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PROFIBUS USER MANUAL                                                                                                                Leine & Linde AB 

  

 

 

 

Part Id: 740590-01 

2 

Document Id: 740590 Ver. 01 

 

 

Publication date: 2010-06-01 

 

Content 

List of tables ........................................................................................................................... 3

 

List of pictures ....................................................................................................................... 4

 

1 General information ........................................................................................................... 5

 

1.1

 

PROFIBUS

 

G

ATEWAY

 .................................................................................................................... 5

 

1.2

 

A

BSOLUTE ENCODERS

 ..................................................................................................................... 5

 

1.3

 

PROFIBUS

 TECHNOLOGY

 ............................................................................................................... 5

 

1.4

 

A

BOUT 

L

EINE 

&

 

L

INDE 

AB ............................................................................................................. 5

 

1.4.1

 

T

ECHNICAL AND COMMERCIAL SUPPORT

 ...................................................................................... 6

 

1.5

 

R

EFERENCES

 .................................................................................................................................... 6

 

1.5.1

 

A

BBREVIATIONS

 ........................................................................................................................... 6

 

2 Gateway Installation .......................................................................................................... 7

 

2.1

 

S

ETTINGS INSIDE THE GATEWAY

 ...................................................................................................... 7

 

2.1.1

 

N

ODE ADDRESS

 ............................................................................................................................ 7

 

2.1.2

 

B

US TERMINATION

 ........................................................................................................................ 8

 

2.2.1

 

P

OWER SUPPLY

 ............................................................................................................................. 9

 

2.2.1

 

BUS

 LINES

 .................................................................................................................................. 10

 

2.3

 

S

HIELDING PHILOSOPHY

 ................................................................................................................ 11

 

2.4

 

GSD-

FILES

 .................................................................................................................................... 11

 

2.5

 

LED

 INDICATION

 ........................................................................................................................... 12

 

3 RSA/RHA 6X8, Encoder Installation ................................................................................ 13

 

3.1

 

S

ETTINGS INSIDE THE ENCODER

 ..................................................................................................... 13

 

3.1.1

 

N

ODE ADDRESS

 .......................................................................................................................... 13

 

3.1.2

 

B

US TERMINATION

 ...................................................................................................................... 13

 

3.2

 

C

ONNECTING THE ENCODER

 .......................................................................................................... 14

 

3.2.1

 

P

OWER SUPPLY

 ........................................................................................................................... 14

 

3.2.1

 

BUS

 LINES

 .................................................................................................................................. 15

 

3.3

 

S

HIELDING PHILOSOPHY

 ................................................................................................................ 15

 

3.4

 

GSD-

FILES

 .................................................................................................................................... 16

 

3.5

 

LED

 INDICATION

 ........................................................................................................................... 17

 

4 Profile overview ................................................................................................................ 18

 

4.1

 

DPV0

 ENCODER CLASSES

 .............................................................................................................. 19

 

5 Encoder and Gateway functionality, DPV0 .................................................................... 20

 

5.1

 

B

ASIC FUNCTIONALITY

 .................................................................................................................. 20

 

5.2

 

PROFIBUS

 DATA TRANSFER PRINCIPLE

 ........................................................................................ 20

 

5.2.1

 

D

URING 

C

ONFIGURATION 

(DDLM_C

HK

_C

FG MODE

) ................................................................ 20

 

5.2.2

 

D

URING PARAMETERIZATION 

(DDLM_S

ET

_P

RM MODE

) ........................................................... 20

 

5.2.3

 

N

ORMAL OPERATION 

(DDLM_D

ATA

-E

XCHANGE MODE

) .......................................................... 20

 

5.3

 

C

ONFIGURATION

,

 

DPV0 ................................................................................................................ 20

 

5.4

 

P

ARAMETERIZATION

,

 

DPV0 .......................................................................................................... 21

 

5.4.1

 

C

ODE SEQUENCE

 ......................................................................................................................... 21

 

5.4.2

 

C

LASS 

2

 FUNCTIONALITY

 ............................................................................................................ 22

 

5.4.3

 

C

OMMISSIONING DIAGNOSTICS

 ................................................................................................... 22

 

5.4.4

 

S

CALING FUNCTION CONTROL

 .................................................................................................... 22

 

5.4.5

 

M

EASURING UNITS PER REVOLUTION

 .......................................................................................... 23

 

5.4.6

 

T

OTAL MEASURING RANGE 

(

UNITS

) ............................................................................................ 24

 

5.4.7

 

V

ELOCITY CONTROL

 ................................................................................................................... 26

 

5.4.8

 

V

ELOCITY CALCULATION

 ........................................................................................................... 26

 

5.5

 

D

ATA TRANSFER IN NORMAL OPERATION 

(DDLM_D

ATA

_E

XCHANGE

) ........................................ 27

 

5.5.1

 

D

ATA EXCHANGE MODE

 ............................................................................................................. 27

 

5.5.2

 

P

RESET FUNCTION

 ...................................................................................................................... 28

 

5.6

 

D

IAGNOSTICS

 ................................................................................................................................ 29

 

Содержание PROFIBUS DPV0

Страница 1: ...PROFIBUS DPV0 Manual Users Guide Gateways Encoders Part No 740590 01 Doc No 740590 Ver 01 ...

Страница 2: ...3 2 CONNECTING THE ENCODER 14 3 2 1 POWER SUPPLY 14 3 2 1 BUS LINES 15 3 3 SHIELDING PHILOSOPHY 15 3 4 GSD FILES 16 3 5 LED INDICATION 17 4 Profile overview 18 4 1 DPV0 ENCODER CLASSES 19 5 Encoder and Gateway functionality DPV0 20 5 1 BASIC FUNCTIONALITY 20 5 2 PROFIBUS DATA TRANSFER PRINCIPLE 20 5 2 1 DURING CONFIGURATION DDLM_CHK_CFG MODE 20 5 2 2 DURING PARAMETERIZATION DDLM_SET_PRM MODE 20 5 ...

Страница 3: ... Table 8 Pinning M12 bus in out lines 15 Table 9 Available GSD file for DPV0 encoders 16 Table 10 LED indication 17 Table 11 Operating parameters in DPV0 21 Table 12 Octet 9 Parameter definition 21 Table 13 Singleturn scaling parameter format 23 Table 14 Multiturn scaling parameter format 23 Table 15 Octet 39 Velocity Control 26 Table 16 Data exchange 32 bits 27 Table 17 Data exchange 16 bits 27 T...

Страница 4: ...e 8 Orientation of M12 power supply connector 14 Picture 9 Terminal connection of power supply cables 14 Picture 10 Orientation of M12 bus connectors 15 Picture 11 Terminal connection of bus line cables 15 Picture 12 Overview encoder profile and related documents 18 Picture 13 Basic functionality 20 Pictur 14 Cyclic Scaling 24 Picture 15 Non cyclic scaling 25 Leine Linde AB claims copyright on thi...

Страница 5: ... an encoder producing absolute positions within one revolution the absolute position information repeats itself with every revolution So called multiturn encoders can also distinguish between revolutions The numbers of unique revolutions is determined by the resolution of the multiturn scanning and repeats itself after the total resolution is reached 1 3 PROFIBUS technology PROFIBUS is a powerful ...

Страница 6: ...es agencies and distributors located worldwide ready to reply to commercial enquires or technical support For more contact information please visit our web site or contact Leine Linde in Strängnäs Sweden Leine Linde AB Olivehällsvägen 8 SE 645 21 Strängnäs Sweden e mail info leinelinde com Tel 46 152 265 00 web www leinelinde com Fax 46 152 265 05 1 5 References PROFIBUS Encoder profile V1 1 Order...

Страница 7: ... the gateway can be set via three decimal rotary switches located inside the back cover The weighting x100 x10 and x1 are specified on the circuit card besides the switches Permissible address range is between 0 and 126 but the lower addresses 0 to 2 are usually used by the master and not recommended to be used by the device Each address used in a PROFIBUS network must be unique and may not be use...

Страница 8: ...ure error free operation In case of the gateway such terminators are integrated inside the back cover and can be activated via dip switches as shown in picture 2 If the device is un powered the A and B lines are internally terminated by a 220Ω resistor Bit 1 Bit 2 Effect ON ON There is a 220 ohm resistor between bus A and bus B line ON OFF Not a valid setting OFF ON Not a valid setting OFF OFF The...

Страница 9: ...inal is located inside the back cover of the gateway In the case were the gateway is the last node in the bus structure and only the cable glands for Supply and Bus in is in use the Bus out cable gland should be replaced with a filler plug to ensure proper sealing The filler plug is available as an accessory from Leine Linde The E terminal shall be used to connect E Volt 9 36Vdc The 0V terminal sh...

Страница 10: ...cover are four screw terminals containing the required bus line terminals marked A and B Cable glands not used should be replaced with a filler plug to ensure proper sealing The filler plug is available as an accessory from Leine Linde The A terminal shall be used to connect the A line The B terminal shall be used to connect the B line Picture 6 Terminal connection of bus line cables Note Tighten ...

Страница 11: ... Available GSD file for DPV0 gateway Note GSD file ll__0680 is supported only for compatibility with old Leine Linde Profibus gateway and is not recommended for new customers When configuring the gateways two device classes Class 1 or Class 2 can be selected as described in chapter 4 Selectable parameters and functionality of the device depend on the selected encoder class This data saved in the P...

Страница 12: ...e Criterion no data exchange Bus disconnected Master not available switched off Red 2 Red 2 No connection to another device No connection between EnDat encoder and PROFIBUS PCB No connection to EnDat Encoder at power up Blinking 1 Green Parameterization or configuration fault Configuration received differs from the supported configuration Parameter error in the parameterization Green Red System Fa...

Страница 13: ...d and adopted when the encoder power supply is switched on A restart of the encoder is therefore required in order to adopt changes done to the address settings Picture 7 PCB view of a cable gland PROFIBUS encoder Example If the node address shall be set to 85 the left x10 switch shall be set to 8 and the right x1 switch shall be set to 5 3 1 2 Bus termination In a PROFIBUS net all devices are con...

Страница 14: ...ered with a dust protection foil from the factory The protection foil needs to be removed prior to install the cables The cable gland encoders should always be equipped with a shielded power supply cable with conductor area between 0 34mm2 to 1 5mm2 Permissible outer cable diameter is ø 6 mm to ø8 mm for the power supply cable Located inside the back cover are two screw terminals containing the re...

Страница 15: ...is available as an accessory from Leine Linde The A terminal shall be used to connect the A line The B terminal shall be used to connect the B line Picture 11 Terminal connection of bus line cables Note Tighten all screws in the terminal even if no cable has been attached Note The two A terminals are internally connected to each other and the two B terminals are also internally connected to each o...

Страница 16: ...ed in chapter 4 Selectable parameters and functionality of the device depend on the selected encoder class This data saved in the PROFIBUS master is transferred once to the encoder when the system is powered on If the encoder has been started with the GSD file for DPV0 functionality and a GSD file with a different ID number shall be used the encoder needs to be restarted before it can use the new ...

Страница 17: ...o data exchange Bus disconnected Master not available switched off Red 2 Red 2 No connection to another device No connection between EnDat encoder and PROFIBUS PCB No connection to EnDat Encoder at power up Blinking Red 1 Green Parameterization or configuration fault Configuration received differs from the supported configuration Parameter error in the parameterization Green Red System Failure Dia...

Страница 18: ...t these functions must be implemented according to the profile To support early PROFIBUS DP implementations the size of the protocol data units PDU is limited to 16 bytes Encoders of class 2 must support all functions of class 1 as well as the additional functionality of class 2 In addition to the two classes parameters and diagnostic ranges are reserved for manufacturer specific functions For fur...

Страница 19: ...the CLASS 2 configuration output data values and input data words are transferred Depending on the encoder resolution this is one input data word 16 bits and one output data word 16 bits or two input data words 32 bits and two output data words 32 bits The following functions are available in addition to the class 1 functions Scaling function Preset Value Function Velocity read out Extended diagno...

Страница 20: ...vice for checking The main purpose is to define the number of bytes used for the Data_Exchange function 5 2 2 During parameterization DDLM_Set_Prm mode When the system is started the PROFIBUS devices are parameterized DDLM_Set_Prm mode i e the encoder class set by means of the GSD file in the configuration tool see chapter 4 and the set operating parameters see chapter 5 4 are transferred to the r...

Страница 21: ... described in octet 9 are defined bit by bit as follows Octet 9 Bits 7 0 Data 27 20 Operating parameters Bits Definition 0 1 0 Code sequence Clockwise CW Increasing position values when rotated clockwise seen from flange side Counter clockwise CCW Increasing position values when rotated counter clockwise seen from flange side 1 Class 2 functionality Disable Enable 2 Commissioning diagnostics No Ye...

Страница 22: ...evice supports commissioning diagnostics the operating status should be read by the diagnostic function and the commissioning diagnostics bit should be checked 5 4 4 Scaling function control The scaling function converts the encoder s physical absolute position value by means of software in order to change the resolution of the encoder The parameters Measuring units per revolution and Total measur...

Страница 23: ...ltiturn scaling parameter format The data format for both scaling parameters is 32 bits without sign with a value range from 20 to 231 The permissible value range is limited by the resolution of the encoder For a 25 bit encoder with a singleturn resolution of 13 bits the permissible value range for Measuring units per revolution is between 20 and 213 8192 and for the Total measuring range in measu...

Страница 24: ...ice selects operating mode A see following explanation If not operating mode B is selected A Cyclic operation binary scaling Cyclic operation is used when operating with 2X number of turns 2 4 8 16 32 64 128 256 512 1024 2048 and 4096 number of turns If the desired measuring range is equal to the specified singleturn resolution 2X where x 12 the encoder operates in endless cyclic operation 0 max 0...

Страница 25: ...ified singleturn resolution 2x the output position value is limited within the operating range If the position value increases or decreases outside the measuring range by rotating the encoder shaft beyond the maximum value or below 0 the device outputs the total measuring range value Example of non cyclic scaling Measuring units per revolution 100 Total measuring range 5000 number of revolutions 5...

Страница 26: ... calculation The velocity calculations are made with a maximum of 19 bits resolution If the resolution is higher than 219 the value used for velocity calculations is automatically reduced to 219 For a multiturn encoder with 212 multiturn resolution the maximum singleturn value will be 219 and the velocity will be calculated on the same resolution as presented in the diagnostic structure For a sing...

Страница 27: ...osition value length of 16 bit for singleturn encoder The position value is right aligned in the data field DDLM_Data_Exchange mode Standard configuration Octet 1 2 3 4 Bits 31 24 23 16 15 8 7 0 Data 231 224 223 216 215 28 27 20 Data_Exchange 32 bits Table 16 Data exchange 32 bits Configuration data Device class 1 D1hex 2 input data words data consistency Device class 2 F1hex 2 input data words 2 ...

Страница 28: ...set value in binary code The encoder reads the current position value and calculates an offset value from the preset value and the read position value The position value is shifted by the calculated offset value If the input position value equals the preset value the preset mode is terminated and the MSB can be set to 0 by the master The offset value can be read with the diagnostic function and is...

Страница 29: ...21 2 Supported warnings Octet string 22 23 2 Profile version Octet string 24 25 2 Software version Octet string 26 27 2 Operating time 32 without sign 28 31 2 Offset value 32 with sign 32 35 2 Manufacturer offset value 32 with sign 36 39 2 Measuring units per revolution 32 without sign 40 43 2 Total measuring range in measuring units 32 without sign 44 47 2 Serial number ASCII string 48 57 2 Reser...

Страница 30: ...ote Not every encoder supports every alarm For encoders of class 2 the diagnostic information supported alarms see Chapter 5 6 8 makes it possible to find out which individual alarm bits are supported DDLM_Slave_Diag Octet 8 Bits 7 0 Alarms Bits Definition 0 1 0 Position error No Yes 1 Voltage supply error No Yes 2 Current is too high No Yes 3 Commissioning diagnostics OK Error 4 Memory error No Y...

Страница 31: ...ed 4 Currently not assigned 5 6 7 Table 23 Operating status 5 6 4 Encoder type The type of encoder can be read in octet 10 of the diagnostic function The type of encoder is defined in hex code in the range from 0 to FF DDLM_Slave_Diag Octet 10 Bits 0 FF Encoder type Code Definition 00 Absolute singleturn encoder 01 Absolute multiturn encoder 02 Absolute singleturn encoder with electronic revolutio...

Страница 32: ...1 12 13 14 Bits 31 24 23 16 15 8 7 0 Data 231 224 223 216 215 28 27 20 Singleturn resolution Table 25 Diagnostics singleturn resolution 5 6 6 Number of Distinguishable Revolutions The number of distinguishable revolutions that the encoder can transfer is defined by octets 15 and 16 of the diagnostic function In accordance with the formula below the measuring range for an encoder results from the n...

Страница 33: ...dicate that tolerances for certain internal parameters of the device have been exceeded Contrary to alarms no faulty position values are expected in case of warnings Octets 20 and 21 of the diagnostic function indicate the status of the warnings If a warning is set the Ext_Diag bit in the diagnostic function is logically set to 1 until the warning is cleared All warnings are deleted when the diagn...

Страница 34: ... 15 Table 29 Diagnostics warnings 5 6 10 Supported Warnings The diagnostic octets 22 and 23 contain information on supported warnings DDLM_Slave_Diag Octet 22 23 Bits 15 8 7 0 Supported Warnings Bits Definition 0 1 0 Frequency warning Not supported Supported 1 Temperature warning Not supported Supported 2 Light control reserve warning Not supported Supported 3 CPU monitoring status warning Not sup...

Страница 35: ...e_Diag function provide the software version of the device The octet s revision number and index are combined Example Software version 1 40 Octet no 26 27 Binary code 00000001 01000000 Hex 1 40 DDLM_Slave_Diag Octet 26 27 Bits 15 8 7 0 Data 27 20 27 20 Revision number Index Software version Table 32 Diagnostics software version 5 6 13 Operating Time The operating time monitor stores the operating ...

Страница 36: ... by the manufacturer This value gives information on the shift of the position zero point in number of positions from the physical zero point of the encoder The data type for the offset value is a 32 bit binary value with sign The value range corresponds to the measuring range of the encoder The offset value of the manufacturer of the encoder is indicated in the number of units according to the ba...

Страница 37: ...23 216 215 28 27 20 Measuring units per revolution DDLM_Slave_Diag Octet 44 45 46 47 Bits 31 24 23 16 15 8 7 0 Data 231 224 223 216 215 28 27 20 Total measuring range in measuring units Table 36 Diagnostics scaling parameters setting 5 6 17 Encoder Serial Number Octets 48 to 57 of the diagnostic function provide the serial number of the encoder as a 10 character ASCII string DDLM_Slave_Diag Octets...

Страница 38: ... software GSD Selecting the DPV0 Slave To select the encoder click on the PROFIBUS Encoder icon in the map structure on the right side of the window Use drag and drop to add the encoder on the BUS upper left view When dropping the encoder on the BUS a PROFIBUS address must be assigned naturally this address must be the same as assigned on the hardware address switches on the back of the encoder se...

Страница 39: ...0 06 01 Assigning parameters to the DPV0 slave By double clicking on the configuration row in the configuration view the parameterization view will be opened Add or change the data in the value field to the desired parameter values Chapter 5 4 describes the functionality and possibility of each parameter ...

Страница 40: ...Leine Linde AB Part Id 740590 01 40 Document Id 740590 Ver 01 Publication date 2010 06 01 Assigning parameters to the DPV0 slave Save and compile the settings by clicking on the Station Tab and then choose Save and compile ...

Страница 41: ...ick on the Import Station button The import XDB file window below will open Browse to the location where the xdb file was saved and choose the xdb file and click on the open button If everything is ok the Run stop column will show a green ok Note Please refer to the respective manufacturer for information on the configuration of other PROFIBUS DP master interface modules ...

Страница 42: ...PROFIBUS USER MANUAL Leine Linde AB Part Id 740590 01 42 Document Id 740590 Ver 01 Publication date 2010 06 01 Appendix A History Revision Date Changes Rev 1 0 2010 06 01 First release ...

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