Absolute Encoder GEL 235DP

Absolute Encoder GEL 235DP PROFIBUS-DP Fieldbus Connection (Slave) PNO ID: 0B3Eh Reference D-02R-235dp (2.1) Right to technical changes and errors reserved. 2013-07

Device manufacturer and publisher: Lenord, Bauer & Co. GmbH Dohlenstrasse 32 46145 Oberhausen GERMANY Phone: +49 208 9963-0 Fax: +49 208 676292 Internet: www.lenord.de E-Mail: info@lenord.de Doc. no. D-02R-235dp (2.1) 2 GEL 235DP

Lenord + Bauer Table of contents Table of contents 1 General... 5 1.1 About this document... 5 1.2 Description... 5 1.3 Information on how to avoid property damage or malfunctions... 5 1.3.1 Modifications... 5 1.3.2 Repairs... 6 1.3.3 Cable screw connection... 6 1.3.4 Electrostatic discharge... 6 1.3.5 Mating connectors... 6 1.3.6 Laying the cable... 6 1.4 Symbols, abbreviations and terms... 7 2 Connection and adjustment elements... 8 2.1 Overview... 8 2.2 Bus connector M12 (optional)... 8 2.3 Device address... 9 2.4 Terminal strip... 9 2.5 Bus termination... 9 2.6 Status displays... 10 2.7 Bus connection... 10 2.7.1 General... 10 2.7.2 Cable assembly... 11 3 PROFIBUS-DP encoder profile DPV0... 12 3.1 Overview of functions... 12 3.2 Configuration (Chk_Cfg)... 14 3.3 Parameterization (Set_Prm)... 15 3.3.1 Direction of counting... 17 3.3.2 Class 2 functionality... 17 3.3.3 Maintenance diagnostics... 17 3.3.4 Scaling function... 17 3.3.5 Measuring steps per revolution... 17 3.3.6 Total number of measuring steps... 17 3.3.7 Suppression of operating hours counter... 18 3.3.8 Diagnostic length Class 1... 18 3.3.9 Non-saving of preset value... 18 3.3.10 Speed output... 18 3.3.11 Acceleration output... 19 3.3.12 Rotational speed / preset output... 19 3.3.13 Length multiplier... 20 3.3.14 Gate time for speed and acceleration measurement... 20 3.3.15 Gate time for rotational speed measurement... 20 3.3.16 Data output format in Data_Exchange mode... 20 3.4 Data exchange... 20 3.4.1 Input data... 20 3.4.2 Output data... 20 3.5 Diagnostics (Slave_Diag)... 21 3.5.1 Standard diagnostics... 22 GEL 235DP 3

Table of contents Lenord + Bauer 3.5.2 Extended diagnostic header... 22 3.5.3 Alarm messages... 22 3.5.4 Operating status... 23 3.5.5 Encoder type... 23 3.5.6 Single turn resolution... 23 3.5.7 Multiturn resolution... 23 3.5.8 Additional alarm messages... 23 3.5.9 Alarms supported... 24 3.5.10 Warnings... 24 3.5.11 Warnings supported... 25 3.5.12 Profile version... 25 3.5.13 Software version... 25 3.5.14 Operating hours... 26 3.5.15 Offset value... 26 3.5.16 Manufacturer's offset value... 26 3.5.17 Measuring steps per revolution... 26 3.5.18 Total number of measuring steps... 27 3.5.19 Serial number of encoder... 27 4 GEL 235DP

Lenord + Bauer About this document 1 General 1 General 1.1 About this document The following description deals with the PROFIBUS connection of the GEL 235 absolute encoders. It is intended for persons who are already familiar with the functionality of the encoder and who have basic knowledge of fieldbus connection to PROFIBUS-DP. For further information, please refer to the corresponding standards of the PROFIBUS user organization (www.profibus.com). Information on functioning, installation, handling, and specifications of the encoder is given in the accompanying Product Information (no. D-71Z-235) and in the Mounting Instructions for Lenord+Bauer type 2x absolute encoders (no. D-02M-Abs2x) please read before! Numerical data Unless specified explicitly, decimal values are represented as digits without an extension (e.g. 1408). Binary values are indicated by a "b" (e.g. 1101b) and hexadecimal values by a "h" (e.g. 680h) following the digits. 1.2 Description The GEL 235 absolute encoder implements the DP slave concept and supports the DP- V0 protocol level (cyclic process data exchange) The communication characteristics of the encoder are defined in the provided gsd file: G235083E.gsd. For connecting the encoder the screwed-on bus cap is used. The communication interface corresponds to the features stated in the PROFIBUS-DP Profile for Encoders V1.1, Class 2. The supported functions are described in chapter 3. The necessary adjustment elements are located inside the bus cap. All connections and adjustments must be carried out before the encoder is to be integrated into the fieldbus system. For this purpose, the bus cap must be separated from the encoder (loose the two captive screws on the back). Only dismount the bus cap if the encoder is not energized. Otherwise, a short circuit may occur if the bus cap is not pulled off absolutely straight. Two LEDs in the bus cap inform about various states. Die device address is set via rotary switches inside the bus cap. Alternate setting via fieldbus is supported. 1.3 Information on how to avoid property damage or malfunctions 1.3.1 Modifications Modifications or conversions can damage the bus cap or cause malfunctioning. GEL 235DP 5

1 General Information on how to avoid Lenord + Bauer Do not perform modifications or conversions to the bus cap other than those described in the product documentation. 1.3.2 Repairs Improper repairs may damage the bus cap. Repairs must only be carried out by LENORD+BAUER or by a designated party authorized by LENORD+BAUER. 1.3.3 Cable screw connection The cable screw connection seals the bus cap against humidity and dust. The electronics may become damaged if the screw connection is unscrewed. Do not unscrew the cable screw connection if the bus cap is assembled at the factory. If you have assembled the bus cap yourself ( page 11), make sure that the sealing in the cable screw connection is effective: Firmly tighten the clamping screw with at max. 6 Nm (4.43 ft lbf). 1.3.4 Electrostatic discharge Electrostatic discharge (ESD) can destroy the electronic components. Earth your body with an ESD protective armband, for example, before touching plug pins and connecting wires. Note the relevant regulations for the respective region in relation to components susceptible to electrostatic discharge. Check the protective measures for effectiveness at regular intervals. 1.3.5 Mating connectors Incorrect positioning of the mating connector may cause transmission faults. Make sure there is no appreciable slackness of the mating connector on sideward movement. 1.3.6 Laying the cable The connection cable may become damaged if bent too sharp. Maintain the minimum bend radius of five times the cable diameter in the case of fixed laid cables or ten times the cable diameter in the case of freely laid cables. 6 GEL 235DP

Lenord + Bauer Symbols, abbreviations and terms 1 General 1.4 Symbols, abbreviations and terms : Danger to property : Important information for understanding or optimization of work processes Encoder : Short version of absolute encoder. GEL 235DP 7

2 Connection and adjustment elements Overview Lenord + Bauer 2 Connection and adjustment elements 2.1 Overview Installation side: Rear side: 1 Cable connection/connector power supply 2 Cable connection/connector Bus_In 3 Device address setting 4 Terminal strip 5 Encoder interface connector 6 Bus terminator On/Off 7 Cable connection/connector Bus_Out 1 Encoder status display (red/green LED) 2 Bus status display (red/green LED) 2.2 Bus connector M12 (optional) 1 5 4 2 3 IN (male) 2 1 5 OUT 3 4 (female) 1: 2: A 3: 4: B 5: Shielding 1 4 2 3 POWER (male) 1: +V S 2: 3: GND 4: If the encoder is the last device on the bus, the internal load resistance must be enabled ( page 9). External resistance in or at the Bus_Out mating connector is not supported because no power is supplied here. 8 GEL 235DP

Lenord + Bauer Device address 2 Connection and adjustment elements 2.3 Device address x1 x10 x100 Sample setting: Address 12 The maximum device address is 125. The device address can also be set by a class 2 master via the fieldbus (Set_Slave_Add function). To use this function you must set the rotary switches to either the address 128 or 129 with the encoder not being energized: 128: 129: Setting the address via fieldbus only once Setting the address via fieldbus several times With first boot after performing this setting, the encoder logs on with device address 126. After changing the address by the master, the encoder must be rebooted (cold start). Then it will log on with the new address. 2.4 Terminal strip B A 0 + B A 0 + No. Designation Function Cable color 1 1 B Line B (Out) Red 2 A Line A (Out) Green 3 GND (0) Encoder supply (connected to 7) 4 +V S (+) Encoder supply + (connected to 8) 5 B Line B (In) Red 6 A Line A (In) Green 7 GND (0) Encoder supply Blue 8 +V S (+) Encoder supply + (10 30 VDC) Brown 1 with factory assembling 2.5 Bus termination If the encoder is the last device on PROFIBUS, the integrated load resistances must be activated. (External resistance in or at the optional bus-out mating connector is not supported because no power is supplied here.) GEL 235DP 9

2 Connection and adjustment elements Status displays Lenord + Bauer Both miniature switches must be moved to the ON position for this purpose (disabled in condition on delivery). 2.6 Status displays (not with ex-protected models) Various system operating states are indicated by 2 LEDs on the rear of the bus cap (1) : Status 1 2 3 4 1 2 3 4 No or excessively low voltage Voltage correct; encoder transmits error-free position data Internal encoder failure; position data faulty Encoder defective (example representation) Bus 1 2 3 4 1 3 Connection to master exists 1 Data exchange status 2 Waiting for encoder parameterization 3 Waiting for data format configuration 4 No connection to master 2.7 Bus connection 2.7.1 General The data transfer is performed in accordance with the RS 485 specification. Use a bus connection cable in accordance with the specification for cable type A (EN 50170): Parameter Value Wave resistance 135 to 165 Ω for 3 to 20 MHz Operating capacity < 27 pf/yd (30 pf/m) Loop impedance < 68.3 Ω/mile (110 Ω/km) Wire diameter < 1/40 in (0.64 mm) Wire cross-section < 0.53 10-3 sq.inch (0.34 mm 2 ) Optimum linear expansion can only be achieved with this cable type (transmission rate is selected uniformly at startup for all stations on the bus): (1) For monochrome representation: green, red 10 GEL 235DP

Lenord + Bauer Bus connection 2 Connection and adjustment elements Transmission rate (k/s) Segment length in yd (m) 9.6 19.2 93.75 187.5 500 1,500 3,000 6,000 12,000 1300 (1200) 1300 (1200) 1300 (1200) 1100 1000 440 400 220 200 110 100 110 100 110 100 Do not use stub lines for data rates > 500 k/s. 2.7.2 Cable assembly The next diagram shows how to install the bus and power cables:.3 in (8 mm) 2.2 in (55 mm).5 in (12 mm) 4.4 lbf ft (6 Nm) See Section 2.4 for connection to the terminal strip in the bus cap. GEL 235DP 11

3 Encoder profile Overview of functions Lenord + Bauer 3 PROFIBUS-DP encoder profile DPV0 (V1.1, 05.1997) 3.1 Overview of functions Chk_Cfg Description Info 1 Data exchange configuration 3.2 Set_Prm Description Info 1 7 according to PROFIBUS-DP standards 8 9 Operating parameters 3.3 10 13 Measuring steps per revolution 14 17 Total number of measuring steps 18 30 Reserved 31 Manufacturer-specific operating parameters 3.3 32 Gate time for acceleration/speed measurement 33 Gate time for rotational speed measurement 34 Data as individual bytes Data_Exchange Description Info 1-4 Position (input) 3.2, 3.4 5-8 Speed (input) 9-12 Acceleration (input) 13-16 Rotational speed / preset (input) 1-4 Preset value (output) 3.2, 3.4 12 GEL 235DP

Lenord + Bauer Overview of functions 3 Encoder profile Slave_Diag Description Info 1 Diagnostic status 1 3.5 2 Diagnostic status 2 3 Diagnostic status 3 4 Diagnostic master addr 5, 6 PNO ident number 7 Extended diagnostic header 8 Alarm message 9 Operating status 10 Encoder type 11 14 Physical single turn resolution 15, 16 Physical multiturn resolution 17 Additional alarm messages 18, 19 Supported alarm messages 20, 21 Warnings 22, 23 Supported warning messages 24, 25 Profile version 26, 27 Software version 28 31 Operating hours 32 35 Offset value 36 39 Manufacturer offset 40 43 Measuring steps per revolution 44 47 Total number of measuring steps 48 57 Serial number 58, 59 Reserved (PNO) 60 63 Reserved (manufacturer), no output/transmission RD_Inp Description Info 1-4 Position value GEL 235DP 13

3 Encoder profile Configuration (Chk_Cfg) Lenord + Bauer 3.2 Configuration (Chk_Cfg) The DP master uses this function to define a specific configuration for the encoder, which the encoder then checks to ensure adequate support. The encoder informs the DP master of the result of the check in the subsequent diagnostic request. The length and with that also the structure of the process data is defined in the configuration. The encoder can read preset values (output data from the perspective of the master) as well as send position, speed, acceleration and rotational speed/preset values (input data). 1 Description Configuration Slave Master (input) Master Slave (output) Class 1 single turn (based on encoder profile) D0h 1 Word Class 1 multiturn (based on encoder profile) D1h 2 Words Class 2 single turn (based on encoder profile) F0h 1 Word 1 Word Class 2 multiturn (based on encoder profile) F1h 2 Words 2 Words Manufacturer-specific configuration D3h 4 Words Manufacturer-specific configuration F3h 4 Words 4 Words Manufacturer-specific configuration F7h 8 Words 8 Words Data structure of configuration based on encoder profile: Preset control: A transferred preset value will only be accepted by the encoder if the MSB of the value is set: 15, 31, 63 or 127 depending on the data length. As soon as the encoder returns the value as position, the master can reset the bit. D0h, F0h Input (D0h and F0h) Output (F0h only) 1+2 15 0 1+2 15, 14 0 Data Position Preset value D1h, F1h Input (D1h and F1h) Output (F1h only) 1 4 31 0 1 4 31, 30 0 Data Position Preset value 14 GEL 235DP

Lenord + Bauer Parameterization (Set_Prm) 3 Encoder profile Data structure of manufacturer-specific configuration: D3h, F3h Input (D3h and F3h) Output (F3h only) 1 4 63 32 5+6 31 16 7+8 15 0 1 4 63, 62 32 5 8 31 0 Data Position Speed Acceleration Preset value The speed and acceleration values by default only form the two lower-value bytes of the 4-byte value; see the corresponding output parameters in 31 of Set_Prm page 16. F7h Input Output 1 4 127 96 5 8 95 64 9 12 63 32 13 16 31 0 1 4 127, 126 96 5 16 95 0 Data Position Speed Acceleration Rotational speed / preset Preset value 3.3 Parameterization (Set_Prm) This function can be used to set the following parameters (explanations are provided after the tables): Standard parameters: s 9 to 25 Parameters Default in GSD file Direction of counting 9 0: 0 = Ascending for clockwise direction of rotation Class 2 functionality 1: 1 = On (Class 2 diagnostic length) Maintenance diagnostics 2: 0, not supported Scaling function 3: 0 = Off 4,+5: Reserved (PNO) 6+7: Reserved (manufacturer) Measuring steps per revolution 10 13 4,096 = 2 12 (maximum 65,536 = 2 16 ) Total measuring steps 14 17 16,777,216 = 2 24 (maximum 268,435,456 = 2 28 ) 18 25 Reserved (PNO) GEL 235DP 15

3 Encoder profile Parameterization (Set_Prm) Lenord + Bauer Manufacturer-specific parameters: s 26 to 34 Parameters Default in GSD file 26 30 Reserved Operating hours counter in diagnostics 31 0: 1 = No, no output Class 1 diagnostic length 1: 0 = No, class 2 diagnostic length Save preset value in EEPROM 2: 0 = Yes Speed output (16 bit) 3: 0 = Output 1-16, 1 = Output 17 32 Acceleration output (16 bit) 4: 0 = Output 1-16, 1 = Output 17 32 rotational speed/preset output 5: 0 = rotational speed output, 1 = Preset output Length multiplier 6: 0 = No (inactive) Reserve 7: 0 Gate time for acceleration/ speed measurement Gate time for rotation speed measurement Output format of double word in Data_Exchange mode Output format of a word in Data_Exchange mode 32 0 = inactive 1 = 1 ms 2 = 5 ms 3 = 10 ms 4 = 50 ms 5 = 100 ms 6 = 500 ms 7 = 1,000 ms 33 0 = inactive 1 = 1 ms 2 = 5 ms 3 = 10 ms 4 = 50 ms 5 = 100 ms 6 = 250 ms 7 = 500 ms 8 = 1,000 ms 9 = 60,000 ms 34 0, 1: 0 = Motorola format, 1 = Intel format 16 GEL 235DP

Lenord + Bauer Parameterization (Set_Prm) 3 Encoder profile 3.3.1 Direction of counting ( 9 0) This parameter defines the direction of counting (from perspective of shaft) in which the position code is output in ascending order: In clockwise direction 0 = 0 (Standard) Counter-clockwise direction, 0 = 1 3.3.2 Class 2 functionality ( 9 1) This parameter activates the class 2 functionality of the encoder. Same setting for DP master and DP slave required to use the function! 3.3.3 Maintenance diagnostics ( 9 2) Internal maintenance diagnostics is not supported at present. (Please consult Lenord + Bauer if you should need this function.) 3.3.4 Scaling function ( 9 3) The scaling function can be used to calculate the internal position value of the encoder in accordance with the defined resolution. The following parameters will be evaluated if this function is activated ( 3 = 1): Measuring steps per revolution (s 10 13) Total number of measuring steps (s 14 17) The resulting scaling factor SKF, by which the internal (physical) position value is multiplied, is derived as follows: SKF = Measuring steps per revolution Physical (hardware) resolution 3.3.5 Measuring steps per revolution (s 10 13) This parameter defines the desired resolution ( physical resolution of the encoder) per revolution. It is only effective if the scaling function is activated (see Section 3.3.4). GSD file standard value: 4,096 (2 12 ) 3.3.6 Total number of measuring steps (s 14 17) This parameter defines the total counting range of the encoder, after which the position value reverts to zero. It is only effective if the scaling function is activated (see Section 3.3.4). GSD file standard value: 16,777,216 (2 24 ) The value is interpreted by default as the gear ratio (rotatory value). By setting the length multiplier bits ( 31, 6), the value can also be related to a distance (translatory value). If the encoder is used in continuous mode, the total number of measuring steps must be greater than the number of measuring steps per revolution by a multiple of 2 (maximum value: 2 28 ). GEL 235DP 17

3 Encoder profile Parameterization (Set_Prm) Lenord + Bauer Example: Absolute encoder with 12-bit single turn (4,096 measuring steps per revolution) and 12-bit multiturn (4,096 rotations) Total number of measuring steps = 4,096 4,096 = 16,777,216 = 1 00 00 00 h 14 15 16 17 Data 01h 00h 00h 00h 3.3.7 Suppression of operating hours counter ( 31 0) The internal operating hours counter is not supported at present. The value FFFFFFFFh is output in accordance with the encoder profile. 3.3.8 Diagnostic length Class 1 ( 31 1) The large volume of Class 2 diagnostic data may be partly disruptive in the case of small bus systems (limited buffer size in DP master). The diagnostic length can therefore be reduced to that of Class 1 data via this parameter. 3.3.9 Non-saving of preset value ( 31 2) The EEPROM has only a limited lifetime of some 10,000 write cycles. To avoid unnecessary shortening of this lifetime, do not save the preset value in the case of applications in which the value has to be reset very frequently. It can take up to 80 ms to write the preset value to the internal memory. The encoder sets the diagnostic bit to 1 in the diagnostic protocol ( 2) during the saving process. Wait until the process has expired (diagnostic bit reset). The preset value is saved by default in the device's internal EEPROM with mains failure protection with each Preset signal. This can be suppressed by setting 2 (=1) if data protection is ensured on power off. 3.3.10 Speed output ( 31 3) Note gate time for speed measurement (Parameter/ 32)! If the speed value for the desired gate time is too large, the higher-value word ( 17 32) of the value (lower resolution) must be used instead of the default setting ( 1 16). If the manufacturer-specific configuration D3h/F3h (see Section 3.2 page 14) is used, the speed value occupies one word within the 4-word input data for the master. Additional information on the speed output: The speed is output as signed measurement value (16 bits). Negative values indicate a direction of rotation contrary to the defined one (direction of counting parameter in 9). 18 GEL 235DP

Lenord + Bauer Parameterization (Set_Prm) 3 Encoder profile The speed value is calculated as follows: The speed is established as position change per time unit. The established speed is converted to the corresponding counting range of the single turn part. The encoder generates a table from the defined gate time. The smaller the gate time is, the more dynamic is the speed measurement. The speed is output from this table as an average value of all measured values; error: < 2%. 3.3.11 Acceleration output ( 31 4) Note gate time for acceleration measurement (Parameter/ 32)! If the acceleration value for the desired gate time is too large, the more significant word ( 17 32) of the value (lower resolution) must be used instead of the default setting ( 1 16). If the manufacturer-specific configuration D3h/F3h (see Section 3.2 page 14) is used, the acceleration value occupies one word within the 4-word input data for the master. Additional information on the acceleration output: The acceleration is output as signed measurement value (16 bits). The acceleration is calculated as follows: The acceleration is established as speed change per time unit. The encoder generates a table from the defined gate time which is identical to the one used for the speed measurement (see previous section). The acceleration is output from this table as an average value of the last measurement values. 3.3.12 Rotational speed / preset output ( 31 5) If the manufacturer-specific configuration F7h (see Section 3.2 page 14) is used, the rotational speed value occupies two words within the 8-word input data for the master. Additional information on the rotational speed output: The rotational speed is output as signed measurement value; the resolution is 1/1000. Negative values indicate a direction of rotation counter to the defined direction of counting (direction of counting parameter in 9). The rotational speed is calculated as for the speed (see Section 3.3.10). The gate time is defined in 33. The preset value previously conveyed by the master can also be output instead of the rotational speed. The appropriate setting is made with this parameter ( 5 = 1). GEL 235DP 19

3 Encoder profile Data exchange Lenord + Bauer 3.3.13 Length multiplier ( 31 6) If the length multiplier is used, the defined multiplier (total number of measuring steps, see Section 3.3.6) is not interpreted as a gear ratio rather as a length multiplier for the overall counting range. Length multiplier = Desired counting range / hardware counting range 3.3.14 Gate time for speed and acceleration measurement ( 32) The function can be disabled or a specific value can be defined by means of this parameter. The following principle applies: The shorter the time is, the more dynamic is the measurement. Further information can be found in Sections 3.3.10 and 3.3.11. 3.3.15 Gate time for rotational speed measurement ( 33) The function can be disabled or a specific value can be defined by means of this parameter. The following principle applies: The shorter the time is, the more dynamic is the measurement. Further information can be found in Section 3.3.12. 3.3.16 Data output format in Data_Exchange mode ( 34 0/1) The data can be output in Motorola format ( 0/1 = 0, default setting) or Intel format ( 0/1 = 1). Low and high words or bytes are exchanged in Intel format. 3.4 Data exchange (Data_Exchange) The data exchange is configured with the Chk_Cfg function (see Section 3.2 page 14). 3.4.1 Input data If the manufacturer-specific configuration D3h/F3h is used, the position value occupies the first two words within the 4-word input data for the master. The remaining two words contain the speed and acceleration values, either as low or as high word (see also Sections 3.3.10 and 3.3.11). If the manufacturer-specific configuration F7h is used, the position value occupies the first two words within the 8-word input data for the master. The remaining six words contain the speed and acceleration values as well as the rotational speed or preset value as double word each (see also Section 3.3.12). 3.4.2 Output data If the manufacturer-specific configuration F3h/F7h is used, the preset value occupies the first two words within the 4/8-word output data for the master. The remaining two/six words are not evaluated by the encoder. The preset function may only be used if the encoder is at a standstill. 20 GEL 235DP

Lenord + Bauer Diagnostics (Slave_Diag) 3 Encoder profile The preset function is used for adapting the encoder zero point to the mechanical zero point of the system. It is applied following scaling, i.e. the preset value is specified in the programmed measuring steps or in the user-specific measurement unit. The most significant bit (MSB) of the preset value controls the function: Standard operating mode Preset mode MSB = 0: Preset value is not adopted MSB = 1: The encoder will adopt the preset value Basic operation of preset function: Prerequisite: If scaling is to be defined, the scaling parameter must be transferred first. The encoder must be stopped. The encoder establishes the current position value. It calculates an offset value from the transferred preset value and the established position value. The offset value can be read by means of the diagnostic function. It is reloaded following a mains failure and on every restart. The position value is replaced by the preset value and returned as the current position. Preset mode is finished and the MSB can be set to 0 by the DP master. The preset value and the calculations based on it may be cleared by writing the value 7FFFFFFFh. The encoder then provides the absolute, not calculated actual value. 3.5 Diagnostics (Slave_Diag) The diagnostic information is split into two parts: DP standard diagnostic information of class 1 (s 1 6) Device-dependent encoder information of classes 1 (s 7 16) and 2 (s 17 59) Class 1 The data length of class 1 diagnostic data is fixed at 16 bytes: s 1 6 (DP standard information) + s 7 16 (encoder information). Class 2 The data length of class 2 diagnostic data is fixed at 59 bytes: s 1 6 (DP standard information) + s 7 16 (encoder information Class 1) + s 17 59 (encoder information Class 2). GEL 235DP 21

3 Encoder profile Diagnostics (Slave_Diag) Lenord + Bauer 3.5.1 Standard diagnostics (s 1 6) Simply a short overview of the standard diagnostic functions is provided at this point. Further information can be found for example in the IEC 61158-6 Standard, Sections 6.2.3.1 to 6.2.3.5 and the PNO document PROFIBUS Profile Guidelines, Order No: 3.522. Description Meaning 1 Diagnostic status 1 Status of parameterization and configuration as well as diagnostic type 2 Diagnostic status 2 Status of response time monitoring and freeze or sync mode 3 Diagnostic status 3 Reserved 4 Diagnostic master addr Address of parameterization master 5+6 PNO ident number 3.5.2 Extended diagnostic header ( 7) Unique ident number of slave assigned by the PNO (high/low byte) This hexadecimal value specifies the length of the extended diagnostic message including the header. 7 6 5 0 Data 0 0 xxh Function Device-specific diagnostics 3.5.3 Alarm messages ( 8) Length including header Class 1: 0Ah (10 s: 7 16) Class 2: 35h (53 s: 7 59) An alarm is triggered if the encoder indicates a malfunction, which can lead to incorrect position values. The type of alarm is conveyed with diagnostic 8. (Additional Class 2 alarm messages are displayed in diagnostic 17, page 23.) An alarm message remains active (Ext_Diag and Stat_Diag bits set in the diagnostic function Slave_Diag), until the alarm message is deleted and the encoder can provide a correct position value again. Function Not set (0) Set (1) 0 Position error No Yes 1 Supply voltage too low No Yes 2 Current too high No Yes 3 Memory error No Yes 4 Maintenance diagnostics Ok Error 5 7 No function 22 GEL 235DP

Lenord + Bauer Diagnostics (Slave_Diag) 3 Encoder profile 3.5.4 Operating status ( 9) This diagnostic byte provides information on internal parameters of the encoder. Function Not set (0) Set (1) 0 Direction of counting for clockwise rotation Ascending Descending 1 Class 2 functionality active No Yes 2 Maintenance diagnostics supported No Yes 3 Scaling function active No Yes 4 7 No function Default settings according to the GSD file are highlighted in bold. 3.5.5 Encoder type ( 10) The type of encoder is entered as a hexadecimal value in 10 of the diagnostic function. Code Function 00h Absolute encoder, singleturn 01h Absolute encoder, multiturn 02h Absolute encoder, singleturn with electronic gear 03h 08h Other types defined in the encoder profile 09h-FFh No function 3.5.6 Single turn resolution (s 11 14) 11 31 24 12 23 16 13 15 8 14 7 0 Function Measuring steps per revolution 3.5.7 Multiturn resolution (s 15+16) 15 15 8 16 7 0 Function Number of possible revolutions Measurement range of a multiturn rotary encoder = Number of revolutions single turn resolution The class 1 diagnostic information ends here. The class 2 data now follows. 3.5.8 Additional alarm messages ( 17) No information was defined here as yet (content: 00h). GEL 235DP 23

3 Encoder profile Diagnostics (Slave_Diag) Lenord + Bauer 3.5.9 Alarms supported (s 18+19) 18 15 8 19 7 0 Function Alarms supported Function Supported (0 = no, 1 = yes) 0 Position error 1 1 Supply voltage error 1 2 Current too high 0 3 Maintenance diagnostics 0 4 Memory error 0 5 15 No function 0 3.5.10 Warnings (s 20+21) Warnings indicate that tolerance values have been exceeded for certain internal parameters. In contrast to alarm messages, warnings do not refer to incorrect position values. In the case of a warning, the Ext_Diag bit remains set to 1 in the diagnostic function until the warning is deleted by the diagnostic message being read. If the tolerance remains exceeded, the warning appears again. This does not apply for the operating time limit ( 4) warning, which is only set again following a restart. 20 15 8 21 7 0 Function Warnings Function Not set (0) Set (1) 0 Frequency exceeded No Yes 1 Temperature exceeded No Yes 2 LED reserve Not reached Reached 3 CPU watchdog Ok Reset performed 4 Operating hours limit Not reached Reached 5 Battery charge Ok Too low 6 Reference point Not reached Reached 7 15 No function 24 GEL 235DP

Lenord + Bauer Diagnostics (Slave_Diag) 3 Encoder profile 3.5.11 Warnings supported (s 22+23) 22 15 8 23 7 0 Function Warnings supported Function Supported (0 = no, 1 = yes) 0 Frequency 0 1 Temperature 1 2 LED reserve 0 3 CPU watchdog 1 4 Operating hours limit 0 5 Battery charge 1 * 6 Reference point 0 7 15 No function 0 * Only absolute encoder with electronic gear 3.5.12 Profile version (s 24+25) Version of implemented DP encoder profile 24 15 8 25 7 0 Function Revision number Index Profile version Example: Profile version: -No.: Bin: Hex: 1.10 24 0000 0001 01 25 0001 0000 10 3.5.13 Software version (s 26+27) Version of encoder firmware 26 15 8 27 7 0 Function Revision number Index Software version GEL 235DP 25

3 Encoder profile Diagnostics (Slave_Diag) Lenord + Bauer Example: Software version: No.: Bin: Hex: 1.02 26 0000 0001 01 27 0000 0010 02 3.5.14 Operating hours (s 28 31) This function is not supported at present. 28 31 24 29 23 16 30 15 8 31 7 0 Contents FFh FFh FFh FFh Function 3.5.15 Offset value (s 32 35) Operating hours The offset value is established and saved in the encoder following the transmission of a preset value. It shifts the measured position value by the calculated amount and can be output with this diagnostic byte as a signed 32-bit binary value. 32 31 24 33 23 16 34 15 8 35 7 0 Function Offset value 3.5.16 Manufacturer's offset value (s 36 39) This value indicates the manufacturer's programmed offset to the physical zero point of the code disk and cannot be changed. The diagnostic bytes contain this offset as a signed 32-bit binary value. 36 31 24 37 23 16 38 15 8 39 7 0 Function Manufacturer's offset value 3.5.17 Measuring steps per revolution (s 40 43) This parameter provides the defined resolution of the encoder as an unsigned 32-bit binary value (see also Section 3.3.5). 40 31 24 41 23 16 42 15 8 43 7 0 Function Measuring steps per revolution 26 GEL 235DP

Lenord + Bauer Diagnostics (Slave_Diag) 3 Encoder profile 3.5.18 Total number of measuring steps (s 44 47) This parameter provides the entire counting range of the encoder as an unsigned 32- bit binary value (see also Section 3.3.6). 44 31 24 45 23 16 46 15 8 47 7 0 Function Total number of measuring steps 3.5.19 Serial number of encoder (s 48 57) This parameter provides the serial number as a set of 10 ASCII characters. Function 48 7 0 Serial number 57 7 0 GEL 235DP 27