Document Outline

• Contents
• List of tables
• List of figures
• 1 General information
  • 1.1 Encoder gateway
  • 1.2 Absolute encoders
  • 1.3 PROFIBUS technology
    • 1.3.1 PROFIBUS DP functionality levels
  • 1.4 References
    • 1.4.1 Abbreviations
• 2 Encoder gateway installation
  • 2.1 Settings inside the gateway
    • 2.1.1 Node address
    • 2.1.2 Bus termination
  • 2.2 Power supply
  • 2.3 BUS lines
  • 2.4 Shielding philosophy
  • 2.5 GSD file
  • 2.6 LED indication
• 3 Absolute encoder installation
  • 3.1 Settings inside the encoder
    • 3.1.1 Node address
    • 3.1.2 Bus termination
  • 3.2 Connecting the encoder
    • 3.2.1 Bus lines
  • 3.3 Shielding philosophy
  • 3.4 GSD file
  • 3.5 LED indication
• 4 Configuration example
  • 4.1 Device description file installation (GSD-file)
  • 4.2 Setting the encoder gateway configuration
  • 4.3 Setting encoder gateway parameters
  • 4.4 Isochrone mode parameter settings -BUS
  • 4.5 Isochrone mode parameter settings DPV2 slave
• 5 PROFIBUS IO data description
  • 5.1 Encoder profile for PROFIBUS version 4.1
  • 5.2 Application class definition
  • 5.3 Standard signals
  • 5.4 Standard telegrams
    • 5.4.1 Standard telegram 81
    • 5.4.2 Standard telegram 82
    • 5.4.3 Standard telegram 83
    • 5.4.4 Standard telegram 84
  • 5.5 Format of G1_XIST1 and G1_XIST2
  • 5.6 Format of G1_XIST3
  • 5.7 Control word 2 (STW2_ENC)
  • 5.8 Status word 2 (ZSW2_ENC)
  • 5.9 Control word (G1_STW)
  • 5.10 Status word (G1_ZSW)
  • 5.11 Isochronous operation
• 6 Alarms and warnings
  • 6.1 Alarm mechanism
  • 6.2 Channel related diagnosis
  • 6.3 Faults
  • 6.4 Error message
• 7 Acyclic parameter data
  • 7.1 Acyclic data exchange
  • 7.2 Identification and Maintenance (I&M functions)
  • 7.3 Base mode parameter access
    • 7.3.1 General characteristics
    • 7.3.2 Parameter requests and responses
    • 7.3.3 Changing the preset value
    • 7.3.4 Reading the preset value
  • 7.4 Detailed description of supported parameters
    • 7.4.1 Parameter 918, read only
    • 7.4.2 Parameter 922, read only
    • 7.4.3 Parameter 925, read/write
    • 7.4.4 Parameter 964, read only
    • 7.4.5 Parameter 965, read only
    • 7.4.6 Parameter 971, read/write
    • 7.4.7 Parameter 974, read only
    • 7.4.8 Parameter 975, read only
    • 7.4.9 Parameter 979, read only
    • 7.4.10 Parameter 980, read only
    • 7.4.11 Parameter 65000 read/write
    • 7.4.12 Parameter 65001, read only
    • 7.4.13 Parameter 65002, read/write
    • 7.4.14 Parameter 65003, read only
  • 7.5 Example of reading and writing to a parameter
    • 7.5.1 Used blocks
• 8 Functionality in the PROFIBUS DPV2 device
  • 8.1 Code sequence
  • 8.2 Class 4 functionality
  • 8.3 G1_XIST1 Preset control
  • 8.4 Scaling function control
  • 8.5 Alarm channel control
  • 8.6 Compatibility mode
  • 8.7 Preset value
  • 8.8 Scaling function parameters
    • 8.8.1 Measuring units per revolution
    • 8.8.2 Total measuring range
  • 8.9 Maximum master sign-of-life failures
  • 8.10 Velocity measuring units
  • 8.11 Encoder profile version
  • 8.12 Operating time
  • 8.13 Offset value
  • 8.14 Acyclic data
    • 8.14.1 PROFIdrive parameters
    • 8.14.2 Encoder parameter numbers
    • 8.14.3 Parameters 6500 and 65002 -Preset value
    • 8.14.4 Parameter 65001 operating status parameter structure
    • 8.14.5 Encoder specific parameter 65003- Operating status 64 bit structure
    • 8.14.6 I&M functions
• 9 Encoder state machine
  • 9.1 Normal operation state
    • 9.1.1 Profile version 4.x
    • 9.1.2 Profile version 3.x
    • 9.1.3 Profile version 3.x and 4.x
  • 9.2 Parking state
  • 9.3 Set/shift home position (Preset)
    • 9.3.1 Preset depending on different telegrams
    • 9.3.2 Absolute preset with negative value
  • 9.4 Error state
  • 9.5 Error acknowledgement
  • 9.6 Start up
• 10 Revision history
• Figure 1 Placement of screws
• Figure 2 PCB-view of a cable gland PROFIBUS gateway
• Figure 3 Orientation of M12 power supply connector
• Figure 4 Terminal connections of power supply cables
• Figure 5 Orientation of M12 bus connectors
• Figure 6 PCB-view of a cable gland encoder
• Figure 7 Orientation of M12 power supply connector
• Figure 8 Terminal connections of power supply cables
• Figure 9 Orientation of M12 bus connectors
• Figure 10 Terminal connections of bus line cables
• Figure 11 Overview of encoder profiles
• Figure 12 Absolute value in G1_XIST1
• Figure 13 Absolute value in G1_XIST2
• Figure 14 Sequence of the DP-cycle in isochronous mode
• Figure 15 DB1, request data block
• Figure 16 DB2, response data block
• Figure 17 DB3, instance data block of SFB52
• Figure 18 DB4, instance data block of SFB53
• Figure 19 OB1, read and write operation
• Figure 20 Diagnostic address of slot 1
• Figure 21 Variable table
• Figure 22 Cyclic scaling
• Figure 23 Non-cyclic scaling G1_XIST 1 Preset control enabled
• Figure 24 Non-cyclic scaling G1_XIST 1 Preset control disabled