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Summary of Contents for Encoder BEPC
- Page 1 TECHNICAL REFERENCE MANUAL PROFINET® Interface For BEPC/EPC's Absolute Bus Encoders +44(0)1978 262100 | encoder.co.uk Sagle, Idaho, USA - Worldwide Headquarters / Wales, UK , European Division REV 05/5/2021...
- Page 2 5.3.2 Encoder ........
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Page 3: Table Of Contents
Table 4.28: G1_XIST2 error codes ..... . 31 BEPC/EPC Technical Reference Manual +44(0)1978 262100 | encoder.co.uk | sales@encoder.co.uk Absolute Encoders with PROFINET Interface... - Page 4 Figure 6.25: Device overview - MAP ....58 Figure 5.5: Encoder information..... . . 37 Figure 6.26: Assembly parameters .
- Page 5 1.1 About This Manual This technical manual describes the configuration and mounting possibilities for absolute-value encoders with a PROFINET interface produced by Encoder Products Company (EPC). It supplements the other publicly available EPC documents, e.g. data sheets, assembly instructions, leaflets, catalogues and flyers.
- Page 6 • Repeaters • Network configuration • Bus cycle times • FMA management services • Transmission services • Telegram types BEPC/EPC Technical Reference Manual +44(0)1978 262100 | encoder.co.uk | sales@encoder.co.uk Page 6 of 68 Absolute Encoders with PROFINET Interface REV 05/5/2021...
- Page 7 EPC's PROFINET product range can be found on our website: 1.3 Specifications An encoder is a sensor that is designed to detect angular positions (single-turn) and revolutions (multi-turn). The measured data and variables are processed by the encoder and provided as electrical output signals for the connected peripherals.
- Page 8 EMC and Machine Directive. A rotary encoder is a sensor that is designed to detect angular positions and revolutions and must only be used for this purpose! EPC Automation manufactures and distributes encoders for use in non-safety-relevant industrial applications.
- Page 9 The solid or hollow shaft is connected to the rotating component whose angular position or rotational speed is to be measured. Cable or plug outlets create the interface for connection to the PROFINET network. The status LEDs mounted in the cover signal the various encoder states during operation.
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Page 10: Figure 3.1: Epc Ethercat-Ready Encoders With Profinet-Irt
(for example). https://www.profibus. Further information about PROFINET is available via the homepage of the PROFIBUS User Organization (PNO) at: com/technology/profinet/ BEPC/EPC Technical Reference Manual +44(0)1978 262100 | encoder.co.uk | sales@encoder.co.uk Page 10 of 68 Absolute Encoders with PROFINET Interface REV 05/5/2021... - Page 11 3.3.4 Preset The desired position value can be assigned to the encoder at a specific physical position. This must be within the measuring range so that the posi- tion value is correlated with a physical reference position. For this purpose, the difference between the current position value and the desired value is calculated.
- Page 12 0.1° and over a range of 10 revolutions. Normally, the number of revolutions would be calculated by dividing the position value by MUPR. In this case, however, it must be divided by 3600 Cts, since the result would otherwise be the number of revolutions of the encoder shaft and not the faster shaft of the system.
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Page 13: Table 3.1: Pin Connection Assignment
3.4.1 Bus Cover with 3 x M12x1 The "RNB" code in the order key refers to an encoder with a bus cover. The electrical connection is made at the bus cover via the 2 x M12 plugs and 1 x M12 socket. The connection assignment of the plugs and sockets can be found in Table 3.1. - Page 14 There is one MAC address each for Port1 and Port2, as well as one MAC address for the "internal port" to which the encoder itself is connected. In the delivered state, the PROFINET encoder has no IP address and no name. These are defined during configuration (e.g., TIA Portal). 4. PROFINET 4.1 Summary of Functions...
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Page 15: Table 4.1: Functions
Table 4.2: GSDML Modules 4.3 Signals Table 4.3, below, shows the signals that are supported by EPC PROFINET encoders. BEPC/EPC Technical Reference Manual +44(0)1978 262100 | encoder.co.uk | sales@encoder.co.uk Page 15 of 68 Absolute Encoders with PROFINET Interface REV 05/5/2021... -
Page 16: Table 4.3: Signals
15 ... 0 Contents Right-aligned, output in set unit 15 … 0 Velocity value A (see Table 4.20, Velocity Measuring Units) BEPC/EPC Technical Reference Manual +44(0)1978 262100 | encoder.co.uk | sales@encoder.co.uk Page 16 of 68 Absolute Encoders with PROFINET Interface REV 05/5/2021... -
Page 17: Table 4.4: Structure Of Signal 6 Nist_A
0 = Set preset to absolute value Preset mode 1 = Move preset by value (offset) 10 ... 0 Reserved, currently not used BEPC/EPC Technical Reference Manual +44(0)1978 262100 | encoder.co.uk | sales@encoder.co.uk Page 17 of 68 Absolute Encoders with PROFINET Interface REV 05/5/2021... - Page 18 P R O F I N E T ® I n t e r f a c e TECHNICAL REFERENCE MANUAL Table 4.6: Structure of signal 9 G1_STW To enable the encoder to respond to the requirements in G1_STW, the controller must set bit 10 to 1 in STW2_ENC. G1_ZSW: Sensor 1 status word Signal G1_ZSW 10 ...
- Page 19 M = multi-turn / S = single turn This value includes the position, has a width of 32 bits, and is unsigned. The encoder parameter settings influence this position value if "Class 4 functionality" is activated. The influence of the preset functionality can be controlled with "G1_XIST1 Preset Control".
- Page 20 This value includes the position, has a width of 64 bits and is unsigned. It can be used if the measuring range of the encoder is larger than 32 bits. The encoder parameter settings influence this position value if "Class 4 functionality"...
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Page 21: Table 4.13: Structure Of Signal 238(60000) G1_Xist1
30 ... 0 Preset value without sign Includes the 31-bit-wide preset value Table 4.13: Structure of signal 238(60000) G1_XIST1_PRESET_B BEPC/EPC Technical Reference Manual +44(0)1978 262100 | encoder.co.uk | sales@encoder.co.uk Page 21 of 68 Absolute Encoders with PROFINET Interface REV 05/5/2021... -
Page 22: Table 4.15: Structure Of Signal G1_Xist1_Preset_C
Not used Set test error Triggers the test error when set to "0" Table 4.16: Structure of signal 60001 DEBUG_STW BEPC/EPC Technical Reference Manual +44(0)1978 262100 | encoder.co.uk | sales@encoder.co.uk Page 22 of 68 Absolute Encoders with PROFINET Interface REV 05/5/2021... - Page 23 G1_STW ENC-> SPS ZSW2_ENC G1_ZSW G1_XIST1 G1_XIST2 IST_A SPS-> ENC STW2_ENC G1_STW ENC-> SPS ZSW2_ENC G1_ZSW G1_XIST1 G1_XIST2 NIST_B BEPC/EPC Technical Reference Manual +44(0)1978 262100 | encoder.co.uk | sales@encoder.co.uk Page 23 of 68 Absolute Encoders with PROFINET Interface REV 05/5/2021...
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Page 24: Table 4.18: Telegrams
G1_STW _STW 59000 DEBUG ENC-> SPS ZSW2_ENC G1_ZSW G1_XIST1 G1_XIST2 _ZSW Table 4.18: Telegrams 4.6 Parameters Bits Function Sub-index BEPC/EPC Technical Reference Manual +44(0)1978 262100 | encoder.co.uk | sales@encoder.co.uk Page 24 of 68 Absolute Encoders with PROFINET Interface REV 05/5/2021... - Page 25 64 bit 65003 Measuring units per revolution 64 bit Total measuring range in measuring units 64 bit BEPC/EPC Technical Reference Manual +44(0)1978 262100 | encoder.co.uk | sales@encoder.co.uk Page 25 of 68 Absolute Encoders with PROFINET Interface REV 05/5/2021...
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Page 26: Table 4.19: Supported Parameters
4.6.1.1 Code sequence Defines the counting direction of the position value in relation to the encoder shaft. "0" means a positive counting direction of the position value with clockwise rotation of the shaft; "1" means a positive counting direction with counter-clockwise rotation. - Page 27 4.6.1.7 Total measuring range in measuring units Defines the entire measuring range of the encoder, i.e. after how many increments the position value resets to 0. For example, if "Measuring units per revolution" is 100 and "Total measuring range" is 250, the position value will return to 0 after 2.5 revolutions of the encoder shaft.
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Page 28: Table 4.20: Velocity Measuring Units
The offset value is calculated during execution of the preset and is then added to the position value. It is stored in non-volatile memory and can be read by the encoder at any time. The offset value can assume values within the scaled measurement range 4.6.1.10 Hysteresis position... -
Page 29: Table 4.23: Filter Max. Rpm
Table 4.24: Filter position 4.6.1.14 Filter speed Parameters 2005 Meaning Filter position Data type Unsigned 8 Access Values 0 … 255 BEPC/EPC Technical Reference Manual +44(0)1978 262100 | encoder.co.uk | sales@encoder.co.uk Page 29 of 68 Absolute Encoders with PROFINET Interface REV 05/5/2021... -
Page 30: Table 4.25: Filter Speed
4.7.3 G1_XIST2 error codes G1_XIST2 Meaning Sensor system error code All have invalid position values 0x0001 Sensor group error BEPC/EPC Technical Reference Manual +44(0)1978 262100 | encoder.co.uk | sales@encoder.co.uk Page 30 of 68 Absolute Encoders with PROFINET Interface REV 05/5/2021... -
Page 31: Table 4.28: G1_Xist2 Error Codes
PROFINET encoders have a web server that lets you view specific information and configure certain settings. To access the web server, enter its IP address into a browser of your choice (Internet Explorer, Firefox, etc.). To do so, connect the encoder to your computer using an Ethernet cable (M12 connector on the encoder and RJ45 connector on the PC). -
Page 32: Figure 5.1: Web Server - Overview
Figure 5.1: Web server — overview The overview displays the following information: • Device type: name of the encoder • Serial number: device number of the encoder • Operating time in hours: number of operating hours • Protocol: PROFINET IO BEPC/EPC Technical Reference Manual +44(0)1978 262100 | encoder.co.uk | sales@encoder.co.uk... - Page 33 MAC Port 2: MAC address of Ethernet port 2 • IP address: IP address of your PROFINET encoder • Network mask: the subnet mask of your PROFINET encoder • Gateway: the gateway of your PROFINET encoder • The update rate of the web page is fixed at 10 seconds and cannot be changed. The message "Updating Data" in the upper-right corner of the field in which the update time is displayed indicates that the data is being updated.
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Page 34: Figure 5.2: Diagnostic Page
Possible causes of errors are displayed here. If you see an error here, please either contact us or refer to the manual for possible causes. Fieldbus • CPU Load: this shows the CPU utilisation of the encoder during operation. • Interface: •... -
Page 35: Figure 5.3: Versions
Cable length: when using IRT mode, the cable length specified in the TIA Portal is displayed. 5.2.3 Versions Figure 5.3: Versions Here you can find information about the individual versions: • Application BEPC/EPC Technical Reference Manual +44(0)1978 262100 | encoder.co.uk | sales@encoder.co.uk Page 35 of 68 Absolute Encoders with PROFINET Interface REV 05/5/2021... - Page 36 P R O F I N E T ® I n t e r f a c e TECHNICAL REFERENCE MANUAL • SDAI • Stack • • Sensor • 5.3 Configuration 5.3.1 Network BEPC/EPC Technical Reference Manual +44(0)1978 262100 | encoder.co.uk | sales@encoder.co.uk Page 36 of 68 Absolute Encoders with PROFINET Interface REV 05/5/2021...
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Page 37: Figure 5.4: Network Settings
You can change the device name, IP address, network mask and gateway here. Please note that this data should only be modified when the system is not in operation. 5.3.2 Encoder Figure 5.5: Encoder information You can check the following parameterized values for the encoder here: • Resolution single-turn •... -
Page 38: Figure 5.6: Firmware Update
5.3.3 Firmware Update Figure 5.6: Firmware update The current firmware version of the encoder is displayed. If a new firmware version is available, you can update the encoder's firmware here. • Please note that the firmware must only be updated when the system is not in operation. -
Page 39: Figure 5.7: Firmware Update - Choose File
After you have chosen the correct file, click the “Update”- Button to start the firmware update. An animated icon will appear with the additional text: “Transferring file” (see Figure 5.8). Figure 5.8: Firmware update - Transferring file BEPC/EPC Technical Reference Manual +44(0)1978 262100 | encoder.co.uk | sales@encoder.co.uk Page 39 of 68 Absolute Encoders with PROFINET Interface REV 05/5/2021... -
Page 40: Figure 5.9: Firmware Update - Successful
In case of a failure during the firmware update process (see Figure 5.10) please double check that you chose the correct firmware file. Do a power reset and repeat the whole firmware update process. In case of a power loss during the update, the encoder may not respond to any request any more. -
Page 41: Figure 5.10: Firmware Update - Failed
P R O F I N E T ® I n t e r f a c e TECHNICAL REFERENCE MANUAL Figure 5.10: Firmware update - Failed BEPC/EPC Technical Reference Manual +44(0)1978 262100 | encoder.co.uk | sales@encoder.co.uk Page 41 of 68 Absolute Encoders with PROFINET Interface REV 05/5/2021... -
Page 42: Figure 5.11: License Information
This view contains the current safety instructions as well as software packages containing firmware. You can download the source code of these packages using the link on this website. 5.5 Contact Product Information For general information about the product, please contact Encoder Products Company: Phone: (208) 263-8541 Fax: (208) 263-0541 Email: sales@encoder.com... - Page 43 Connect the encoder to your controller. Connect the encoder's power supply. To integrate the encoder into your TIA portal project, start your TIA portal, open the required project and switch to the project view by pressing the "Project view" button (see Figure 6.1).
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Page 44: Figure 6.1: Switching To Project View
The corresponding .bmp file must be located in the same directory as the GSDML file during installation and is included in the download. BEPC/EPC Technical Reference Manual +44(0)1978 262100 | encoder.co.uk | sales@encoder.co.uk Page 44 of 68 Absolute Encoders with PROFINET Interface... -
Page 45: Figure 6.2: Manage Device Description File (Gsd)
Now select the path for the GSDML file, activate the checkmark next to the desired GSDML file and confirm the installation via the "Install" button (see Figure 6.3). Then close the installation window. Figure 6.3: Installing GSDML BEPC/EPC Technical Reference Manual +44(0)1978 262100 | encoder.co.uk | sales@encoder.co.uk Page 45 of 68 Absolute Encoders with PROFINET Interface REV 05/5/2021... -
Page 46: Figure 6.4: Switch To Devices & Networks
Figure 6.4: Switch to Devices & Networks Add the encoder to your hardware configuration. To do so, open the following path at the right edge of the screen: "Other field devices / PROFINET IO / Encoders / Encoder Products Company / Absolute Encoder / EPC Encoder" (see Figure 6.5). -
Page 47: Figure 6.6: Network View
TECHNICAL REFERENCE MANUAL Figure 6.6: Network View Select the encoder and switch to the "Device overview" tab. Enter a meaningful device name by double-clicking the default name (see Figure 6.7). Figure 6.7: Change device name Configure the encoder by selecting the corresponding configuration from the hardware catalogue and dragging into "Slot 1" (see Figure 6.8). -
Page 48: Figure 6.9: Select Telegrams
Click on your PLC in the project navigation window and load the configuration by clicking the "Download to device" button (see Figure 6.11). BEPC/EPC Technical Reference Manual +44(0)1978 262100 | encoder.co.uk | sales@encoder.co.uk Page 48 of 68 Absolute Encoders with PROFINET Interface... -
Page 49: Figure 6.11: Download To Device
Figure 6.11: Download to device Switch back to the "Devices and networks" view and assign the PROFINET device name to the encoder as shown in the configuration on page 39. To do so, select the encoder (single mouse click) and select the "Assign device name" option (see Figure 6.12). -
Page 50: Figure 6.13: Name And Pg Interface
TECHNICAL REFERENCE MANUAL Figure 6.13: Name and PG interface All devices are now displayed under "Accessible devices in the network". Select your encoder and click on "Assign name" (see Figure 6.14). BEPC/EPC Technical Reference Manual +44(0)1978 262100 | encoder.co.uk | sales@encoder.co.uk... -
Page 51: Figure 6.14: Accessible Nodes
Figure 6.14: Accessible nodes You will now see the successfully assigned name in the online status information. Click on "close" (see Figure 6.15). BEPC/EPC Technical Reference Manual +44(0)1978 262100 | encoder.co.uk | sales@encoder.co.uk Page 51 of 68 Absolute Encoders with PROFINET Interface... -
Page 52: Figure 6.15: Online Status Information
Figure 6.15: Online status information You can use a variable table to display the encoder's I/O data for test purposes. To do so, open the default tag table (see Figure 6.16) and enter the corresponding address for the position value. You can then click on "Show all" to see the position value (see Figure 6.17 and Figure 6.18). -
Page 53: Figure 6.16: Plc Variables
P R O F I N E T ® I n t e r f a c e TECHNICAL REFERENCE MANUAL Figure 6.16: PLC variables Figure 6.17: Show all Figure 6.18: Default tag table BEPC/EPC Technical Reference Manual +44(0)1978 262100 | encoder.co.uk | sales@encoder.co.uk Page 53 of 68 Absolute Encoders with PROFINET Interface REV 05/5/2021... -
Page 54: Figure 6.19: Example Of Commissioning
In order to set a different number of steps / revolutions or revolutions than the one given in the GSDML file, the scaling function must be activated. The following two examples explain this for a single-turn and a multi-turn encoder. It is assumed that you have already configured the encoder and your PLC in the TIA portal. -
Page 55: Figure 6.21: Assembly Parameters
P R O F I N E T ® I n t e r f a c e TECHNICAL REFERENCE MANUAL Figure 6.21: Assembly parameters The default settings of the 16-bit single-turn encoder are shown in Figure 6.22. Figure 6.22: Default assembly parameters 16-Bit Single-turn BEPC/EPC Technical Reference Manual +44(0)1978 262100 | encoder.co.uk | sales@encoder.co.uk... -
Page 56: Figure 6.23: Configuration Of 12-Bit Single-Turn With Scaling
"Load into device" -> "Hardware configuration". 6.3.2 Example scaling function multi-turn Double-click on the image of the encoder in the network view of "Devices and Networks". (see Figure 6.24) BEPC/EPC Technical Reference Manual +44(0)1978 262100 | encoder.co.uk | sales@encoder.co.uk... -
Page 57: Figure 6.24: Example Of Commissioning
P R O F I N E T ® I n t e r f a c e TECHNICAL REFERENCE MANUAL Figure 6.24: Example of commissioning Figure 6.25 now shows a rotary encoder configured as 16-bit single-turn and 43-bit multi-turn. In the "Device overview" we click on the field "MAP". Figure 6.25: Device overview - MAP The "Assembly parameters"... -
Page 58: Figure 6.26: Assembly Parameters
If an existing project is changed in order to add the scaling function, the change must be transferred to the controller BEPC/EPC Technical Reference Manual +44(0)1978 262100 | encoder.co.uk | sales@encoder.co.uk Page 58 of 68 Absolute Encoders with PROFINET Interface... -
Page 59: Table 6.1: Data Content For Example
I8..I11 Table 6.1: Data content for Example Set the encoder to normal, controlled operation during start-up or manually via an observation table. To do this, set STW2_ENC bit 10 "Control by PLC" to TRUE. Figure 6.28: set STW2_ENC bit 10 to TRUE BEPC/EPC Technical Reference Manual +44(0)1978 262100 | encoder.co.uk | sales@encoder.co.uk... -
Page 60: Figure 6.29: Set G1_Stw Bit 13 To True
P R O F I N E T ® I n t e r f a c e TECHNICAL REFERENCE MANUAL If successful, the encoder sets the flag ZSW2_ENC Bit 9 "Control requested". Then set G1_STW bit 13 "Request absolute value cyclically" to TRUE. Figure 6.29: set G1_STW bit 13 to TRUE If successful, the encoder sets the flag G1_ZSW Bit 13 "Transmit absolute value cyclically"... - Page 61 When the preset is executed, an offset value is calculated and stored in the rotary encoder. This value is loaded with each reset so that this setting is retained even after a reset. The offset value is reset as soon as the scaling of the encoder changes or another module is selected.
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Page 62: Figure 6.32: Simatic Manager
To integrate the encoder into your SIMATIC Manager project, double-click the "Hardware" button to start the hardware configuration tool (see Figure 6.32). Figure 6.32: SIMATIC Manager Next, install the GSDML file. You can download this from www.encoder.com. To do so, open the "Extras" tab and select "Install GSD file" (see Figure 6.33). BEPC/EPC Technical Reference Manual +44(0)1978 262100 | encoder.co.uk | sales@encoder.co.uk... -
Page 63: Figure 6.33: Installing The Gsdml File
Now select the path for the GSDML file, select the desired GSDML file and confirm the installation via the "Install" button. Then close the installa- tion window. Add the encoder to your hardware configuration. To do so, open the following path at the right edge of the screen (see Figure 6.34): "PROFINET IO/ Additional Field Devices/Encoders/Encoders Product Company/Absolute Encoder/EPC Encoder". -
Page 64: Figure 6.34: Hardware Catalogue
TECHNICAL REFERENCE MANUAL Figure 6.34: Hardware catalogue Now "drag" the encoder onto the "PROFINET IO system". The encoder is then displayed in the hardware view (see Figure 6.35). Enter a meaningful device name for the configured encoder by double-clicking the encoder symbol. -
Page 65: Figure 6.36: Select Via Single Mouse Click
You can also set the corresponding I/O addresses. To do so, double-click on the respective field (see Figure 6.40) and change the addresses in the "Addresses" tab (see Figure 6.41). BEPC/EPC Technical Reference Manual +44(0)1978 262100 | encoder.co.uk | sales@encoder.co.uk Page 65 of 68 Absolute Encoders with PROFINET Interface... -
Page 66: Figure 6.40: Change The I/O Addresses
Save the configuration by clicking the "Save and transmit" button and load it into your PLC ("Download to module"). Figure 6.42: Save and transmit – Download to module You can use a variable table to display the encoder's I/O data for test purposes (see Figure 6.43 and Figure 6.44). Figure 6.43: Variable table BEPC/EPC Technical Reference Manual +44(0)1978 262100 | encoder.co.uk | sales@encoder.co.uk... -
Page 67: Figure 6.44: Hex Position Value
Max. 100 Base-TX Diagnostic LEDs Data traffic and connection monitoring: L/A1: Port 1, L/A2: Port 2 Status LEDs Status display for encoder and bus STAT, MOD BEPC/EPC Technical Reference Manual +44(0)1978 262100 | encoder.co.uk | sales@encoder.co.uk Page 67 of 68... - Page 68 Connection hood: Die-cast aluminium, powder-coated 7.2 Dimensions For product dimensions, please see the appropriate product drawings at encoder.couk Technical support Do you have any questions about this product? Our technical application support engineers will be happy to help you. Phone: +44(0)1978 262100 Email: sales@encoder.co.uk...
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