Avtron HS6M Instructions Manual - Page 9

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Profibus DP Protocol "P"

Profibus DP is typically a master-slave network-the master/scanner

device gathers data from each (slave) device on the bus. Avtron

encoders are Profibus DP slave devices.

Profibus may be wired in several different configurations, but the

most common is a "Daisy-Chain" configuration. The master/scanner

device may be located at any point along the bus. The cable must

be terminated at each end with 150 ohm resistors. Note that

Profibus DP also offers the option to carry device power to each

encoder through an additional cable pair of wires.

Preferred cable: Nidec Avtron recommends structured Profibus DP

wiring systems, available from a broad range of vendors.

For more details on Profibus, consult the Profibus Users Association

(PI):

http://www.profibus.com/

Number

Nodes

Max.

Overall

750

690

640

Cable

[229]

[210]

[190]

Length*

Network

12M

1.5M

Baud

Rate

Max.

325

650

Length*

[100]

[200]

*Using Profibus standard cable, 150 ohm impedance 3-20mHz,

<30pf/m, <110 ohms/km loop resistance

Setting Station/Node, Baud Rate & Termination Resistor

To set the node number: use the rotating switches in the connection

cap. The format is decimal, from 0-99 (ten's switch and one's

switch). Software/master address changes are not supported.

NOTE: Each device must have a unique node address, and this

address must be different than the master/scanner module.

Profibus DP baud rate is auto-detected by the encoder, no settings

are required. 12 MBaud, 6 MBaud, 3 MBaud, 1.5 MBaud, 500 kBaud,

187.5 kBaud, 93.75 kBaud, 45.45 kBaud, 19.2 kBaud, 9.6 kBaud are

all supported.

To enable the termination resistor: Move the switch "R" to the "On"

Position on the connection board. The termination resistor should

be turned on/enabled when the encoder is the last/only device on

the bus. Note that standard 9 pin DIN connectors used for Profibus

DP also offer a termination resistor. Be sure NOT to enable both the

encoder termination resistor and the 9-pin connector resistor, use

one or the other for an encoder at the end of a bus.

Measuring Position, Speed, and Acceleration

To read position and speed feedback into your device (Acceleration

measurement is not supported.): Following the instructions for

your master/scanner module for the Profibus DP network, load the

encoder GSD file into your configuration. Assign it to the correct

node number. Store the configuration to the scanner module.

All of the position data and other parameters will be read by

the scanner module and placed in registers identified in the

configuration package.

For multiturn & single turn encoders: position data provided as

4 bytes, 32 bits: Format is little-endian (lowest bit = right-most

bit). Single-turn data/data within 1 turn is provided in the least-

Units

560

[170]

[m]

500K 187.5K 93.75K

Units

45.45K

19.2K

9.6K

1300

3250

4000

[400]

[1000]

[1200]

[m]

significant bits. Multiturn data is provided directly "above" the

single turn data, bitwise. Example: 12 turns x 13 bits/turn encoder,

lowest 13 bits = position within one turn, next 12 bits (up to bit 25)

represent turns position data.

Setting Zero Position for Multiturn Encoders and Single turn

Encoders Using 32 Bit Feedback:

Write 1 to the highest bit (31)-write 128 (80H) to top-most-byte of

the position register.

For single turn encoders: position data can instead be provided as 2

bytes, 16 bits: Format is little-endian (lowest bit = right-most bit).

Setting Zero Position for Single turn Encoders Using 16 Bit

Feedback :

Write 1 to the highest bit (15)-write 128 (80H) to top-most-byte of

the position register.

Isochronous (Auto-Transmit) Mode

DPV2 Isochronous communication can be configured using the

optional DPV2 GSD file. Load the encoder GSD file into your master/

scanner software. Assign it to the correct node number. Store the

resulting configuration into the scanner module. Note many Profibus

master devices do not support isochronous mode-check the master

device manual before utilizing this encoder mode.

Other Parameters

Contact Nidec Avtron for additional parameters, diagnostic registers,

cam and programmable limit switch functionality and other

advanced features.

HS6M