Manual: Absolute Rotary Encoders
Manual: Absolute Rotary Encoders
Manual: Absolute Rotary Encoders
MANUAL
Absolute Rotary Encoders
Integration into PROFINET
R
Absolute Rotary Encoders
With regard to the supply of products, the current issue of the following document is ap-
plicable: The General Terms of Delivery for Products and Services of the Electrical Indus-
try, published by the Central Association of the Electrical Industry (Zentralverband
Elektrotechnik und Elektroindustrie (ZVEI) e.V.) in its most recent version as well as the
supplementary clause: "Expanded reservation of proprietorship"
Absolute Rotary Encoders
1 Introduction................................................................................. 5
2 Declaration of Conformity.......................................................... 6
2.1 CE Conformity ...................................................................................... 6
3 Safety ........................................................................................... 7
3.1 Symbols Relevant to Safety ................................................................ 7
3.2 Intended Use ........................................................................................ 7
3.3 General Safety Instructions ................................................................. 7
4 Introduction................................................................................. 8
4.1 Using This Manual ............................................................................... 8
4.2 Absolute Rotary Encoders .................................................................. 8
4.3 Communication via PROFINET ........................................................... 8
4.3.1 General Information on Communication via PROFINET ..................... 8
4.3.2 PROFINET IO Interface ..................................................................... 9
4.3.3 Project Planning Using Device Description ........................................ 9
4.3.4 PROFINET Address and Identifying a Device.................................... 9
5 Installation................................................................................. 10
5.1 Electrical Connection ........................................................................ 10
5.2 LED Indicators .................................................................................... 10
5.3 Instructions for Mechanical and Electrical Installation.................. 11
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Absolute Rotary Encoders
7 Configuration Principle............................................................ 21
7.1 Rotary Encoder Function at a Glance ..............................................21
7.2 Rotary Encoder Functions — Data Links .........................................21
7.3 Parameters for Acyclic Data Transmission ......................................22
7.3.1 Standard Parameters........................................................................ 23
7.3.2 Device Parameters ........................................................................... 23
7.3.3 Manufacturer Parameters ................................................................. 23
7.3.4 Supported Parameters ..................................................................... 23
7.3.5 Rotary Encoder Function Description............................................... 24
4
Absolute Rotary Encoders
Introduction
1 Introduction
Congratulations
You have chosen a device manufactured by Pepperl+Fuchs. Pepperl+Fuchs develops,
produces and distributes electronic sensors and interface modules for the market of
automation technology on a worldwide scale.
Symbols used
The following symbols are used in this manual:
Note!
This symbol draws your attention to important information.
Handling instructions
You will find handling instructions beside this symbol
Contact
If you have any questions about the device, its functions, or accessories, please contact us at:
Pepperl+Fuchs GmbH
Lilienthalstraße 200
68307 Mannheim
Telephone: +49 621 776-4411
Fax: +49 621 776-274411
E-Mail: fa-info@pepperl-fuchs.com
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Absolute Rotary Encoders
Declaration of Conformity
2 Declaration of Conformity
2.1 CE Conformity
This product was developed and manufactured under observance of the applicable European
standards and guidelines.
Note!
A declaration of conformity can be requested from the manufacturer.
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Absolute Rotary Encoders
Safety
3 Safety
3.1 Symbols Relevant to Safety
Danger!
This symbol indicates an imminent danger.
Non-observance will result in personal injury or death.
Warning!
This symbol indicates a possible fault or danger.
Non-observance may cause personal injury or serious property damage.
Caution!
This symbol indicates a possible fault.
Non-observance could interrupt the device and any connected systems and plants, or result in
their complete failure.
Note!
Disposal
Electronic waste is hazardous waste. When disposing of the equipment, observe the current
statutory requirements in the respective country of use, as well as local regulations.
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Absolute Rotary Encoders
Introduction
4 Introduction
4.1 Using This Manual
This manual describes how Pepperl+Fuchs absolute rotary encoders equipped with a
PROFINET interface are integrated into a PROFINET network.
The manual is valid for the following absolute rotary encoder types:
■ Exx58N-...PN...
■ ENA58IL-...B17
The descriptions for the following topic areas cover all the important aspects for a simple
PROFINET integration:
■ Integration into the PROFINET master interface connection
■ Setting the physical parameters
■ Activating PROFINET communication
■ Communicating with the absolute rotary encoder
Note!
More information on technical data, mechanical data, pin assignments, and available
connection cables for the relevant absolute rotary encoder types "EVM5 8N-...PN..." and
"ENA58IL-...ProfiNET" can be found in the corresponding datasheet.
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Absolute Rotary Encoders
Introduction
9
Absolute Rotary Encoders
Installation
5 Installation
5.1 Electrical Connection
The absolute rotary encoder is connected to the field environment via the "Power/PWR"
connector along with "Port 1" and "Port 2" for the PROFINET connection.
Connector and pin assignment
Power/PWR Port 1, port 2
Connector plug, M12 x 1, 4-pin, A- Connector socket, M12 x 1, 4-pin, D-
Connection coded coded
1 Operating voltage +U B Tx +
2 - Rx +
3 0V Tx-
4 - Rx -
1 1
2 4 4 2
3 3
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Absolute Rotary Encoders
Installation
Description of LEDs
LED Color Description for LED = on
Active 1 Yellow Incoming and outgoing data traffic for port 1
Link Green ■ Connection to other Ethernet devices on port 1
■ Flashes at 2 Hz during an identification call during the
configuration with an existing link connection
Active 2 Yellow Incoming and outgoing data traffic for port 1
Link 2* Green Connection to other Ethernet devices on port 2
Stat 1 Green Status 1, see below for details
Stat 2 Red Status 2, see below for details
Please observe the following instructions to ensure safe operation of the absolute rotary
encoder:
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Absolute Rotary Encoders
Installation
Warning!
Work must only be performed by trained and qualified personnel.
Commissioning and operation of this electrical equipment must only be performed by trained
and qualified personnel. This means individuals who are qualified to commission (in
accordance with safety technology), connect to ground, and label devices, systems, and
circuits.
Warning!
Only perform work when the system is in a de-energized state.
De-energize your device before performing work on the electrical connections. Short circuits,
voltage peaks, and similar events can lead to faults and undefined statuses. This presents a
significant risk of personal injury and property damage.
Warning!
Check electrical connections before switching on the plant!
Check all electrical connections before switching on the plant. Incorrect connections present a
significant risk of personal injury and property damage. Incorrect connections can lead to
failures.
Caution!
Do not remove the rotary encoder housing!
Do not remove the rotary encoder housing under any circumstances, as damage and
contamination can occur as a result of taking improper action. It is, however, permitted to
remove connector covers.
Caution!
Do not perform any electrical modifications!
It is not permitted to perform electrical modifications on the rotary encoders. If you open or
modify the device yourself, not only are you endangering yourself and others but you will void
any warranty and absolve the manufacturer from any liability.
Caution!
Ensure that the data cable and power supply cable are physically separate.
Route the connection cable of the rotary encoder so that it is a suitable distance away from
power supply cables to avoid faults. Shielded cables must be used to ensure reliable data
transmission. A perfect ground connection must also be ensured.
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Absolute Rotary Encoders
Installation
Do not allow the rotary encoder to fall or expose it to strong vibrations. The rotary
encoder is a precision instrument.
Rotary encoders from Pepperl+Fuchs are robust, however, they should nevertheless be
protected against damage from the environment by taking appropriate protective
measures. In particular, the devices must not be installed in a location where they could
be misused as a handle or climbing aid.
Do not make any alterations to the drive shaft or the housing on the rotary encoder.
Note!
The drive shaft on the rotary encoder must be connected to the drive shaft on the part to be
measured via a suitable coupling. The coupling is required to protect the drive shaft on the
rotary encoder against excessive levels of force, to compensate for shaft offset, and to reduce
the impact of vibrations. Suitable couplings are available as accessories from Pepperl+Fuchs.
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Absolute Rotary Encoders
Data Model for the Device Configuration
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Absolute Rotary Encoders
Data Model for the Device Configuration
Length
Signal no. Description Abbreviation (bit) Sign
3 Rotary encoder control word 2 STW2_EWC 16 Unsigned
4 Rotary encoder status word 2 ZSW2_ENC 16 Unsigned
6 Velocity value A NIST_A 16 Signed
8 Velocity value B NIST_B 32 Signed
9 Rotary encoder control word 1 G1_STW 16 Unsigned
10 Rotary encoder status word 1 G1_ZSW 16 Unsigned
11 Format of position value 1 G1_XIST1 32 Unsigned
12 Format of position value 2 G1_XIST2 32 Unsigned
39 Format of position value 3 G1_XIST3 64 Unsigned
Standard Telegram 81
Output data from the IO controller
IO data (word) 1 2
Octet 0, 1 2, 3
Target value STW2_ENC G1_STW
Standard Telegram 82
Output data from the IO controller
IO data (word) 1 2
Octet 0, 1 2, 3
Target value STW2_ENC G1_STW
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Absolute Rotary Encoders
Data Model for the Device Configuration
Standard Telegram 83
Output data from the IO controller
IO data (word) 1 2
Octet 0, 1 2, 3
Target value STW2_ENC G1_STW
Standard Telegram 84
Output data from the IO controller
IO data (word) 1 2
Octet 0, 1 2, 3
Target value STW2_ENC G1_STW
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Absolute Rotary Encoders
Data Model for the Device Configuration
Note!
The alignment of the output format (left-aligned or right-aligned) remains constant and affects
the actual resolution set. The number of transferred bits depends on the resolution.
Example:
25-bit multiturn absolute rotary encoder (8192 steps per revolution, 4096 revolutions)
■ All values are output in binary format.
■ If an error occurs, G1_XIST2 displays the error telegram instead of the right-aligned
position value.
■ The shifting factors in the P979 "Sensor Format" show the current format. P979, subindex
4 (shifting factor for G1_XIST2) = 0.
■ The settings in the rotary encoder parameters affect the position value in both G1_XIST1
and G1_XIST2.
G1_XIST1
■ The default setting for G1_XIST1 is right alignment.
■ A 32-bit counter starts with the current position value. When the maximum numerical
value is reached, the counter starts again at 0 and counts up to the maximum numerical
value or counts downward from the maximum numerical value to zero.
■ P979, subindex 3 (shifting factor for G1_XIST1) = 0
■ G1_XIST1 transmits values independent of bit 10 in stw2 and bit 13 in g1_stw1.
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Absolute Rotary Encoders
Data Model for the Device Configuration
G1_XIST2
Bit 31...25 Bit 24...13 Bit 12...0
M S
Number of revolutions (multiturn Steps (singleturn steps per
value) revolution)
G1_XIST3
The G1_XIST3 signal for resolutions greater than 32 bits is transmitted in binary format with
right alignment and without a shifting factor.
IO data (word) 1 2 3 4
Octet 0, 1 2, 3 4, 5 6, 7
Format 64-bit position value
Implementation
Bit Function Class 3 Class 4
0 ... 9 Reserved, currently not used
10 Control by PLC Yes Yes
11 Reserved, currently not used
12 ... 15 Controller sign of life Yes
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Absolute Rotary Encoders
Data Model for the Device Configuration
Implementation
Bit Function Class 3 Class 4
0 ... 8 Reserved, currently not used
9 Control requested Mandatory Mandatory
10, 11 Reserved, currently not used
12 ... 15 Rotary encoder sign of life Mandatory
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Absolute Rotary Encoders
Data Model for the Device Configuration
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Absolute Rotary Encoders
Configuration Principle
7 Configuration Principle
The absolute rotary encoder for PROFINET can be programmed to meet your specific user
requirements. To do this, you must download the appropriate GSDML file from the product
detail page for the device from the Pepperl+Fuchs Internet portal and import this into your
project planning tool to configure it there.
To access the product detail page for the device, go to http://www.pepperl-fuchs.com and type
information about the device (e.g., the product marking or the item number) into the search
function. You can find the GSDML file in the Software area of the product detail page.
noncyclical cyclical
data transmission data transmission
(parameters) process data
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Absolute Rotary Encoders
Configuration Principle
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Absolute Rotary Encoders
Configuration Principle
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Absolute Rotary Encoders
Configuration Principle
Counting Direction
The "Code sequence" parameter defines the direction of rotation in which the absolute position
value of the rotary encoder shaft should increase. When looking down onto the encoder shaft,
the value increases when the shaft is rotating clockwise (CW) or counterclockwise (CCW).
Class 4 Functionality
The "Class 4 functionality" parameter specifies that scaling, preset, and code sequence
influence the "Format of position value 1...3" signals G1_XIST1 to G1_XIST3.
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Absolute Rotary Encoders
Configuration Principle
Scaling Parameter
The "Scaling" parameter is used to change the resolution. This parameter affects the output
values only when the scaling function is enabled.
Compatibility Mode
The "Compatibility Mode" parameter defines whether the rotary encoder is able to function in
an operating mode that is compatible with version 3.1 of the encoder profiles.
The tables below provide an overview of the functions affected if compatibility mode is
activated.
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Absolute Rotary Encoders
Configuration Principle
Preset Value
The preset value is used to set the rotary encoder zero point to the zero point of the application
or to a previously desired value. When using this function, the current rotary encoder position is
set as the preset value. The integrated microcontroller calculates the internal zero point shift
and saves this information in the nonvolatile memory (this takes around 10 ms).
Note!
Only set the preset value when at a standstill!
If the controller sends the preset value to the rotary encoder, no preset is activated. The bits in
rotary encoder control word 1 (G1_STW1) and rotary encoder status word 1 (G1_ZSW) control
the preset function. The preset value is used when a preset is requested by bit 12 in rotary
encoder control word 1 (G1_STW1).
Note!
Class 4 functionality must be enabled!
If the preset value is greater than the total measuring range, error message 0x02 appears in the
parameter response in base mode.
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Absolute Rotary Encoders
Configuration Principle
Offset Value
The "Offset value" parameter is calculated in the preset function and shifts the position value by
the calculated value.
Caution!
Operate the rotary encoder with a power supply connected!
The internal software routine is active only when the rotary encoder is connected to the power
supply. If it is necessary to turn the rotary encoder shaft by more than 1024 revolutions without
a power supply, this can result in faults. This is because the software does not work without a
power supply connected. Additional values are stored in the nonvolatile memory with rotary
axis functionality. If it is absolutely necessary to rotate the rotary encoder shaft without a power
supply, e.g., for service purposes, the equation mentioned above must be observed.
Velocity Filter
The velocity value can be set using 3 different filter types that draw on the exponential moving
average.
Coarse: 996:4
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Absolute Rotary Encoders
Configuration Principle
Bits Description
0...7 Profile version, least significant bit (LSB), value range 0...99, decimal code
8...15 Profile version, most significant bit (MSB), value range 0...99, decimal
code
16...31 Reserved
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Absolute Rotary Encoders
Configuring the Rotary Encoder Using Step7
Note!
Before starting configuration with the project planning tool, the relevant GSDML file must be
downloaded from Pepperl+Fuchs and imported into the project planning tool.
Note!
If you want to use more than one rotary encoder in this PROFINET network, you must assign
each rotary encoder with its own name and carry out the steps listed for each rotary encoder
individually.
1. Download the appropriate GSDML file for your absolute rotary encoder and store this in any
directory.
2. Start the SIMATIC Manager
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Absolute Rotary Encoders
Configuring the Rotary Encoder Using Step7
Figure 8.1
3. Select "Options >> Install GSD File..." (1). Proceed through the following relevant menus
and install the required GSDML file.
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Absolute Rotary Encoders
Configuring the Rotary Encoder Using Step7
Figure 8.2
1. In the area to the right, select the desired rotary encoder type (1).
2. Click on this rotary encoder type and drag it to the left into the existing Ethernet PROFINET
IO system (1) while holding down the mouse button.
3. In the area to the right, select the desired telegram, in this example "Telegram 83" (2).
4. Click on this telegram and drag it to the left into a free subslot (2) on the assembly while
holding down the mouse button.
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Absolute Rotary Encoders
Configuring the Rotary Encoder Using Step7
Figure 8.3
2. In the Properties... menu, enter a device name (1) for the rotary encoder: e.g., "Encoder 1".
3. Click the check box Assign IP address via IO controller (2).
4. Confirm the settings made by clicking the OK button (3).
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Absolute Rotary Encoders
Configuring the Rotary Encoder Using Step7
Figure 8.4
The system automatically searches the Ethernet network for nodes without an assigned
device name. If a rotary encoder is detected, it is displayed in the Assign device name
menu under Available devices.
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Absolute Rotary Encoders
Configuring the Rotary Encoder Using Step7
2
1
Figure 8.5
2. Select the rotary encoder (1) and click the Assign name button (2).
3. After successfully assigning the name, exit the menu by clicking Close (3)
Verifying Assignments
The following steps describe how to verify the success of the previously made assignments.
You can perform these steps if required.
Select "PLC >> Ethernet >> Verify Device Name..." (1).
Figure 8.6
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Absolute Rotary Encoders
Configuring the Rotary Encoder Using Step7
If the rotary encoder is correctly assigned, the device is shown by the SIMATIC Manager
with a green tick in the Available devices area.
Figure 8.7
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Absolute Rotary Encoders
Configuring the Rotary Encoder Using Step7
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Absolute Rotary Encoders
Configuring the Rotary Encoder Using Step7
Figure 8.8
2. Configure the required parameters, e.g., the code sequence, in the Parameters tab.
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Absolute Rotary Encoders
Configuring the Rotary Encoder Using Step7
Figure 8.9
3. Once all parameters have been set, select "Station >> Save and Compile" (1).
Transferring the Project to the Controller
Select "PLC >> Download" (1).
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Absolute Rotary Encoders
Configuring the Rotary Encoder Using Step7
Figure 8.10
This action transfers all of the information from the rotary encoder to the controller. The
rotary encoder is now integrated into SIMATIC Manager and the Ethernet network.
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Absolute Rotary Encoders
Configuring the Rotary Encoder Using Step7
Figure 8.11
2. Click on the Synchronization tab (1) and then click on the IRT Option parameter.
Figure 8.12
3. Set the values as "Sync slave" (2) and "High performance" (3).
4. Click on the Application tab (1).
Figure 8.13
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Absolute Rotary Encoders
Configuring the Rotary Encoder Using Step7
Figure 8.14
Figure 8.15
2. Click the Topology tab (1) and in the Partners area, enter the partner port displayed in the
menu (2).
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Absolute Rotary Encoders
Configuring the Rotary Encoder Using Step7
Figure 8.16
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Absolute Rotary Encoders
Configuring the Rotary Encoder Using Step7
Figure 8.17
2. Check that the IRT option "high performance" is set for IRT communication.
In the Sync Domain area (1) the "syncdomain-default" setting should be set. The "IRT" and
"high performance" settings should be set for the RT Class.
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Absolute Rotary Encoders
Configuring the Rotary Encoder Using Step7
Figure 8.18
If the settings detailed above are displayed, the Pepperl+Fuchs PROFINET absolute
rotary encoder is parameterized for IRT operation.
Note!
The rotary encoder has now been properly installed in the project, configured, and
parameterized and is ready for operation in the system.
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Absolute Rotary Encoders
Configuring the Rotary Encoder Using Step7
Figure 8.19
Figure 8.20
The SIMATIC Manager searches the Ethernet network for the current nodes. These
nodes are then displayed in the Browse Network x Nodes menu.
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Absolute Rotary Encoders
Configuring the Rotary Encoder Using Step7
Figure 8.21
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Absolute Rotary Encoders
Configuring the Rotary Encoder Using Step7
Figure 8.22
7. Confirm the security prompt by clicking Yes (1). Keep in mind that you can now only
communicate with the rotary encoder via the network using the MAC address.
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Absolute Rotary Encoders
Configuring the Rotary Encoder Using Step7
Figure 8.23
SIMATIC Manager will display a confirmation message when the device has been
successfully reset to the factory settings.
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Absolute Rotary Encoders
Configuring the Rotary Encoder Using Step7
Figure 8.24
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FACTORY AUTOMATION –
SENSING YOUR NEEDS
Worldwide Headquarters
Pepperl+Fuchs GmbH
68307 Mannheim · Germany
Tel. +49 621 776-0
E-mail: info@de.pepperl-fuchs.com
USA Headquarters
Pepperl+Fuchs Inc.
Twinsburg, Ohio 44087 · USA
Tel. +1 330 4253555
E-mail: sales@us.pepperl-fuchs.com
www.pepperl-fuchs.com
Subject to modifications
Copyright PEPPERL+FUCHS • Printed in Germany / TDOCT-1213DENG
12/2015