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Pepperl+Fuchs ENA TL IO Series Manual

Pepperl+Fuchs ENA TL IO Series Manual

Absolute rotary encoder with io-link
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ENA**TL-**IO**
Absolute Rotary Encoder
with IO-Link
Manual

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Summary of Contents for Pepperl+Fuchs ENA TL IO Series

  • Page 1 ENA**TL-**IO** Absolute Rotary Encoder with IO-Link Manual...
  • Page 2 Phone: +49 621 776 - 0 E-mail: info@de.pepperl-fuchs.com North American Headquarters Pepperl+Fuchs Inc. 1600 Enterprise Parkway Twinsburg, Ohio 44087 Phone: +1 330 425-3555 E-mail: sales@us.pepperl-fuchs.com Asia Headquarters Pepperl+Fuchs Pte. Ltd. P+F Building 18 Ayer Rajah Crescent Singapore 139942 Phone: +65 6779-9091 E-mail: sales@sg.pepperl-fuchs.com https://www.pepperl-fuchs.com...

  • Page 3: Table Of Contents

    ENA**TL-**IO** Contents Introduction........................ 5 Content of this Document ................5 Target Group, Personnel ................5 Symbols Used ....................5 Intended Use ....................6 General Safety Instructions ................6 Product Description ....................8 Use and Application ..................8 LED Indicators ....................9 Accessories....................
  • Page 4 ENA**TL-**IO** Contents IO-Link Parameterization..................22 Config - ST Resolution.................16 SSC1 Param. SP1 ..................23 SSC1 Param. SP2 ..................23 SSC1 Config. Logic ..................24 SSC1 Config. Mode ..................25 SSC1 Config. Hyst..................26 Config - Auxiliary Measurement ..............28 Config — Rotation Direction ...............29 Config - Position Preset................29 6.10 Config - Position Overflow ................30 6.11...

  • Page 5: Introduction

    ENA**TL-**IO** Introduction Introduction Content of this Document This document contains information required to use the product in the relevant phases of the product life cycle. This may include information on the following: • Product identification • Delivery, transport, and storage •...

  • Page 6: Symbols Used

    ENA**TL-**IO** Introduction Symbols Used This document contains symbols for the identification of warning messages and of informative messages. Warning Messages You will find warning messages, whenever dangers may arise from your actions. It is mandatory that you observe these warning messages for your personal safety and in order to avoid prop- erty damage.

  • Page 7: General Safety Instructions

    In the event of any serious errors, stop using the device. Secure the device against unintended operation. To have the device repaired, return it to your local Pepperl+Fuchs representative or your sales center. Note Disposal Electronic waste is hazardous.

  • Page 8: Product Description

    IODD. Offline Parameterization For offline parameterization, IO-Link devices are already configured before mounting. To do this, use the Pepperl+Fuchs IO-Link USB master. We recommend using the "PACTware" software as an FDT frame application and user inter- face.

  • Page 9: Led Indicators

    If you use the "IO-Link Offline Parameterization Tool" software package, have active Internet access, and have connected your device via the Pepperl+Fuchs IO-Link USB master, you can integrate the IODD directly into the IO-Link Offline Parameterization Tool via the "IODD DTM Configurator."...

  • Page 10: Accessories

    ENA**TL-**IO** Product Description Accessories Note Various accessories are available. The products listed below represent a useful basic selection. Other accessories can be found online at www.pepperl-fuchs.com on the product page for the relevant ENA***TL-**IO**. Designation Description IO-Link Offline Parame- FDT frame application for operating IODDs and DTMs terization Tool Refer to the product page for the relevant ENA***TL-**IO** at www.pepperl-fuchs.com...

  • Page 11: Installation

    ENA**TL-**IO** Installation Installation Instructions for Mechanical and Electrical Installation Note Further installation-related information on technical data, mechanical data, and available connection lines for the relevant "ENA58TL-*-***-IO-Link" and "ENA36TL-*-***-IO-Link" absolute rotary encoder types can be found in the corresponding datasheet. Always observe the following instructions to ensure safe operation of the rotary encoder: Warning! Work must be performed by trained and qualified personnel only.

  • Page 12: Preparation

    Do not allow the rotary encoder to fall or expose it to strong vibrations. The rotary encoder is a precision instrument. Rotary encoders from Pepperl+Fuchs are rugged; however, they should nevertheless be protected against damage in ambient conditions by taking appropriate protective mea- sures.

  • Page 13: Electrical Connection

    ENA**TL-**IO** Installation Electrical Connection Use a suitable connection cable to connect the rotary encoder to the higher-level control panel, an IO-Link master, or the IO-Link-Master02-USB. Caution! No voltage permitted at Pin 2! The ENAxxTL-...IO-... product group does not support functionality for Pin 2 in terms of a digital input / output.

  • Page 14: Commissioning

    IODD directly into the IO-Link Offline Parameterization Tool via the "IODD DTM Configurator." Note A 5-pin M12 cordset is needed to connect the absolute rotary encoder to the Pepperl+Fuchs IO-Link master. Visit www.pepperl-fuchs.com and click on the product page for the relevant absolute rotary encoder to find suitable cordsets.
  • Page 15 ENA**TL-**IO** Commissioning To activate the absolute rotary encoder via IO-Link using the corresponding IODD, proceed as follows: Make sure that the "IO-Link Offline Parameterization Tool" software package is installed on your computer. Connect the absolute rotary encoder to an IO-Link master via a suitable M12 cordset. Connect the IO-Link master to a USB connection on your PC via a USB cable.

  • Page 16: Process Data Structure

    ENA**TL-**IO** Process Data Structure Process Data Structure The process data of the absolute rotary encoder consists of 96 bits (12 bytes). The following table provides an overview of the order and structure of the process data. Data Name Long Name Type Length Offset Value...

  • Page 17: Config - St Resolution

    ENA**TL-**IO** Process Data Structure Config - ST Resolution Configuration Singleturn Resolution Index Parameter Access Data Type Length 96 (0x60) — Config - ST Resolution UInteger 16 bits The "Config - ST Resolution" parameter is used to set the resolution of the rotary encoder. The resolution refers to the singleturn resolution.

  • Page 18: Mdc1 - Position

    ENA**TL-**IO** Process Data Structure Index Bitoffset Parameter Value Index Bitoffset Parameter Value (Process data) (Process data) MDC1-Position MDC1-Position 1875 0x60 Config-ST Resolution 1000 0x60 Config-ST Resolution 1000 1000 Position Position Shaft position 1750 1250 shaft shaft exceeds zero position Multiturn version Multiturn version first revolution second revolution...
  • Page 19 ENA**TL-**IO** Process Data Structure Index Bitoffset Parameter Value Index Bitoffset Parameter Value (Process data) (Process data) MDC1-Position MDC1-Position 10500 0x60 Config-ST Resolution 1000 0x60 Config-ST Resolution 12000 Position Position 9000 3000 shaft shaft Singleturn version Singleturn version 6000 Figure 5.3 Identical shaft position with different singleturn resolutions A singleturn resolution of 1000 is selected on the left and 12,000 on the right.

  • Page 20: Ssc1 - Switching Signal 1

    ENA**TL-**IO** Process Data Structure A Mathematical Generalization for this Relationship • Singleturn resolution = Config - ST Resolution = number of measuring steps per revolu- tion • Multiturn position = number of full revolutions already completed • Modulo corresponds to the remainder function •...

  • Page 21: Ssc2 - Switching Signal 2

    ENA**TL-**IO** Process Data Structure SSC2 - Switching Signal 2 Switching Signal Channel 2 The process data content "SSC2 - Switching Signal 2" describes a signal bit that is used to detect a position that is critical for the application. It is part of the cyclic signal transmission. The signal bit can toggle between "0"...

  • Page 22: Dsc1.1 - Temperature Warning 1

    ENA**TL-**IO** Process Data Structure DSC1.1 - Temperature Warning 1 Diagnosis Signal Channel 1.1 - Temperature Warning 1 The "DSC Temperature Warning 1" data display indicates whether or not a critical upper tem- perature limit has been exceeded. Refer to information on the following parameters •...

  • Page 23: Io-Link Parameterization

    ENA**TL-**IO** IO-Link Parameterization IO-Link Parameterization Only the parameters of the ENA***TL-**IO** product group that require explanation are listed below. Note A comprehensive overview of all parameters for the respective absolute rotary encoder can be found online at www.pepperl-fuchs.com. Navigate to the relevant product page for the ENA***TL-**IO** and click on the corresponding "IO-Link parameter data sheet"...

  • Page 24: Ssc1 Param. Sp1

    ENA**TL-**IO** IO-Link Parameterization Index Bitoffset Parameter Value Index Bitoffset Parameter Value (Process data) (Process data) MDC1-Position MDC1-Position 1875 0x60 Config-ST Resolution 1000 0x60 Config-ST Resolution 1000 1000 Position Position Shaft position 1750 1250 shaft shaft exceeds zero position Multiturn version Multiturn version first revolution second revolution...

  • Page 25: Ssc1 Param. Sp2

    ENA**TL-**IO** IO-Link Parameterization SSC1 Param. SP2 Switching Signal Channel 1 Parameter. Setpoint 2 Index Parameter Access Data Type Length 64 (0x40) SSC1 Param. SP2 Integer 32 bits The "SSC1 Param. SP2" parameter is used to set a critical limit value for "SSC1." The permissible value range of the "SSC1 Param.

  • Page 26: Ssc1 Config. Logic

    ENA**TL-**IO** IO-Link Parameterization SSC1 Config. Logic Switching Signal Channel 1 Configuration Logic Index Parameter Access Data Type Length 65 (0x41) SSC1 Config. Logic UInteger 8 bits The "SSC1 Config. Logic" parameter indicates whether the "SSC1" switching signal is transmit- ted as "High active" or "Low active." You can use this parameter to specify which range between "SSC1 Param.
  • Page 27 ENA**TL-**IO** IO-Link Parameterization The figures below show the different modes; switching signal "SSC1" is shown as a blue line. "Deactivated" Mode SP 2 SP 1 active inactive SP.min SP.max Figure 6.5 Single Point Mode as High Active Signal SP 2 SP 1 active inactive...

  • Page 28: Ssc1 Config. Hyst

    ENA**TL-**IO** IO-Link Parameterization SSC1 Config. Hyst Switching Signal Channel 1 Configuration Hysteresis Index Parameter Access Data Type Length 65 (0x41) SSC1 Config. Hyst Integer 16 bits The "SSC1 Config. Hysteresis" parameter indicates the extent of a desired delayed effect of the SSC1 bit.
  • Page 29 ENA**TL-**IO** IO-Link Parameterization Hyst. limit Bitoffset Parameter Value (Process data) 0x40 Sub 3 Switchpoint Hysteresis Switch 0x40 Sub 2 SSC1 Param. SP 2 0x40 Sub 1 SSC1 Param. SP 1 0x60 Config-ST Resolution 1000 Switch high active Switch Switch shaft Switch Switch Switch...

  • Page 30: Config - Auxiliary Measurement

    ENA**TL-**IO** IO-Link Parameterization The following table shows the respective switching characteristics for each combination. It is necessaryto distinguish between the position sector (see previous figure) that is changed to the next position sector and the status of the switching channel has shortly before the sector change.

  • Page 31: Config - Rotation Direction

    ENA**TL-**IO** IO-Link Parameterization Config — Rotation Direction Configuration — Rotation Direction Index Parameter Access Data Type Length 97 (0x61) – Config — Rotation Direction UInteger 8 bits The "Config — Rotation Direction" parameter defines the positive counting direction when the rotary encoder shaft is rotated.

  • Page 32: Config - Position Overflow

    ENA**TL-**IO** IO-Link Parameterization 6.10 Config - Position Overflow Configuration - Position Overflow Index Parameter Access Data Type Length 100 (0x64) Config - Position Overflow Integer 32 bits The "Config - Position Overflow" parameter is used to set the highest position value for the cur- rent measured position value.

  • Page 33: Dsc1.1 Param - Temperature. High Limit

    ENA**TL-**IO** IO-Link Parameterization • Config - Position Overflow maximum number of possible measuring steps over all revolu- tions = 2250 • Maximum possible multiturn position = maximum number of possible full revolutions = ? 1000 x ? = 2250 2250 / 1000 = 2.25 rounded = 2 Selecting Config - ST Resolution = 1000 and Config - Position Overflow = 2250 means that two full revolutions can be completed before the rotary encoder starts counting again from ZERO, by maintaining an upward counting direction of rotation.

  • Page 34: Dsc1 Config - Temperature. Logic

    ENA**TL-**IO** IO-Link Parameterization 6.13 DSC1 Config — Temperature. Logic Diagnosis Signal Channel 1.1 Configuration — Temperature: Logic Index Parameter Access Data Type Length 81 (0x51) DSC1 Config — Temperature. Logic UInteger 8 bits The "DSC1 Config — Temperature. Logic" parameter describes whether the "DSC1.1 Param —...
  • Page 35 ENA**TL-**IO** IO-Link Parameterization Hysteresis in "High and Low Limit Active" mode as active high signal Temp. Temp. Temp.min Temp.max low limit high limit active hysteresis inactive Temperature DSC1.2 DSC1.1 Temp. Warning 2 Temp. Warning 1 Figure 6.15...

  • Page 36: Switching Signal Characteristics

    ENA**TL-**IO** Switching Signal Characteristics Switching Signal Characteristics The following sections use examples to describe the switching signal characteristics of the rotary encoder for the "SSC1 - Switching Signal 1" process data. The switching signal charac- teristics for the "SSC2 - Switching Signal 2" process data work in the same way. You can set and use both switching signal channels independently of each other.

  • Page 37: Position Overflow With Sp1 And Sp2

    ENA**TL-**IO** Switching Signal Characteristics Position Overflow with SP1 and SP2 You can set the SP1 (setpoint 1) and SP2 (setpoint 2) switch point values to be higher than the value for the "Config — Position Overflow" parameter (0x64). This setting is accepted by the rotary encoder as a permissible parameterization status.

  • Page 38: Hysteresis With Sp1 And Sp2 (Smaller Than Zero Point)

    ENA**TL-**IO** Switching Signal Characteristics Hysteresis with SP1 and SP2 (Smaller than Zero Point) You can set a uniform hysteresis area for each of the switch points SP1 (setpoint 1) and SP2 (setpoint 2). Keep in mind that the window mode hysteresis limit has an outward-facing effect. The rotary encoder accepts a hysteresis area smaller than the zero point as a permissible con- figuration status.

  • Page 39: Hysteresis With Sp1 And Sp2 (Larger Than Overflow)

    ENA**TL-**IO** Switching Signal Characteristics MDC1 — Position From "Position To "Position Switching Characteristics of SSC1 Sector" SSC1 Value Sector" Switching Signal 1 high high –> high high high –> low low –> low low –> low low –> high high high –>...
  • Page 40 ENA**TL-**IO** Switching Signal Characteristics The figure below illustrates this. 1000 Index Parameter Value Hyst. limit 0x64 Config-Position Overflow 1600 0x41 Sub 3 SSC1 Config. Hyst 0x40 Sub 1 SSC1 Param. SP 2 1300 Switch 0x40 Sub 2 SSC1 Param. SP 1 1500 high active 0x60...
  • Page 41 ENA**TL-**IO** Switching Signal Characteristics The following table shows the respective switching characteristics for each combination. It is necessaryto distinguish between the position sector (see previous figure) that is changed to the next position sector and the status of the switching channel has shortly before the sector change.

  • Page 42: Troubleshooting

    In case of a fault, use the following checklist to determine whether a fault with the rotary encoder can be remedied. If none of the information provided in the checklist solves the problem, contact Pepperl+Fuchs via your sales office with any queries. Have details of the model number and firmware version of the sensor ready if possible.

  • Page 43: Repair And Servicing

    ENA**TL-**IO** Repair and Servicing Repair and Servicing The device must not be repaired, changed, or manipulated. In case of failure, always replace the device with an original device.
  • Page 44 Pepperl+Fuchs Quality Download our latest policy here: www.pepperl-fuchs.com/quality www.pepperl-fuchs.com © Pepperl+Fuchs · Subject to modifications Printed in Germany / DOCT-6723...

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