Absolute Encoder GEL 235DP

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D -02 R -2 3 5dp (2. 1 )

Absolute Encoder

GEL 235DP

PROFIBUS-DP Fieldbus Connection (Slave) PNO ID: 0B3Eh

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Device manufacturer and publisher:

Lenord, Bauer & Co. GmbH Dohlenstrasse 32

46145 Oberhausen ● GERMANY

Phone: +49 208 9963-0 ● Fax: +49 208 676292 Internet: www.lenord.de ● E-Mail: [email protected]

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Lenord + Bauer Table of contents

Table of contents

1 General ... 5

1.1 About this document ... 5

1.2 Description ... 5

1.3 Information on how to avoid property damage or malfunctions ... 5

1.3.1 Modifications ... 5

1.3.2 Repairs ... 6

1.3.3 Cable screw connection ... 6

1.3.4 Electrostatic discharge ... 6

1.3.5 Mating connectors ... 6

1.3.6 Laying the cable ... 6

1.4 Symbols, abbreviations and terms ... 7

2 Connection and adjustment elements ... 8

2.1 Overview ... 8

2.2 Bus connector M12 (optional) ... 8

2.3 Device address ... 9 2.4 Terminal strip ... 9 2.5 Bus termination ... 9 2.6 Status displays ... 10 2.7 Bus connection ... 10 2.7.1 General ... 10 2.7.2 Cable assembly ... 11

3 PROFIBUS-DP encoder profile DPV0 ... 12

3.1 Overview of functions ... 12 3.2 Configuration (Chk_Cfg) ... 14 3.3 Parameterization (Set_Prm) ... 15 3.3.1 Direction of counting ... 17 3.3.2 Class 2 functionality ... 17 3.3.3 Maintenance diagnostics ... 17 3.3.4 Scaling function ... 17

3.3.5 Measuring steps per revolution ... 17

3.3.6 Total number of measuring steps ... 17

3.3.7 Suppression of operating hours counter ... 18

3.3.8 Diagnostic length Class 1 ... 18

3.3.9 Non-saving of preset value ... 18

3.3.10 Speed output ... 18

3.3.11 Acceleration output ... 19

3.3.12 Rotational speed / preset output ... 19

3.3.13 Length multiplier ... 20

3.3.14 Gate time for speed and acceleration measurement ... 20

3.3.15 Gate time for rotational speed measurement ... 20

3.3.16 Data output format in Data_Exchange mode ... 20

3.4 Data exchange ... 20

3.4.1 Input data ... 20

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Table of contents Lenord + Bauer

3.5.2 Extended diagnostic header ... 22

3.5.3 Alarm messages ... 22

3.5.4 Operating status ... 23

3.5.5 Encoder type ... 23

3.5.6 Single turn resolution ... 23

3.5.7 Multiturn resolution ... 23

3.5.8 Additional alarm messages ... 23

3.5.9 Alarms supported ... 24 3.5.10 Warnings ... 24 3.5.11 Warnings supported ... 25 3.5.12 Profile version ... 25 3.5.13 Software version ... 25 3.5.14 Operating hours ... 26 3.5.15 Offset value ... 26

3.5.16 Manufacturer's offset value ... 26

3.5.17 Measuring steps per revolution ... 26

3.5.18 Total number of measuring steps ... 27

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Lenord + Bauer About this document 1 General

1 General

1.1 About

this

document

The following description deals with the PROFIBUS connection of the GEL 235 absolute encoders. It is intended for persons who are already familiar with the functionality of the encoder and who have basic knowledge of fieldbus connection to PROFIBUS-DP. For further information, please refer to the corresponding standards of the PROFIBUS user organization (www.profibus.com).

Information on functioning, installation, handling, and specifications of the encoder is given in the accompanying Product Information (no. D-71Z-235) and in the Mounting Instructions for Lenord+Bauer type 2x absolute encoders (no. D-02M-Abs2x) – please read before!

Numerical data

Unless specified explicitly, decimal values are represented as digits without an extension (e.g. 1408). Binary values are indicated by a "b" (e.g. 1101b) and hex-adecimal values by a "h" (e.g. 680h) following the digits.

1.2 Description

The GEL 235 absolute encoder implements the DP slave concept and supports the DP-V0 protocol level (cyclic process data exchange)

The communication characteristics of the encoder are defined in the provided gsd file: G235083E.gsd.

For connecting the encoder the screwed-on bus cap is used. The communication in-terface corresponds to the features stated in the PROFIBUS-DP Profile for Encoders

V1.1, Class 2. The supported functions are described in chapter 3.

The necessary adjustment elements are located inside the bus cap.

All connections and adjustments must be carried out before the encoder is to be inte-grated into the fieldbus system. For this purpose, the bus cap must be separated from the encoder (loose the two captive screws on the back).

Only dismount the bus cap if the encoder is not energized. Otherwise, a short circuit may occur if the bus cap is not pulled off absolutely straight. Two LEDs in the bus cap inform about various states.

Die device address is set via rotary switches inside the bus cap. Alternate setting via fieldbus is supported.

1.3 Information on how to avoid property damage or malfunctions

1.3.1 Modifications

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1 General Information on how to avoid … Lenord + Bauer

 Do not perform modifications or conversions to the bus cap other than those de-scribed in the product documentation.

1.3.2 Repairs

Improper repairs may damage the bus cap.

Repairs must only be carried out by LENORD+BAUER or by a designated party au-thorized by LENORD+BAUER.

1.3.3 Cable screw connection

The cable screw connection seals the bus cap against humidity and dust. The electronics may become damaged if the screw connection is unscrewed.  Do not unscrew the cable screw connection if the bus cap is assembled at the

factory.

 If you have assembled the bus cap yourself (→ page 11), make sure that the sealing in the cable screw connection is effective: Firmly tighten the clamping screw with at max. 6 Nm (4.43 ft lbf).

1.3.4 Electrostatic discharge

Electrostatic discharge (ESD) can destroy the electronic components.

 Earth your body with an ESD protective armband, for example, before touching plug pins and connecting wires.

 Note the relevant regulations for the respective region in relation to components susceptible to electrostatic discharge.

 Check the protective measures for effectiveness at regular intervals. 1.3.5 Mating connectors

Incorrect positioning of the mating connector may cause transmission faults.

 Make sure there is no appreciable slackness of the mating connector on sideward movement.

1.3.6 Laying the cable

The connection cable may become damaged if bent too sharp.  Maintain the minimum bend radius of

● five times the cable diameter in the case of fixed laid cables or ● ten times the cable diameter in the case of freely laid cables.

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Lenord + Bauer Symbols, abbreviations and terms 1 General

1.4 Symbols, abbreviations and terms

: Danger to property

: Important information for understanding or optimization of work processes

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2 Connection and adjustment elements Overview Lenord + Bauer

2 Connection and adjustment elements

2.1 Overview

Installation side:

1 Cable connection/connector power supply

2 Cable connection/connector Bus_In 3 Device address setting

4 Terminal strip

5 Encoder interface connector 6 Bus terminator On/Off

7 Cable connection/connector Bus_Out

Rear side:

1 Encoder status display (red/green LED)

2 Bus status display (red/green LED)

2.2 Bus connector M12 (optional)

1 2 4 3 5 1 2 3 4 5 IN OUT (male) (female) 1: – 2: A 3: – 4: B 5: Shielding 1 2 3 4 POWER (male) 1: +V_S 2: – 3: GND 4: –

If the encoder is the last device on the bus, the internal load resistance must be enabled (→ page 9). External resistance in or at the Bus_Out mating connector is not supported because no power is supplied here.

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Lenord + Bauer Device address 2 Connection and adjustment elements

2.3 Device

address

x10 x100 x1

Sample setting: Address 12

The maximum device address is 125.

The device address can also be set by a class 2 master via the fieldbus

(Set_Slave_Add function). To use this function you must set the rotary switches to either the address 128 or 129 with the encoder not being energized:

128: 129:

Setting the address via fieldbus only once Setting the address via fieldbus several times

With first boot after performing this setting, the encoder logs on with device ad-dress 126.

After changing the address by the master, the encoder must be rebooted (cold start). Then it will log on with the new address.

2.4 Terminal

strip

B A 0 + B A 0 +

No. Designation Function Cable color1

1 B Line B (Out) Red

2 A Line A (Out) Green

3 GND (0) Encoder supply – (connected to 7) – 4 +V_S (+) Encoder supply + (connected to 8) –

5 B Line B (In) Red

6 A Line A (In) Green

7 GND (0) Encoder supply – Blue 8 +V_S (+) Encoder supply + (10–30 VDC) Brown

1_{with factory assembling}

2.5 Bus

termination

If the encoder is the last device on PROFIBUS, the integrated load resistances must be activated. (External resistance in or at the optional bus-out mating connector is not supported because no power is supplied here.)

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2 Connection and adjustment elements Status displays Lenord + Bauer

Both miniature switches must be moved to the ON position for this purpose (disabled in condition on delivery).

2.6 Status

displays

(not with ex-protected models)

Various system operating states are indicated by 2 LEDs on the rear of the bus cap (1)_:

Status 1 2 3 4 1 2 3 4

No or excessively low voltage Voltage correct; encoder transmits error-free position data

Internal encoder failure; position data faulty

Encoder defective (example repre-sentation) Bus 1 2 3 4

1–3 Connection to master exists 1

2 3 4

Data exchange status

Waiting for encoder parameterization Waiting for data format configuration No connection to master

2.7 Bus

connection

2.7.1 General

The data transfer is performed in accordance with the RS 485 specification.

Use a bus connection cable in accordance with the specification for cable type A (EN 50170):

Parameter Value

Wave resistance 135 to 165 Ω for 3 to 20 MHz Operating capacity < 27 pF/yd (30 pF/m)

Loop impedance < 68.3 Ω/mile (110 Ω/km) Wire diameter < 1/40 in (0.64 mm)

Wire cross-section < 0.53·10-3_{sq.inch (0.34 mm}2₎

Optimum linear expansion can only be achieved with this cable type (transmission rate is selected uniformly at startup for all stations on the bus):

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Lenord + Bauer Bus connection 2 Connection and adjustment elements Transmission rate (kBit/s) 9.6 19.2 93.75 187.5 500 1,500 3,000 6,000 12,000 Segment length in yd (m) 1300 (1200) 1300 (1200) 1300 (1200) 1100 1000 440 400 220 200 110 100 110 100 110 100 Do not use stub lines for data rates > 500 kBit/s.

2.7.2 Cable assembly

The next diagram shows how to install the bus and power cables:

2.2 in (55 mm)

.5 in (12 mm) .3 in (8 mm)

4.4 lbf ft (6 Nm)

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3 Encoder profile Overview of functions Lenord + Bauer

3 PROFIBUS-DP encoder profile DPV0

(V1.1, 05.1997)

3.1 Overview of functions

Chk_Cfg

Byte Description Info →

1 Data exchange configuration 3.2

Set_Prm

1–7 according to PROFIBUS-DP standards –

8 –

9 Operating parameters 3.3

10–13 Measuring steps per revolution 14–17 Total number of measuring steps

18–30 Reserved –

31 Manufacturer-specific operating parameters 3.3

32 Gate time for acceleration/speed measurement 33 Gate time for rotational speed measurement 34 Data as individual bytes

Data_Exchange

1-4 Position (input) 3.2, 3.4

5-8 Speed (input)

9-12 Acceleration (input) 13-16 Rotational speed / preset (input)

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Lenord + Bauer Overview of functions 3 Encoder profile

Slave_Diag

1 Diagnostic status 1 3.5

2 Diagnostic status 2

3 Diagnostic status 3

4 Diagnostic master addr

5, 6 PNO ident number

7 Extended diagnostic header

8 Alarm message

9 Operating status

10 Encoder type

11–14 Physical single turn resolution 15, 16 Physical multiturn resolution

17 Additional alarm messages 18, 19 Supported alarm messages

20, 21 Warnings

22, 23 Supported warning messages

24, 25 Profile version

26, 27 Software version

28–31 Operating hours

32–35 Offset value

36–39 Manufacturer offset 40–43 Measuring steps per revolution 44–47 Total number of measuring steps

48–57 Serial number

58, 59 Reserved (PNO)

60–63 Reserved (manufacturer), no output/transmission – RD_Inp

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3 Encoder profile Configuration (Chk_Cfg) Lenord + Bauer

3.2 Configuration

(Chk_Cfg)

The DP master uses this function to define a specific configuration for the encoder, which the encoder then checks to ensure adequate support. The encoder informs the DP master of the result of the check in the subsequent diagnostic request.

The length – and with that also the structure – of the process data is defined in the configuration.

The encoder can read preset values (output data from the perspective of the master) as well as send position, speed, acceleration and rotational speed/preset values (input data). Byte 1 Description Configu-ration Slave → Master (input) Master → Slave (output) Class 1 single turn (based on encoder

profile) D0h 1 Word —

Class 1 multiturn (based on encoder

pro-file) D1h 2 Words —

Class 2 single turn (based on encoder

profile) F0h 1 Word 1 Word

Class 2 multiturn (based on encoder

pro-file) F1h 2 Words 2 Words

Manufacturer-specific configuration D3h 4 Words — Manufacturer-specific configuration F3h 4 Words 4 Words Manufacturer-specific configuration F7h 8 Words 8 Words

Data structure of configuration based on encoder profile:

Preset control: A transferred preset value will only be accepted by the encoder if the MSB of the value is set: Bit 15, 31, 63 or 127 depending on the data length. As soon as the encoder returns the value as position, the master can reset the bit.

D0h, F0h Input (D0h and F0h) Output (F0h only) Byte Bit 1+2 15 … 0 1+2 15, 14 … 0

Data Position Preset value D1h, F1h Input (D1h and F1h) Output (F1h only)

Byte Bit 1–4 31 … 0 1–4 31, 30 … 0

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Lenord + Bauer Parameterization (Set_Prm) 3 Encoder profile

Data structure of manufacturer-specific configuration:

D3h, F3h Input (D3h and F3h) Output (F3h only) Byte Bit 1–4 63 … 32 5+6 31 … 16 7+8 15 … 0 1–4 63, 62 … 32 5–8 31 … 0

Data Position Speed Acceleration Preset value – The speed and acceleration values by default only form the two lower-value bytes of the 4-byte value; see the corresponding output parameters in Byte 31 of Set_Prm

→ page 16. F7h Input Output Byte Bit 1–4 127 … 96 5–8 95 … 64 9–12 63 … 32 13–16 31 … 0 1–4 127, 126 … 96 5–16 95 … 0

Data Position Speed Acceleration Rotational speed /

preset Preset value –

3.3 Parameterization

(Set_Prm)

This function can be used to set the following parameters (explanations are provided after the tables):

Standard parameters: Bytes 9 to 25

Parameters Byte Default in GSD file

Direction of counting 9 Bit 0: 0 = Ascending for clockwise direction of rotation

Class 2 functionality Bit 1: 1 = On (Class 2 diagnostic length) Maintenance diagnostics Bit 2: 0, not supported

Scaling function Bit 3: 0 = Off

— Bit 4,+5: Reserved (PNO)

— Bit 6+7: Reserved (manufacturer)

Measuring steps per revolution 10–13 4,096 = 212

(maximum 65,536 = 216₎

Total measuring steps 14–17 16,777,216 = 224

(maximum 268,435,456 = 228₎

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3 Encoder profile Parameterization (Set_Prm) Lenord + Bauer

Manufacturer-specific parameters: Bytes 26 to 34

Parameters Byte Default in GSD file

— 26–30 Reserved

Operating hours counter in di-agnostics

31 Bit 0: 1 = No, no output

Class 1 diagnostic length Bit 1: 0 = No, class 2 diagnostic length Save preset value in EEPROM Bit 2: 0 = Yes

Speed output (16 bit) Bit 3: 0 = Output Bit 1-16, 1 = Output Bit 17–32 Acceleration output (16 bit) Bit 4: 0 = Output Bit 1-16,

1 = Output Bit 17–32

rotational speed/preset output Bit 5: 0 = rotational speed output, 1 = Preset output

Length multiplier Bit 6: 0 = No (inactive)

Reserve Bit 7: 0

Gate time for acceleration/ speed measurement 32 0 = inactive 1 = 1 ms 2 = 5 ms 3 = 10 ms 4 = 50 ms 5 = 100 ms 6 = 500 ms 7 = 1,000 ms Gate time for rotation speed

measurement 33 0 = inactive 1 = 1 ms 2 = 5 ms 3 = 10 ms 4 = 50 ms 5 = 100 ms 6 = 250 ms 7 = 500 ms 8 = 1,000 ms 9 = 60,000 ms Output format of double word in

Data_Exchange mode

34 Bit 0, 1: 0 = Motorola format, 1 = Intel format Output format of a word in

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3.3.1 Direction of counting (Byte 9 – Bit 0)

This parameter defines the direction of counting (from perspective of shaft) in which the position code is output in ascending order:

● In clockwise direction Bit 0 = 0 (Standard) ● Counter-clockwise direction, Bit 0 = 1 3.3.2 Class 2 functionality (Byte 9 – Bit 1)

This parameter activates the class 2 functionality of the encoder.

Same setting for DP master and DP slave required to use the function! 3.3.3 Maintenance diagnostics (Byte 9 – Bit 2)

Internal maintenance diagnostics is not supported at present. (Please consult Lenord + Bauer if you should need this function.) 3.3.4 Scaling function (Byte 9 – Bit 3)

The scaling function can be used to calculate the internal position value of the encoder in accordance with the defined resolution.

The following parameters will be evaluated if this function is activated (Bit 3 = 1): ● Measuring steps per revolution (Bytes 10–13)

● Total number of measuring steps (Bytes 14–17)

The resulting scaling factor SKF, by which the internal (physical) position value is mul-tiplied, is derived as follows:

SKF = Measuring steps per revolution Physical (hardware) resolution 3.3.5 Measuring steps per revolution (Bytes 10–13)

This parameter defines the desired resolution (≤ physical resolution of the encoder) per revolution. It is only effective if the scaling function is activated (see Section 3.3.4). GSD file standard value: 4,096 (212₎

3.3.6 Total number of measuring steps (Bytes 14–17)

This parameter defines the total counting range of the encoder, after which the position value reverts to zero. It is only effective if the scaling function is activated (see Section

3.3.4). GSD file standard value: 16,777,216 (224₎

The value is interpreted by default as the gear ratio (rotatory value). By setting the length multiplier bits (Byte 31, Bit 6), the value can also be related to a distance (translatory value).

If the encoder is used in “continuous mode”, the total number of measuring steps must be greater than the number of measuring steps per revolution by a multiple

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3 Encoder profile Parameterization (Set_Prm) Lenord + Bauer

Example:

Absolute encoder with

– 12-bit single turn (4,096 measuring steps per revolution) and – 12-bit multiturn (4,096 rotations)

⇒ Total number of measuring steps = 4,096 × 4,096 = 16,777,216 = 1 00 00 00 h Byte 14 15 16 17

Data 01h 00h 00h 00h

3.3.7 Suppression of operating hours counter (Byte 31 – Bit 0)

The internal operating hours counter is not supported at present. The value FFFFFFFFh is output in accordance with the encoder profile.

3.3.8 Diagnostic length Class 1 (Byte 31 – Bit 1)

The large volume of Class 2 diagnostic data may be partly disruptive in the case of small bus systems (limited buffer size in DP master). The diagnostic length can there-fore be reduced to that of Class 1 data via this parameter.

3.3.9 Non-saving of preset value (Byte 31 – Bit 2)

The EEPROM has only a limited lifetime of some 10,000 write cycles.

To avoid unnecessary shortening of this lifetime, do not save the preset value in the case of applications in which the value has to be reset very frequently.

It can take up to 80 ms to write the preset value to the internal memory. The encoder sets the diagnostic bit to 1 in the diagnostic protocol (Byte 2) during the saving process. Wait until the process has expired (diagnostic bit reset).

The preset value is saved by default in the device's internal EEPROM with mains failure protection with each Preset signal. This can be suppressed by setting Bit 2 (=1) if data protection is ensured on power off.

3.3.10 Speed output (Byte 31 – Bit 3)

Note gate time for speed measurement (Parameter/Byte 32)!

If the speed value for the desired gate time is too large, the higher-value word (Bit 17–32) of the value (lower resolution) must be used instead of the default setting (Bit 1–16).

If the manufacturer-specific configuration D3h/F3h (see Section 3.2→ page 14) is used, the speed value occupies one word within the 4-word input data for the master.

Additional information on the speed output:

● The speed is output as signed measurement value (16 bits).

● Negative values indicate a direction of rotation contrary to the defined one (direction of counting parameter in Byte 9).

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The speed value is calculated as follows:

● The speed is established as position change per time unit.

● The established speed is converted to the corresponding counting range of the single turn part.

● The encoder generates a table from the defined gate time. The smaller the gate time is, the more dynamic is the speed measurement.

● The speed is output from this table as an average value of all measured values; error: < 2%.

3.3.11 Acceleration output (Byte 31 – Bit 4)

Note gate time for acceleration measurement (Parameter/Byte 32)!

If the acceleration value for the desired gate time is too large, the more significant word (Bit 17–32) of the value (lower resolution) must be used instead of the default setting (Bit 1–16).

If the manufacturer-specific configuration D3h/F3h (see Section 3.2→ page 14) is used, the acceleration value occupies one word within the 4-word input data for the master. Additional information on the acceleration output:

● The acceleration is output as signed measurement value (16 bits). The acceleration is calculated as follows:

● The acceleration is established as speed change per time unit.

● The encoder generates a table from the defined gate time which is identical to the one used for the speed measurement (see previous section).

● The acceleration is output from this table as an average value of the last measure-ment values.

3.3.12 Rotational speed / preset output (Byte 31 – Bit 5)

If the manufacturer-specific configuration F7h (see Section 3.2→ page 14) is used, the rotational speed value occupies two words within the 8-word input data for the master. Additional information on the rotational speed output:

● The rotational speed is output as signed measurement value; the resolution is 1/1000.

● Negative values indicate a direction of rotation counter to the defined direction of counting (direction of counting parameter in Byte 9).

The rotational speed is calculated as for the speed (see Section 3.3.10). The gate time is defined in Byte 33.

The preset value previously conveyed by the master can also be output instead of the rotational speed. The appropriate setting is made with this parameter (Bit 5 = 1).

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3 Encoder profile Data exchange Lenord + Bauer

3.3.13 Length multiplier (Byte 31 – Bit 6)

If the length multiplier is used, the defined multiplier (total number of measuring steps, see Section 3.3.6) is not interpreted as a gear ratio rather as a length multiplier for the overall counting range.

Length multiplier = Desired counting range / hardware counting range 3.3.14 Gate time for speed and acceleration measurement (Byte 32)

The function can be disabled or a specific value can be defined by means of this pa-rameter. The following principle applies: The shorter the time is, the more dynamic is the measurement.

Further information can be found in Sections 3.3.10 and 3.3.11. 3.3.15 Gate time for rotational speed measurement (Byte 33)

The function can be disabled or a specific value can be defined by means of this pa-rameter. The following principle applies: The shorter the time is , the more dynamic is the measurement.

Further information can be found in Section 3.3.12.

3.3.16 Data output format in Data_Exchange mode (Byte 34 – Bit 0/1)

The data can be output in Motorola format (Bit 0/1 = 0, default setting) or Intel format (Bit 0/1 = 1). Low and high words or bytes are exchanged in Intel format.

3.4 Data

exchange

(Data_Exchange)

The data exchange is configured with the Chk_Cfg function (see Section 3.2 → page 14).

3.4.1 Input data

If the manufacturer-specific configuration D3h/F3h is used, the position value occupies the first two words within the 4-word input data for the master. The remaining two words contain the speed and acceleration values, either as low or as high word (see also Sections 3.3.10 and 3.3.11).

If the manufacturer-specific configuration F7h is used, the position value occupies the first two words within the 8-word input data for the master. The remaining six words contain the speed and acceleration values as well as the rotational speed or preset value as double word each (see also Section 3.3.12).

3.4.2 Output data

If the manufacturer-specific configuration F3h/F7h is used, the preset value occupies the first two words within the 4/8-word output data for the master. The remaining two/six words are not evaluated by the encoder.

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Lenord + Bauer Diagnostics (Slave_Diag) 3 Encoder profile

The preset function is used for adapting the encoder zero point to the mechanical zero point of the system. It is applied following scaling, i.e. the preset value is specified in the programmed measuring steps or in the user-specific measurement unit. The most significant bit (MSB) of the preset value controls the function:

Standard operating mode Preset mode

MSB = 0: Preset value is not adopted MSB = 1: The encoder will adopt the preset value

Basic operation of preset function: ● Prerequisite:

– If scaling is to be defined, the scaling parameter must be transferred first. – The encoder must be stopped.

● The encoder establishes the current position value.

● It calculates an offset value from the transferred preset value and the established position value.

● The offset value can be read by means of the diagnostic function. It is reloaded following a mains failure and on every restart.

● The position value is replaced by the preset value and returned as the current po-sition.

● Preset mode is finished and the MSB can be set to 0 by the DP master.

The preset value and the calculations based on it may be cleared by writing the value 7FFFFFFFh. The encoder then provides the absolute, not calculated actual value.

3.5 Diagnostics

(Slave_Diag)

The diagnostic information is split into two parts:

● DP standard diagnostic information of class 1 (Bytes 1–6)

● Device-dependent encoder information of classes 1 (Bytes 7–16) and 2 (Bytes 17–59)

Class 1

The data length of class 1 diagnostic data is fixed at 16 bytes:

Bytes 1–6 (DP standard information) + Bytes 7–16 (encoder information). Class 2

The data length of class 2 diagnostic data is fixed at 59 bytes:

Bytes 1–6 (DP standard information) + Bytes 7–16 (encoder information Class 1) + Bytes 17–59 (encoder information Class 2).

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3 Encoder profile Diagnostics (Slave_Diag) Lenord + Bauer

3.5.1 Standard diagnostics (Bytes 1–6)

Simply a short overview of the standard diagnostic functions is provided at this point. Further information can be found for example in the IEC 61158-6 Standard, Sections 6.2.3.1 to 6.2.3.5 and the PNO document PROFIBUS Profile Guidelines, Order No:

3.522.

Byte Description Meaning

1 Diagnostic status 1 Status of parameterization and configuration as well as diagnostic type

2 Diagnostic status 2 Status of response time monitoring and freeze or sync mode

3 Diagnostic status 3 Reserved

4 Diagnostic master addr Address of parameterization master

5+6 PNO ident number Unique ident number of slave assigned by the PNO (high/low byte)

3.5.2 Extended diagnostic header (Byte 7)

This hexadecimal value specifies the length of the extended diagnostic message in-cluding the header.

Bit 7 6 5 – 0

Data 0 0 xxh

Function Device-specific diagnostics

Length including header Class 1: 0Ah (10 Bytes: 7–16) Class 2: 35h (53 Bytes: 7–59) 3.5.3 Alarm messages (Byte 8)

An alarm is triggered if the encoder indicates a malfunction, which can lead to incorrect position values.

The type of alarm is conveyed with diagnostic Byte 8. (Additional Class 2 alarm mes-sages are displayed in diagnostic Byte 17, → page 23.)

An alarm message remains active (Ext_Diag and Stat_Diag bits set in the diagnostic function Slave_Diag), until the alarm message is deleted and the encoder can provide a correct position value again.

Bit Function Not set (0) Set (1) 0 Position error No Yes 1 Supply voltage too low No Yes 2 Current too high No Yes

3 Memory error No Yes

4 Maintenance diagnostics Ok Error 5–7 No function

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3.5.4 Operating status (Byte 9)

This diagnostic byte provides information on internal parameters of the encoder.

Bit Function Not set (0) Set (1)

0 Direction of counting for clockwise rotation Ascending Descending 1 Class 2 functionality active No Yes 2 Maintenance diagnostics supported No Yes 3 Scaling function active No Yes 4–7 No function

Default settings according to the GSD file are highlighted in bold. 3.5.5 Encoder type (Byte 10)

The type of encoder is entered as a hexadecimal value in Byte 10 of the diagnostic function.

Code Function

00h Absolute encoder, singleturn 01h Absolute encoder, multiturn

02h Absolute encoder, singleturn with electronic gear 03h–08h Other types defined in the encoder profile

09h-FFh No function

3.5.6 Single turn resolution (Bytes 11–14) Byte Bit 11 31 … 24 12 23 … 16 13 15 … 8 14 7 … 0

Function Measuring steps per revolution 3.5.7 Multiturn resolution (Bytes 15+16)

Byte Bit 15 15 … 8 16 7 … 0

Function Number of possible revolutions

Measurement range of a multiturn rotary encoder = Number of revolutions × single turn resolution

The class 1 diagnostic information ends here. The class 2 data now follows.

3.5.8 Additional alarm messages (Byte 17)

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3 Encoder profile Diagnostics (Slave_Diag) Lenord + Bauer

3.5.9 Alarms supported (Bytes 18+19) Byte Bit 18 15 … 8 19 7 … 0

Function Alarms supported

Bit Function Supported (0 = no, 1 = yes)

0 Position error 1

1 Supply voltage error 1

2 Current too high 0

3 Maintenance diagnostics 0

4 Memory error 0

5–15 No function 0

3.5.10 Warnings (Bytes 20+21)

Warnings indicate that tolerance values have been exceeded for certain internal pa-rameters.

In contrast to alarm messages, warnings do not refer to incorrect position values. In the case of a warning, the Ext_Diag bit remains set to 1 in the diagnostic function until the warning is deleted by the diagnostic message being read.

If the tolerance remains exceeded, the warning appears again. This does not apply for the “operating time limit” (Bit 4) warning, which is only set again following a restart.

Byte Bit 20 15 … 8 21 7 … 0 Function Warnings

Bit Function Not set (0) Set (1) 0 Frequency exceeded No Yes 1 Temperature exceeded No Yes 2 LED reserve Not reached Reached 3 CPU watchdog Ok Reset performed 4 Operating hours limit Not reached Reached 5 Battery charge Ok Too low 6 Reference point Not reached Reached 7–15 No function

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3.5.11 Warnings supported (Bytes 22+23) Byte Bit 22 15 … 8 23 7 … 0

Function Warnings supported

Bit Function Supported (0 = no, 1 = yes)

0 Frequency 0

1 Temperature 1

2 LED reserve 0

3 CPU watchdog 1

4 Operating hours limit 0 5 Battery charge 1 * 6 Reference point 0

7–15 No function 0

* Only absolute encoder with electronic gear 3.5.12 Profile version (Bytes 24+25)

Version of implemented DP encoder profile Byte Bit 24 15 … 8 25 7 … 0

Function Revision number Index Profile version Example: Profile version: Byte-No.: Bin: Hex: 1.10 24 0000 0001 01 25 0001 0000 10

3.5.13 Software version (Bytes 26+27) Version of encoder firmware

Byte Bit 26 15 … 8 27 7 … 0

Function Revision number Index Software version

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3 Encoder profile Diagnostics (Slave_Diag) Lenord + Bauer Example: Software version: Byte No.: Bin: Hex: 1.02 26 0000 0001 01 27 0000 0010 02

3.5.14 Operating hours (Bytes 28–31) This function is not supported at present.

Byte Bit 28 31 … 24 29 23 … 16 30 15 … 8 31 7 … 0 Contents FFh FFh FFh FFh Function Operating hours

3.5.15 Offset value (Bytes 32–35)

The offset value is established and saved in the encoder following the transmission of a preset value.

It shifts the measured position value by the calculated amount and can be output with this diagnostic byte as a signed 32-bit binary value.

Byte Bit 32 31 … 24 33 23 … 16 34 15 … 8 35 7 … 0

Function Offset value 3.5.16 Manufacturer's offset value (Bytes 36–39)

This value indicates the manufacturer's programmed offset to the physical zero point of the code disk and cannot be changed. The diagnostic bytes contain this offset as a signed 32-bit binary value.

Byte Bit 36 31 … 24 37 23 … 16 38 15 … 8 39 7 … 0

Function Manufacturer's offset value 3.5.17 Measuring steps per revolution (Bytes 40–43)

This parameter provides the defined resolution of the encoder as an unsigned 32-bit binary value (see also Section 3.3.5).

Byte Bit 40 31 … 24 41 23 … 16 42 15 … 8 43 7 … 0

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3.5.18 Total number of measuring steps (Bytes 44–47)

This parameter provides the entire counting range of the encoder as an unsigned 32-bit binary value (see also Section 3.3.6).

Byte Bit 44 31 … 24 45 23 … 16 46 15 … 8 47 7 … 0

Function Total number of measuring steps 3.5.19 Serial number of encoder (Bytes 48–57)

This parameter provides the serial number as a set of 10 ASCII characters. Byte Bit 48 7 … 0 … 57 7 … 0

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