Leine Linde PROFIBUS DPV0 Guide

PROFIBUS DPV0
FOR 900 SERIES ENCODERS
MANUAL / USERS GUIDE

Leine &Linde AB
T [phone]
F [phone]
[email protected]
www.leinelinde.com
Publication date: 2016-02-17

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Contents
1 GENERAL INFORMATION 6
1.1 APPLICABILITY OF MANUAL 6
1.2 ABSOLUTE ENCODERS 6
1.3 PROFIBUS TECHNOLOGY 7
1.4 ABOUT LEINE&LINDE AB 7
1.4.1 Technical and commercial support 7
1.5 REFERENCES 8
1.5.1 Abbreviations 8
2 ABSOLUTE ENCODER INSTALLATION 9
2.1 SETTINGS INSIDE THE ENCODER 9
2.1.1 Node address 9
2.1.2 Bus termination 9
2.2 CONNECTING THE ENCODER 10
2.2.1 Power supply 10
2.2.2 BUS lines 11
2.3 SHIELDING PHILOSOPHY 11
2.4 GSD FILES 12
2.5 LED INDICATION 12
3 PROFILE OVERVIEW 14
3.1 DPV0 ENCODER CLASS 14
4 ENCODER FUNCTIONALITY, DPV0 15
4.1 BASIC FUNCTIONALITY 15
4.2 PROFIBUS DATA TRANSFER PRINCIPLE 15
4.2.1 During configuration (DDLM_Chk_Cfg mode) 15
4.2.2 During parameterization (DDLM_Set_Prm mode) 15
4.2.3 Normal operation (DDLM_Data-Exchange mode) 15
4.3 CONFIGURATION, DPV0 15
4.4 PARAMETERIZATION, DPV0 16
4.4.1 Code sequence 16
4.4.2 Class 2 functionality 17
4.4.3 Commissioning diagnostics 17
4.4.4 Scaling function control 17
4.4.5 Scaling type 17
4.4.6 Measuring units per revolution 17
4.4.7 Total measuring range 18
4.4.8 Velocity control 20
4.4.9 Velocity calculation 20
4.5 DATA TRANSFER IN NORMAL OPERATION (DDLM_DATA_EXCHANGE) 21
4.5.1 Data exchange mode 21
4.5.2 Preset function 21
4.6 DIAGNOSTICS 22
4.6.1 Extended diagnostic header 23
4.6.2 Alarms 23
4.6.3 Operating status 24

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4.6.4 Encoder type 25
4.6.5 Singleturn resolution or measuring step 26
4.6.6 Number of distinguishable revolutions 26
4.6.7 Additional alarms 27
4.6.8 Supported alarms 28
4.6.9 Warnings 29
4.6.10 Supported warnings 30
4.6.11 Profile version 30
4.6.12 Software version 31
4.6.13 Operating time 31
4.6.14 Offset value 31
4.6.15 Offset value of the encoder manufacturer 32
4.6.16 Scaling parameters settings 32
4.6.17 Encoder serial number 33
5 CONFIGURATION EXAMPLE 34
5.1 DEVICE DESCRIPTION FILE INSTALLATION (GSD FILE) 34
5.2 SETTING THE ENCODER CONFIGURATION 35
5.3 SETTING THE ENCODER PARAMETERS 38
6 REVISION HISTORY 41
List of tables
Table 1 Terminating switch settings 9
Table 2 Pinning M12 power supply connector 10
Table 3 Pinning M12 bus in/out lines 11
Table 4 Available GSD file for DPV0 encoders 12
Table 5 LED indication 13
Table 6 Operating parameters in DPV0 16
Table 7 Octet 9, Parameter definition 16
Table 8 Singleturn scaling parameter format 18
Table 9 Multiturn scaling parameter format 18
Table 10 Octet 39 Velocity Control 20
Table 11 Data exchange 32-bits 21
Table 12 Preset value, 32-bit format 22
Table 13 Diagnostics message, DPV0 23
Table 14 Diagnostic header 23
Table 15 Alarms 24
Table 16 Operating status 24
Table 17 Diagnostics, encoder type 25
Table 18 Diagnostics, singleturn resolution 26
Table 19 Diagnostics, number of distinguishable revolutions 26
Table 20 Diagnostics, additional alarms 27
Table 21 Diagnostics, supported alarms 28
Table 22 Diagnostics, warnings 29
Table 23 Diagnostics, supported warnings 30
Table 24 Diagnostics, profile version 30
Table 25 Diagnostics, software version 31
Table 26 Diagnostics, operating time 31
Table 27 Diagnostics, offset value 32

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Table 28 Diagnostics, offset value of the encoder manufacturer 32
Table 29 Diagnostics, scaling parameters setting 33
Table 30 Diagnostics, encoder serial number 33
Table 31 Revision history 41
List of figures
Figure 1 900 series PROFIBUS encoder 6
Figure 2 Settings inside the encoder 9
Figure 3 Orientation of M12 power supply connector 10
Figure 4 Terminal connection of power supply cables 10
Figure 5 Orientation of M12 bus connectors 11
Figure 6 Terminal connection of bus line cables 11
Figure 7 Overview encoder profile and related documents 14
Figure 8 Basic functionality 15
Figure 9 Cyclic scaling 19
Figure 10 Non-cyclic scaling 19
Figure 11 Free scaling 20
Leine&Linde AB claims copyright on this documentation. This documentation may not be modified,
extended or passed onto to a third party and/or copied without written approval from Leine&Linde AB.
Specifications and content in this document are subject to change without prior notice due to our
continuous efforts to improve the functionality and performance of our products.

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1 General information
Thank you for choosing this device produced by the Swedish encoder manufacturer Leine&Linde. In your
hands you have a state of the art component that is ready to be used in the outmost demanding environment.
This manual describes the installation procedures and configuration options of our absolute encoders in the
900 series with DPV0 functionality. If you are in need of assistance during the commissioning or during opera-
tion, please make sure that you contact your local Leine&Linde representative.
1.1 Applicability of manual
This product manual is fully applicable to the encoder versions equipped with PROFIBUS DPV0 interface within
the following encoder series:
PSE 901 PHE 901 PSE 921 PHE 921
PSE 903 PHE 903 PSE 923 PHE 923
Leine&Linde is a company that often customizes the product to fit individual requirements of our customers.
Such customised products may therefore not be fully compliant with the descriptions in this product manual.
Customised encoder devices are indicated by their type label, and marked 991 or 993 where the “9” digit in the
second position indicates that the device has some customised parameters. Encoder series with the following
name and type plate information may therefore have deviating functional performance.
PSE 991 PHE 991
PSE 993 PHE 993
If your product is of the above mentioned type, contact Leine&Linde to obtain the product’s complete func-
tional description.
1.2 Absolute encoders
With an absolute encoder each angular position is assigned a coded position value. On singleturn encoders,
i.e. an encoder producing absolute positions within one revolution, the absolute position information repeats
itself with every revolution. So called multiturn encoders can also distinguish between revolutions. The number
of unique revolutions is determined by the resolution of the multiturn scanning and repeats itself after the
total resolution is reached.
Figure 1 900 series PROFIBUS encoder

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1.3 PROFIBUS technology
PROFIBUS is a powerful and versatile 2-wire non-proprietary open fieldbus standard defined by several inter-
national standards such as EN 50170, IEC 61158 together with different device profiles. There are 3 different
PROFIBUS versions available today, DP, FMS and PA. Leine&Linde products support the DP version. In addition
to manufacturer-specific functions, the Leine & Linde products described in this manual support class 2
according to the encoder profile 3.062. The encoder device profile describing encoder functionality and addi-
tional information about PROFIBUS can be ordered from PROFIBUS User Organization, PNO or directly from
Leine&Linde AB.
PROFIBUS User Organization
Haid-und-Nue Straße 7
DE-76131 Karlsruhe, Germany
Tel: [phone]
Fax: [phone]
Web: www.profibus.com
1.4 About Leine &Linde AB
For more than 40 years, the Sweden-based company Leine&Linde has concentrated on one thing – development
and manufacturing of advanced encoders that meet the most rigorous demands a user can place on them.
That is why a wide assortment of incremental and absolute encoders with obvious concentration on robust
products and quality down to the last detail can be offered. Leine & Linde’s encoders provide the utmost in
reliability year after year, in working conditions where vibration, dirt, cold, and other harsh environmental
conditions are common.
Leine&Linde can meet very specific individual demands. The encoders are adapted exactly to the customers’
needs with respect to resolution, electrical connections and interfaces, voltage, casings, etc, due to modular de-
sign within every product range. Leine&Linde concentrates on advanced development of intelligent encoders
with integrated ASICs, new special features, and with adaptations to different fieldbus systems. . Leine&Linde
concentrate on advanced development of intelligent encoders with integrated ASICs, new special features and
with adaptations to different fieldbus systems. This enables us to meet the need for increasingly effective and
dependable machines and automation to an even higher degree.
1.4.1 Technical and commercial support
Leine&Linde is represented by subsidiaries in many countries around the world. In addition to the address
listed here, there are many services agencies and distributors located worldwide ready to reply to commercial
enquiries or technical support. For more contact information, please visit our web site or contact Leine&Linde
in Strängnäs, Sweden.
Leine&Linde AB
Box 8
SE-645 21 Strängnäs, Sweden
Tel: [phone]
Fax: [phone]
E-mail: [email protected]
Web: www.leinelinde.com

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1.5 References
PROFIBUS Encoder profile V1.1, Order No. 3.062
1.5.1 Abbreviations
PROFIBUS Process Field Bus
PI PROFIBUS International
PNO PROFIBUS Nutzerorganisation e.V. (PROFIBUS user organization)
GSD German term “Gerätestammdaten”. A GSD is the device database file, also called
“device datasheet”.
DP Decentral Periphery
Input data Data which the master receives from the encoder
Output data Data which the encoder receives from the master.
PDU Protocol Data Unit
DDLM Direct Data Link Mapper, the interface between PROFIBUS-DP functions and the
encoder software
DDLM_Set_Prm Interface during parameterization
DDLM_Data_Exchange Interface during data exchange (normal operation)
DDLM_Slave_Diag Interface during diagnostics data transfer
DDLM _Chk_Cfg Interface during configuration

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2 Absolute encoder installation
2.1 Settings inside the encoder
The encoder node address and bus termination must be configured during commissioning of the device.
This is done by removing the back cover, i.e. screwing off the three screws at the rear of the encoder.
2.1.1 Node address
The node address of the encoder can be set via two decimal rotary switches located inside the back cover.
The weighting, x10 or x1 are specified beside the switches. Permissible address range is between 0 and 99, but
the lower addresses 0 to 2 are normally used by the master and not recommended to be used by the encoder.
Each address used in a PROFIBUS network must be unique and may not be used by other devices.
The encoder address is only read and adopted when the encoder power supply is switched on. A restart of
the encoder is therefore required in order to adopt changes done to the address settings.
Figure 2 Settings inside the encoder
Example: If the node address shall be set to 85, the x10 switch shall be set to 8 and the x1 switch shall be set to 5.
2.1.2 Bus termination
In a PROFIBUS net, all devices are connected in a bus structure. Up to 32 devices (master and/or slaves) can
be connected in one segment. When more devices are needed repeaters should be used to amplify the signals
between segments. An active termination must be added in the beginning and end of each bus segment in
order to ensure error-free operation. In case of the encoder being equipped with cable glands such terminators
are integrated inside the back cover and can be activated via dip switches as shown in picture 2. If the device is
un-powered the A and B lines are internally terminated by a 220Ω resistor.
Bit 1 Bit 2 Effect
ON ON There is a 220 ohm resistor between bus-A and bus-B line.
ON OFF Not a valid setting.
OFF ON Not a valid setting.
OFF OFF There is no resistor between bus-A and bus-B line.
Table 1 Terminating switch settings
Case
X1
X10
Screw terminals
Bus termination switches
Internal shield
Node address switches

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When encoders with M12 connectors are used the termination should be done using a terminating resistor
plug. The terminating resistor plug is available as an accessory from Leine&Linde.
Note: When M12 terminating resistor plugs are used, the internal terminating switch shall not be activated.
2.2 Connecting the encoder
2.2.1 Power supply
The power supply connection of M12 equipped encoders are constituted by a male A-coded 4 pin M12 connector.
Figure 3 Orientation of M12 power supply connector
Encoders equipped with cable glands are delivered with a dust protection foil from the factory. The protection
foil needs to be removed prior to installation of the cables. The cable gland encoders should always be
equipped with a shielded power supply cable with conductor area between 0,34 mm2to 1.5 mm2. Permissible
outer cable diameter is ø 6 mm to ø 8 mm for the power supply cable. Located inside the back cover are two
screw terminals containing the required power supply terminals marked (+) and (-).
In the case where the encoder is the last node in the bus-structure and only the cable glands for Supply and
Bus-in are in use, the Bus out cable gland should be replaced with a M16 filler plug to ensure proper sealing.
The M16 filler plug is available as an accessory from Leine&Linde.
The (+) terminal shall be used to connect the +EV-line
The (-) terminal shall be used to connect the 0V-line.
Figure 4 Terminal connection of power supply cables
Note: Tighten all screws in the terminal, even if no cable has been attached.
Power supply
Power supply M12 version
Function Pin
+E Volt (9-36 Vdc) 1
Not connected 2
0 Volt 3
Not connected 4
Table 2 Pinning M12 power supply connector

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2.2.2 BUS lines
The PROFIBUS bus line connections of the M12 equipped devices are constituted by a male B-coded 5 pin M12
connector (bus in), and a female B-coded 5 pin M12 connector (bus out).
Figure 5 Orientation of M12 bus connectors
The cable gland encoders shall be equipped with twisted pair shielded cable in accordance with EN 50170 and
PROFIBUS guidelines. The guidelines recommend a conductor area higher than 0,34 mm2. Permissible outer cable
diameter is ø 8 mm to ø 10 mm for the bus line cables. Located inside the back cover are four screw terminals
containing the required bus line terminals marked (A) and (B). Cable glands not used should be replaced with
a M16 filler plug to ensure proper sealing. The M16 filler plug is available as an accessory from Leine& Linde.
The (A) terminal shall be used to connect the A-line.
The (B) terminal shall be used to connect the B-line.
Figure 6 Terminal connection of bus line cables
Note: Tighten all screws in the terminal, even if no cable has been attached.
Note: The two A-terminals are internally connected to each other and the two B-terminals are also
internally connected to each other so it does not matter to which terminal the bus lines are connected.
2.3 Shielding philosophy
To achieve the highest possible noise immunity and resistance against other EMI related disturbances the bus
and power supply cables shall always be shielded. The screen should be connected to ground on both ends of
the cable. In certain cases compensation current might flow over the screen. Therefore a potential compensation
wire is recommended.
Bus in Bus out
Bus in lines Bus out lines
Function Pin Function Pin
Not connected 1 VP 1
A 2 A 2
Not connected 3 DGND 3
B 4 B 4
Chassi 5 Chassi 5
Table 3 Pinning M12 bus in/out lines

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2.4 GSD files
Absolute encoders with PROFIBUS can be configured and parameterized corresponding to the requirements
of the user. When the system is started, the PROFIBUS devices are set and configured in DDLM_Set_Prm mode,
i.e. the encoder class set by means of the GSD file in the configuration tool and the operating parameters are
transferred to the respective slave.
Available GSD files can be downloaded from www.leinelinde.com
GSD file
Encoder functionality GSD file
Integrated encoder, DPV0 ENC_0EC8.GSD
Table 4 Available GSD file for DPV0 encoders
When configuring the encoders various configurations can be selected as described in chapter 5. Selectable
parameters and functionality of the device depends on the selected configuration. This data, saved in the PROFIBUS
master is transferred once to the encoder when the system is powered on. If the encoder has been started with
the GSD file for DPV0 functionality and a GSD file with a different ID-number shall be used, the encoder needs
to be restarted before it can use the new GSD file. The 900 series encoder can only be configured as a class 2
PROFIBUS slave device.
After the configuration and parameter data have been received the encoder enters normal operation with
cyclic data transfer i.e. “DDLM_Data_Exchange mode”.
Installation of GSD-files:
1) Select and save the GSD file for the respective device from our homepage www.leinelinde.com
and then copy the *.gsd file into the respective directory of the PROFIBUS configuration tool.
2) Select the bitmap file of the respective device on the floppy disk and copy the *.bmp file into the
respective directory of the PROFIBUS configuration tool.
3) Update the GSD files (SCAN).
2.5 LED indication
In order to determine the status of the encoder two LEDs are visible from the rear end of the encoder. The
module LED indicates status of the module itself. The bus LED indicates the status of the bus. The table below
defines the diagnostic messages using a red (BUS) and a bicolor, Red/Green, LED (MODULE).
Bus Module Meaning Cause
Off Off No Power
Red Green No connection to another device
Criterion: no data exchange
- Bus disconnected
- Master not available / switched off
Red
2)
Red
2)
No connection to another device
No connection between EnDat
encoder and PROFIBUS PCB
- No connection to EnDat Encoder
at power up

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Bus Module Meaning Cause
Blinking
Red
1 )
Green Parameterization or configuration
fault
- Configuration received differs
from the supported configura-
tion.
- Parameter error in the
parameterization.
Green Red System failure - Diagnosis exists, slave in data
exchange mode
- Position error
Green Green Data exchange
Slave and operation ok
Table 5 LED indication
1) The blinking frequency is 0.5 Hz. Minimal indication time is 3 sec.
2) Position error is when an alarm occurs in the encoder or if the EnDat encoder is disconnected from the
PROFIBUS interface PCB.

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3 Profile overview
Encoder Profile for DPV0, version 1.1, Order no 3.062.
The operating functions in this profile are divided into two device classes named Class 1 and Class 2. Class 1
encoders offer basic functions that all PROFIBUS-DP encoders must support. An encoder of class 1 can optionally
support selected functions of class 2 but these functions must be implemented according to the profile. To support
early PROFIBUS-DP implementations the size of the protocol data units (PDU) is limited to 16 bytes. Encoders of
class 2 must support all functions of class 1 as well as the additional functionality of class 2. In addition to the
two classes, parameters and diagnostic ranges are reserved for manufacturer-specific functions.
For further information regarding the encoder functionality refer to the device profile. The profile and PROFIBUS
technical information can be ordered at PNO in Karlsruhe, Germany (www.profibus.com).
Figure 7 Overview encoder profile and related documents
3.1 DPV0 encoder class
The 900 series encoder can only be configured as a class 2 PROFIBUS slave device. Class 2 configuration is ex-
tended to optionally access velocity information from the encoder.
CLASS 2 In the Class 2 configuration output data values and input data words are transferred.
Both the input data and output data consist of two data words (32 bits).
The following functions are available:
• Scaling function
• Preset value function
• Velocity read-out
• Extended diagnostic data
Configuration data:
Position Class 2 – 32 bits: F1hex, 2 input data word, 2 output data words for preset value,
data consistency
Position + Class 2 – 32+16 bits: F1+D0hex, 3 input data word, 2 output velocity data words
Velocity for preset value, data consistency
To enable full functionality it is recommended to choose the 32 bit + 16 bit velocity configuration.

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4 Encoder functionality, DPV0
4.1 Basic functionality
The picture below gives an overview of the basic encoder and gateway functions and how the functionality is
conducted within the device.
Code sequence
Singleturn resolution
Number of distinguishable revolutions
Measuring units per revolution
Total measuring range in measuring units
Scaling function control/status
Preset value
Offset value
Basic function
Physical position
Absolute position
Scaling function
Preset function
Output position value
Figure 8 Basic functionality
4.2 PROFIBUS data transfer principle
The PROFIBUS-DP devices can be configured and parameters can be set according to the user’s needs.
In this context it is useful to know that with PROFIBUS there are different types of data transmission.
4.2.1 During configuration (DDLM_Chk_Cfg mode)
The configuration function allows the DP-Master to send the configuration data to the DP-device for
checking. The main purpose is to define the number of bytes used for the Data_Exchange function.
4.2.2 During parameterization (DDLM_Set_Prm mode)
When the system is started, the PROFIBUS devices are parameterized (DDLM_Set_Prm mode), i.e. the encoder
class set by means of the GSD file in the configuration tool and the set operating parameters (see chapter 4.4)
are transferred to the respective slave.
4.2.3 Normal operation (DDLM_Data-Exchange mode)
In the normal mode (DDLM_Data-Exchange mode), data are exchanged between master and slaves. The preset
function can be carried out only in this operating mode. The data exchange is described in chapter 4.5.
4.3 Configuration, DPV0
The configuration of a DPV0 device is conducted by choosing encoder class, i.e. setting the input/output data
structure. The configuration options are 32-bit or 32-bit + 16-bit velocity input data, for explanation view
chapter 3.1.

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4.4 Parameterization, DPV0
The PROFIBUS-DPV0 device is parameterized by means of the operating parameters. The values selected in
the configuration tool are saved in the DP master and are transferred to the PROFIBUS-DP slave each time
the network is started.
The following table lists all available parameters:
Parameters Data type Parameter octet number
Code sequence Bit 9
Scaling type Bit 9
Scaling function control Bit 9
Measuring units per revolution Unsigned 32 bits 10 – 13
Total measuring range in
measuring units
Unsigned 32 bits 14 – 17
Manufacturer specific functions Bit 26 – 28
Velocity output unit 2 bit 39
Table 6 Operating parameters in DPV0
The parameters described in octet 9 are defined bit by bit as follows:
Octet 9
Bits 7 – 0
Data 27– 20
Operating parameters
Bits Definition = 0 = 1
0 Code sequence Clockwise (CW) Increasing posi-
tion values when rotated clock-
wise (seen from flange side)
Counter-clockwise (CCW) In-
creasing position values when
rotated counter-clockwise (seen
from flange side)
3 Scaling function
control
Disable scaling Enable scaling. Scaling param-
eters are taken into octets 10 to
17.
4 Scaling type Binary (A) or Non-binary (B) Free scaling (C)
5 Reserved for future use
Table 7 Octet 9, Parameter definition
4.4.1 Code sequence
The code sequence defines whether the absolute position value should increase during clockwise or counter-
clockwise rotation of the encoder shaft seen from flange side. The code sequence is by default set to increase
the absolute position value when the shaft is turned clockwise (0).
Note: The position value will be affected when the code sequence is changed during operation.
It might be necessary to perform a preset after the code sequence has been changed.

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4.4.2 Class 2 functionality
The Class 2 functionality for 900 series PROFIBUS encoders is by default enabled. The class 2 functionality
enables the scaling, preset and velocity readout function. Leine & Linde 900 series only support class 2.
4.4.3 Commissioning diagnostics
The commissioning diagnostics function enables the device to perform internal diagnostic tests of the encoder
components responsible for position detection during a standstill of the encoder (i.e. light unit, photovoltaic cells
etc.). In conjunction with the position alarms, it enables thorough checking of whether the position values provided
by the absolute encoder are correct. The commissioning diagnostics function is started by the commissioning bit
in the operating parameters. If an error is found within the absolute encoder, this is indicated in the diagnostic
function by the commissioning diagnostics alarm bit (see chapter 4.6.2).
The commissioning diagnostics function is an option. To find out whether the encoder supports commissioning
diagnostics, the commissioning diagnostics bit in the operating status, (octet 9 in the Diagnostics) can be read
out and checked.
4.4.4 Scaling function control
The scaling function converts the encoder’s physical absolute position value by means of software in order to
change the resolution of the encoder.
The parameters “Measuring units per revolution” and “Total measuring range” are the scaling parameters set by
the parameter function in octet 10 to 17. Scaling is active only if the control bit for the scaling function is set to 1
(Enabled). When the scaling function control bit is set to 0, the scaling function is disabled.
Note: After downloading new scaling parameters the Preset function must be used to set the encoder
starting point to absolute position 0 or to any required starting position within the scaled operating range.
4.4.5 Scaling type
The encoder has different kinds of scaling possibilities depending on the users’ need or use of the encoder.
Binary (A)
If the numbers of revolution is set to an 2Xnumber of turns (where x = 2,4,8... and so on) the encoder will oper-
ate in an endless cyclic mode (0-max-0-max....).
Non-binary (B)
If the numbers of revolution is set to a value not equal to 2Xnumbers (where x = 2,4,8…) of turns, then the
encoder will work in a non-binary scaling, which means that the encoder’s total measuring range will be within
a limited range. The position value will be set to the encoder’s highest scaled position value, until a preset is
made, or until the position value has reached the maximum value of its non-scaled full working range. Then it
starts over from 0 again.
Free scaling (C)
The encoder resolution can be set to any desired working range within the encoder’s maximum resolution.
For more information about the operating modes depending on the scaling types, please refer to chapter 4.4.7.
4.4.6 Measuring units per revolution
The total measuring range is calculated by multiplying the singleturn resolution with the
number of distinguishable revolutions.

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Format of the scaling parameters:
Octet 10 11 12 13
Bits 31 – 24 23 – 16 15 – 8 7 – 0
Data 231 – 224 223 – 216 215 – 2827–20
Measuring units per revolution
Table 8 Singleturn scaling parameter format
Octet 10 11 12 13
Bits 31 – 24 23 – 16 15 – 8 7 – 0
Data 231 – 224 223 – 216 215 – 2827–20
Measuring units per revolution
Table 9 Multiturn scaling parameter format
The data format for both scaling parameters is 32 bits without sign, with a value range from 20to 231. The
permissible value range is limited by the resolution of the encoder. For a 31 bit encoder with a singleturn reso-
lution of 19 bits the permissible value range for “Measuring units per revolution” is between 20 and 219 (524288)
and for the “Total measuring range” the permissible value range is between 20and 231 (2147483648). The scaling
parameters are securely stored in the PROFIBUS-DP master and are reloaded into the encoder at each power-
up. Both parameters are output data in 32-bit format.
Example of scaling and entry:
If the user wants to scale the encoder to a single turn resolution of 4000 unique positions per revolution
and a total number of turn count equal to 3200 revolutions, the configuration shall be as:
Measuring units per revolution = 400010 steps
Total measuring range in measuring units
= 4000 steps x 3200 revolutions
= 12 800 00010
Entry in the master configuration software:
Measuring units per revolution = 4000
Total measuring range (steps) = 12800000
4.4.7 Total measuring range
The total measuring range is defined by the parameter ”Total measuring range in measuring units”.
The parameter “Scaling type” (see chapter 4.4.5) affects which operating mode is going to be used.
If scaling type “binary (A)” has been chosen, an automated check is done whether a binary scaling can be used
or not. If a binary scaling can be used, the device selects operating mode (A) Binary scaling. If not, operating
mode (B) Non-binary scaling is selected.
If the scaling type has been set to Free scaling (C),the encoder uses the operating mode (C) Free scaling.
(A) Binary, cyclic scaling
Cyclic operation is used when operating with 2Xnumber of turns (2, 4, 8, 16, 32, 64, 128, 256, 512, 1024, 2048 and
4096 number of turns). If the desired measuring range is equal to the specified singleturn resolution * 2X(where

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x<=16) the encoder operates in endless cyclic operation (0–max–0–max…). For example: If the position value
increases above the maximum value by rotating the encoder shaft, the encoder continues from 0.
Example of a cyclic scaling:
Measuring units per revolution = 1000
Total measuring range = 32 000 (25= number of revolutions 32)
Figure 9 Cyclic scaling
(B) Non-binary, non-cyclic scaling
If the measuring range is used to limit the encoder value range to a value not equal to the specified singleturn
resolution * 2X, the output position value is limited within the operating range. If the position value increases or
decreases outside the measuring range by rotating the encoder shaft beyond the maximum value or below 0, the
device outputs the total measuring range value.
Example of non-cyclic scaling:
Measuring units per revolution = 100
Total measuring range = 5 000 (number of revolutions 50)
Figure 10 Non-cyclic scaling
(C) Free scaling
Free scaling means that the resolution of the encoder can be set to any desired number within the limitation of
the encoder’s maximum total resolution. The encoder will then work in endless cyclic operation, which means
that the encoder counts from 0 to maximum set value and then starts over from 0 again (0–max–0–max–0…).
Example of scaling:
Measuring units per revolution = 1000 steps
Total Measuring range in measuring units = 3000 (Measuring units per revolution x 3 revolutions)

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20
Figure 11 Free scaling
4.4.8 Velocity control
The velocity data can be accessed if class 2, 32 bit + 16 bit velocity configuration is used. In this case the input
data consists of 32-position data plus 16-bit signed velocity data. The input velocity value is negative in CCW
direction if code sequence is set to CW. If the measured velocity is higher then what is possible to present with
the selected velocity unit, the value is set to 0x7FFF(32768) or 0x8000 (-32768) depending on direction of shaft
rotation.
Note: If the velocity control function is used and scaling is set to the device, the velocity calculation is based
on the scaled position value. Consequently the accuracy of the velocity value is dependent of the scaling set
to the device.
4.4.9 Velocity calculation
The velocity calculations are made with a maximum of 19 bits resolution. If the resolution is higher than
219, the value used for velocity calculations is automatically reduced to 219. For a multiturn encoder with
212 multiturn resolution, the maximum singleturn value will be 219 and the velocity will be calculated on
the same resolution as presented in the diagnostic structure. For a singleturn encoder the resolution can be
up to 31 bits, but the velocity calculations will be made on maximum 19 bits. This means that in the diagnostic
structure, the value 231 can be presented, but the resolution used for velocity calculations is not presented if
the singleturn resolution is higher than 219.
The parameter for velocity unit, octet 39, can be seen below:
Octet 39
Bits 7 – 0
Data 27– 20
Velocity control
Bit 7 6 5 4 3 2 1 0 Velocity unit
0 0 Steps/s
0 1 Steps/100ms
1 0 Steps/10ms
1 1 RPM(revolutions/min)
Table 10 Octet 39 Velocity Control
In case of the step/s unit, an average is made over 200 ms, and the value is multiplied by 5.