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CRD encoder as a subscriber in the PROFIBUS-DP
Accompanying data sheet: CRD 10534
Certificate
Z00358
TWK-ELEKTRONIK GmbH
Heinrichstrasse 85
User manual
D-40041 Düsseldorf
Postbox 10 50 63
User manual no.: CRD 10617 FE
Datum: 10.07.2012
Certificate
Z00359
Tel. +49 211 96117-0
Fax +49 211 637705
info@twk.de
www.twk.de
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Summary of Contents for TWK Elektronik CRD R C2Z01 Series
- Page 1 CRD encoder as a subscriber in the PROFIBUS-DP User manual no.: CRD 10617 FE Accompanying data sheet: CRD 10534 Datum: 10.07.2012 User manual Certificate Certificate Z00358 Z00359 TWK-ELEKTRONIK GmbH D-40041 Düsseldorf Tel. +49 211 96117-0 info@twk.de Heinrichstrasse 85 Postbox 10 50 63 Fax +49 211 637705 www.twk.de...
- Page 2 COPYRIGHT: The Operating Instructions CRD 10617 is owned by TWK-ELEKTRONIK GMBH and is protected by copyright laws and international treaty provisions. © 2012 by TWK-ELEKTRONIK GMBH POB 10 50 63 ■ 40041 Düsseldorf ■ Germany Tel. +49/211/63 20 67 ■ Fax +49/211/63 77 05 info@twk.de ■...
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Page 3: Table Of Contents
Structure 1. Safety instructions ......................5 1.1 Scope of validity ...........................5 1.2 Documentation ..........................5 1.3 Proper use ...........................5 1.4 Commissioning ..........................5 2 General ..........................6 3. Installation instructions for PROFIBUS-DP - RS 485 ............7 3.1 Connection of encoder with RS plug ...................8 3.2 Connection of encoder with connecting cap ................8 4. - Page 4 Structure 7.2.16 Single turn resolution (Octet 40-43) ...................18 7.2.17 Total measuring steps (Octet 44-47) ..................18 7.2.18 Serial number (Octet 48-57) ....................18 7.2.19 Reserved for future use (Octet 58,59) ................18 7.2.20 Manufacturer-specific diagnosis (Octet 60-63) ..............18 7.2.21 Example of diagnosis message ..................19 8.
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Page 5: Safety Instructions
Safety instructions 1. Safety instructions 1.1 Scope of validity This user manual applies exclusively to the following rotary encoders with PROFIsafe interface: - CRDxx-xxxxRxxxxC2Z01 - CRDxx-xxxxRxxxxC2L01 1.2 Documentation The following documents must be noted: - The owner's system-specific operating instructions - This user manual - Data sheet number CRD 10534 - The pin assignment enclosed with the device... -
Page 6: General
General 2 General The PROFIBUS is a field bus standard according to EN 50170. The technical and functional characteristics of the field bus system are defined in this standard. The protocol architecture is based on the OSI reference model, in accordance with the international ISO 7498 standard. -
Page 7: Installation Instructions For Profibus-Dp - Rs 485
Installation instructions 3. Installation instructions for PROFIBUS-DP - RS 485 Basic characteristics of RS-485 transmission technology /2/: Network topology: Linear bus, terminating resistors for bus termination Stub lines are only permissible in the case of baudrates < 1.5 MBit/s Lead: Sheathed, twisted pair cable ... -
Page 8: Connection Of Encoder With Rs Plug
Installation instructions 3.1 Connection of encoder with RS plug The-pin assignment for the 12-pin RS plug (Note: Numeration of the-pins in clockwise direction (view facing contact side of the bushing), encoder: Bushing) conforms to the profile definition for encoders /1/. The terminating resistors must be implemented in the counterplug or in the subsequent electronics. -
Page 9: Configuration Function (Ddlm_Chk_Cfg)
Installation Status LED (connecting cap) Status LED LED-Statusanzeigen Incorrect configuration Impermissible parameter Befestigungs- schrauben M4 Screw M4 Code error (see diagnosis bytes 62 - 63) Class 1 Gerätekonfiguration i.O. Class 2 Gerätekonfiguration i.O. VS - power supply, Err - error, C - class, SRD - data traffic Configuration 4. -
Page 10: Data Exchange Function (Ddlm_Data_Exchange)
Data exchange function 5. Data exchange function (DDLM_Data_Exchange) Input data are data which are transmitted from the peripheral devices to the master or into the bus. The control of the preset value (see below) is listed as an example of output data at this point. 5.1 Actual position value The actual position value is output in 16 or 32 bit data format (input data), Please refer to the configuration of the encoder in the previous chapter. -
Page 11: Example: Setting The Preset Value In 32 Bit Data Format
Data exchange function 5.3 Example: Setting the preset value in 32 bit data format Output-Data Octet 30 - 0 Data 00.0000.0000.0000.0000.0000.0000.1000 Preset Control reference value: 8 Following the receipt of this message, an offset value (from the current actual position value and preset value) is cal- culated by the encoder. -
Page 12: Programming Parameters For Class 1/2 Encoder (Ddlm_Set_Prm) /4
Programming parameters 6. Programming parameters for class 1/2 encoder (DDLM_Set_Prm) /4/ The parameterisation data are comprised from bus-specific data and DP slave-specific data. Bus-specific data: Octet 1-7 Octet 1 – Station status Octet 2 - WD_Fact_1 Octet 3 - WD_Fact_2 Octet 4 - Min. -
Page 13: Measuring Units Per Revolution (Octet 10-13)
Programming parameters Definition of the operating parameters: Code sequence: The code sequence defines the direction of rotation in which the position value corre- sponds to increasing values (viewed in the direction of the shaft). CW - clockwise CCW - counter clockwise ... -
Page 14: Examples For Parametration (User_Prm_Data)
Programming parameters (Note: The above mentioned note must be taken into consideration in the event of irreversible operation. In the example which is described, the position 0 is only achieved after 32767 steps and not, as desired, after 20479 steps.) 6.2 Examples for parametration (User_Prm_Data) Class 1 encoder ( 9 parameter bytes, inclusive 7 bytes bus specifid data)* Class 1 encoder... -
Page 15: Diagnosis Messages (Ddlm_Slave_Diag)
Diagnosis messages 7. Diagnosis messages (DDLM_Slave_Diag) Overview of diagnosis information Diagnosis octet diagnosis function class number 1 - 6 standard diagnosis information 1, 2 device specific diagnosis extended headerbyte 1, 2 alarm messages 1, 2 operating parameters encoder 1, 2 encoder type 1, 2 11(MSB) - 14 (LSB) -
Page 16: Alarm Messages (Octet 8)
Diagnosis messages 7.2.2 Alarm messages (Octet 8): Output of the current alarm status. TWK currently supports memory errors only. Parameter alarm messages Diagnosis octet 0=no /1=yes Data 0=no /1=yes 0=no /1=yes 0=no /1=yes 0=no /1=yes Supply voltage Commissioning Memory currently not Definition Position error Current to high... -
Page 17: Supported Alarm Messages (Octet 18,19)
Diagnosis messages 7.2.8 Supported alarm messages (Octet 18,19) The error entitled memory error is currently supported (10H). Parameter supported alarm messages Diagnosis octet 18 - 19 5-15 0=no /1=yes Data 0=no /1=yes 0=no /1=yes 0=no /1=yes 0=no /1=yes Supply voltage Commissioning Memory currently not... -
Page 18: Single Turn Resolution (Octet 40-43)
Diagnosis messages 7.2.16 Single turn resolution (Octet 40-43) In this case, the single turn resolution set in the parameter programme is reflected. Parameter single turn resolution Diagnosis Octet (MSB) 31-24 23-16 15-8 7-0 (LSB) Data 7.2.17 Total measuring steps (Octet 44-47) In this case, the total measuring units per revolution set in the parameter programme is reflected. -
Page 19: Example Of Diagnosis Message
Diagnosis messages * If a faulty preset value is input, control bit 31 must be set to zero before inputting the correct preset value in order to eradicate the error. The preset value can subsequently be reset after setting control bit 31 to 1. After resetting bit 31 to the value zero, the position value may then be output. -
Page 20: Simatic Step7
Simatic Step7 8. Simatic Step7 This Chapter explains the procedure for integrating the TWK encoder into the profibus of Siemens S7 control system, and the set up and the utilisation of the example programmes for Step7. The basis of the documentation is Step 7 Version 5.1. -
Page 21: Allocation Of Profibus Address
Simatic Step7 8.1.5 Allocation of profibus address If you have selected your nominal configuration, the following window, in which you must specify the profibus address set in the encoder, appears. For the example programmes, please select address 123 for the first and address 122 for the second encoder here. -
Page 22: Setting The I/O Addresses (S7 Addresses)
Simatic Step7 8.1.6 Setting the I/O addresses (S7 addresses) Double-clicking onto the “Slot 0” line opens the Properties - DP slave window with the Address / ID and Parameter Assignment registers. In the Address / ID registers, under output (in the case of class 2 encoder only) and input, the addresses under which the encoder is to be addressed... -
Page 23: Setting The Diagnosis Address
Simatic Step7 8.1.8 Setting the diagnosis address Setting the diagnosis address is only required if the special profibus diagnosis functions are used within the S7 programme. So that the diagnosis range of the encoder can be accessed within the S7 programme, a special S7 diagnosis address must be allocated to this. -
Page 24: Example Programmes
Simatic Step7 I.e. if the encoder is not the only slave on the profibus/MPI card, all slaves contained in the bus must possess a unique (allocated only once) address, and the master (S7-CPU) must be disconnected from the bus. It is therefore impossible, for example, to simultaneously connect two encoders with address 123 to the bus and to then assign a new address to one of the two. -
Page 25: The Twkdpcl2 Project
Simatic Step7 Program Istwert: The program Istwert is comprised only of an OB1 and is intended to briefly show the manner in which the actual position value of the encoder is accessed within the S7 programme. Program Diag1: In addition to the program Istwert, the Diag1 programme also contains error handling for a class 1 encoder. - Page 26 Simatic Step7 Installation: In the Simatic Manager, select File, Retrieve. Change the file type to *.arj and select the downloaded file In the next window, specify your project directory (normally S7proj). Via integration with OK, the dearchiving programme is started. After terminating this, you will find your selected TWK example project in your S7 project directory.
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Page 27: Explanations Regarding The Example Programmes
Simatic Step7 8.3.4 Explanations regarding the example programmes Each programme folder contains a symbol table, which contains all global variables of the maximum expansion (class 2 project, Diag2 programme). The programme structure of this maximum expansion is explained in the following. The reference data provide the following overview: (The symbolic name is always contained in the round brackets) Cyclical programme: - Reading the actual value in... -
Page 28: Scope Of Delivery
Scope of delivery 9. Scope of delivery The scope of delivery includes: - Encoder with DP interface - Pin assignment TY XXXXX (depending on the device variant) Remark: The GSD-file, the complete documentation and the example programms are available for download in the internet www.twk.de under documentation Literature 10.
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