HEIDENHAIN PROFIBUS-DP (DPV2) User Manual

Profibus-dp

Table of contents

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
- 5.5 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
- 7.4 Detailed description of supported parameters
- 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
9 Encoder state machine
- 9.1 Normal operation state
- 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