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Absolute-Encoder: User Manual

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0% found this document useful (0 votes)

394 views48 pages

Absolute-Encoder: User Manual

tr encoder

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sasa

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You are on page 1/ 48

+SSI

Absolute-Encoder

CE-65

CE-100

TR - ECE - BA - GB - 0009 - 09 12/15/2015

_Additional safety instructions

_Installation
_Commissioning
_Configuration / Parameterization
_Troubleshooting and
Diagnostic options

User Manual
4.00+ / WIU00001
TR-Electronic GmbH
D-78647 Trossingen
Eglishalde 6
Tel.: (0049) 07425/228-0
Fax: (0049) 07425/228-33
email: [email protected]
www.tr-electronic.com

Copyright protection
This Manual, including the illustrations contained therein, is subject to copyright
protection. Use of this Manual by third parties in contravention of copyright
regulations is not permitted. Reproduction, translation as well as electronic and
photographic archiving and modification require the written content of the
manufacturer. Violations shall be subject to claims for damages.

Subject to modifications
The right to make any changes in the interest of technical progress is reserved.

Document information
Release date / Rev. date: 12/15/2015
Document / Rev. no.: TR - ECE - BA - GB - 0009 - 09
File name: TR-ECE-BA-GB-0009-09.docx
Author: MH

Font styles
Italic or bold font styles are used for the title of a document or are used for
highlighting.
Courier font displays text, which is visible on the display or screen and software
menu selections.
< > indicates keys on your computer keyboard (such as <RETURN>).

Brand names
PROFIBUS-DP and the PROFIBUS logo are registered trademarks of PROFIBUS
Nutzerorganisation e.V. (PNO) [PROFIBUS User Organization]
SIMATIC is a registered trademark of SIEMENS corporation
Windows is a registered trademark of Microsoft Corporation

Page 2 of 48 TR - ECE - BA - GB - 0009 - 09 12/15/2015

Contents
Contents .............................................................................................................................................. 3

Revision index .................................................................................................................................... 5

1 General information ........................................................................................................................ 6

1.1 Applicability ............................................................................................................................. 6
1.2 EC Declaration of conformity .................................................................................................. 6
1.3 Abbreviations used / Terminology .......................................................................................... 7
1.4 General functional description ................................................................................................ 8

2 Basic safety instructions ................................................................................................................ 9

2.1 Definition of symbols and instructions .................................................................................... 9
2.2 Obligation of the operator before start-up............................................................................... 9
2.3 General risks when using the product .................................................................................... 10
2.4 Intended use ........................................................................................................................... 10
2.5 Non-intended use ................................................................................................................... 10
2.6 Warranty and liability .............................................................................................................. 11
2.7 Organizational measures ........................................................................................................ 11
2.8 Personnel qualification; obligations ........................................................................................ 12
2.9 Safety information's ................................................................................................................ 13

3 Transportation / Storage ................................................................................................................. 14

4 Technical data.................................................................................................................................. 15
4.1 Electrical ratings...................................................................................................................... 15
4.2 Mechanical ratings .................................................................................................................. 15

5 Assembly .......................................................................................................................................... 16
5.1 Connecting the Cable Screening to the Bus-Cap ................................................................... 17

6 Device description / start-up .......................................................................................................... 18

6.1 PNO identification number ...................................................................................................... 18
6.2 PNO certificate ........................................................................................................................ 18
6.3 PNO encoder profile ............................................................................................................... 18
6.4 Operating requirements .......................................................................................................... 18
6.5 Setting the station address ..................................................................................................... 18
6.6 PROFIBUS interface............................................................................................................ 19
6.7 Device master file ................................................................................................................... 20
6.8 Configuration and parameterization ....................................................................................... 21
6.8.1 Configuration ........................................................................................................... 21
6.8.1.1 Class 1 16-bit resolution, identifier D0 (HEX):......................................................................... 21
6.8.1.2 Class 1 32-bit resolution, identifier D1 (HEX):......................................................................... 21
6.8.1.3 Class 2 16-bit resolution, identifier F0 (HEX): ......................................................................... 22
6.8.1.4 Class 2 32-bit resolution, identifier F1 (HEX): ......................................................................... 22
6.8.1.5 TR-mode position, identifier F1 (HEX): ..................................................................................... 23
6.8.1.6 TR-mode position+velocity, identifier F1 (HEX): ....................................................................... 24
6.8.2 Parameterization ..................................................................................................... 25
6.8.2.1 Code sequence: ........................................................................................................................ 25
6.8.2.2 Class 2 functionality: ................................................................................................................. 25
6.8.2.3 Commissioning diagnostic control:............................................................................................ 25
6.8.2.4 Scaling function control: ............................................................................................................ 25
Printed in the Federal Republic of Germany TR-Electronic GmbH 1997, All Rights Reserved

12/15/2015 TR - ECE - BA - GB - 0009 - 09 Page 3 of 48

Contents

6.8.2.5 Measuring units per revolution: ................................................................................................. 25

6.8.2.6 Total measuring range [units] hi and total measuring range [units] lo ...................................... 26
6.8.2.7 Revolutions numerator hi and revolutions numerator lo............................................................ 26
6.8.2.8 Revolutions denominator .......................................................................................................... 27
6.8.2.9 Code SSI interface: ................................................................................................................... 27
6.8.2.10 Data bits SSI interface: ........................................................................................................... 27
6.8.2.11 Code PROFIBUS interface: .................................................................................................... 27
6.8.2.12 Preset 1 value [units] hi and preset 1 value [units] lo .............................................................. 28
6.8.2.13 Preset 2 value [units] hi and preset 2 value [units] lo .............................................................. 28
6.8.2.14 Commissioning function .......................................................................................................... 29
6.8.2.15 Short diagnostic (16 byte) ....................................................................................................... 29
6.8.2.16 Limit switch lower and upper limit ........................................................................................... 29
6.8.2.17 Speed [1/n rpm]....................................................................................................................... 30
6.8.3 Scaling function....................................................................................................... 31
6.8.3.1 Nominal configurations PNO Class 1+2 .................................................................................... 31
6.8.3.2 Nominal configuration TR-mode position and TR-mode position+velocity ............................... 32

6.9 Preset adjustment ................................................................................................................... 33

6.10 Commissioning function (Teach-in function for linear axes)................................................. 34
6.10.1 Input/output configuration for teach-in .................................................................. 35
6.10.1.1 Assignment of the status byte ................................................................................................. 35
6.10.1.2 Assignment of the control byte ................................................................................................ 35
6.10.2 Teach-in procedure ............................................................................................... 36
6.11 Optional SSI interface ........................................................................................................... 38
6.11.1 Limitation of SSI interface ..................................................................................... 38

7 Troubleshooting and Diagnostic options ..................................................................................... 39

7.1 Visual indicators ...................................................................................................................... 39
7.1.1 Indicator states, green LED (STAT)........................................................................ 39
7.1.2 Indicator states, red LED (BF) ................................................................................ 39
7.2 How to use the PROFIBUS diagnostics ................................................................................. 40
7.2.1 Standard diagnosis ................................................................................................. 40
7.2.1.1 Station status 1 ......................................................................................................................... 41
7.2.1.2 Station status 2 ......................................................................................................................... 41
7.2.1.3 Station status 3 ......................................................................................................................... 41
7.2.1.4 Master address ......................................................................................................................... 42
7.2.1.5 Manufacturer's identifier ............................................................................................................ 42
7.2.1.6 Length (in byte) of extended diagnosis ..................................................................................... 42
7.2.2 Extended diagnosis................................................................................................. 43
7.2.2.1 Alarms ....................................................................................................................................... 43
7.2.2.2 Operating status ........................................................................................................................ 44
7.2.2.3 Encoder type ............................................................................................................................. 44
7.2.2.4 Single-turn resolution ................................................................................................................ 44
7.2.2.5 Number of resolvable revolutions.............................................................................................. 44
7.2.2.6 Additional alarms....................................................................................................................... 44
7.2.2.7 Supported alarms ...................................................................................................................... 45
7.2.2.8 Warnings ................................................................................................................................... 45
7.2.2.9 Supported warnings .................................................................................................................. 45
7.2.2.10 Profile version ......................................................................................................................... 45
7.2.2.11 Software version ..................................................................................................................... 46
7.2.2.12 Operating hour counter ........................................................................................................... 46
7.2.2.13 Offset value ............................................................................................................................. 46
7.2.2.14 Manufacturer-specific offset value .......................................................................................... 46
7.2.2.15 Number of increments per revolution ...................................................................................... 46
7.2.2.16 Measuring length in increments .............................................................................................. 46
7.2.2.17 Serial number .......................................................................................................................... 46
7.2.2.18 Manufacturer-specific diagnostics ........................................................................................... 46

7.3 Other faults ............................................................................................................................. 47

8 Appendix .......................................................................................................................................... 48
8.1 New in firmware versions 4.x opposite 3.x ............................................................................. 48

Page 4 of 48 TR - ECE - BA - GB - 0009 - 09 12/15/2015

Revision index

Revision Date Index

First release 07/07/97 03
Complete revision 03/04/98 04
Rearrangement of list of parameters for individual set configurations.
11/05/98 05
Supplementation of information on device-specific diagnostics.
Description of the firmware extension 3.x to 4.x. 11/22/00 06
Notes for the use of the device master file "TR05AAAB.GSD"
03/15/01 07
Validity of this manual also for the device CE-100
General modifications 03/04/10 08
New design 12/15/15 09

12/15/2015 TR - ECE - BA - GB - 0009 - 09 Page 5 of 48

General information

1 General information
This User Manual includes the following topics:

Basic safety instructions

Technical data
Assembly
Installation
Commissioning
Configuration / parameterization
Troubleshooting and Diagnostic options

As the documentation is arranged in a modular structure, this User Manual is

supplementary to other documentation, such as product datasheets, dimensional
drawings and leaflets etc.

The User Manual may be included in the customer's specific delivery package or it
may be requested separately.

1.1 Applicability
This User Manual applies exclusively to the following measuring system model with
PROFIBUS-DP interface:

CE-65
CE-100

The products are labelled with affixed nameplates and are components of a system.

The following documentation therefore also applies:

the operator's operating instructions specific to the system,

this User Manual

1.2 EC Declaration of conformity

The measuring systems have been developed, designed and manufactured under
observation of the applicable international and European standards and directives.

A corresponding declaration of conformity can be requested from TR-Electronic

GmbH.

The manufacturer of the product, TR-Electronic GmbH in

D-78647 Trossingen, operates a certified quality assurance system in accordance with
ISO 9001.

Page 6 of 48 TR - ECE - BA - GB - 0009 - 09 12/15/2015

1.3 Abbreviations used / Terminology

CE Absolute Encoder with optical scanning unit

DP Decentralized Periphery

EC European Community

EMC Electro Magnetic Compatibility

ESD Electro Static Discharge

GSD Device Master File

IEC International Electrotechnical Commission

PNO PROFIBUS User Organization (PROFIBUS Nutzerorganisation)

PROFIBUS Manufacturer independent, open field bus standard

VDE German Electrotechnicians Association

12/15/2015 TR - ECE - BA - GB - 0009 - 09 Page 7 of 48

General information

1.4 General functional description

In contrast to incremental measuring systems, the absolute measuring system
provides the current position value instantaneously. If this measuring system is moved
mechanically in the deactivated state, the current position can be read out directly as
soon as the voltage supply is switched on again.
The TR absolute measuring systems can be supplied in Single-Turn or Multi-Turn
versions depending on the type required.

Single-Turn

This measuring system resolves a single revolution or turn of the drive shaft into
measuring increments (e.g. 8192). The number of measuring increments per
revolution is recorded and balanced via a code disk. This measured value is output via
different interface modules depending on the type of interface used, and is repeated
after each revolution.

Multi-Turn

Besides the angular positions per revolution, multi-turn measuring systems also record
multiple rotations or turns. The drive shaft is connected to an internal reduction gear
via which the number of revolutions is recorded.
In the case of the multi-turn measuring system, the measured value is thus composed
of the angular position and the Number of Revolutions. The measured value is also
balanced and output via different interface modules depending on the type of interface
used.

Principle

Page 8 of 48 TR - ECE - BA - GB - 0009 - 09 12/15/2015

2 Basic safety instructions
2.1 Definition of symbols and instructions

means that death or serious injury can occur if the required

precautions are not met.

means that minor injuries can occur if the required

precautions are not met.

means that damage to property can occur if the required

precautions are not met.

indicates important information or features and application

tips for the product used.

means that appropriate ESD-protective measures are to be

considered according to DIN EN 61340-5-1 supplementary
sheet 1.

2.2 Obligation of the operator before start-up

As an electronic device the measuring system is subject to the regulations of the EMC
Directive.

It is therefore only permitted to start up the measuring system if it has been

established that the system/machine into which the measuring system is to be fitted
satisfies the provisions of the EC EMC Directive, the harmonized standards, European
standards or the corresponding national standards.

12/15/2015 TR - ECE - BA - GB - 0009 - 09 Page 9 of 48

Basic safety instructions

2.3 General risks when using the product

The product, hereinafter referred to as "the measuring system", is manufactured
according to state-of-the-art technology and accepted safety rules. Nevertheless,
non-intended use can pose a danger to life and limb of the user or third parties,
or lead to impairment of the measuring system or other property!

Only use the measuring system in a technically faultless state, and only for its
intended use, taking safety and hazard aspects into consideration, and observing this
User Manual! Faults which could threaten safety should be eliminated without delay!

2.4 Intended use

The measuring system is used to measure angular motion and to condition the
measurement data for the subsequent control of industrial control processes.

Intended use also includes:

observing all instructions in this User Manual,
observing the nameplate and any prohibition or instruction symbols on the
measuring system,
observing the enclosed documentation, e.g. product insert, connector
configurations etc.,
observing the operating instructions from the machine or system manufacturer,
operating the measuring system within the limit values specified in the technical
data.

2.5 Non-intended use

Danger of death, physical injury and damage to property in case of non-

intended use of the measuring system!
As the measuring system does not constitute a safety component
according to the EC machinery directive, a plausibility check of the
measuring system values must be performed through the subsequent
control system.

It is mandatory for the operator to integrate the measuring system into

his own safety concept.

The following areas of use are especially forbidden:

- in environments where there is an explosive atmosphere
- for medical purposes

Page 10 of 48 TR - ECE - BA - GB - 0009 - 09 12/15/2015

2.6 Warranty and liability
The General Terms and Conditions ("Allgemeine Geschftsbedingungen") of TR-
Electronic GmbH always apply. These are available to the operator with the Order
Confirmation or when the contract is concluded at the latest. Warranty and liability
claims in the case of personal injury or damage to property are excluded if they result
from one or more of the following causes:

Non-intended use of the measuring system.

Improper assembly, installation, start-up and programming of the measuring

system.

Incorrectly undertaken work on the measuring system by unqualified

personnel.

Operation of the measuring system with technical defects.

Mechanical or electrical modifications to the measuring systems undertaken

autonomously.

Repairs carried out autonomously.

Third party interference and Acts of God.

2.7 Organizational measures

The User Manual must always be kept accessible at the place of use of the
measuring system.

In addition to the User Manual, generally applicable legal and other binding
accident prevention and environmental protection regulations are to be observed
and must be mediated.

The respective applicable national, local and system-specific provisions and

requirements must be observed and mediated.

The operator is obliged to inform personnel on special operating features and

requirements.

The personnel instructed to work with the measuring system must have read and
understood the User Manual, especially the chapter Basic safety instructions
prior to commencing work.

The nameplate and any prohibition or instruction symbols applied on the

measuring system must always be maintained in a legible state.

Do not undertake any mechanical or electrical modifications on the measuring

system, apart from those explicitly described in this User Manual.

Repairs may only be undertaken by the manufacturer or a facility or person

authorized by the manufacturer.

12/15/2015 TR - ECE - BA - GB - 0009 - 09 Page 11 of 48

Basic safety instructions

2.8 Personnel qualification; obligations

All work on the measuring system must only be carried out by qualified personnel.
Qualified personnel includes persons, who, through their training, experience and
instruction, as well as their knowledge of the relevant standards, provisions,
accident prevention regulations and operating conditions, have been authorized
by the persons responsible for the system to carry out the required work and are
able to recognize and avoid potential hazards.

The definition of Qualified Personnel also includes an understanding of the

standards VDE 0105-100 and IEC 364 (source: e.g. Beuth Verlag GmbH, VDE-
Verlag GmbH).

Define clear rules of responsibilities for the assembly, installation, start-up and
operation. The obligation exists to provide supervision for trainee personnel !

Page 12 of 48 TR - ECE - BA - GB - 0009 - 09 12/15/2015

2.9 Safety information's

Destruction, damage or malfunctions of the measuring system and

risk of physical injury!
De-energize the system before carrying out wiring work or opening and
closing electrical connections.
Do not carry out welding if the measuring system has already been
wired up or is switched on.

Ensure that the area around the assembly site is protected from
corrosive media (acid, etc.).
Avoid any shocks (e.g. hammer-blow) on the shaft while mounting.
Do not open the measuring system.

The measuring system contains electrostatically endangered circuit

elements and units which can be destroyed by an improper use.
Contacts of the measuring system connection contacts with the fingers
are to be avoided, or the appropriate ESD protective measures are to
be applied.

Disposal
If disposal has to be undertaken after the life span of the device, the
respective applicable country-specific regulations are to be observed.

12/15/2015 TR - ECE - BA - GB - 0009 - 09 Page 13 of 48

Transportation / Storage

3 Transportation / Storage

Notes on transportation
Do not drop the device or expose it to strong strokes!

Only use the original packaging!

The wrong packaging material can cause damage to the device during
transportation.

Storage
Storage temperature: -30 to +80 C
Store in a dry place

Page 14 of 48 TR - ECE - BA - GB - 0009 - 09 12/15/2015

4 Technical data

4.1 Electrical ratings

Operating voltage: ..................................................... 11-27 V DC (+/- 5% residual ripple)

Max. current consumption:....................................... < 350 mA at 11 V DC, < 150 mA at 27 V DC

Output capacity: ........................................................ Max. 25 bits

Resolution: ................................................................. Max. 8192 increments per revolution (13 bits)

Measuring range:....................................................... 4096 revolutions (12 bits)

Output code: .............................................................. Binary

Baud rate: ................................................................... 12 Mbps

Encoder interface: ..................................................... PROFIBUS-DP acc. to DIN 19245 Part 1-3

Special features: ........................................................ Programming is performed via the parameterization

message at the start-up of the encoder or PROFIBUS-
DP master

SSI-OUT data interface

Clock input: ............................................. Optocoupler
Data output: ............................................ RS422 (2-wire)
Clock rate: ............................................... 80 kHz - 1MHz
Code: ...................................................... Programmable, left-justified

Operating temperature range: .................................. 0 to +60 C

4.2 Mechanical ratings

Mechanically permissible speed: ............................. 6000 rpm

Permissible shaft load: ............................................. 40 N axial, 60 N radial (at end of shaft)

Minimum bearing lifetime: ........................................ 3.9 x 1010 revolutions at:

Operating speed: ............................................ 3000 rpm
Shaft loading: .................................................. 20 N axial, 30 N radial (at end of shaft)
Operating temperature: ................................... 60 C

Max. angular acceleration: ....................................... 104 rad/s2

Moment of inertia: ..................................................... 2.5 x 10-6 kg m2

Starting torque at 20 C: ........................................... 2 Ncm

Vibration loading (50-2000Hz): ................................. 100 m/s2

Shock loading (11 ms): ............................................. 1000 m/s2

12/15/2015 TR - ECE - BA - GB - 0009 - 09 Page 15 of 48

Assembly

5 Assembly
Encoder shaft drive
Encoders of the CE series are connected to the drive shaft by an elastic coupling which
compensates for any deviations in the axial and radial direction between the encoder
and drive shaft. This avoids excessive strain on the bearings. Couplings can be ordered
on request.

Flange mounting
The centering collar with fit f7 centers the encoder in relation to the shaft. It is fixed to
the machine by means of three screws in the flange (Fig. 1).

Clamping bracket mounting

The centering collar with fit f7 centers the encoder in relation to the shaft. The encoder
is fixed by means of two clamping brackets (Fig. 2).

Fig. 1 Coupling

Absolute encoder

Machine

Fig. 2 Coupling

Absolute encoder

Machine

Clamping bracket

Page 16 of 48 TR - ECE - BA - GB - 0009 - 09 12/15/2015

5.1 Connecting the Cable Screening to the Bus-Cap
To prevent disturbance signals entering the encoder housing, we used cable screw
glands with which it is possible to connect the screen on the inside. For this reason, no
connection point for the screen is provided inside the cup-cap.

Procedure:

1. Screw the cable screw gland into the housing.

2. Dismount the compression nut (1) and the terminal holder (2).

3. Push the compression nut (1) and the terminal holder (2) over the cable.

4. Strip the cable; push back the braiding around the terminal holder (2) such that the
braiding goes over the inner O-ring (3) and does not lie over the cylindrical section
or the torsional bars.

5. Insert the terminal holder (2) into the intermediate gland (4) such that the torsional
bars fit into the intended lengthwise grooves in the intermediate gland (4).

6. Screw the compression nut (1) to the intermediate gland (4).

Part 1
Compression nut

Part 2
Terminal holder

Part 3
Inner O-ring

Part 4
Intermediate gland

12/15/2015 TR - ECE - BA - GB - 0009 - 09 Page 17 of 48

Device description / start-up

6 Device description / start-up

6.1 PNO identification number

The encoder has the PNO ID number AAAB (hex). This number is reserved and filed
with the PNO.

6.2 PNO certificate

The encoder has passed a certification test by an independent test laboratory of the
Profibus User Organization and is certified under the number Z00319. The relevant
documents are held by TR Electronic and the PNO.

6.3 PNO encoder profile

The Profibus User Organization has issued an encoder profile defining the structure of
an encoder on the Profibus. A copy of this profile can be obtained for a fee from the
PNO office. Details of prices are available exclusively by the Profibus User
Organization.

6.4 Operating requirements

Theoretically, the encoder can be connected to any Profibus-DP network, provided the
PROFIBUS-DP master is capable of transmitting a parameter message. Similarly, the
configuration software should be able to display the parameter structure specified in
the device master file in order to allow the parameters to be entered. If this is not the
case, the encoder cannot be programmed and runs on the bus with the maximum
resolution, and without the possibility of scaling or adjustment as Class-1 encoder.

TR Electronic supplies a Software/Support CD containing the device master file

(.GSD) and a type file (.200) for users with SIEMENS masters. If the CD is not
enclosed with this documentation, it can be purchased by order number: 490-01001,
Soft-No.: 490-00406.

For details of how to integrate the encoder into the interface of the DP master
configuration software, please refer to the relevant documentation.

6.5 Setting the station address

The station address of the encoder is set exclusively via the rotary switch in the cover
containing the connecting terminals. When the terminals are viewed from above
(outgoing cable facing downwards), the left-hand switch sets the tens and the right-
hand switch the units of the station address.
The addressing of the encoder is limited within the Profibus address area. Valid
station addresses are 3 - 99.
If an invalid station address is set, the device will not start up and the LEDs will not be
illuminated.

Page 18 of 48 TR - ECE - BA - GB - 0009 - 09 12/15/2015

6.6 PROFIBUS interface
All devices are connected in a bus structure (line). Up to 32 subscribers (master or
slaves) can be connected together in a segment.
The bus is terminated with an active bus termination at the beginning and end of each
segment. For stable operation, it must be ensured that both bus terminations are
always supplied with voltage. The bus termination can be switched in the measuring
system connector hood. As a general rule, both switches must always be switched on
(if encoder is the last station) or switched off (if the encoder is not the last station).

Repeaters (signal amplifiers) have to be used with more than 32 subscribers or to

expand the network scope in order to connect the various bus segments.

All cables used must conform with the PROFIBUS specification for the following
copper data wire parameters:

Parameter Cable type A

Wave impedance in 135...165 at a frequency of 3...20 MHz
Operating capacitance (pF/m) 30
Loop resistance (/km) 110
Wire diameter (mm) > 0.64
Wire cross-section (mm) > 0.34

The PROFIBUS transmission speed may be set between 9.6 kBit/s and 12 Mbit/s and
is automatically recognized by the measuring system. It is selected for all devices on
the bus at the time of commissioning the system.

The range is dependent on the transmission speed for cable type A:

Baud rate (kbits/s) 9.6 19.2 93.75 187.5 500 1500 12000
Range / Segment 1200 m 1200 m 1200 m 1000 m 400 m 200 m 100 m

A shielded data cable must be used to achieve high electromagnetic interference

stability. The shielding should be connected with low resistance to protective ground
using large shield clips at both ends. It is also important that the data line is routed
separate from power current carrying cables if at all possible. At data speed 1.5
Mbit, drop lines should be avoided under all circumstances.

The measuring system connector hood offers the possibility of connecting the inward
and outward data cables directly to the removable connector hood. This avoids drop
lines and the bus connector can be connected to and disconnected from the bus at
any time without interruption of data traffic.

The PROFIBUS guidelines and other applicable standards and guidelines are to be
observed to insure safe and stable operation!
In particular, the applicable EMC directive and the shielding and grounding guidelines
must be observed!

12/15/2015 TR - ECE - BA - GB - 0009 - 09 Page 19 of 48

Device description / start-up

6.7 Device master file

For encoders with version 3.x, the device master file of the encoder has the filename
TR03AAAB.GSD. Because of the extended performance range, for devices with
version 4 and up the file *TR05AAAB.GSD was created.
For users of older Siemens masters, there is also a so-called type file called
TRAAAB3X.200 which fulfils the same function as the device master file
TR03AAAB.GSD, but has a special data format.
To find out how to integrate these files into the system configuration, please refer to
the documentation of the configuration program for the Profibus master.
The encoder also has two bitmap files named TRAAAB3N.BMP and TRAAAB3S.BMP
or TRAAAB5N.DIP and TRAAAB5S.DIP which represent the encoder in the normal
and faulty states respectively. These images also have to be integrated into the
system configuration according to the instructions of the relevant documentation.

* Usable as of COMPROFIBUS version 5.0 (S5) or STEP7 as of version 5.0 service

pack 3 (S7).

The file TR05AAAB.GSD causes:

- 4 byte parameter (see also notes on page 30)

(no partitioning into high and low word at decimal input)

- Extended performance range

- Teach In
- Limit switches
- switchable diagnostic length
- switchable units for rev. per min

see also chapter "New in firmware versions 4.x opposite 3.x", page 48.

Downloads:

TR03AAAB.GSD: www.tr-electronic.de/f/TR-ECE-ID-MUL-0005
TR05AAAB.GSD: www.tr-electronic.de/f/TR-ECE-ID-MUL-0006
TRAAAB3X.200: www.tr-electronic.de/f/TR-ECE-ID-MUL-0005

Page 20 of 48 TR - ECE - BA - GB - 0009 - 09 12/15/2015

6.8 Configuration and parameterization

6.8.1 Configuration

Configuration means specifying the length and type of process data and the manner in
which they are to be handled. For this purpose, the configuration program usually
provides an input list in which the user has to enter the appropriate identifiers.

Since the encoder supports several possible configurations, the identifier to be

entered is preset depending on the required nominal configuration, so that all you
have to do is enter the I/O addresses. The identifiers are deposited in the device
master file.

Depending on the required nominal configuration, the encoder will assign a different
number of input and output words on the PROFIBUS.

In the following, the individual nominal configurations and the position of the
communication bytes for the data transfer with the PROFIBUS-DP master are
described.

6.8.1.1 Class 1 16-bit resolution, identifier D0 (HEX):

The encoder uses one input word only, which is consistently transferred via the bus.

Input word IW x

Data byte 1 Data byte 0

MSB LSB
Input byte x+0 Input byte x+1

Relevant parameter data:

Count direction

6.8.1.2 Class 1 32-bit resolution, identifier D1 (HEX):

The encoder uses two input words only, which are consistently transferred via the bus.

Double input word ID x

Data byte 3 Data byte 2 Data byte 1 Data byte 0

MSB LSB
Input byte x+0 Input byte x+1 Input byte x+2 Input byte x+3

Relevant parameter data:

Count direction

In the case of configurations for CLASS 1, preset adjustment is not possible via
the PROFIBUS, and only the code sequence can be changed. The encoder
operates with the standard resolution specified on the rating plate. The
diagnostic data are limited to 16 bytes.

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Device description / start-up

6.8.1.3 Class 2 16-bit resolution, identifier F0 (HEX):

The encoder uses one input word and one output word which are consistently
transferred via the bus.

Input word IW x

Data byte 1 Data byte 0

MSB LSB
Input byte x+0 Input byte x+1

Output word for preset adjustment OW x

Data byte 1 Data byte 0

MSB P LSB
Output byte x+0 Output byte x+1

Relevant parameter data:

Count direction
Class 2 functionality (on/off)
Scaling function (on/off)
Commissioning diagnostic control (on/off)
Measuring units per revolution
Total measuring range

6.8.1.4 Class 2 32-bit resolution, identifier F1 (HEX):

The encoder uses two input words and two output words which are consistently
transferred via the bus.

Double input word ID x

Data byte 3 Data byte 2 Data byte 1 Data byte 0

MSB LSB
Input byte x+0 Input byte x+1 Input byte x+2 Input byte x+3

Double output word for preset adjustment OD x

Data byte 3 Data byte 2 Data byte 1 Data byte 0

MSB P LSB
Output byte x+0 Output byte x+1 Output byte x+2 Output byte x+3

Relevant parameter data:

Count direction
Class 2 functionality (on/off)
Scaling function (on/off)
Commissioning diagnostic control (on/off)
Measuring units per revolution
Total measuring range

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6.8.1.5 TR-mode position, identifier F1 (HEX):

The encoder uses two input words and two output words which are consistently
transferred via the bus.

Double input word ID x

Data byte 3 Data byte 2 Data byte 1 Data byte 0

MSB LSB
Input byte x+0 Input byte x+1 Input byte x+2 Input byte x+3

Double output word for preset adjustment OD x

Data byte 3 Data byte 2 Data byte 1 Data byte 0

MSB P LSB
Output byte x+0 Output byte x+1 Output byte x+2 Output byte x+3

Relevant parameter data:

Count direction
Commissioning diagnostic control (on/off)
Total measuring range
Revolutions numerator
Revolutions denominator
Code SSI interface1
Code PROFIBUS interface
Preset 1 value (24V inputs)
Preset 2 value (24V inputs)

New in version 4.x

Teach-In function (commissioning function)
Short diagnostic
Limit switch lower limit
Limit switch upper limit

1 SSI on request, not standard

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Device description / start-up

6.8.1.6 TR-mode position+velocity, identifier F1 (HEX):

The encoder uses two input words for the position plus a separate input word for the
velocity, and two output words which are consistently transferred via the bus. The
velocity is output with a sign in revolutions per minute and has an accuracy of +/- 1
rpm.

Double input word ID x

Data byte 3 Data byte 2 Data byte 1 Data byte 0

MSB LSB
Input byte x+0 Input byte x+1 Input byte x+2 Input byte x+3

Input word IW x

Data byte 1 Data byte 0

MSB LSB
Input byte x+0 Input byte x+1

Double output word for preset adjustment OD x

Data byte 3 Data byte 2 Data byte 1 Data byte 0

MSB P LSB
Output byte x+0 Output byte x+1 Output byte x+2 Output byte x+3

Relevant parameter data:

Count direction
Commissioning diagnostic control (on/off)
Total measuring range
Revolutions numerator
Revolutions denominator
Code SSI interface2
Code PROFIBUS interface
Preset 1 value (24V inputs)
Preset 2 value (24V inputs)

New in version 4.x

Teach-In function (commissioning function)
Short diagnostic
Limit switch lower limit
Limit switch upper limit
Speed [1/n rpm]

The configurations designated "TR mode" are not compatible with the PNO
encoder profile in terms of the parameter record. The scaling function
prescribed by the PNO profile is a simple special case of a general gear. Due to
the extended 'gear' scaling function, additional parameters are therefore
necessary in order to describe the gear fully.
In other words, the TR-specific modes represent an extension of the encoder
function which is not restricted by its compatibility with the PROFIBUS-DP and
certification.

2 SSI on request, not standard

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6.8.2 Parameterization
Parameterization means providing a PROFIBUS-DP slave with certain information
required for operating purposes before it begins the cyclical exchange of process data.
For example, the encoder requires data concerning the resolution, count direction,
preset values, etc.
The configuration program for the PROFIBUS-DP master usually provides an input
mask via which the user can enter the parameter data or select from lists. The
structure of the input mask is stored in the device master file. The number and type of
the parameters to be entered by the user depend on the chosen nominal
configuration.

6.8.2.1 Code sequence:

Defines the count direction of the encoder.
Selection
Increasing clockwise *
Increasing counter-clockwise

6.8.2.2 Class 2 functionality:

Defines the encoder's range of functions.
"Class 2 deactivated" means that the encoder only performs Class 1 functions, does
not scale the position value and is not adjustable.

Selection
No (Class 2 functions deactivated)*
Yes (Class 2 activated)

6.8.2.3 Commissioning diagnostic control:

Defines whether the encoder outputs an extended diagnostic message.

Selection
Disabled (Commissioning diagnostic control deactivated)*
Enabled (Commissioning diagnostic control activated)

6.8.2.4 Scaling function control:

Defines whether the encoder scales the position on the basis of the subsequent
parameter. If Class 2 is deactivated, it does not scale the position value and is not
adjustable.

Selection
Disabled (scaling deactivated)*
Enabled (scaling activated)

6.8.2.5 Measuring units per revolution:

Defines the number of increments displayed by the encoder for each revolution of the
encoder shaft.

Input
Lower limit: 1 increment / revolution
Upper limit: 8192 increments per revolution (depending on capacity -
marked on rating plate)
Default value: 4096

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Device description / start-up

6.8.2.6 Total measuring range [units] hi and total measuring range [units] lo

Together, these parameters define the total number of increments displayed by the
encoder before it starts again from zero.

Inputs for HI word

Lower limit 0
Upper limit 512 (depending on the total capacity, which is calculated by
multiplying the max. number of increments per revolution by
the maximum number of revolutions. This data is marked on
the rating plate.)
Default value: 256

Inputs for LO word

Lower limit 0
Upper limit 65535 (depending on the total capacity, which is calculated by
multiplying the max. number of increments per revolution by
the maximum number of revolutions. This data is marked on
the rating plate.)
Default value: 0

6.8.2.7 Revolutions numerator hi and revolutions numerator lo

Danger of personal injury and damage to property exists if the

measuring system is restarted after positioning in the de-energized
state by shifting of the zero point!
If the number of revolutions is not an exponent of 2 or is >4096, it can occur,
if more than 512 revolutions are made in the de-energized state, that the zero
point of the multi-turn measuring system is lost!
Ensure that the quotient of Revolutions Numerator / Revolutions
Denominator for a multi-turn measuring system is an exponent of 2 of the
group
20, 21, 22212 (1, 2, 44096).
or
Ensure that every positioning in the de-energized state for a multi-turn
measuring system is within 512 revolutions.

Together, these parameters define the total number of revolutions displayed by the
encoder before it starts again from zero.

Inputs for HI word

Lower limit 0
Upper limit 3
Default value: 0

Inputs for LO word

Lower limit 1
Upper limit 65535
Default value: 4096

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6.8.2.8 Revolutions denominator

Danger of personal injury and damage to property exists if the

Together, these parameters define the total number of revolutions displayed by the
encoder before it starts again from zero.

Lower limit 1
Upper limit 99
Default value: 1

6.8.2.9 Code SSI interface:

Defines the output code for the (optional) SSI interface. The transfer to the PROFIBUS
takes place in binary form according to the PNO profile.

Selection
Gray (encoder supplies 24-bit Gray code)
Binary (encoder supplies 24-bit binary code)*
Shifted Gray (encoder supplies clipped Gray code)

6.8.2.10 Data bits SSI interface:

Defines the number of data bits on the SSI interface.

Output format: MSB left-justified

Lower limit 8
Upper limit 32
Default value 24

6.8.2.11 Code PROFIBUS interface:

Defines the output code for the PROFIBUS interface.

Selection
Binary (encoder supplies 24-bit binary code)
Gray (encoder supplies 24-bit Gray code)*
Shifted Gray (encoder supplies clipped Gray code)

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Device description / start-up

6.8.2.12 Preset 1 value [units] hi and preset 1 value [units] lo

Risk of injury and damage to property by an actual value jump when the
Preset adjustment function is performed!
The preset adjustment function should only be performed when the
measuring system is at rest, otherwise the resulting actual value jump must
be permitted in the program and application!

Together, these parameters define the position value to which the encoder is adjusted
with the leading edge of the 1st preset input. To suppress interference, however, the
preset is only carried out if the preset signal is present without interruption during the
entire response time of 30 ms. A re-execution of the preset is not possible until the
input signal has been reset again and a filter time of 30 ms has been waited.

The inputs depend on the total measuring length in increments

Lower limit 0
Upper limit total measuring length in increments - 1
Default value 1

6.8.2.13 Preset 2 value [units] hi and preset 2 value [units] lo

Together, these parameters define the position value to which the encoder is adjusted
with the leading edge of the 2nd preset input. To suppress interference, however, the
preset is only carried out if the preset signal is present without interruption during the
entire response time of 30 ms. A re-execution of the preset is not possible until the
input signal has been reset again and a filter time of 30 ms has been waited.

The inputs depend on the total measuring length in increments

Lower limit 0
Upper limit total measuring length in increments - 1
Default value 2

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6.8.2.14 Commissioning function

This parameter defines the setting of the commissioning function. In the standard
setting "Off, no status" the encoder is compatible to encoders with version 3.x (further
details see Teach-In function).

Selection
Off, no status (V3.x), default
Off, with status
On, with status

6.8.2.15 Short diagnostic (16 byte)

With this parameter in the TR operation modes the number of diagnostic bytes can be
limited from 6+51 bytes to 6+10 bytes. Therefore the encoder can be operated also to
Profibus masters with older issue numbers in these modes.

Selection
No, default
Yes

6.8.2.16 Limit switch lower and upper limit

Is the status switched on (see commissioning function) the encoder can inform the
master via a bit whether the actual value is within the limits.
It is valid:

Limit switch bit = 0 if lower limit < actual value < upper limit
Limit switch bit = 1 if actual value < lower limit or actual value > upper limit

The inputs depend on the total measuring length in increments.

Lower limit 0
Upper limit total measuring length in increments - 1
Default value 0

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Device description / start-up

6.8.2.17 Speed [1/n rpm]

With this parameter the information of the rotation speed can be scaled in arbitrary
increments between 1/1 and 1/100 rpm.

Lower limit 1
Upper limit 100
Default value 1

Notes for the input of parameters with data format 32 bits

(only in connection with the device master file "TR03AAAB.GSD")

The Profibus standard DIN 19245 provides the data format "UNSIGNED32" for the
definition of 32 bits of parameter data in the device master file. This data format isn't
supported by all configuration programs for profibus master. These programs clip the
more significant word of the parameter. In order to allow inputs despite this, these
parameters are split up into single words.
Illogically enough, the input in the input masks also has to be made in decimal form.
This affects the following parameters:

Total measuring range [units]

Revolutions numerator
Preset 1 value
Preset 2 value

In the meantime, we recommend the following procedure for entering measuring

lengths in increments larger than 16 bits:

1. Convert the desired measuring length in increments to a hexadecimal figure

using a calculator and store this figure.
2. Convert only the four less significant tetrads (figures) back to decimal format
separately. This gives you the input 'Total measuring range [units] lo'
3. Convert only the remaining more significant tetrads (figures) back to decimal
format separately. This gives you the input 'Total measuring range [units] hi'

Example:

Total measuring length in increments: 10 500 000 (D)

converted to hexadecimals: A0 37A0 (H)

results in four less significant tetrads: 37A0 (H)

and remaining more significant tetrads: A0 (H)

Total measuring range [units] lo: 14240(D) (=37A0 (H) !)

Total measuring range [units] hi: 160 (D) (=A0 (H) !)

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6.8.3 Scaling function

6.8.3.1 Nominal configurations PNO Class 1+2

The encoder does not support a gear function. The position value is decoded in binary
form and balanced against a zero offset and the code sequence.
The position is calculated according to the following formula:

Measuring length in increments*

Number of increments per revolution* = -------------------------------------------------
Number of revolutions

When entering the parameterization data, make sure the parameters 'Measuring
length in increments' and 'Number of increments per revolution' are chosen so
that the quotient of the two parameters is a second power.
If this is not the case, the encoder will correct the measuring length in
increments to the next smallest second power in revolutions. The number of
increments per revolution remains constant.
The re-calculated measuring length in increments can be read out via the
extended diagnostic information for Class 2 and is always smaller than the
predefined measuring length. Therefore it can be that the actually needed total
increment number is exceeded and the encoder generates a zero-point
changeover before reaching the maximum mechanical displacement distance.

Since the internal absolute position (before the encoder was scaled and a zero-
point adjustment was executed) recurs periodically after 4096 revolutions, at
rotating applications (endless driving to the same direction, the number of
revolutions is not a power of two) it comes inevitably to offsets.
For such applications, one of the TR - nominal configurations has to be used.

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Device description / start-up

6.8.3.2 Nominal configuration TR-mode position and TR-mode position+velocity

The encoder supports the gear function for rotating applications. The position value is
balanced against a zero offset, the code sequence and the entered gear parameters.
The number of increments per revolution is calculated according to the following
formula:

Measuring length in increments*

Number of increments per revolution = ------------------------------------------------------
Number of revolutions numerator*
------------------------------------------------------
Number of revolutions denominator*

Gear limits:
Maximum no. of revolutions 256000
Minimum no. of revolutions 1
Maximum no. of increments per revolution see encoder rating plate
Minimum denominator 1
Maximum denominator 99

For rotating applications (endless driving to the same direction, the number of
revolutions must not to be a power of two), one of the TR - nominal
configurations must to be used.

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ELECTRONIC Gm

6.9 Preset adjustment

In 'Class 2' mode and in the 'TR - operation modes', the PROFIBUS can be used to
adjust the encoder to any position value within a range of 0 to (measuring length in
increments - 1).
This is done by setting the most significant bits of the output data (231 for configuration
Class 2 - 32 bits or 215 for configuration Class 2 - 16 bits).

Outputs
Data byte 3 Data byte 2 Data byte 1 Data byte 0
MSB P LSB
Output byte x+0 Output byte x+1 Output byte x+2 Output byte x+3

Inputs
Data byte 3 Data byte 2 Data byte 1 Data byte 0
MSB LSB
Input byte x+0 Input byte x+1 Input byte x+2 Input byte x+3

The preset adjustment value transferred in data bytes 0 - 3 is accepted as the position
value with the leading edge of bit 32 (=bit 7 of data byte 3).
To suppress interference, however, the new position value is only carried out if the
control bit 32 is present without interruption during the entire response time of 30 ms.
A re-adjustment is not possible until the control bit has been reset again and a filter
time of 30 ms has been waited.
In the Class 2 mode this process is not acknowledged via the inputs.
In the TR - operations modes at status switched-on (see adjustments of the
Commissioning function) this process is acknowledged via the most significant bit.

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Device description / start-up

6.10 Commissioning function (Teach-in function for linear axes)

This function is activatable in the parameterization.
When the commissioning function is activated, the relevant distance can be traversed
with the machine. On the basis of the input "requested number of units per distance
traveled", the encoder automatically calculates its measuring length in increments
from the position difference and the selected measuring units. This value can then be
entered in the parameterization file, so that the teach-in process does not need to be
repeated should the encoder be exchanged.

For the Teach-In procedure following reductions are valid:

The number of the revolutions must be programmed fixed to 4096 and may not be
changed in the parameterization!
The maximum displacement distance mustn't exceed 2048 revolutions
During the Teach-In process the maximum number of increments per revolution of
the encoder mustn't be exceeded (e.g. specification of a measuring length of 3000
increments and indication of a displacement distance of of a revolution)
For rotating applications the commissioning function is not suitable and not valid

When the teach-in function is activated, the green LED flashes at a frequency of
approx. 1 Hz.

To remain downward compatible to the version of 3.x, in the parameter setting there
are three different settings:

OFF, no status:
This setting is compatible with version 3.x, that means the bits 225 to 231 are
always "0".

OFF, with status:

In this setting the status bits are visible, but the function is not activated

ON, with status

The commissioning function is active

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6.10.1 Input/output configuration for teach-in

Outputs
Requested no. of units per distance travelled
24 23 16 15 8 7 0
Control bits+Distance 2 Distance 2 -2 Distance 2 -2 Distance 2 -2
MSB LSB
Output byte x+0 Output byte x+1 Output byte x+2 Output byte x+3

Inputs
Position / Measuring length in steps
24 23 16 15 8 7 0
Status+Position 2 Position 2 -2 Position 2 -2 Position 2 -2
MSB LSB
Input byte x+0 Input byte x+1 Input byte x+2 Input byte x+3

6.10.1.1 Assignment of the status byte

At activated status the status bits 225 to 231 have the following meaning:

Ready status
Bit 25 0 = Encoder not ready-to-operate
1 = Encoder ready-to-operate
Operating mode
Bit 26 0 = Commissioning mode
1 = Normal mode
Software limit switches
0 = lower limit switch < process-actual value < upper limit switch
Bit 27
1 = process-actual value < lower limit switch or
process-actual value > upper limit switch
Counting direction (at the moment)
Bit 28 Bit 28 = 0: Counting direction cw (with look on the shaft)
Bit 28 = 1: Counting direction ccw (with look on the shaft)
Teach-In, takeover drive distance
Bit 29 0 = Drive distance not taken
1 = Drive distance taken
Start Teach-In
Bit 30 0 = No start
1 = Teach-In function started
Adjustment acknowledgement
Bit 31 0 = No adjustment requested
1= Requested adjustment was executed

6.10.1.2 Assignment of the control byte

Bit 25 No meaning
Bit 26 No meaning
Bit 27 No meaning
Change counting direction
Bit 28 0 = Keep counting direction
1 = Invert present counting direction
Takeover Teach-In
Bit 29 0 = No takeover of the drive distance
1 = Takeover of the drive distance
Start Teach-In
Bit 30 0 = No start
1 = Start
Adjustment request
Bit 31 0 = No adjustment requested
1 = Adjust encoder to the preset value

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Device description / start-up

6.10.2 Teach-in procedure

The teach-in procedure takes place in several stages which are described below. It is
assumed that the PROFIBUS is in operation, that the PLC is in its cycle, and that its
process image is continuously updated. The inputs and outputs assigned by the
encoder in the PLC must be able to be controlled via a programming device (e.g.
"Control variables" function in SIMATIC-S5 system), or alternatively by a PLC handling
facility.

1. After selecting manual or set-up mode, move the machine by hand to the starting
position of the distance to be measured.
2. Find out whether the present adjusted counting direction is correct for the
application. If not, first the counting direction must be inverted with setting the
"Change counting direction" bit in the control byte. The encoder displays
the present counting direction in the status byte.
3. Set the "Start Teach-In" bit in the control byte
The encoder then re-programs its measuring length in increments to the maximum
resolution, memorizes its current position and acknowledges this process by
setting the "Teach In Function Started" bit in the status byte.
4. Reset the "Start Teach-In" bit in the control byte
The "Teach-In Started" bit remains set furthermore!
5. In manual or set-up mode, move the machine by hand to the ending position of the
distance to be measured. Measure the distance between initial and ending position
with a measuring tape of arbitrary measurement unit.
6. Enter the real distance in measured units according to the tape measure in data
bytes D0 and D1 of the outputs.
7. Set the "Takeover of the drive distance" bit in the control byte
The encoder then calculates the measuring length in increments from the
requested travelling distance in measured units, enters the calculated measuring
length in increments in data bytes D0 .. D2 of the inputs and acknowledges this
process by setting the "Teach-In, drive distance taken" bit of the status
byte.
8. Make a note of the measuring length in increments!
9. Reset the "Takeover of the drive distance" bit in the control byte
The encoder then accordingly resets the "Teach-In started" and "Teach-In,
drive distance taken" bits in the status byte. Thus the Teach-In process is
completed.
10.Carry out presetting or adjustment.

If one of the steps was omitted or incompletely executed, the entire procedure must be
repeated.
During the teach-in process, the encoder must not be adjusted and no presettings
may be performed.

Once all axes have been set up with the teach-in function, the noted measuring
lengths in increments must be entered in the parameterization file of the encoder
using the configuration program for the PROFIBUS master (e.g. COM-ET-200 or COM
PROFIBUS), and the teach-in mode must be deactivated. This ensures that the teach-
in process does not have to be repeated should the encoder be exchanged.

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The following tables display the processes schematically again:

Setting of the counting direction

M = Master Status-/Control bits Data bits

S = Slave Bit 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0

MS 0 0 0 1 0 0 0 The selected direction of rotation is changed over from 0 to 1 or 1 to 0 using bit 28

SM 0 0 0 0/1 0/1 0 1
The encoder now acknowledges the newly selected direction of ro. in bit 0 and bit 0/1
28
MS 0 0 0 0 0 0 0 Changeover is completed by setting bit 28 to 0
SM 0 0 0 0/1 0/1 0 1 The process actual value is now output again

Teach-In Start

M = Master Status-/Control bits Data bits

S = Slave Bit 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0

MS 0 1 0 0 0 0 0 The Teach-In mode is activated by setting bit 30

SM 0 1 0 0/1 0/1 0 1 Acknowledging by setting bit 30 to 1 0/1

MS 0 0 0 0 0 0 0 Resetting
SM 0 1 0 0/1 0/1 0 1 Non-calculated process actual values (gear factor=1, no preset active)

Teach-In, takeover drive distance

M = Master Status-/Control bits Data bits

S = Slave Bit 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0

MS 0 0 1 0 0 0 0 Number of increments which the encoder should output is now sent to the encoder
SM 0 1 1 0/1 0/1 0 1
Transfer of the total measuring range for the new gear factor (this should be 0/1
noted!)
MS 0 0 0 0 0 0 0 Resetting
SM 0 0 0 0/1 0/1 0 1 The process actual value, calculated with the new gear factor, is output

Preset-Adjustment

M = Master Status-/Control bits Data bits

S = Slave Bit 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0

MS 1 0 0 0 0 0 0 Here the preset value is transferred as desired new actual value

SM 0 0 0 0 0 0 0 The encoder acknowledges the takeover in bit 7 of the status byte
MS 0 0 0 0 0 0 0 By setting the bit 31 to 0, the adjustment is finished
SM 0 0 0 0 0 0 0 The process actual value is now output again

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Device description / start-up

6.11 Optional SSI interface

The encoder has a separate Synchronous Serial Interface via which its position value
can be made available to a further evaluation unit (e.g. drive controller). The position
value output at this interface is identical to the value output on the PROFIBUS in terms
of conversion and code sequence. In order to use this interface, a special cover with
terminals for the SSI interface is necessary.

6.11.1 Limitation of SSI interface

The encoder position is re-loaded after each read process, and remains unchanged
until the next time it is accessed. If the SSI master (e.g. drive controller or WF
assembly) reads the position at prolonged or irregular intervals, this may lead to
contouring error messages.
To avoid this, the position should be read at short, regular intervals.
The monoflop time of the SSI interface is around 35 - 55 s (typ. 41 s) as opposed to
20 - 40 s in the standard interface.

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7 Troubleshooting and Diagnostic options
7.1 Visual indicators
The encoder is equipped with two LEDs in the bus cover: one red LED (BF) for
indicating errors and one green LED (STAT) for indicating status information.
When the encoder is started up, both LEDs flicker briefly. Thereafter, the indications
depend on the operational status of the encoder.

7.1.1 Indicator states, green LED (STAT)

Green LED Cause Remedy

Off Absence of voltage supply Check voltage supply wiring
Station address incorrectly set Set station address (valid values 3-99 !)
Bus cover not mounted and Check bus cover for correct seating
screwed on correctly
Bus cover defective Replace bus cover
Hardware error, encoder Replace encoder
defective

Flashing at a Irreparable parameterization or Check parameterization and configuration

frequency of 10 Hz configuration error. See section 6.8 on page 21

Flashing at a Parameterization or Check configuring and operational status of

frequency of 1 Hz configuration error in PNO- PROFIBUS master
compatible nominal
configuration
Data have been corrected

Teach-in mode active Deactivate teach-in mode

On Encoder ready for operation

7.1.2 Indicator states, red LED (BF)

Red LED Cause Remedy

Off No error, bus in cycle

Flashing at a Encoder not yet addressed by Check set station address

frequency of master Check configuring and operational status of
1 Hz PROFIBUS master

On Irreparable encoder fault Check parameter data

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Troubleshooting and Diagnostic options

7.2 How to use the PROFIBUS diagnostics

In a Profibus system, the Profibus masters supply the process data to a so-called host
system, e.g. a PLC-CPU. If a slave is not accessible, or no longer accessible, on the
bus, or if the slave itself reports a fault, the master must communicate this fault to the
host system in some form or other. There are several possible ways of doing this, the
evaluation of which depends entirely on the application in the host system.
As a general rule, a host system cannot be stopped following the failure of only one
component on the bus, but must respond appropriately to the failure as prescribed by
the safety regulations. The master normally provides the host system initially with a
summary diagnosis, which the host system reads cyclically from the master, and
which serves to report the states of the individual bus stations to the application. If a
station is reported to be faulty in the summary diagnosis, the host can request further
data from the master (slave diagnostics), which then allow a more detailed evaluation
of the causes. The indications thus obtained may either have been generated by the
master, if the relevant slave does not respond (or no longer responds) to the master's
requests, or they may come directly from the slave, if the slave itself reports a fault.
The generation or reading of the diagnostic message between the master and slave
takes place automatically, and does not have to be programmed by the user.
In addition to the standard diagnostic information, the encoder provides an extended
diagnostic message according to Class 1 or Class 2 of the PNO encoder profile,
depending on the nominal configuration.

7.2.1 Standard diagnosis

The standard DP diagnosis is structured as follows (always from the point of view of
the master in relation to the slave).

Byte no. Meaning

Byte 1 Station status 1
Byte 2 Station status 2
Byte 3 Station status 3 General part
Byte 4 Master address
Byte 5 Manufacturer's identifier HI byte
Byte 6 Manufacturer's identifier LO byte
Byte 7 Length (in bytes) of extended
diagnosis
Byte 8 Other device-specific diagnoses Device-specific extensions

Byte 241
(max)

Page 40 of 48 TR - ECE - BA - GB - 0009 - 09 12/15/2015

7.2.1.1 Station status 1

Bit 7 Master_Lock Slave has been parameterized

by another master (bit is set by
master)
Bit 6 Parameter_Fault The last parameterization
message to have been sent was
rejected by the slave
Bit 5 Invalid_Slave_Response Set by the master if the slave
does not respond
Bit 4 Not_Supported Slave does not support the
requested functions
Bit 3 Ext_Diag Bit = 1 means that there is an
extended diagnostic message
from the slave
Bit 2 Slave_Cfg_Chk_Fault The configuration identifier(s)
sent by the master was/were
rejected by the slave
Bit 1 Station_Not_Ready Slave is not ready to exchange
cyclical data
Bit 0 Station_Non_Existent The slave has been configured
but is not present on the bus

7.2.1.2 Station status 2

Bit 7 Deactivated Slave has been deleted from the

poll list by the master
Bit 6 Reserved
Bit 5 Sync_Mode Set by slave on receipt of SYNC
command
Bit 4 Freeze_Mode Set by slave on receipt of
FREEZE command
Bit 3 WD_On Slave watchdog is activated
Bit 2 Slave_Status Always set for slaves
Bit 1 Stat_Diag Static diagnosis
Bit 0 Prm_Req The slave sets this bit if it has to
be re-parameterized and re-
configured.

7.2.1.3 Station status 3

Bit 7 Ext_Diag_Overflow Overflow in extended diagnosis

Bit 6 - 0 Reserved

12/15/2015 TR - ECE - BA - GB - 0009 - 09 Page 41 of 48

Troubleshooting and Diagnostic options

7.2.1.4 Master address

In this byte, the slave enters the station address of the first master to have sent a valid
parameterization message. If several masters access the bus simultaneously, their
configuration and parameterization information must coincide exactly in order to
ensure correct operation of the Profibus.

7.2.1.5 Manufacturer's identifier

In bytes 5+6, the slave enters the manufacturer-specific identification number, an

unambiguous number for each device type which is reserved and filed with the PNO.
The identifier number of the encoder is AAAB(h).

7.2.1.6 Length (in byte) of extended diagnosis

If additional diagnostic information is available, the slave enters the number of bytes
following the standard diagnosis here.

Page 42 of 48 TR - ECE - BA - GB - 0009 - 09 12/15/2015

7.2.2 Extended diagnosis

In addition to the standard DP diagnostic message, the encoder also provides an

extended diagnostic message according to the PNO encoder profile. This message
varies in length depending on the chosen nominal configuration. In the configurations
designated "TR mode", the diagnostic message corresponds to PNO Class 2.
The following pages provide a general overview of the available diagnostic
information. Which individual options your encoder actually supports can be read out
from the device itself.

Byte no. Meaning Class

Byte 7 Length (in bytes) of extended diagnosis 1
Byte 8 Alarms 1
Byte 9 Operating status 1
Byte 10 Encoder type 1
Byte 11-14 Encoder resolution in increments per revolution (rotary) 1
Encoder resolution in measuring increments (linear)
Byte 15-16 Number of resolvable revolutions 1
Byte 17 Additional alarms 2
Byte 18-19 Supported alarms 2
Byte 20-21 Warnings 2
Byte 22-23 Supported warnings 2
Byte 24-25 Profile version 2
Byte 26-27 Software version (firmware) 2
Byte 28-31 Operating hour counter 2
Byte 32-35 Offset value 2
Byte 36-39 Manufacturer's offset value 2
Byte 40-43 Number of increments per revolution 2
Byte 44-47 Measuring length in increments 2
Byte 48-57 Serial number 2
Byte 58-59 Reserved 2
Byte 60-63 Manufacturer-specific diagnostics Optional

7.2.2.1 Alarms

Bit Meaning =0 =1
Bit 0 Position error No Yes
Bit 1 Supply voltage faulty No Yes
Bit 2 Current consumption too high No Yes
Bit 3 Diagnosis OK Error
Bit 4 Memory error No Yes
Bit 5 Not applicable
Bit 6 Not applicable
Bit 7 Not applicable

12/15/2015 TR - ECE - BA - GB - 0009 - 09 Page 43 of 48

Troubleshooting and Diagnostic options

7.2.2.2 Operating status

Bit Meaning =0 =1
Bit 0 Code sequence Increasing Increasing
clockwise counter-
clockwise
Bit 1 Class-2 functions No, not Yes
supported
Bit 2 Diagnosis No, not Yes
supported
Bit 3 Status scaling function No, not Yes
supported
Bit 4 Not applicable
Bit 5 Not applicable
Bit 6 Not applicable
Bit 7 Not applicable

7.2.2.3 Encoder type

Code Meaning
00 Single-turn absolute encoder (rotary)
01 Multi-turn absolute encoder (rotary)

See encoder profile for other codes

7.2.2.4 Single-turn resolution

The hardware single-turn resolution of the encoder can be read out via bytes 11-14.

7.2.2.5 Number of resolvable revolutions

The maximum number of encoder revolutions can be read out via diagnostic bytes 15-
16.

7.2.2.6 Additional alarms

Byte 17 is reserved for additional alarms, although no other alarms are implemented.

Bit Meaning =0 =1
Bit 0-7 Reserved

Page 44 of 48 TR - ECE - BA - GB - 0009 - 09 12/15/2015

7.2.2.7 Supported alarms

Bit Meaning =0 =1
Bit 0 Position error Not supported Supported
Bit 1 Supply voltage monitoring Not supported Supported
Bit 2 Current consumption Not supported Supported
monitoring
Bit 3 Diagnostic routine Not supported Supported
Bit 4 Memory error Not supported Supported
Bit 5-15 Not applicable

7.2.2.8 Warnings

Bit Meaning =0 =1
Bit 0 Frequency exceeded No Yes
Bit 1 Permissible temp. exceeded No Yes
Bit 2 Control reserve light Not reached Reached
Bit 3 CPU watchdog status OK Reset performed
Bit 4 Operating time warning No Yes
Bit 5-15 Battery charge OK Too low

7.2.2.9 Supported warnings

Bit Meaning =0 =1
Bit 0 Frequency exceeded Not supported Supported
Bit 1 Permissible temp. exceeded Not supported Supported
Bit 2 Control reserve light Not supported Supported
Bit 3 CPU watchdog status Not supported Supported
Bit 4 Operating time warning Not supported Supported
Bit 5-15 Reserved

7.2.2.10 Profile version

Diagnostic bytes 24-25 indicate the version of the PNO encoder profile supported by
the encoder. They consist of the revision number and revision index (e.g. 1.40
corresponds to 0000 0001 0100 0000 or 0140 (hexadecimal code) )

Byte 24 Revision number

Byte 25 Revision index

12/15/2015 TR - ECE - BA - GB - 0009 - 09 Page 45 of 48

Troubleshooting and Diagnostic options

7.2.2.11 Software version

Diagnostic bytes 26-27 indicate the internal software version of the encoder. They
consist of the revision number and revision index (e.g. 1.40 corresponds to 0000
0001 0100 0000 or 0140 (hexadecimal code) )

Byte 26 Revision number

Byte 27 Revision index

7.2.2.12 Operating hour counter

Diagnostic bytes 28-31 represent an operating hour counter which is incremented by

one digit every 6 minutes. The measuring unit for operating hours is thus 0.1 hours.
If this function is not supported, the operating hour counter is set to the maximum
value FFFFFFFF (hexadecimal code).

7.2.2.13 Offset value

Diagnostic bytes 32-35 indicate the offset in relation to the absolute scanning position
which is calculated during the execution of the preset function.

7.2.2.14 Manufacturer-specific offset value

Diagnostic bytes 36-39 indicate an additional manufacturer-specific offset in relation to

the absolute scanning position which is calculated during the execution of the preset
function.

7.2.2.15 Number of increments per revolution

Diagnostic bytes 40-43 indicate the configured increments per revolution of the
encoder.

7.2.2.16 Measuring length in increments

Diagnostic bytes 44-47 indicate the configured measuring lengths in increments of the
encoder.

7.2.2.17 Serial number

Diagnostic bytes 48-57 indicate the serial number of the encoder. If this function is not
supported, asterisks are used (hexadecimal code 0x2A) ********** to indicate the
configured measuring length in increments of the encoder.

7.2.2.18 Manufacturer-specific diagnostics

The encoder does not support any other manufacturer-specific diagnostics.

Page 46 of 48 TR - ECE - BA - GB - 0009 - 09 12/15/2015

According to the PNO encoder profile, an encoder must set the bits 'Ext.diag'
(extended diagnostic information available) and 'Stat.diag' (static error) in the
event of an internal error being detected in the station status. This means that,
in case of error, the encoder stops providing position data and is removed from
the process image by the PROFIBUS master until the error bits are reset. It is
not possible for the user to acknowledge the error via the PROFIBUS in this
way.
This function is only guaranteed provided the Commissioning Diagnostic
function is activated.

7.3 Other faults

Fault Cause Remedy

Perhaps isolated flanges and couplings made of plastic

help against electrical faults, as well as cables with twisted
Electrical faults
pair wires for data and supply. Shielding and wire routing
EMC
Position skips must be performed according to the PROFIBUS
of the measuring construction guidelines.
system Extreme axial and
radial load on the Couplings prevent mechanical stress on the shaft. If the
error still occurs despite these measures, the measuring
shaft may result in a
system must be replaced.
scanning defect.

The PROFIBUS runs

if the measuring
system is not
PROFIBUS
connected, but leads Check all connections and lines associated with the wiring
to faults if the bus Data A and Data B
of the measuring system.
switched
hood is plugged onto
the measuring
system.

12/15/2015 TR - ECE - BA - GB - 0009 - 09 Page 47 of 48

Appendix

8 Appendix
8.1 New in firmware versions 4.x opposite 3.x

The till now optionally available commissioning function is activatable in version

4.x at full downward compatibility any time.

The reduction is cancelled, that the scaling function can be activated only in
connection with the Class 2 functions. The device then works as Class 1 device
with short diagnostic length and is nevertheless scalable.

In the TR operation modes the diagnostic length can be limited on the length of
the Class 1 diagnosis.

If the status byte is activated a limit switch bit with two limit values is available to
supervise the displacement range.

The information of the rotational speed is scalable in arbitrary steps between 1/1
and 1/100 revolutions per minute.

Page 48 of 48 TR - ECE - BA - GB - 0009 - 09 12/15/2015

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