Heidenhain PROFINET Uživatelský manuál

User‘s ManualPROFINETInterface for EncodersEnglish (en)6/2014

Introduction 10 1.2 About PROFINET technology PROFINET is the open industrial Ethernet standard of PROFIBUS & PROFINET International (PI) for aut

Encoder replacement using LLDP 100 9 Encoder replacement using LLDP The encoder supports Link Layer Discovery Protocol (LLDP). LLDP is essentially a

Encoder replacement using LLDP 101 Configure the topology of the system for all connected ports. Figure 46 LLDP Port configuration

Encoder replacement using LLDP 102 In the properties window, select the corresponding partner port. Figure 47 LLDP Partner port settings

Encoder replacement using LLDP 103 Then select Edit-> PROFINET IO->Topology to open the topology editor. Figure 48 Open Topology editor F

Encoder replacement using LLDP 104 After the above has been verified it is possible to replace any IO device if the ports are reconnected in the same

Encoder replacement using LLDP 105 Enter the encoder´s MAC-adress and then click on the Reset button. The MAC-adress of the encoder is written on the

Encoder state machine 106 10 Encoder state machine Figure 53 Encoder state machine

Encoder state machine 107 10.1 Normal operation state 10.1.1 Profile version 4.x If using encoder complying with encoder profile v4.1, then bit 10

Encoder state machine 108 10.3.1 Preset depending on different telegrams When using standard telegram 81-83, the acyclic encoder param-eter 65000 Pre

Frequently asked questions FAQ 109 11 Frequently asked questions FAQ 1. Problem: Preset, parking mode and error reset is not possible. Solution:

Introduction 11 A PROFINET IO system consists of the following devices: • The IO Controller, which contains the automation program and controls the a

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Introduction 12 1.3 Encoder Profiles Profiles are pre-defined configurations of the functions and fea-tures available from PROFINET for use in specif

Introduction 13 1.4 References Profile Encoders for PROFIBUS and PROFINET V4.1, Order No. 3.162 Profile Drive Technology, PROFIdrive V4.1, PROFIB

Introduction 14 1.5 Abbreviations PI PROFIBUS and PROFINET International IO Input/Output DO Drive Object DU Drive Unit AR Application

Installation 15 2 Installation A summary of the PROFINET guideline: PROFINET Cabling and interconnection Technology V 1.99, PROFIBUS International, O

Installation 16 2.2 Connectors and pin configuration M12 connectors are used for connecting the bus lines to the en-coder. The M12 connector used is

Installation 17 2.3 Shielding concept of the encoder Automation systems in an industrial environment are subjected to high levels of electromagnetic

Installation 18 2.5 LED indication The following table defines diagnostic indications shown by the encoders two bi-colored LEDs. Bus Module Meaning

Configuration example 19 3 Configuration example This chapter will illustrate how to setup and configure a PROFINET encoder for working in RT Class 1

Content 2 Content List of tables ...

Configuration example 20 Installation of GSDML-files Figure 3 Installation of GSDML file 1. Select Options -> Install GSD File and click the B

Configuration example 21 3.2 Setting encoder configuration When the GSD file has been installed the supported encoder types can be found in the HW C

Configuration example 22 When correctly done, the encoder will appear on the PROFINET IO system as shown in figure 5 below. Figure 5 Example of con

Configuration example 23 The next step will be to choose the data length and the type of data that should be sent to and from the IO controller. This

Configuration example 24 3.3 Setting encoder device name In a PROFINET network all IO devices needs to have a unique de-vice name. The encoders are d

Configuration example 25 Make sure that the checkbox Assign IP address via IO controller is checked if the IP address for the encoder should be assign

Configuration example 26 Choose the device on which the device name should be changed and then click on the Assign name button to adopt the changes an

Configuration example 27 In the Verify Device Name window, verify that the Device name has changed and the status is OK as shown in the example ac-cor

Configuration example 28 3.4 Setting encoder parameters This chapter describes how to change the user parameters in the encoder. To set the encoder

Configuration example 29 In the Properties window, choose the Parameters" tab. To set the parameter data, change the value of the different param

Content 3 5 Alarms and warnings ... 50 5.1 Diagnosti

Configuration example 30 Then the settings need to be downloaded to the IO-controller. This is done by clicking on the Download option under the PLC T

Configuration example 31 3.5 Isochronous real time settings (RT Class 3) This example is intended to illustrate the commissioning of a PROFINET encod

Configuration example 32 Under the Application tab check the box for Operate IO de-vice/application in isochronous mode. Figure 20 Interface proper

Configuration example 33 Before the encoder can operate in IRT mode it is necessary to set from which port of the encoder the connection to the networ

Configuration example 34 When the above steps have been performed, it is recommended to verify that the setting for the encoder and the IO controller

PROFINET IO data description 35 4 PROFINET IO data description 4.1 Encoder profile overview, PNO order no.3.162 This manual is related to encoders t

PROFINET IO data description 36 4.2 Application Class definition The PROFINET encoders can be configured as a class 3 or class 4 PROFINET IO device a

PROFINET IO data description 37 4.4 Standard telegrams Configuration of PROFINET encoders are made by choosing dif-ferent telegram structures. The te

PROFINET IO data description 38 4.4.2 Standard Telegram 82 Standard telegram 82 uses 4 bytes for output data from the IO controller to the encoder

PROFINET IO data description 39 4.4.3 Standard Telegram 83 Standard telegram 83 uses 4 bytes for output data from the con-troller to the encoder and

Content 4 7 Functional description of the encoder ... 68 7. 1 Code sequence ...

PROFINET IO data description 40 4.4.4 Standard Telegram 84 Standard telegram 84 uses 4 bytes for output data from the con-troller to the encoder and

PROFINET IO data description 41 4.5 Manufacturer telegram 59001 The manufacturer telegram 59001 is a simplified telegram to get cyclic data transmiss

PROFINET IO data description 42 4.6 Format of G1_XIST1 and G1_XIST2 The G1_XIST1 and G1_XIST2 signals consist of the absolute posi-tion value in bina

PROFINET IO data description 43 4.7 Format of G1_XIST3 G1_XIST3 is a 64 bit position value which is used to support en-coders with a resolution excee

PROFINET IO data description 44 4.8 Control word 2 (STW2_ENC) The control word 2 (STW2_ENC) is referred to as the master sign of life and it includes

PROFINET IO data description 45 4.9 Status word 2 (ZSW2_ENC) The status word 2 (ZSW2_ENC) is referred to as the slave’s sign of life and it includes

PROFINET IO data description 46 4.10 Control word (G1_STW) The control word controls the functionality of major encoder func-tions. Bit Function 0..

PROFINET IO data description 47 4.11 Status word (G1_ZSW) The status word defines encoder states, acknowledgements, er-ror messages of major encoder

PROFINET IO data description 48 4.12 Real time communication PROFINET IO uses three different communication channels to ex-change data with programma

PROFINET IO data description 49 PROFINET distinguishes between three real time classes for transmission of time critical process data. The three RT cl

List of tables 5 List of tables Table 1 Bus Connection ... 16

Alarms and warnings 50 5 Alarms and warnings 5.1 Diagnostics and Alarms Diagnostic data is always transferred acyclically using Record Data communic

Alarms and warnings 51 5.3 Sensor status word Diagnosis information can be obtained by monitoring of the Error bit in the Sensor Status word G1_ZSW (

Acyclic Parameter Data 52 6 Acyclic Parameter Data 6.1 Acyclic data exchange In addition to the cyclic data exchange, the PROFINET encoder al-so sup

Acyclic Parameter Data 53 6.3 Base mode parameter access The PROFIdrive parameters and the encoder parameter 65000 can be accessed by the Acyclic Dat

Acyclic Parameter Data 54 6.3.4 Reading the preset value The tables below show the structure of a read value request. Read of Preset value, paramete

Acyclic Parameter Data 55 6.4 Supported parameters 6.4.1 Parameter 922, read only 922 unsigned int, presents which telegram is used. Telegram 81,

Acyclic Parameter Data 56 6.4.7 Parameter 975, read only 975unsigned int 975[0] = Manufacturer Id, Set in the production. 975[1] = 7011DO type 97

Acyclic Parameter Data 57 6.4.9 Parameter 980, read only This parameter shows the supported parameters 980unsigned int 980[0] = 922 980[9] = 61

Acyclic Parameter Data 58 6.4.16 Parameter 65001, read only Used with telegram 81-84 and 59001 65001 unsigned long 65001[0] = 0x000C0101 Header, V

Acyclic Parameter Data 59 6.5 Example of reading and writing to a parameter This is an example of S7 blocks used for reading and writing to pa-ramete

List of tables 6 Table 41 Encoder profile ... 81 Table 42 O

Acyclic Parameter Data 60 6.5.1 Used blocs Write record block SFB53 WRREC Read record block SFB52 RDREC Instance data blocks DB3 and DB4 Request dat

Acyclic Parameter Data 61 DB3 DB3 is the instance data block of SFB52 Figure 31 Instance data block, DB3 DB4 DB4 is the instance data block of SF

Acyclic Parameter Data 62 OB1 OB1 controls the read and write operation. Figure 33 Organization block, OB1

Acyclic Parameter Data 63 Parameters of SFB52 Parameter Declaration Data type Description REQ INPUT BOOL REQ=1 Enables data transfer ID INPUT DWORD

Acyclic Parameter Data 64 Parameters of SFB53 Parameter Declaration Data type Description REQ INPUT BOOL REQ=1 Enables data transfer ID INPUT DWORD

Acyclic Parameter Data 65 Diagnostic address of slot 1 Figure 34 Diagnostic address of slot 1

Acyclic Parameter Data 66 Variable table With the variable table the user can monitor and modify variables. Figure 35 Variable table

Acyclic Parameter Data 67 To change the value of parameter 65000 with the variable table perform the following steps: 1) Enable monitoring by clicki

Functional description of the encoder 68 7 Functional description of the encoder This chapter describes the functions that have been implemented in P

Functional description of the encoder 69 7.1 Code sequence The code sequence defines whether the absolute position value should increase during cloc

List of figures 7 List of figures Figure 1 Bus connectors ...

Functional description of the encoder 70 7.3 G1_XIST1 Preset control This parameter controls the effect of a preset on the G1_XIST1 actual value. If

Functional description of the encoder 71 7.5 Alarm channel control This parameter enables or disables the encoder specific Alarm channel transferred

Functional description of the encoder 72 7.6 Compatibility mode This parameter defines if the encoder should run in a mode com-patible to Version 3.

Functional description of the encoder 73 7.7 Preset value The preset value function enables adaptation of the position value from the encoder to a kn

Functional description of the encoder 74 Note: If scaling is used the preset function shall be used after the scaling function to ensure that the pre

Functional description of the encoder 75 7.8.2 Total measuring range This parameter sets the total measuring range of the encoder. The total measuri

Functional description of the encoder 76 A. Cyclic operation (binary scaling) Cyclic operation is used when operating with 2X number of turns (2, 4, 8

Functional description of the encoder 77 B. Non-cyclic operation If the desired total measuring range is not equal to the specified single turn resolu

Functional description of the encoder 78 G1_XIST1 Preset control = Disabled With the parameter G1_XIST1 disabled, and if the position value increases

Functional description of the encoder 79 Handling 64 bit data Siemens hardware configuration tool does not support 64 bit data type, so when writing l

List of figures 8 Figure 41 Firmware upgrade confirmation page ... 94 Figure 42 Firmware upgrad

Functional description of the encoder 80 7.10 Velocity measuring units This parameter defines the coding of the velocity measuring units used to conf

Functional description of the encoder 81 7.11 Encoder profile version The encoder Profile Version is the version of the encoder profile document impl

Functional description of the encoder 82 7.13 Offset value The offset value is calculated in the preset function and shifts the position value with t

Functional description of the encoder 83 7.14 Acyclic data The PROFINET encoder support the following acyclic data ex-change functions. 7.14.1 PROF

Functional description of the encoder 84 7.14.2 Encoder parameter numbers The table below specifies the encoder specific parameter that is supported.

Functional description of the encoder 85 7.14.3 Parameter 65000 and 65002- Preset value The parameter 65000 and 65002 sets the value for the preset f

Functional description of the encoder 86 7.14.4 Parameter 65001-Operating status This parameter structure is a read only structure where infor-mation

Functional description of the encoder 87 Sub index Meaning 0 Header 1 Operating status 2 Faults 3 Supported Faults 4 Warnings 5 Supported warnings 6

Functional description of the encoder 88 Sub index 1: Operating status In sub index 1 the status of different encoder functions can be read out. The

Functional description of the encoder 89 7.14.5 Parameter 65003- operating status 64 bit The parameter structure 65003 is a read only structure where

Introduction 9 1 Introduction 1.1 About absolute encoders With an absolute encoder each angular position is assigned a coded position value generate

Functional description of the encoder 90 7.14.6 Identification & Maintenance functions In addition to the PROFIdrive parameter 964, Device Identi

Firmware upgrade 91 8 Firmware upgrade The encoder supports a firmware upgrade function. The firmware upgrade function is developed to offer the pos

Firmware upgrade 92 8.1 Firmware upgrade in a PROFINET network The following prerequisites have to be fulfilled in order to upgrade the encoder in a

Firmware upgrade 93 When accessing the encoder with the web browser it will display a number of parameters. In the firmware upgrade section of the pag

Firmware upgrade 94 The parameters are set by clicking the Submit Values button. After clicking the Submit Values button, update the page in the web b

Firmware upgrade 95 During upgrade a progress page is displayed. Depending upon the choice of web browser, the auto generated progress page will take

Firmware upgrade 96 8.2 Error handling This chapter will list all the possible error codes that can occur dur-ing an upgrade error. The error code wi

Firmware upgrade 97 File Size Error Error Code: -6 The firmware file is too big to be written to flash. Insufficient Memory Error Code: -7 There is

Firmware upgrade 98 8.3 TFTP server installation The TFTP server used in this example is a freeware TFTP server for Windows NT/XP/Vista platforms a

Firmware upgrade 99 In the Configure window: • Make sure that the correct network interface is selected in the Used NIC selection menu. I.e. it is t