HEIDENHAIN PROFINET User Manual

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Table of contents

Document Outline

Figure 1 Bus connectors
Figure 2 Power supply connector
Figure 3 Installation of GSDML file
Figure 4 Encoder configuration
Figure 5 Example of connected encoder
Figure 6 Telegram selection
Figure 7 Selected telegram
Figure 8 How to set encoder device name
Figure 9 Device name
Figure 10 Assign device name
Figure 11 Assign name
Figure 12 How to verify device name
Figure 13 Verify device name
Figure 14 Parameter Access point
Figure 15 Parameter data
Figure 16 Save and compile
Figure 17 Download settings
Figure 18 Open Interface properties
Figure 19 RT Class option
Figure 20 Interface properties
Figure 21 IO Cycle properties
Figure 22 Port settings
Figure 23 Topology settings
Figure 24 Domain management
Figure 25 Overview of encoder profiles
Figure 26 Absolute value in G1_XIST1
Figure 27 Absolute value in G1_XIST2
Figure 28 Real time Communication
Figure 29 Request data block, DB1
Figure 30 Response data block, DB2
Figure 31 Instance data block, DB3
Figure 32 Instance data block, DB
Figure 33 Organization block, OB1
Figure 34 Diagnostic address of slot 1
Figure 35 Variable table
Figure 36 Cyclic operation
Figure 37 Non cyclic operation, preset control enabled
Figure 38 Non cyclic operation, preset control disabled
Figure 39 Firmware upgrade startpage
Figure 40 Firmware upgrade settings
- User's ManualPROFINET Interface for Encoders
- of tables
- of figures
  - - 1.1 About absolute encoders
      - 1.2 About PROFINET technology
        
        1.3 Encoder Profiles
        
        1.4 References
        
        1.5 Abbreviations
        
        2.1 Cables and standards
        
        2.2 Connectors and pin configuration
        
        2.3 Shielding concept of the encoder
        
        2.4 MAC-address
        
        2.5 LED indication
        
        example
        
        3.1 Device description file installation (GSDML)
        
        3.2 Setting encoder configuration
        
        3.3 Setting encoder device name
        
        3.4 Setting encoder parameters
        
        3.5 Isochronous real time settings (RT Class 3)
        
        IO data description
        
        4.1 Encoder profile overview, PNO order no.3.162
        
        4.2 Application Class definition
        
        4.3 Standard signals
        
        4.4 Standard telegrams
        
        4.4.1 Standard Telegram 81
        
        4.4.2 Standard Telegram 82
        
        4.4.3 Standard Telegram 83
        
        4.4.4 Standard Telegram 84
        
        4.5 Manufacturer telegram 59001
        
        4.6 Format of G1_XIST1 and G1_XIST2
        
        4.7 Format of G1_XIST3
        
        4.8 Control word 2 (STW2_ENC)
        
        4.9 Status word 2 (ZSW2_ENC)
        
        4.10 Control word (G1_STW)
        
        4.11 Status word (G1_ZSW)
        
        5.3 Sensor status word
        
        6 Acyclic Parameter Data
        
        6.1 Acyclic data exchange
        
        6.2 Identification and Maintenance (I&M functions)
        
        6.3 Base mode parameter access
        
        6.3.1 General characteristics
        
        6.3.2 Parameter requests and responses
        
        6.3.3 Changing the preset value
        
        6.3.4 Reading the preset value
        
        6.4 Supported parameters
        
        6.4.1 Parameter 922, read only
        
        6.4.2 Parameter 925, read/write
        
        6.4.3 Parameter 964, read only
        
        6.4.4 Parameter 965, read only
        
        6.4.5 Parameter 971, read/write
        
        6.4.6 Parameter 974, read only
        
        6.4.7 Parameter 975, read only
        
        6.4.8 Parameter 979, read only
        
        6.4.9 Parameter 980, read only
        
        6.4.10 Parameter 61000, read/write
        
        6.4.11 Parameter 61001, read only
        
        6.4.12 Parameter 61002, read only
        
        6.4.13 Parameter 61003, read only
        
        6.4.14 Parameter 61004, read only
        
        6.4.15 Parameter 65000 read/write
        
        6.4.16 Parameter 65001, read only
        
        6.4.17 Parameter 65002, read/write
        
        6.4.18 Parameter 65003, read only
        
        6.5 Example of reading and writing to a parameter
        
        6.5.1 Used blocs
        
        7.3 G1_XIST1 Preset control
        
        7.4 Scaling function control
        
        7.5 Alarm channel control
        
        7.6 Compatibility mode
        
        7.7 Preset value
        
        7.8 Scaling function parameters
        
        7.8.1 Measuring units per revolution
        
        7.8.2 Total measuring range
        
        7.9 Maximum Master Sign-of-Life failures
        
        7.10 Velocity measuring units
        
        7.11 Encoder profile version
        
        7.12 Operating time
        
        7.13 Offset value
        
        7.14 Acyclic data
        
        7.14.1 PROFIdrive parameters
        
        7.14.2 Encoder parameter numbers
        
        7.14.3 Parameter 65000 and 65002- Preset value
        
        7.14.4 Parameter 65001-Operating status
        
        7.14.5 Parameter 65003- operating status 64 bit
        
        7.14.6 Identification & Maintenance functions
        
        upgrade
        
        8.1 Firmware upgrade in a PROFINET network
        
        8.2 Error handling
        
        8.3 TFTP server installation
        
        replacement using LLDP
        
        state machine
        
        10.1 Normal operation state
        
        10.1.1 Profile version 4.x
        
        10.1.2 Profile version 3.x
        
        10.1.3 Profile version 3.x and 4.x
        
        10.2 Parking state
        
        10.3 Set/shift home position (Preset)
        
        10.3.1 Preset depending on different telegrams
        
        10.3.2 Absolute preset with negative value
        
        10.4 Error state
        
        10.5 Error acknowledgement
        
        10.6 Start up
        
        Table 1 Bus Connection
        
        Table 2 Power supply connection
        
        Table 3 Led indication
        
        Table 4 GSDML file
        
        Table 5 Standard signals
        
        Table 6 Output data Telegram 81
        
        Table 7 Input data Telegram 81
        
        Table 8 Output data Telegram 82
        
        Table 9 Input data Telegram 82
        
        Table 10 Output data Telegram 83
        
        Table 11 Input data Telegram 83
        
        Table 12 Output data Telegram 84
        
        Table 13 Input data Telegram 84
        
        Table 14 Format of G1_XIST3
        
        Table 15 Control word 2 (STW2_ENC)
        
        Table 16 Detailed assignment of control word 2 (STW2_ENC)
        
        Table 17 Status word 2 (ZSW2_ENC)
        
        Table 18 Detailed assignment of status word 2 (ZSW2_ENC)
        
        Table 19 Control word (G1_STW)
        
        Table 20 Status word (G1_ZSW)
        
        Table 21 Channel diagnostics
        
        Table 22 Sensor status word
        
        Table 23 Changing the preset value
        
        Table 24 Reading the preset value (request)
        
        Table 25 Reading the preset value (response)
        
        Table 26 Hardware components
        
        Table 27 Software components
        
        Table 28 Parameters of SFB52
        
        Table 29 Parameters of SFB53
        
        Table 30 Supported encoder functions
        
        Table 31 Code sequence
        
        Table 32 Class 4 functionality
        
        Table 33 G1_XIST1 Preset control
        
        Table 34 Scaling function control
        
        Table 35 Alarm channel control
        
        Table 36 Compatibility mode
        
        Table 37 Compatibility mode overview
        
        Table 38 Measuring units per revolution
        
        Table 39 Maximum master Sign of life failures
        
        Table 40 Velocity measuring units
        
        44 Supported PROFIdrive parameters
        
        45 Encoder parameter numbers
        
        46 Parameter 65000, Preset value
        
        47 Parameter 65002, Preset value 64 bit
        
        48 Parameter 65001, Operating status
        
        49 Parameter 65001, Sub index
        
        50 Parameter 65001, Sub index 1
        
        51 Parameter 65003, Operating status 64 bit
        
        52 Parameter 65003, Sub index
        
        53 Identification & Maintenance
        
        Figure 1 Bus connectors
        
        Figure 2 Power supply connector
        
        Figure 3 Installation of GSDML file
        
        Figure 4 Encoder configuration
        
        Figure 5 Example of connected encoder
        
        Figure 6 Telegram selection
        
        Figure 7 Selected telegram
        
        Figure 8 How to set encoder device name
        
        Figure 9 Device name
        
        Figure 10 Assign device name
        
        Figure 11 Assign name
        
        Figure 12 How to verify device name
        
        Figure 13 Verify device name
        
        Figure 14 Parameter Access point
        
        Figure 15 Parameter data
        
        Figure 16 Save and compile
        
        Figure 17 Download settings
        
        Figure 18 Open Interface properties
        
        Figure 19 RT Class option
        
        Figure 20 Interface properties
        
        Figure 21 IO Cycle properties
        
        Figure 22 Port settings
        
        Figure 23 Topology settings
        
        Figure 24 Domain management
        
        Figure 25 Overview of encoder profiles
        
        Figure 26 Absolute value in G1_XIST1
        
        Figure 27 Absolute value in G1_XIST2
        
        Figure 28 Real time Communication
        
        Figure 29 Request data block, DB1
        
        Figure 30 Response data block, DB2
        
        Figure 31 Instance data block, DB3
        
        Figure 32 Instance data block, DB
        
        Figure 33 Organization block, OB1
        
        Figure 34 Diagnostic address of slot 1
        
        Figure 35 Variable table
        
        Figure 36 Cyclic operation
        
        Figure 37 Non cyclic operation, preset control enabled
        
        Figure 38 Non cyclic operation, preset control disabled
        
        Figure 39 Firmware upgrade startpage
        
        Figure 40 Firmware upgrade settings
        
        44 SolarWinds TFTP server settings
        
        45 LLDP Properties
        
        46 LLDP Port configuration
        
        47 LLDP Partner port settings
        
        48 Open Topology editor
        
        49 Topology editor
        
        50 Edit Ethernet node
        
        51 Factory reset
        
        52 Factory set confirmation
        
        53 Encoder state machine
        
        1.1 About absolute encodersWith an absolute encoder each angular position is assigned acoded position value generated by a code disc equipped withseveral parallel fine graduations tracks which are scanned individ-ually.On single turn encoders, i.e. an encoder producing absolutepositions within one revolution, the absolute position informationrepeats itself with every revolution. So called multi turn encoderscan also distinguish between revolutions. The numbers of uniquerevolutions is determined by the resolution of the multi turn scan-ningand repeats itself after the total resolution is reached. A ma-jorbenefit of absolute encoder type is that if the encoder losespower, the encoder is able to keep track of its position also if theshaft is turned during the power loss...
        
        & PROFINET International (PI) for automation. PROFINET usesTCP/IP and IT standards, and is in effect, real-time Ethernet. ThePROFINET concept features a modular structure so that users canselect the cascading functions themselves. They differ essentiallybecause of the type of data exchange to fulfill the partly very highrequirements of speed.In conjunction with PROFINET, the two perspectives PROFINETCBA and PROFINET IO exist. PROFINET CBA is suitable for thecomponent-based communication via TCP/IP and the real-timecommunication for real-time requirements in modular systemsengineering. Both communication options can be used in parallel.PROFINET IO was developed for real time (RT) and isochronousreal time (IRT) communication with the de-centralized periphery.The design...
        
        Ł The IO Device, which is a field device such as an encoder, mon-itoredand controlled by an IO Controller.Ł The IO Supervisor is software typically based on a PC for set-tingparameters and diagnosing individual IO Devices.An application relation (AR) is established between an IO Control-lerand an IO Device. These ARs are used to define communica-tionrelations (CR) with different characteristics for the transfer ofparameters, cyclic exchange of data and handling of alarms.The characteristics of an IO Device are described by the devicemanufacturer in a General Station Description (GSD) file. The lan-guageused for this purpose is the GSDML (GSD Markup Lan-guage)- an XML based language. The GSD file provides the su-pervisionsoftware with a basis for planning the configur...
        
        available from PROFINET for use in specific devices or appli-cationssuch as encoders. They are specified by PI (PROFIBUS &PROFINET International) working groups and published by PI. Pro-filesare important for openness, interoperability and interchange-ability,so that the end user can be sure that similar equipmentsfrom different vendors perform in a standardized way.HEIDENHAIN comply with the definitions in the encoder profile3.162, version 4.1. The encoder device profile describing encoderfunctionality and additional information about PROFINET can beordered from PROFIBUS User Organization, PNO.PROFINET is generally defined by PROFIBUS & PROFINET Inter-national(PI) and backed by the INTERBUS Club and, since 2003,is part of the IEC 61158 and IEC 61784 standards.PROFIB...
        
        D 76131 Karlsruhe Tel: +49 721 96 58
        
        Fax: + 49 721 96 58
        
        Web: www.profibus.com
        
        Order No. 3.
        
        Profile Drive Technology, PROFIdrive V4.1, PROFIBUS International, Order No. 3.
        
        PROFIBUS Encoder Profile V1.1, PROFIBUS International, Order No. 3.
        
        PROFIBUS Guidelines, Part 1: Identification & Maintenance Func-tions V1.1, PROFIBUS International, Order No. 3.
        
        PROFIBUS Guidelines, Part 3: Diagnosis, Alarms and Time Stamp-ing V1.0, PROFIBUS International, Order No. 3.
        
        PROFINET Application Layer Service Definition Application LayerProtocol Specification, Version 2.0, PROFIBUS International, Order No. 2.
        
        PROFIBUS Guidelines: PROFIBUS Interconnection Technology V1.1, PROFIBUS International, Order No. 2.
        
        PROFINET Guidelines: PROFINET Cabling and InterconnectionTechnology V1.99, PROFIBUS International, Order No. 2.
        
        IO Input/OutputDO Drive ObjectDU Drive UnitAR Application RelationCR Communication RelationMLS Master Sign-Of-LifeRT Real Time EthernetIRT Isochronous Real Time EthernetIsoM Isochronous ModeLLDP Link Layer Discovery ProtocolGSD General Station DescriptionGSDML General Station Description Markup LanguageUDP User Datagram ProtocolTCP Transmission Control ProtocolIP Internet ProtocolDHCP Dynamic Host Configuration ProtocolTFTP Trivial File Transfer ProtocolMAC Media Access Control I&M Identification & Maintenance
        
        A summary of the PROFINET guideline: PROFINET Cabling andinterconnection TechnologyV 1.99, PROFIBUS International, Order No 2.252 is provided in thissection.2.1 Cables and standardsTwo shielded copper cables twisted in pairs are defined as thenormal transmission medium for PROFINET networks. In suchnetworks the signal transmission is performed in accordance with100BASE-TX at a transmission speed of 100 Mbps (Fast-Ethernet).Only shielded cables and connecting elements are allowed in aPROFINET network. The individual components have to satisfythe requirements of Category 5 in accordance with IEC 11801. Theentire transmission path has to meet the requirements of Class Din accordance with IEC 11801. Furthermore, PROFINET cablesshall have a cable cross-section of AWG 22 i...
        
        The M12 connector used is a 4-pin female shieldedD-coded version.The correct arrangement of the bus connectors are specified asfollows: Signal Function Pin Tx+ Transmission data +
        
        Tx- Transmission data -
        
        Rx+ Receiver data +
        
        Rx- Receiver data -
        
        Table 1 Bus Connection Figure
        
        Bus connectorsNote: The encoder provides integrated switch functionalitybetween the two M12 connectors used for PROFINETcommunication. It is important to distinguish betweenthese ports when IRT-communication is used.The M12 connector used for power supply of the encoder is con-stitutedby a 4-pin male shielded A-coded version.The correct arrangement of the power supply line is specified asfollows: Signal Function Pin +E Volt Power supply
        
        Not connected -
        
        0 Volt 0 Volt
        
        Not connected -
    - Table 2 Power supply connection Port 2 Port
      - Supply
        
        high levels of electromagnetic disturbance. Switching large elec-tricalloads creates high interference levels that can be picked upin various ways by electronic devices with detrimental effects.Even under such conditions, electric components within an auto-mationsystem must still guarantee a continuous, uninterruptedfunction.The electromagnetic compatibility (EMC) of the entire plant mustbe ensured by using suitably designed components and assem-blingthem correctly to make up the system. Data cabling is con-sideredas a passive system and cannot be tested for EMC com-plianceindividually. Nevertheless, cabling and connection ele-mentsfor PROFINET supports compliance with devices require-mentsby providing a high-quality, comprehensive shielding con-cept.To achieve the h...
        
        encoders two bi-colored LEDs.Module Meaning CauseOff No powerGreen No connection to anoth-erdevice.Criteria: No data ex-change - bus disconnected- Master not availble/switched offred Green Parameterization fault,no data exchangeCriteria: Data exchangecorrect, however the en-coderdid not switch tothe data exchange mode - Slave not configuredyet or wrong configu-ration- Wrong station addressassigned- Actual configuration ofthe slave differs fromthe nominal configura-tionRed System failure Diagnosis exists, slave indata exchange modeGreen Data exchange and en-coderfunctions properlygreen Blinking green Firmware upgrade inprocessred Blinking red Failure during firmwareupgradeblinking frequency is 0.5 Hz. Minimal indication time is 3 seconds. 3 Led indication
        
        This chapter will illustrate how to setup and configure aPROFINET encoder for working in RT Class 1 mode. In the follow-ingexamples SIMOTION SCOUT V.4.1.5.6 and D435 motion con-trolleris used. Please refer to the manufacturer of the configura-tiontool if other configuration tools are being used.3.1 Device description file installation (GSDML)In order to start using an absolute encoder with PROFINET inter-face,a device description file needs to be downloaded and im-portedto the configuration software. The device description file iscalled a Generic Station Description Markup Language file andcontains the necessary implementation parameters needed for aPROFINET IO device.The GSDML file can be downloaded from www.heidenhain.comGSDML fileGSDML-V2.2-JH-PROFINET-Encoder-xxx...
        
        Figure 3 Installation of GSDML file1. Select Options -> Install GSD File and click the Browse buttonto navigate to the location of the GSD file. If a bitmap picturerepresenting the encoder is requested, make sure that thebitmap file is located in the same folder as the GSDML file. Abitmap file is included in the zip-file downloadable fromwww.heidenhain.com.2. Select the GSD file and click the Installbutton to start installing the selected GSD file.
        
        When the GSD file has been installed the supported encodertypes can be found in the HW Configuration under PROFINET IO->Additional Field Devices->Encoders->JH Group PROFINET En-coders.Select either multi turn 25 bit or single turn 13 bit encoder,dependent on the type of encoder to be configured. Drag anddrop the encoder onto the PROFINET IO system as shown in thepicture below. In the example below one 25 bit multiturn encoderwas chosen. If more than one encoder shall be configured, thenthe following steps need to be done once for each device. Figure 4 Encoder configuration
        
        Figure 5 Example of connected encoder
        
        25 bit encoder can be found under Multiturn 25 Bit -> EOMultiturn. In the example below standard telegram 81 is used.Drag and drop the telegram onto slot 1, sub slot 2 as shown inthe figure 6 below. For more information regarding the differenttelegrams refer to chapter 4.4.Figure 6 Telegram selection The Standard Telegram 81 will appear on slot 1 sub slot
        
        according to figure 7 below.
        
        name. The encoders are delivered without any device namepreset from the factory. To set the encoder device name, doubleclick on the encoder icon to open the Properties window.Figure 8 How to set encoder device nameIn the Properties window, enter an appropriate device name in the Device name field.
        
        Then select PLC-> Ethernet->Assign Device Name to open theAssign device name window. Figure 10 Assign device name
        
        is written on the encoder label.Figure 11 Assign nameNote: All connected devices need to be assigned a uniquedevice name.After changing device name, it is recommended to verify that theperformed change has been done. This is done by opening theVerify Device Name window found under PLC->Ethernet->Verify Device Name.
        
        Figure 13 Verify device name
        
        encoder.To set the encoder user parameters double click on the ParameterAccess point field located under slot 1.1 as shown in figure 14, toopen the Properties window. 14 Parameter Access point
        
        parameter. For more information regarding parameter data, seechapter 7.Figure 15 Parameter dataWhen the configuration and parameterization of the device hasbeen done, the settings need to be saved and compiled. This isdone by clicking on the Save and Compile option under the Sta-tiontab. Figure 16 Save and compile
        
        Figure 17 Download settings
        
        PROFINET encoder in isochronous operation. In the example be-lowSTEP 7 v5.4 SP5 and SIMOTION D435 motion controller isused. The basic principal for configuration and parameterization ofthe encoder is the same as described in chapter 3.2-3.4.To set the IRT settings of the encoder, double click on the Inter-facefield located under slot 0, sub slot X1 to open the Propertieswindow.Figure 18 Open Interface propertiesUnder the Synchronization tab change the value for the ParameterRT Class to IRT and the IRT option parameter to High Perfor-manceaccording to the picture below. Figure 19 RT Class option
        
        20 Interface propertiesUnder the IO Cycle tab change the Update Time Mode to fixedfactor. 21 IO Cycle properties
        
        To set the topology double click on the port from which the en-coder is connected to the network. This is either slot 0 sub slot P
        
        or slot 0 sub slot P2. In the example in figure 22 below Port 1 isused on the encoder. For port description of the encoder seechapter 2.2 Connectors and pin configuration.Figure 22 Port settingsUnder the Topology tab change the Partner port to the used portof your IO controller. Figure 23 Topology settings
        
        found under Edit->PROFINET IO.Verify that the RT Class is set to IRT and that the IRT option is setto High performance.Figure 24 Domain management The encoder is now prepared for operating in IRT mode.
        
        4.1 Encoder profile overview, PNO order no.3.
        
        This manual is related to encoders that fulfills the demands andfunctionality according to encoder profile V4.1 (PNO no 3.162).The operating functions for encoders according to this profile aredivided into two application classes, named Class 3 and Class 4.For an overview of the different encoder profile for PROFIBUSand PROFINET and the related standards, see figure 25 below.For further information regarding the encoder functionality refer tothe device profile. The profile and PROFINET technical informationcan be ordered at PNO in Karlsruhe, Germany(www.profinet.com). Figure 25 Overview of encoder profiles
        
        PROFINET IO device according to the encoder profile V.4.1 (PNOno 3.162). A Class 4 configured encoder fully supports all func-tionalityaccording to the encoder profile V4.1.CLASS 3 Encoder with base mode parameter access and limited parame-terizationof the encoder functionality. Isochronous mode is notsupported.CLASS 4 Encoder with scaling, Preset and base mode parameter access.Isochronous mode is supported.Standard signalsTable 5 below describes the standard signals that are used to con-figurethe IO data. The signals are described in the chapters thatfollow.Significance Abbreviation Length(bits) Data typeVelocity value A NIST_A 16 SignedVelocity value B NIST_B 32 SignedControl word G1_STW 16 UnsignedStatus word G1_ZSW 16 UnsignedPosition value 1 G1_XIST1 32 Unsigned...
        
        telegram structures. The telegrams are used to specify thedata length and which type of data that are sent to and from theIO controller. The following standard telegrams are supported. 4.4.1 Standard Telegram
        
        Standard telegram 81 uses 4 bytes for output data from the IOcontroller to the encoder and 12 bytes of input data from the en-coderto the IO-controller.Output data from the IO controller:2 bytes Control word 2 (STW2_ENC).2 bytes Control word (G1_STW). IO Data (word) 1
        
        Byte 0 1 2
        
        Set point STW2_ENC G1_STW Table 6 Output data Telegram
        
        Input data to the IO controller:2 bytes Status word 2(ZSW2_ENC).2 bytes Status word (G1_ZSW).4 bytes Position value 1 (G1_XIST1).4 bytes Position value 2 (G1_XIST2). IO Data (word) 1 2 3 4 5
        
        Byte 0 1 2 3 4 5 6 7 8 9 10
        
        Actual value ZSW2_ENC G1_ZSW G1_XIST1 G1_XIST
        
        Table 7 Input data Telegram
        
        controller to the encoder and 14 bytes of input data from the en-coderto the controller.Output data from the IO controller:2 bytes Control word 2 (STW2_ENC).2 bytes Control word (G1_STW). IO Data (word) 1
        
        Byte 0 1 2
        
        Set point STW2_EN G1_STW Table 8 Output data Telegram
Input data to the IO controller:2 bytes Status word 2(ZSW2_ENC).2 bytes Status word (G1_ZSW).4 bytes Position value 1 (G1_XIST1).4 bytes Position value 2 (G1_XIST2).2 bytes Velocity value A (NIST_A) Data (word) 1 2 3 4 5 6
- 0 1 2 3 4 5 6 7 8 9 10 11 12