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