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AV6A 16

Profibus DP Protocol “P” 

Profibus DP is typically a master-slave network-the master/scanner 

device gathers data from each (slave) device on the bus.  Avtron 

encoders are Profibus DP slave devices. 

Profibus may be wired in several different configurations, but the 

most common is a “Daisy-Chain” configuration.  The master/scanner 

device may be located at any point along the bus.  The cable must 

be terminated at each end with 150 ohm resistors.  These resistors 

can be present in the D-sub cable connectors, in the master 

controller, and in the encoder, but only one at each end of the bus, 

two total should be connected/enabled.  Note that Profibus DP also 

offers the option to carry device power to each encoder through an 

additional cable pair of wires.  

Preferred cable:  Nidec Avtron recommends structured Profibus DP 

wiring systems, available from a broad range of vendors.  

For more details on Profibus, consult the Profibus Users Association 

(PI):

http://www.profibus.com/

Number 

of 

Nodes

2

16

32

64

Units

Max. 

Overall 

Cable 

Length*

750

[229]

690

[210]

640

[190]

560

[170]

ft 

[m]

Network 

Baud 

Rate

12M 

6M 

3M

1.5M

500K 187.5K 93.75K 

45.45K 

19.2K 

9.6K

Units

Max. 

Length*

325

[100]

650

[200]

1300

[400]

3250

[1000]

4000 

[1200]

ft 

[m]

*Using Profibus standard cable, 150 ohm impedance 3-20mHz, 
<30pf/m, <110 ohms/km loop resistance

Setting Station/Node, Baud Rate & Termination Resistor

To set the node number: use the rotating switches in the connection 

cap.  The format is decimal, from 0-99 (ten’s switch and one’s 

switch).  Software/master address changes are not supported. 

NOTE:  Each device must have a unique node address, and this 

address must be different than the master/scanner module. 

Profibus DP baud rate is auto-detected by the encoder, no settings 

are required. 12 MBaud, 6 MBaud, 3 MBaud, 1.5 MBaud, 500 kBaud, 

187.5 kBaud, 93.75 kBaud, 45.45 kBaud, 19.2 kBaud, 9.6 kBaud are 

all supported.

To enable the termination resistor:  Move the switch “R” to the “On” 

Position on the connection board.  The termination resistor should 

be turned on/enabled when the encoder is the last/only device on 

the bus.  Note that standard 9 pin DIN connectors used for Profibus 

DP also offer a termination resistor.  Be sure NOT to enable both the 

encoder termination resistor and the 9-pin connector resistor, use 

one or the other for an encoder at the end of a bus.

Measuring Position, Speed, and Acceleration

To read position and speed feedback into your device (Acceleration 

measurement is not supported directly):  Following the instructions 

for your master/scanner module for the Profibus DP network, load 

the encoder GSD file into your configuration.  Assign it to the correct 

node number.  Store the configuration to the scanner module.  

All of the position data and other parameters will be read by 

the scanner module and placed in registers identified in the 

configuration package.

Profibus DP Diagnostic LEDs
LED

Status

Meaning

STATUS

ERROR

Green

Off

Power Ok, Status OK

STATUS

ERROR

Green

Red

No Configuration Data Received

STATUS

ERROR

Green

Flashing Red

Encoder Bus Address Set 

Incorrectly

STATUS

ERROR

Flashing Green

Red

Parameters Received With 

Incorrect Length

STATUS

ERROR

Flashing Green

Off

Commissioning Mode Active

STATUS

ERROR

Off

Red

No Data Received, Bus Inactive

STATUS

ERROR

Off

Off

No Power

For multiturn & single turn encoders:  position data provided as 

4 bytes, 32 bits:  Format is little-endian (lowest bit = right-most 

bit).  Single-turn data/data within 1 turn is provided in the least-

significant bits.  Multiturn data is provided directly “above” the 

single turn data, bitwise.  Example:  12 turns x 13 bits/turn encoder, 

lowest 13 bits = position within one turn, next 12 bits (up to bit 25) 

represent turns position data.

Setting Zero Position for Multiturn Encoders and Single turn 

Encoders Using 32 Bit Feedback:

Write 1 to the highest bit (31)-write 128 (80H) to top-most-byte of 

the position register.

For single turn encoders:  position data can instead be provided as 2 

bytes, 16 bits:  Format is little-endian (lowest bit = right-most bit).  

Setting Zero Position for Single turn Encoders Using 16 Bit 

Feedback :

Write 1 to the highest bit (15)-write 128 (80H) to top-most-byte of 

the position register.

Isochronous (Auto-Transmit) Mode

DPV2 Isochronous communication can be configured using the 

optional DPV2 GSD file.  Load the encoder GSD file into your master/

scanner software.  Assign it to the correct node number.  Store the 

resulting configuration into the scanner module.  Note many Profibus 

master devices do not support isochronous mode-check the master 

device manual before utilizing this encoder mode and GSD file.

Other Parameters

Contact Nidec Avtron for additional parameters, diagnostic registers, 

cam and programmable limit switch functionality and other 

advanced features.

PROFIBUS-DP TROUBLESHOOTING

Viewing on oscilliscope:  for Profibus DP, the transmit and receive 

signal pairs should change state rapidly as the controller transmits 

messages to the encoder and the encoder replies.  Transmission 

rates vary, but these messages can be extremely short and typically 

require scope triggering to spot them.  

For Profibus DP, ensure termination resistors are in place (or 

switched on) at each end of the cabling system, and that no 

termination resistors are in placed or activated in the middle of 

the system.  Remove the connections to the master controller and 

all devices, or power down all devices.  Measure the resistance 

between the communication wires. The value should be ~1/2 

of the termination resistor value on the network (typically = 75 

ohm measurement). If the resistance is greater than the limit, a 

termination resistor is missing from the network. If the resistance is 

less than the limit, there are incorrect termination resistors switched 

on or connected to the system.

Summary of Contents for AV6A Series

Page 1: ...tion Supplied AV6A Encoder Optional none Not Supplied Open Wrenches Hex Wrenches Dial Indicator Gauge Caliper Gauge Coupling Foot Mount and Mounting Screws AV6A PART NUMBERS AND AVAILABLE OPTIONS Mode...

Page 2: ...cceptable loosen the mounting screws to the flange and apply thin metal shims to the face of the encoder and retest the angular alignment until acceptable 5a Remove the AV6A Transfer punch or layout t...

Page 3: ...e encoder replies Transmission rates vary but these messages can be extremely short and typically require scope triggering to spot them For CANOpen ensure termination resistors are in place or switche...

Page 4: ...84 12 or 14 bits F Line Driver Specs See table G Connectors See connector options on page 1 H Accuracy 0 04 deg 2 6 arc min 12 bit units 0 02 deg 1 3 arc min 16 bit units MECHANICAL A Shaft Inertia 0...

Page 5: ...encoder is reset typically power cycled Power Up Sequence The encoder will power up in the pre operational mode The message it will issue is ID 0x07nn 0x00 nn node number typically 0x01 for units wit...

Page 6: ...SDO object 0x2300 Example encoder at node 20 store changes ID 0x620 0x22 0x00 0x23 0x00 0x55 0xAA 0xAA 0x55 No reset is triggered Cycle power after saving changes to parameters Other Parameters Contac...

Page 7: ...cycled before the values are stored the encoder will default to the values previously stored in EEPROM Setting Node Number To set the node number on units with a connection cap Set the address using t...

Page 8: ...cabling system and that no termination resistors are in placed or activated in the middle of the system Remove the connections to the master controller and all devices or power down all devices Measur...

Page 9: ...an lowest bit right most bit Single turn data data within 1 turn is provided in the least significant bits Multiturn data is provided directly above the single turn data bitwise Example 12 turns x 13...

Page 10: ...rs encoder operational LS DA 1 Status Flashing Green Active inbound communication LS DA 2 Status Green Output connected to next encoder LS DA 2 Flashing Green Active communication to next encoder Erro...

Page 11: ...turns position data Zero Position for Multiturn Encoders Single turn Encoders NOTE Do not attempt to use zero preset function while the encoder is rotating Doing so will produce unpredictable results...

Page 12: ...tion Speed and Acceleration To read position into your device acceleration and speed measurement is not supported For multiturn single turn encoders position data provided as 4 bytes 32 bits Format is...

Page 13: ...ed to each cable Use hubs or switches to connect multiple Modbus TCP encoders to the master device A software snoop or sniffer program can also be used to packet analyze the communication If the posit...

Page 14: ...ow operate at the assigned IP address which can be validated using the ping command from the PC The assigned name can be used throughout STEP7 software to address the encoder Note that if more than on...

Page 15: ...coder use the parameters supplied in the GSDML file to set the appropriate mode Store the resulting configuration into the scanner module Storing Saving Encoder Parameters to EEPROM To store the curre...

Page 16: ...laced in registers identified in the configuration package Profibus DP Diagnostic LEDs LED Status Meaning STATUS ERROR Green Off Power Ok Status OK STATUS ERROR Green Red No Configuration Data Receive...

Page 17: ...s required Measuring Position Speed and Acceleration To read position and speed into your device acceleration measurement is not supported Following the instructions for your master scanner module for...

Page 18: ...unication A software snoop or sniffer program can also be used to packet analyze the communication If the position is changing as the encoder moves but is reported incorrectly the Preset parameter may...

Page 19: ...Upon the Set Zero signal returning to logic zero falling edge the encoder count value will be set to zero Set Direction input 10K resistance For input logic zero or no connection the encoder will cou...

Page 20: ...st L GND 0V BROWN 3 NC PINK NC BLUE NC GRAY CAN_H Rightmost H CAN_L Rightmost L CAN_GND Rightmost G Double up Double up REF SIGNAL CAN_GND V CAN_H CAN_L GND 0V Optional Daisy Chain CAN_H CAN_L CAN_GND...

Page 21: ...ftmost H CAN_L BLUE 3 Leftmost L NC NC NC CAN_H Rightmost H CAN_L Rightmost L Double up Double up REF SIGNAL V V GND CAN_H CAN_L Optional Daisy Chain CAN_H CAN_L GND V DeviceNet Bus D AV6A WIRING DIAG...

Page 22: ...ey pairing as shown optional overall shield may be used for high noise environments NOTE For encoder switch connections use the crossover pinout shown for encoder PC or encoder PLC direct wiring use a...

Page 23: ...W BROWN 16 BIT 15 WHITE YELLOW 15 BIT 14 BROWN GREEN 14 BIT 13 WHITE GREEN 13 BIT 12 BLUE RED 12 BIT 11 GREY PINK 11 BIT 10 VIOLET 10 BIT 9 BLACK 9 BIT 8 RED 8 BIT 7 BLUE 7 BIT 6 PINK 6 BIT 5 GREY 5 B...

Page 24: ...OWN GREEN NC NC 14 BIT 13 WHITE GREEN NC 13 13 BIT 12 BLUE RED 12 12 12 BIT 11 GREY PINK 11 11 11 BIT 10 VIOLET 10 10 10 BIT 9 BLACK 9 9 9 BIT 8 RED 8 8 8 BIT 7 BLUE 7 7 7 BIT 6 PINK 6 6 6 BIT 5 GREY...

Page 25: ...own optional overall shield may be used for high noise environments Communication Bus M Modbus TCP Pinout AV6A WIRING DIAGRAMS Master Scanner or Switch Power Supply NOTE For encoder switch connections...

Page 26: ...B Bus A out 5 pin female 2 Rightmost A Bus B out 4 Rightmost B REF SIGNAL GND OV Vs Bus A out Bus B out Bus A in Bus B in NOTE Profibus cabling required Obey pairing as shown If termination resistor R...

Page 27: ...NK 4 6 SET ZERO BLUE 9 7 SET DIRECTION RED 8 8 NC 5 NC 6 NC 7 NC 10 REF SIGNAL GND Vs CLK CLK DAT DAT SET ZERO SET DIRECTION NC NC NC NC NOTE Twisted pair cable required with overall shield individual...

Page 28: ...or M12 K Radial exit A Multiturn IP65 Seals Aluminum Steel Enclosure A Shaft front flange dimensions are independent of body connector bus systems The drawings on all these pages can be superimposed t...

Page 29: ...12 E Axial exit E Multiturn IP65 Seals and Aluminum Steel Enclosure A Shaft front flange dimensions are independent of body connector bus systems The drawings on all these pages can be superimposed to...

Page 30: ...M27 G End Axial exit E Multiturn IP65 Seals Aluminum Steel Enclosure A Shaft front flange dimensions are independent of body connector bus systems The drawings on all these pages can be superimposed...

Page 31: ...R Connector M12x3 Side Exit A Multiturn IP65 Seals Aluminum Steel Enclosure A Shaft front flange dimensions are independent of body connector bus systems The drawings on all these pages can be superi...

Page 32: ...M12 8 E Side exit A Multiturn IP65 Seals Aluminum Steel Enclosure A Shaft front flange dimensions are independent of body connector bus systems The drawings on all these pages can be superimposed to c...

Page 33: ...5 1 25 pilot Devicenet D Connector 2xM12 5 B Radial exit A Multiturn IP65 Seals Aluminum Steel Enclosure A DIMENSIONS IN INCHES MILLIMETERS ALL DIMENSIONS ARE APPROXIMATE Features and specifications...

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