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Manual
Absolute encoder with Profibus-DP
with functional extensions according to
Profibus-DPV1 and DPV2
Firmware Version 1.00 and up
Baumer IVO GmbH & Co. KG
Dauchinger Strasse 58-62
DE-78056 Villingen-Schwenningen
Phone +49 7720 942-0
Fax +49 7720 942-900
05.12 · 174.01.050/4
info.de@baumerivo.com
Irrtum sowie Änderungen in
www.baumer.com
Technik und Design vorbehalten.
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Table of Contents
Troubleshooting
Related Manuals for Baumer GBAMW
Summary of Contents for Baumer GBAMW
- Page 1 Manual Absolute encoder with Profibus-DP with functional extensions according to Profibus-DPV1 and DPV2 Firmware Version 1.00 and up Baumer IVO GmbH & Co. KG Dauchinger Strasse 58-62 DE-78056 Villingen-Schwenningen Phone +49 7720 942-0 Fax +49 7720 942-900 05.12 · 174.01.050/4 info.de@baumerivo.com...
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Page 2: Table Of Contents
7.4. Data exchange between PROFIBUS-DP devices 7.5. Parameterization and configuration 7.5.1. Parameterization 7.5.2. Configuration 7.6. Diagnostic signals 7.6.1. Description of the diagnostic data block 7.6.2. Alarms Troubleshooting – FAQ Manual_ProfibusDPV2_BIDE_EN.docx 2/41 Baumer IVO GmbH & Co. KG 22.11.12 Villingen-Schwenningen, Germany... - Page 3 8.2.5. How to read diagnostic data out of the control? 8.3. FAQ: Troubleshooting 8.3.1. No encoder communication (LED yellow continuous) 8.3.2. No encoder communication (LED flashing red once per second) Manual_ProfibusDPV2_BIDE_EN.docx 3/41 Baumer IVO GmbH & Co. KG 22.11.12 Villingen-Schwenningen, Germany...
- Page 4 The present manual was compiled with utmost care, errors and omissions reserved. For this reason Baumer IVO GmbH & Co. KG rejects any liability for the information compiled in the present manual. Baumer IVO nor the author will accept any liability for direct or indirect damages resulting from the use of the present information.
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Page 5: Introduction
GCAMS GCAM09F6.gsd magtivo - Singleturn ® GCMMS GCMM09F6.gsd magtivo - Multiturn ® GXAMS GXAM09F6.gsd multivo - Singleturn ® GXLMS GXMM09F6.gsd multivo - Multiturn ® GXMMS GXMM09F6.gsd multivo - Multiturn Manual_ProfibusDPV2_BIDE_EN.docx 5/41 Baumer IVO GmbH & Co. KG 22.11.12 Villingen-Schwenningen, Germany... -
Page 6: Safety And Operating Instructions
In case of earth loop problems, earth at least on one side. Failure to observe these instructions can result in malfunctions, material damage or personal injury! Manual_ProfibusDPV2_BIDE_EN.docx 6/41 Baumer IVO GmbH & Co. KG 22.11.12 Villingen-Schwenningen, Germany... -
Page 7: Product Family
Available bus interfaces: CANopen, DeviceNet, EtherCAT, Ethernet/IP, Profibus-DP, Profinet, Powerlink, Power over EtherCAT, SAE J1939, SSI. All encoders enable parameterization by bus interface. Functional principle: bus cover complete encoder basic encoder Manual_ProfibusDPV2_BIDE_EN.docx 7/41 Baumer IVO GmbH & Co. KG 22.11.12 Villingen-Schwenningen, Germany... -
Page 8: Commissioning
Core cross section (mm) greater than 0.34 Transmission speed depending on line distance Baudrate in 19,2 93,75 187,5 1500 3000 6000 12000 kBaud Line distance 1200 1200 1200 1000 in m Manual_ProfibusDPV2_BIDE_EN.docx 8/41 Baumer IVO GmbH & Co. KG 22.11.12 Villingen-Schwenningen, Germany... -
Page 9: Setting The User Address
Guide the cores the shortest way from the cable gland to the terminal connector. Observe the admissible core-cross sections, use ferrules with flexible cores. Avoid any crossings of data lines and supply line. Manual_ProfibusDPV2_BIDE_EN.docx 9/41 Baumer IVO GmbH & Co. KG 22.11.12 Villingen-Schwenningen, Germany... - Page 10 The bus cover must fully rest on the housing of the basic encoder and be firmly screwed on. The encoder housing and braided shield of the connecting cable are only ideally connected if the bus cover is resting fully on the basic encoder (positive locking). Manual_ProfibusDPV2_BIDE_EN.docx 10/41 Baumer IVO GmbH & Co. KG 22.11.12 Villingen-Schwenningen, Germany...
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Page 11: Projecting
Then double-click on module “telegram 81” (plug-in position 1) at left below. The window “Properties - DP- slave” with tab “Address/ID” pops up (see screenshot). Enter the respective initial addresses. It is admissible to use Identical or overlapping addresses for output and input. Manual_ProfibusDPV2_BIDE_EN.docx 11/41 Baumer IVO GmbH & Co. KG 22.11.12 Villingen-Schwenningen, Germany... -
Page 12: Parameterization
If required, encoder name, diagnosis address and node ID under button „Profibus…” may be altered. Further here is the option to deactivate the encoder’s response monitoring. 5.5.2. Parameter assignment Manual_ProfibusDPV2_BIDE_EN.docx 12/41 Baumer IVO GmbH & Co. KG 22.11.12 Villingen-Schwenningen, Germany... - Page 13 „Total measuring range (units) hi“ and „lo“. How to split up the 32 bit value into two 16 bit values please see under 8.1.4. Any alteration of the total measuring range clears the previous offset value (see “note” under 6.6 Preset Function) Manual_ProfibusDPV2_BIDE_EN.docx 13/41 Baumer IVO GmbH & Co. KG 22.11.12 Villingen-Schwenningen, Germany...
- Page 14 Hex parameterization The hexadecimal data described only reflect the actual settings in the form they are transmitted to the encoder and by no means should be altered in any way. Manual_ProfibusDPV2_BIDE_EN.docx 14/41 Baumer IVO GmbH & Co. KG 22.11.12 Villingen-Schwenningen, Germany...
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Page 15: Clock Synchronisation
Time To is insignificant to the encoder. Usually the projecting software makes a proposal under consideration of correlations to other bus parameters. Manual_ProfibusDPV2_BIDE_EN.docx 15/41 Baumer IVO GmbH & Co. KG 22.11.12 Villingen-Schwenningen, Germany... -
Page 16: Implementing The System Functions For Alarm Handling
5.7. Compilation and load of hardware and software configuration After the complete hardware project configuration and once entered all parameters the project has to be compiled and exported to the control. Manual_ProfibusDPV2_BIDE_EN.docx 16/41 Baumer IVO GmbH & Co. KG 22.11.12 Villingen-Schwenningen, Germany... -
Page 17: Profibus Operation
In case of inadmissible parameterization by master the LED is flashing red slowly (1 Hz) what may occur with incorrect parameter input in the projecting phase. Most of incorrect inputs are compensated by the GSD file, but it is impossible to eliminate every error. Manual_ProfibusDPV2_BIDE_EN.docx 17/41 Baumer IVO GmbH & Co. KG 22.11.12 Villingen-Schwenningen, Germany... -
Page 18: Telegram 81 Of Profile Profidrive
If this bit is set, there will be a cyclic position transmission in G1_XIST2. This ever applies to the present encoder, no matter if the bit is set or not. Manual_ProfibusDPV2_BIDE_EN.docx 18/41 Baumer IVO GmbH & Co. KG 22.11.12 Villingen-Schwenningen, Germany... -
Page 19: Position Readout
EEPROM. EEPROM provides 1 million writing cycles, however, frequent software or event-triggered preset operations can exhaust the service life despite this high number of writing cycles. This should be considered in the control software layout. Manual_ProfibusDPV2_BIDE_EN.docx 19/41 Baumer IVO GmbH & Co. KG 22.11.12 Villingen-Schwenningen, Germany... -
Page 20: Alarms
Alarms resulting from a probably incorrect position can be signalized in three different ways: DPV1 Diagnosis alarm (as described) Error signal in G1_XIST2 (see under „Error signals in G1_XIST2“) LED in the bus cover is red continuous for at least 2.5 s Manual_ProfibusDPV2_BIDE_EN.docx 20/41 Baumer IVO GmbH & Co. KG 22.11.12 Villingen-Schwenningen, Germany... -
Page 21: Warnings
High byte of parameter number, 0xFD in the example 65000=$FDE8 Prm_no lo Low byte of parameter number 0xE8 Subindex hi 0x00 Subindex lo 0x02 Supplementary bytes 10...15 only with “Change Parameter”: Manual_ProfibusDPV2_BIDE_EN.docx 21/41 Baumer IVO GmbH & Co. KG 22.11.12 Villingen-Schwenningen, Germany... -
Page 22: Ds_Read
Value 2 Value 3 Value n The following acyclic functional parameters of the PROFIdrive profile V3.3 (parameter numbers 9xx) respectively of DPV2 encoder profile V3.2 (65xxx) are supported by GXMMW: Manual_ProfibusDPV2_BIDE_EN.docx 22/41 Baumer IVO GmbH & Co. KG 22.11.12 Villingen-Schwenningen, Germany... -
Page 23: Profidrive Parameter 918 Profibus Node Id
Request ID (not: Change) 0x01 Shaft no. (0=whole device) 0x00 Number of parameters 0x01 Format: Unsigned16 0x06 Number of values 0x01 Value (hi): ever 0 0x00 Value (lo): Node address 0x37 Manual_ProfibusDPV2_BIDE_EN.docx 23/41 Baumer IVO GmbH & Co. KG 22.11.12 Villingen-Schwenningen, Germany... -
Page 24: Profidrive Parameter 922 Telegram Type
Request ID (not: Change) 0x01 Shaft no. (0=whole device) 0x00 Number of parameters 0x01 Format: Unsigned16 0x06 Number of values 0x01 Value (hi): ever 0 0x00 Value (lo): telegram no. 0x51 Manual_ProfibusDPV2_BIDE_EN.docx 24/41 Baumer IVO GmbH & Co. KG 22.11.12 Villingen-Schwenningen, Germany... -
Page 25: Profidrive Parameter 964 Device Id
(LSB) 0x00 Firmware Version e.g. V1.00 0x10 (LSB) 0x00 Firmware date (year), e.g. 2007 0x07 (LSB) 0xD7 Firmware date (day) , e.g. 17 0x11 Firmware date (month), e.g. 09 0x09 Manual_ProfibusDPV2_BIDE_EN.docx 25/41 Baumer IVO GmbH & Co. KG 22.11.12 Villingen-Schwenningen, Germany... -
Page 26: Profidrive Parameter 965 Profile Number
Request Reference: mirrored 0xAA Request ID 0x01 Shaft no. (0=whole device) 0x00 Number of parameters 0x01 Format: Unsigned16 0x06 Number of values 0x01 Profile number (hi) 0x03 Profile number (lo) 0x02 Manual_ProfibusDPV2_BIDE_EN.docx 26/41 Baumer IVO GmbH & Co. KG 22.11.12 Villingen-Schwenningen, Germany... -
Page 27: Profidrive Parameter 971 Transfer To Non-Volatile Memory
Request ID (not: Change) 0x01 Shaft no. (0=whole device) 0x00 Number of parameters 0x01 Format: Unsigned16 0x06 Number of values 0x01 Value (hi): ever 0 0x00 Value (lo): ever 0 0x00 Manual_ProfibusDPV2_BIDE_EN.docx 27/41 Baumer IVO GmbH & Co. KG 22.11.12 Villingen-Schwenningen, Germany... -
Page 28: Profidrive Parameter 979 Sensor Format
Number of parameters 0x01 Attribute = “Value” 0x10 Number of parameter elements 0x06 Prm_no hi: 979 = 0x03D3 0x03 Prm_no lo: 979 = 0x03D3 0xD3 Subindex hi 0x00 Subindex lo 0x00 Manual_ProfibusDPV2_BIDE_EN.docx 28/41 Baumer IVO GmbH & Co. KG 22.11.12 Villingen-Schwenningen, Germany... - Page 29 G1_XIST1 (MSB) 0x00 0x00 0x00 (LSB) 0x03 shift factor” for G1_XIST2 (MSB) 0x00 0x00 0x00 (LSB) 0x00 number of revolutions (MSB) 0x00 0x00 0xFF (LSB) 0xFF Manual_ProfibusDPV2_BIDE_EN.docx 29/41 Baumer IVO GmbH & Co. KG 22.11.12 Villingen-Schwenningen, Germany...
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Page 30: Profile Parameter 65000 Preset Value
Shaft no. (0=whole device) 0x00 Number of parameters 0x01 Format: Unsigned32 0x07 Number of values 0x01 Preset value (hi byte) 0xXX Preset value 0xXX Preset value 0xXX Preset value (lo byte) 0xXX Manual_ProfibusDPV2_BIDE_EN.docx 30/41 Baumer IVO GmbH & Co. KG 22.11.12 Villingen-Schwenningen, Germany... -
Page 31: I&M Parameter 65000 Block
Header 0x00 I&M Block MANUFACTURER_ID 0x01 MANUFACTURER_ID 0x2A 12...31 ORDER_ID (20) 0x20 32...47 SERIAL_NUMBER (16) 0x20 HARDWARE_REVISION 0x00 HARDWARE_REVISION 0x00 0x56 = ‘V’ SOFTWARE_REVISION (*4) 0x31 = ‘1’ SOFTWARE_REVISION Manual_ProfibusDPV2_BIDE_EN.docx 31/41 Baumer IVO GmbH & Co. KG 22.11.12 Villingen-Schwenningen, Germany... - Page 32 (*1) 0x00 for singleturn encoders; 0x01 for multiturn encoders (*2) 0x3D00 permanent for DPV2 encoder profile (*3) 0x012A manufacturer ID of Baumer IVO GmbH & Co. KG ‘V’(ersion,official),’R’(evision),’P’(rototype),’U’(nder Field Test) or ‘T’(est Device) (*4) Manual_ProfibusDPV2_BIDE_EN.docx 32/41 Baumer IVO GmbH & Co. KG 22.11.12...
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Page 33: System Documentation: Profibus-Dp
General information such as manufacturer’s name, product designation, ident number, PROFIBUS - specific parameters and Baud rates. Application-relevant information such as configuration options, parameters, parameter descriptions, hardware and software status and diagnostic possibilities. Manual_ProfibusDPV2_BIDE_EN.docx 33/41 Baumer IVO GmbH & Co. KG 22.11.12 Villingen-Schwenningen, Germany... -
Page 34: Encoder Operating Paramters
Unsigned 32 ) – multivo 1 to 536870912 (2 536870912 ) – multivoPlus 1 to 2147483648 (2 2147483648 Peset value 0 to (measuring range - 1 step) Unsigned 32 Manual_ProfibusDPV2_BIDE_EN.docx 34/41 Baumer IVO GmbH & Co. KG 22.11.12 Villingen-Schwenningen, Germany... -
Page 35: Data Exchange Between Profibus-Dp Devices
The master transmits a user data request (Data_Exchange), the slave responds by a user data response informing the master about any current diagnostic events. The slave provides the true diagnosis and status information only after the master’s diagnosis telegram. Manual_ProfibusDPV2_BIDE_EN.docx 35/41 Baumer IVO GmbH & Co. KG 22.11.12 Villingen-Schwenningen, Germany... -
Page 36: Parameterization And Configuration
Diagnostic data comprise the standard diagnosis (bytes 1 to 6) and, in case several alarms must be transmitted, both the length of the diagnosis extension and the channel-specific diagnosis (3 bytes each) of each alarm to enable a clear alarm specification. Manual_ProfibusDPV2_BIDE_EN.docx 36/41 Baumer IVO GmbH & Co. KG 22.11.12 Villingen-Schwenningen, Germany... -
Page 37: Description Of The Diagnostic Data Block
Manual_ProfibusDPV2_BIDE_EN.docx 37/41 Baumer IVO GmbH & Co. KG 22.11.12 Villingen-Schwenningen, Germany... -
Page 38: Troubleshooting - Faq
You will find the encoder type on the product label (for example GXMMW or GCAMW). Should your encoder not be on the list please contact Baumer IVO. 8.1.2. Where do I get the appropriate GSD file? If included in the order, the GSD file required for projecting is attached to the encoder on data carrier (disc or CD). -
Page 39: Faq: Operation
The bus cover provides at rear an integrated multi-colour LED indicating the encoder operating status. In particular upon commissioning and in case of error it is providing first information on the system status. For the respective status description refer to 6.2. Manual_ProfibusDPV2_BIDE_EN.docx 39/41 Baumer IVO GmbH & Co. KG 22.11.12 Villingen-Schwenningen, Germany... -
Page 40: How To Alter The Resolution
Should the above troubleshooting be unsuccessful, try to connect the encoder by the other two bus terminals A and B. Try also another node ID at the BCD switches, for example 22, 44 or 88 to exclude any additional problem. Manual_ProfibusDPV2_BIDE_EN.docx 40/41 Baumer IVO GmbH & Co. KG 22.11.12 Villingen-Schwenningen, Germany... -
Page 41: No Encoder Communication (Led Flashing Red Once Per Second)
149.130 completed turns. That is impossible, and as a result there will be an error signal (flashing LED) and a „parameterization error“ in the diagnostic data. Manual_ProfibusDPV2_BIDE_EN.docx 41/41 Baumer IVO GmbH & Co. KG 22.11.12 Villingen-Schwenningen, Germany...