IFM Electronic Efector 400 RM30 Series Device Manual
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IFM Electronic Efector 400 RM30 Series Device Manual

IFM Electronic Efector 400 RM30 Series Device Manual

Profinet encoder
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ProfiNet encoder
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RM30xx

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Summary of Contents for IFM Electronic Efector 400 RM30 Series

  • Page 1 Device manual ProfiNet encoder RM30xx...

  • Page 2: Table Of Contents

    Encoder with ProfiNet interface Contents 1 Preliminary note � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 4 1�1 Symbols used�...
  • Page 3 Encoder with ProfiNet interface 9�5�3 Preset control for G1_XIST1 � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 23 9�5�4 Scaling function control �...

  • Page 4: Preliminary Note

    Encoder with ProfiNet interface 1 Preliminary note 1.1 Symbols used ► Instructions > Reaction, result […] Designation of keys, buttons or indications → Cross-reference Important note Non-compliance can result in malfunction or interference� Information Supplementary note 1.2 Warning signs used NOTE Warning of damage to property�...

  • Page 5: General Information

    Encoder with ProfiNet interface 3 General information 3.1 Absolute encoder The basic principle of an absolute encoder is the optical sampling of a transparent code disc which is fixed with the shaft to be measured� The absolute encoder has a resolution of 8,192 steps per resolution (13 bits) at 4,096 revolutions (12 bits)�...

  • Page 6: Functions And Features

    Encoder with ProfiNet interface An IO device is addressed within ProfiNet (and also possibly by external Ethernet components) through its IP address� Data can be transferred (process data) from the IO controller to the IO device (and vice versa) cyclically� Apart from this, acyclic parameters can be exchanged during setup of the IO device or by the use of PLC programming blocks during operation�...

  • Page 7: 5�2 Ethernet Cables

    Encoder with ProfiNet interface 5.2 Ethernet cables 5.2.1 RJ45 – M12 crossed Signal RJ45 Tx + Tx - Rx + Rx - 5.2.2 RJ45 – M12 straight Signal RJ45 Tx + Tx - Rx + Rx - 5.2.3 M12 – M12 Signal Tx + Tx -...

  • Page 8: 6�2 Status Leds

    Encoder with ProfiNet interface Colour Status / frequency Description Link 1 Green Active link to other Ethernet components via port 1 Link 1 Green Identification call is activated and link con- 2 Hz nection is available Active 2 Yellow Data traffic on port 2 Link 2 Green Active link to other Ethernet components...

  • Page 9: Installation

    Encoder with ProfiNet interface Colour Status / Description Cause frequency Status 1 No power Fuse or cable defective (fault) No connection to control unit – Bus disconnected – IO controller not available Criteria: no data exchange / switched off Parameterization fault, no data –...

  • Page 10: Device Configuration

    Encoder with ProfiNet interface 8 Device configuration 8.1 Standardisation The current generation of ProfiNet encoders is based on the profile V4�0/V4�1 (PNO no� 3�162)� With this standardisation it is possible to substitute all products that fulfil the specification� PROFINET IO PNO No.

  • Page 11: 8�4 Signal List For Cyclic Data Transmission

    Encoder with ProfiNet interface Implementation Function Class 3 Class 4 Measuring units per revolution (32bit) - / • * • Total resolution (32bit) - / • * • Measuring units per revolution (64bit) - / • * • Total resolution (64bit) - / •...
  • Page 12 Encoder with ProfiNet interface All values are presented in binary format� If an error occurs, G1_XIST2 displays the error telegram instead of the right-aligned value� The shifting factors in P979 "sensor format" display the current format� P979, subindex 4 (shift factor for G1_XIST2) = 0� The settings in the encoder parameter data affect the position value in both G1_XIST1 and G1_XIST2�...

  • Page 13: 8�4�2 Encoder Control Word (Stw2_Enc)

    Encoder with ProfiNet interface * Profile 4.0 is realised with GSDML-V2.2-IFM-RM30xx+RN30xx-20130802, profile 4�1 with newer data� G1_XIST3 For 64-bit position values G1_XIST3 is available� The binary value is output right- aligned and without shifting factor� IO data (DWord) Format 64-bit position value 8.4.2 Encoder control word (STW2_ENC) 4-bit counter, left-aligned�...

  • Page 14: 8�4�3 Encoder Status Word (Zsw2_Enc)

    Encoder with ProfiNet interface 8.4.3 Encoder status word (ZSW2_ENC) 4-bit counter, left-aligned� The slave application starts the sign-of-life counter with any value between 1 and 15 after successful synchronisation to the clock pulse� The counter is increased in every DP cycle of the slave application� Valid values for the slave's sign-of-life counter are 1 to 15, "0"...

  • Page 15: 8�4�5 Encoder Status Word (G1_Zsw)

    Encoder with ProfiNet interface Value Function Comments Request absolute value cyclically Request of additional cyclic trans- mission of the absolute actual position in G1_XIST2� If no other data needs to be transferred due to commands or errors the absolute position value will be transmitted automatically�...
  • Page 16 Encoder with ProfiNet interface IO data (DWord) Actual value ZSW2_ENC* G1_ZSW1* G1_XIST1* G1_XIST2* NIST_A* Standard telegram 83 IO data (DWord) Setpoint STW2_ENC* G1_STW1 * IO data (DWord) Actual value ZSW2_ENC* G1_ZSW1* G1_XIST1* G1_XIST2* NIST_B* Standard telegram 84 IO data (DWord) Setpoint STW2_ENC* G1_STW1 *...

  • Page 17: Configuration Principle

    Encoder with ProfiNet interface Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Data output (from controller to encoder): 4 bytes Preset - 32-bit unsigned Bit 31 Bit 30 ���������������������������������������������������������������������������������bit 0 Preset control Preset value <...
  • Page 18 Encoder with ProfiNet interface GSDML file Encoder SPS project tool Controller 1: Acyclic data transmission (parameters) 2: Cyclic data transmission (process data)

  • Page 19: 9�3 Parameters For Acyclic Data Transmission

    Encoder with ProfiNet interface 9.3 Parameters for acyclic data transmission In the start-up phase the user parameters are sent to the encoder as data record object for mapping of the different encoder functions in the user data section (data record 0xBF00)� In addition to the parameter "data configuration" the encoder supports a number of PROFIdrive parameters and encoder specific parameters via the acyclic data exchange service�...

  • Page 20: 9�3�1 Standard Parameters

    Encoder with ProfiNet interface 9.3.1 Standard parameters Function Slot Sub slot Index Offset Length Code sequence 0xBF00 0�0 1 bit Class 4 functionality 0xBF00 0�1 1 bit G1_XIST1 preset control 0xBF00 0�2 1 bit Scaling function control 0xBF00 0�3 1 bit Alarm channel control 0xBF00 0�4...
  • Page 21 Encoder with ProfiNet interface Parameter model Parameter Parameter response request ParameterResponse PROFIdrive PROFIdrive Base Mode Base Mode Request Reference Response ID Request Reference Request ID Parameter Parameter response DO-ID No of Parameters DO-ID No of Parameters request error “state conflict”, request error: 3) ParameterRequest not accepted...

  • Page 22: 9�5 Encoder Function Description

    Encoder with ProfiNet interface Example of configuration according encoder profile V4�1 9.5 Encoder function description Implementation Description chapter Function Class 3 Class 4 Code sequence - / • * • 9�5�1 Class 4 functionality • • 9�5�2 G1_XIST1 preset control - / •...

  • Page 23: 9�5�1 Code Sequence

    Encoder with ProfiNet interface Implementation Description chapter Function Class 3 Class 4 Round axis functionality • • 9�5�13 Velocity filter • • 9�5�12 * If class 4 functionality is activated 9.5.1 Code sequence The parameter "code sequence" defines the counting direction of the position value�...

  • Page 24: Alarm Channel Control

    Encoder with ProfiNet interface Scaling function control Scaling function Activated 9.5.5 Alarm channel control The parameter "alarm channel control" defines the length of the diagnostic telegram� If the alarm channel is deactivated, then only the first 6 bytes of the diagnosis will be transmitted�...
  • Page 25 Encoder with ProfiNet interface Set preset only in standstill� There is no preset activated when the preset value is written to the encoder� The preset function is controlled by the bits in sensor control and status words (G1_STW and G1_ZSW)� The preset value is used when a preset is requested by bit 12 of the sensor control (G1_STW)�...
  • Page 26 Encoder with ProfiNet interface Example of parameter order for preset with record read-write for SIMATIC CPU300 RecordWriteData] = { 0x00,0x02,0x00,0x01, // Header 0x10,0x00,0xFD,0xE8,0x00,0x00, // Parameter address (preset) 0x43,0x01,0x00,0x00,0x00,0x64 // Parameter value (preset value=100=0x64h) Meaning: 0x00,0x02,0x00,0x01, |------- Number of parameters = 1 |------------- Axis no�/DO-ID = 0 | |------------------ Request ID = 2 Change value...

  • Page 27: Offset Value

    Encoder with ProfiNet interface 9.5.8 Offset value The offset value is calculated in the preset function and exchanges the position value for the calculated value� 9.5.9 Scaling parameters The scaling parameters are used to change the resolution� This parameter only refers to the output values if the scaling function is enabled�...
  • Page 28 Encoder with ProfiNet interface N2/N4: Velocity scaling used for PROFIdrive telegrams The current velocity value in NIST is the share in per cent of the reference value� The reference value can be programmed with parameter P2000� ● N2 (NIST_A), 4000 hex corresponds to a value of 100% of the reference value ●...

  • Page 29: Encoder Profile Version

    Encoder with ProfiNet interface 9.5.14 Encoder profile version The encoder profile version is implemented in the encoder� This parameter is not affected by the compatibility settings� Bits Meaning 0���7 Profile version, least significant number (value range: 0…99), decimal coding 8���15 Profile version, most significant number (value range: 0…99), decimal coding 16���31 Reserved...

  • Page 30: Configuring With Step7

    Encoder with ProfiNet interface 10 Configuring with STEP7 In the following chapter the configuration of the ifm encoder with the configuration tool Hardwaremanager STEP 7 is shown exemplarily� In this example STEP7 version 5�4 SP4 and the CPU 315-2PN/DP or Simotion Scout with single axis controller D410 (integrated ProfiNet controller) are used�...

  • Page 31: Adding An Encoder To A Step7 Project

    Encoder with ProfiNet interface Selecting the GSD file from the directory After correct import and an update of the hardware catalogue via [Options] → [Update catalog] the modules will be displayed as separate entries in the hardware catalogue� The exact configuration procedure can be found in the operating manual which is supplied together with the software�...

  • Page 32: Standard Encoder Without Pdev

    Encoder with ProfiNet interface 10.2.1 Standard encoder without PDEV Asynchronous + RT communication for controllers which do not support IRT functionality� Standard encoder without ohne PDEV...
  • Page 33 Encoder with ProfiNet interface Encoder name and IP address Double-click the encoder icon to set the PLC communication parameters� ► Set a device name and the IP address of the encoder� Set device name ► Click [Ethernet]� ► Also, under the [IO cycle] tab, set the desired update time� ►...
  • Page 34 Encoder with ProfiNet interface ► Click [Target system] -> [Ethernet] -> [Edit Ethernet node] and then [Browse]� Edit Ethernet node > A new window with the Ethernet nodes is opened� > STEP7 will scan for devices on Ethernet and will display them in the window� >...
  • Page 35 Encoder with ProfiNet interface ► Click [Assign name]� If more than one encoder is used in the same ProfiNet network, each encoder must be assigned a different name� Browse network...
  • Page 36 Encoder with ProfiNet interface Encoder name and IP address ► Double-click the encoder icon to set the PLC communication parameters� ► Assign device name� ► Click [Ethernet] and set the IP address of the encoder� ► Set the desired update time under the [IO cycle] tab� IO cycle...

  • Page 37: Module Access Point Parameter Setup

    Encoder with ProfiNet interface 10.3 Module Access Point parameter setup: ► Double-click on the menu item [Module Access Point]� Module Access Point > The window with the list of parameters is opened�...
  • Page 38 Encoder with ProfiNet interface These parameters will be transmitted to the encoder on each start of the PLC� Parameter settings...
  • Page 39 Encoder with ProfiNet interface...

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