Pepperl+Fuchs EVS58-PZ User manual

Absolute Encoders with
POWERLINK
EVS58-PZ
EVM58-PZ
ESS58-PZ
ESM58-PZ
FACTORY AUTOMATION
MANUAL

With regard tothesupply ofproducts, the currentissue ofthefollowingdocument is applicable: The
General Terms of Delivery for Products and Services of the Electrical Industry, published by the
Central Association of the Electrical Industry (Zentralverband Elektrotechnik und Elektroindustrie
(ZVEI) e.V.) in its most recent version as well as the supplementary clause: "Expanded reservation
of proprietorship"
Absolute Encoders with POWERLINK

Absolute Encoders with POWERLINK
Contents
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1 Introduction......................................................................... 4
2 Declaration of conformity .................................................. 5
3 Safety................................................................................... 6
3.1 Symbols relevant to safety ............................................................................6
3.2 Intended Use ................................................................................................6
3.3 General safety instructions ............................................................................7
4 Network ............................................................................... 8
4.1 Ethernet ........................................................................................................8
4.2 Network Topology .........................................................................................8
4.3 Powerlink Protocol, Version 2........................................................................9
5 Installation......................................................................... 10
5.1 General Installation and Operating Instructions ...........................................10
5.2 Mounting.....................................................................................................11
5.3 Electrical Connection ..................................................................................11
5.4 Ethernet Cable ............................................................................................12
5.5 Diagnostic LEDs .........................................................................................13
6 Network Configuration..................................................... 14
6.1 Configuring the IP Address for Powerlink ....................................................14
6.2 Definition of the Node Numbers (EPL Node IDs) ........................................15
7 Project Integration............................................................ 16
7.1 XDD File .....................................................................................................16
7.2 Importing the Rotary Encoder into the Project Tool .....................................16
7.3 Adding Rotary Encoders to a Network ........................................................17
7.4 Online Diagnostics......................................................................................19
7.5 Configuring the Network .............................................................................20
7.6 Initial Configuration .....................................................................................21
7.7 Configuration Example................................................................................22
7.8 Diagnostics .................................................................................................22
8 Appendix ........................................................................... 24
8.1 Rotary Encoder Profiles ..............................................................................24
8.2 Manufacturer-Specific Profile......................................................................28

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Introduction
1Introduction
Congratulations
You have chosen a device manufactured by Pepperl+Fuchs. Pepperl+Fuchs
develops, produces and distributes electronic sensors and interface modules for
the market of automation technology on a worldwide scale.
Before installing this equipment and put into operation, read this manual carefully.
This manual containes instructions and notes to help you through the installation
and commissioning step by step. This makes sure bring such a trouble-free use of
this product. This is for your benefit, since this:
■ensures the safe operation of the device
■helps you to exploit the full functionality of the device
■avoids errors and related malfunctions
■avoids costs by disruptions and any repairs
■increases the effectiveness and efficiency of your plant
Keep this manual at hand for subsequent operations on the device.
After opening the packaging please check the integrity of the device and the
number of pieces of supplied.
Symbols used
The following symbols are used in this manual:
Handling instructions
You will find handling instructions beside this symbol
Contact
If you have any questions about the device, its functions, or accessories, please
contact us at:
Pepperl+Fuchs GmbH
Lilienthalstraße 200
68307 Mannheim
Telephone: [phone]
Fax: [phone]
E-Mail: [e-mail]
Note!
This symbol draws your attention to important information.

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Declaration of conformity
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2 Declaration of conformity
This product was developed and manufactured under observance of the
applicable European standards and guidelines.
The product manufacturer, Pepperl+Fuchs GmbH, D-68307 Mannheim, has a
certified quality assurance system that conforms to ISO 9001.
Note!
A Declaration of Conformity can be requested from the manufacturer.
ISO9001

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Safety
3Safety
3.1 Symbols relevant to safety
3.2 Intended Use
This absolute rotary encoder detects the rotation angle—and, in the case of a
multiturn absolute rotary encoder, the revolutions of the rotary encoder shaft—
with high precision and resolution. The absolute position value derivedis provided
by the rotary encoder via the Powerlink interface in accordance with the standard
Powerlink communication profile (EPSG DS301). The rotary encoder is to be
integrated into a Powerlink network (EPSG DS301), and should be used only in
this way. Typical applications include positioning tasks and length measurement,
for example, for cranes, construction machinery, elevators, and packaging
machines.
The rotary encoder has a Powerlink interface with integrated hub. As a result, the
rotary encoder supports a daisy chain structure with the profile specification
EPSG DS 301 V1.1.0.
Read through these instructions thoroughly. Familiarize yourself with the device
before installing, mounting, or operating.
Always operate the device as described in these instructions to ensure that the
device and connected systems function correctly. The protection of operating
personnel and plant is only guaranteed if the device is operated in accordance
with its intended use.
Danger!
This symbol indicates animminent danger.
Non-observance will result in personal injury or death.
War ning!
This symbol indicates a possible fault or danger.
Non-observance may cause personal injury or serious property damage.
Caution!
This symbol indicates a possible fault.
Non-observance could interrupt devices and any connected facilities or systems,
or result in their complete failure.

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Safety
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3.3 General safety instructions
Responsibility for planning, assembly, commissioning, operation, maintenance,
and dismounting lies with the system operator.
Installation and commissioning of all devices must be performed by a trained
professional only.
User modification and or repair are dangerous and will void the warranty and
exclude the manufacturer from any liability. If serious faults occur, stop using the
device. Secure the device against inadvertent operation. In the event of repairs,
return the device to your local Pepperl+Fuchs representative or sales office.
Note!
Disposal
Electronic waste is hazardous waste. When disposing of the equipment, observe
the current statutory requirements in the respective country of use, as well as local
regulations.

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Network
4Network
4.1 Ethernet
The current developments in the field of Industrial Ethernet are based on the
vision of integrated access to all corporate data via a standardized communication
system. At higher levels of corporate communication, Ethernet is the most
important medium for data transmission. Together with other IT technologies,
Ethernet is internationally standardized. Over the long term, automation
technology will benefit from the rapid progress of IT and web technologies in mass
markets.
Technically, Ethernet represents a system with higher data transmission rates than
conventional fieldbus systems. TCP/IP and UDP have statistical procedures for
accessing the medium, which prevents deterministic processes. Many
developments focus on additional real-time mechanisms, such as Powerlink. A
deterministic time response was achieved on the Ethernet protocol. The jitter for
synchronization is less than 1 µs. This allows effective and reliable
synchronization of a large number of devices in a network.
4.2 Network Topology
Ethernet enables different types of topology. A rotary encoder can either be
directly connected to a hub or linked serially to other rotary encoders through use
of the integrated hub. Using the latter procedure, a line structure can be
developed like those more commonly associated with other fieldbus systems
(e.g., CANopen). As the internal hub supports auto-crossover detection, multiple
rotary encoders can be interconnected both with straight and crossover cables. At
least one Cat5e cable is required for a transmission rate of 100 Mbit/s.To increase
immunity, only cables with strands twisted in pairs (AWG26) and a film shield or
copper braid should be used (S/UTP).
Due to low frame jitter and low latency, only hubs are to be used—not switches. To
fulfill the requirements for timing, up to 7 hubs or rotary encoders can be
connected with an integrated HUB with a maximum cable length of 100 m. These
are requirements from the Powerlink specification. For more information on
Powerlink, visit the website www.ethernet-powerlink.org.
Station
Station
Hub
HubHub
Hub
Hub
Station
Hub
Station
Hub
Station
Hub

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Network
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4.3 Powerlink Protocol, Version 2
The Powerlink protocol, version 2, is an open standard communication protocol.
This protocol offers maximum independence for both manufacturers and users.
The Ethernet Powerlink Standardization Group organization can be contacted for
all general information and support. Visit the website of the organization:
www.ethernet-powerlink.org.
Our Powerlink rotary encoders support Powerlink protocols, version 1 and version
2. You do not need to perform a device configuration because the rotary encoder
has automatic detection.
What must be taken into account? Changing the protocol during operation is not
permitted. When booting, the network must be in a defined state in terms of the
protocol. The rotary encoder then recognizes the protocol version of the telegram.
Powerlink cycle
The Powerlink protocol provides isochronous communication. Deterministic
transfer is a requirement of high-performance applications. The deterministic
network cycle is achieved with a time frame principle that is controlled by the
managing node (MN). The EPL cycle is initiated with the SoC (Start of Cyclic)
telegram. The managing node (MN) then sends a request to each node, with the
controlled node (CN) responding immediately. This framework is called the
isochronous phase, and includes real-time data. An asynchronous phase is
started with the SoA (Start of Asynchronous) telegram. The asynchronous phase
is closed with an AsyncSend telegram.
Managing Node (MN)
Isochronous Phase
Controlled Nodes (CN)
Idle Phase
SoC PRes
from MN
PRes
to CN 2
PRes
to CN 1
PRes
from CN 2
PRes
from CN 1
Asynchronous Phase
AsyncSendSoA
AsyncSend

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Installation
5 Installation
5.1 General Installation and Operating Instructions
Do not loosen the connection cover!
The rotary encoder must be connected to the main signal
ground. Create the ground connection via the machine chassis
or via a separate equipotential bonding cable.
Do not stand on the rotary encoder!
Do not make subsequent modifications to the drive shaft!
Avoid impact!
Do not make subsequent modifications to the housing!

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Installation
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5.2 Mounting
Mounting of the rotary encoder depends on the mechanical design of the shaft
and flange.
Solid shaft encoders have a rotating synchro groove on the flange side for
mounting with eccentric clamping elements. In addition, solid shaft encoders have
threaded holes on the face side for mounting. Solid shaft encoders with a
clamping flange can be clamped to the flange or mounted to the threaded holes
using mounting brackets. Rotation is transferred to the solid shaft via a suitable
coupling, a measuring wheel, or a cable pull. Couplings with the required
properties, measuring wheels of different diameters and coatings, as well as
cable pulls with a large variety of expansion lengths can be found in our extensive
range of rotary encoder accessories.
Hollow shaft encoders are connected directly to the drive shaft and permanently
attached to it using a clamping element. An integrated or attached torque rest
prevents the rotary encoder from turning with the drive shaft.
5.3 Electrical Connection
The device has 3 M12 x 1.4 pin connectors. The middle device plug is A-coded
and is used to supply power to the device. The two outer device sockets are D-
coded and are used to connect the device to Powerlink. The two device sockets
for Powerlink are equivalent connections to the integrated hub.
Figure 5.1 Power supply connection layout
The connector housing is located on the shield.
Connector for the Power Supply
1+ supply voltage
2n. c.
3- supply voltage (GND)
4n. c.
1
3
4
2

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Installation
Figure 5.2 Ethernet connection layout
The connector housing is located on the shield.
5.4 Ethernet Cable
RJ45 - M12, crossed
RJ45 - M12, straight
M12 - M12, crossed
Ethernet Powerlink Connector
1Tx+
2Rx+
3Tx-
4Rx-
1
3
42
Signal Pin (RJ45) Pin (M12) Signal
Tx+ 32Rx+
Tx- 64Rx-
Rx+ 11Tx+
Rx- 23Tx-
Signal Pin (RJ45) Pin (M12) Signal
Tx+ 31Tx+
Tx- 63Tx-
Rx+ 12Rx+
Rx- 24Rx-
Signal Pin (M12) Pin (M12) Signal
Tx+ 12Rx+
Tx- 34Rx-
Rx+ 21Tx+
Rx- 43Tx-

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Installation
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5.5 Diagnostic LEDs
The rotary encoder has an LED window on the back, where there is a combination
LED labeled "LS/DA" for each hub port. In addition, there are two LEDs to display
the network status for Powerlink with the names "error" and "status." The exact
meaning of the LED display can be found in the following tables.
LEDs for the Hub Ports
Function LEDs for Powerlink
LED Color Status Description
LS/DA1 Green On LINK active on hub port 1
Flashing Activity on hub port 1
LS/DA2 Green On LINK active on hub port 2
Flashing Activity on hub port 2
LED Color Status Description
Error Red On - Unauthorized node number
- Internal communication error
- Buffer empty or overflow
- Data collision
- CRC error or SoC loss
Off No error
Status Green Off Inactive
Flickers Basic Ethernet mode
Flashes once Pre-operational 1
Flashes twice Pre-operational 2
Flashes three
times Ready for operation
On Operational
Flashing Stopped

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Network Configuration
6 Network Configuration
All of the displays and operating controls required for configuration are freely
accessible on the back of the rotary encoder.
6.1 Configuring the IP Address for Powerlink
Setting the node number (EPL node ID)
The node number is set using the two hexadecimal switches x16 and x1. The
range of possible node numbers is 1 –239. Each node number can be issued
only once within a Powerlink segment. The set node number is calculated using
the following formula: node number (EPL node ID) = decimal value[switch x16] x 16
+ decimal value[switch x1] x 1.
Example
[Switch x16] = A, [switch x1] = 5
Ahex= 10decx 16 = 160 + 5 = 165
IP address for Powerlink
The IP address consists of a fixed predefined partial address (192.168.100) and
the set node number (EPL node ID). The Powerlink IP address is therefore
192.168.100.EPL node ID. In accordance with the above example, the IP address
would be 192.168.100.165.
Software setting of the node number
Alternately, the node number can be set with EPL telegrams. In this case, both
rotary switches are to be set to 0 for the node number. The factory setting of the
software node ID is 165. It can subsequently be changed to the desired value via
SDO telegrams.
Caution!
The connection cover must not be removed
Dismounting the connection cover damages the rotary encoder and results in the
loss of your warranty claims.
0
1
2
E
D
C
B
A
3
4
5
6
7
8
9
F
0
1
2
E
D
C
B
A
3
4
5
6
7
8
9
F
POWERLINK
LS/DA 1
Error
Port1 Port2Power
x16 x1
LS/DA 2
Status
Node-
number

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Network Configuration
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6.2 Definition of the Node Numbers (EPL Node IDs)
The following table shows the definition of the node IDs used in a Powerlink
network.
EPL node ID
Description in accordance with
EPSG DS 301 V1.1.0 Description
0C_ADR_INVALID Generally not permitted
1 –239 Controlled node (such as rotary
encoder)
240 C_ADR_MN_DEF_NODE_ID Managing node
241 –250 Reserved
251 C_ADR_SELF_ADR_NODE_ID Pseudo node number. Used for
self-addressing
252 C_ADR_DUMMY_NODE_ID Dummy node
253 C_ADR_DIAG_DEF_NODE_ID Diagnostics node
254 C_ADR_RT1_DEF_NODE_ID Router Powerlink to classic
Ethernet
255 C_ADR_BROADCAST Broadcast message

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Project Integration
7ProjectIntegration
The project integration is described below using the example of a B&R (Bernecker
+ Rainer Industrie Elektronik GmbH) controller and the "Automation Studio"
project planning tool. In principle, you can integrate the device with any project
planning tool and any hardware that uses a Powerlink network.
7.1 XDD File
An XDD file describes the properties and functions of the device, such as timing
and configurable device parameters. Using the XDD file enables simple and easy
integration of a Powerlink device into a project tool. Detailed knowledge of
Powerlink is not required to configure the device. The current XDD file can be
downloaded from the Pepperl+ Fuchs website: www.pepperl-fuchs.com.
The format of the XDD file is XML, and is similar to an EDS file used in the
CANopen environment.
7.2 Importing the Rotary Encoder into the Project Tool
In the main menu "Extras," select the entry "Feldbus Gerät importieren" as shown
in the screenshot.

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Project Integration
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A new window will open. Go to the option "POWERLINK Geräte" and select the
correct XDD file for the encoder used.
7.3 Adding Rotary Encoders to a Network
You are now taken back to the main view. Open the interface card in the left-hand
window (Physical View) and select "Öffne POWERLINK."

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Project Integration
Click the slave module in the right-hand window pane and select ""Einfügen..."
A new window opens called "Modulparameter." Enter the node number (EPL
node ID) in the field "Knotennummer."
Note!
Make sure that the node number (node ID) entered here is consistent with the
setting of the rotary switches at the rotary encoder, or with the software-configured
node ID.

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Project Integration
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7.4 Online Diagnostics
After completing this configuration, you can see the newly added device
(Pepperl+Fuchs absolute rotary encoder) in the left-hand part of the window
(physical view). If you select this device with the right mouse button, theoption
"Öffne I/O Zuordnung" opens.
The transferred position value and the device status appear on the right-hand side
of the open window.

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Project Integration
7.5 Configuring the Network
To configure the network and set the rotary encoder operating mode, select the
rotary encoder on the left-hand side (physical view) again. The right mouse button
takes you to the menu entry "Öffne I/O Konfiguration."
In the section "Powerlink Parameter," you can decide whether the rotary encoder
is to be a multiplex station. Configuration as a multiplex station means that the
rotary encoder position value is not read in each Powerlink cycle. You therefore
get a short cycle time and a high bandwidth for the network data. If the rotary
encoder is not a multiplex station, then this configuration results in a transfer of the
position value in each Powerlink cycle. As a result, you achieve a high update rate
in your application. Which setting you choose really depends on your
requirements. In the next configuration step "Extended / Erweitert," you can set
which entries in identity object 1018h are to be read and checked. This is useful to
ensure that the correct devices are configured in the network and that they are in
line with the project settings. We recommend that control of the "manufacturer-ID /
Hersteller ID" and "product code / Prüfe Produktcode" is activated.
At the higher logical level, you will see the section "Channel / Kanaele." Here, you
will see the position data that can be mapped to the output data (object 6004h).
The mapping is fixed, and a change is not possible.