IFM Electronic RM30 Device Manual

Device manual
ProfiNet encoder
RM30xx
706354/00 06/2013
UK
Encoder with ProfiNet interface
Contents
1 Preliminary note � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 4
1�1 Symbols used� � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 4 1�2 Warning signs used � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 4 1�3 Notes on this document � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 4
2 Safety instructions � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 4
3 General information � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 5
3�1 Absolute encoder � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 5 3�2 ProfiNet � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 5
4 Functions and features � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 6
5 Electrical connection� � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 6
5�1 Ethernet and power supply� � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 6 5�2 Ethernet cables � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 7
5�2�1 RJ45 – M12 crossed � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 7 5�2�2 RJ45 – M12 straight� � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 7 5�2�3 M12 – M12 � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 7
6 LED indicators � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 7
6�1 Legend � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 7 6�2 Status LEDs � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 8
7 Installation� � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 9
8 Device configuration � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 10
8�1 Standardisation � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 10 8�2 Encoder classes � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 10 8�3 Encoder functions� � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 10 8�4 Signal list for cyclic data transmission � � � � � � � � � � � � � � � � � � � � � � � � � � � �11
8�4�1 Format of position value� � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � �11 8�4�2 Encoder control word (STW2_ENC) � � � � � � � � � � � � � � � � � � � � � � � � 13 8�4�3 Encoder status word (ZSW2_ENC) � � � � � � � � � � � � � � � � � � � � � � � � � 14 8�4�4 Encoder control word (G1_STW)� � � � � � � � � � � � � � � � � � � � � � � � � � � 14 8�4�5 Encoder status word (G1_ZSW) � � � � � � � � � � � � � � � � � � � � � � � � � � � 15
8�5 Standard and vendor telegrams � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 15
9 Configuration principle � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 17
9�1 Overview of encoder functions � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 17 9�2 Encoder functions – Data format � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 17 9�3 Parameters for acyclic data transmission� � � � � � � � � � � � � � � � � � � � � � � � � 19
9�3�1 Standard parameters � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 20 9�3�2 Device parameters� � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 20
9�3�3 Vendor parameters � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 20 9�4 Supported parameters � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 20 9�5 Encoder function description � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 22
9�5�1 Code sequence � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 23
9�5�2 Class 4 functionality � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 23
UK
Encoder with ProfiNet interface
9�5�3 Preset control for G1_XIST1 � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 23
9�5�4 Scaling function control � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 23
9�5�5 Alarm channel control � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 24
9�5�6 Compatibility mode � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 24
9�5�7 Preset value � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 24
9�5�8 Offset value � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 27
9�5�9 Scaling parameters � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 27
9�5�10 Maximum master sign-of-life failures � � � � � � � � � � � � � � � � � � � � � � � 27
9�5�11 Velocity measuring units� � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 27
9�5�12 Velocity filter� � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 28
9�5�13 Endless shaft (round axis) � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 28
9�5�14 Encoder profile version � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 29
10 Configuring with STEP7 � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 30
10�1 Installing the GSDML file � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 30 10�2 Adding an encoder to a STEP7 project � � � � � � � � � � � � � � � � � � � � � � � � � 31
10�2�1 Standard encoder without PDEV � � � � � � � � � � � � � � � � � � � � � � � � � � 32 10�3 Module Access Point parameter setup: � � � � � � � � � � � � � � � � � � � � � � � � � 37
Encoder with ProfiNet interface
1 Preliminary note
1.1 Symbols used
Instructions > Reaction, result […] Designation of keys, buttons or indications Cross-reference
Important note
Non-compliance can result in malfunction or interference�
Information
Supplementary note
1.2 Warning signs used
NOTE
Warning of damage to property�
1.3 Notes on this document
This document applies to encoders of the following type:
RM30xx (ProfiNet interface)
It is part of the device and contains information about the correct handling of the product�
This document is intended for qualified electricians� These specialists are people who are qualified by their training and their experience to recognise and to avoid possible hazards that may be caused during operation of the device�
► Read this document before using the device�
► Keep this document during the service life of the device�
► Observe these operating instructions�
► Adhere to the warning notes�
2 Safety instructions
Non-observance of the instructions, operation which is not in accordance with use as prescribed below, wrong installation or incorrect handling can affect the safety of operators and machinery�
The installation and connection must comply with the applicable national and international standards� Responsibility lies with the person installing the device� Only the signals indicated in the technical data or on the device label may be supplied to the connections or wires�
UK
Encoder with ProfiNet interface
3 General information
3.1 Absolute encoder
The basic principle of an absolute encoder is the optical sampling of a transparent code disc which is fixed with the shaft to be measured�
The absolute encoder has a resolution of 8,192 steps per resolution (13 bits) at 4,096 revolutions (12 bits)� This results in a maximum resolution of 33,554,432 steps (25 bits)�
For further information about the function principle and setup of a ProfiNet network, please refer to
→ http://www.profibus.com/community/regional-pi-associations/germany
3.2 ProfiNet
ProfiNet is an industrial Ethernet standard merging plant automation with enterprise IT resources� ProfiNet provides comparable functionality to PROFIBUS with the additional possibility of firmware upgrades�
Established IT standards are employed as basis of communication: UDP and IP� XML is used as description language for device profiles (GSDML files)�
Two ways of using ProfiNet are available: ProfiNet IO, similar to PROFIBUS DP as a distributed I/O system and ProfiNet CBA as a modular component-based system for larger systems�
ProfiNet offers scalable communication for different applications in industrial automation:
ProfiNet NRT (Non Real Time) is suited for non-time-critical process automation with clock rates of roughly 100 ms�
ProfiNet RT (Real Time) offers a communication channel with optimised performance (10 ms clock rate) for most factory automation tasks�
ProfiNet IRT (Isochronous Real Rime) supports communication clock rates
around 1 ms and a jitter of less than 1 μs. This operating mode is mainly of use
for motion control applications�
ProfiNet IO uses a view of distributed controllers similar to PROFIBUS DP� IO controllers (PLCs) run automation programs, IO devices (e�g� absolute encoders) are remotely assigned field devices, and IO supervisors (e�g� programming devices) are used for commissioning and diagnostics�
The setup of ProfiNet IO is done similar to PROFIBUS� The fieldbuses (e�g� Ethernet topologies) are assigned to the control system during configuration� The IO device is configured based on the GSDML contents�
After completion of the setup the configuration data are loaded into the IO controller (PLC) and data exchange with the IO device takes place�
Encoder with ProfiNet interface
An IO device is addressed within ProfiNet (and also possibly by external Ethernet components) through its IP address�
Data can be transferred (process data) from the IO controller to the IO device (and vice versa) cyclically� Apart from this, acyclic parameters can be exchanged during setup of the IO device or by the use of PLC programming blocks during operation�
4 Functions and features
Integrated bootloader for firmware upgrades
Round axis functionality
Neighbouring detection (when replacing the device)
Device identification via LEDs
Different filters for velocity
ProfiNet encoder profile V4�0/V4�1
5 Electrical connection
► Disconnect power� ► Connect the device according to the indications on the type label�
5.1 Ethernet and power supply
1
4
3
2
1: Tx +
2: Rx +
3: Tx -
4: Rx -

1: US (10 - 30 V DC)
2: not connected (n�c�)
3: GND (0 V)
4: not connected (n�c�)
Ethernet: 4 pin female, D-coded
Power supply: 4 pin male, A-coded
UK
Encoder with ProfiNet interface
5.2 Ethernet cables
5.2.1 RJ45 – M12 crossed
Signal RJ45 M12
Tx + 1 2
Tx - 2 4
Rx + 3 1
Rx - 6 3
5.2.2 RJ45 – M12 straight
Signal RJ45 M12
Tx + 1 1
Tx - 2 3
Rx + 3 2
Rx - 6 4
5.2.3 M12 – M12
Signal M12 M12
Tx + 1 1
Tx - 2 2
Rx + 3 3
Rx - 4 4
6 LED indicators
6.1 Legend
LED on / lit
Stat 1 Stat 2 Active 1
Active 2
Link 1Link 2
LED flashes
LED off
LED Colour Status / frequency Description
Active 1 Yellow
Data traffic on port 1
Encoder with ProfiNet interface
LED Colour Status / frequency Description
Link 1 Green
Active link to other Ethernet components via port 1
Link 1 Green
2 Hz
Identification call is activated and link con­nection is available
Active 2 Yellow
Data traffic on port 2
Link 2 Green
Active link to other Ethernet components via port 2
Link 2 Green
2 Hz
Identification call is activated and link con­nection is available
Stat 1 Green
Status 1, details → Status LEDs
Stat 2 Red
Status 2, details → Status LEDs
6.2 Status LEDs
LED Colour Status /
frequency
Description Cause
Status 1 Green
No power Fuse or cable defective
No connection to control unit
Criteria: no data exchange
– Bus disconnected – IO controller not available
/ switched off
0�5 Hz
Parameterization fault, no data exchange
Criteria: data exchange correct� The slave did not switch to the [data exchange] mode�
– Slave not configured yet
or wrong configuration
– Wrong station address
assigned (but not outside the permitted range)
– Actual configuration of
the slave differs from the desired configuration
Data exchange
Connected device and operation OK�
UK
Encoder with ProfiNet interface
LED Colour Status /
frequency
Description Cause
Status 1 (fault)
Red
No power Fuse or cable defective
No connection to control unit
Criteria: no data exchange
– Bus disconnected – IO controller not available
/ switched off
0�5 Hz
Parameterization fault, no data exchange
Criteria: data exchange correct� The slave did not switch to the [data exchange] mode�
– Slave not configured yet
or wrong configuration
– Wrong station address
assigned (but not outside the permitted range)
– Actual configuration of
the slave differs from the desired configuration
Data exchange
Connected device and operation OK�
7 Installation
► Disconnect power�
► Ensure that the machine stands still�
► The drive must not be started during installation�
► Do not hit the shaft; do not use a file or similar tool on the shaft: Risk of
destruction!
This product is a precision measuring device� Therefore it has to be handled with care by trained staff� The following warnings apply to influences outside the limit values indicated in the product data sheet�
Damage to the product can be caused by:
electrostatic discharge while touching the electronics
too high forces on the shaft
humidity and chemical liquids (do not connect any cables oriented upwards)
extreme temperatures
too high vibrations and shocks
short circuit or too high an operating voltage
impact, shock or any other physical forces
Encoder with ProfiNet interface
10
8 Device configuration
8.1 Standardisation
The current generation of ProfiNet encoders is based on the profile V4�0/V4�1 (PNO no� 3�162)� With this standardisation it is possible to substitute all products that fulfil the specification�
PROFIBUS Network
PROFINET
Network
PROFINET IO
PNO No. 2.332
PROFIBUS DP-V2 IEC 61158
PROFIDRIVE V4
PNO No. 3.172
I&M Functions
PNO No. 3.502
Encoder Profile V4
Class 3 and 4
PNO No. 3.162
Encoder Profile
Class 1 and 2
PNO No. 3.062
PROFIBUS DP EN 50170
8.2 Encoder classes
Application class Description
3 Isochronous mode is not supported (RT)
4 Isochronous mode is supported (IRT)
8.3 Encoder functions
Implementation
Function Class 3 Class 4
Code sequence - / • *
Class 4 functionality
G1_XIST1 preset control - / • *
Scaling function control - / • *
Alarm channel control
Preset value - / • *
Preset value (64bit) - -
UK
Encoder with ProfiNet interface
11
Implementation
Function Class 3 Class 4
Measuring units per revolution (32bit) - / • *
Total resolution (32bit) - / • *
Measuring units per revolution (64bit) - / • *
Total resolution (64bit) - / • *
Maximum master sign-of-life failures - / • *
Velocity measuring unit - / • *
Encoder profile version
Operating hours counter - -
Offset value - / • *
Offset value at 64 bits - / • *
Round axis function
Velocity filter
* If class 4 functionality is activated
8.4 Signal list for cyclic data transmission
Signal no. Meaning Abbreviation Length (bit) Sign
3 Master's sign-of-life counter STW2_ENC 16 -
4 Slave's sign-of-life counter ZSW2_ENC 16 -
6 Velocity value A NIST_A 16
8 Velocity value B NIST_B 32
9 Control word G1_STW 16 -
10 Status word G1_ZSW 16 -
11 Position value 1 G1_XIST1 32 -
12 Position value 2 G1_XIST2 32 -
13 Position value 3 G1_XIST3 64 -
8.4.1 Format of position value
Note:
G1_XIST1 and G1_XIST2 are the actual position values in binary format� The alignment in the data-frame (left or right-aligned) is considered for each individual resolution� For absolute encoders an example is given below�
The alignment of the output format (left or right-aligned) remains constant and affects the actual resolution� The number of bits provided changes depending on the resolution�
Example 25 bit multiturn absolute encoder (8,192 steps per revolution, 4,096 revolutions)�
Encoder with ProfiNet interface
12
All values are presented in binary format� If an error occurs, G1_XIST2 displays the error telegram instead of the right-aligned value�
The shifting factors in P979 "sensor format" display the current format� P979, subindex 4 (shift factor for G1_XIST2) = 0� The settings in the encoder parameter data affect the position value in both G1_XIST1 and G1_XIST2�
Absolute value in G1_XIST2
31���25 24���13 12���0
M S
Distinguishable
revolutions
(multiturn value)
Pulses
(singleturn steps
per revolution)
Setting: encoder profile 4.0*
By default, G1_XIST1 is left-aligned�
P979, subindex 3 (shift factor for G1_XIST1) = 32 – total resolution (next binary value)
G1_XIST1 transmits positions values independent of bit 10 in stw2 and bit 13 in g1_stw1�
Absolute value in G1_XIST1 for encoder profile 4�0
31���20 19���7 6���0
M S
Distinguishable
revolutions
(multiturn value)
Pulses
(singleturn steps
per revolution)
Setting: encoder profile 4.1*
By default, G1_XIST1 is right-aligned�
A 32-bit counter starts with the absolute position value� After increasing to the maximum counter value, start again with 0 or decreasing from the max� counter value to 0�
P979, subindex 3 (shift factor for G1_XIST1) = 0
G1_XIST1 transmits positions values independent of bit 10 in stw2 and bit 13 in g1_stw1�
Absolute value in G1_XIST1 for encoder profile 4�1
31���13 19���0
M S
Distinguishable
revolutions
(multiturn value)
Pulses
(singleturn steps
per revolution)
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