TR-Electronic CE-100 Series, CE-65 Series User Manual

Download

Rotary

Encoders

CE-65

Linear Encoders Motion

System

CE-100

Software/Support CD: 490-01001

•

- Soft-No.: 490-00406

4.00+ / WIU00001

User Manual

Single-Turn / Multi-Turn Absolute rotary encoder series CE-65 / CE-100 with PROFIBUS-DP interface

Additional safety instructions

•

Installation

•

Commissioning

•

Configuration / Parameterization

•

Troubleshooting / Diagnostic options

•

TR - ECE - BA - GB - 0009 - 08 03/04/2010

TR-Electronic GmbH

D-78647 Trossingen Eglishalde 6 Tel.: (0049) 07425/228-0 Fax: (0049) 07425/228-33 E-mail: info@tr-electronic.de http://www.tr-electronic.de

This Manual, including the illustrations contained therein, is subject to copyright protection. Use of this Manual by third parties in contravention of copyright regulations is forbidden. Reproduction, translation as well as electronic and photographic archiving and modification require the written content of the manufacturer. Offenders will be liable for damages.

Subject to amendments

Any technical changes that serve the purpose of technical progress, reserved.

Document information

Release date/Rev. date: 03/04/2010 Document rev. no.: TR - ECE - BA - GB - 0009 - 08 File name: TR-ECE-BA-GB-0009-08.DOC Author: MÜJ

Font styles

Italic or bold font styles are used for the title of a document or are used for highlighting.

Courier font displays text, which is visible on the display or screen and software menu selections.

″ < > ″ indicates keys on your computer keyboard (such as <RETURN>).

Trademarks

SIMATIC S5/7, STEP-5/7 and COM-ET-200 are registered trademarks of the SIEMENS corporation.

PROFIBUS-DP and the PROFIBUS logo are registered trademarks of the Profibus User Organization (PNO)

Page 2 of 45 TR - ECE - BA - GB - 0009 - 08 03/04/2010

Table of Contents

Table of Contents ..........................................................................................................................................3

Revision index ...............................................................................................................................................5

1 Basic safety instructions...........................................................................................................................6

1.1 Definition of symbols and instructions ...............................................................................................6

1.2 Obligation of the operator before start-up .........................................................................................6

1.3 General risks when using the product ...............................................................................................7

1.4 Proper use .........................................................................................................................................7

1.5 Warranty and liability .........................................................................................................................8

1.6 Organizational measures...................................................................................................................9

1.7 Personnel qualification; obligations ...................................................................................................9

1.8 Safety information's ...........................................................................................................................10

2 Transportation / device data .....................................................................................................................11

2.1 Transportation / storage.....................................................................................................................11

2.2 Technical data ...................................................................................................................................12

2.2.1 Electrical ratings.................................................................................................................12

2.2.2 Mechanical ratings.............................................................................................................12

2.3 Assembly ...........................................................................................................................................13

2.4 Connecting the Cable Screening to the Bus-Cap..............................................................................14

3 Device description / start-up .....................................................................................................................15

3.1 PNO identification number.................................................................................................................15

3.2 PNO certificate...................................................................................................................................15

3.3 PNO encoder profile ..........................................................................................................................15

3.4 Operating requirements.....................................................................................................................15

3.5 Setting the station address ................................................................................................................15

3.6 PROFIBUS – interface.......................................................................................................................16

3.7 Device master file ..............................................................................................................................17

3.8 Configuration and parameterization ..................................................................................................18

3.8.1 Configuration......................................................................................................................18

3.8.1.1 Class 1 16-bit resolution, identifier D0 (HEX):............................................................................................ 18

3.8.1.2 Class 1 32-bit resolution, identifier D1 (HEX):............................................................................................ 18

3.8.1.3 Class 2 16-bit resolution, identifier F0 (HEX): ............................................................................................ 19

3.8.1.4 Class 2 32-bit resolution, identifier F1 (HEX): ............................................................................................ 19

3.8.1.5 TR-mode position, identifier F1 (HEX):......................................................................................................... 20

3.8.1.6 TR-mode position+velocity, identifier F1 (HEX):........................................................................................... 21

3.8.2 Parameterization................................................................................................................22

3.8.2.1 Code sequence: ........................................................................................................................................... 22

3.8.2.2 Class 2 functionality:..................................................................................................................................... 22

3.8.2.3 Commissioning diagnostic control:............................................................................................................... 22

3.8.2.4 Scaling function control: ...............................................................................................................................22

3.8.2.5 Measuring units per revolution: .................................................................................................................... 22

3.8.2.6 Total measuring range [units] hi and total measuring range [units] lo.......................................................... 23

3.8.2.7 Revolutions numerator hi and revolutions numerator lo............................................................................... 23

3.8.2.8 Revolutions denominator.............................................................................................................................. 24

3.8.2.9 Code SSI interface: ...................................................................................................................................... 24

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Table of Contents

3.8.2.10 Data bits SSI interface:............................................................................................................................... 24

3.8.2.11 Code PROFIBUS interface:........................................................................................................................ 24

3.8.2.12 Preset 1 value [units] hi and preset 1 value [units] lo ................................................................................. 25

3.8.2.13 Preset 2 value [units] hi and preset 2 value [units] lo ................................................................................. 25

3.8.2.14 Commissioning function .............................................................................................................................26

3.8.2.15 Short diagnostic (16 byte)........................................................................................................................... 26

3.8.2.16 Limit switch lower and upper limit............................................................................................................... 26

3.8.2.17 Speed [1/n rpm] .......................................................................................................................................... 27

3.8.3 Scaling function..................................................................................................................28

3.8.3.1 Nominal configurations PNO Class 1+2 ....................................................................................................... 28

3.8.3.2 Nominal configuration TR-mode position and TR-mode position+velocity................................................... 29

3.9 Preset adjustment..............................................................................................................................30

3.10 Commissioning function (Teach-in function for linear axes) ...........................................................31

3.10.1 Input/output configuration for teach-in .............................................................................32

3.10.1.1 Assignment of the status byte ....................................................................................................................32

3.10.1.2 Assignment of the control byte ................................................................................................................... 32

3.10.2 Teach-in procedure..........................................................................................................33

3.11 Optional SSI interface......................................................................................................................35

3.11.1 Limitation of SSI interface................................................................................................35

4 Trouble-shooting and diagnostic facilities..............................................................................................36

4.1 Visual indicators.................................................................................................................................36

4.1.1 Indicator states, green LED (STAT)...................................................................................36

4.1.2 Indicator states, red LED (BF) ...........................................................................................36

4.2 How to use the PROFIBUS diagnostics ............................................................................................37

4.2.1 Standard diagnosis ............................................................................................................37

4.2.1.1 Station status 1............................................................................................................................................. 38

4.2.1.2 Station status 2............................................................................................................................................. 38

4.2.1.3 Station status 3............................................................................................................................................. 38

4.2.1.4 Master address............................................................................................................................................. 39

4.2.1.5 Manufacturer's identifier ...............................................................................................................................39

4.2.1.6 Length (in byte) of extended diagnosis......................................................................................................... 39

4.2.2 Extended diagnosis............................................................................................................40

4.2.2.1 Alarms .......................................................................................................................................................... 40

4.2.2.2 Operating status ........................................................................................................................................... 41

4.2.2.3 Encoder type ................................................................................................................................................ 41

4.2.2.4 Single-turn resolution.................................................................................................................................... 41

4.2.2.5 Number of resolvable revolutions................................................................................................................. 41

4.2.2.6 Additional alarms.......................................................................................................................................... 41

4.2.2.7 Supported alarms ......................................................................................................................................... 42

4.2.2.8 Warnings ...................................................................................................................................................... 42

4.2.2.9 Supported warnings...................................................................................................................................... 42

4.2.2.10 Profile version............................................................................................................................................. 42

4.2.2.11 Software version......................................................................................................................................... 43

4.2.2.12 Operating hour counter............................................................................................................................... 43

4.2.2.13 Offset value ................................................................................................................................................ 43

4.2.2.14 Manufacturer-specific offset value.............................................................................................................. 43

4.2.2.15 Number of increments per revolution ......................................................................................................... 43

4.2.2.16 Measuring length in increments.................................................................................................................. 43

4.2.2.17 Serial number ............................................................................................................................................. 43

4.2.2.18 Manufacturer-specific diagnostics .............................................................................................................. 43

4.3 Other faults ........................................................................................................................................44

5 Appendix .....................................................................................................................................................45

5.1 New in firmware versions 4.x opposite 3.x ........................................................................................45

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Revision index

Revision Date Index

First release 07/07/1997 03

• Complete revision 03/04/1998 04

• Rearrangement of list of parameters for individual set configurations.

• Supplementation of information on device-specific diagnostics.

• Description of the firmware extension 3.x to 4.x. 11/22/2000 06

• Notes for the use of the device master file "TR05AAAB.GSD"

• Validity of this manual also for the device CE-100

• General modifications 03/04/2010 08

11/05/1998 05

03/15/2001 07

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Basic safety instructions

1 Basic safety instructions

1.1 Definition of symbols and instructions

means that death, serious injury or major damage to property

WARNING !

CAUTION !

could occur if the stated precautions are not met.

means that minor injuries or damage to property can occur if the stated precautions are not met.

indicates important information's or features and application tips for the product used.

means that appropriate ESD-protective measures are to be considered according to DIN EN 100 015-1.

(Cause of a potential equalization between body and device-mass as well as the housing-mass about a high-impedance resistance (approx. 1 MΩ) e.g. with a commercial ESD wrist strap).

1.2 Obligation of the operator before start-up

As an electronic device the measuring system is subject to the regulations of the EMC Directive.

It is therefore only permitted to start up the measuring system if it has been established that the system/machine into which the measuring system is to be fitted satisfies the provisions of the EC EMC Directive, the harmonized standards, European standards or the corresponding national standards.

Page 6 of 45 TR - ECE - BA - GB - 0009 - 08 03/04/2010

1.3 General risks when using the product

The product, hereinafter referred to as "the measuring system", is manufactured according to state-of-the-art technology and accepted safety rules. Nevertheless,

improper use can pose a danger to life and limb of the user or third parties, or lead to impairment of the measuring system or other property!

Only use the measuring system in a technically faultless state, and only for its designated use, taking safety and hazard aspects into consideration, and observing this User Manual! Faults which could threaten safety should be eliminated without delay!

1.4 Proper use

The measuring system is used to measure angular motion and to condition the measurement data for the subsequent control of industrial control processes.

Proper use also includes:

Basic safety instructions

• observing all instructions in this User Manual,

• observing the nameplate and any prohibition or instruction symbols on the

measuring system,

• observing the enclosed documentation, e.g. product insert, connector configurations etc.,

• observing the operating instructions from the machine or system manufacturer,

• operating the measuring system within the limit values specified in the technical

data.

The following areas of use are especially forbidden:

• in environments where there is an explosive atmosphere

• for medical purposes

03/04/2010 TR - ECE - BA - GB - 0009 - 08 Page 7 of 45

Basic safety instructions

Examples of typical fields of application at industrial process and control processes:

• Transfer machines

• Machine tools

• Gantry robots

• Assembly installations

• etc. ...

• Everywhere, where rotation or angular movements must be detected for

Where there is a danger of physical injury and damage to property arising from jumps in the position of the measuring system!

WARNING !

- As the measuring system does not constitute a safety component, a

evaluation

plausibility check of the measuring system values must be performed through the subsequent control system.

- It is mandatory for the operator to integrate the measuring system into his

own safety concept.

1.5 Warranty and liability

The General Terms and Conditions ("Allgemeine Geschäftsbedingungen") of TRElectronic GmbH always apply. These are available to the operator with the Order Confirmation or when the contract is concluded at the latest. Warranty and liability claims in the case of personal injury or damage to property are excluded if they result from one or more of the following causes:

• Non-designated use of the measuring system.

• Improper assembly, installation, start-up and programming of the measuring

system.

• Incorrectly undertaken work on the measuring system by unqualified

personnel.

• Operation of the measuring system with technical defects.

• Mechanical or electrical modifications to the measuring systems undertaken

autonomously.

• Repairs carried out autonomously.

• Third party interference and Acts of God.

Page 8 of 45 TR - ECE - BA - GB - 0009 - 08 03/04/2010

1.6 Organizational measures

• The User Manual must always be kept accessible at the place of use of the measuring system.

• In addition to the User Manual, generally applicable legal and other binding accident prevention and environmental protection regulations are to be observed and must be mediated.

• The respective applicable national, local and system-specific provisions and requirements must be observed and mediated.

• The operator is obliged to inform personnel on special operating features and requirements.

• The personnel instructed to work with the measuring system must have read and understood the User Manual, especially the chapter “Basic safety instructions” prior to commencing work.

• The nameplate and any prohibition or instruction symbols applied on the measuring system must always be maintained in a legible state.

Basic safety instructions

• Do not undertake any mechanical or electrical modifications on the measuring system, apart from those explicitly described in this User Manual.

• Repairs may only be undertaken by the manufacturer or a facility or person authorized by the manufacturer.

1.7 Personnel qualification; obligations

• All work on the measuring system must only be carried out by qualified personnel. Qualified personnel includes persons, who, through their training, experience and

instruction, as well as their knowledge of the relevant standards, provisions, accident prevention regulations and operating conditions, have been authorized by the persons responsible for the system to carry out the required work and are able to recognize and avoid potential hazards.

• The definition of “Qualified Personnel” also includes an understanding of the standards VDE 0105-100 and IEC 364 (source: e.g. Beuth Verlag GmbH, VDEVerlag GmbH).

• Define clear rules of responsibilities for the assembly, installation, start-up and operation. The obligation exists to provide supervision for trainee personnel !

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Basic safety instructions

1.8 Safety information's

• Destruction, damage or malfunctions of the measuring system !

WARNING !

CAUTION !

- De-energize the system before carrying out wiring work or opening and

closing electrical connections.

- Do not carry out welding if the measuring system has already been wired up

or is switched on.

- Ensure that the area around the assembly site is protected from corrosive

media (acid, etc.).

- Avoid any shocks (e.g. hammer-blow) on the shaft while mounting.

- Do not open the measuring system.

• The measuring system contains electrostatically endangered circuit

elements and units which can be destroyed by an improper use.

- Contacts of the measuring system connection contacts with the fingers are to

be avoided, or the appropriate ESD protective measures are to be applied.

• Disposal If disposal has to be undertaken after the life span of the device, the respective

applicable country-specific regulations are to be observed.

Page 10 of 45 TR - ECE - BA - GB - 0009 - 08 03/04/2010

2 Transportation / device data

2.1 Transportation / storage

Notes on transportation

Do not drop the device or expose it to shocks or vibrations!

Device contains an optical system with glass elements.

Only use the original packaging!

The wrong packaging material can cause damage to the device during transportation.

Storage

Storage temperature: -30 to +80°C

Store in a dry place.

Transportation / device data

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Transportation / device data

2.2 Technical data

2.2.1 Electrical ratings

Operating voltage:.....................................................

Max. current consumption: ......................................

Output capacity: ........................................................

Resolution:.................................................................

Measuring range:.......................................................

Output code: ..............................................................

Baud rate:...................................................................

Encoder interface: .....................................................

Special features:........................................................

SSI-OUT data interface

Clock input: ............................................. Optocoupler

Data output: ............................................ RS422 (2-wire)

Clock rate:............................................... 80 kHz - 1MHz

Code: ...................................................... Programmable, left-justified

Operating temperature range: ..................................

2.2.2 Mechanical ratings

Mechanically permissible speed:.............................

Permissible shaft load: .............................................

Minimum bearing lifetime: ........................................

Operating speed: ............................................ 3000 rpm

Shaft loading:.................................................. 20 N axial, 30 N radial (at end of shaft)

Operating temperature:................................... 60°C

Max. angular acceleration:........................................

Moment of inertia: .....................................................

Starting torque at 20°C: ............................................

Vibration loading (50-2000Hz): .................................

Shock loading (11ms): ..............................................

11-27 V DC (+/- 5% residual ripple)

< 350 mA at 11 V DC, < 150 mA at 27 V DC

Max. 25 bits

Max. 8192 increments per revolution (13 bits)

4096 revolutions (12 bits)

Binary

12 Mbps

PROFIBUS-DP acc. to DIN 19245 Part 1-3

Programming is performed via the parameterization message at the start-up of the encoder or PROFIBUSDP master

0 to +60°C

6000 rpm

40 N axial, 60 N radial (at end of shaft)

3.9 x 10

≤ 10

2.5 x 10-

2 Ncm

≤ 100 m/s

≤ 1000 m/s

revolutions at:

rad/s2

kg m2

Page 12 of 45 TR - ECE - BA - GB - 0009 - 08 03/04/2010

2.3 Assembly

Encoder shaft drive

Encoders of the CE series are connected to the drive shaft by an elastic coupling which compensates for any deviations in the axial and radial direction between the encoder and drive shaft. This avoids excessive strain on the bearings. Couplings can be ordered on request.

Flange mounting

The centering collar with fit f7 centers the encoder in relation to the shaft. It is fixed to the machine by means of three screws in the flange (Fig. 1).

Clamping bracket mounting

The centering collar with fit f7 centers the encoder in relation to the shaft. The encoder is fixed by means of two clamping brackets (Fig. 2).

ig. 1

Coupling

Transportation / device data

bsolute enco de

Fig. 2

bso lute encod e

Machine

Coupling

Machine

Clamping bracket

03/04/2010 TR - ECE - BA - GB - 0009 - 08 Page 13 of 45

Transportation / device data

2.4 Connecting the Cable Screening to the Bus-Cap

To prevent disturbance signals entering the encoder housing, we used cable screw glands with which it is possible to connect the screen on the inside. For this reason, no connection point for the screen is provided inside the cup-cap.

Procedure:

1. Screw the cable screw gland into the housing.

2. Dismount the compression nut (1) and the terminal holder (2).

3. Push the compression nut (1) and the terminal holder (2) over the cable.

4. Strip the cable; push back the braiding around the terminal holder (2) such that the

braiding goes over the inner O-ring (3) and does not lie over the cylindrical section

or the torsional bars.

5. Insert the terminal holder (2) into the intermediate gland (4) such that the torsional

bars fit into the intended lengthwise grooves in the intermediate gland (4).

6. Screw the compression nut (1) to the intermediate gland (4).

Part 1

Compression nut

Part 2

Terminal holder

Part 3

Inner O-ring

Part 4

Intermediate gland

Page 14 of 45 TR - ECE - BA - GB - 0009 - 08 03/04/2010

3 Device description / start-up

3.1 PNO identification number

The encoder has the PNO ID number AAAB (hex). This number is reserved and filed with the PNO.

3.2 PNO certificate

The encoder has passed a certification test by an independent test laboratory of the Profibus User Organization and is certified under the number Z00319. The relevant documents are held by TR Electronic and the PNO.

3.3 PNO encoder profile

The Profibus User Organization has issued an encoder profile defining the structure of an encoder on the Profibus. A copy of this profile can be obtained for a fee from the PNO office. Details of prices are available exclusively by the Profibus User Organization.

3.4 Operating requirements

Theoretically, the encoder can be connected to any Profibus-DP network, provided the PROFIBUS-DP master is capable of transmitting a parameter message. Similarly, the configuration software should be able to display the parameter structure specified in the device master file in order to allow the parameters to be entered. If this is not the case, the encoder cannot be programmed and runs on the bus with the maximum resolution, and without the possibility of scaling or adjustment as Class-1 encoder.

TR Electronic supplies a Software/Support CD containing the device master file (.GSD) and a type file (.200) for users with SIEMENS masters. If the CD is not enclosed with this documentation, it can be purchased by order number: 490-01001, Soft-No.: 490-00406.

For details of how to integrate the encoder into the interface of the DP master configuration software, please refer to the relevant documentation.

3.5 Setting the station address

The station address of the encoder is set exclusively via the rotary switch in the cover containing the connecting terminals. When the terminals are viewed from above (outgoing cable facing downwards), the left-hand switch sets the tens and the righthand switch the units of the station address. The addressing of the encoder is limited within the Profibus address area. Valid station addresses are 3 - 99. If an invalid station address is set, the device will not start up and the LEDs will not be illuminated.

Device description / start-up

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Device description / start-up

3.6 PROFIBUS – interface

All devices are connected in a bus structure (line). Up to 32 subscribers (master or slaves) can be connected together in a segment. The bus is terminated with an active bus termination at the beginning and end of each segment. For stable operation, it must be ensured that both bus terminations are always supplied with voltage. The bus termination can be switched in the measuring system connector hood. As a general rule, both switches must always be switched on (if encoder is the last station) or switched off (if the encoder is not the last station).

Repeaters (signal amplifiers) have to be used with more than 32 subscribers or to expand the network scope in order to connect the various bus segments.

All cables used must conform with the PROFIBUS specification for the following copper data wire parameters:

Parameter Cable type A

Wave impedance in Ω Operating capacitance (pF/m) 30 Loop resistance (Ω/km) ≤ 110 Wire diameter (mm) > 0.64 Wire cross-section (mm²)

The PROFIBUS transmission speed may be set between 9.6 kBit/s and 12 Mbit/s and is automatically recognized by the measuring system. It is selected for all devices on the bus at the time of commissioning the system.

The range is dependent on the transmission speed for cable type A:

Baud rate (kbits/s)

Range / Segment

A shielded data cable must be used to achieve high electromagnetic interference stability. The shielding should be connected with low resistance to protective ground using large shield clips at both ends. It is also important that the data line is routed separate from power current carrying cables if at all possible. At data speed ≥ 1.5 Mbit, drop lines should be avoided under all circumstances.

The measuring system connector hood offers the possibility of connecting the inward and outward data cables directly to the removable connector hood. This avoids drop lines and the bus connector can be connected to and disconnected from the bus at any time without interruption of data traffic.

135...165 at a frequency of 3...20 MHz

> 0.34

9.6 19.2 93.75 187.5 500 1500 12000

1200 m 1200 m 1200 m 1000 m 400 m 200 m 100 m

The PROFIBUS guidelines and other applicable standards and guidelines are to be observed to insure safe and stable operation!

In particular, the applicable EMC directive and the shielding and grounding guidelines must be observed!

Page 16 of 45 TR - ECE - BA - GB - 0009 - 08 03/04/2010

3.7 Device master file

For encoders with version 3.x, the device master file of the encoder has the filename TR03AAAB.GSD. Because of the extended performance range, for devices with version 4 and up the file *TR05AAAB.GSD was created. For users of older Siemens masters, there is also a so-called type file called TRAAAB3X.200 which fulfils the same function as the device master file TR03AAAB.GSD, but has a special data format. To find out how to integrate these files into the system configuration, please refer to the documentation of the configuration program for the Profibus master. The encoder also has two bitmap files named TRAAAB3N.BMP and TRAAAB3S.BMP or TRAAAB5N.DIP and TRAAAB5S.DIP which represent the encoder in the normal and faulty states respectively. These images also have to be integrated into the system configuration according to the instructions of the relevant documentation.

* Usable as of COMPROFIBUS version 5.0 (S5) or STEP7 as of version 5.0 service pack 3 (S7).

The file TR05AAAB.GSD causes:

- 4 byte parameter (see also notes on page 27)

(no partitioning into high and low word at decimal input)

- Extended performance range

- Teach In

- Limit switches

- switchable diagnostic length

- switchable units for rev. per min

see also chapter "New in firmware versions 4.x opposite 3.x", page 45.

Device description / start-up

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Device description / start-up

3.8 Configuration and parameterization

3.8.1 Configuration

Configuration means specifying the length and type of process data and the manner in which they are to be handled. For this purpose, the configuration program usually provides an input list in which the user has to enter the appropriate identifiers.

Since the encoder supports several possible configurations, the identifier to be entered is preset depending on the required nominal configuration, so that all you have to do is enter the I/O addresses. The identifiers are deposited in the device master file.

Depending on the required nominal configuration, the encoder will assign a different number of input and output words on the PROFIBUS.

In the following, the individual nominal configurations and the position of the communication bytes for the data transfer with the PROFIBUS-DP master are described.

3.8.1.1 Class 1 16-bit resolution, identifier D0 (HEX):

The encoder uses one input word only, which is consistently transferred via the bus.

Input word IW x

MSB

Relevant parameter data:

• Count direction

3.8.1.2 Class 1 32-bit resolution, identifier D1 (HEX):

The encoder uses two input words only, which are consistently transferred via the bus.

Double input word ID x

MSB

Relevant parameter data:

• Count direction

Data b yte 1 Data byte 0

Inp ut byte x+0 Input byte x+1

Data byte 3 Da ta byt e 2

Inpu t byte x+0

nput b yte x+1 Input byte x+2 Input byte x+3

LSB

ata byte 1 Data byte 0

LSB

In the case of configurations for CLASS 1, preset adjustment is not possible via the PROFIBUS, and only the code sequence can be changed. The encoder operates with the standard resolution specified on the rating plate. The diagnostic data are limited to 16 bytes.

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3.8.1.3 Class 2 16-bit resolution, identifier F0 (HEX):

The encoder uses one input word and one output word which are consistently transferred via the bus.

Input word IW x

MSB

Output word for preset adjustment OW x

MSB

Relevant parameter data:

• Count direction

• Class 2 functionality (on/off)

• Scaling function (on/off)

• Commissioning diagnostic control (on/off)

• Measuring units per revolution

• Total measuring range

3.8.1.4 Class 2 32-bit resolution, identifier F1 (HEX):

The encoder uses two input words and two output words which are consistently transferred via the bus.

Double input word ID x

Double output word for preset adjustment OD x

MSB

Relevant parameter data:

• Count direction

• Class 2 functionality (on/off)

• Scaling function (on/off)

• Commissioning diagnostic control (on/off)

• Measuring units per revolution

• Total measuring range

Data byte 1 Data byte 0

Input byte x+0 Input byte x+1

Data byte 1 Data byte 0

Output byte x +0 O utput byte x+1

Data byte 3 Data byte 2 Data byte 1 Data byte 0

Input byte x+0

Data byte 3 Data byte 2 Data byte 1 Data byte 0

Outpu t byte x +0 Ou tput byt e x+1 Output byte x+2 Output byte x+3

nput byte x+1 Input by te x+ 2 I nput byte x+3

LSB

Device description / start-up

LSB MSB

LSB

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Device description / start-up

3.8.1.5 TR-mode position, identifier F1 (HEX):

The encoder uses two input words and two output words which are consistently transferred via the bus.

Double input word ID x

Data byte 3 Data byte 2 Data byte 1 Data byte 0

Input byte x+0

nput byte x+1

Double output word for preset adjustment OD x

MSB

Data byte 3 Data byte 2 Data byte 1 Data byte 0

Output byte x+0 Ou tput byt e x+1 Output byte x+2 Output byte x+3

Relevant parameter data:

• Count direction

• Commissioning diagnostic control (on/off)

• Total measuring range

• Revolutions numerator

• Revolutions denominator

• Code SSI interface

• Code PROFIBUS interface

• Preset 1 value (24V inputs)

• Preset 2 value (24V inputs)

New in version 4.x

Teach-In function (commissioning function)

•

• Short diagnostic

• Limit switch lower limit

• Limit switch upper limit

nput b yte x+2 Input byte x+3

LSB MSB

LSB

SSI on request, not standard

Page 20 of 45 TR - ECE - BA - GB - 0009 - 08 03/04/2010

3.8.1.6 TR-mode position+velocity, identifier F1 (HEX):

The encoder uses two input words for the position plus a separate input word for the velocity, and two output words which are consistently transferred via the bus. The velocity is output with a sign in revolutions per minute and has an accuracy of +/- 1 rpm.

Double input word ID x

Input word IW x

MSB

Double output word for preset adjustment OD x

MSB

Relevant parameter data:

• Count direction

• Commissioning diagnostic control (on/off)

• Total measuring range

• Revolutions numerator

• Revolutions denominator

• Code SSI interface

• Code PROFIBUS interface

• Preset 1 value (24V inputs)

• Preset 2 value (24V inputs)

New in version 4.x

Teach-In function (commissioning function)

•

• Short diagnostic

• Limit switch lower limit

• Limit switch upper limit

• Speed [1/n rpm]

Data byte 3 Data byte 2 Data byte 1 Data byte 0

Input byte x+0

Data byte 1 Data byte 0

Input byte x+0 Input byte x+1

Data byte 3 Data byte 2 Data byte 1 Data byte 0

Output byte x+0 Output byte x+1 Output byte x+2 Output byte x+3

nput byte x+1

nput b yte x+2 Input byte x+3

LSB

Device description / start-up

LSB MSB

LSB

The configurations designated "TR mode" are not compatible with the PNO encoder profile in terms of the parameter record. The scaling function prescribed by the PNO profile is a simple special case of a general gear. Due to the extended 'gear' scaling function, additional parameters are therefore necessary in order to describe the gear fully.

In other words, the TR-specific modes represent an extension of the encoder function which is not restricted by its compatibility with the PROFIBUS-DP and certification.

SSI on request, not standard

03/04/2010 TR - ECE - BA - GB - 0009 - 08 Page 21 of 45

Device description / start-up

3.8.2 Parameterization

Parameterization means providing a PROFIBUS-DP slave with certain information required for operating purposes before it begins the cyclical exchange of process data. For example, the encoder requires data concerning the resolution, count direction, preset values, etc. The configuration program for the PROFIBUS-DP master usually provides an input mask via which the user can enter the parameter data or select from lists. The structure of the input mask is stored in the device master file. The number and type of the parameters to be entered by the user depend on the chosen nominal configuration.

3.8.2.1 Code sequence:

Defines the count direction of the encoder.

Selection

• Increasing clockwise *

• Increasing counter-clockwise

3.8.2.2 Class 2 functionality:

Defines the encoder's range of functions. "Class 2 deactivated" means that the encoder only performs Class 1 functions, does not scale the position value and is not adjustable.

Selection

• No (Class 2 functions deactivated)*

• Yes (Class 2 activated)

3.8.2.3 Commissioning diagnostic control:

Defines whether the encoder outputs an extended diagnostic message.

Selection

• Disabled (Commissioning diagnostic control deactivated)*

• Enabled (Commissioning diagnostic control activated)

3.8.2.4 Scaling function control:

Defines whether the encoder scales the position on the basis of the subsequent parameter. If Class 2 is deactivated, it does not scale the position value and is not adjustable.

Selection

• Disabled (scaling deactivated)*

• Enabled (scaling activated)

3.8.2.5 Measuring units per revolution:

Defines the number of increments displayed by the encoder for each revolution of the encoder shaft.

Input

• Lower limit: 1 increment / revolution

• Upper limit: 8192 increments per revolution (depending on capacity -

marked on rating plate)

• Default value: 4096

Page 22 of 45 TR - ECE - BA - GB - 0009 - 08 03/04/2010

3.8.2.6 Total measuring range [units] hi and total measuring range [units] lo

Together, these parameters define the total number of increments displayed by the encoder before it starts again from zero.

Inputs for HI word

• Lower limit 0

• Upper limit 512 (depending on the total capacity, which is calculated by

multiplying the max. number of increments per revolution by the maximum number of revolutions. This data is marked on the rating plate.)

• Default value: 256

Inputs for LO word

• Lower limit 0

• Upper limit 65535 (depending on the total capacity, which is calculated by

multiplying the max. number of increments per revolution by the maximum number of revolutions. This data is marked on the rating plate.)

• Default value: 0

3.8.2.7 Revolutions numerator hi and revolutions numerator lo

Device description / start-up

WARNING !

Danger of personal injury and damage to property exists if the measuring system is restarted after positioning in the de-energized state by shifting of the zero point!

If the number of revolutions is not an exponent of 2, it can occur, if more than 512 revolutions are made in the de-energized state, that the zero point of the multi-turn measuring system is lost!

• Ensure that the quotient of Revolutions Numerator / Revolutions Denominator for

a multi-turn measuring system

, 21, 22…212 (1, 2, 4…4096).

• Ensure that every positioning in the de-energized state for a multi-turn measuring

system is within 512 revolutions.

Together, these parameters define the total number of revolutions displayed by the encoder before it starts again from zero.

Inputs for HI word

• Lower limit 0

• Upper limit 3

• Default value: 0

Inputs for LO word

• Lower limit 1

• Upper limit 65535

• Default value: 4096

is an exponent of 2 of the group

03/04/2010 TR - ECE - BA - GB - 0009 - 08 Page 23 of 45

Device description / start-up

3.8.2.8 Revolutions denominator

Danger of personal injury and damage to property exists if the measuring system is restarted after positioning in the de-energized state by shifting of the zero point!

WARNING !

If the number of revolutions is not an exponent of 2, it can occur, if more than 512 revolutions are made in the de-energized state, that the zero point of the multi-turn measuring system is lost!

• Ensure that the quotient of Revolutions Numerator / Revolutions Denominator for

a multi-turn measuring system

, 21, 22…212 (1, 2, 4…4096).

• Ensure that every positioning in the de-energized state for a multi-turn measuring

system is within 512 revolutions.

Together, these parameters define the total number of revolutions displayed by the encoder before it starts again from zero.

• Lower limit 1

• Upper limit 99

• Default value: 1

3.8.2.9 Code SSI interface:

Defines the output code for the (optional) SSI interface. The transfer to the PROFIBUS takes place in binary form according to the PNO profile.

Selection

• Gray (encoder supplies 24-bit Gray code)

• Binary (encoder supplies 24-bit binary code)*

• Shifted Gray (encoder supplies clipped Gray code)

3.8.2.10 Data bits SSI interface:

Defines the number of data bits on the SSI interface. Output format: MSB left-justified

• Lower limit 8

• Upper limit 32

• Default value 24

3.8.2.11 Code PROFIBUS interface:

Defines the output code for the PROFIBUS interface.

Selection

• Binary (encoder supplies 24-bit binary code)

• Gray (encoder supplies 24-bit Gray code)*

• Shifted Gray (encoder supplies clipped Gray code)

is an exponent of 2 of the group

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3.8.2.12 Preset 1 value [units] hi and preset 1 value [units] lo

Risk of injury and damage to property by an actual value jump when the preset function is performed!

WARNING !

•

The preset function should only be performed when the measuring system is at

3.8.2.13 Preset 2 value [units] hi and preset 2 value [units] lo

rest, otherwise the resulting actual value jump must be permitted in the program and application!

Together, these parameters define the position value to which the encoder is adjusted with the leading edge of the 1st preset input. To suppress interference, however, the preset is only carried out if the preset signal is present without interruption during the entire response time of 30 ms. A re-execution of the preset is not possible until the input signal has been reset again and a filter time of 30 ms has been waited.

The inputs depend on the total measuring length in increments

• Lower limit 0

• Upper limit total measuring length in increments - 1

• Default value 1

Device description / start-up

WARNING !

Risk of injury and damage to property by an actual value jump when the preset function is performed!

The preset function should only be performed when the measuring system is at

•

rest, otherwise the resulting actual value jump must be permitted in the program and application!

Together, these parameters define the position value to which the encoder is adjusted with the leading edge of the 2nd preset input. To suppress interference, however, the preset is only carried out if the preset signal is present without interruption during the entire response time of 30 ms. A re-execution of the preset is not possible until the input signal has been reset again and a filter time of 30 ms has been waited.

The inputs depend on the total measuring length in increments

• Lower limit 0

• Upper limit total measuring length in increments - 1

• Default value 2

03/04/2010 TR - ECE - BA - GB - 0009 - 08 Page 25 of 45

Device description / start-up

3.8.2.14 Commissioning function

This parameter defines the setting of the commissioning function. In the standard setting "Off, no status" the encoder is compatible to encoders with version 3.x (further details see Teach-In function).

Selection

Off, no status (V3.x), default

•

• Off, with status

• On, with status

3.8.2.15 Short diagnostic (16 byte)

With this parameter in the TR operation modes the number of diagnostic bytes can be limited from 6+51 bytes to 6+10 bytes. Therefore the encoder can be operated also to Profibus masters with older issue numbers in these modes.

Selection

No, default

•

• Yes

3.8.2.16 Limit switch lower and upper limit

Is the status switched on (see commissioning function) the encoder can inform the master via a bit whether the actual value is within the limits. It is valid:

Limit switch bit = 0 if lower limit < actual value < upper limit Limit switch bit = 1 if actual value < lower limit or actual value > upper limit

The inputs depend on the total measuring length in increments.

• Lower limit 0

• Upper limit total measuring length in increments - 1

• Default value 0

Page 26 of 45 TR - ECE - BA - GB - 0009 - 08 03/04/2010

3.8.2.17 Speed [1/n rpm]

With this parameter the information of the rotation speed can be scaled in arbitrary increments between 1/1 and 1/100 rpm.

• Lower limit 1

• Upper limit 100

• Default value 1

Notes for the input of parameters with data format 32 bits (only in connection with the device master file "TR03AAAB.GSD")

The Profibus standard DIN 19245 provides the data format "UNSIGNED32" for the definition of 32 bits of parameter data in the device master file. This data format isn't supported by all configuration programs for profibus master. These programs clip the more significant word of the parameter. In order to allow inputs despite this, these parameters are split up into single words. Illogically enough, the input in the input masks also has to be made in decimal form. This affects the following parameters:

• Total measuring range [units]

• Revolutions numerator

• Preset 1 value

• Preset 2 value

In the meantime, we recommend the following procedure for entering measuring lengths in increments larger than 16 bits:

1. Convert the desired measuring length in increments to a hexadecimal figure

2. Convert only the four less significant tetrads (figures) back to decimal format

3. Convert only the remaining more significant tetrads (figures) back to decimal

Example:

Total measuring length in increments: 10 500 000 (D)

converted to hexadecimals: A0 37A0 (H)

results in four less significant tetrads: 37A0 (H) and remaining more significant tetrads: A0 (H)

Total measuring range [units] lo: 14240(D) (=37A0 (H) !) Total measuring range [units] hi: 160 (D) (=A0 (H) !)

using a calculator and store this figure.

separately. This gives you the input 'Total measuring range [units] lo'

format separately. This gives you the input 'Total measuring range [units] hi'

Device description / start-up

03/04/2010 TR - ECE - BA - GB - 0009 - 08 Page 27 of 45

Device description / start-up

3.8.3 Scaling function

3.8.3.1 Nominal configurations PNO Class 1+2

The encoder does not support a gear function. The position value is decoded in binary form and balanced against a zero offset and the code sequence. The position is calculated according to the following formula:

Measuring length in increments Number of increments per revolution

Number of revolutions

When entering the parameterization data, make sure the parameters 'Measuring length in increments' and 'Number of increments per revolution' are chosen so that the quotient of the two parameters is a second power. If this is not the case, the encoder will correct the measuring length in increments to the next smallest second power in revolutions. The number of increments per revolution remains constant. The re-calculated measuring length in increments can be read out via the extended diagnostic information for Class 2 and is always smaller than the predefined measuring length. Therefore it can be that the actually needed total increment number is exceeded and the encoder generates a zero-point changeover before reaching the maximum mechanical displacement distance.

Since the internal absolute position (before the encoder was scaled and a zeropoint adjustment was executed) recurs periodically after 4096 revolutions, at rotating applications (endless driving to the same direction, the number of revolutions is not a power of two) it comes inevitably to offsets. For such applications, one of the TR - nominal configurations has to be used.

= -------------------------------------------------

Operator input

Page 28 of 45 TR - ECE - BA - GB - 0009 - 08 03/04/2010

3.8.3.2 Nominal configuration TR-mode position and TR-mode position+velocity

The encoder supports the gear function for rotating applications. The position value is balanced against a zero offset, the code sequence and the entered gear parameters. The number of increments per revolution is calculated according to the following formula:

Measuring length in increments Number of increments per revolution = ------------------------------------------------------

Number of revolutions numerator

----------------------------------------------------- Number of revolutions denominator

Gear limits: Maximum no. of revolutions 256000 Minimum no. of revolutions 1 Maximum no. of increments per revolution see encoder rating plate Minimum denominator 1 Maximum denominator 99

Device description / start-up

For rotating applications (endless driving to the same direction, the number of revolutions must not to be a power of two), one of the TR - nominal configurations must to be used.

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Device description / start-up

3.9 Preset adjustment

Risk of injury and damage to property by an actual value jump when the adjustment function is performed!

WARNING !

The adjustment function should only be performed when the measuring system is

•

at rest, otherwise the resulting actual value jump must be permitted in the program and application!

In 'Class 2' mode and in the 'TR - operation modes', the PROFIBUS can be used to adjust the encoder to any position value within a range of 0 to (measuring length in increments - 1). This is done by setting the most significant bits of the output data (2 Class 2 - 32 bits or 2

Outputs

Data byte 3 Data byte 2 Data byte 1 Data byte 0

MSB

Output byte x+0 Output byte x+1 Output byte x+2 Output byte x+3

Inputs

Data byte 3 Data byte 2 Data byte 1 Data byte 0

MSB

Input byte x+0 Input byte x+1 Input byte x+2 Input byte x+3

The preset adjustment value transferred in data bytes 0 - 3 is accepted as the position value with the leading edge of bit 32 (=bit 7 of data byte 3). To suppress interference, however, the new position value is only carried out if the control bit 32 is present without interruption during the entire response time of 30 ms. A re-adjustment is not possible until the control bit has been reset again and a filter time of 30 ms has been waited. In the Class 2 mode this process is not acknowledged via the inputs. In the TR - operations modes at status switched-on (see adjustments of the Commissioning function) this process is acknowledged via the most significant bit.

for configuration Class 2 - 16 bits).

for configuration

LSB

Page 30 of 45 TR - ECE - BA - GB - 0009 - 08 03/04/2010

Device description / start-up

3.10 Commissioning function (Teach-in function for linear axes)

This function is activatable in the parameterization. When the commissioning function is activated, the relevant distance can be traversed with the machine. On the basis of the input "requested number of units per distance traveled", the encoder automatically calculates its measuring length in increments from the position difference and the selected measuring units. This value can then be entered in the parameterization file, so that the teach-in process does not need to be repeated should the encoder be exchanged.

For the Teach-In procedure following reductions are valid:

• The number of the revolutions must be programmed fixed to 4096 and may not be

changed in the parameterization!

• The maximum displacement distance mustn't exceed 2048 revolutions

• During the Teach-In process the maximum number of increments per revolution of

the encoder mustn't be exceeded (e.g. specification of a measuring length of 3000

increments and indication of a displacement distance of ¼ of a revolution)

• For rotating applications the commissioning function is not suitable and not valid

When the teach-in function is activated, the green LED flashes at a frequency of approx. 1 Hz.

To remain downward compatible to the version of 3.x, in the parameter setting there are three different settings:

• OFF, no status:

This setting is compatible with version 3.x, that means the bits 2 always "0".

• OFF, with status:

In this setting the status bits are visible, but the function is not activated

• ON, with status

The commissioning function is active

to 231 are

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Device description / start-up

3.10.1 Input/output configuration for teach-in

Outputs

MSB

Inputs

MSB

3.10.1.1 Assignment of the status byte

At activated status the status bits 2

Bit 25

Bit 26

Bit 27

Bit 28

Bit 29

Bit 30

Bit 31

3.10.1.2 Assignment of the control byte

Bit 25 No meaning Bit 26 No meaning Bit 27 No meaning

Bit 28

Bit 29

Bit 30

Bit 31

Requested no. of units per distance travelled

Control bits+Distance 224Distance 223-2

Output byte x+0 Output byte x+1 Output byte x+2 Output byte x+3

Position / Measuring length in steps

Status+P osition 224Position 223-2

Input byte x+0 Input byte x+1 Input byte x+2 Input byte x+3

Ready status

0 = Encoder not ready-to-operate 1 = Encoder ready-to-operate

Operating mode

0 = Commissioning mode 1 = Normal mode

Software limit switches

0 = lower limit switch < process-actual value < upper limit switch 1 = process-actual value < lower limit switch or

process-actual value > upper limit switch

Counting direction (at the moment)

Bit 28 = 0: Counting direction cw (with look on the shaft) Bit 28 = 1: Counting direction ccw (with look on the shaft)

Teach-In, takeover drive distance

0 = Drive distance not taken 1 = Drive distance taken

Start Teach-In

0 = No start 1 = Teach-In function started

Adjustment acknowledgement

0 = No adjustment requested 1= Requested adjustment was executed

Change counting direction

0 = Keep counting direction 1 = Invert present counting direction

Takeover Teach-In

0 = No takeover of the drive distance 1 = Takeover of the drive distance

Start Teach-In

0 = No start 1 = Start

Adjustment request

0 = No adjustment requested 1 = Adjust encoder to the preset value

Distance 215-2

Position 215-2

Distance 27-2

Position 27-2

to 231 have the following meaning:

LSB

Page 32 of 45 TR - ECE - BA - GB - 0009 - 08 03/04/2010

3.10.2 Teach-in procedure

The teach-in procedure takes place in several stages which are described below. It is assumed that the PROFIBUS is in operation, that the PLC is in its cycle, and that its process image is continuously updated. The inputs and outputs assigned by the encoder in the PLC must be able to be controlled via a programming device (e.g. "Control variables" function in SIMATIC-S5 system), or alternatively by a PLC handling facility.

1. After selecting manual or set-up mode, move the machine by hand to the starting position of the distance to be measured.

2. Find out whether the present adjusted counting direction is correct for the application. If not, first the counting direction must be inverted with setting the "

Change counting direction" bit in the control byte. The encoder displays

the present counting direction in the status byte.

3. Set the " The encoder then re-programs its measuring length in increments to the maximum resolution, memorizes its current position and acknowledges this process by setting the "

Start Teach-In" bit in the control byte

Device description / start-up

Teach In Function Started" bit in the status byte.

4. Reset the " The "

5. In manual or set-up mode, move the machine by hand to the ending position of the distance to be measured. Measure the distance between initial and ending position with a measuring tape of arbitrary measurement unit.

6. Enter the real distance in measured units according to the tape measure in data bytes D0 and D1 of the outputs.

7. Set the "Takeover of the drive distance" bit in the control byte The encoder then calculates the measuring length in increments from the requested travelling distance in measured units, enters the calculated measuring length in increments in data bytes D0 .. D2 of the inputs and acknowledges this process by setting the " byte.

8. Make a note of the measuring length in increments!

9. Reset the " The encoder then accordingly resets the "

drive distance taken

completed.

10. Carry out presetting or adjustment.

If one of the steps was omitted or incompletely executed, the entire procedure must be repeated. During the teach-in process, the encoder must not be adjusted and no presettings may be performed.

Once all axes have been set up with the teach-in function, the noted measuring lengths in increments must be entered in the parameterization file of the encoder using the configuration program for the PROFIBUS master (e.g. COM-ET-200 or COM PROFIBUS), and the teach-in mode must be deactivated. This ensures that the teachin process does not have to be repeated should the encoder be exchanged.

Start Teach-In" bit in the control byte

Teach-In Started" bit remains set furthermore!

Teach-In, drive distance taken" bit of the status

Takeover of the drive distance" bit in the control byte

Teach-In started" and "Teach-In,

" bits in the status byte. Thus the Teach-In process is

03/04/2010 TR - ECE - BA - GB - 0009 - 08 Page 33 of 45

Device description / start-up

The following tables display the processes schematically again:

Setting of the counting direction

M = Master S = Slave

MÆS SÆM

Status-/Control bits Data bits

Bit 31 30 29

0 0 0 1 0 0 0

0 0 0

0 0 0 0 0 0 0

0 0 0

27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0

The selected direction of rotation is changed over from 0 to 1 or 1 to 0 using bit 28

0/1 0 1

0/1

The encoder now acknowledges the newly selected direction of ro. in bit 0 and bit

Changeover is completed by setting bit 28 to 0

0/1 0 1

0/1

The process actual value is now output again

Teach-In Start

M = Master S = Slave

MÆS SÆM MÆS SÆM

Status-/Control bits Data bits

Bit 31

0 1 0 0 0 0 0

0 1 0 0/1 0/1 0 1

0 0 0 0 0 0 0

0 1 0 0/1 0/1 0 1

29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0

The Teach-In mode is activated by setting bit 30

Acknowledging by setting bit 30 to 1

Non-calculated process actual values (gear factor=1, no preset active)

Teach-In, takeover drive distance

M = Master S = Slave

MÆS SÆM

Status-/Control bits Data bits

Bit 31

28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0

30 29

0 0 0 0

0 1

1 1

0 0

0/1 0/1 0 1

0 0 0 0

0/1 0/1 0 1

Number of increments which the encoder should output is now sent to the encoder

Transfer of the total measuring range for the new gear factor (this should be

The process actual value, calculated with the new gear factor, is output

Preset-Adjustment

M = Master S = Slave

MÆS SÆM MÆS

SÆM

Status-/Control bits Data bits

Bit 31 30 29

1 0 0 0 0 0 0

0 0 0 0 0 0 0

27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0

Here the preset value is transferred as desired new actual value

The encoder acknowledges the takeover in bit 7 of the status byte

By setting the bit 31 to 0, the adjustment is finished

The process actual value is now output again

0/1

Resetting

noted!)

Resetting

0/1

Page 34 of 45 TR - ECE - BA - GB - 0009 - 08 03/04/2010

3.11 Optional SSI interface

The encoder has a separate Synchronous Serial Interface via which its position value can be made available to a further evaluation unit (e.g. drive controller). The position value output at this interface is identical to the value output on the PROFIBUS in terms of conversion and code sequence. In order to use this interface, a special cover with terminals for the SSI interface is necessary.

3.11.1 Limitation of SSI interface

The encoder position is re-loaded after each read process, and remains unchanged until the next time it is accessed. If the SSI master (e.g. drive controller or WF assembly) reads the position at prolonged or irregular intervals, this may lead to contouring error messages. To avoid this, the position should be read at short, regular intervals. The monoflop time of the SSI interface is around 35 - 55 µs (typ. 41 µs) as opposed to 20 - 40 µs in the standard interface.

Device description / start-up

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Trouble-shooting and diagnostic facilities

4 Trouble-shooting and diagnostic facilities

4.1 Visual indicators

The encoder is equipped with two LEDs in the bus cover: one red LED (BF) for indicating errors and one green LED (STAT) for indicating status information. When the encoder is started up, both LEDs flicker briefly. Thereafter, the indications depend on the operational status of the encoder.

4.1.1 Indicator states, green LED (STAT)

Green LED Cause Remedy

Off Absence of voltage supply Check voltage supply wiring

Station address incorrectly set Set station address (valid values 3-99 !)

Bus cover not mounted and

screwed on correctly

Bus cover defective Replace bus cover

Hardware error, encoder

defective

Check bus cover for correct seating

Replace encoder

Flashing at a

frequency of 10

Flashing at a

frequency of 1 Hz

On Encoder ready for operation

Irreparable parameterization or

configuration error.

Parameterization or

configuration error in PNO-

compatible nominal

configuration

Data have been corrected

Teach-in mode active

4.1.2 Indicator states, red LED (BF)

Red LED Cause Remedy

Off No error, bus in cycle

Check parameterization and configuration

See section 0 on page 18

Check configuring and operational status of

PROFIBUS master

Deactivate teach-in mode

Flashing at a

frequency of

1 Hz

On Irreparable encoder fault Check parameter data

Encoder not yet addressed by

master

Check set station address

Check configuring and operational status of

PROFIBUS master

Page 36 of 45 TR - ECE - BA - GB - 0009 - 08 03/04/2010

4.2 How to use the PROFIBUS diagnostics

In a Profibus system, the Profibus masters supply the process data to a so-called host system, e.g. a PLC-CPU. If a slave is not accessible, or no longer accessible, on the bus, or if the slave itself reports a fault, the master must communicate this fault to the host system in some form or other. There are several possible ways of doing this, the evaluation of which depends entirely on the application in the host system. As a general rule, a host system cannot be stopped following the failure of only one component on the bus, but must respond appropriately to the failure as prescribed by the safety regulations. The master normally provides the host system initially with a summary diagnosis, which the host system reads cyclically from the master, and which serves to report the states of the individual bus stations to the application. If a station is reported to be faulty in the summary diagnosis, the host can request further data from the master (slave diagnostics), which then allow a more detailed evaluation of the causes. The indications thus obtained may either have been generated by the master, if the relevant slave does not respond (or no longer responds) to the master's requests, or they may come directly from the slave, if the slave itself reports a fault. The generation or reading of the diagnostic message between the master and slave takes place automatically, and does not have to be programmed by the user. In addition to the standard diagnostic information, the encoder provides an extended diagnostic message according to Class 1 or Class 2 of the PNO encoder profile, depending on the nominal configuration.

4.2.1 Standard diagnosis

The standard DP diagnosis is structured as follows (always from the point of view of the master in relation to the slave).

Byte no. Meaning Byte 1 Station status 1

Byte 2 Station status 2 Byte 3 Station status 3 General part Byte 4 Master address Byte 5 Manufacturer's identifier HI byte Byte 6 Manufacturer's identifier LO byte Byte 7 Length (in bytes) of extended

diagnosis

Byte 8

Byte 241 (max)

Other device-specific diagnoses Device-specific extensions

Trouble-shooting and diagnostic facilities

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Trouble-shooting and diagnostic facilities

4.2.1.1 Station status 1

Bit 7 Master_Lock Slave has been parameterized

Bit 6 Parameter_Fault The last parameterization

Bit 5 Invalid_Slave_Response Set by the master if the slave

Bit 4 Not_Supported Slave does not support the

Bit 3 Ext_Diag Bit = 1 means that there is an

Bit 2 Slave_Cfg_Chk_Fault The configuration identifier(s)

Bit 1 Station_Not_Ready Slave is not ready to exchange

Bit 0 Station_Non_Existent The slave has been configured

4.2.1.2 Station status 2

Bit 7 Deactivated Slave has been deleted from the

Bit 6 Reserved Bit 5 Sync_Mode Set by slave on receipt of SYNC

Bit 4 Freeze_Mode Set by slave on receipt of

Bit 3 WD_On Slave watchdog is activated Bit 2 Slave_Status Always set for slaves Bit 1 Stat_Diag Static diagnosis Bit 0 Prm_Req The slave sets this bit if it has to

4.2.1.3 Station status 3

Bit 7 Ext_Diag_Overflow Overflow in extended diagnosis Bit 6 - 0 Reserved

by another master (bit is set by master)

message to have been sent was rejected by the slave

does not respond

requested functions

extended diagnostic message from the slave

sent by the master was/were rejected by the slave

cyclical data

but is not present on the bus

poll list by the master

command

FREEZE command

be re-parameterized and reconfigured.

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4.2.1.4 Master address

In this byte, the slave enters the station address of the first master to have sent a valid parameterization message. If several masters access the bus simultaneously, their configuration and parameterization information must coincide exactly in order to ensure correct operation of the Profibus.

4.2.1.5 Manufacturer's identifier

In bytes 5+6, the slave enters the manufacturer-specific identification number, an unambiguous number for each device type which is reserved and filed with the PNO. The identifier number of the encoder is AAAB(h).

4.2.1.6 Length (in byte) of extended diagnosis

If additional diagnostic information is available, the slave enters the number of bytes following the standard diagnosis here.

Trouble-shooting and diagnostic facilities

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Trouble-shooting and diagnostic facilities

4.2.2 Extended diagnosis

In addition to the standard DP diagnostic message, the encoder also provides an extended diagnostic message according to the PNO encoder profile. This message varies in length depending on the chosen nominal configuration. In the configurations designated "TR mode", the diagnostic message corresponds to PNO Class 2. The following pages provide a general overview of the available diagnostic information. Which individual options your encoder actually supports can be read out from the device itself.

Byte no. Meaning Class Byte 7 Length (in bytes) of extended diagnosis 1

Byte 8 Alarms 1 Byte 9 Operating status 1 Byte 10 Encoder type 1 Byte 11-14 Encoder resolution in increments per revolution (rotary)

Encoder resolution in measuring increments (linear) Byte 15-16 Number of resolvable revolutions 1 Byte 17 Additional alarms 2 Byte 18-19 Supported alarms 2 Byte 20-21 Warnings 2 Byte 22-23 Supported warnings 2 Byte 24-25 Profile version 2 Byte 26-27 Software version (firmware) 2 Byte 28-31 Operating hour counter 2 Byte 32-35 Offset value 2 Byte 36-39 Manufacturer's offset value 2 Byte 40-43 Number of increments per revolution 2 Byte 44-47 Measuring length in increments 2 Byte 48-57 Serial number 2 Byte 58-59 Reserved 2 Byte 60-63 Manufacturer-specific diagnostics Optional

4.2.2.1 Alarms

Bit Meaning = 0 = 1 Bit 0 Position error No Yes

Bit 1 Supply voltage faulty No Yes Bit 2 Current consumption too high No Yes Bit 3 Diagnosis OK Error Bit 4 Memory error No Yes Bit 5 Not applicable Bit 6 Not applicable Bit 7 Not applicable

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4.2.2.2 Operating status

Bit Meaning = 0 = 1 Bit 0 Code sequence Increasing

Bit 1 Class-2 functions No, not

Bit 2 Diagnosis No, not

Bit 3 Status scaling function No, not

Bit 4 Not applicable Bit 5 Not applicable Bit 6 Not applicable Bit 7 Not applicable

4.2.2.3 Encoder type

Code Meaning 00 Single-turn absolute encoder (rotary)

01 Multi-turn absolute encoder (rotary)

See encoder profile for other codes

4.2.2.4 Single-turn resolution

The hardware single-turn resolution of the encoder can be read out via bytes 11-14.

4.2.2.5 Number of resolvable revolutions

The maximum number of encoder revolutions can be read out via diagnostic bytes 15-

16.

4.2.2.6 Additional alarms

Byte 17 is reserved for additional alarms, although no other alarms are implemented.

Bit Meaning = 0 = 1 Bit 0-7 Reserved

Trouble-shooting and diagnostic facilities

Increasing

clockwise

supported

counterclockwise

Yes

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Trouble-shooting and diagnostic facilities

4.2.2.7 Supported alarms

Bit Meaning = 0 = 1 Bit 0 Position error Not supported Supported

Bit 1 Supply voltage monitoring Not supported Supported Bit 2 Current consumption

monitoring Bit 3 Diagnostic routine Not supported Supported Bit 4 Memory error Not supported Supported Bit 5-15 Not applicable

4.2.2.8 Warnings

Bit Meaning = 0 = 1 Bit 0 Frequency exceeded No Yes

Bit 1 Permissible temp. exceeded No Yes Bit 2 Control reserve light Not reached Reached Bit 3 CPU watchdog status OK Reset performed Bit 4 Operating time warning No Yes Bit 5-15 Battery charge OK Too low

4.2.2.9 Supported warnings

Bit Meaning = 0 = 1 Bit 0 Frequency exceeded Not supported Supported

Bit 1 Permissible temp. exceeded Not supported Supported Bit 2 Control reserve light Not supported Supported Bit 3 CPU watchdog status Not supported Supported Bit 4 Operating time warning Not supported Supported Bit 5-15 Reserved

4.2.2.10 Profile version

Diagnostic bytes 24-25 indicate the version of the PNO encoder profile supported by the encoder. They consist of the revision number and revision index (e.g. 1.40 corresponds to 0000 0001 0100 0000 or 0140 (hexadecimal code) )

Byte 24 Revision number Byte 25 Revision index

Not supported Supported

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4.2.2.11 Software version

Diagnostic bytes 26-27 indicate the internal software version of the encoder. They consist of the revision number and revision index (e.g. 1.40 corresponds to 0000 0001 0100 0000 or 0140 (hexadecimal code) )

Byte 26 Revision number Byte 27 Revision index

4.2.2.12 Operating hour counter

Diagnostic bytes 28-31 represent an operating hour counter which is incremented by one digit every 6 minutes. The measuring unit for operating hours is thus 0.1 hours. If this function is not supported, the operating hour counter is set to the maximum value FFFFFFFF(hexadecimal code).

4.2.2.13 Offset value

Diagnostic bytes 32-35 indicate the offset in relation to the absolute scanning position which is calculated during the execution of the preset function.

4.2.2.14 Manufacturer-specific offset value

Diagnostic bytes 36-39 indicate an additional manufacturer-specific offset in relation to the absolute scanning position which is calculated during the execution of the preset function.

4.2.2.15 Number of increments per revolution

Diagnostic bytes 40-43 indicate the configured increments per revolution of the encoder.

4.2.2.16 Measuring length in increments

Diagnostic bytes 44-47 indicate the configured measuring lengths in increments of the encoder.

4.2.2.17 Serial number

Diagnostic bytes 48-57 indicate the serial number of the encoder. If this function is not supported, asterisks are used (hexadecimal code 0x2A) ********** to indicate the configured measuring length in increments of the encoder.

4.2.2.18 Manufacturer-specific diagnostics

The encoder does not support any other manufacturer-specific diagnostics.

Trouble-shooting and diagnostic facilities

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Trouble-shooting and diagnostic facilities

According to the PNO encoder profile, an encoder must set the bits 'Ext.diag' (extended diagnostic information available) and 'Stat.diag' (static error) in the event of an internal error being detected in the station status. This means that, in case of error, the encoder stops providing position data and is removed from the process image by the PROFIBUS master until the error bits are reset. It is not possible for the user to acknowledge the error via the PROFIBUS in this way.

This function is only guaranteed provided the Commissioning Diagnostic function is activated.

4.3 Other faults

Fault Cause Remedy

Encoder step changes

Electrical faults

Excessive axial and

Profibus operates when the encoder is not connected, but indicates a fault when the bus cover is mounted on the encoder

Strong vibrations Vibrations, shocks and jolts, e.g. on presses, are

cushioned by so-called "shock modules". If the error persists despite these precautions, the encoder must be replaced.

Electrical faults can be countered by means of insulating

EMC

radial loading of shaft or scanning defect.

PROFIBUS Data-A and Data-B reversed

plastic flanges and couplings, and by data and power supply cables with twisted-pair conductors. The screening and wiring arrangement must conform to the assembly guidelines for PROFIBUS.

Couplings prevent mechanical strain on the shaft. If the error persists despite this precaution, the encoder must be replaced..

Inspect all connections and conductors relating to the wiring of the encoder.

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5 Appendix

5.1 New in firmware versions 4.x opposite 3.x

• The till now optionally available commissioning function is activatable in version

4.x at full downward compatibility any time.

• The reduction is cancelled, that the scaling function can be activated only in

connection with the Class 2 functions. The device then works as Class 1 device with short diagnostic length and is nevertheless scalable.

• In the TR operation modes the diagnostic length can be limited on the length of

the Class 1 diagnosis.

• If the status byte is activated a limit switch bit with two limit values is available to

supervise the displacement range.

• The information of the rotational speed is scalable in arbitrary steps between 1/1

and 1/100 revolutions per minute.

Appendix

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TR-Electronic CE-100 Series, CE-65 Series User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

Table of Contents

Revision index

Basic safety instructions

Transportation / device data

Device description / start-up

Trouble-shooting and diagnostic facilities

Byte 8 Alarms 1 Byte 9 Operating status 1 Byte 10 Encoder type 1 Byte 11-14 Encoder resolution in increments per revolution (rotary)

Appendix