HEIDENHAIN PROFINET User Manual
User‘s Manual
PROFINET
Interface for Encoders
English (en)
6/2014
Content
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
2
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
3
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
4
List of tables
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
5
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
6
List of figures
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
7
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
8
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
9
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.
10
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
11
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:
12
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
13
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
14
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
15
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
16
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
17
Installation
Bus
Module
Meaning
Cause
Off
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
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
18
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
19
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.
20
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
21
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
22
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.
23
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.
24
Figure 9 Device name
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
25
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
26
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
27
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
28
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
29
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
30
Loading...