IFM Electronic Efector 400 RM30 Series Application guide

Device manual
ProfiNet encoder
RM30xx
706354/00 06/2013
UK

Encoder with ProfiNet interface
2
Contents
1 Preliminary note � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 4
1�1 Symbols used� � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 4
1�2 Warning signs used � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 4
1�3 Notes on this document � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 4
2 Safety instructions � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 4
3 General information � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 5
3�1 Absolute encoder � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 5
3�2 ProfiNet � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 5
4 Functions and features � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 6
5 Electrical connection� � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 6
5�1 Ethernet and power supply� � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 6
5�2 Ethernet cables � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 7
5�2�1 RJ45 – M12 crossed � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 7
5�2�2 RJ45 – M12 straight� � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 7
5�2�3 M12 – M12 � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 7
6 LED indicators � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 7
6�1 Legend � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 7
6�2 Status LEDs � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 8
7 Installation� � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 9
8 Device configuration � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 10
8�1 Standardisation � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 10
8�2 Encoder classes � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 10
8�3 Encoder functions� � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 10
8�4 Signal list for cyclic data transmission � � � � � � � � � � � � � � � � � � � � � � � � � � � �11
8�4�1 Format of position value� � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � �11
8�4�2 Encoder control word (STW2_ENC) � � � � � � � � � � � � � � � � � � � � � � � � 13
8�4�3 Encoder status word (ZSW2_ENC) � � � � � � � � � � � � � � � � � � � � � � � � � 14
8�4�4 Encoder control word (G1_STW)� � � � � � � � � � � � � � � � � � � � � � � � � � � 14
8�4�5 Encoder status word (G1_ZSW) � � � � � � � � � � � � � � � � � � � � � � � � � � � 15
8�5 Standard and vendor telegrams � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 15
9 Configuration principle � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 17
9�1 Overview of encoder functions � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 17
9�2 Encoder functions – Data format � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 17
9�3 Parameters for acyclic data transmission� � � � � � � � � � � � � � � � � � � � � � � � � 19
9�3�1 Standard parameters � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 20
9�3�2 Device parameters� � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 20
9�3�3 Vendor parameters � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 20
9�4 Supported parameters � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 20
9�5 Encoder function description � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 22
9�5�1 Code sequence � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 23
9�5�2 Class 4 functionality � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 23

UK
Encoder with ProfiNet interface
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9�5�3 Preset control for G1_XIST1 � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 23
9�5�4 Scaling function control � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 23
9�5�5 Alarm channel control � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 24
9�5�6 Compatibility mode � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 24
9�5�7 Preset value � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 24
9�5�8 Offset value � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 27
9�5�9 Scaling parameters � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 27
9�5�10 Maximum master sign-of-life failures � � � � � � � � � � � � � � � � � � � � � � � 27
9�5�11 Velocity measuring units� � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 27
9�5�12 Velocity filter� � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 28
9�5�13 Endless shaft (round axis) � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 28
9�5�14 Encoder profile version � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 29
10 Configuring with STEP7 � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 30
10�1 Installing the GSDML file � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 30
10�2 Adding an encoder to a STEP7 project � � � � � � � � � � � � � � � � � � � � � � � � � 31
10�2�1 Standard encoder without PDEV � � � � � � � � � � � � � � � � � � � � � � � � � � 32
10�3 Module Access Point parameter setup: � � � � � � � � � � � � � � � � � � � � � � � � � 37

Encoder with ProfiNet interface
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1 Preliminary note
1.1 Symbols used
►Instructions
> Reaction, result
[…] Designation of keys, buttons or indications
→Cross-reference
Important note
Non-compliance can result in malfunction or interference�
Information
Supplementary note
1.2 Warning signs used
NOTE
Warning of damage to property�
1.3 Notes on this document
This document applies to encoders of the following type:
RM30xx (ProfiNet interface)
It is part of the device and contains information about the correct handling of the
product�
This document is intended for qualified electricians� These specialists are people
who are qualified by their training and their experience to recognise and to avoid
possible hazards that may be caused during operation of the device�
►Read this document before using the device�
►Keep this document during the service life of the device�
►Observe these operating instructions�
►Adhere to the warning notes�
2 Safety instructions
Non-observance of the instructions, operation which is not in accordance with use
as prescribed below, wrong installation or incorrect handling can affect the safety
of operators and machinery�
The installation and connection must comply with the applicable national and
international standards� Responsibility lies with the person installing the device�
Only the signals indicated in the technical data or on the device label may be
supplied to the connections or wires�

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Encoder with ProfiNet interface
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3 General information
3.1 Absolute encoder
The basic principle of an absolute encoder is the optical sampling of a transparent
code disc which is fixed with the shaft to be measured�
The absolute encoder has a resolution of 8,192 steps per resolution (13 bits) at
4,096 revolutions (12 bits)� This results in a maximum resolution of 33,554,432
steps (25 bits)�
For further information about the function principle and setup of a ProfiNet
network, please refer to
→ http://www.profibus.com/community/regional-pi-associations/germany
3.2 ProfiNet
ProfiNet is an industrial Ethernet standard merging plant automation with
enterprise IT resources� ProfiNet provides comparable functionality to PROFIBUS
with the additional possibility of firmware upgrades�
Established IT standards are employed as basis of communication:
UDP and IP� XML is used as description language for device profiles (GSDML
files)�
Two ways of using ProfiNet are available:
ProfiNet IO, similar to PROFIBUS DP as a distributed I/O system and ProfiNet
CBA as a modular component-based system for larger systems�
ProfiNet offers scalable communication for different applications in industrial
automation:
●ProfiNet NRT (Non Real Time) is suited for non-time-critical process
automation with clock rates of roughly 100 ms�
●ProfiNet RT (Real Time) offers a communication channel with optimised
performance (10 ms clock rate) for most factory automation tasks�
●ProfiNet IRT (Isochronous Real Rime) supports communication clock rates
around 1 ms and a jitter of less than 1 μs. This operating mode is mainly of use
for motion control applications�
ProfiNet IO uses a view of distributed controllers similar to PROFIBUS DP� IO
controllers (PLCs) run automation programs, IO devices (e�g� absolute encoders)
are remotely assigned field devices, and IO supervisors (e�g� programming
devices) are used for commissioning and diagnostics�
The setup of ProfiNet IO is done similar to PROFIBUS� The fieldbuses (e�g�
Ethernet topologies) are assigned to the control system during configuration� The
IO device is configured based on the GSDML contents�
After completion of the setup the configuration data are loaded into the IO
controller (PLC) and data exchange with the IO device takes place�

Encoder with ProfiNet interface
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An IO device is addressed within ProfiNet (and also possibly by external Ethernet
components) through its IP address�
Data can be transferred (process data) from the IO controller to the IO device (and
vice versa) cyclically� Apart from this, acyclic parameters can be exchanged during
setup of the IO device or by the use of PLC programming blocks during operation�
4 Functions and features
●Integrated bootloader for firmware upgrades
●Round axis functionality
●Neighbouring detection (when replacing the device)
●Device identification via LEDs
●Different filters for velocity
●ProfiNet encoder profile V4�0/V4�1
5 Electrical connection
►Disconnect power�
►Connect the device according to the indications on the type label�
5.1 Ethernet and power supply
1
43
2
1: Tx +
2: Rx +
3: Tx -
4: Rx -



1: US (10 - 30 V DC)
2: not connected (n�c�)
3: GND (0 V)
4: not connected (n�c�)
Ethernet:
4 pin female, D-coded
Power supply:
4 pin male, A-coded

UK
Encoder with ProfiNet interface
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5.2 Ethernet cables
5.2.1 RJ45 – M12 crossed
Signal RJ45 M12
Tx + 1 2
Tx - 2 4
Rx + 3 1
Rx - 6 3
5.2.2 RJ45 – M12 straight
Signal RJ45 M12
Tx + 1 1
Tx - 2 3
Rx + 3 2
Rx - 6 4
5.2.3 M12 – M12
Signal M12 M12
Tx + 1 1
Tx - 2 2
Rx + 3 3
Rx - 4 4
6 LED indicators
6.1 Legend
LED on / lit
Stat 1 Stat 2 Active 1
Active 2
Link 1Link 2
LED flashes
LED off
LED Colour Status / frequency Description
Active 1 Yellow Data traffic on port 1

Encoder with ProfiNet interface
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LED Colour Status / frequency Description
Link 1 Green Active link to other Ethernet components
via port 1
Link 1 Green
2 Hz Identification call is activated and link con-
nection is available
Active 2 Yellow Data traffic on port 2
Link 2 Green Active link to other Ethernet components
via port 2
Link 2 Green 2 Hz Identification call is activated and link con-
nection is available
Stat 1 Green
Status 1, details → Status LEDs
Stat 2 Red
Status 2, details → Status LEDs
6.2 Status LEDs
LED Colour Status /
frequency
Description Cause
Status 1 Green No power Fuse or cable defective
No connection to control unit
Criteria: no data exchange
– Bus disconnected
– IO controller not available
/ switched off
0�5 Hz Parameterization fault, no data
exchange
Criteria: data exchange correct�
The slave did not switch to the
[data exchange] mode�
– Slave not configured yet
or wrong configuration
– Wrong station address
assigned (but not outside
the permitted range)
– Actual configuration of
the slave differs from the
desired configuration
Data exchange
Connected device and operation
OK�

UK
Encoder with ProfiNet interface
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LED Colour Status /
frequency
Description Cause
Status 1
(fault)
Red No power Fuse or cable defective
No connection to control unit
Criteria: no data exchange
– Bus disconnected
– IO controller not available
/ switched off
0�5 Hz Parameterization fault, no data
exchange
Criteria: data exchange correct�
The slave did not switch to the
[data exchange] mode�
– Slave not configured yet
or wrong configuration
– Wrong station address
assigned (but not outside
the permitted range)
– Actual configuration of
the slave differs from the
desired configuration
Data exchange
Connected device and operation
OK�
7 Installation
►Disconnect power�
►Ensure that the machine stands still�
►The drive must not be started during installation�
►Do not hit the shaft; do not use a file or similar tool on the shaft: Risk of
destruction!
This product is a precision measuring device� Therefore it has to be handled with care by trained
staff� The following warnings apply to influences outside the limit values indicated in the product data
sheet�
Damage to the product can be caused by:
●electrostatic discharge while touching the electronics
●too high forces on the shaft
●humidity and chemical liquids (do not connect any cables oriented upwards)
●extreme temperatures
●too high vibrations and shocks
●short circuit or too high an operating voltage
●impact, shock or any other physical forces

Encoder with ProfiNet interface
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8 Device configuration
8.1 Standardisation
The current generation of ProfiNet encoders is based on the profile V4�0/V4�1
(PNO no� 3�162)� With this standardisation it is possible to substitute all products
that fulfil the specification�
PROFIBUS
Network
PROFINET
Network
PROFINET IO
PNO No. 2.332
PROFIBUS DP-V2
IEC 61158 PROFIDRIVE V4
PNO No. 3.172
I&M Functions
PNO No. 3.502
Encoder Profile V4
Class 3 and 4
PNO No. 3.162
Encoder Profile
Class 1 and 2
PNO No. 3.062
PROFIBUS DP
EN 50170
8.2 Encoder classes
Application class Description
3 Isochronous mode is not supported (RT)
4 Isochronous mode is supported (IRT)
8.3 Encoder functions
Implementation
Function Class 3 Class 4
Code sequence - / • * •
Class 4 functionality • •
G1_XIST1 preset control - / • * •
Scaling function control - / • * •
Alarm channel control • •
Preset value - / • * •
Preset value (64bit) - -

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Encoder with ProfiNet interface
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Implementation
Function Class 3 Class 4
Measuring units per revolution (32bit) - / • * •
Total resolution (32bit) - / • * •
Measuring units per revolution (64bit) - / • * •
Total resolution (64bit) - / • * •
Maximum master sign-of-life failures - / • * •
Velocity measuring unit - / • * •
Encoder profile version • •
Operating hours counter - -
Offset value - / • * •
Offset value at 64 bits - / • * •
Round axis function • •
Velocity filter • •
* If class 4 functionality is activated
8.4 Signal list for cyclic data transmission
Signal no. Meaning Abbreviation Length (bit) Sign
3 Master's sign-of-life counter STW2_ENC 16 -
4 Slave's sign-of-life counter ZSW2_ENC 16 -
6Velocity value A NIST_A 16 •
8 Velocity value B NIST_B 32 •
9 Control word G1_STW 16 -
10 Status word G1_ZSW 16 -
11 Position value 1 G1_XIST1 32 -
12 Position value 2 G1_XIST2 32 -
13 Position value 3 G1_XIST3 64 -
8.4.1 Format of position value
Note:
G1_XIST1 and G1_XIST2 are the actual position values in binary format� The
alignment in the data-frame (left or right-aligned) is considered for each individual
resolution� For absolute encoders an example is given below�
The alignment of the output format (left or right-aligned) remains constant and affects the actual
resolution� The number of bits provided changes depending on the resolution�
Example
25 bit multiturn absolute encoder (8,192 steps per revolution, 4,096 revolutions)�

Encoder with ProfiNet interface
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All values are presented in binary format� If an error occurs, G1_XIST2 displays
the error telegram instead of the right-aligned value�
The shifting factors in P979 "sensor format" display the current format� P979,
subindex 4 (shift factor for G1_XIST2) = 0� The settings in the encoder parameter
data affect the position value in both G1_XIST1 and G1_XIST2�
Absolute value in G1_XIST2
31���25 24���13 12���0
M S
Distinguishable
revolutions
(multiturn value)
Pulses
(singleturn steps
per revolution)
Setting: encoder profile 4.0*
●By default, G1_XIST1 is left-aligned�
●P979, subindex 3 (shift factor for G1_XIST1) = 32 – total resolution (next binary
value)
●G1_XIST1 transmits positions values independent of bit 10 in stw2 and bit 13 in
g1_stw1�
Absolute value in G1_XIST1 for encoder profile 4�0
31���20 19���7 6���0
M S
Distinguishable
revolutions
(multiturn value)
Pulses
(singleturn steps
per revolution)
Setting: encoder profile 4.1*
●By default, G1_XIST1 is right-aligned�
●A 32-bit counter starts with the absolute position value� After increasing to the
maximum counter value, start again with 0 or decreasing from the max� counter
value to 0�
●P979, subindex 3 (shift factor for G1_XIST1) = 0
●G1_XIST1 transmits positions values independent of bit 10 in stw2 and bit 13 in
g1_stw1�
Absolute value in G1_XIST1 for encoder profile 4�1
31���13 19���0
M S
Distinguishable
revolutions
(multiturn value)
Pulses
(singleturn steps
per revolution)

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Encoder with ProfiNet interface
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* Profile 4.0 is realised with GSDML-V2.2-IFM-RM30xx+RN30xx-20130802, profile
4�1 with newer data�
G1_XIST3
For 64-bit position values G1_XIST3 is available� The binary value is output right-
aligned and without shifting factor�
IO data (DWord) 1 2 3 4
Format 64-bit position value
8.4.2 Encoder control word (STW2_ENC)
4-bit counter, left-aligned� The master application starts the sign-of-life counter with
any value between 1 and 15� The master increases the counter in every cycle of
the master application�
Valid values for the master's sign-of-life counter are 1 to 15� "0" indicates an error
and is left out in normal operation�
Implementation
Bit Function Class 3 Class 4
0���9 Reserved,
currently not used
- -
10 Control by PLC • •
11 Reserved,
currently not used
- -
12���15 Sign-of-life status indication - -
Bit Value Meaning Comments
10 1 Control by PLC Control via interface,
IO data is valid
0 No control via PLC IO data is not valid, except sign-
of-life
12���15 Controller sign-of-life Continuously sends
counting values from 0 to 15

Encoder with ProfiNet interface
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8.4.3 Encoder status word (ZSW2_ENC)
4-bit counter, left-aligned� The slave application starts the sign-of-life counter with
any value between 1 and 15 after successful synchronisation to the clock pulse�
The counter is increased in every DP cycle of the slave application� Valid values
for the slave's sign-of-life counter are 1 to 15, "0" indicates an error and is left out
in normal operation�
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 Encoder sign-of-life counter - Mandatory
Bit Value Meaning Comments
9 1 Control requested Control via interface,
IO data is valid
0 No control via PLC IO data is not valid, except sign-
of-life
12���15 Encoder
Sign-of-life counter
Continuously sends
counting values from 0 to 15
8.4.4 Encoder control word (G1_STW)
Bit Value Function Comments
0���10 Reserved,
currently not used
11 0/1 "Home position" mode Specifies if the position value
shall be set to a previously
programmed absolute value or
shifted by this value�
0: set home position / preset
(absolute)
1: shift home position / preset
(relative = offset)
12 1 Set preset /
shift request
Preset (shift) is set when chan-
ging this bit to "1" (rising edge)�
Default preset value:
(shift): 0
Warning:
After setting the preset the offset
will be saved in the EEPROM� In
these 5-10 ms the encoder will
not send position values�

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Encoder with ProfiNet interface
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Bit Value Function Comments
13 1 Request absolute value cyclically Request of additional cyclic trans-
mission of the absolute actual
position in G1_XIST2� If no other
data needs to be transferred
due to commands or errors the
absolute position value will be
transmitted automatically�
14 1 "Parking sensor" activated If the "parking sensor" bit is
activated, the encoder transmits
no error messages�
15 1 Acknowledgement of a sensor
error
Request to acknowledge / reset a
sensor error
8.4.5 Encoder status word (G1_ZSW)
Bit Value Function Comments
0���10 Reserved,
currently not used
11 Acknowledgement of a sensor
error in process
Is set if the reset of a sensor error
takes longer than one bus cycle�
12 1 Set preset value /
shift reference point executed
Acknowledgement for "set preset
/ shift reference point"
13 1 Transmit absolute value cycli-
cally
Acknowledgement for "request
absolute value cyclically"
14 1 "Parking sensor" activated If the "parking sensor" bit is
activated, the encoder transmits
no error messages�
15 1 Acknowledgement of a sensor
error
Indicates a sensor error�
A device specific error code is
shown in G1_XIST2�
8.5 Standard and vendor telegrams
Standard telegram 81
IO data
(DWord)
1 2
Setpoint STW2_ENC * G1_STW1 *
IO data
(DWord)
1 2 3 4 5 6
Actual value ZSW2_ENC* G1_ZSW1* G1_XIST1* G1_XIST2*
Standard telegram 82
IO data
(DWord)
1 2
Setpoint STW2_ENC* G1_STW1 *

Encoder with ProfiNet interface
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IO data
(DWord)
1 2 3 4 5 6 7
Actual value ZSW2_ENC* G1_ZSW1* G1_XIST1* G1_XIST2* NIST_A*
Standard telegram 83
IO data
(DWord)
1 2
Setpoint STW2_ENC* G1_STW1 *
IO data
(DWord)
1 2 345678
Actual value ZSW2_ENC* G1_ZSW1* G1_XIST1* G1_XIST2* NIST_B*
Standard telegram 84
IO data
(DWord)
1 2
Setpoint STW2_ENC* G1_STW1 *
IO data
(DWord)
1 2 3 4 5 6 7 8 9 10
Actual value ZSW2_ENC* G1_ZSW1* G1_XIST3* G1_XIST2* NIST_B*
* Details on the variables → chapter 3.4
Vendor telegram 860
With this telegram it is not necessary to set special bits for a cyclic data
transmission� In its functionality, it is similar to PROFIBUS and provides for easy
configuration of the preset value during PLC operation� The velocity value uses the
format that is defined in the velocity measuring unit�
If bit 31 is set to "1", the preset value will be adopted immediately� A further preset
value can only be set if bit 31 is reset to "0"�
●No control word
●No status word
●No status indication
●Output: 32 bit-unsigned preset value (bit 31 preset control, must be less than
total resolution)
●Input: 32 bit-unsigned preset value + 32 bit-integer velocity value
Data input (from encoder to controller): 8 bytes
Position value - 32-bit unsigned Velocity value - 32-bit signed

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Encoder with ProfiNet interface
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Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7
MSB LSB MSB LSB
Data output (from controller to encoder): 4 bytes
Preset - 32-bit unsigned
Bit 31 Bit 30 ���������������������������������������������������������������������������������bit 0
Preset control Preset value < Total resolution
9 Configuration principle
Encoders with ProfiNet interface can be programmed according to the needs of
the user�
►The GSDML file of the encoder has to be installed in the PLC software tool�
9.1 Overview of encoder functions
Function Communication channel
Position value Cyclic input (IO device -> IO controller)
Preset Cyclic output (IO controller -> IO device)
Code sequence Acyclic input/output
Scaling function Acyclic input/output
9.2 Encoder functions – Data format
ProfiNet IO devices are set up in modules� Each module can be assigned to slot�
One sub slot can contain several cyclic input/output channels as well as acyclic
record channels (required for parameters)�
There are PLC versions from different manufacturers available� Some of them
support only one sub slot� Others, e�g� S7 400, support several sub slots� To work
with all PLCs there are two directories in the GSDML file: standard (for IRT) and
"no PDEV"�
ifm encoders offer for the standard profile one slot with one sub slot for all old
PLCs that do not support several sub slots�
Device parameters are systematically grouped together in a table� The following
tables give an overview of the ifm encoder functions�

Encoder with ProfiNet interface
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EncoderGSDML file
ControllerSPS project tool
1 2
1: Acyclic data transmission (parameters)
2: Cyclic data transmission (process data)

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Encoder with ProfiNet interface
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9.3 Parameters for acyclic data transmission
In the start-up phase the user parameters are sent to the encoder as data record
object for mapping of the different encoder functions in the user data section (data
record 0xBF00)� In addition to the parameter "data configuration" the encoder
supports a number of PROFIdrive parameters and encoder specific parameters via
the acyclic data exchange service�
With GSDML version GSDML-V2�2-IFM-RM30xx+RN30xx-20130802, it is
possible to change the telegram type without changing the MAP parameters�
MAP
Parameter
Access
Encoder
Functions
Parameter
Manager
Parameter
Data Base
Standard
Telegram 81.
82, 83 or 84
Sub 1Sub 2
Sub 2Sub 0
Slot 1 Standard Telegrams
Sub 0
Slot 0

Encoder with ProfiNet interface
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9.3.1 Standard parameters
Function Slot Sub slot Index Offset Length IO
Code sequence 1 1 0xBF00 0�0 1 bit -
Class 4 functionality 1 1 0xBF00 0�1 1 bit -
G1_XIST1 preset control 1 1 0xBF00 0�2 1 bit -
Scaling function control 1 1 0xBF00 0�3 1 bit -
Alarm channel control 1 1 0xBF00 0�4 1 bit -
Compatibility mode 1 1 0xBF00 0�5 1 bit -
Measuring units per revolution 1 1 0xBF00 1 8 bytes -
Total resolution 1 1 0xBF00 9 8 bytes -
Maximum master
sign-of-life failures
1 1 0xBF00 17 1 byte -
Velocity unit 1 1 0xBF00 18 1 byte -
9.3.2 Device parameters
Function Slot Sub slot Index Offset Length IO
Preset value 1 1 0xB02E via parameter no�
65000
-
9.3.3 Vendor parameters
Function Slot Sub slot Index Offset Length IO
Preset value 1 1 0x1000 0 1 byte -
9.4 Supported parameters
Number Parameter Read only Read/Write
922 Telegram selection •-
925 Number of tolerated sign-of-life failures - •
964 Device identification •-
965 Profile identification number •-
971 Transfer into EEPROM - •
975 DO identification •-
979 Sensor format •-
980 List of defined parameters •-
65000 Preset - •
65001 Operating status •-