POSITAL FRABA User Manual
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POSITAL FRABA User Manual

Absolute rotary encoder ixarc explosion proof profibus-dp
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ABSOLUTE ROTARY ENCODER
IXARC EXPLOSION PROOF PROFIBUS-DP
Absolute Rotary Encoder
IXARC EXPLOSION PROOF PROFIBUS-DP
OCM-DPC1B-XXXX-XXXX-XXX
OCE-DPC1B-XXXX-XXXX-XXX
USER MANUAL
User Manual

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  • Page 1 ABSOLUTE ROTARY ENCODER IXARC EXPLOSION PROOF PROFIBUS-DP Absolute Rotary Encoder IXARC EXPLOSION PROOF PROFIBUS-DP OCM-DPC1B-XXXX-XXXX-XXX OCE-DPC1B-XXXX-XXXX-XXX USER MANUAL User Manual...

  • Page 2: Table Of Contents

    4.2.1 Transferring the process value ....15 4.2.2 Preset function ........15 7.3 Selecting the encoder version ...... 32 5 Special versions FRABA 2.1 and 2.2 ..17 7.4 Setting the parameters ......... 33 5.1 Parameter ............ 18 7.5 Further encoder configurations ....37...
  • Page 3 Publication: Mai, 2014 Copyright Version: Wojciech Pająk The company Fraba B.V. claims copyright on this Author: documentation. It is not allowed to modify, to Certification I M2 Ex db Mb OCM Mining II 2 G/D Ex db IIC T5 Gb II 2 G/D Ex tb IIIC T100°C Db IP 64/65/66/67...

  • Page 4: General

    50254. There are three different versions: Profibus Tel.: ++49 (0) 721 / 96 58 590 Profibus-FMS Profibus-PA. FRABA Fax: ++49 (0) 721 / 96 58 589 absolute encoders are designed for the DP www.profibus.com version. They support all usual baud rates up to 12 MBaud.

  • Page 5: Installation

    ABSOLUTE ROTARY ENCODER IXARC EXPLOSION PROOF PROFIBUS-DP Installation The Absolute Encoder is connected with a of the encoder. Bus lines and power supply are led connection cap. This cap is connected to the into the cap via cable glands and connected to encoder with a 15-pin-D-Sub connector and can be terminal blocks.

  • Page 6: Connecting Bus Lines And Power Supply

    ABSOLUTE ROTARY ENCODER IXARC EXPLOSION PROOF PROFIBUS-DP 2.2 Connecting bus lines and power supply Clamp Description B (left) Bus line B (Bus in) A (left) Bus line A (Bus in) − 10 – 30 V B (right) Bus line B (Bus out) A (right) Bus line A (Bus out) −...

  • Page 7: Connecting-Up The Connection Cap With Cable Glands

     Do not open the angular encoder housing Suitable couplings are available from FRABA. (this does not mean that you cannot remove  the connection cap). If the device is opened...
  • Page 8 ABSOLUTE ROTARY ENCODER IXARC EXPLOSION PROOF PROFIBUS-DP The encoder should not be used as handles cables must be used for reliable data transfer or steps. and good grounding must be provided.   Only qualified personnel may commission Cabling, establishing interrupting and operate these devices.

  • Page 9: Device Configuration

    (exception: “Commissioning Mode”, see Parameters and functionality depend on the selected encoder configuration. FRABA-Absolute chapter 5.3). Encoders Type „OCD-DPC1B-XXXX-XXXX-0CC“ After receiving configuration and parameter data support configurations described the absolute encoder enters the normal operating –...

  • Page 10: Overview Encoder Configurations - Functionality

    Class 2 Position value - 32 bit Input Code sequence Preset function Multiturn Preset value - 32 bit Output Scaling factor FRABA 2.1 Position value (32 bit Input) Code sequence Preset function Singleturn Preset value / Teach-In Scaling factor Commissioning mode...

  • Page 11: Encoder Configurations - Data Format

    (According to Profile) Class 2 Singleturn (According to Profile) Class 2 Multiturn (According to Profile) FRABA 2.1 Singleturn FRABA 2.1 Multiturn FRABA 2.2 Singleturn FRABA 2.2 Multiturn The following encoder configurations are still supported for reasons of downward compatibility, but...

  • Page 12: Class 1 And Class 2 Profile

    Not used for Class 1 and Class 2 Measuring units per revolution Section 4.1.5, Page 13 Total measuring range Section 4.1.6, Page 14 Reserved (Profile) Not used for Class 1 and Class 2 (Refer to versions FRABA 2.1 und 2.2) Page 12 Info Ex OCM/OCE Revision 26.05.2014...

  • Page 13: Code Sequence

    „total resolution“. This switch should always be Switched off activated if functions of class 2 (or even higher Switched on classes FRABA 2.1 and FRABA 2.2) are to be used. 4.1.5 Measuring units per revolution The parameter „measuring units per revolution“ is...

  • Page 14: Total Measuring Range

    ABSOLUTE ROTARY ENCODER IXARC EXPLOSION PROOF PROFIBUS-DP 4.1.6 Total measuring range Octet 31 – 24 23 – 16 15 - 8 7 - 0 Data to 2 to 2 to 2 to 2 Programmed total measuring range in steps The parameter „total measuring range“ is used to Then the encoder counts up to 11799, starts with “0”...

  • Page 15: Data Exchange In Normal Operation

    ABSOLUTE ROTARY ENCODER IXARC EXPLOSION PROOF PROFIBUS-DP The period, i.e. “Total resolution” / “measuring units” per revolution must be an integer and it must fit an integer number of times (integer multiple) into 16384. So the following equation must apply: (16384 x measuring units per revolution) / Total resolution = integer 4.2 Data exchange in normal operation The „DDLM_Data_Exchange mode“...
  • Page 16 If this functionality is needed the user has to version: Here Bit 15 is used to activate the preset choose one of the manufacturer specific FRABA- value. With high resolution singleturn encoders (16 encoder versions (in these classes the singleturn Bit) it is not possible to set preset values >...

  • Page 17: Special Versions Fraba 2.1 And 2.2

    Special versions FRABA 2.1 and 2.2 The manufacturer-specific encoder configurations The following table gives an overview of the used FRABA 2.1 and FRABA 2.2 offer (in addition to the parameters and the structure of the parameter functions according to the Profile for Encoders) telegram.

  • Page 18: Parameter

    Bit 7 in octet 26 activates further parameter bytes Deactivated (27-39). Activated Usually this happens automatically if the encoder versions FRABA 2.1 or FRABA 2.2 are selected. It Octet 27 – 39 Octet 26 Bit 7 is only important for the user to observe this if the Deactivated parameters are entered “manually”...

  • Page 19: Desired Measuring Units Reference

    ABSOLUTE ROTARY ENCODER IXARC EXPLOSION PROOF PROFIBUS-DP 5.1.3 Desired Measuring units reference With this parameter the reference for the desired measuring units (cp. 5.1.2) is determined, either per revolution per maximum total resolution per number of physical impulses Desired measuring units per revolution the encoder gives out the programmed number of In this case the position value increases by the measuring units over the whole measuring range...

  • Page 20: Activate Commissioning Mode

    Some Profibus masters, especially older ones, have problems with the full diagnostic data length Octet 26 Bit 3 Diagnostics (57 bytes). The FRABA encoder offers the option Standard = 57 bytes to reduce the diagnostic data length to 16 bytes. If Reduced = 16 bytes Class 1 is used the standard diagnostic data length is 16 bytes.

  • Page 21: Physical Impulses

    ABSOLUTE ROTARY ENCODER IXARC EXPLOSION PROOF PROFIBUS-DP Upper limit switch (in measuring steps, related to the scaled value) Octet 26 Bit 5 Lower limit switch Deactivated Activated Octet 26 Bit 6 Upper limit switch Deactivated Activated 5.1.7 Physical impulses Octet 23 –...

  • Page 22: Encoder Type

    With this parameter the user can choose the time Time base Bit 4 Bit 5 base for the velocity output (version FRABA 2.2). Steps / second The time base is specified in bits 4 and 5 of octet Steps / 100 ms...

  • Page 23: Data Exchange In Normal Operation

    (physical) position values > Bit. If version FRABA 2.2 is used the current velocity is manufacturer specific FRABA versions do not transmitted in an additional (peripheral) input word. F1 hex D0 hex OCD → Master Status + position value...

  • Page 24: Commissioning Mode

    ABSOLUTE ROTARY ENCODER IXARC EXPLOSION PROOF PROFIBUS-DP 5.3 Commissioning mode If the commissioning mode is activated in the commissioning mode activated encoder parameters, the scaling factor can be (parameter settings, cp. 5.1.4) determined directly in the machine by a „Teach-In“. counting direction changed...

  • Page 25: Teach-In Start

    ABSOLUTE ROTARY ENCODER IXARC EXPLOSION PROOF PROFIBUS-DP 5.3.2 Teach-In Start After the machine / system has been moved to the transmitted to the encoder. The device now starts start-position the Teach-In-Start command is the internal calculation of a new scaling factor. Status bits Data bits 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9...

  • Page 26: Preset Value

    5.3.4 Preset value The preset function is similar to the procedure versions FRABA 2.1 or FRABA 2.2 there is an described in section 4.2.2. There is only one acknowledgement (bit 31 in the input double word difference: When using the manufacturer-specific...

  • Page 27: Diagnostic Messages

    ABSOLUTE ROTARY ENCODER IXARC EXPLOSION PROOF PROFIBUS-DP Diagnostic messages 6.1 Overview On request of the master the encoder transmits diagnostic data is according to the Profibus diagnostic data ("DDLM_Slave_Diag"). Standard (octets 1-6) respectively according to the diagnostic data length is 57 bytes (Exception: Profile for Encoders (starting from octet 7).

  • Page 28: Supported Diagnostic Messages

    ABSOLUTE ROTARY ENCODER IXARC EXPLOSION PROOF PROFIBUS-DP 6.2 Supported diagnostic messages 6.2.5 Singleturn resolution In the following the different diagnostic messages Diagnostic bytes 11-14 contain the real (physical) are described in detail. resolution per revolution of the encoder. 6.2.1 Extended diagnostics header 6.2.6 Number of revolutions Byte 7 contains the length of the extended Diagnostic bytes 15 and 16 contain the real...

  • Page 29: Zero Offset

    ABSOLUTE ROTARY ENCODER IXARC EXPLOSION PROOF PROFIBUS-DP 6.2.11 Zero offset 6.2.14 Serial number The zero offset is output in diagnostic bytes 32 to Diagnostic bytes 48-57 are intended for a serial number. With the current version the serial number is not 6.2.12 Programmed resolution saved in the encoder, the bytes contain the default value 2A hex.

  • Page 30: Configuring With Step 7

    Version 5.1 and the CPU 315-2DP (profibus- 7.1 Installing the GSD file Choose “Install New GSD” in the “HW Config”- If FRABA encoders are used for the first time it is necessary to install the GSD file („FRAB4711.gsd“) window of the project (menu item “Options”) and select the GSD-file (“FRAB4711.gsd”).

  • Page 31: Configuring The Encoder

    (“Insert” – “Master System”) the FRABA encoder can be chosen from the hardware catalogue and added to the profibus network: Select the device “FRABA Encoder” and drag it with the mouse to the network (or choose the network and double click the “FRABA encoder”).

  • Page 32: Selecting The Encoder Version

    For this, one of the modules listed under encoder depends on the selected encoder version. FRABA encoder has to be dragged to Slot 1 in the After the “FRABA encoder” has been added to the displayed configuration table of the encoder.

  • Page 33: Setting The Parameters

    Numerical values have to be entered the different parameters (depend on the encoder directly. The example shows the parameters of version) can be set. encoder version FRABA 2.2, the version with the several possibilities offered highest functionality.
  • Page 34 ABSOLUTE ROTARY ENCODER IXARC EXPLOSION PROOF PROFIBUS-DP Due to the old versions of software tool STEP7 32-bit parameter values (e.g. total measuring range, software limit switches) have to be divided into high and low word. This is not necessary with the new STEP7 versions and our actual GSD file.
  • Page 35 ABSOLUTE ROTARY ENCODER IXARC EXPLOSION PROOF PROFIBUS-DP Revision 26.05.2014 Info Ex OCM/OCE Page 35...
  • Page 36 Installation / configuration manual for Profibus DPV2 Add- (clock-cycle-synchronous communication and slave-to- on_Profibus_DPV2_V slave communication) These can be downloaded free of charge from our homepage www.posital.de. not for hollow shaft *** only for hollow shaft Page 36 Info Ex OCM/OCE...

  • Page 37: Further Encoder Configurations

    ABSOLUTE ROTARY ENCODER IXARC EXPLOSION PROOF PROFIBUS-DP 7.5 Further encoder configurations 7.5.1 Version FRABA 2.0 Multiturn The encoder versions described in the following This version differs from version 2.2 in the fact that are still supported for reasons of downward there is a smaller number of parameters shown in compatibility.
  • Page 38 „class 1“ encoder (diagnostic data length SIEMENS S5-95U 16 bytes) or one of the manufacturer-specific Master Interface SIEMENS IM 308-B versions (FRABA 2.1 or 2.2) can be used with Softing PROFIboard reduced diagnostics (cp. 5.1.5). Allen Bradley 1785 PFB/B...
  • Page 39 ABSOLUTE ROTARY ENCODER IXARC EXPLOSION PROOF PROFIBUS-DP The resistance value must be about 110 Ω (220 Problem Ω parallel 220 Ω). Sporadic bus errors Possible cause Possible cause Terminating resistors not correct EMC problems Possible solution Possible solutions Check terminating resistors! Is the used baud rate acceptable for the length The resistors of 220 Ω...
  • Page 40 ABSOLUTE ROTARY ENCODER IXARC EXPLOSION PROOF PROFIBUS-DP GSD file File that contains slave-specific characteristics. The GSD file is supplied by the manufacturer of the profibus slave. The GSD format is standardized (defined in GSD specifications), so configuration tools of various manufacturers can use the GSD files.
  • Page 41 ABSOLUTE ROTARY ENCODER IXARC EXPLOSION PROOF PROFIBUS-DP Index Bus termination ............5 Low word ..............34 Class 1 ..............12 Memory error ............28 Class 2 ..............12 Code sequence ............13 Operating time warning .......... 28 Commissioning mode ..........24 Configuring the encoder ..........

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