility to do a preset via IO-data without the need of control word and status words. The preset function can be used to set the actual position of the encoder to any entered value within the working range of the encoder. If scaling is active and has been done on the encoder it is only possible to enter a preset value within the working range of the encoder. The preset is activated when the most significant bit (bit 31) is set to 1. The actual preset value should be entered in the following bits according to below.

Table 14 Output data from IO-controller to encoder

The manufacturer telegram 59001 input data consist of a 4 bytes position data value and a 4 byte velocity value as shown below. The velocity value uses the format that is defined in the Velocity measuring unit.

PROFINET IO data description

Table 15 Input data from encoder to IO-controller

Note: User parameter Class 4 functionality and G1_XIST1

Preset control must be activated in order to activate the preset in manufacturer telegram 59001.

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PROFINET IO data description

4.6 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_XIST1 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 telegram instead of the position

value if error occurs.

Example:

25 bit multi turn absolute encoder (8192 steps per revolution, 4096 distinguishable revolutions)

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

Figure 26 Absolute value in G1_XIST1

Figure 27 Absolute value in G1_XIST2

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4.7 Format of G1_XIST3

IO Data

1 2 3

Format

64 bit position value

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 16 Format of G1_XIST3

PROFINET IO data description

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PROFINET IO data description

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

to a fault depends on the type of fault.

No significance

Control by PLC

Control via interface, EO IO Data is valid.

No Control by PLC

EO IO Data not valid, except Sign-Of-Li fe

12..15

Controller Sign-Of-Life

4.8 Control word 2 (STW2_ENC)

The control word 2 (STW2_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 17 Control word 2 (STW2_ENC)

a positive edge. The encoder reaction

Table 18 Detailed assignment of control word 2 (STW2_ENC)

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4.9 Status word 2 (ZSW2_ENC)

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

numbers are in the fault buffer.

No Fault

Control requested

The automation system is requested to assume control.

No Control

Control by automation system is not possible,

face.

12..15

Encoder Sign-Of-Life

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 19 Status word 2 (ZSW2_ENC)

PROFINET IO data description

Table 20 Detailed assignment of status word 2 (ZSW2_ENC)

requested

acknowledged faults (fault messages) are present (in the buffer).The fault reaction is faultspecific and device-specific. The acknowledging of a fault may only be successful, if the fault cause has disappeared or has been removed before. If the fault has been removed the encoder returns to operation. The related fault

only possible at the device or by another inter-

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PROFINET IO data description

Bit

Function

0..7

Function requests: Reference mark search, measurement on the fly

8..10

Reserved (without effect)

Home position mode position mode (Preset)

Request set/shift of home position (Preset)

Request absolute value cyclically

Activate parking sensor

Acknowledging a sensor error

4.10 Control word (G1_STW)

The control word controls the functionality of major encoder functions.

Table 21 Control word (G1_STW)

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

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

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4.11 Status word (G1_ZSW)

Bit

Function

0..7

Function status: Reference mark search, measurement on the fly

Probe 1 deflected

Probe 2 deflected position mode (Preset)

Reserved, set to zero

Requirements of error acknowledgment detected

Set/shift of home position (Preset) executed

Transmit absolute value cyclically

Parking sensor active

Sensor error

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

PROFINET IO data description

Table 22 Status word (G1_ZSW)

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

sor 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.

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PROFINET IO data description

4.12 Real time communication

PROFINET IO uses three different communication channels to exchange data with programmable controllers and other devices. The non real time channel based on for example TCP (UDP)/IP is used for parameterization, configuration and acyclic read/write operations.

The RT or Real Time channel is used for process data transfer and alarms. Real-time data are treated with a higher priority than data sent over the open channel. RT communications overrides the open channel to handle the data exchange with programmable Controllers.

The third channel, Isochronous Real Time (IRT) is the high performance, high speed channel used for demanding motion Control applications. IRT data are treated with a higher priority than RT data sent over the RT channel.

Figure 28 Real time Communication

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PROFINET IO data description

PROFINET distinguishes between three real time classes for transmission of time critical process data. The three RT classes are:

Real-Time, RT Class 1

• Unsynchronized Real time communication

• Industrial standard switches can be used.

• Typical application area: Factory automation

Real-Time, RT Class 2

• Synchronized and unsynchronized data transmission

• Special switches supporting IRT is needed

• Typical application area: Factory automation

Isochronous Real Time, RT Class 3

The isochronous operation mode is used when real-time positioning with high performance is required. The basic principal is that all PROFINET devices on the net are clock synchronized with the controller using a global control broadcast enabling simultaneous data accusation from all devices with microsecond accuracy. The data exchange cycles for IRT are usually in the range of a few hundred microseconds up to a few milliseconds. The difference to real-time communication is essentially the high degree of determinism, so that the start of a bus cycle is maintained with high precision. The synchronization is monitored by sign-of life messages in Control word 2 (STW2_ENC) and Status word 2 (ZSW2_ENC).

• Clock synchronized data transmission

• Special switches supporting IRT is needed

• IRT is required for example motion control applications

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Alarms and warnings

Supported channel diagnostic

Diagnostic data record

Description

Position error

0x900A

The encoder fails to read the correct position value

Memory error

0x9000

The encoder fails to read stored

volatile memory

Commissioning diagnostics

0x9011

User parameter data assignment error

5 Alarms and warnings

5.1 Diagnostics and Alarms

Diagnostic data is always transferred acyclically using Record Data communications over the non real time channel. An IO Supervisor must specifically request the diagnostic or status data from the IO device using RDO (Record Data Object) services.

Alarm data is transmitted from the IO device to the IO controller via the RT channel. Alarm is generated by the encoder when failure occurs which effects the position value. Alarms can be reset (deleted) when all encoder parameters are within the specified value ranges and the position value is correct.

5.2 Channel diagnostics

The encoder outputs a diagnostic interrupt to the CPU when it detects one of the supported channel diagnostics.

Table 23 Channel diagnostics

In a SIMATIC STEP 7 system the operation system responds by calling a diagnostic OB. The OB number and start information provides the cause and location of the error. The error information can be read by calling a system Function block (SFB54 RALRM for STEP 7). Then the user can decide how the system should handle the error.

Note: If the called OB is not included in the program the CPU

offset or preset values from the non

will go to stop.

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5.3 Sensor status word

Supported diagnostic

Error code in G1_XIST2

Description

Sensor group error

0x0001

The encoder fails to read the correct position value

Memory error

0x1001

The encoder fails to read stored offset

memory

Command not supported

0x0F01

User parameter data assignment error

G1_STW and STW2_ENC

Master´s sign of life fault

0x0F02

The number of permissible failures the controller’s life sign was exceeded.

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

Table 24 Sensor status word

Alarms and warnings

or preset values from the non volatile

or command error in commands words

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Acyclic Parameter Data

6 Acyclic Parameter Data

6.1 Acyclic data exchange

In addition to the cyclic data exchange, the PROFINET 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 IO 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

6.2 Identification and Maintenance (I&M functions)

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

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

• Order ID

• MAC address

• Hardware Version

• Software Version

• Product type

• Manufacturer ID

For more information regarding additional I&M functions supported by the encoder, refer to chapter 7.14.6.

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6.3 Base mode parameter access

Write of Preset value, parameter 65000

Parameter request

Request reference

0x00

Request ID

0x02

0x02 Change value, 0x01read value

DO-ID (axis)

0x01

Drive Object ID

No of parameters

0x01

Attribute

0x10

0x10Va lu e

No of elements

0x00

Parameter number

0xFDE8

Parameter 65000

Sub index

0x0000

Format

0x04

Data type integer 32

Number of values

0x01

The PROFIdrive parameters and the encoder parameter 65000 can be accessed by the Acyclic Data Exchange service using the Base Mode Parameter access local (Record Data Object 0xB02E).

6.3.1 General characteristics

Acyclic parameter can be transmitted 1(single) or up to 39 (multi) in one access. A parameter access can be up to 240 bytes long.

6.3.2 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.

6.3.3 Changing the preset value

Table 23 below shows the structure of a change value request.

Acyclic Parameter Data

Table 25 Changing the preset value

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Acyclic Parameter Data

Read of Preset value, parameter 65000

Parameter request

Request reference

0x00

Request ID

0x01

0x01read value

DO-ID (axis)

0x01

Drive Object ID

No of parameters

0x01

0x01 Read one parameter

Attribute

0x10

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

0x01

0x01read value

DO-ID (axis)

0x01

mirrored

No of parameters

0x01

Format

0x04

0x04= Data type unsigned 32

No of values

0x01

Values or errors

0x00,0x00,0x00,0x64

Preset value 100

6.3.4 Reading the preset value

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



Table 26 Reading the preset value (request)

Table 27 Reading the preset value (response)

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6.4 Supported parameters

6.4.1 Parameter 922, read only

922 unsigned int, presents which telegram is used. Telegram 81,82,83, 84 or 59001 is possible.

6.4.2 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.

6.4.3 Parameter 964, read only

964unsigned int

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 (DO)

6.4.4 Parameter 965, read only

965OctetString 2

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

6.4.5 Parameter 971, read/write

971 unsigned int, Stores 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.

6.4.6 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

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Acyclic Parameter Data

6.4.7 Parameter 975, read only

975unsigned int

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 sup- ported. 975[7] = 0x0001Drive object Id (DO ID).

6.4.8 Parameter 979, read only

979unsigned long

979[0] = 0x00005111  Number of index describing encoder, Numbers of de-

scribed 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

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6.4.9 Parameter 980, read only

This parameter shows the supported parameters

980unsigned int

980[0] = 922 980[9] = 61001 980[1] = 925 980[10] = 61002 980[2] = 964 980[11] = 61003 980[3] = 965 980[12] = 61004 980[4] = 971 980[13] = 65000 980[5] = 974 980[14] = 65001 980[6] = 975 980[15] = 65002 980[7] = 979 980[16] = 65003 980[8] = 61000 980[17] = 0

6.4.10 Parameter 61000, read/write

Name of station 61000 OctetString, 240 octets

6.4.11 Parameter 61001, read only

IP of station 61001unsigned long

6.4.12 Parameter 61002, read only

MAC of station 61002OctetString, 6 octets

6.4.13 Parameter 61003, read only

Default gateway of station 61003 unsigned long

6.4.14 Parameter 61004, read only

Subnet mask of station 61004 unsigned long

6.4.15 Parameter 65000 read/write

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

Acyclic Parameter Data

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Acyclic Parameter Data

6.4.16 Parameter 65001, read only

Used with telegram 81-84 and 59001 65001 unsigned long

65001[0] = 0x000C0101 Header, Version of parameter structure and numbers of index describing the encoder. 12 index and ver-

s i o n 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 unit

• step/10 ms

• step/100 ms

• step/1000 ms

• RPM

6.4.17 Parameter 65002, read/write

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

6.4.18 Parameter 65003, read only

Used with telegram 84 65003 unsigned long long,

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)

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6.5 Example of reading and writing to a parameter

Hardware components

IO controller

SIEMENS S7-F CPU

CPU 315F-2PN/DP

IO Device

PROFINET encoder

Software components

SIMATIC STEP 7

V5.4 + SP5

GSDML file for PROFINET encoder

GSDML-V2.2-JH-PROFINETEncoder-xxxxxxxx.xml

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 28 Hardware components

Table 29 Software components

Acyclic Parameter Data

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Acyclic Parameter Data

6.5.1 Used blocs

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 29 Request data block, DB1

DB2

DB2 is the response data block.

Figure 30 Response data block, DB2

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DB3

DB3 is the instance data block of SFB52

Figure 31 Instance data block, DB3

DB4

DB4 is the instance data block of SFB53

Acyclic Parameter Data

Figure 32 Instance data block, DB

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Acyclic Parameter Data

OB1

OB1 controls the read and write operation.

Figure 33 Organization block, OB1

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Parameters of SFB52

Parameter

Declaration

Data type

Description

REQ

INPUT

BOOL

REQ=1 Enables data transfer

Logical address of the PROFINET IO

address 2039)

INDEX*

INPUT

INT

Record number

Maximum length of the record information in bytes

New record has been received and is valid.

BUSY

OUTPUT

BOOL

Busy=1 during the read operation

ERROR

OUTPUT

BOOL

Error=1 read error

STAT US

OUTPUT

DWORD

Block status or error code

LEN*

OUTPUT

INT

Length of record information

RECORD

IN_OUT

ANY

Target area for the record

Acyclic Parameter Data

ID INPUT DWORD

module or sub module (PAP-module

MLEN* INPUT INT

VALID OUTPUT BOOL

Table 30 Parameters of SFB52

Negative values are interpreted as 16-bit unsigned integers.

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Acyclic Parameter Data

Parameter

Declaration

Data type

Description

REQ

INPUT

BOOL

REQ=1 Enables data transfer

Logical address of the PROFINET IO

address 2039)

INDEX*

INPUT

INT

Record number

Length of the record information in bytes

DONE

OUTPUT

BOOL

Data record was transferred

BUSY

OUTPUT

BOOL

Busy=1 during the write operation

ERROR

OUTPUT

BOOL

Error=1 write error

STAT US

OUTPUT

DWORD

Block status or error code

RECORD

IN_OUT

ANY

Data record

Parameters of SFB53

ID INPUT DWORD

module or sub module (PAP-module

LEN* INPUT INT

Table 31 Parameters of SFB53

Negative values are interpreted as 16-bit unsigned integers.

Page 65

Diagnostic address of slot 1

Acyclic Parameter Data

Figure 34 Diagnostic address of slot 1

Page 66

Acyclic Parameter Data

Variable table

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

Figure 35 Variable table

Page 67

Acyclic Parameter Data

To change the value of parameter 65000 with the variable table perform the following steps:

1) Enable monitoring by clicking the Monitor variable button.

2) Write 02hex to address DB1.DBB 1 by entering B#16#02 in the modify value column.

3) Write the new preset value in hexadecimal to address DB1.DBD 12 by entering the value in the modify value column. (Ex.DW#16#000001F4)

4) Click the Modify variable button. The status value of DB1.DBB 12 should now contain the new value.

5) Run the program-right click on M8.4 and click “Modify address to 1” to run the program. Then stop the program by right click and click “Modify address to 0”.

6) The status value of DB2.DBD 6 should now have been changed to the new preset value.

7) Change the value in DB1.DBB 1 to 01hex (B#16#01#) and click modify variable.

8) To set the encoder to the new preset value bit 12 in control word must be set to

1. This is done by writing 1000hex (W#16#1000) to address PQW 2. Then click the button Modify variable to make the preset of the encoder.

9) The encoder can now at any time be set to the preset value by setting bit 12 in control word (G1_STW).

Page 68

Functional description of the encoder

Function

Code sequence

Class 4 functionality

G1_XIST1 Preset control

Scaling function control

Alarm channel control

Compatibility mode

Preset value

Preset value 64 bit

Measuring units per revolution/Measuring step

To tal measuring range

Measuring units per revolution 64 bit

To tal measuring range 64 bit

Maximum Master Sign of Life failures

Velocity measuring unit

Encoder Profile version

Operating time

Offset value

Offset value 64 bit

7 Functional description of the encoder

This chapter describes the functions that have been implemented in PROFINET encoders from HEIDENHAIN. The table below shows the supported functions in the PROFINET encoder.

Ta ble 32 Supported encoder functions

Page 69

7.1 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 33 Code sequence

Note: The position value will be affected when the code se-

7.2 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.

Functional description of the encoder

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

Table 34 Class 4 functionality

Page 70

Functional description of the encoder

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

7.3 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 35 G1_XIST1 Preset control

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.

7.4 Scaling function control

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

Table 36 Scaling function control

Note: The parameter Class 4 functionality must be enabled

to use this parameter.

Page 71

7.5 Alarm channel control

Attribute

Meaning

Valu e

Enable

Profile specific diagnosis is switch on

Disable

No profile specific diagnosis (default)

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 37 Alarm channel control

Note: This parameter is only supported in compatibility

mode.

Functional description of the encoder

Page 72

Functional description of the encoder

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

ported and is set to 0.

Supported User parameter Maximum

Supported

Not supported, one Sign of

PROFIdrive P925 is optional

toring.

User parameter Alarm

Supported

Not supported, the applica-

PROFIdrive parameter.

P965 Profile Version

31 (V3.1)

41 (V4.1)

7.6 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 38 Compatibility mode

(STW2_ENC)

Master Sign of Life failures

channel control

Table 39 Compatibility mode overview

(G1_STW) and the set point values are always valid. Control requested (ZSW2_ENC) is not sup-

Life failure tolerated,

to control the life sign moni-

tion alarm channel is active and controlled by a

Page 73

7.7 Preset value

Functional description of the encoder

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. The preset function is controlled by bits in the control word (G1_STW) and acknowledged by a bit in the status word (G1_ZSW). A preset value can be set more than once and it can be stored to the nonvolatile memory using PROFIdrive parameter 9 7 1.

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.

The steps below should be followed by the IO-controller when modifying the Preset value parameters:

1. Read the requested Preset value parameter and check if the returned value meets the application requirements. If not, proceed with the following steps.

2. Write the Preset value into the individual parameter.

3. 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.

Note: The preset function should only be used at encoder

standstill.

Note: The number of possible preset cycles is unlimited.

Page 74

Functional description of the encoder

Parameter

Meaning

Data type

Measuring units per revolution

The single turn resolution in measuring steps

Unsigned 32

Measuring units

The single turn resolution

exceeding 32 bits.

Unsigned 64

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).

7.8 Scaling function parameters

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. The scaling parameters are securely stored in the IO controller and are reloaded into the encoder at each power-up.

7.8.1 Measuring units per revolution

This parameter sets the single turn 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 2

and 213 (8192).

per revolution 64 bit

in measuring steps for encoders with a resolution

Table 40 Measuring units per revolution

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.

Page 75

7.8.2 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.

Example: The total measuring range for a 25 bit multi turn encoder with a 13 bit single turn and a 12 bit multi turn resolution is between 2

(33 554 432).

The total measuring range is calculated as below:

Measuring units per revolution x Total measuring range = 8192 (2 = 33554432

) x 4096 (212)

If 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.

The device has 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.

Functional description of the encoder

and

Page 76

Functional description of the encoder

A. Cyclic operation (binary scaling)

Cyclic operation is used when operating with 2

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 * 2

(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:

Measuring units per revolution = 1 000 Total measuring range = 32 000

= number of revolutions 32)

Figure 36 Cyclic operation

Page 77

Functional description of the encoder

B. Non-cyclic operation

If the desired total measuring range is not equal to the specified

single turn resolution * 2

(where x<= 12) the encoder operates in non-cyclic operation. The non -cyclic operation is affected by the parameter G1_XIST1 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_XIST1 Preset control en- abled, the device outputs the maximum position value within the scaled total range for both position values G1_XIST1 and G1_XIST2.

Example of non-cyclic scaling with G1_XIST1 Preset control enabled:

Measuring units per revolution = 100 Total measuring range = 5000 (number of revolutions 50)

Figure 37 Non cyclic operation, preset control enabled

Page 78

Functional description of the encoder

G1_XIST1 Preset control = Disabled

With the parameter G1_XIST1 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_XIST2. The position value G1_XIST1 is not limited to the scaled total range. For the position value G1_XIST1, the device will continue to output a scaled position value within the encoder’s total measuring range (up to 33554432 positions for a 25 bit encoder).

Example of non-cyclic scaling with G1_XIST1 Preset control disabled:

Measuring units per revolution = 100 Total measuring range = 5000 (number of revolutions 50)

Figure 38 Non cyclic operation, preset control disabled

Page 79

Handling 64 bit data

Parameter

Meaning

Valu e

Maximum Master

The number of permissible

sign.

1...255

MSB

LSB

4 byte=32 bit

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

= 68719476736 = 0x 00 00 00 10 00 00 00 00

Take the 4 least significant bytes above and convert to decimal:

0x00 00 00 00 =0

= Total measuring range LSB

Then take the 4 most significant bytes 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

7.9 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).

Functional description of the encoder

Sign-of-Life failures

failures of the masters life

Table 41 Maximum master Sign of life failures

Note: This parameter is only supported in compatibility

mode.

Page 80

Functional description of the encoder

Parameter

Meaning

Valu e

Velocity measuring

Definition of the units for

value

See below

Velocity measuring units

Valu e

Steps/s

Steps/100ms

Steps/10ms

RPM

7.10 Velocity measuring units

This parameter defines the coding of the velocity measuring units used to configure the signals NIST_A and NIST_B. Standard telegram 81 has no velocity information included and the encoder does not use the velocity unit information in this case. Telegram 82,83,84 and 59001 includes velocity output and needs a declaration of the velocity measuring unit.

units

the encoder velocity output

Table 42 Velocity measuring units

The velocity calculations are made with a maximum of 19 resolution. If the resolution is higher than 2 velocity calculations is automatically reduced to 2

, the value used for

bits

Example:

For a 37 bit multi turn encoder with a 2

and a 2 velocity calculations will be 2

multi turn resolution, the maximum single turn value for

imum resolution can be up to 31 bit, but the value used for velocity calculations will in this case also be 2

single turn resolution

. For a single turn encoder the max-

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

200 ms and the value is multiplied by 5.

Note: If scaling has been set on the device the velocity calcu-

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

Page 81

7.11 Encoder profile version

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

Parameter

Meaning

Data type

Operating time

The accumulated power on time

Unsigned 32

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.

Table 43 Encoder profile

7.12 Operating time

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).

Functional description of the encoder

Table 44 Operating time

Page 82

Functional description of the encoder

Parameter

Meaning

Data type

Offset value

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

Integer 32

Offset value 64 bit

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

Integer 64

7.13 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.

Table 45 Offset value

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

by a parameter write access.

Page 83

7.14 Acyclic data

PNU (Prm.no)

Significance

Data type

Read/Write

922

Telegram selection

Unsigned 16

925

Number of Controller Sign-of-Life failures which may be tolerated.

Unsigned 16

R/W

964

Device identification

Array[n] Unsigned 16

R 965

Encoder Profile number

Octet string 2

971

Transfer to non volatile memory

Unsigned 16

9 74

Base Mode Parameter Access service identification

Array[n] Unsigned 16

975

Encoder object identification

Array[n] Unsigned 16

979

Sensor format

Array[n] Unsigned 32

980

List of supported parameters

Array[n] Unsigned 16

The PROFINET encoder support the following acyclic data exchange functions.

7.14.1 PROFIdrive parameters

The encoder profile V4.1 (PNO no. 3.162) has adopted certain standard PROFIdrive parameter. The following PROFIdrive parameters are supported:

Functional description of the encoder

Table 46 Supported PROFIdrive parameters

Page 84

Functional description of the encoder

PNU (Prm.no)

Significance

Data type

Read/Write

61000

Name of station

Octet String [240]

R 61001

IP of station

Unsigned 32

61002

MAC of station

Octet String[6]

61003

Default gateway of station

Unsigned 32

61004

Subnet Mask Of Station

Unsigned 32

65000

Preset value

Integer 32

R/W

65001

Operating status

Array [n] Integer 32

R 65002

Preset value 64 bit

Integer 64

R/W

65003

Operating status 64 bit

Array [n] Integer 64

7.14.2 Encoder parameter numbers

The table below specifies the encoder specific parameter that is supported.

Table 47 Encoder parameter numbers

Page 85

Functional description of the encoder

PNU

65000

Significance

Preset value

Data type

Integer 32

Access

Read and write

Validity range

Profile specific

Explanation

The preset value sets the value for the preset

rameter 971 and will be reloaded at each start up if stored.

PNU

65002

Significance

Preset value

Data type

Integer 64

Access

Read and write

Validity range

Profile specific

Explanation

The preset value sets the value for the preset

rameter 971 and will be reloaded at each start up if stored.

7.14.3 Parameter 65000 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.

function. The preset value can be stored in the non volatile memory by PROFIdrive pa-

Table 48 Parameter 65000, Preset value

Table 49 Parameter 65002, Preset value 64 bit

function. The preset value can be stored in the non volatile memory by PROFIdrive pa-

Page 86

Functional description of the encoder

PNU

65001

Significance

Encoder Operating Status

Data type

Array[n] Integer 32

Access

Read

Validity range

Profile specific

Explanation

The operating status displays the status of the encoder.

7.14.4 Parameter 650 01-Operating status

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 50 Parameter 65001, Operating status

Page 87

Functional description of the encoder

Sub index

Meaning

Header

Operating status

Faults

Supported Faults

Warnings

Supported warnings

Encoder Profile version

Operating time

Offset value

Measuring units per revolution

Total measuring range in measuring units

Velocity measuring unit

Table 51 Parameter 65001, Sub index

Page 88

Functional description of the encoder

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 52 Parameter 65001, Sub index 1

Page 89

7.14.5 Parameter 65003- operating status 64 bit

PNU

65003

Significance

Encoder Operating Status 64 bit

Data type

Array[n] Integer 64

Access

Read

Validity range

Profile specific

Explanation

The status of encoder operating parameters with 64 bit length.

Sub index

Meaning

Header

Offset value 64 bit

Measuring units per revolution 64 bit

Total measuring range in measuring units 64 bit

The parameter structure 65003 is a read only structure where information on the 64 bit parameter values can be found.

Table 53 Parameter 65003, Operating status 64 bit

Functional description of the encoder

Table 54 Parameter 65003, Sub index

Page 90

Functional description of the encoder

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

7.14.6 Identification & Maintenance functions

In addition to the PROFIdrive parameter 964, Device Identification, I&M functions are supported by the encoder. The I&M functions can be accessed with record index 0xAFF0-0xAFF4. The following I&M functions are supported.

Table 55 Identification & Maintenance

Page 91

8 Firmware upgrade

The encoder supports a firmware upgrade function. The firmware upgrade function is developed to offer the possibility to upgrade the encoders in the future.

Before the upgrade of the encoder can start, the following tools are needed:

• A running TFTP server

• A WEB browser (Internet Explorer, Firefox, Opera etc.)

The encoder itself puts no restrictions on what TFTP server to use. The customer can choose to use any TFTP servers.

Firmware upgrade in a PROFINET network.

• This is when the encoder is connected to a PROFINET net-

work. The encoder will be provided with an IP address from the PROFINET IO controller (with DCP).

Firmware upgrade

Page 92

Firmware upgrade

8.1 Firmware upgrade in a PROFINET network

The following prerequisites have to be fulfilled in order to upgrade the encoder in a PROFINET network:

• The encoder should be attached to the network.

• The encoder must have a valid Device name and a valid IP ad-

dress (assigned with DCP).

• A TFTP server should be enabled on the LAN where the en- coder is attached. See chapter 8.4 for an example how to set up a TFTP server.

Once the encoder has been assign a valid IP address it should be accessible on the network. Enter the encoders IP address in the WEB browser to open the Firmware upgrade page.

Figure 39 Firmware upgrade startpage

Page 93

Firmware upgrade

When accessing the encoder with the web browser it will display a number of parameters. In the firmware upgrade section of the page, enter the following information:

• Server IP address - Enter the IP address to the TFTP server on the LAN

• Firmware filename - Enter the full file name of the new firm- ware file supplied by the TFTP server

• Date - Enter the current date for the upgrade. This is stored as part of the Upgrade History. The format is yyyy-mm-dd. E.g. 2010 -11-15.

Figure 40 Firmware upgrade settings

Page 94

Firmware upgrade

The parameters are set by clicking the Submit Values button. After clicking the Submit Values button, update the page in the web browser. To start the upgrade, click on the Upgrade button.

A confirmation page is displayed where the upgrade has to be confirmed before the device starts the actual firmware upgrade process. The Continue button needs to be clicked in order to start the upgrade sequence.

Figure 41 Firmware upgrade confirmation page

Page 95

Firmware upgrade

During upgrade a progress page is displayed. Depending upon the choice of web browser, the auto generated progress page will take some time to be displayed. However, the progress web page should always be displayed when the upgrade is finished. If no errors occur during upgrade the encoder will automatically reboot itself and connect to the PROFINET IO-controller with the new firmware.

Figure 42 Firmware upgrade status page

During the upgrade, both the bus status LED and the device status LED will be flashing green. If an error occurs both LEDS will be flashing red.

If the upgrade fails check the error code displayed on the progress page. The error codes are described in chapter 8.3.

Page 96

Firmware upgrade

8.2 Error handling

This chapter will list all the possible error codes that can occur during an upgrade error. The error code will be visible on the feedback webpage. If an error occurs the device will not reboot itself automatically. Instead it will wait upon user action. This is to allow the user to take the next step. E.g. the user might want to check some parameters before rebooting or try to run the upgrade procedure again.

Failed to download firmware file from server Error code: -2

The user should verify the IP address and the image filename. If any of them is incorrect the user should go back and submit the correct parameters at the main html page (index.html). If the parameters are correct the user should verify that the TFTP server is running on the host computer and that the TFTP server settings are correct.

Host not responding/No contact with host computer Error code: -3

The user should verify that the host computer is connected to the encoder. The ping command can be used for this purpose. If connected, go back to upgrade.html and click Confirm to try and upgrade again.

Checksum Error/File image error Error code: -4

Calculated checksum doesn’t match the one supplied by the image file. The most likely cause for this problem is that there was an error when downloading the file to the encoder. Go back to upgrade.html and press Confirm and try again.

Flash Erase/Write Error Error code: -5

The image might be corrupt. Flash Erase or Write failed. If this error occurs the device can still start with its failsafe image. It will be displayed by the Execution State parameter on the web Page.

Page 97

File Size Error Error Code: -6

The firmware file is too big to be written to flash.

Insufficient Memory Error Code: -7

There is not enough memory available to store the firmware file image.

Invalid Firmware File Error Code: -8

Firmware file is not supported for this hardware.

Firmware upgrade

Page 98

Firmware upgrade

8.3 TFTP server installation

The TFTP ser ver used in this example is a freeware TFTP server for Windows NT/XP/Vista platforms and it can be downloaded

www.solarwinds.com.

from

Unzip the installation file and double click on the SolarWindsTFTP-Server.exe file to start the installation. Follow the instructions on the screen to complete the installation.

Create a folder on C:\ named TFTP_Root (if it not already exists). Copy or Move the new firmware file used to the C:\TFTP_Root directory.

Start the SolarWinds TFTP server and click on the File->Configure tab to open up the Configure window.

Figure 43 SolarWinds TFTP server

Page 99

Firmware upgrade

In the Configure window:

• Make sure that the correct network interface is selected in the Used NIC selection menu. I.e. it is the network interface which is connected to the encoder network.

• Set up the path to the TFTP root directory. I.e. the TFTP-Root di- rectory created under C:\.

• Leave the other parameters with their default values.

• Click Start to start the TFTP server service in Windows.

Figure 44 SolarWinds TFTP server settings

Note: The server will listen to port 69. Verify that there is no

firewall blocking the port for incoming/outgoing requests. Disable any firewall temporarily if communication problems occur.

Page 100

Encoder replacement using LLDP

9 Encoder replacement using LLDP

The encoder supports Link Layer Discovery Protocol (LLDP). LLDP is essentially a neighbor discovery protocol used by network devices for advertising of their identity, capabilities and interconnections.

In a PROFINET network all IO devices are recognized by their device name. Sometimes an IO device needs to be replaced in an automation system, and this is when LLDP is useful. Using LLDP, the neighbor relations between the individual IO device and the IO controller are analyzed and stored on the IO controller. If an IO device has been replaced, the IO controller will recognize this and will redefine the device name.8

Follow the instruction below to exchange an IO device using LLDP:

Select properties of the PN-IO controllers interface module and enable Support device replacement without exchangeable medium.

Figure 45 LLDP Properties

100

HEIDENHAIN PROFINET User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

1.1 About absolute encoders

1.2 About PROFINET technology

1.3 Encoder Profiles

1.4 References

1.5 Abbreviations

2.1 Cables and standards

Table 2 Power supply connection

2.2 Connectors and pin configuration

Figure 1 Bus connectors

2.3 Shielding concept of the encoder

2.4 MAC-address

2.5 LED indication

Table 3 Led indication

3.1 Device description file installation (GSDML)

Table 4 GSDML file

Figure 3 Installation of GSDML file

3.2 Setting encoder configuration

Figure 4 Encoder configuration

Figure 5 Example of connected encoder

Figure 7 Selected telegram

3.3 Setting encoder device name

Figure 8 How to set encoder device name

Figure 9 Device name

Figure 10 Assign device name

Figure 11 Assign name

Figure 12 How to verify device name

Figure 13 Verify device name

3.4 Setting encoder parameters

Figure 14 Parameter Access point

Figure 15 Parameter data

Figure 16 Save and compile

Figure 17 Download settings

3.5 Isochronous real time settings (RT Class 3)

Figure 18 Open Interface properties

Figure 19 RT Class option

Figure 20 Interface properties

Figure 21 IO Cycle properties

Figure 22 Port settings

Figure 23 Topology settings

Figure 24 Domain management

4.1 Encoder profile overview, PNO order no.3.162

Figure 25 Overview of encoder profiles

4.2 Application Class definition

4.3 Standard signals

Table 5 Standard signals

4.4 Standard telegrams

4.4.1 Standard Telegram 81

Table 6 Output data Telegram 81

Table 7 Input data Telegram 81

4.4.2 Standard Telegram 82

Table 8 Output data Telegram 82

Table 9 Input data Telegram 82

4.4.3 Standard Telegram 83

Table 10 Output data Telegram 83

Table 11 Input data Telegram 83

4.4.4 Standard Telegram 84

Table 12 Output data Telegram 84

Table 13 Input data Telegram 84

4.5 Manufacturer telegram 59001

4.6 Format of G1_XIST1 and G1_XIST2

Figure 26 Absolute value in G1_XIST1

Figure 27 Absolute value in G1_XIST2

4.7 Format of G1_XIST3

4.8 Control word 2 (STW2_ENC)

4.9 Status word 2 (ZSW2_ENC)

4.10 Control word (G1_STW)

4.11 Status word (G1_ZSW)

Figure 28 Real time Communication

5.3 Sensor status word

6 Acyclic Parameter Data

6.1 Acyclic data exchange

6.2 Identification and Maintenance (I&M functions)

6.3 Base mode parameter access

6.3.1 General characteristics

6.3.2 Parameter requests and responses

6.3.3 Changing the preset value