Absolute linear encoder

Transcription

1 TR - ELA - BA - GB /13/2017 Absolute linear encoder LP- System LMP- System LA- System _Additional safety instructions _Installation _Commissioning _Configuration / Parameterization _Troubleshooting and Diagnostic options User Manual

2 TR-Electronic GmbH D Trossingen Eglishalde 6 Tel.: (0049) 07425/228-0 Fax: (0049) 07425/ info@tr-electronic.de Copyright protection This Manual, including the illustrations contained therein, is subject to copyright protection. Use of this Manual by third parties in contravention of copyright regulations is not permitted. Reproduction, translation as well as electronic and photographic archiving and modification require the written content of the manufacturer. Violations shall be subject to claims for damages. Subject to modifications The right to make any changes in the interest of technical progress is reserved. Document information Release date / Rev. date: 02/13/2017 Document / Rev. no.: TR - ELA - BA - GB File name: TR-ELA-BA-GB docx Author: MÜJ Font styles Italic or bold font styles are used for the title of a document or are used for highlighting. Courier font displays text, which is visible on the display or screen and software menu selections. < > indicates keys on your computer keyboard (such as <RETURN>). Brand names SIMATIC S5, STEP-5 and COM-ET-200 are registered trademarks of SIEMENS AG. PROFIBUS-DP and the PROFIBUS logo are registered trademarks of the Profibus User Organisation (PNO) Page 2 of 50 TR - ELA - BA - GB /13/2017

3 Contents Contents... 3 Revision index General information Applicability Abbreviations used / Terminology Additional safety instructions Definition of symbols and instructions Additional instructions for proper use Organizational measures Technical data Electrical characteristics Interface information s PROFIBUS DP Communication protocol Installation / Preparation for commissioning PROFIBUS interface RS485 Data transmission technology Bus termination Bus address Shield cover Commissioning Requirements for start-up on IM-308-C Requirements for start-up on SIMATIC-S Device Master File (GSD), Type file PNO ID number Starting up on the PROFIBUS Bus status display Parameterization and configuration Overview PNO CLASS 1 16 bits PNO CLASS 1 32 bits PNO CLASS 2 16 bits PNO CLASS 2 32 bits TR-extended 32 Bit /13/2017 TR - ELA - BA - GB Page 3 of 50

4 Contents 7.7 TR-extended + Speed 32 Bit Preset adjustment function Description of the operating parameters Code sequence Class 2 Functionality Diagnostic alarm Scaling function Total measuring range, hi/lo Preset 1 value, hi/lo Speed resolution, 0.1mm/s Input of parameters with data format 32 bits Configuration example, SIMATIC Manager V Troubleshooting and diagnosis options Optical displays, LEDs Use of the PROFIBUS diagnosis Standard diagnosis Station status Station status Station status Master address Manufacturer's identifier Length (in bytes) of the extended diagnosis Extended diagnosis Alarms Operating status Encoder type Measuring step Number of resolvable revolutions Additional alarms Alarms supported Warnings Warnings supported Profile version Software version Operating hours counter Offset value Manufacturer's offset value Number of steps per revolution Total measuring range Serial number Manufacturer's diagnoses Other faults Appendix Pin assignment LA-66, 8-pol. MINI-COMBICON Connector, Preset... LA-66, 5 x 2-pol. Screw terminal, Preset... LA-66, 5 x 2-pol. Screw terminal, 3 x M LP LA-46 / LP-46, Cable screw glands... LA-46 / LP-46, 2 x M12, 1 x M LMP-30, 3 x M LMP-30, 2 x M12, 1 x M Page 4 of 50 TR - ELA - BA - GB /13/2017

5 Revision index Revision Date Index First release 07/16/97 00 Operating manual added with LP-38. Pin assignment appended separately. 12/09/98 01 Expansion of the parameterization function with the parameter "Diagnostic alarm" 01/18/01 02 Modification of the device- and type-file designations, which were already created quite a long time ago (05/06/99). New GSD-file "TR03AAAC.GSD" / 02/17/05, useable for linear-encoder with speed-output 06/11/ /01/05 04 General technical modifications, layout modifications 08/08/07 05 Modification of the warnings; Pin assignment TR-ELA-TI-DGB-0060 removed 12/08/11 06 Class 2 functionality 09/18/14 07 Reference to Support-DVD removed 02/04/16 08 Technical data removed 02/07/17 09 Technical data added again 02/13/ /13/2017 TR - ELA - BA - GB Page 5 of 50

6 General information 1 General information This interface-specific User Manual includes the following topics: Safety instructions in additional to the basic safety instructions defined in the Assembly Instructions Electrical characteristics Installation Commissioning Configuration / parameterization Troubleshooting and diagnostic options As the documentation is arranged in a modular structure, this User Manual is supplementary to other documentation, such as product datasheets, dimensional drawings, leaflets and the assembly instructions etc. The User Manual may be included in the customer's specific delivery package or it may be requested separately. 1.1 Applicability This User Manual applies exclusively to the following measuring system models with PROFIBUS-DP interface: LA LP LMP The products are labelled with affixed nameplates and are components of a system. The following documentation therefore also applies: the operator's operating instructions specific to the system, this User Manual, and the assembly instructions, which is enclosed when the device is delivered Page 6 of 50 TR - ELA - BA - GB /13/2017

7 1.2 Abbreviations used / Terminology LA Linear-Absolute Measuring System, type with tube-housing LP Linear-Absolute Measuring System, type with profile-housing LMP Linear-Absolute Measuring System, type with profile-housing DDLM Direct Data Link Mapper, interface between PROFIBUS-DP functions and measuring system software DP Decentralized Periphery EMC Electro Magnetic Compatibility GSD Device Master File PNO PROFIBUS User Organization (PROFIBUS Nutzerorganisation) PROFIBUS Manufacturer independent, open field bus standard 02/13/2017 TR - ELA - BA - GB Page 7 of 50

8 Additional safety instructions 2 Additional safety instructions 2.1 Definition of symbols and instructions means that death or serious injury can occur if the required precautions are not met. means that minor injuries can occur if the required precautions are not met. means that damage to property can occur if the required precautions are not met. indicates important information or features and application tips for the product used. 2.2 Additional instructions for proper use The measuring system is designed for operation with PROFIBUS-DP networks according to the European standards EN and EN up to max. 12 Mbaud. The parameterization and the device diagnosis are performed through the PROFIBUS master according to the profile for encoders version 1.1 of the PROFIBUS User Organization (PNO). The technical guidelines for the structure of the PROFIBUS-DP network from the PROFIBUS User Organization are always to be observed in order to ensure safe operation. Proper use also includes: observing all instructions in this User Manual, observing the assembly instructions. The "Basic safety instructions" in particular must be read and understood prior to commencing work. Page 8 of 50 TR - ELA - BA - GB /13/2017

9 2.3 Organizational measures This User Manual must always kept accessible at the site of operation of the measuring system. Prior to commencing work, personnel working with the measuring system must have read and understood - the assembly instructions, in particular the chapter "Basic safety instructions", - and this User Manual, in particular the chapter "Additional safety instructions". This particularly applies for personnel who are only deployed occasionally, e.g. at the parameterization of the measuring system. 02/13/2017 TR - ELA - BA - GB Page 9 of 50

10 Technical data 3 Technical data 3.1 Electrical characteristics Supply voltage V DC, twisted in pairs and shielded Current consumption without load...< 450 ma Measuring principle...magnetostrictive * Resolution mm / mm, see nameplate Output capacity bit Output code...binary Standard baud rates kbaud to 12 MBaud Cycle time internally, LA-46/LP m ms 1.5 m ms 2.0 m ms 2.5 m ms > 2.5 m ms Cycle time internally, LMP m ms 2.0 m ms 3.0 m ms > 3.0 m ms Station addresses , set on BCD rotary switch PROFIBUS-DP standard...en and EN Transmission...RS485, twisted and shielded copper cable with a single conductor pair (cable type A) Special features...programming takes place via the parameterization telegram when the measuring system or the PROFIBUS- DP master starts up. - Measuring length in steps - Code sequence - Adjustment in cycle - Preset value for ext. Preset input - Resolution for speed output EMC... DIN EN / DIN EN / DIN EN * parameterizable via PROFIBUS-DP Page 10 of 50 TR - ELA - BA - GB /13/2017

11 4 Interface information s 4.1 PROFIBUS PROFIBUS is a continuous, open, digital communication system with a broad range of applications, particularly in manufacturing and process automation. PROFIBUS is suitable for fast, time-sensitive and complex communication tasks. PROFIBUS communication is based on the international standards IEC and IEC The application and engineering aspects are defined in the PROFIBUS User Organization guidelines. These serve to fulfil the user requirements for a manufacturer independent and open system where the communication between devices from different manufacturers is guaranteed without modification of the devices. The PROFIBUS User Organization has implemented a special profile for encoders. The profile describes the connection of rotary, angular and linear encoders with single turn or multi turn resolution to the DP. Two device classes define the basic and additional functions, e.g. scaling, alarm management and diagnosis. The measuring systems support Device Classes 1 and 2 as defined in the profile, as well as additional TR-specific functions. A description of the encoder profile (order no.: 3.062) and further information on PROFIBUS is available from the PROFIBUS User Organization: PROFIBUS Nutzerorganisation e.v., Haid-und-Neu-Str. 7 D Karlsruhe, Tel.: (0) 721 / Fax: (0) 721 / mailto:germany@profibus.com DP Communication protocol The measuring systems support the DP communication protocol, which is designed for fast data exchange on the field level. The basic functionality is defined by the performance level V0. This includes cyclic data exchange, as well as the station, module and channel-specific diagnosis. 02/13/2017 TR - ELA - BA - GB Page 11 of 50

12 Installation / Preparation for commissioning 5 Installation / Preparation for commissioning 5.1 PROFIBUS interface RS485 Data transmission technology All devices are connected in a bus structure (line). Up to 32 subscribers (master or slaves) can be connected together in a segment. The bus is terminated with an active bus termination at the beginning and end of each segment. For stable operation, it must be ensured that both bus terminations are always supplied with voltage. The bus termination can be switched in the measuring system connector hood. Repeaters (signal amplifiers) have to be used with more than 32 subscribers or to expand the network scope in order to connect the various bus segments. All cables used must conform with the PROFIBUS specification for the following copper data wire parameters: Parameter Cable type A Wave impedance in at a frequency of MHz Operating capacitance (pf/m) 30 Loop resistance ( /km) 110 Wire diameter (mm) > 0.64 Wire cross-section (mm²) > 0.34 The PROFIBUS transmission speed may be set between 9.6 kbit/s and 12 Mbit/s and is automatically recognized by the measuring system. It is selected for all devices on the bus at the time of commissioning the system. The range is dependent on the transmission speed for cable type A: Baud rate (kbits/s) Range / Segment 1200 m 1200 m 1200 m 1000 m 400 m 200 m 100 m A shielded data cable must be used to achieve high electromagnetic interference stability. The shielding should be connected with low resistance to protective ground using large shield clips at both ends. It is also important that the data line is routed separate from power current carrying cables if at all possible. At data speed 1.5 Mbit, drop lines should be avoided under all circumstances. The measuring system connector hood offers the possibility of connecting the inward and outward data cables directly to the removable connector hood. This avoids drop lines and the bus connector can be connected to and disconnected from the bus at any time without interruption of data traffic. The PROFIBUS guidelines and other applicable standards and guidelines are to be observed to insure safe and stable operation! In particular, the applicable EMC directive and the shielding and grounding guidelines must be observed! Page 12 of 50 TR - ELA - BA - GB /13/2017

13 Bus termination If the measuring system is the last slave in the PROFIBUS segment, the bus is to be terminated with the termination switch = ON. In this state, the subsequent PROFIBUS is decoupled. ON OFF Bus address Valid PROFIBUS addresses: : Setting the 1st position 10 1 : Setting the 10th position The device does not start up with an invalid station address, LEDs = OFF /13/2017 TR - ELA - BA - GB Page 13 of 50

14 Installation / Preparation for commissioning 5.2 Shield cover The shield cover is connected with a special EMC cable gland, whereby the cable shielding is fitted on the inside. Cable gland assembly, variant A Pos. 1 Nut Pos. 2 Seal Pos. 3 Contact bush Pos. 5 Screw socket 1. Cut shield braid / shield foil back to dimension "X". 2. Slide the nut (1) and seal / contact bush (2) + (3) over the cable. 3. Bend the shield braining / shield foil to 90 (4). 4. Slide seal / contact bush (2) + (3) up to the shield braining / shield foil. 5. Assemble screw socket (5) on the housing. 6. Push seal / contact bush (2) + (3) flush into the screw socket (5). 7. Screw the nut (1) to the screw socket (5). Page 14 of 50 TR - ELA - BA - GB /13/2017

15 Cable gland assembly, variant B Pos. 1 Nut Pos. 2 Clamping ring Pos. 3 Inner O-ring Pos. 4 Screw socket 1. Cut shield braid / shield foil back to dimension "X" + 2mm. 2. Slide the nut (1) and clamping ring (2) over the cable. 3. Bend the shield braining / shield foil to approx Push clamping ring (2) up to the shield braid / shield foil and wrap the braiding back around the clamping ring (2), such that the braiding goes around the inner O-ring (3), and is not above the cylindrical part or the torque supports. 5. Assemble screw socket (4) on the housing. 6. Insert the clamping ring (2) in the screw socket (4) such that the torque supports fit in the slots in the screw socket (4). 7. Screw the nut (1) to the screw socket (4) /13/2017 TR - ELA - BA - GB Page 15 of 50

16 Commissioning 6 Commissioning 6.1 Requirements for start-up on IM-308-C In order to start up the measuring system on an IM-308-C, the following minimum requirements must be met : COM-ET-200 for Windows Version 2.0 or higher. IM-308-C Edition 3 or higher. Device master file, Type file for COM-ET-200 for Windows. 6.2 Requirements for start-up on SIMATIC-S7 In order to start up the measuring system on a programmable controller of the SIMATIC S7 type, the following minimum requirements must be met: STEP-7 for Windows Version 2.1 Edition 4 or higher. The Version 2.1 basic package supplied by Siemens does not support the parameterization function via input masks! SIMATIC S7-300 or S7-400 with PROFIBUS-DP interface. Device master file, Type file for COM-ET-200 for Windows. Page 16 of 50 TR - ELA - BA - GB /13/2017

17 6.3 Device Master File (GSD), Type file In order to achieve a simple plug-and-play configuration for PROFIBUS, the characteristic communication features for PROFIBUS devices were defined in the form of an electronic device datasheet (device master file, GSD file). The defined file format allows the projection system to easily read the device master data of the PROFIBUS measuring system and automatically take it into account when configuring the bus system. The GSD file is a component of the measuring system. Download: TR02AAAC.GSD, standard: TR03AAAC.GSD, with speed output for LA-46 and LP-46 systems: In case of other measuring systems the module TR-extended+Speed 32Bit must not be projected. TRAAAC2X.200, type file: The measuring system also includes two bitmap files with the names "TRAAAC2N.BMP" and "TRAAAC2S.BMP", which show the measuring system in normal operation as well as with a fault. System Configuration PROFIBUS Configurator PLC Electronic Device Data Sheets (GSD Files) PROFIBUS Figure 1: GSD for the configuration 6.4 PNO ID number Every PROFIBUS slave and every Class 1 master must have an ID number. It is required so that a master can identify the type of the connected device without significant protocol overhead. The master compares the ID numbers of the devices connected with the ID numbers of the projection data specified in the projection tool. The transfer of utility data only starts once the correct device types have been connected with the correct station addresses on the bus. This achieves a high level of security against projection errors. The measuring system has the PNO ID number AAAC (hex). This number is reserved and is stored at the PNO. 02/13/2017 TR - ELA - BA - GB Page 17 of 50

18 Commissioning 6.5 Starting up on the PROFIBUS Before the measuring system can be accepted for "Data_Exchange", the master must firstly initialize the measuring system at start-up. The resulting data exchange between the master and the measuring system (slave) is divided into the parameterization, configuration and data transfer phases. It is checked whether the projected nominal configuration agrees with the actual device configuration. The device type, the format and length information as well as the number of inputs and outputs must agree in this check. The user is therefore reliably protected against parameterization errors. If the check was successful, it is switched over into the DDLM_Data_Exchange mode. In this mode, the measuring system e.g. sends its actual position, and the preset adjustment function can be performed. DP Watchdog Power On/ Reset Initialization WPRM Parameter not ok Configuration not ok Parameter ok WCFG Unlock Configuration not ok Parameter not ok Output length false Configuration ok DXCHG WPRM = Wait Parameter WCFG = Wait Configuration DXCHG = Data Exchange Parameter and Configuration ok Outputs Receiver/ Return Inputs Figure 2: DP slave initialization Page 18 of 50 TR - ELA - BA - GB /13/2017

19 6.6 Bus status display The measuring system has two LEDs in the connection hood. A red LED (Bus Fail) to display faults and a green LED (Bus Run) to display status information. When the measuring system starts up, both LEDs flash briefly. The display then depends on the operational state. = ON = OFF = 1 Hz = 10 Hz LED, green Bus Run Ready for operation Supply absent, hardware error Parameterization or configuration error LED, red Bus Fail No error, bus in cycle Measuring system is not addressed by the master, no data exchange Measuring system in Data Exchange, but no magnet was detected. Corresponding measures in case of an error see chapter Troubleshooting and diagnosis options, page /13/2017 TR - ELA - BA - GB Page 19 of 50

20 Parameterization and configuration 7 Parameterization and configuration Parameterization Parameterization means providing a PROFIBUS-DP slave with certain information required for operation prior to commencing the cyclic exchange of process data. The measuring system requires e.g. data for Resolution, Count direction etc. Normally the configuration program provides an input mask for the PROFIBUS-DP master with which the user can enter parameter data or select from a list. The structure of the input mask is stored in the device master file. The number and type of the parameter to be entered by the user depends on the choice of nominal configuration. The configuration described as follows contains configuration and parameter data coded in their bit and byte positions. This information is e.g. only of significance in troubleshooting or with bus master systems for which this information has to be entered manually. Modern configuration tools provide an equivalent graphic interface for this purpose. Here the bit and byte positions are automatically managed in the "background". The configuration example on page 38 illustrates this again. Configuration The definition of the I/O length, I/O data type etc. takes place automatically for most bus masters. This information only has to be entered manually for a few bus masters. Configuration means that the length and type of process data must be specified and how it is to be treated. The configuration program normally provides an input list for this purpose, in which the user has to enter the corresponding identifiers. As the measuring system supports several possible configurations, the identifier to be entered is preset dependent on the required nominal configuration, so that only the I/O addresses need to be entered. The identifiers are stored in the device master file. The measuring system uses a different number of input and output words on the PROFIBUS dependent on the required nominal configuration. Structure of the configuration byte (compact format): Length of the I/O data: Type of I/O data: 0-15 for 1 to 16 bytes or words 00 = empty, 01 = input, 10 = output, 11 = input/output Format: 0 = BYTE, 1 = WORD Consistency: 0 = Consistency about one byte or word 1 = Consistency about the complete module Page 20 of 50 TR - ELA - BA - GB /13/2017

21 7.1 Overview Configuration Operating parameters * Length Features PNO Class 1 Page 22 - Code sequence 16 bit IN PNO Class 1 Page 23 - Code sequence 32 bit IN - No measuring system scaling, the measuring system has the base resolution according to the nameplate - 16 byte diagnosis data - Code sequence - Code sequence PNO Class 2 Page 24 - Class 2 functionality - Scaling function - Total measuring range 16 bit IN 16 bit OUT - Measuring system scaling is possible PNO Class 2 Page 26 - Code sequence - Class 2 functionality - Scaling function - Total measuring range 32 bit IN 32 bit OUT - Preset adjustment via the bus - Code sequence TR-extended 32 Bit Page 28 - Code sequence - Class 2 functionality - Scaling function - Diagnostic alarm - Total measuring range - Preset value 32 bit IN 32 bit OUT - Measuring system scaling possible - Preset adjustment via the bus - Code sequence - Preselection of the values for the external Preset inputs, depends on the type of measuring system TRextended+Speed 32 Bit Page 31 - Code sequence - Class 2 functionality - Scaling function - Diagnostic alarm - Total measuring range - Preset value - Speed resolution 32 bit IN 16 bit IN 32 bit OUT - Measuring system scaling possible - Preset adjustment via the bus - Code sequence - Preselection of the values for the external Preset inputs, depends on the type of measuring system - Speed output * from the bus master perspective 02/13/2017 TR - ELA - BA - GB Page 21 of 50

22 Parameterization and configuration 7.2 PNO CLASS 1 16 bits Data exchange DDLM_Data_Exchange Input word IWx Byte 1 2 Bit Data Data_Exchange Position data Configuration data see note on page 20 Device Class 1: 0xD0 (1 word input data for position value, consistent) DDLM_Chk_Cfg Byte 1 Bit Data D 0 Consistency Word format Input data Length code Overview of operating parameters see note on page 20 DDLM_Set_Prm Byte 9 Bit 7 0 Data Bit Definition = 0 (DEFAULT) = 1 Page 0 Code sequence increasing position values to the rod end decreasing position values to the rod end 35 Page 22 of 50 TR - ELA - BA - GB /13/2017

23 7.3 PNO CLASS 1 32 bits Data exchange DDLM_Data_Exchange Input double word IDx Byte Bit Data Data_Exchange Position data Configuration data see note on page 20 Device Class 1: 0xD1 (1 double word input data for position value, consistent) DDLM_Chk_Cfg Byte 1 Bit Data D 1 Consistency Word format Input data Length code Overview of operating parameters see note on page 20 DDLM_Set_Prm Byte 9 Bit 7 0 Data Bit Definition = 0 (DEFAULT) = 1 Page 0 Code sequence increasing position values to the rod end decreasing position values to the rod end 35 02/13/2017 TR - ELA - BA - GB Page 23 of 50

24 Parameterization and configuration 7.4 PNO CLASS 2 16 bits Data exchange DDLM_Data_Exchange Input word IWx Byte 1 2 Bit Data Data_Exchange Position data Format for preset adjustment value (description of the function see page 34) Output word OWx Byte 1 2 Bit Data 0 / Preset execution Preset adjustment value Configuration data see note on page 20 Device Class 2: 0xF0 (1 word input data for position value, consistent / 1 word output data for preset adjustment, consistent) DDLM_Chk_Cfg Byte 1 Bit Data F 0 Consistency Word format Input data Length code Page 24 of 50 TR - ELA - BA - GB /13/2017

25 Overview of operating parameters see note on page 20 Bit coded operating parameters DDLM_Set_Prm Byte 9 Bit 7 0 Data x = default setting Bit Definition = 0 = 1 Page 0 Code sequence increasing position values to the rod end X decreasing position values to the rod end 1 Class 2 Functionality no X yes 35 2 unused Scaling function switched off X switched on Associated operating parameters for scaling Description see page 35, 36 DDLM_Set_Prm unsigned32 Byte Bit Data Default (dec.) 0 Steps per revolution, unused DDLM_Set_Prm unsigned32 Byte Bit Data hi lo 0x00 0x01 0x86 0xA0 Default (dec.) Total measuring range, hi/lo 02/13/2017 TR - ELA - BA - GB Page 25 of 50

26 Parameterization and configuration 7.5 PNO CLASS 2 32 bits Data exchange DDLM_Data_Exchange Input double word IDx Byte Bit Data Data_Exchange Position data Format for preset adjustment value (description of the function see page 34) Output double word ODx Byte Bit Data 0 / Preset execution Preset adjustment value Configuration data see note on page 20 Device Class 2: 0xF1 (1 double word input data for position value, consistent / 1 double word output data for preset adjustment, consistent) DDLM_Chk_Cfg Byte 1 Bit Data F 1 Consistency Word format Input data Length code Page 26 of 50 TR - ELA - BA - GB /13/2017

27 Overview of operating parameters see note on page 20 Bit coded operating parameters DDLM_Set_Prm Byte 9 Bit 7 0 Data x = default setting Bit Definition = 0 = 1 Page 0 Code sequence increasing position values to the rod end X decreasing position values to the rod end 1 Class 2 Functionality no X yes 35 2 unused Scaling function switched off X switched on Associated operating parameters for scaling Description see page 35, 36 DDLM_Set_Prm unsigned32 Byte Bit Data Default (dec.) 0 Steps per revolution, unused DDLM_Set_Prm unsigned32 Byte Bit Data hi lo 0x00 0x01 0x86 0xA0 Default (dec.) Total measuring range, hi/lo 02/13/2017 TR - ELA - BA - GB Page 27 of 50

28 Parameterization and configuration 7.6 TR-extended 32 Bit Data exchange DDLM_Data_Exchange Input double word IDx Byte Bit Data Data_Exchange Position data Format for preset adjustment value (description of the function see page 34) Output double word ODx Byte Bit Data 0 / Preset execution Preset adjustment value Configuration data see note on page 20 TR-extended: 0xF1 (1 double word input data for position value, consistent / 1 double word output data for preset adjustment, consistent) DDLM_Chk_Cfg Byte 1 Bit Data F 1 Consistency Word format Input data Length code Page 28 of 50 TR - ELA - BA - GB /13/2017

29 Overview of operating parameters see note on page 20 Parameter Data type Byte Format Description Code sequence bit 9 page 29 page 35 Class 2 functionality bit 9 page 29 page 35 Scaling function bit 9 page 29 page 35 Diagnostic alarm bit 9 page 29 page 35 Total measuring range, hi/lo unsigned page 30 page 36 Preset 1 value, hi/lo unsigned page 30 page 36 Bit coded operating parameters DDLM_Set_Prm Byte 9 Bit 7 0 Data x = default setting Bit Definition = 0 = 1 Page 0 Code sequence increasing position values to the rod end X decreasing position values to the rod end 35 1 Class 2 functionality no X yes 35 2 Diagnostic alarm switched off X switched on 35 3 Scaling function switched off X switched on 35 02/13/2017 TR - ELA - BA - GB Page 29 of 50

30 Parameterization and configuration Associated operating parameters for scaling Description see page 35, 36 DDLM_Set_Prm unsigned32 Byte Bit Data Default (dec.) 0 Steps per revolution, unused DDLM_Set_Prm unsigned32 Byte Bit Data hi lo 0x00 0x01 0x86 0xA0 Default (dec.) Total measuring range, hi/lo Operating parameter Preset 1 value, hi/lo Description see page 36 DDLM_Set_Prm unsigned32 Byte Bit Data hi lo 0x00 0x00 0x00 0x01 Default (dec.) 1 Preset 1 value, hi/lo Page 30 of 50 TR - ELA - BA - GB /13/2017

31 7.7 TR-extended + Speed 32 Bit Starting from GSD file "TR03AAAC.GSD" / 02/17/2005 Data exchange DDLM_Data_Exchange Input double word IDx Byte Bit Data Input word IWx Data_Exchange Position data Byte 1 2 Bit Data Data_Exchange Speed output Format for preset adjustment value (description of the function see page 34) Output double word ODx Byte Bit Data 0 / Preset execution Preset adjustment value Configuration data see note on page 20 TR-extended+Speed: 0xF1 (1 double word input data for position value, consistent / 1 double word output data for preset adjustment, consistent) 0xD0 (1 word input data for speed output, consistent) DDLM_Chk_Cfg Byte 1 Bit Data F 1 Consistency Word format Input data Length code DDLM_Chk_Cfg Byte 1 Bit Data D 0 Consistency Word format Input data Length code 02/13/2017 TR - ELA - BA - GB Page 31 of 50

32 Parameterization and configuration Overview of operating parameters see note on page 20 Parameter Data type Byte Format Description Code sequence bit 9 page 32 page 35 Class 2 functionality bit 9 page 32 page 35 Scaling function bit 9 page 32 page 35 Diagnostic alarm bit 9 page 32 page 35 Total measuring range, hi/lo unsigned page 33 page 36 Preset 1 value, hi/lo unsigned page 33 page 36 Speed resolution unsigned8 22 page 33 page 37 Bit coded operating parameters DDLM_Set_Prm Byte 9 Bit 7 0 Data x = default setting Bit Definition = 0 = 1 Page 0 Code sequence increasing position values to the rod end X decreasing position values to the rod end 35 1 Class 2 functionality no X yes 35 2 Diagnostic alarm switched off X switched on 35 3 Scaling function switched off X switched on 35 Page 32 of 50 TR - ELA - BA - GB /13/2017

33 Associated operating parameters for scaling Description see page 35, 36 DDLM_Set_Prm unsigned32 Byte Bit Data Default (dec.) 0 Steps per revolution, unused DDLM_Set_Prm unsigned32 Byte Bit Data hi lo 0x00 0x01 0x86 0xA0 Default (dec.) Total measuring range, hi/lo Operating parameter Preset 1 value, hi/lo Description see page 36 DDLM_Set_Prm unsigned32 Byte Bit Data hi lo 0x00 0x00 0x00 0x01 Default (dec.) 1 Preset 1 value, hi/lo Operating parameter Speed resolution Description see page 37 DDLM_Set_Prm unsigned8 Byte 22 Bit 7 0 Data Default (dec.) 1 02/13/2017 TR - ELA - BA - GB Page 33 of 50

34 Parameterization and configuration 7.8 Preset adjustment function Risk of injury and damage to property by an actual value jump when the Preset adjustment function is performed! The preset adjustment function should only be performed when the measuring system is at rest, otherwise the resulting actual value jump must be permitted in the program and application! Availability PNO CLASS PNO CLASS X TR-extended X TR-extended+Speed X not supported! page page 28 page 31 In order that the preset adjustment function can be used in PNO CLASS 2 configurations, the operating parameter "Class 2 functionality" must be switched on! The measuring system can be adjusted to an arbitrary position value in the range 0 to measurement length in steps via the PROFIBUS. This is achieved by setting the highest value output data bit (2 31 for PNO CLASS 2-32 bit configurations and TR-extended, or 2 15 for the PNO CLASS 2-16 bit configuration). The preset adjustment value sent in the data bytes with the rising flank of the bit "preset execution" is adopted as the position value. There is no acknowledgement of the process via the inputs in CLASS 2 mode. lower limit 0 upper limit CLASS 2 16 Bit upper limit CLASS 2 32 Bit / TR-extended programmed total measuring length in increments, within programmed total measuring length in increments, within Page 34 of 50 TR - ELA - BA - GB /13/2017

35 7.9 Description of the operating parameters Code sequence Availability PNO CLASS X PNO CLASS X TR-extended X TR-extended+Speed X page page page 28 page 31 The code sequence defines whether increasing or decreasing position values are output from the measuring system if the magnet is slided towards the end of the rod Class 2 Functionality Availability PNO CLASS PNO CLASS X TR-extended X TR-extended+Speed X not supported! page page 28 page 31 Defines the functional scope of the measuring system. Class 2 switched off means only Class 1 functions are active in the measuring system; it does not scale the position value and is not adjustable. The diagnosis data are limited to 16 byte Diagnostic alarm Availability PNO CLASS PNO CLASS TR-extended X TR-extended+Speed X not supported! not supported! page 28 page 31 Defines whether the measuring system triggers a "diagnosis alarm" (OB82 for SIMATIC S7) for an internal error (no magnet detected), also see Chapter "Alarms", page Scaling function Availability PNO CLASS PNO CLASS X TR-extended X TR-extended+Speed X not supported! page page 28 page 31 Defines whether the position is scaled according to the parameter "Total measuring range". If Class 2 is switched off, the position value cannot be scaled or adjusted. If the scaling parameters are activated with the Scaling function, the physical resolution of the measuring system can be changed. The position value output is binary decoded and is calculated with a zero point correction and the code sequence set. 02/13/2017 TR - ELA - BA - GB Page 35 of 50

36 Parameterization and configuration Total measuring range, hi/lo Defines the Total number of steps of the measuring system related to the measuring length and corresponds to the resolution. lower limit upper limit PNO CLASS 2 16 Bit upper limit PNO CLASS 2 32 Bit / TR-extended 1 step steps default steps (24 bit) Standard value: The given measuring length on the rating plate multiplied with 100 corresponding to the resolution of 0.01 mm or multiplied with 200 corresponding to the resolution of mm Measuring length in steps = Measuring length Resolution in mm Preset 1 value, hi/lo Risk of injury and damage to property by an actual value jump when the Preset adjustment function is performed! The preset adjustment function should only be performed when the measuring system is at rest, otherwise the resulting actual value jump must be permitted in the program and application! Availability PNO CLASS PNO CLASS TR-extended X TR-extended+Speed X not supported! not supported! page 28 page 31 Defines the position value to which the measuring system is adjusted with the leading edge of the external preset input. To suppress interference, however, the preset is only carried out if the preset signal is present without interruption during the entire response time of 30 ms. A re-execution of the preset is not possible until the input signal has been reset again and a filter time of 30 ms has been waited. lower limit 0 upper limit CLASS 2 16 Bit upper limit CLASS 2 32 Bit / TR-extended default 1 programmed total measuring length in increments, within programmed total measuring length in increments, within Page 36 of 50 TR - ELA - BA - GB /13/2017

37 7.9.7 Speed resolution, 0.1mm/s Starting from GSD file "TR03AAAC.GSD" / 02/17/2005. Usable for linear-encoder with speed-output. Availability PNO CLASS PNO CLASS TR-extended TR-extended+Speed X not supported! not supported! not supported! page 31 With this parameter, the resolution of the speed output in 0.1mm/s is defined: 1 = 0.1 mm/s 10 = 1.0 mm/s Input of parameters with data format 32 bits The Profibus standard provides the data format "UNSIGNED32" for the definition of 32 bits of parameter data in the device master file. This data format isn't supported by all configuration programs for profibus master. These programs clip the more significant word of the parameter. In order to allow inputs despite this, these parameters are split up into single words. Illogically enough, the input in the input masks also has to be made in decimal form. This affects the following parameters: Total measuring range [units] Preset 1 value In the meantime, we recommend the following procedure for entering measuring lengths in increments larger than 16 bits: 1. Convert the desired measuring length in increments to a hexadecimal figure using a calculator and store this figure. 2. Convert only the four less significant tetrads (figures) back to decimal format separately. This gives you the input 'Total measuring range [units] lo' 3. Convert only the remaining more significant tetrads (figures) back to decimal format separately. This gives you the input 'Total measuring range [units] hi' Example: Total measuring length in increments: converted to hexadecimals: results in four less significant tetrads: and remaining more significant tetrads: (D) A0 37A0 (H) 37A0 (H) A0 (H) Total measuring range [units] lo: (D) (=37A0 (H)!) Total measuring range [units] hi: 160 (D) (=A0 (H)!) 02/13/2017 TR - ELA - BA - GB Page 37 of 50

38 Parameterization and configuration 7.10 Configuration example, SIMATIC Manager V5.3 For the configuration example, it is assumed that the hardware configuration has already taken place. The CPU315-2 DP with integrated PROFIBUS-interface is used as CPU. File names and entries in the following masks are to be regarded only as examples of the procedure. For the GSD file to be transferred to the catalogue, it must first be installed: Page 38 of 50 TR - ELA - BA - GB /13/2017

39 A new entry appears in the catalogue after installation of the GSD file: PROFIBUS-DP-->Additional Field Devices-->Encoder-->TR-ELECTRONIC The entry for the GSD file TR03AAAC.GSD is: TR LA/LP PNO CL-2 The sequence of the respective configuration options is given in this entry: - PNO Class 1 16 bit, see page 22 - PNO Class 1 32 bit, see page 23 - PNO Class 2 16 bit, see page 24 - PNO Class 2 32 bit, see page 26 - TR-extended 32 bit, see page 28 - TR-extended+Speed 32 bit, see page 31 The entry for the GSD file TR02AAAC.GSD is: TR LAxxx PNO CL-2, but no speed output is supported. The entry Universal module is erroneously available for some systems, but must not be used! 02/13/2017 TR - ELA - BA - GB Page 39 of 50

40 Parameterization and configuration Connect measuring system to the master system (drag&drop): Once the measuring system is connected to the master system, the network settings can be undertaken --> Object Properties... --> PROFIBUS... button): Page 40 of 50 TR - ELA - BA - GB /13/2017

41 Transfer the required configuration from the catalogue to the slot (drag&drop). The measuring system symbol must be active. Perform parameterization with a double click on the slot number: 02/13/2017 TR - ELA - BA - GB Page 41 of 50

42 Troubleshooting and diagnosis options 8 Troubleshooting and diagnosis options 8.1 Optical displays, LEDs Statuses of the green LED (Bus Run) Green LED Cause Remedy Voltage supply absent Check voltage supply wiring Station address incorrectly set Set station address (valid values 3-99!) Off 10 Hz On Bus hood not correctly connected and screwed on Bus hood defective Hardware fault, measuring system defective Parameter or configuration error. The measuring system is running at the bus. Measuring system ready for operation Check bus hood for correct fitting Replace bus hood Replace measuring system Check parameterization and configuration, see chap. 7 from page 20 Statuses of the red LED (Bus Fail) Red LED Cause Remedy Off 1 Hz No error, bus in cycle Measuring system has not been addressed by the master, no Data Exchange Check station address set. Check projection and operating status of the PROFIBUS master. Check connection to the master. On Measuring system in Data Exchange, but no magnet was detected. Slide magnet into measuring range. Page 42 of 50 TR - ELA - BA - GB /13/2017

43 Extended diagnosis Standard diagnosis 8.2 Use of the PROFIBUS diagnosis In a PROFIBUS system, the PROFIBUS masters provides the so-called host system, e.g. a PLC-CPU, with process data. If there is no slave on the bus or it is no longer accessible, or the slave reports a fault itself, the master must notify the host system of the fault in one form or another. There are several possibilities here, whose evaluation is solely decided by the application in the host system. Generally a host system is not stopped by the failure of just one component on the bus, but must react to the failure in an appropriate way in accordance with the safety regulations. Normally the master firstly provides the host system with a summary diagnosis, which the host system reads cyclically from the master, and through which the user is informed of the state of the individual clients on the bus. If a client is reported defective in the summary diagnosis, the host can request further data from the master (slave diagnosis), which then allows a detailed evaluation of the reasons for the fault. The reports obtained in this way can be generated from the master if the affected slave fails to respond to the master's polling or they may come directly from the slave if it reports a fault itself. The generation or reading of a diagnosis report between the master and slave takes place automatically and does not need to be programmed by the user. Besides the standard diagnosis information, depending on the nominal configuration, the measuring system can also provide an extended diagnosis report according to CLASS 1 or CLASS 2 of the profile for encoders from the PROFIBUS User Organization Standard diagnosis The DP standard diagnosis is structured as follows. The perspective is always as viewed from the master to the slave. Byte no. Significance byte 1 station status 1 byte 2 station status 2 byte 3 station status 3 general part byte 4 byte 5 byte 6 byte 7 byte 8 master address manufacturer's identifier HI byte manufacturer's identifier LO byte length (in bytes) of the extended diagnosis including this byte to byte 241 (max) further device-specific diagnosis device-specific extensions 02/13/2017 TR - ELA - BA - GB Page 43 of 50

44 Standard diagnosis byte 3 Standard diagnosis byte 2 Standard diagnosis byte 1 Troubleshooting and diagnosis options Station status 1 bit 7 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit 0 Master_Lock Parameter_Fault Invalid_Slave_Response Not_Supported Ext_Diag Slave_Cfg_Chk_Fault Station_Not_Ready Station_Non_Existent Slave has been parameterized from another master (bit is set by the master) The parameter telegram last sent has been rejected by the slave Is set by the master, if the slave does not respond Slave does not support the requested functions. Bit = 1 means an extended diagnosis report from the slave is waiting The configuration identifier(s) sent from the master has (have) been rejected by the slave Slave is not ready to exchange cyclical data The slave has been projected, but is not available on the bus Station status 2 bit 7 Deactivated Slave was removed from the poll list from the master bit 6 Reserved bit 5 Sync_Mode Is set by the slave after receipt of the SYNC command bit 4 Freeze_Mode Is set by the slave after receipt of the FREEZE command bit 3 WD_On The response monitoring of the slave is activated bit 2 Slave_Status Always set for slaves bit 1 Stat_Diag Static diagnosis bit 0 Prm_Req The slave sets this bit if it has to be re-parameterized and reconfigured Station status 3 bit 7 Ext_Diag_Overflow Overrun for extended diagnosis bit 6-0 Reserved Page 44 of 50 TR - ELA - BA - GB /13/2017

45 Master address Standard diagnosis byte 4 The slave enters the station address of the master into this byte, after the master has sent a valid parameterization telegram. To ensure correct function on the PROFIBUS it is imperative that, in the case of simultaneous access of several masters, their configuration and parameterization information exactly matches Manufacturer's identifier Standard diagnosis byte The slave enters the manufacture's ID number into the bytes. This is unique for each device type and is reserved and stored by the PNO. The ID number of the encoder is AAAC(h) Length (in bytes) of the extended diagnosis Standard diagnosis byte 7 If further diagnosis informations are available, the slave enters the number of bytes at this location, which follow in addition to the standard diagnosis. 02/13/2017 TR - ELA - BA - GB Page 45 of 50

46 Extended diagnosis, byte 8 Extended diagnosis Troubleshooting and diagnosis options Extended diagnosis The measuring system also provides a DP standard extended diagnosis report in accordance with the PNO profile for encoders. This report is of varying size dependent on the nominal configuration selected. In "TR-extended " configurations, the diagnosis report corresponds to PNO Class 2. The following pages present an overview of the diagnosis information to be obtained. The individual measuring system options actually supported can be read from the respective device. Byte no. Significance Class byte 7 Length (in byte) of the extended diagnosis 1/2/TR byte 8 Alarms 1/2/TR byte 9 Operating status 1/2/TR byte 10 Encoder type 1/2/TR byte Encoder resolution in steps per revolution (rotational) Encoder resolution in measurement steps (linear) 1/2/TR byte Number of resolvable revolutions 1/2/TR byte 17 Additional alarms 2/TR byte Alarms supported 2/TR byte Warnings 2/TR byte Warnings supported 2/TR byte Profile version 2/TR byte Software version (firmware) 2/TR byte Operating hours counter 2/TR byte Offset value 2/TR byte Manufacturer's offset value 2/TR byte Number of steps per revolution 2/TR byte Total measuring range in steps 2/TR byte Serial number 2/TR byte reserved Optional byte Manufacturer's diagnoses Optional Alarms Bit Significance = 0 = 1 bit 0 Position error No Yes bit 1 Voltage supply faulty No Yes bit 2 Current load too large No Yes bit 3 Diagnosis OK error bit 4 Memory error No Yes bit 5 not used bit 6 not used bit 7 not used Page 46 of 50 TR - ELA - BA - GB /13/2017