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Smart encoders & actuators
XAC80 PB
ATEX certification category 3
for use in zones 2, 22
and temperature class T5 (T100°C)
• 18-bit singleturn encoder for high precision demands
• 27-bit multiturn encoder for standard purposes
• 30-bit multiturn encoder for high end applications
• Profibus DP configurable as Class 1, Class 2 or Class 2(+VEL) Slave
• Heavy-duty construction for harsh environments
Suitable for the following models:
XAC8018/1PB
•
XAC8013/16384PB
•
XAC8016/16384PB
•
Lika Electronic
User's guide
Profibus-DP profile for encoders
•
Tel. +39 0445 806600
II 3GD, Ex nA IIB T5 Gc
II 3GD, Ex tc IIIC T100°C Dc, IP65
General Contents
1 - Safety summary
2 - Identification
3 – Certificates
4 - Mounting instructions
5 - Electrical connections
6 - Quick reference
7 - Profibus® interface
8 - Default parameters list
•
info@lika.biz
17
19
20
25
27
32
39
57
•
www.lika.biz
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Summary of Contents for Lika XAC80 PB
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Page 1: User's Guide
User's guide Smart encoders & actuators XAC80 PB ATEX certification category 3 for use in zones 2, 22 and temperature class T5 (T100°C) II 3GD, Ex nA IIB T5 Gc II 3GD, Ex tc IIIC T100°C Dc, IP65 Profibus-DP profile for encoders •... - Page 2 Tous droits réservés. This document and information contained herein are the property of Lika Electronic s.r.l. and shall not be reproduced in whole or in part without prior written approval of Lika Electronic s.r.l. Translation, reproduction and total or partial modification (photostat copies, film and microfilm included and any other means) are forbidden without written authorisation of Lika Electronic s.r.l.
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Page 3: Table Of Contents
Table of Contents User's guide................................. 1 Table of Contents............................3 Subject Index..............................5 Typographic and iconographic conventions..................... 6 Preliminary information..........................7 Glossary of Profibus terms........................... 8 1 - Safety summary............................. 17 1.1 Safety......................................17 1.2 Electrical safety..................................17 1.3 Mechanical safety................................18 1.4 Operational safety................................18 2 - Identification............................ - Page 4 Counts per revolution..............................45 7.4.3 Bytes 15 … 18................................46 Total resolution................................46 7.4.4 Byte 19.....................................48 Velocity measure unit..............................48 7.5 DDLM_Chk_Cfg..................................49 7.6 DDLM_Data_Exchange..............................49 Position value..................................49 Position and velocity values.............................50 Preset value..................................50 7.7 DDLM_Slave_Diag................................52 Station_Status_1................................52 Station_Status_2................................53 Station_Status_3................................53 Master_Add..................................53 Ident_Number................................53 Extended diagnostic header.............................53 Alarms....................................53 Operating status................................54 Encoder type...................................54 Singleturn resolution..............................54 Number of distinguishable revolutions.......................54...
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Page 5: Subject Index
Subject Index Alarms...................53 Operating status...............54 Class 2 functionality............43 Position and velocity values........50 Code sequence..............43 Position value..............49 Counts per revolution............45 Preset value................50 Encoder type..............54 Scaling function control..........44 Exchange type..............44 Singleturn resolution............54 Extended diagnostic header........53 Station_Status_1.............52 Station_Status_2.............53 Station_Status_3.............53 Ident_Number..............53 Total resolution..............46 Master_Add................53 Velocity measure unit............48 Number of distinguishable revolutions....54... -
Page 6: Typographic And Iconographic Conventions
In this guide, to make it easier to understand and read the text the following typographic and iconographic conventions are used: • parameters and objects of both Lika device and interface are coloured in GREEN; alarms are coloured in RED;... -
Page 7: Preliminary Information
Preliminary information This guide is designed to provide the most complete information the operator needs to correctly and safely install and operate the following encoders fitted with Profibus interface: XAC8018/1PB-xx (18 bit singleturn encoder) XAC8013/16384PB-xx (13 +14 bit multiturn encoder) XAC8016/16384PB-xx (16 +14 bit multiturn encoder) For technical specifications please refer to the product datasheet. -
Page 8: Glossary Of Profibus Terms
Glossary of Profibus terms Profibus, like many other networking systems, has a set of unique terminology. Table below contains a few of the technical terms used in this guide to describe the Profibus interface. They are listed in alphabetical order. Address (Station) IEC 61158-2: Medium attachment unit identification - unique number of a station connected to a segment (participant). - Page 9 Class See “DP Master”, “DP Master Class 1 (DPM1)” and “DP Master Class 2 (DPM2)”. Class 1 encoder Encoder class must be set when you configure the device. Mandatory Class 1 provides the basic functions of the device and can be used for: sending the position value (see Position value •...
- Page 10 Fibre Optics. • Cyclic Data Exchange IEC 61158-3: Term used to describe events which repeat in a regular and repetitive manner. The MS0 services of PROFIBUS DP are based on cyclic data exchange. See "State machine". Cyclic Redundancy Check Error-checking technique in which the frame recipient calculates a remainder by dividing frame contents by a prime (CRC) binary divisor and compares the calculated remainder to a...
- Page 11 parameters such as value limits, value range, gain, etc. need to be adjusted even at run-time. For this second and third phase PROFIBUS DP provides two ways to accomplish the task: DTM/FDT and EDD. See "Slave parametrization" and "Communication parameter". Device Profile See "Profile".
- Page 12 select modules their data length • (configuration identifier); read texts to assign diagnosis IDs to HMI displays; • select supported services (freeze, sync, etc.); • from the GSD for the configuration of the device. A GSD replaces the previously conventional manuals or data sheets and thus already supports plausibility checks during the configuration phase.
- Page 13 Physical layer protocol data unit (PhPDU); • Data link protocol data unit (DLPDU); • Application protocol data unit (APDU). • The PROFIBUS Nutzerorganisation e.V. (PROFIBUS User Organisation, or PNO) was created in 1989. This group was composed mainly of manufacturers and users from Europe. In 1992, the first regional PROFIBUS organization was founded (PROFIBUS Schweiz in Switzerland).
- Page 14 connection based (MS1) and connectionless (MS2, • MS3) acyclic communication between Masters and Slaves. Options (e.g.): Data exchange broadcast (DXB), i.e. Slave to Slaves • communication; isochronous mode of Slaves; • clock synchronization; • redundancy. • PROFIBUS DP is standardized within IEC 61158 and IEC 61784, communication profile families 3/1 and 3/2.
- Page 15 following a certain profile - are enabled to provide more detailed profile specific information. Protocol Data Unit (PDU) A packet of data passed across a network via telegrams. The term implies a specific layer of the OSI seven layer model and a specific protocol.
- Page 16 - 126 intended to be used for the "soft" addressing of Slave devices; - 127 intended to be used for broadcast messages to all the Slaves. Topology In a communication network, the pattern of interconnection between network nodes; e.g. bus, ring, star configuration. Transmission Rate (Baud The signalling rate of a digital communication line.
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Page 17: Safety Summary
failure to comply with these precautions or with specific warnings elsewhere in this manual violates safety standards of design, manufacture, and intended use of the equipment; Lika Electronic assumes no liability for the customer's failure to comply with these requirements. 1.2 Electrical safety ... -
Page 18: Mechanical Safety
10°C higher than the maximum temperature that can be reached in the hottest point of the product while the environmental temperature is the highest allowed during operation. MAN XAC80 PB E 1.0.odt 1 - Safety summary 18 of 60... -
Page 19: Identification
Information is listed in the delivery document too. Please always quote the order code and the serial number when reaching Lika Electronic for purchasing spare parts or needing assistance. For any information on the technical characteristics of the product refer to the technical catalogue. -
Page 20: Certificates
® XAC80 Profibus-DP 3 – Certificates 3.1 Declaration of ATEX Conformity MAN XAC80 PB E 1.0.odt 3 – Certificates 20 of 60... - Page 21 ® XAC80 Profibus-DP MAN XAC80 PB E 1.0.odt 3 – Certificates 21 of 60...
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Page 22: Eu Declaration Of Conformity
® XAC80 Profibus-DP 3.2 EU Declaration of Conformity MAN XAC80 PB E 1.0.odt 3 – Certificates 22 of 60... -
Page 23: Safety Instructions
® XAC80 Profibus-DP 3.3 Safety instructions MAN XAC80 PB E 1.0.odt 3 – Certificates 23 of 60... - Page 24 ® XAC80 Profibus-DP MAN XAC80 PB E 1.0.odt 3 – Certificates 24 of 60...
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Page 25: Mounting Instructions
Installation and maintenance operations must be carried out by qualified personnel only, with power supply disconnected and mechanical parts compulsorily in stop. 4.1 Encumbrance sizes (values are expressed in mm) MAN XAC80 PB E 1.0.odt 4 - Mounting instructions 25 of 60... -
Page 26: Mounting The Encoder
This could cause serious damages to the internal parts and an immediate warranty loss. Please contact out technical personnel for the complete availability of custom made shafts. MAN XAC80 PB E 1.0.odt 4 - Mounting instructions 26 of 60... -
Page 27: Electrical Connections
You are required to check that the encoder body and the connection cap are at the same potential before replacing the connection cap! Figure 1 - Removing the connection cap MAN XAC80 PB E 1.0.odt 5 - Electrical connections 27 of 60... -
Page 28: Connection Cap With Pg Gland (Cable Output)
(GND). Make sure that ground (GND) is not affected by noise. The connection point to ground can be situated both on the device side and on user's side. The MAN XAC80 PB E 1.0.odt 5 - Electrical connections 28 of 60... -
Page 29: Connection Of The Shield
Power supply must be turned off before performing this operation! The node number must be set via hardware using DIP A dip-switches. Allowed addresses are from 0 to 125. The default value is 1. DIP A: MAN XAC80 PB E 1.0.odt 5 - Electrical connections 29 of 60... -
Page 30: Baud Rate
1200 m 1200 m 1000 m 400 m 200 m 100 m Max. cable length 4000 ft 4000 ft 4000 ft 3300 ft 1300 ft 660 ft 330 ft MAN XAC80 PB E 1.0.odt 5 - Electrical connections 30 of 60... -
Page 31: Bus Termination Resistance (Figure 2)
Deactivated: if the encoder is not either the first 1 = 2 = OFF or the last device in the transmission line MAN XAC80 PB E 1.0.odt 5 - Electrical connections 31 of 60... -
Page 32: Quick Reference
6.1.1 Importing the GSD file Profibus encoders are supplied with their own GSD file, they are specific for each encoder model. To download the file enter www.lika.biz > ROTARY ENCODERS > ABSOLUTE ENCODERS > PROFIBUS). The GSD file must be installed in the Profibus Master device. -
Page 33: Adding A Node To The Project
In the left pane of the HW Config window, open the directory tree and select Catalog\PROFIBUS_DP\Additional Field Devices\Encoders; drag the required module (for instance “LIKA XAC8016/16384PB” module to the window on the left and drop it on “PROFIBUS(1): DP master system (1)”. -
Page 34: Encoder Configuration Parameters
For any information on using and setting each parameter refer to the “7.4 DDLM_Set_Prm“ section on page 41. Class 2 example MAN XAC80 PB E 1.0.odt 6 - Quick reference 34 of 60... -
Page 35: Reading The Diagnostic Information
HW Config window or click the Online<->Offline button (see the icon on the left). Then select PLC\Module information… to enter the Module information window. Finally open the DP Slave Diagnostics page. MAN XAC80 PB E 1.0.odt 6 - Quick reference 35 of 60... - Page 36 Press the Hex. Format… button to display diagnostic information: 16-byte Diagnostic: NOTE Refer to the “7.7 DDLM_Slave_Diag” section on page 52 for a complete list and meaning of each diagnostic byte. MAN XAC80 PB E 1.0.odt 6 - Quick reference 36 of 60...
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Page 37: Setting The Preset Value
The current of the encoder is 0003 7AA1hex. Preset value To set the = 0000 0500hex, set the bit 31 of variable AD 100 = “1” (8000 0500hex). MAN XAC80 PB E 1.0.odt 6 - Quick reference 37 of 60... - Page 38 4 bytes are not treated properly in STEP7 software. Should this happen, we recommend "MD" reference operators (pointers) for encoder position, speed and Preset to be used. MAN XAC80 PB E 1.0.odt 6 - Quick reference 38 of 60...
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Page 39: Profibus® Interface
XAC80 Profibus-DP 7 - Profibus® interface Lika encoders are Slave devices and comply with “Profibus-DP Profile for Encoders”; they can be set as Class 1, Class 2 or Class 2(+VEL) devices (see the “7.2 Classes of the Device profile“ section on page 39). -
Page 40: Modes Of Operation
Master to the Slave (see the “7.4 DDLM_Set_Prm“ section on page 41). DDLM_Chk_Cfg: Data_Exchange It sets the number of bytes used for data transmission in mode (see the “7.5 DDLM_Chk_Cfg“ section on page 49). MAN XAC80 PB E 1.0.odt 7 - Profibus® interface 40 of 60... -
Page 41: Ddlm_Set_Prm
Reserved for PROFIBUS network Operating parameters Code sequence bit 0 bit 1 Class 2 functionality bits 2 … 6 Reserved Exchange type bit 7 11 … 20 Reserved MAN XAC80 PB E 1.0.odt 7 - Profibus® interface 41 of 60... - Page 42 Scaling function control bit 3 bits 4 ... 6 Reserved Exchange type bit 7 11 … 14 Counts per revolution Total resolution 15 … 18 Velocity measure unit Reserved MAN XAC80 PB E 1.0.odt 7 - Profibus® interface 42 of 60...
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Page 43: Byte 10 - Operating Parameters
0 = Disabled = Encoder Class 1 is set. 1 = Enabled = Encoder Class 2 (or Class 2(+VEL)) is set. Default = 1 (min. = 0, max. = 1) MAN XAC80 PB E 1.0.odt 7 - Profibus® interface 43 of 60... -
Page 44: Scaling Function Control
Default = 0 (min. = 0, max. = 0) for Class 1 and Class 2 Default = 1 (min. = 1, max. = 1) for Class 2 (+VEL) MAN XAC80 PB E 1.0.odt 7 - Profibus® interface 44 of 60... -
Page 45: Bytes 11
Let's suppose that our encoder is programmed as follows: Counts per revolution: 8,192 cpr Total resolution = 134,217,728 = 8,192 (cpr) * 16,384 (rev.) Counts per revolution Let's set a new singleturn resolution, for instance: 360. MAN XAC80 PB E 1.0.odt 7 - Profibus® interface 45 of 60... -
Page 46: Bytes 15
This parameter is intended to set a custom number of distinguishable steps over the total measuring range. The total resolution of the encoder results from the Counts per revolution by the required Number of revolutions. product of MAN XAC80 PB E 1.0.odt 7 - Profibus® interface 46 of 60... - Page 47 WARNING Every time you change the value in this parameter, then you are required to set a new preset value (see the the Preset value parameter). MAN XAC80 PB E 1.0.odt 7 - Profibus® interface 47 of 60...
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Page 48: Byte 19
It defines the unit of measurement for the speed value transmitted by the device. 00 = step/s (steps per second); 01 = rpm (revolutions per minute). Default = 0 (min. = 0, max. = 1) MAN XAC80 PB E 1.0.odt 7 - Profibus® interface 48 of 60... -
Page 49: Ddlm_Chk_Cfg
This parameter contains the current position of the encoder. If the scaling function is enabled, the output value is scaled according to the scaling parameters (see Scaling function control on page 44). MAN XAC80 PB E 1.0.odt 7 - Profibus® interface 49 of 60... -
Page 50: Position And Velocity Values
= ENABLED, then Preset value must be less than or equal to the Total resolution. EXAMPLE Preset value to be set = 0000 1000hex Position value Current = 0005 5000hex MAN XAC80 PB E 1.0.odt 7 - Profibus® interface 50 of 60... - Page 51 Check the value in the parameter and perform the preset Code sequence, Counts operation every time you change the value next to the per revolution Total resolution parameters. MAN XAC80 PB E 1.0.odt 7 - Profibus® interface 51 of 60...
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Page 52: Ddlm_Slave_Diag
European Standard EN 50170 volume 2. For any information on the meaning of the individual bits in the Station_Status_1 byte refer to the “Profibus specification” document. MAN XAC80 PB E 1.0.odt 7 - Profibus® interface 52 of 60... -
Page 53: Station_Status_2
(00 hex). For any information on the meaning of the individual bits in the Alarms byte refer to the “Profibus-DP Profile For Encoders” document. MAN XAC80 PB E 1.0.odt 7 - Profibus® interface 53 of 60... -
Page 54: Operating Status
Figure 3: 40 00 hex, i.e. 16,384 revolutions. For any information on the meaning of the Number of distinguishable revolutions bytes refer to the “Profibus-DP Profile For Encoders” document. MAN XAC80 PB E 1.0.odt 7 - Profibus® interface 54 of 60... -
Page 55: Dead Zone
= 1 073 741 824 (2 Set parameter values: Counts per revolution = 50,000 Number of revolutions = 8,000 Total resolution = 400 000 000 MAN XAC80 PB E 1.0.odt 7 - Profibus® interface 55 of 60... - Page 56 “Red Zone” status (and vice versa) a jump of position occurs. See the Figure above: when entering the “red zone” the position information jumps from 399 999 999 to 380 799 999. MAN XAC80 PB E 1.0.odt 7 - Profibus® interface 56 of 60...
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Page 57: Default Parameters List
XAC8018/1 = 262,144 Counts per revolution XAC8013/16384 = 8,192 XAC8016/16384 = 65,536 XAC8018/1 = 262,144 XAC8013/16384 = Total resolution 134,217,728 XAC8016/16384 = 1,073,741,824 Velocity measure unit 0 = steps/s MAN XAC80 PB E 1.0.odt 8 - Default parameters list 57 of 60... - Page 58 This page intentionally left blank...
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- Page 60 GSD file Document release Release date Description version 08.08.2018 1st issue Lika Electronic Via S. Lorenzo, 25 • 36010 Carrè (VI) • Italy Tel. +39 0445 806600 Fax +39 0445 806699 info@lika.biz • www.lika.biz...
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