IFM Electronic Efector 400 RM30 Series Device Manual Download Page 2

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Encoder with ProfiNet interface

Contents

1 Preliminary note � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 4

1�1 Symbols used� � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 4

1�2 Warning signs used � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 4

1�3 Notes on this document � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 4

2 Safety instructions � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 4
3 General information � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 5

3�1 Absolute encoder � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 5

3�2 ProfiNet � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 5

4 Functions and features � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 6
5 Electrical connection� � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 6

5�1 Ethernet and power supply� � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 6

5�2 Ethernet cables � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 7

5�2�1 RJ45 – M12 crossed � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 7

5�2�2 RJ45 – M12 straight� � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 7

5�2�3 M12 – M12 � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 7

6 LED indicators � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 7

6�1 Legend � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 7

6�2 Status LEDs � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 8

7 Installation� � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 9
8 Device configuration � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 10

8�1 Standardisation � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 10

8�2 Encoder classes� � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 10

8�3 Encoder functions� � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 10

8�4 Signal list for cyclic data transmission � � � � � � � � � � � � � � � � � � � � � � � � � � � �11

8�4�1 Format of position value� � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � �11

8�4�2 Encoder control word (STW2_ENC) � � � � � � � � � � � � � � � � � � � � � � � � 13

8�4�3 Encoder status word (ZSW2_ENC) � � � � � � � � � � � � � � � � � � � � � � � � � 14

8�4�4 Encoder control word (G1_STW)� � � � � � � � � � � � � � � � � � � � � � � � � � � 14

8�4�5 Encoder status word (G1_ZSW) � � � � � � � � � � � � � � � � � � � � � � � � � � � 15

8�5 Standard and vendor telegrams� � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 15

9 Configuration principle � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 17

9�1 Overview of encoder functions� � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 17

9�2 Encoder functions – Data format � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 17

9�3 Parameters for acyclic data transmission� � � � � � � � � � � � � � � � � � � � � � � � � 19

9�3�1 Standard parameters � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 20

9�3�2 Device parameters� � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 20

9�3�3 Vendor parameters � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 20

9�4 Supported parameters � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 20

9�5 Encoder function description � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 22

9�5�1 Code sequence � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 23

9�5�2 Class 4 functionality � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 23

Summary of Contents for Efector 400 RM30 Series

Page 1: ...Device manual ProfiNet encoder RM30xx 706354 00 06 2013 UK ...

Page 2: ...8 1 Standardisation 10 8 2 Encoder classes 10 8 3 Encoder functions 10 8 4 Signal list for cyclic data transmission 11 8 4 1 Format of position value 11 8 4 2 Encoder control word STW2_ENC 13 8 4 3 Encoder status word ZSW2_ENC 14 8 4 4 Encoder control word G1_STW 14 8 4 5 Encoder status word G1_ZSW 15 8 5 Standard and vendor telegrams 15 9 Configuration principle 17 9 1 Overview of encoder functio...

Page 3: ...alue 27 9 5 9 Scaling parameters 27 9 5 10 Maximum master sign of life failures 27 9 5 11 Velocity measuring units 27 9 5 12 Velocity filter 28 9 5 13 Endless shaft round axis 28 9 5 14 Encoder profile version 29 10 Configuring with STEP7 30 10 1 Installing the GSDML file 30 10 2 Adding an encoder to a STEP7 project 31 10 2 1 Standard encoder without PDEV 32 10 3 Module Access Point parameter setu...

Page 4: ... who are qualified by their training and their experience to recognise and to avoid possible hazards that may be caused during operation of the device Read this document before using the device Keep this document during the service life of the device Observe these operating instructions Adhere to the warning notes 2 Safety instructions Non observance of the instructions operation which is not in a...

Page 5: ...O system and ProfiNet CBA as a modular component based system for larger systems ProfiNet offers scalable communication for different applications in industrial automation ProfiNet NRT Non Real Time is suited for non time critical process automation with clock rates of roughly 100 ms ProfiNet RT Real Time offers a communication channel with optimised performance 10 ms clock rate for most factory a...

Page 6: ...mming blocks during operation 4 Functions and features Integrated bootloader for firmware upgrades Round axis functionality Neighbouring detection when replacing the device Device identification via LEDs Different filters for velocity ProfiNet encoder profile V4 0 V4 1 5 Electrical connection Disconnect power Connect the device according to the indications on the type label 5 1 Ethernet and power ...

Page 7: ...1 Rx 6 3 5 2 2 RJ45 M12 straight Signal RJ45 M12 Tx 1 1 Tx 2 3 Rx 3 2 Rx 6 4 5 2 3 M12 M12 Signal M12 M12 Tx 1 1 Tx 2 2 Rx 3 3 Rx 4 4 6 LED indicators 6 1 Legend LED on lit Stat 1 Stat 2 Active 1 Active 2 Link 1 Link 2 LED flashes LED off LED Colour Status frequency Description Active 1 Yellow Data traffic on port 1 ...

Page 8: ...s Status LEDs Stat 2 Red Status 2 details Status LEDs 6 2 Status LEDs LED Colour Status frequency Description Cause Status 1 Green No power Fuse or cable defective No connection to control unit Criteria no data exchange Bus disconnected IO controller not available switched off 0 5 Hz Parameterization fault no data exchange Criteria data exchange correct The slave did not switch to the data exchang...

Page 9: ...onnected device and operation OK 7 Installation Disconnect power Ensure that the machine stands still The drive must not be started during installation Do not hit the shaft do not use a file or similar tool on the shaft Risk of destruction This product is a precision measuring device Therefore it has to be handled with care by trained staff The following warnings apply to influences outside the li...

Page 10: ... 2 332 PROFIBUS DP V2 IEC 61158 PROFIDRIVE V4 PNO No 3 172 I M Functions PNO No 3 502 Encoder Profile V4 Class 3 and 4 PNO No 3 162 Encoder Profile Class 1 and 2 PNO No 3 062 PROFIBUS DP EN 50170 8 2 Encoder classes Application class Description 3 Isochronous mode is not supported RT 4 Isochronous mode is supported IRT 8 3 Encoder functions Implementation Function Class 3 Class 4 Code sequence Cla...

Page 11: ... Slave s sign of life counter ZSW2_ENC 16 6 Velocity value A NIST_A 16 8 Velocity value B NIST_B 32 9 Control word G1_STW 16 10 Status word G1_ZSW 16 11 Position value 1 G1_XIST1 32 12 Position value 2 G1_XIST2 32 13 Position value 3 G1_XIST3 64 8 4 1 Format of position value Note G1_XIST1 and G1_XIST2 are the actual position values in binary format The alignment in the data frame left or right al...

Page 12: ... for G1_XIST1 32 total resolution next binary value G1_XIST1 transmits positions values independent of bit 10 in stw2 and bit 13 in g1_stw1 Absolute value in G1_XIST1 for encoder profile 4 0 31 20 19 7 6 0 M S Distinguishable revolutions multiturn value Pulses singleturn steps per revolution Setting encoder profile 4 1 By default G1_XIST1 is right aligned A 32 bit counter starts with the absolute ...

Page 13: ... counter with any value between 1 and 15 The master increases the counter in every cycle of the master application Valid values for the master s sign of life counter are 1 to 15 0 indicates an error and is left out in normal operation Implementation Bit Function Class 3 Class 4 0 9 Reserved currently not used 10 Control by PLC 11 Reserved currently not used 12 15 Sign of life status indication Bit...

Page 14: ... Mandatory Bit Value Meaning Comments 9 1 Control requested Control via interface IO data is valid 0 No control via PLC IO data is not valid except sign of life 12 15 Encoder Sign of life counter Continuously sends counting values from 0 to 15 8 4 4 Encoder control word G1_STW Bit Value Function Comments 0 10 Reserved currently not used 11 0 1 Home position mode Specifies if the position value sha...

Page 15: ...ently not used 11 Acknowledgement of a sensor error in process Is set if the reset of a sensor error takes longer than one bus cycle 12 1 Set preset value shift reference point executed Acknowledgement for set preset shift reference point 13 1 Transmit absolute value cycli cally Acknowledgement for request absolute value cyclically 14 1 Parking sensor activated If the parking sensor bit is activat...

Page 16: ...ecessary to set special bits for a cyclic data transmission In its functionality it is similar to PROFIBUS and provides for easy configuration of the preset value during PLC operation The velocity value uses the format that is defined in the velocity measuring unit If bit 31 is set to 1 the preset value will be adopted immediately A further preset value can only be set if bit 31 is reset to 0 No c...

Page 17: ... sequence Acyclic input output Scaling function Acyclic input output 9 2 Encoder functions Data format ProfiNet IO devices are set up in modules Each module can be assigned to slot One sub slot can contain several cyclic input output channels as well as acyclic record channels required for parameters There are PLC versions from different manufacturers available Some of them support only one sub sl...

Page 18: ...Encoder with ProfiNet interface 18 Encoder GSDML file Controller SPS project tool 1 2 1 Acyclic data transmission parameters 2 Cyclic data transmission process data ...

Page 19: ...on to the parameter data configuration the encoder supports a number of PROFIdrive parameters and encoder specific parameters via the acyclic data exchange service With GSDML version GSDML V2 2 IFM RM30xx RN30xx 20130802 it is possible to change the telegram type without changing the MAP parameters MAP Parameter Access Encoder Functions Parameter Manager Parameter Data Base Standard Telegram 81 82...

Page 20: ... bytes Maximum master sign of life failures 1 1 0xBF00 17 1 byte Velocity unit 1 1 0xBF00 18 1 byte 9 3 2 Device parameters Function Slot Sub slot Index Offset Length IO Preset value 1 1 0xB02E via parameter no 65000 9 3 3 Vendor parameters Function Slot Sub slot Index Offset Length IO Preset value 1 1 0x1000 0 1 byte 9 4 Supported parameters Number Parameter Read only Read Write 922 Telegram sele...

Page 21: ... ErrorDecode 0x80 ErrorCode 1 0xB5 ErrorCode 2 0 ParameterRequest error 3 ErrorCode 0xDF ErrorDecode 0x80 ErrorCode 1 0xB5 ErrorCode 2 0 request accepted error state conflict request not accepted readout of parameter response error state conflict no response available ok ok transfer response to Data Record transfer request to Parameter Manager BlockHeader ParameterRequest BlockHeader ParameterResp...

Page 22: ... control 9 5 3 Scaling function control 9 5 4 Alarm channel control 9 5 5 Compatibility mode 9 5 6 Preset value 9 5 7 Preset value 64 bits Measuring units per revolution 32 bits 9 5 9 Total measuring range 32 bits 9 5 9 Measuring units per revolution 64 bits Total measuring range 64 bits Maximum master sign of life failures 9 5 10 Velocity unit 9 5 11 Encoder profile version 9 5 14 Operating hours...

Page 23: ...ing preset and code sequence affect the position value in G1_XIST1 G1_XIST2 and G1_XIST3 Class 4 control Class 4 function 0 standard Deactivated disable 1 Activated enable 9 5 3 Preset control for G1_XIST1 The parameter preset control defines the preset function If parameter class 4 is activated and preset control is deactivated then the preset value will not be affected in G1_XIST1 Preset control...

Page 24: ...ty Function Compatibility mode Active 0 Compatibility mode Active 1 Control by PLC STW2_ENC Ignored the control word G1_STW and setpoint values are always valid Control request ZSW2_ENC is not supported and is set to 0 Supported User parameter maximum master sign of life failures Supported Not supported one sign of life failure is tolerated P925 can optionally moni tor the sign of life counter Use...

Page 25: ...W and G1_ZSW The preset value is used when a preset is requested by bit 12 of the sensor control G1_STW Class 4 functionality must be enabled If the preset value is greater than the total resolution then the error message 0x02 lower or higher limit value exceeded appears in the parameter response in base mode Parameter Meaning Data type Preset value Preset value is defined via asynchronous data ex...

Page 26: ...dex LOW byte Subindex HIGH byte Parameter number PNU LOW byte Parameter number PNU HIGH byte Number of elements Attributes 0x01 0x00 0x00 0x00 0x64 Parameter value preset value 100 0x64h Preset value LSB Preset value Preset value Preset value MSB Number of values 1 Format 0x43 DWord or integer 32bit SIMATIC S7 SFB53 FC x CALL WRREC DB53 REQ M41 7 activate sfb request ID DW 16 0 logical slot addres...

Page 27: ...the position value may occur when crossing the physical zero point Reason The position values exceed the real total resolution Use the formula below to avoid this problem Total resolution desired measuring steps revolution x revolutions 9 5 10 Maximum master sign of life failures With this parameter the number of allowed failures of the master s sign of life is defined Parameter Meaning Value Maxi...

Page 28: ... velocity Fine 7 3 Normal 96 4 Coarse 996 4 9 5 13 Endless shaft round axis Normally the total resolution measuring units per revolution must be an integer and the total resolution must fit an integer number of times into 8192 for an encoder with 13 bits per revolution This means that e g 100 or 325 revolutions could cause troubles So the following equation must apply 4096 x measuring units per re...

Page 29: ...file version is implemented in the encoder This parameter is not affected by the compatibility settings Bits Meaning 0 7 Profile version least significant number value range 0 99 decimal coding 8 15 Profile version most significant number value range 0 99 decimal coding 16 31 Reserved ...

Page 30: ...re the GSD files of the encoder must be imported into the software Start the software and proceed as follows to import the above GSx files Open new or existing project Open hardware configurator Copy the required GSx file to the software via menu item Options Install GSD Files Importing a GSD file The GSDML file is supplied by ifm free of charge on www ifm com In order to display the encoder as a ...

Page 31: ... configuration procedure can be found in the operating manual which is supplied together with the software 10 2 Adding an encoder to a STEP7 project To add an encoder to a project drag the device OCD ENCODER to an existing ProfiNet Ethernet network or choose the network and double click the OCD Encoder icon Move the telegram to the free slot Encoder selection Standard encoder with PDEV asynchronou...

Page 32: ...Encoder with ProfiNet interface 32 10 2 1 Standard encoder without PDEV Asynchronous RT communication for controllers which do not support IRT functionality Standard encoder without ohne PDEV ...

Page 33: ...the PLC communication parameters Set a device name and the IP address of the encoder Set device name Click Ethernet Also under the IO cycle tab set the desired update time The device name and IP address have to be set directly in the encoder Connect the PLC and the encoder to Ethernet and switch them on ...

Page 34: ...for devices on Ethernet and will display them in the window The encoder is displayed under IFM OCD Select this entry and click Flash The link LEDs flash with 2 Hz Click OK The MAC address is transferred to a new window Click Use IP parameters Enter the IP address and subnet mask of the encoder Click Assign IP configuration Enter the name of the device in the text field Device name ...

Page 35: ...UK Encoder with ProfiNet interface 35 Click Assign name If more than one encoder is used in the same ProfiNet network each encoder must be assigned a different name Browse network ...

Page 36: ... 36 Encoder name and IP address Double click the encoder icon to set the PLC communication parameters Assign device name Click Ethernet and set the IP address of the encoder Set the desired update time under the IO cycle tab IO cycle ...

Page 37: ...UK Encoder with ProfiNet interface 37 10 3 Module Access Point parameter setup Double click on the menu item Module Access Point Module Access Point The window with the list of parameters is opened ...

Page 38: ...Encoder with ProfiNet interface 38 These parameters will be transmitted to the encoder on each start of the PLC Parameter settings ...

Page 39: ...UK Encoder with ProfiNet interface 39 ...

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