ifm electronic RN3001 User Manual

Device manual
Profibus encoder
RM30xx
RN30xx
UK
706355/00 06/2013
Encoder with Profibus interface
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 1�2 Profibus technology � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 5
4 Functions and features � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 5
5 Electrical connection� � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 6
5�1 Connection of the signal and supply cables � � � � � � � � � � � � � � � � � � � � � � � � 6
6 Installation� � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 6
7 Installation� � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 7
7�1 Settings in the terminal cap � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 7
7�1�1 Participant address � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 7 7�1�2 Bus termination � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 7
8 Device configuration � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 8
9 Encoder classes � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 8
9�1 Class 1 and Class 2 � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 8 9�2 Parameter setting � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 9
9�2�1 Class 2 functionality � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 9 9�2�2 Commissioning diagnostics � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 9 9�2�3 Scaling function � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 10 9�2�4 Measuring steps per revolution � � � � � � � � � � � � � � � � � � � � � � � � � � � � 10 9�2�5 Total resolution � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 10
9�3 Data exchange during normal operation � � � � � � � � � � � � � � � � � � � � � � � � � �11
9�3�1 Transfer of the process actual value � � � � � � � � � � � � � � � � � � � � � � � � �11 9�3�2 Preset function � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 12
10 Profibus encoder profile Class 2� � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 13
10�1 Parameters� � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 14
10�1�1 Activation of the manufacturer-specific parameters � � � � � � � � � � � � 14 10�1�2 Requested measuring steps � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 14 10�1�3 Required resolution � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 15 10�1�4 Activate set-up mode � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 16 10�1�5 Reduced diagnosis � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 17 10�1�6 Software limit switch� � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 17 10�1�7 Physical measuring steps � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 18 10�1�8 Encoder type � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 18
10�1�9 Unit of measurement velocity� � � � � � � � � � � � � � � � � � � � � � � � � � � � � 19 10�2 Data exchange during normal operation � � � � � � � � � � � � � � � � � � � � � � � � 19 10�3 Set-up mode� � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 20
2
Encoder with Profibus interface
10�3�1 Set the direction of rotation � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 21 10�4 Start teach operation � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 21
10�4�1 Stop teach operation � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 21
10�4�2 Preset value � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 23
11 Diagnostic messages � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 24
11�1 Overview� � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 24 11�2 Supported diagnostic messages � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 25
11�2�1 Extended diagnostic header� � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 25
11�2�2 Memory error � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 25
11�2�3 Operating status� � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 25
11�2�4 Encoder type � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 25
11�2�5 Singleturn resolution� � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 25
11�2�6 Number of revolutions � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 26
11�2�7 Operating time alarm � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 26
11�2�8 Profile version� � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 26
11�2�9 Software version� � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 26
11�2�10 Operating time � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 26
11�2�11 Zero point shift � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 26
11�2�12 Configured resolution � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 26
11�2�13 Configured total resolution � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 26
11�2�14 Serial number� � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 27
UK
12 LED indicators � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 27
12�1 Legend � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 27
13 Configuring with STEP7 � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 28
13�1 Installation and import of the GSD file � � � � � � � � � � � � � � � � � � � � � � � � � � 28 13�2 Adding an encoder to a STEP7 project � � � � � � � � � � � � � � � � � � � � � � � � � 30 13�3 Parameter setting � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 31
3
Encoder with Profibus interface

1 Preliminary note

1.1 Symbols used

Instruction > 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 and RN30xx with Profibus 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 unit� Only the signals indicated in the technical data or on the device label may be supplied to the connections or wires�
4
Encoder with Profibus interface

3 General information

3.1 1.2 Profibus technology

Profibus is a manufacturer-independent, open fieldbus standard determined by the international standards EN 50170 and EN 50254� There are 3 versions: DP, FMS and PA� ifm encoders support the DP version and are designed for common baud rates up to 12 Mbaud�
Besides manufacturer-specific functions the devices support the classes 1 and 2 to the encoder profile� This device profile can be ordered from the Profibus user organisation indicating the order number 3�062�
Here you can also get further information about PROFIBUS (functionality, manufacturers, products) as well as standards and profiles com�
www�profibus�
UK

4 Functions and features

The encoder converts rotary movements into digital numerical values� Each revolution and each angular position of the revolutions is provided as a numerical value� These values allow angular movements to be measured and positions and number of revolutions to be determined�
Products from ifm electronic gmbh are usually individual components of larger installations� These
applications require tests of the entire installation and do not only depend on the specification of
these components� The notes in this manual apply only to the product from ifm electronic and not to
the entire installation� If the product is used in a non-intended way, this will be at your own risk�
5
Encoder with Profibus interface

5 Electrical connection

► Disconnect power� ► Connect the device according to the indications on the type label�

5.1 Connection of the signal and supply cables

Terminal Description
B (left) Signal cable B
A (left) Signal cable A
- 0 V
+ 10���30 V
B (right) Signal cable B
Incoming bus cable
Incoming bus cable
Outgoing bus cable
A (right) Signal cable A
Outgoing bus cable
- 0 V
+ 10���30 V

6 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
6
Encoder with Profibus interface

7 Installation

The encoder is connected via the terminal cap� It is connected to the encoder via a 15-pole D-Sub-connector and can be removed by loosening the 2 screws on the back of the device� Bus and supply cables are inserted in the cab via cable glands and connected via screw terminals�

7.1 Settings in the terminal cap

7.1.1 Participant address

The Profibus participant address is set via decimal rotary switches in the terminal cap� The positional value (x 10 or x 1) is indicated on the switch� Possible addresses are between 1 and 99; each address must only occur in the system once� The device address is read when the voltage supply of the encoder is applied; a change of address by the master [Set_Slave_Add] is not supported�
UK
Connection and setting of addressing
5
+-
BA
5
6
4
7
3
8
2
9
1
0
1
2
1: Supply +UB / - GND 2: Bus IN 3: Bus OUT 4: Addressing 5: Setting terminating resistor
BA
5
6
4
3
2
1
0
+-
7
8
9
4
3

7.1.2 Bus termination

If the encoder is installed as an end device, the terminal resistor integrated in the device must be activated� This is done via the slide switch in the terminal cap (5)�
7
Encoder with Profibus interface
When the terminal resistor is activated, the next bus (Bus Out) is decoupled�
The bus is only correctly connected if the encoder is installed on the terminal cap� If the encoder has
to be replaced during operation, the use of a separate active bus termination is recommended�
After the address has been set in the hardware and, if applicable, the terminating resistor has been
activated, the encoder can be put into operation�

8 Device configuration

Encoders with Profibus interface can be configured and parameterised according to the requirements of the user�
In this respect the GSD file of the device is loaded into the projection tool� Various encoder classes can be selected for the projection� Parameters and functionalities of the device that can be set depend on the selected encoder class� ifm encoders of the RM30xx and RN30xx series support all encoder classes described below�
Therefore the functionality is not restricted from the hardware side and is only determined by the user� ifm encoders do not only provide the encoder classes "Class 1" and "Class 2" described in the encoder profile but also encoder classes with manufacturer-specific functions�
When configuring the device, configuration and parameter data are defined by selecting the encoder class� This data saved in the Profibus master is transferred once to the encoder when the system starts up (configuration and parameterising phase – "DDLM_Set_Prm")� It is not possible to change configuration or parameters during operation�
After the configuration and parameter data has been received, the encoder goes into normal operation (cyclic data exchange – "DDLM_Data_Exchange mode") in which, for example, the position value is transferred� The length and format of the data exchanged are also defined when configuring the device by selecting the appropriate encoder class�

9 Encoder classes

9.1 Class 1 and Class 2

The encoder classes Class 1 and Class 2 are the versions according to the encoder profile defined by the encoder working group in the Profibus user organisation (available from PNO indicating order no� 3�062)�
8
Encoder with Profibus interface

9.2 Parameter setting

The following table gives an overview of the parameters that can be set according to the encoder profile and of the arrangement in the parameter setting telegram� Parameters are set using input masks in the projection tool�
Octet (= byte) no. Parameters Bit no. Details
1���8 Profibus standard parameters
9 Direction of rotation 0 → Chapter 9.2.1
Class 2 functionality 1 → Chapter 9.2.2
Commissioning diagnostics 2 → Chapter 9.2.3
Scaling function 3 → Chapter 9.2.4
Reserved 4
Reserved 5
Not used for Class 1 and Class 2 6
UK
7
10���13 Measuring steps / revolution → Chapter 9.2.5
14���17 Total resolution → Chapter 9.2.6
18���25 Reserved (to encoder profile)
26��� Not used for Class 1 and Class 2
Rotational direction
The direction of rotation defines the counting direction of the process actual value output when the shaft rotates clockwise (CW) or counter-clockwise (CCW)� The counting direction is defined by bit 0 in octet 9�
Octet 9 bit 0 Direction of rotation when viewing the shaft Direction of
rotation
0 Clockwise (CW) Rising
1 Counter-clockwise (CCW) Rising

9.2.1 Class 2 functionality

Class 2 encoders can be limited to the functionality of Class 1; the possibility of parameter setting is disabled� To use the function of Class 2 encoders, bit 1 is set
in octet 9�
Octet 9 bit 1 Class 2 functionality
0 Disabled
1 Enabled

9.2.2 Commissioning diagnostics

This function is of no meaning for the ifm encoder�
9
Encoder with Profibus interface

9.2.3 Scaling function

The scaling function enables parameter setting of the resolution per revolution and the selected total resolution� It should always be enabled if you want to use the
functions of Class 2 (or the manufacturer-specific classes)�
Octet 9 bit 3 Scaling function
0 Disabled
1 Enabled

9.2.4 Measuring steps per revolution

This parameter is used to assign a requested number of steps referred to one revolution to the encoder� If the value of the parameter exceeds the actual physical basic resolution of the encoder, the output value no longer proceeds by one step� For encoders as of the B1 generation a parameter fault is displayed in this case; the device does not change to the cyclic data transfer� For high-resolution encoders it may be required to split the value into high word and low word, depending on the projection tool�
Octet 10 11 12 13
Bit 31���24 23���16 15���8 7���0
Data 2
31
to 224 223 to 2
Requested number of measuring steps per revolution
16
215 to 2
8
27 to 2
0

9.2.5 Total resolution

Octet 14 15 16 17
Bit 31���24 23���16 15���8 7���0
Data 2
31
to 224 223 to 2
Selected total resolution in measuring steps
16
215 to 2
8
27 to 2
0
This parameter enables the user to adapt the measuring range of the device� The encoder counts up to the configured total resolution and then it starts again at 0�
Example Selected: 100 steps per revolution, total resolution 12800, then the encoder starts again at zero after 128 revolutions and counts again up to 12799� With many projection tools it may be required to split the value into high word and low word�
10
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