SICK STEGMANN GmbH

Drrheimer Str. 36
78166 Donaueschingen
Phone
0771 / 807-0
Fax
0771 / 807-100

Commissioning Instructions
ATM60 / ATM90 / KHK53
with Profibus DP Interface to EN 50170 Vol. 2

Commissioning Instructions

915 040 103 526

Jan 2005

 by SICK STEGMANN GmbH

SICK STEGMANN GmbH claims the copyright to this documentation.
This documentation must not be modified, extended, duplicated or passed to third parties
without the agreement of SICK STEGMANN GmbH

The data in this documentation describes the product. The properties, however,
are not guaranteed.
SICK STEGMANN GmbH
Duerrheimer Strae 36
D-78166 Donaueschingen
Phone:

(49) 771 / 807 0

Fax:

(49) 771 / 807 100

Web:

http://www.sick-stegmann.de

e-mail

[email protected]

Version:

Jan 2005

We reserve the right to make technical changes to the documentation and the products
at any time.

ATM60 / ATM90 / KHK53

Jan 2005

Contents

Contents
Contents 1
Schedule of Revisions ................................................................................................................6
1
Introduction...............................................................................................................7
1.1
Using these Commissioning Instructions....................................................................7
1.2
Documentation............................................................................................................7
1.3
Definition of the Symbols Used in the Document .......................................................7
1.4
Conformity ..................................................................................................................7
1.4.1
Profibus.......................................................................................................................7
1.4.2
European Union Directive Compliance.......................................................................7
2
Designations and Abbreviations .............................................................................9
2.1
Profibus DP-Specific...................................................................................................9
2.2
Data Type Specifications ............................................................................................9
2.3
Encoder-Specific.......................................................................................................10
3
Safety Precautions .................................................................................................11
3.1
Responsibilities of the Commissioning Staff.............................................................11
3.2
Validity and Application.............................................................................................11
3.3
Authorised Users ......................................................................................................12
3.4
Safety Guidelines and Personal Protection ..............................................................12
3.5
Encoder Safety Precautions for Installation, Operation and Maintenance ...............13
4
Introduction.............................................................................................................14
4.1
Profibus Standardisation...........................................................................................14
4.2
Profibus DP...............................................................................................................14
4.2.1
DP-V0 Communication Protocol ...............................................................................15
4.3
Physical Profibus Network Link ................................................................................16
4.3.1
Network Topology.....................................................................................................16
4.3.2
RS485 Transmission Technology.............................................................................17
4.3.3
Installation Notes re: RS485 .....................................................................................17
4.3.4
Profibus Cabling for RS485 ......................................................................................18
4.3.5
Cable Screening .......................................................................................................19
4.4
Device Profiles..........................................................................................................19
4.5
Further Information ...................................................................................................20
5
Encoder Modes .......................................................................................................21
5.1
Cyclical Data Transmission ......................................................................................21
5.1.1
Parameterisation.......................................................................................................21
5.1.2
Configuration ............................................................................................................21
5.1.3
I/O Data Transmission ..............................................................................................21
5.2
Specification of the Encoder Data ............................................................................21
6
Encoder Parameters/Attributes .............................................................................22
6.1
General Conditions for Using the Scaling Function ..................................................22
6.1.1
Specification for Using the Encoder in Continuous Mode ......................................22
6.1.2
Case a) Scaling Function without Limitation to the Measuring Range (with Offset) .22
6.1.3
Case b) Adapted Scaling Functions (without Offset) ................................................23
6.2
Data Storage.............................................................................................................25
6.3
Encoder Attributes/Parameters.................................................................................25
6.3.1
Fundamental Explanations .......................................................................................25
Jan 2005

ATM60 / ATM90 / KHK53

Contents
6.3.2
6.3.3
6.3.4
6.3.5
6.3.6
6.3.7
6.4
6.4.1
6.4.2
6.4.3
6.4.4
7
7.1
7.2
7.3
7.4
7.4.1
7.4.2
7.4.3
8
8.1
8.2
8.3
8.3.1
8.3.2
8.3.3
8.3.3.1
8.3.3.2
8.3.3.3
8.3.3.4
8.3.3.5
8.3.3.6
8.3.4
8.3.5
8.4
8.5
8.5.1
8.5.2
8.5.3
8.5.4
8.5.5
8.5.6
9
9.1
9.2
9.3
9.3.1
9.3.2
9.3.3
2

Counting Direction/Code Sequence .........................................................................25

Scaling Function Control -- [SFC] .............................................................................26
Measuring Units per Revolution -- [CPR]..................................................................26
Total Measuring Range in Measuring Units -- [CMR] ...............................................26
Position Value...........................................................................................................26
Preset Value .............................................................................................................26
Data Assemblies/Data Components .........................................................................27
Position Value...........................................................................................................27
Speed Value .............................................................................................................28
Time Stamp ..............................................................................................................28
Preset Value .............................................................................................................29
Device Integration/Projecting ................................................................................30
System Requirements ..............................................................................................30
Description................................................................................................................30
Data Mapping of a UINT32 (UDINT) Value...............................................................31
Use of the COM Profibus Configuration Tool ..........................................................32
Module Configuration................................................................................................32
Parameter Settings Rotary Encoders ....................................................................33
Parameter Settings Linear Encoders.....................................................................34
System Configuration.............................................................................................36
Master-Slave Communication...................................................................................36
Stipulations/Definitions .............................................................................................37
Parametrisation.........................................................................................................37
DP-Specific Standard Data.......................................................................................37
Device-Specific Data ................................................................................................38
Operating Mode ........................................................................................................38
Code Sequence ........................................................................................................38
Class 2 Functionality.................................................................................................39
Commissioning Diagnostics Control .........................................................................39
Scaling Function .......................................................................................................39
Enabling the SSA Service.........................................................................................39
Selection of the Address Setting...............................................................................39
Measuring Units per Revolution -- [CPR]..................................................................40
Total Measuring Range -- [CMR] ..............................................................................40
Configuration ............................................................................................................41
Cyclical Data Traffic (Data Exchange Mode) ............................................................42
DDLM_Data_Exchange. Data Assembly (A1). Module IN_04............................42
DDLM_Data_Exchange. - Data Assembly (A2). - Modul IO_04 ...............................42
DDLM_Data_Exchange. - Data Assembly (A3). - Modul IN_06 ...............................43
DDLM_Data_Exchange. - Data Assembly (A4). - Modul IO_06 ...............................43
DDLM_Data_Exchange. - Data Assembly (A5). - Modul IN_08 ...............................43
DDLM_Data_Exchange. - Data Assembly (A6). - Module IO_08 .............................44
Diagnostic Information...........................................................................................45
Evaluation at Control Level.......................................................................................45
Diagnostic Messages................................................................................................45
Standard Diagnostics................................................................................................46
Status-1 ....................................................................................................................46
Status-2 ....................................................................................................................46
Status-3 ....................................................................................................................47
ATM60 / ATM90 / KHK53

Jan 2005

Contents
9.3.4
9.4
9.4.1
9.4.2
9.4.3
9.4.3.1
9.4.3.2
9.4.3.3
9.4.3.4
9.4.4
9.4.5
9.4.6
9.4.7
9.5
9.5.1
9.5.2
9.5.3
9.5.4
9.5.5
9.5.6
9.5.7
9.5.8
9.5.9
9.5.10
9.5.11
9.5.12
9.5.13
9.6
9.6.1
9.6.2
9.6.3
10
10.1
10.2
10.2.1
10.2.2
10.3
10.3.1
10.3.2
10.3.3
10.3.4
10.3.5
10.3.6
10.4
10.4.1
10.4.2
10.4.3
10.4.4
Jan 2005

Master Address.........................................................................................................47
Device-Specific Diagnostics Class 1 .....................................................................47
Class 1 Diagnostic Data Overview ........................................................................47
Diagnostic Header ....................................................................................................47
Alarms.......................................................................................................................47
Commissioning Diagnostics Alarm ...........................................................................48
EEPROM Memory Error ...........................................................................................48
Error in the Position Value ........................................................................................48
Error Correction Measures .......................................................................................48
Operating Status.......................................................................................................49
Device Identification..................................................................................................49
Physical Resolution Span (PRS) ..............................................................................49
Physical Number of Revolutions (PNumR) ...............................................................49
Device-Specific Diagnostics Class 2 .....................................................................50
Class 2 Diagnostic Data Overview ........................................................................50
Diagnostic Header ....................................................................................................50
Additional Alarms......................................................................................................50
Supported Alarms .....................................................................................................51
Warnings...................................................................................................................51
Supported Warnings .................................................................................................51
Profile Version ..........................................................................................................52
Software Version ......................................................................................................52
Operating Time .........................................................................................................52
Offset Value ..............................................................................................................52
Counts per Revolution -- [CPR] ................................................................................52
Number of counts per Measuring Range -- [CMR] ...................................................53
Serial Number...........................................................................................................53
Manufacturer-Specific Diagnostics (Manufacturer Class).........................................53
Station Address ........................................................................................................53
Encoder Status .........................................................................................................53
DP Controller Status .................................................................................................54
Encoder Mounting and Connection ...................................................................55
Mounting ...................................................................................................................55
Screening..................................................................................................................55
Screen Connection at the Bus Link Adapter with Cable Fitting ATM60-P/ATM90-P/
KHK53-P...................................................................................................................56
Screen Connection at the Bus Link Adapter with Screw-in System ATM90-P .........57
Connection to the Network .......................................................................................58
Installation Notes re: Voltage Supply........................................................................58
ATM 60 with Bus Link Adapter Cable Fitting .........................................................58
ATM 60 with Bus Link Adapter Screw-in System M12...........................................59
ATM 90 with Bus Link Adapter Cable Fitting .........................................................60
ATM 90 with Screw-in System M14 without Bus Link Adapter ..............................61
Linear Encoder KHK53 with Bus Link Adapter Cable Fitting .................................62
Device Handling in the Network................................................................................62
Address Setting ........................................................................................................64
Counting Direction ....................................................................................................66
Preset Function.........................................................................................................66
Bus Termination........................................................................................................66
ATM60 / ATM90 / KHK53

Contents
10.5
Status/Display Information........................................................................................67
11
Technical Description ............................................................................................68
11.1
Description of the Rotary Encoders ..........................................................................68
11.2
Description of the Linear Encoder ............................................................................68
11.3
Profibus Interface Brief Overview of Specific Features .........................................68
11.4
Profibus Interface Specification .............................................................................69
List of Figures............................................................................................................................70
Notes
71

ATM60 / ATM90 / KHK53

Jan 2005

Jan 2005

ATM60 / ATM90 / KHK53

Schedule of Revisions

Schedule of Revisions
The following information lists the revisions made by the company since the first edition.
New information (N)
New properties and additional information on existing properties.
Revised information (R)
Revisions to the previous edition, which require a different procedure during commissioning.
Inf.

Revisions
First edition of the document

Chapter

Rev
1.00

ATM60 / ATM90 / KHK53

Date
Jan 2005

Jan 2005

Introduction

Introduction

1.1

Using these Commissioning Instructions

These instructions give an overview of the ATM60/ATM90/KHK53 encoders with Profibus interface and describe configuration, installation, operation and maintenance of the devices in the
Profibus network.
These instructions have been written for trained persons who are responsible for installation,
assembly and operation of the ATM60/ATM90/KHK53 encoders in industrial environments.
The commissioning staff should understand Profibus network operations and know how slave
devices function in a network and communicate with a Bus Master. There should be basic understanding of and experience in electrical terminology, programming procedures, networks, the
devices and software required as well as knowledge of applicable safety regulations.

1.2

Documentation

The complete documentation comprises of:

Commissioning Instructions ATM60/ATM90/KHK53 with Profibus DP Interface (*)
Assembly instructions for the particular encoder
Device master file (GSD, GSE)
(*)

This documentation

1.3

Definition of the Symbols Used in the Document

This symbol identifies text which must be given special attention, to ensure correct use of devices and prevent dangers resulting from this. Non-compliance may
lead to bodily harm and/or damage or destruction of the system.

This symbol identifies text with important information on the correct use of the
encoders. Non-compliance may lead to encoder malfunctions.
This symbol identifies text with useful details or explanations for the better understanding of this documentation.

1.4

Conformity

1.4.1

Profibus

DP Protocol to EN 50170 Vol. 2

Encoder profile (V1.1)

1.4.2

European Union Directive Compliance

Declaration of Conformity

Jan 2005

ATM60 / ATM90 / KHK53

Introduction

ATM60 / ATM90 / KHK53

Jan 2005

Designations and Abbreviations

Designations and Abbreviations

2.1

Profibus DP-Specific

PNO

Profibus user organisation [Profibus-Nutzerorganisation]

DP
ID

Profibus decentralised periphery

Identifier
Device master file An electronic data sheet is a template provided by the
manufacturer, which stipulates how to present information and which matching
entries can be made.

GSD

DPM1

DPM2
Node
MAC ID
SAP
FDL
DDLM
IO (I/O)
Input data
Output data

2.2

DP Master Class 1 Central control which, in a set message cycle, exchanges

information with the decentralised stations (DP slaves). Typical devices are e.g.
programmable logic controllers (PLCs), PC systems or VME systems.
DP Master Class 2 Programming, projection or operating devices. They are
used during commissioning, to produce the configuration of the DP system or to
operate the running system.
A node is a hardware unit with a unique address in the network (also known as
device).
Address of a Profibus node (Medium Access Control).
Service Access Point in Profibus layer 2
Fieldbus Data Link Profibus data link layer 2.
Direct Data Link Mapper the interface between basic DP functions and the
user interface (also known as profiles).
Input and output data.
This data is produced by a Profibus device (slave device) and collected by a
master device and made available for reading by the processor of the PLC.
This data is produced by a PLC processor and written to the memory of the
master device. The master device sends this data to other Profibus devices
(slave devices).

Data Type Specifications

BOOL
BYTE
WORD
USINT
UINT
UDINT
SINT
INT
DINT

Jan 2005

Boolean
Bit String
Bit String
Unsigned Short Integer
Unsigned Integer
Unsigned Double Integer
Signed Short Integer
Signed Integer
Signed Double Integer

1 bit
1 byte (8 bits)
2 bytes (16 bits)
Int (1 byte) - (0...255)
Int (2 bytes) - (0...65,535)
Int (4 bytes) - (0...+232.-1)
Int (1 byte) - (-128...+127)
Int (2 bytes) - (-32,768...+32,767)
Int (4 bytes) - (-231...+231 - 1)

ATM60 / ATM90 / KHK53

Designations and Abbreviations

[00.01.40.12]hex
LSB
Least Significant Bit / Byte,
Bsp: 81,938D ==
MSB
Most Significant Bit / Byte,
[00.01.40.12]hex
Little Endian In a sequence of data packets requested/sent, the LSB is transmitted first.
also see LSB above: { 12.40.01.00 }
Big Endian
In a sequence of data packets requested/sent, the MSB is transmitted first.
also see MSB above: { 00.01.40.12 }
The Profibus protocol always transmits the data in the Big Endian format.

2.3

Encoder-Specific

CPR (cpr)
CMR
R
Scaling parameters

Counts (steps) per Revolution (per span for linear ones). customer-specified -Counts (steps) over the total Measuring Range. customer-specified -Ratio (R) = [CMR] / [CPR]. limited to values 2**N, (N=0,1,...13)
Scaling parameters: [CMR], [CPR]

PRS

Physical Resolution Span: max. number of steps per revolution/span supported

by the encoder specified by manufacturer. -Allocated value for rotary encoders: -- [8,192] steps
Allocated value for linear encoders: -- [100,000] nanometres / step
Physical Number of Revolutions: Max. number of revolutions supported by the
encoder specified by manufacturer. -Allocated value for rotary encoders: -- [8,192] steps.
Physical Measuring Range (PRS x PnumRev): Total number of steps across all
revolutions or across the entire span specified by manufacturer -Allocated value for rotary encoders: -- [8,192 x 8,192] steps.
Allocated value for linear encoders: -- [16,777,216] steps.
According to 'PMR', as bit mapping with basis (2**PM_Bit). Corresponds to (26) for
rotary encoders, to (24) for linear ones.
Maximum position value corresponds with 'PMR' minus one (1).

PnumRev

PMR

PM_Bit
PmaxVal
ScF
Pos_Scal
Pos_Phy
CPS
RPS
RPM
METpM
01METpM

10

Scaling factor = [CPR] / [PRS]

Scaled position value after conversion by the scaling parameters, offset and
preset values.
Physical (numerical) position value prior to conversion.
Encoder speed:
Counts (steps) per sec. hence (cps, CpS)
Encoder speed:
Revolutions per sec. hence (rps, RpS)
Encoder speed:
Revolutions per min. hence (rpm, RpM)
Encoder speed:
Metres per min.
Encoder speed:
0.1 metres per min.

ATM60 / ATM90 / KHK53

Jan 2005

Safety Precautions

Safety Precautions

3.1

Responsibilities of the Commissioning Staff

Due to the various possible applications of the products described in this documentation, those
responsible for the application and use of the devices must personally ensure that all necessary
measures are taken so that the application and use of devices meets the performance and
safety requirements. The applicable laws, regulations, guidelines and standards shall be taken
into account.
The devices described in this documentation are intended for use under industrial conditions.
Non-compliance with applicable safety regulations, process-related and other instructions can
lead to bodily harm and/or damage to the devices or the system. Qualified users
of/commissioning staff for these devices are personally responsible for the selection of suitable
products for the intended application. SICK STEGMANN GmbH accepts no liability and no responsibility for direct or indirect consequential damage due to improper handling or incorrect selection of products. Proper handling assumes that the instructions in this documentation are followed.
Qualified users or commissioning staff are those familiar with the safety requirements and their
application to installation, operation and maintenance of the devices.
It is advisable for persons operating or maintaining electrical or mechanical devices, to have basic knowledge of First Aid.

3.2

Validity and Application

The absolute ATM60/ATM90/KHK53 encoders are measuring devices manufactured according

to the known industrial regulations and meet the ISO 9001 quality requirements.
An encoder is a device to be fitted and cannot be independently operated according to its intended function. Consequently, an encoder is not equipped with direct safety features. The designer must provide measures for the safety of persons and systems, in accordance with statutory requirements.
The ATM60/ATM90/KHK53 must be operated according to their type-specific purposes and only
within a Profibus DP network.
The Profibus DP specifications and guidelines for the construction of a Profibus DP network
must be complied with.
Mechanical or electrical modifications of the devices are not permitted.
Encoders must be protected from heavy vibrations, impacts and shocks! -- Suitable shock absorbers must be used.
The safety precautions and instructions for installation and operation in this document, are binding.

Jan 2005

ATM60 / ATM90 / KHK53

11

Safety Precautions

3.3

Authorised Users
Installation and maintenance of the encoders must be performed by
trained and qualified staff with knowledge of electronics, precision
engineering and controller programming. The appropriate standards
of technical safety requirements must be met.

3.4

Safety Guidelines and Personal Protection

The safety guidelines must be observed by all persons charged with
installation, operation or maintenance of the devices:
The system and safety documentation must always be available
and observed.
During installation and maintenance, non-qualified staff must not
be near the system.
The system must be installed in accordance with applicable safety
requirements and instructions.
The installation must meet the accident prevention regulations of
the professional/trade associations in the country/countries concerned.
Non-compliance with the relevant safety and accident prevention
regulations can lead to bodily harm or system damage.
The current and voltage sources in the encoders must comply
with applicable technical guidelines.

12

ATM60 / ATM90 / KHK53

Jan 2005

Safety Precautions

3.5

Encoder Safety Precautions for Installation, Operation and Maintenance

Jan 2005

The ATM60/ATM90/KHK53 encoders must only be fitted or maintained when free from voltage. Consequently, for any electrical or
electronic devices, machine and system parts linked to installation, operation or maintenance, the voltage must previously have
been switched off. Also check that they are voltage-free.
Cabling, earthing, screening and overvoltage protection are of
particular importance.
Check whether switching off devices, machines or system parts
causes dangers.
If necessary, place warning signs to prevent unauthorised persons from entering the danger area.
The correct functioning of safety features shall be checked (e.g.
emergency stop).
EMC-compliant earthing and screening must be performed with
particular care, to ensure satisfactory operation of the devices.
The safe assembly of all components must be checked prior to
switching back on.
Avoid impacts on shaft and collet.
Programs which frequently use Explicit Messages, to write parameters to the EEPROM (non-volatile memory) of the encoders,
should be avoided. This could significantly reduce the lifetime.
During commissioning of the encoders via a configuration tool,
there must be no connection to a running network.

ATM60 / ATM90 / KHK53

13

Introduction

Introduction

4.1

Profibus Standardisation

Profibus is based on known international standards. The protocol architecture follows the
ISO/OSI layer model. Since 2000, Profibus is specified in IEC 61158 Type 3 and IEC 61784.
IEC 61158 Type 3 includes the whole range of Profibus consisting of the DP-V0, DP-V1 and
DP-V2 versions. IEC 61784 specifies the properties of the CPF 3 communication series, in
which the profiles used under Profibus are summarised.
Profibus achieved national standardisation in 1993 through DIN 19245, Part 1-3 and panEuropean standardisation in 1996 through EN 50170.

Application Profiles

User

DP-Functions

DP-Funktionen

DP-Grundfunktionen

Application
(7)

FMS

(3)-(6)
Data Link
(2)
Physical
(1)

Fieldbus Data Link (FDL)

RS-485 / Fiber Optic
EN50
50 170
170 und
and PROFIBUS
guidelines
EN
PROFIBUS
Richtlinien

IEC Interface
IEC 1158-2

ISO/OSI Schichtenmodell

Layer

The Profibus range consists of three compatible versions (DP, PA, FMS). All three versions use
the same type of protocol for bus access. This protocol is integrated via layer 2 in the OSI reference model. It also includes data integrity and handling of the transmission protocols and telegrams. The 'DP' and 'FMS' versions also use the same transmission technology, which is integrated via layer 1.

PROFIBUS profiles
PROFIBUS
Profile

Figure 41: Protocol Architecture

4.2

Profibus DP

This version is intended for high-speed data communication at device level. Central controllers
(e.g. PLCs/PCs) thus communicate with their distributed field devices (input/output units, drives,
encoders etc.) via a special serial high-speed link.
Profibus DP uses layer 1, layer 2 and the user interface. The DDLM offers the user interface
easy access to layer 2. The functions of the application are defined in this part of the interface.
Profibus DP only uses a part of the services of layer 2. These services are called via Service
Access Points (SAPs) of layer 2 through higher layers (user interface). For Profibus DP, each
SAP is allocated a precisely defined function.

14

ATM60 / ATM90 / KHK53

Jan 2005

Introduction
The following services are used by the DP version:
SRD
Send and request data with reply.
SDN
Send
Data
with
No
Multicast telegrams.

Acknowledgement

--

Broadcast,

Figure 42: Master/Slave Principle of the SRD Service

Three types of communication protocols are currently available:

Cyclical data exchange between master and slave (most common type of communication, to
date) -- DP-V0 protocol.
Acyclical data exchange between master and slave -- DP-V1 protocol.
Deterministic data exchange between different slaves -- DP-V2 protocol.
The ATM60, ATM90 and KHK53 encoders with Profibus interface support the DP-V0 communication mode.
4.2.1

DP-V0 Communication Protocol

This version provides the basic functionality of DP including the cyclical data exchange, as well
as different types of diagnostics.

Jan 2005

ATM60 / ATM90 / KHK53

15

Introduction
Comprehensive overview of the basic functions:
Technology
Bus access

Communication

Operations conditions

Synchronisation

Functionality

Safety functions

Device types

Detailed description
Token Passing procedure between masters and master-slave
procedure for slaves.
Mono-master or multi-master systems are possible.
Master and slave devices, max. 126 stations on a bus.
Peer-to-peer (user data traffic) or multicast through Global Control Commands (GCC).
Cyclical master-slave user data transmission
Operate: cyclical transmission of input/output data.
Clear: inputs are read, outputs remain in a failsafe status.
Stop: no transmission of user data.
Global control commands enable the synchronisation of inputs
and outputs.
Sync Mode: outputs are synchronised.
Freeze Mode: inputs are synchronised.
Cyclical user data traffic between master(s) and slave(s).
Dynamic activation/deactivation of individual slaves, testing the
slave configuration.
Diagnostic functions (3 hierarchical levels).
Synchronisation of inputs and/or outputs.
Address assignment for slaves over the bus.
Maximum possible 246 bytes of input/output per slave.
Message transmission with Hamming distance HD = 4.
Watchdog timer of the DP slave detects errors of the master allocated.
Access protection for the inputs/outputs of the slaves.
Monitoring of user data traffic using an adjustable monitoring
timer for the master.
Class 1 DP Master (DPM1): central programmable controllers
such as PLCs or PCs.
Class 2 DP Master (DPM2): developmental or diagnostic tools.
DP Slave: device with binary or analogue inputs/outputs.

4.3

Physical Profibus Network Link

4.3.1

Network Topology

The cabling and some specific features such as bus termination, are shown.

16

ATM60 / ATM90 / KHK53

Jan 2005

Introduction

Figure 43: Topology of Profibus DP

4.3.2

RS485 Transmission Technology

The ATMxx and KHK53 encoders with Profibus interface use RS485 transmission technology.
This is the most frequently used technology for Profibus DP, and is very easy to handle. The installation of the twisted pair cable does not require expert knowledge. The bus structure permits
the addition and removal of stations as well as step-by-step commissioning of the system, without affecting the other stations concerned.
The transmission speed is between 9.6 KBits/s and MBits/s (selectable). During commissioning, the same transmission speed is selected for all devices on the bus (the encoders automatically adjust).
Basic functions when using RS485 technology:
Network topology
Signal transmission
Station numbers
Connectivity

4.3.3

Linear bus, active bus termination at both ends.

Stub lines are only permitted for baud rates 1.5 MBit/s.
NRZ (non-return to zero) format.
11 bits/character with: start, 8 x data, parity [even], stop.
32 stations in each segment without repeater[s].
With repeaters: expandable to 127.
9-pin D-Sub connection plug (preferred).
M12 round connector.
Han-Brid plug acc. to DESINA recommendation.

Installation Notes re: RS485

All devices are connected in a line bus structure. Up to 32 stations (masters or slaves) can be
interconnected in a segment. At the beginning and end of each segment, the bus is terminated
using a terminating resistor. Trouble-free operation requires that the two bus terminations always be supplied with voltage.
For more than 32 subscribers, repeaters (line amplifiers) must be used to connect the individual
bus segments.
The encoders contain connectable bus terminations - (see DIP switch-n).

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17

Introduction
At the bus connector or at the bus terminal block, a 5 V supply voltage is available for the bus
termination via external resistors. See also Figure 44 (VP, DGND).
The maximum cable length depends on the transmission speed. The specified length can be
extended using repeaters. The use of more than 3 successive repeaters is not recommended.

Figure 45: Cabling (9-Pin D-Sub Connector) and Bus Termination .

The cores of the data cables are identified by 'A' and 'B' (terminals (3) and (8)). It is not defined
which core must be connected to a particular terminal on the bus terminal block. The handling,
however, must be identical throughout the system. The following allocations are used:
Data line 'A'
green
Data line 'B'
red
4.3.4

Profibus Cabling for RS485

Two basic cable types are available for copper-based Profibus DP networks. According to the
electrical properties, they are called 'cable type A' and 'cable type B' (not to be confused with
the cores A and B at 4.3.3).
Cables of type A are the only permitted cables for new installations.
The following specifications relate to a cable of type A:
Parameter
Wave impedance
Distributed capacitance
Loop resistance
Core diameter
Core cross-section

18

Cable properties type A

135 ... 165
< 30 pF/m
< 110 /km
0.64 mm
> 0.34 mm2

The cumulative length of all spurs is limited to 6 m (depending on how the stations are arranged).

ATM60 / ATM90 / KHK53

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Introduction

Stub lines must have no bus termination.

Baud rate (kBit/s)

Distance/Segment (m

9.6

19.2

93.75

187.5

500

1,500

12,000

1200

1200

1000

1000

400

200

100

The length of a spur also includes the distance between the plug socket and the
RS485 line driver within a device.
I/O bus cables should be laid in their own cable ducts or in metallic, electrically conductive conduits. This improves the EMC properties. The following conditions must be met:
The cables must not be twisted, stretched or crushed.
The temperature range for the laying and operation.
The max. permitted stretching and bending stresses.
4.3.5

Cable Screening

Screening is to weaken (reduce) magnetic, electrical or electromagnetic interference fields.

Interference currents on the cable screening are dissipated to the functional earth via a screen
rail conductively linked to the housing. It is particularly important to ensure a low-resistance link
to the functional earth. Otherwise interference currents themselves become a possible source of
interference.
The following points shall be observed:
Only use bus cables with braided screen, and connect the braided screen at both cable
ends.
To ensure optimum protection, the outer braided screen and the inner screen foil must be
placed, over a large area, via a cable clamp on the functional earth.
It is recommended that the data cable be laid separate from the power cables.
Also use screened cables for the connection of external power supplies.
In case of potential differences between the screen connection points, an equalising current can flow via the braided screen connected on both sides. An additional potential equalising conductor must then be installed.

4.4

Device Profiles

Applications using Profibus combine standard objects and application-specific objects together
in device profiles. The device profile fully defines the device from the network perspective.
The PNO co-ordinates the work of industrial experts on developing both new object specifications and device profile specifications. Hence there are Special Interest Groups (SIGs). Profiles
provide a summary specification of how Profibus DP is used in individual areas of application.
When using the profiles, system operators and end users have the benefit of being able to interchange different manufacturers devices. The profiles thus lead to a significant reduction in
development costs.

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19

Introduction
The Encoder SIG has, in agreement with the PNO, produced a device profile (Version 1.1), to
ensure the interoperability of their devices.
The following issues were defined:
Measuring principle of absolute and incremental encoders.
Functionality of two device classes (Device Class 1, Class 2).

4.5

Further Information

Profibus Nutzerorganisation e.V. (PNO)

Haid-und-Neu-Str. 7
D-76131 Karlsruhe
Phone: (49) 721 - 96 58 590
Fax:
(49) 721 - 96 58 589
Web:
http://www.profibus.com
http://www.profibus.de
Further literature and guidelines (partly available in English only, but partly also in German):
Profibus DP Specification
Guideline for Profibus DP/FMS (V1.0), Order No. 2.112
Profibus RS485 User & Installation Guideline (V1.1), Order No. 2.262
Profibus Profile for Encoders (V1.1), Order No. 3.062
M. Popp, Profibus DP/DPV1, (Huethig, 2000), ISBN 3-7785-2781-9
New Rapid Way to Profibus DP (2002), Order No. 4.072
Profibus System Description (Vers. 10/ 2002), Order No. 4.002

20

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Encoder Modes

Encoder Modes

The Profibus DP specification, level DP-V0, only defines the cyclical data traffic between a master and a slave. Each download/upload of the parameter data must be complete before the cyclical data exchange is started. The checking of diagnostic data, in case of error[s], is also embedded in the cyclical data traffic.
The encoders only support the basic DP functions according to DP-V0 specification.
There are three main states:
Stop:
No data transmission between DPM1 and encoder.
Clear: DPM1 reads the input information from the encoder and holds the outputs in
failsafe condition.
Operate: cyclical data traffic operation, via polling

5.1

Cyclical Data Transmission

Data transmission between the DPM1 and the encoder is divided into three phases:
Parameterisation
Configuration
Transmission of the I/O data (data exchange)
5.1.1

Parameterisation

The encoder receives a set of parameterisation data according to the encoder profile (see 8.3.2)
5.1.2

Configuration

The encoder receives one (1 byte), which contains the configuration setup, according to the encoder profile (see 8.4).
This setup, also called Module Config, determines how the data is ultimately put together once
I/O data transmission has started.
5.1.3

I/O Data Transmission

Further information see Data Types 6.4 and Data Exchange Mode 8.5.

5.2

Specification of the Encoder Data

Essentially, the encoder is an input/output device. This means that the masters encoder data
is used by the bus and itself produces data for the bus. The functionality of the output data is
reduced to the Preset value' data type.
The table shows the properties of all data types supported across the different module configurations, also called Data Assemblies.
Data type
Position value
Speed value
Time stamp
Preset value
(*1)
(*2)

Data size
4 bytes
2 bytes
2 bytes

Assembly (Ax)
1, 2, 3, 4, 5, 6
3, 4, 5, 6
5, 6

4 bytes

2, 4, 6

Prod_Update (x1)
0.250 ms
50.000 ms
0.250 ms
Cons_Update
~ 20 ms - (x2)

Time for generating a new data value (input to bus).

Time for the correct processing of the output data (writing to EEPROM).

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Encoder Parameters/Attributes

Encoder Parameters/Attributes

6.1

General Conditions for Using the Scaling Function

6.1.1

Specification for Using the Encoder in Continuous Mode

If a rotary absolute encoder exceeds the physical measuring range [PMR], it continues to count
either with its minimum value [PminVal] (0) or its maximum value [PmaxVal], depending on the
direction of rotation (i.e. it wraps around). Successful counting, relating to position readout, is
only ensured if the scaled measuring range [CMR] is an integer multiple of [PMR]. The mapping
of the [CMR] on the [PMR] with an offset (residual value through non-integer multiple) leads to
an incorrectly scaled position value (no monotonous counting sequence). Possible solutions:
a) Mapping the scaled measuring range in the physical measuring range and adapting the resulting offset. The physical measuring range exceeds the limits or falls within the limits. The
offset value must be stored in a non-volatile RAM (EEPROM), to ensure after switching off
and on again the correct conversion of the physical position value to the scaled position
value.
b) Selecting the scaled measuring range such that it can be mapped completely in the physical
measuring range (without resulting offset). This means a possible adaptation of the configured CMR value.
The following illustration shows an example of the relationship between the two measuring
ranges.
[0...N] = Minimum/maximum values of the physical measuring range [PMR].
[0...M] = Minimum/maximum values of the scaled measuring range [CMR].
0

N0

phys. measuring range (PMR) -1

CMR - 1

CMR - 2
M

CMR - 3
M

phys. measuring range (PMR) -2

offset
M

N0

M
0

M
0

M
0

Without considering the resulting offset, the scaled position values are no longer correct. The
encoder changes from one physical measuring range to the next.
0

M 0

M 0

M 0

M 0

M 0

M 0

M 0

The offset is used to calculate a correctly scaled position value. When changing from one
physical measuring range to the next, the offset value itself must be adapted.
6.1.2

Case a) Scaling Function without Limitation to the Measuring Range (with Offset)

The scaled measuring range is mapped into the physical measuring range. A (possibly resulting) offset is used to ensure the correct conversion of physical position values to scaled position values. The customer-specified value for CMR is not matched to obtaining a 2N value for
the relationship between CMR and CPR. -- The following limitations are defined:

22

Relationship (quotient) between CMR and CPR (R) must be greater than or equal to 1.

ATM60 / ATM90 / KHK53

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Encoder Parameters/Attributes

CMR must be smaller than or equal to the physical measuring range supported by the encoder.

This function is currently not implemented for the ATM60/ATM90 encoders.

6.1.3

Case b) Adapted Scaling Functions (without Offset)

The scaled measuring range is mapped completely in the physical measuring range. The customer-specified value for CMR is matched to obtaining a 2N value for the relationship between
CMR and CPR (there is no offset). The following settings are also valid:

R = 2**N, with N = {0,1, 13}, R= CMR/ CPR (with CMR being a multiple of CPR
CMR PMR.

The table below shows some configurations for adhering to the limits defined:
Customer-specified value
CPR
CMR
8,192
67,108,864
8,192
67,108,863...
33,544,432
8,192
33,544,431...
16,777,216
8,192
16,383... 8,192
8,192
8,191... 1
4,096
4,096
4,096 (B1)

2,730 (x1)
2,730 (x1); (B2)
2,730 (x1)

2,048
2,048
2,048

Jan 2005

67,108,864
67,108,863...
33,544,432
33,544,431...
16,777,216
67,108,864...
33,544,432
33,544,431...
22,364,160
22,364,179...
11,182,080
67,108,864
67,108,863
16,777,216
16,777,215
8,388,608

Adapted values (device-side)

CPR
CMR
8,192
67,108,864
8,192
33,544,432 (225)

ScF

R = 2N

1
1

213
212

8,192

16,777,216 (224)

211

8,192
8,192

8,192 (213)
8,192 (213)

1
1

1
1

4,096
4,096

33,544,432 (225)
33,544,432 (225)

1/2
1/2

213
213

4,096

16,777,216 (224)

1/2

212

2,730

22,364,160

1/3 (*)

213

2,730

22,364,160

1/3 (*)

213

2,730

11,182,080

1/3 (*)

212

2,048
2,048

16,777,216 (224)
16,777,216 (224)

1/4
1/4

213
213

2,048

8,388,608 (223)

1/4

212

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23

Encoder Parameters/Attributes
Customer-specified value
CPR
CMR
(x1)
67,108,864
1,000
(x1)
67,108,863...
1,000
8,192,000
(x1)
(8,192,000-1)...
1,000
4,096,000
(*1)

Adapted values (device-side)

CPR
CMR
1,000
8,192,000
1,000
8,192,000
1,000

4,096,000

ScF

R = 2N

1/n (*)
1/n (*)

213
213

1/n (*)

212

Value is not 2N; thus, the scaling factor never gives an integer result.

Examples of the conversion to a scaled position value:

physical position value (Pos_Phy): >>67,108,863<< (max. value)

Pos_Scal = (Pos_Phy x ScF) % CMR_a

(B1)

Pos_Scal = (67,108,863 x 1/2 ) % 16,777,216 = 16,777,215

(B2)

Pos_Scal = (67,108,863 x [2,730/ 8,192] ) % 22,364,160 = 22,364,159

This means that the max. physical position value supported by the encoder also corresponds
with the max. value within the scaled measuring range.
To operate a rotary encoder in 'Continuous Mode' (so-called rotary axis), CMR
must be a multiple (R = 2N) based on parameter 'CPR'. The device automatically
adapts the factor 'R' to the next possible lower value.
Factor R (N = 0,1,...13) is limited to 8192 (max. number of revolutions).

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Encoder Parameters/Attributes

6.2

Data Storage

The profile-specific operating parameters of the encoder are generally saved in an EEPROM.
Since, for Profibus DP, the parameter data (DDLM_Set_Prm) is re-transmitted for each start,
there will be only partial storage in the EEPROM.
The following data is stored in the EEPROM.
Parameter
"Offset value"
"Preset value"

Function
Preset button was pressed or the number of the 'Preset value' was
changed via the Protocol, to set a new position value.

Operating mode

Giving the address setting (EEPROM/switch). -- DDLM_Set_Prm.

Node ID

Giving the address. -- DDLM_Set_Slave_Adr.

Storing the encoder parameters in the EEPROM.

The time for storage depends on the data length (8 bytes, blockwise) and is 10 ms approx. per
parameter.
The measurement-specific operating parameters of the encoder system are defined by the
manufacturer, and are stored in the EEPROM. This data is read out within the initialisation
phase (power-on) by the EEPROM, and checked for validity. A faulty data set is replaced by its
corresponding default value. Simultaneously, an appropriate ID is set within the error flag
(alarm). -- see also 9.4.3.

6.3

Encoder Attributes/Parameters

6.3.1

Fundamental Explanations

The properties (attributes) can be configured via a configuration tool or set to a default value by
the manufacturer.
The values are needed to define the behaviour of the encoder (producing or using process
data). This description only shows the typical (basic) attributes supported by an encoder, without reference to the configuration via the field bus protocol. Further information see (Parameterisation 8.3).
All parameter values with position details must lie within the overall working
area which, at the time, is defined by the CMR value.
If several parameters are changed online, there may be secondary effects.
The user needs to take this into account.
6.3.2

Counting Direction/Code Sequence

This attribute defines whether ascending or descending position values are output when the encoder shaft rotates clockwise (CW) or counter-clockwise (CCW), looking at the shaft end.

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Encoder Parameters/Attributes
6.3.3

Scaling Function Control -- [SFC]

If this parameter is set to ON (1), the physical (numerical) position value of the encoder is converted by the software to a scaled value. If the parameter is set to OFF (0), the scaling function is not active.
6.3.4

Measuring Units per Revolution -- [CPR]

This parameter defines the number of steps per revolution produced by the encoder. The default factory setting corresponds with the physical resolution per revolution/span.
This value generates an internal scaling factor (ScF) as well as the manufacturer-specific parameter "Physical Resolution per Span" (PRS) according to:
scaling factor (ScF) = [CPR] / [PRS]
6.3.5

Total Measuring Range in Measuring Units -- [CMR]

This parameter defines the number of steps over the total measuring range produced by the
encoder and corresponds with the scaled measuring range.
Due to the implementation of the Set-up scaling functions (see 6.1.3) this parameter is internally adapted by the system. The adapted value is always smaller
than or the same as the configured value.
6.3.6

Position Value

Current position value. The scaled numerical value is calculated according to the following
equation. If the Scaling Function Control is not activated, the value for ScF is set to one (1); the
value CMR also corresponds with PMR. The offset is determined by the configured preset
value.
Pos_Scal = (Pos_Phy - "Offset value") x ScF + "Preset value"
For the encoder types described, this parameter is used as process data, implemented as a basic part of the input data. -- (see DDLM_Data_Exch).
6.3.7

Preset Value

The preset function supports the adaptation of the datum from the encoder to the mechanical
datum of the system.
For the current mechanical position of the encoder, the preset value is set as the new, current
position value. The preset value and the resulting "offset value" (difference between the current
and the physical position value) are both automatically stored in the EEPROM.
For the encoder types described, this parameter is used as process data, implemented as a basic part of the input data. -- (see DDLM_Data_Exch).
The preset is not matched to the current measuring range if the scaling parameters (CPR, CMR) are changed. A numerical value outside the measuring range is
replaced by the default factory setting zero (0).

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Encoder Parameters/Attributes
Constant activation results in the current position value (process data) constantly
and repeatedly being set to the preset value.
Meanwhile, the input data (position value) in the Master Module remains unchanged.
The EEPROM in the encoder can be destroyed by this!

6.4

Data Assemblies/Data Components

This part describes the individual data components which the encoder can support. Each of the
data components is allocated a certain processing mode.
Input data is produced by the encoder.
Output data is consumed by the encoder.
The individual data components are combined to a so-called data assembly and selected via
the configuration required.
Overview of the data components - (I: input, O: output)
I-1
I-2
I-3

UDINT
INT
UINT

Position value (4 bytes)

Speed value (2 bytes signed)
Time stamp (2 bytes)

Encoder profile
Manufacturer-specific
Manufacturer-specific

O-1

UDINT

Preset value (4 bytes)

Encoder profile

6.4.1

Position Value

The scaled numerical value is calculated according to the equation below. If the scaling function
is not active, the value for Scf is set to one (1), and the value CMR corresponds with PMR. The
offset value is stored in the EEPROM and always adapted by activating the preset function.
Pos_Scal = (Pos_Phy - "Offset value") x ScF + "Preset value"
Definition from the position value (4 bytes) with a maximum resolution of 'nn' bits. -- (2**nn).
Byte_1 (MSB)
31 30 29 28 27 26

Byte_2

25 24

Byte_3

23 22 21 20 19 18 17 16

Byte_4 (LSB)

15 14 13 12 11 10 09 08

07 06 05 04 03 02 01 00

Number of revolutions (1...8192)

CPR (1...8192)-[steps per rev.]
[CMR]
Example: -- Seen as UDINT value in the "Big Endian" data format.
Byte_1 (MSB)
0
0

Jan 2005

Byte_2
0

Byte_3
1

Byte_4 (LSB)
1
2

ATM60 / ATM90 / KHK53

81,938D == [00.01.40.12]hex

27

Encoder Parameters/Attributes
6.4.2

Speed Value

The calculation of the speed value is based on the physical position value and is performed in
cycles of 50 ms.
To prevent short-time variations, an integration time of 1 sec. is used. For this, a mean value is
calculated from a data table of the respective last 20 position values. A new position value is entered in the same cycle.
The display format of the current value and limit values (minimum, maximum) are defined as
standard. A change in the general display format causes an adaptation of the limit values.
Overview of the different format settings (depending on the device type).
ATM60-P
ATM90-P
KHK53-P

Display format
RPM
RPM
01METpM (0.1 m/min.)

Limit value (min.)

0
0
0

Limit value (max.)

6,000
6,000
3,600

Changing the display format and limit value is not supported! -- The 'default' values apply!
The speed value is signed. Changes in direction of rotation or changes to the 'counting direction parameter affect the display value.
Example: Seen as INT value (signed 16-bit) in the "Big Endian" data format.
Byte_1

6.4.3

0
1
E

0
7
8

E
F

8
1

Byte_2 (LSB)
0
0
7
0
9
0
9
1

0
0

Format/value
0
RPM
6,000 (max.)
RPM
-6,000 (max.)
01METpM
01METpM

3,600 (max.)
-3,600 (max.)

Time Stamp

2-byte counter for external time measurement. The value is updated in time pulses of 1 ms.
Range of values of { 0...65,535 }, corresponding with 65,535 seconds.
Example: Seen as UINT value (16-bit) in the "Big Endian" data format.
Byte_1
0
F

28

0
F

Byte_2 (LSB)
0
0
F
F

ATM60 / ATM90 / KHK53

Format/value
0
MS
65,535

Jan 2005

Encoder Parameters/Attributes
6.4.4

Preset Value

The encoder supports, as a Class 2 function, electronic adjustment (preset) to a user-defined

position value.
Definition of the preset value (4-bytes) with a max. resolution of 'nn' bits. -- (2**nn).
Byte_1 (MSB)
31 30 29 28 27 26

Byte_2

25 24

Byte_3

23 22 21 20 19 18 17 16

15 14 13 12 11 10 09 08

Byte_4 (LSB)
07 06 05 04 03 02 01 00

Number of revolutions (1...8192)

CPR (1...8192)-[steps per rev.]
[CMR]

m x x x.x x

To activate the preset value, set bit_31 to one (1) (marked as m). The actual preset value is
predetermined as an nn-bit value. -- (here: 26)
The time needed for a valid activation is determined by the cycle time of the transmission, and
is dependent on the arrangement of all subscribers in the entire network.
After a valid activation of the preset value, the current position value is set to this value (see
display in module of the DP Master).
Disabling the function: - Set bit_31 to zero (0).
Example: Seen as UDINT value (81,938D) in the "Big Endian" data format.
Byte_1 (MSB)
8
0
Byte_1 (MSB)
0
0

Byte_2
0

Byte_3
1

Byte_2
0

Byte_4 (LSB)
1
2

Active
[80.01.40.12]hex

Byte_4 (LSB)
1
2

not active
[00.01.40.12]hex

Byte_3
1

Activation by Bit_31 in the master device can lead to a display format with negative numerical value!
Activation of a new preset value always results in a diagnostic message with low
priority being triggered. This detail is contained in the FDL header of the data exchange response message. The Master can then request a diagnostic message,
to obtain information on the 'offset' value of the encoder!
The preset function is not intended for dynamic adjustment processes. The function is meant for electronic adjustment during commissioning, to allocate a certain
position value to any mechanical shaft position of the encoder. In case of constantly recurring activation of the preset function, the corresponding memory locations in the EEPROM are destroyed, over time!
The use of the preset function leads to a change in the position value output. This
could cause an unexpected movement which may lead to damage of the system,
other objects or bodily harm.

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29

Device Integration/Projecting

Device Integration/Projecting

7.1

System Requirements

To integrate a Profibus DP slave into a system, the following requirements must be met:
Electronic data sheet for the device made available as a GSD/GSE file, by the device
manufacturer.
Class 1 Master module (PLC, PC).
Engineering system (Class 2 master module) with a network configuration tool.

System
Configuration

Configuration
Tool

SPS

Electronic Device
Data Sheets
(GSD-file)

Figure 71: Device Integration

7.2

Description

The GSD alone is sufficient for device integration, for data exchange between field devices and
automation systems. It is used and interpreted in the network configuration tool (CFG-X) a
projecting tool for the master engineering system. - The basic functionality is:
Simple text description of the device properties for DP communication.

30

ATM60 / ATM90 / KHK53

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Device Integration/Projecting

C FG -X

E ngineering
S ystem

GSD

Figure 72: GSD Implementation

The configuration tool used produces a so-called parameter set for each subscriber in the network. This data set is stored in a file. This file thus is a logical image of the physical network and
is used by the Master PLC for the correct control of the complete system.
The following data must be configured/confirmed by the user:
Parameter data.
Configuration format for the data exchange (Data_Exchange).
Station address.
On the basis of all implemented subscribers, the configuration tool supplements the data set
with DP protocol-specific data of the complete network.
Using the DP-V0 protocol allows no changes of parameter values during cyclical data traffic.

7.3

Data Mapping of a UINT32 (UDINT) Value

According to the GSD specification, numerical values 32 bits in length are defined as "Unsigned32" (UDINT). This data format is not supported by all configuration tools, especially not
by the older ones. See example with COM Profibus V3.3 on the following pages (value mapping for measuring range [steps] and steps per turn).
To support correct parameterisation when using simple configuration tools, the numerical value
is divided into a High word (bits 31_16) and a Low word (bits 15_00).
The two individual values are formed according to the following procedure:
Conversion of the entire numerical value from decimal to hex. format.
-- { byte 1 to byte 4 }.
Conversion of the hex. value byte {1 and 2 } back to decimal. value 1 "....--(31_16)".
Conversion of the hex. value byte {3 and 4 } back to decimal. value 2 "....--(15_00)".
This type of mapping affects the following parameters:
Steps per measuring unit (for rotary encoders: also steps per rev.) -- (CPR).
Steps over the total measuring range (CMR).

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31

Device Integration/Projecting
The following examples show more details:
Whole numerical value (32-bit view)
{ (01.CA x 1.00.00) + 0.11.A0 }
Value 1 ".... --(31_16)"
Value 2 ".... --(15_00)"
Whole numerical value (32-bit view)
{ (00.0C x 1.00.00) + 0.00.00 }
Value 1 ".... --(31_16)"
Value 2 ".... --(15_00)"

30 020 000 (d)

01.CA.11.A0 (h)

458 (d)
4512 (d)

1.CA (h)
11.A0 (h)

786 432 (d)

00.0C.00.00 (h)

12 (d)
0 (d)

00.0C (h)
00.00 (h)

7.4

Use of the COM Profibus Configuration Tool

7.4.1

Module Configuration

Only one (1) module can be selected for each encoder.

Figure 73: Module Configuration

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Device Integration/Projecting
7.4.2

Parameter Settings Rotary Encoders

Code sequence
Class 2 function
Additional diagnostics

Clockwise
Enabled
Enabled
Enabled

Scaling function
Reserved
SSA service

Disabled
DIP switch

Address source

Figure 74: Parameter Data Operating Mode

SSA service

Disabled

Address source
Steps per turn - -(31_16)
Steps per turn - -(15_00)

DIP switch

Measuring range (Steps)- -(31_16)

Measuring range (Steps)- -(15_00)

Figure 75: Parameter Data Scaling

The factory default setting of the parameters is shown:

Operating mode addressed at position byte 1.
Measuring units per revolution addressed at position byte 25.
Measuring range addressed at position byte 69.

Jan 2005

ATM60 / ATM90 / KHK53

33

Device Integration/Projecting
7.4.3

Parameter Settings Linear Encoders

Diagnostic functionality

Figure 76: Parameter Data Operating Mode

Figure 77: Parameter Data Scaling

The factory default setting of the parameters is shown:

Operating mode addressed at position byte 1.
Measuring units per revolution addressed at position byte 25.
Measuring range addressed at position byte 69.
For linear encoders, the Measuring Step parameter corresponds with bytes 2/3 and 4/5 of the
Measuring Units per Revolution (CPR) parameter for rotary encoders.
The value is given in nanometres (nm) [32-bit unsigned].
The KHK53 linear encoder has a physical resolution of 0.1mm per measuring step.

34

ATM60 / ATM90 / KHK53

Jan 2005

Device Integration/Projecting
For the max. encoder resolution, the factory (default) setting from the GSD file of 100 000 (d)
according to the physical resolution, must be retained.
The original numerical UINT32 value is mapped as a 2 word value.
Value (32-bit view)
{ (00.01 x 1.00.00) + 0.86.A0 }
Value ".... --(31_16)"
Value ".... --(15_00)"

100 000 (d)

00.01.86.A0 (h)

1 (d)
34 464 (d)

00.01 (h)
86.A0 (h)

Lower device resolutions can be set on request. For this, the measuring step parameter must
be set, within predetermined limits, to higher values.
Resolution (mm/step)
0.1 (default), = max.
1.0
10.0

Measuring step
100 000
1 000 000
10 000 000

1000.0 (1 m), = min.

1 000 000 000

Val "... --(31_16)"

1 (d)
15 (d)
152 (d)

Val "... --(15_00)"

34 464 (d)
16 960 (d)
38 528 (d)

For linear encoders, the setting of the Measuring Range parameter bytes 6/7 and 8/9 must
not be changed. A max. range of 224 and 16,777,216 steps, resp., must always be supported /
[01.00.00.00]h.
Within the factory (default) setting for the encoder resolution [Measuring Step parameter], a
measuring range of 1,677 metres max. is supported according to the equation below.
Max. measuring range:

Jan 2005

16,777,216 steps x (0.1 mm/step)

ATM60 / ATM90 / KHK53

35

System Configuration

System Configuration

8.1

Master-Slave Communication

With the DP protocol (V0) supported by the encoder, a subscriber (DP slave) behaves according to the following flow diagram scheme (State Machine). The mode of operation of the State
Machine is fully defined in a hardware component (DP controller ASIC).
To start a data exchange with the slave the master must, during run-up, adhere to the following
order of telegrams:
DDLM_Slave_Diag (diagnostic request).
DDLM_Set_Slave_Adr (optional telegram, Master Class 2 only).
DDLM_Set_Prm.
DDLM_Chk_Cfg.
DDLM_Slave_Diag (diagnostic request to ensure initialisation).
DDLM_DATA_EXCH (cyclical data exchange)
Via a diagnostic telegram DDLM_Slave_Diag, the master can request an appropriate diagnosis
from the slave, at any time.
Further services may be activated via "Global Control Command (GCC)" telegrams.

Figure 81: DP State Machine

36

ATM60 / ATM90 / KHK53

Jan 2005

System Configuration

8.2

Stipulations/Definitions

The term "octet", in the Profibus literature (profile definitions), designates a "BYTE" within a
Profibus DP data telegram. The following allocation applies:
Octet
BYTE

8.3

1
0

2
1

3
2

...
...

n
n-1

Parametrisation

In the 'Wait_Param' state, the parameterisation telegram generates an identification with the
master. The number and format of the telegram data result from the definition in the GSD file
and are checked by the slave, through the DP controller and the application software, resp.
The acknowledgement will be a response telegram to the master. The next state within the
'State Machine' is achieved only by recognising a valid telegram.
8.3.1

DP-Specific Standard Data

The DP-specific standard data (octet-1..7) is relevant to all DP slaves. This data is generated by
means of a projecting tool using the GSD file. The telegram data is checked directly in the DP
controller (ASIC) of the slave.
Service DDLM_SET_Prm
Octet
1
2
3
4
5

Type
BYTE
BYTE
BYTE
BYTE
BYTE

BYTE

BYTE

(*n1)

(*n2)
(*n3)

Explanation
DP protocol-specific allocations.
WD_Fact_1
WD_Fact_2
TSDR
Device ID, high byte
-- Device 'Ident_Number' (high)
Device ID, low byte
-- Device 'Ident_Number' (low)
Group ID -- 'Group_Ident' number

Value (default)
(*n1)
(*n1)
(*n2)
(*n3)

(*n3)

Defines the time of the Watchdog timer (10 ms based). The overall time results from:
{ 10 ms x WD_Fact_1 x WD_Fact_2 }.
Earliest slave response time in { TBit }. -- (11 x TBit <--> max. TSDR).
Ident. number of the slaves (2 bytes, allocated by PNO)

Jan 2005

ATM60 / ATM90 / KHK53

37

System Configuration
8.3.2

Device-Specific Data

Allocation and content of this data (octet-8..n) are predefined via the GSD file and can be
changed by projecting. Format and content are checked after receipt of the complete telegram
by the application software.
Service DDLM_SET_Prm
Octet
8
9

Type
BYTE
BYTE

(p1)
(p1)

10..11
12..13
14..15
16..17
(x1)

(m1)
(m2)

(p1)
(p2)

8.3.3

UINT16
UINT16
UINT16
UINT16

Explanation
Spec_User_Prm_BYTE (x1)
Operating mode
Bit 7
Selection node address source (m1)
Bit 6
Activation of the 'SSA' service (m1)
Bit 5..4 Reserved
Bit 3
Scaling function (ON, OFF).
Bit 2
Commissioning diagnostics control (m2)
Bit 1
Class 2 functionality (ON, OFF).
Bit 0
Code sequence (0: ascending, 1: descending)
Measuring units per rev. (CPR). -- (31-16)
Measuring units per rev. (CPR). -- (15-00)
Total measuring range (CMR). -- (31-16)
Total measuring range (CMR). -- (15-00)

Value (Default)
[00]h
[0E]h
0
0
0
1
1
1
0
[00.00]h
[20.00]h
[20.00]h
[00.00]h

(p2)
(p2)
(p2)
(p2)

Defines the system behaviour of the DP_Controller ASIC. Not adjustable in the config. tool.
Manufacturer-specific function. Not defined in the encoder profile.
Value has no meaning for ATM60-P/ATM90-P rotary encoders. Function is always enabled.
For linear encoders of the KHK53-P type, the function is optionally adjustable (default
setting = enabled (1)) see following pages.
For the ATM90-P, the functions of bit 1 and bit 2 are interchanged.
Device-dependent see below.
Operating Mode

8.3.3.1 Code Sequence

Definition of the counting direction for the position value:
0
1

CW
CCW

clockwise ascending
Default setting
counter-clockwise ascending

Setting per telegram is only possible if setting by hardware via DIP switch S1-(8)
is OFF.
The view to determine the counting direction is device-dependent:
For the ATM90-P: looking at the baseplate; for the ATM60-P: looking at the shaft; and for the
KHK53-P: beginning from the first measuring element (X0001).

38

ATM60 / ATM90 / KHK53

Jan 2005

System Configuration
8.3.3.2 Class 2 Functionality
This attribute controls the Class 2 functionality regarding diagnostic data and operating mode.
0
1

Disable
Enable

Not enabled (Class 1)

Enabled (Class 2)

Default setting

Mode Class 1 resets any scaling enabled. The encoder then uses the default setting for the scaling parameter.

8.3.3.3 Commissioning Diagnostics Control

Encoder profile-specific designation for the behaviour of the device at standstill, regarding additional diagnostic data (extended DP diagnostics). The input value for rotary encoders remains
without importance, since the diagnostic function is always enabled. For linear encoders, the
value is optionally adjustable (default setting is (1) = enabled).
8.3.3.4 Scaling Function
The physical resolution of the encoder can be changed, using the scaling parameters

Measuring Units per Revolution -- (Octet 10-13)

Total Measuring Range -- (Octet 14-17)

if this attribute is enabled. Otherwise, there will be no scaling.

0
1

Disable
Enable

not enabled
enabled

Default setting

8.3.3.5 Enabling the SSA Service

Optional function to change the subscriber address by telegram "DDLM_Set_Slave_Address"
(SAP 55).
0
1

OFF
ON

Function not enabled

Function enabled

Default setting

A change of address by telegram is only accepted if "EEPROM" is selected as

the address source (see octet 9, bit 7).

8.3.3.6 Selection of the Address Setting

This attribute defines the source of the address of the slave (encoder). The information is only
evaluated during power-up. The setting is stored in the EEPROM.
A change of the attribute only becomes effective at next power-up.
0
1

OFF
ON

DIP switch
EEPROM

Default setting

A change of the value to "EEPROM" may cause the allocation of a new address
for this subscriber at next power-up. This depends on which value was parameterised before (Set_Slave_Address) and stored in the EEPROM. -- The default
address is "1".

Jan 2005

ATM60 / ATM90 / KHK53

39

System Configuration
A reset of the address source to "DIP switch[es]" can only be implemented via a
further telegram. If the subscriber address stored in the EEPROM is no longer
known, valid communication with the device cannot be established via the DP
master. -- (see Error Correction 9.4.3.4).
8.3.4

Measuring Units per Revolution -- [CPR]

Number of steps within a revolution (SpU). Represented by 2 words { high, low }.

Min. value (h)
Word_Hi
Word_Lo
00.00
00.01
00.00
00.01
00.01
86.A0

Max. value (h)

Word_Hi
Word_Lo
00.00
20.00
00.00
20.00
3B.9A
CA.00

Default value (h)

Word_Hi
Word_Lo
00.00
00.01
00.00
00.01
00.01
86.A0

Device
Word_Hi
00.00
00.00
3B.9A

The default value depends on the device type used.

For linear encoders, this parameter is termed 'Measuring Step. The value is given in nanometres (nm) as a 32-bit value (unsigned).
8.3.5

Total Measuring Range -- [CMR]

Number of steps over the total measuring range. Represented by 2 words { high, low }.
Min. value (h)
Word_Hi
Word_Lo
00.00
00.01
00.00
00.01

Max. value (h)

Word_Hi
Word_Lo
04.00
00.00
04.00
00.00

Default value (h)

Word_Hi
Word_Lo
04.00
00.00
02.00
00.00
01.00
00.00

Device
ATM60-P
ATM90-P
KHK53-P

The default value depends on the device type used.

For linear encoders, this parameter value is always set such that the default value (which corresponds with the physical measuring range [PMR] defined as 16,777,216 steps), is used.
To operate a rotary encoder in 'Continuous Mode', this value must be a multiple
(R = 2N) based on parameter 'CPR'. There will be an automatic matching of the
factor 'R' to the next possible lower value.
Factor R (N = 0,1,13) is limited to 8192 (max. number of revolutions).
Rotary encoders of the ATM90-P type are (historically) supplied with different
physical total resolutions. The default scaling values in the GSD file are set for
the max. resolution (8192 x 8192). The scaling parameters are automatically
matched to the upper physical limit values if, during projecting, no matching takes
place.

40

ATM60 / ATM90 / KHK53

Jan 2005

System Configuration

8.4

Configuration

In the 'Wait_Config' state, the configuration telegram defines the format for the cyclical data traffic (I/O data for every network subscriber).
All formats supported by the slave are defined in the GSD file with the keyword "Module". Using
the configuration tool, at least one of these modules must be selected for projecting the device
to be integrated.
According to the encoder profile, the encoder supports the data consistency with a max. of one
(1) module.
The general ID format (specified with '1' byte) is used.
The modules are defined by number and content of the ID formats.
One (1) ID format (byte) per module is specified in the GSD file.
Specification of the general ID format (byte):
Bit 7
Bit 6
Bit 5 | 4
Bit 3...0

Consistency { 0: No, 1: Yes }

Format data length { 0: byte, 1: word }
Mode { 1|1: Input+Output, 1|0: Output, 0|1: Input, 0|0: Specific Format }
Code length { 0000 = 1, 0001 = 2, ...1111 = 16 }

The specification only defines the data length (in word and bytes) produced or consumed by a
network subscriber, however not the content of the input/output data. Definition and allocation of
the data assemblies (data components) for the individual modules are based on the application,
and are defined by a profile or by the manufacturer. -- see Data Assemblies (6.4).
Number and content of the transmitted ID formats, and the length of the INPUT/OUTPUT data
resulting from the content, are checked by the slave and acknowledged as positive or negative
responses. The next state within the 'State Machine' is reached only when a valid telegram is
recognised.
The following modules can be selected via the ID format in the Chk_Cfg telegram.
Service DDLM_Chk_Cfg
Module

Assembly

ID format

IN_04
IO_04

1
2

Encoder Class 1 -- 2 word input

Encoder Class 2 -- 2 word input/2 word output

3
4
5
6

Manufacturer-specific -- 3 word input

Manufacturer-specific -- 3 word input/3 word output
Manufacturer-specific-- 4 word input
Manufacturer-specific-- 4 word input/4 word output

IN_06
IO_06
IN_08
IO_08

(c1)

(c1)

This function is not supported by the ATM60-P, ATM90-P encoders.

This function is not supported by the KHK53-P encoder.

(c2)

(c1)
(c2)
(c2)

Value
(hex)
D1
F1
(Default)
D2
F2
D3
F3

The composition of the input/output modules is described on the following pages.

Jan 2005

ATM60 / ATM90 / KHK53

41

System Configuration

8.5

Cyclical Data Traffic (Data Exchange Mode)

The data is exchanged by means of default SAP in the Profibus telegram header. The master
sends the output data to the slave and receives (if existing) the input data in return. In this
mode, the telegram header consists of 9 bytes. The amount of nett data is limited to 244 bytes
max.
The data telegram to be transmitted between master and slave, is defined in a 'DDLM_Chk_Cfg'
telegram previously initiated by the master.
WORD_1
Byte_1
Byte_2
Output_Data 1
Input_Data 1

WORD_2
Byte_3
Byte_4
Output_Data 2
Input_Data 2

.......
.......

.......
.......
.......

WORD_n
Byte_n-1
Byte_n
Output_Data n (*1)
Input_Data n

Note the specific configuration of the output data:

(*1)

8.5.1

The configuration of the 'output data' is reduced, as is the data component 'Preset
value. The content of Word_3, Word_4 remains unused, although the protocol transmits the complete data set.
DDLM_Data_Exchange. Data Assembly (A1). Module IN_04

Class 1 configuration according to encoder profile: - data components { I-1 }.

WORD_1
WORD_2
Byte_1
Byte_2
Byte_3
Byte_4
Position value (I-1)
(Bit
(Bit
(Bit 15..8) (Bit 7..0)
31..24)
23..16)
Byte_1
Byte_2
Byte_3
Byte_4
8.5.2

DDLM_Data_Exchange. - Data Assembly (A2). - Modul IO_04

Class 2 configuration according to encoder profile: - data components { I-1, O-1 }.

WORD_1
WORD_2
Byte_1
Byte_2
Byte_3
Byte_4
Position value (I-1)
(Bit
(Bit
(Bit 15..8) (Bit 7..0)
31..24)
23..16)
Byte_1
Byte_2
Byte_3
Byte_4
WORD_1
WORD_2
Byte_1
Byte_2
Byte_3
Byte_4
Preset value (O-1)
(Bit
(Bit
(Bit 15..8) (Bit 7..0)
31..24)
23..16)
Byte_1
Byte_2
Byte_3
Byte_4

42

ATM60 / ATM90 / KHK53

Jan 2005

System Configuration
8.5.3

DDLM_Data_Exchange. - Data Assembly (A3). - Modul IN_06

Class 1 configuration = manufacturer-specific: - data components { I-1, I-2 }.

WORD_1
WORD_2
Byte_1
Byte_2
Byte_3
Byte_4
Position value (I-1)
(Bit
(Bit
(Bit 15..8) (Bit 7..0)
31..24)
23..16)
Byte_1
Byte_2
Byte_3
Byte_4
8.5.4

WORD_3
Byte_5
Byte_6
Speed (I-2)
(Bit 15..8) (Bit 7..0)
Byte_1

Byte_2

DDLM_Data_Exchange. - Data Assembly (A4). - Modul IO_06

Class 2 configuration = manufacturer-specific: - data components { I-1, I-2, O-1 }

WORD_1
WORD_2
Byte_1
Byte_2
Byte_3
Byte_4
Position value (I-1)
(Bit
(Bit
(Bit 15..8) (Bit 7..0)
31..24)
23..16)
Byte_1
Byte_2
Byte_3
Byte_4

WORD_3
Byte_5
Byte_6
Speed (I-2)
(Bit 15..8) (Bit 7..0)

WORD_1
WORD_2
Byte_1
Byte_2
Byte_3
Byte_4
Preset value (O-1)
(Bit
(Bit
(Bit 15..8) (Bit 7..0)
31..24)
23..16)
Byte_1
Byte_2
Byte_3
Byte_4

WORD_3

8.5.5

Byte_1

Byte_2

(*1 see 8.5)

DDLM_Data_Exchange. - Data Assembly (A5). - Modul IN_08

Class 1 configuration = manufacturer-specific: - data components { I-1, I-2, I-3 }.

WORD_1
WORD_2
Byte_1
Byte_2
Byte_3
Byte_4
Position value (I-1)
(Bit
(Bit
(Bit 15..8) (Bit 7..0)
31..24)
23..16)
Byte_1
Byte_2
Byte_3
Byte_4

Jan 2005

WORD_3
Byte_5
Byte_6
Speed (I-2)
(Bit 15..8) (Bit 7..0)
Byte_1

ATM60 / ATM90 / KHK53

Byte_2

WORD_4
Byte_7
Byte_8
Time stamp (I-3)
(Bit 15..8) (Bit 7..0)
Byte_1

Byte_2

43

System Configuration
8.5.6

DDLM_Data_Exchange. - Data Assembly (A6). - Module IO_08

Class 2 configuration = manufacturer-specific: data components { I-1, I-2, I-3, O-1 }

WORD_1
WORD_2
Byte_1
Byte_2
Byte_3
Byte_4
Position value (I-1)
(Bit
(Bit
(Bit 15..8) (Bit 7..0)
31..24)
23..16)
Byte_1
Byte_2
Byte_3
Byte_4

WORD_3
Byte_5
Byte_6
Speed (I-2)
(Bit 15..8) (Bit 7..0)

WORD_1
WORD_2
Byte_1
Byte_2
Byte_3
Byte_4
Preset value (O-1)
(Bit
(Bit
(Bit 15..8) (Bit 7..0)
31..24)
23..16)
Byte_1
Byte_2
Byte_3
Byte_4

WORD_3

44

Byte_1

Byte_2

ATM60 / ATM90 / KHK53

WORD_4
Byte_7
Byte_8
Time stamp (I-3)
(Bit 15..8) (Bit 7..0)
Byte_1

Byte_2

WORD_4
(*1 see 8.5)

Jan 2005

Diagnostic Information

Diagnostic Information

9.1

Evaluation at Control Level

If the special Profibus diagnostic function is to be used, using a Siematic S7 control program, a
diagnostic address needs to be set.
The special Profibus diagnostic function uses the OB82 component and thus organises the
CPU behaviour of the control. This component is run through once a DP slave makes a diagnostic request (setting or resetting of events). Within the OB82, the complete diagnostic data of
the slave is read out through the SFC13 functional component.
If the OB82 component is not present, and a diagnostic request is received from the slave, the
CPU of the control goes to the operating mode 'STOP'.
Profibus DP offers a comfortable and multi-layered facility for processing diagnostic messages
due to error conditions.

9.2

Diagnostic Messages

The diagnostic information of a DP slave consists of:

Standard diagnosis (6 bytes)
User-specific data (optional).
The maximum number of octets (bytes) of user-specific diagnostic data is described in the GSD
file.
The ATM60/ATM90/KHK53 encoders support user-specific diagnostic data according to Class 1
and Class 2, resp., of the profile in the format:
'Device-specific' with a length of 63 bytes max..
The class is selected:
Explicitly using Operating Mode parameter see Class 2 functionality (8.3.3.2).
Implicitly via selecting the module configuration (Data Assembly).
Op. Mode 'Class 2 function'

Assembly (Ax)

Class

No - (0)
Yes - (1)
Yes - (1)

X
1, 3, 5
2, 4, 6

1
1
2

(*a1)

Length of diagnostic
data
(bytes)
10
10
59 / 63 (*a1)

Real Class 2 (59), manufacturer-specific option (63).

Jan 2005

ATM60 / ATM90 / KHK53

45

Diagnostic Information

9.3

Standard Diagnostics

The standard data is binding for all DP slaves.

Service DDLM_Slave_Diag
Octet
1
2
3
4
5
6
(d1)

9.3.1

Type
BYTE
BYTE
BYTE
BYTE
BYTE
BYTE

Explanation
Status-1
Status-2
Status-3
Master address
Device ID (device 'Ident_Number') - (high byte)
Device ID (device 'Ident_Number') - (low byte)

(d1)
(d1)

also see device ID 9.4.5.

Status-1

Bit 7
Bit 6
Bit 5
Bit 4
Bit 3
Bit 2
Bit 1

Master_Lock
Parameter_Fault
Invalid_Slave_Response
Not_Supported
Ext_Diag
Cfg_Fault
Station_Not_Ready

Bit 0

Station_Not_Existent

9.3.2

Value (Default)

Slave was parameterised by another master.

Incorrect parameter setting (invalid telegram message).
Slave is permanently set to zero (0).
Requested function is not supported by the slave.
Slave supports external diagnostic data. (p-1)
Slave refuses the configuration data setting.
Slave not ready for data traffic mode (data_exchange
mode).
Slave does not exist on the bus.

Status-2

Bit 7
Bit 6
Bit 5
Bit 4
Bit 3
Bit 2
Bit 1

Deactivated
Reserved
Synch_Mode
Freeze_Mode
WD_ON
State
Stat_Diag

Bit 0

Prm_Req

(p-1)

If, for the KHK53-P, the Commissioning Diagnostics Control is deactivated (0), the
master is not allerted by the slave to retrieve diagnostic data. The diagnostic data,
however, is ready in the appropriate registers if the master itself wants to collect the
diagnostic data. Further explanations see Sections 9.4.3 to 9.4.3.3.

46

Slave was deactivated by the master.

Slave has received 'Sync' command.
Slave has received 'Freeze' command.
Response monitoring activated.
Always set to One (1).
Static diagnostics -- Slave can support no valid process
data. The master requests diagnostic data only until the
slave resets this detail. (p-1)
Slave must be re-configured / new parameter setting.

ATM60 / ATM90 / KHK53

Jan 2005

Diagnostic Information
9.3.3

Status-3

Bit 7
Ext_Diag_Overflow
Bit 6..0 reserved
9.3.4

Data overflow within external diagnostics.

Reserved

Master Address

Bit 7..0 Master address after parameter setting. -- Value before parameterisation: [FF]h.

9.4

Device-Specific Diagnostics Class 1

9.4.1

Class 1 Diagnostic Data Overview

Service DDLM_Slave_Diag

Octet
7

Type
BYTE

8
9

BYTE
BYTE

Explanation
Diagnostic header -- contains diagnostic data
length
Alarms
Operating state according to the Operating Mode
Bit 7..4 Reserved
Bit 3
Status of the scaling function (On, Off)

Value (Default)
10 / 63

Commissioning diagnostics (s2)

Class 2 functionality (On, Off)
Counting direction '0: CW, 1: CCW'
CW = clockwise
CCW = counter-clockwise
Device ID encoder type
Physical Resolution Span (number of steps per
rev. resp. span) which the encoder supports -(PRS)
Physical Number of Revolutions (number of revolutions resp. span) which the encoder supports

1
1
0

(s1)

Bit 2
Bit 1
Bit 0

10
11..14

BYTE
UINT32

15..16

UINT16

9.4.2

0
1

[8,192] rotary enc.

[4,096] linear enc.
[8,192] rotary enc.
[4,096] linear enc.

Diagnostic Header

The header information shows the length of the diagnostic data (including the header byte) in
hex format. Octets 7 to 16 = user diagnostic data.
9.4.3

Alarms

Alarms are triggered when a serious error occurs in the encoder system. The message is deleted when the master has read the complete diagnostic data. The error display, too, will then
no longer be present.
Each correct detail within the supported alarms/additional alarms also triggers the alarm-specific
Commissioning Diagnostics Alarm Bit.

Jan 2005

ATM60 / ATM90 / KHK53

47

Diagnostic Information

Bit 7..5
Bit 4
Bit 3
Bit 2..1
Bit 0

Not allocated
EEPROM memory error
Commissioning Diagnostics Alarm
Not allocated
Error in the position value

Value '1'
-See detail
Device error
-See detail

The following applies to all alarms and warnings: True logic (value '1' means reference to an error).
9.4.3.1 Commissioning Diagnostics Alarm
Applicable (TRUE) if one of the supported alarms (incl. additional alarms) or warnings displays
an error.
This error leads to the provision of external diagnostic data 'Ext_Diag'. See DP Standard Diagnostic Status-1 (0).
9.4.3.2 EEPROM Memory Error
An EEPROM error which is found through reading out the general encoder parameters, when
the encoder is used again following power-off.
9.4.3.3 Error in the Position Value
There can be different reasons for this error message:
EEPROM error which is found during reading operations of encoder parameters relating to
position (e.g. when reading out the EEPROM after switching the encoder off and on again).
The correct position cannot be determined using the algorithm for position calculation, because the scanner in the encoder supplies no valid signals.
The distance between 'reading head and 'material measure is outside the permitted position tolerance (for linear encoders).
This error triggers a 'Stat_Diag'. See DP Standard Diagnostic Status-2 (0).
The DP communication is in the Data_Exchange mode; the encoder, however, provides no valid
data. The red LED is illuminated.
This state continues for as long as the existing cause of error is present.
9.4.3.4 Error Correction Measures
These measures only lead to a result when the EEPROM data is inconsistent. For this, the
EEPROM content must be re-configured to the factory setting (default values).
Turn off operating voltage.
Set node (device) address to zero (0) (DIP switch).
Turn operating voltage back on, keeping the preset pushbutton (under the screw cap of the
connection adapter) pressed for 2 seconds approx.
Wait for about 10 seconds. The EEPROM is now re-configured.
Turn off operating voltage and re-set to original node address.
Turn operating voltage back on and check the device for faulty behaviour.

48

ATM60 / ATM90 / KHK53

Jan 2005

Diagnostic Information
9.4.4

Operating Status

Shows the Operating Mode parameter. -- (see 8.3.3), DDLM_Set_Prm.

(s1) of 9.4.1
Status of the scaling function - The value is reset to zero '0' in the following cases:
The scaling parameters (CPR, CMR) are configured such that the default value
is used, also when the control bit 'DDLM_Set_Prm' is set to one ('1').
The Class 2 functionality control bit 'DDLM_Set_Prm' is set to zero (0) (not enabled).
(s2) of 9.4.1

9.4.5

If, during configuration, the diagnostic control of the Operating Mode for the linear
encoder KHK53-P was disabled {(0) set} then, in case of a position error, the master is not allerted by the slave to retrieve a diagnostic data set. Thus, the control
(PLC) remains in a trouble-free state.
However, the diagnostic data is formed, ready in the slaves corresponding output
registers, and could be retrieved at the DP masters request (until the fault condition for the position error no longer exists).
A position error can, for instance, be triggered by briefly exceeding the positional
tolerance (excessive distance between measuring element and reading head). A
fault message at the control, due to this event, is however not always wanted.

Device Identification

The encoder type can be queried via this diagnostic byte.

Device/model
ATM60-P
ATM90-P
KHK53-P
9.4.6

Ident_Number (hex)
59.52
00.FE
05.F6

Encoder type
1 (rotary, absolute)
1 (rotary, absolute)
2 (linear, absolute)

Physical Resolution Span (PRS)

For rotary encoders, the parameter shows the max. number of measuring steps per revolution.
The ATM60-P supports a resolution of { 8,192 } steps/rev.
The ATM90-P supports a resolution of { 2,048, 4,096 or 8,192 }
steps/rev.
For linear encoders, this parameter shows the smallest measuring step supported by the encoder (max. physical resolution), which is given in nanometres (nm).
The KHK53-P supports a resolution of 0.1 mm. This corresponds to the value
100,000.
9.4.7

Physical Number of Revolutions (PNumR)

For rotary encoders, this parameter shows the max. number of revolutions which can be distinguished.
The ATM60-P supports a resolution of { 8,192 } revolutions.
The ATM90-P supports a resolution of { 2,048, 4,096 or 8,192 } revolutions.
This parameter is irrelevant to linear encoders -- Display [FF.FF](h).

Jan 2005

ATM60 / ATM90 / KHK53

49

Diagnostic Information

9.5

Device-Specific Diagnostics Class 2

9.5.1

Class 2 Diagnostic Data Overview

Service DDLM_Slave_Diag

Octet
7
8...16

Type
BYTE

17
18..19
20..21
22..23
24..25
26..27
28..31
32..35
36..39
40..43

BYTE
UINT16
UINT16
UINT16
UINT16
UINT16
UINT32
UINT32
UINT32
UINT32

44..47

UINT32

48..57
58..59

ASCII

60
61
62..63

BYTE
BYTE
UINT16

9.5.2

Explanation
Diagnostic header (data length)
-- see Class 1 diagnostic data (9.4.1 ff) -Additional alarms
Supported alarms
Warnings
Supported warnings
Profile version
Software version
Operating time is not supported
Offset value
Manufacturers offset value is not supported
Counts per Revolution (steps per rev.) Customerspecified. Measuring units/rev.
Steps (number of counts) over the total Measuring
Range -- (CMR)
Serial number 10 characters
-- reserved --- manufacturer-specific -Station address stored in the EEPROM
Encoder status, acc. to 'Operating Mode
DP controller status

Value (Default)
63

0
00.19 hex
00.01 hex
01.10 hex
01.01 hex
FF.FF.FF.FF hex
0

0
1

Diagnostic Header

The header information shows the length of the diagnostic data (including the header byte) in
hex format. Octets 7 to 63 = user diagnostic data.
9.5.3

Additional Alarms

Bit 15..8 Reserved for future use not allocated

50

ATM60 / ATM90 / KHK53

--

Jan 2005

Diagnostic Information
9.5.4

Supported Alarms

The settings control the display behaviour of the parameters 'Additional Alarms' and 'Alarms'.
Bit 15..8
Bit 7..0
Bit 7..5
Bit 4
Bit 3
Bit 2
Bit 1
Bit 0
9.5.5

Reference to 'Additional Alarms' not allocated -Reference to 'Alarms'

-- not allocated -EEPROM Memory Error
Commissioning Diagnostics
Overcurrent
Operating voltage error
Error in the position value

--Yes
Yes
--Yes

Warnings

Warnings show that non-significant parameters of the encoder system are outside the tolerance. Contrary to the alarms, warnings do not state that there are incorrect position values.
The display is deleted after the master has read complete diagnostic data set and the triggering
error signal no longer exists.
Each true display within the supported warnings triggers an alarm-specific bit (Commissioning
Diagnostics Alarm). -- see (Alarms 9.4.3).
Bit 15..7
Bit 6
Bit 5
Bit 4
Bit 3
Bit 2
Bit 1
Bit 0
9.5.6

-- not allocated -Reference point reached

Battery charge
Defined operating time limit
CPU Watchdog status
Optical power reserve (for optoelectronics)
Temperature warning
Frequency warning (max. speed)

Value allocation '1'

-not reached
under limit
Limit exceeded
Reset triggered
under limit
Yes
Limit exceeded

Supported Warnings

The settings control the display behaviour of the parameter 'Warnings'.

Bit 15..7
Bit 6
Bit 5
Bit 4
Bit 3
Bit 2
Bit 1
Bit 0

Jan 2005

-- not allocated -Reference point warning

Battery charge warning
Operating time limit warning
CPU Watchdog status
Optical power reserve warning (for optoelectronics)
Temperature warning
Frequency warning (max. speed)

ATM60 / ATM90 / KHK53

-------Yes

51

Diagnostic Information
9.5.7

Profile Version

Shows the implemented encoder profile version (1.10), divided into two numbers.
Octet 24
Revision number
01hex
9.5.8

Octet 25
Index number
10hex

Software Version

Shows the implemented encoder software version (rr.nn), divided into two numbers.
Octet 26
Revision Number
rrhex
9.5.9

Octet 27
Index Number
nnhex

Operating Time

Gives the number of hours that the encoder was in operation since first commissioning or since
last power-up. The value is shown as units of [0.1 hours].
The function is not supported. Display value FF.FF.FF.FF hex..
9.5.10 Offset Value
The offset value is calculated by the PRESET function and displaces the actual position value
by the value calculated. The offset value is automatically stored in the EEPROM, after each
operation, either by the PRESET pushbutton or by setting the preset value via the protocol.
9.5.11 Counts per Revolution -- [CPR]
This scaling parameter shows the number of configured, distinguishable steps per revolution.
The factory setting (default) corresponds with the physical resolution per span.
For rotary encoders the value range (hex) is specified as:
Octet 40
00
00

Octet 41
00
00

Octet 42
00
20

Octet 43
01
00

min.
max.

For linear encoders this parameter shows the measuring step (= physical resolution to which
the encoder is configured) in nanometres (nm). -- (see also 8.3.4).
Based on the max. physical resolution of 0.1 mm, which the KHK53-P supports, the resolution
can be reduced by increasing the 'measuring step value.
Specification of the data range (hex):

52

Octet 40
00
00

Octet 41
01
0F

Octet 42
86
42

Octet 43
A0
40

0.1 mm
1. 0 mm

3B

9A

CA

00

1.0 m

ATM60 / ATM90 / KHK53

Jan 2005

Diagnostic Information
9.5.12 Number of counts per Measuring Range -- [CMR]
This scaling parameter shows the number of distinguishable steps over the total measuring
range and corresponds with the scaled measuring range.
For rotary encoders the data range (hex) is specified for:
Octet 44
00
04

Octet 45
00
00

Octet 46
00
00

Octet 47
01
00

min.
max.

The linear encoder KHK53-P always supports a max. range of 16,777,216 steps. This corresponds with a resolution of 2**24 or [01.00.00.00] in hex format.
9.5.13 Serial Number
The encoder serial number is given as an ASCII string with ten (10) characters. If the number is
not used, the string only contains asterisks (*) --- hex code: [2A].

9.6

Manufacturer-Specific Diagnostics (Manufacturer Class)

This part is contained in the Class 2 diagnostics (table 9.5.1 from entry manufacturer-specific)
as an extension of 4 bytes.
9.6.1

Station Address

Gives the device address number (station or device address number) which is stored in the
EEPROM and must not match with the setting shown for the external DIP switches.
9.6.2

Encoder Status

Displays the encoder status. Bit no. 0-3 corresponds with the parameter value 'Operating
Mode. The remaining bits are used for internal settings.
The value is different for the individual encoder types and corresponds with few
exceptions to diagnostic octet 9 (operating status).

Bit 7
Bit 6
Bit 5
Bit 4
Bit 3
Bit 2 (m1)
Bit 1 (m1)
Bit 0
(m1)

Selection of the node address source (EEPROM, DIP

switch[es])
Activation of the 'SSA' service. - (Enabled, Disabled)
Class 2 diagnostic mode
Scaling with 'default resolution (No, Yes)
Status of the scaling function (ON, OFF)
Commissioning diagnostics
Class 2 functionality (ON, OFF)
Counting direction (CW clockwise, CCW counterclockwise).

Value allocation '1'

EEPROM
enabled
activated
No
ON
Yes
ON
CCW

The ATM90-P provides these bits swapped, according to the Set_Param telegram.

Jan 2005

ATM60 / ATM90 / KHK53

53

Diagnostic Information
9.6.3

DP Controller Status

Identifies the general status of the implemented DP controller (SPC3 Asic Register #04,05).
Further details see Controller Manual. The figures below result from the normal operating state
of the controller.
Allocation for the rotary encoders ATM60-P, ATM90-P.
Bit 15..12
Bit 11..8
Bit 7..6
Bit 5..4
Bit 3..0

Release number always zero

Baud rate selection { 0...9 }
Watchdog State Machine
DP Mode State Machine
Specific details (diagnostics, mode)

10
10
0101

Allocation for the linear encoder KHK53-P.

Bit 15..8
Bit 7..6
Bit 5..4
Bit 3..0

Not allocated always zero

Watchdog State Machine
DP mode State Machine
Baud rate selection { 0...9 }

00
10
10
0101

The baud rate selection is defined as follows:

0000
0001
0010
0011
0100
0101
0110
0111
1000
1001

54

(0)
(1)
(2)
(3)
(4)
(5)
(6)
(7)
(8)
(9)

12 MBaud
6 MBaud
3 MBaud
1.5 MBaud
500.0 kBaud
187.5 kBaud
93.75 kBaud
45.45 kBaud
19.20 kBaud
invalid

ATM60 / ATM90 / KHK53

Jan 2005

Encoder Mounting and Connection

10

Encoder Mounting and Connection

10.1

Mounting

See the mounting instructions supplied with the particular encoder.

10.2

Screening

According to the Profibus DP specification, it is always recommended to use screened cables

and to attach the screen on both sides. For detailed information see 'Cable Screening' (4.3.5) in
in this document.
To achieve optimum screening effectiveness and to prevent mass equalisation currents from
flowing across the screen, note the following:
It must be ensured that there is a good electrical connection between the metal housing of
the encoder and the earthed metal parts of the system/machine. This is usually achieved by
the metallic connection across the encoder flange.
If the fixing method used does not have a well-conducting electrical connection, additional
measures in the form of an earthing cable must be taken.
Encoders of the type ATM 90-P may, due to their internal arrangement, require
additional earthing even with a good metallic connection.

Jan 2005

ATM60 / ATM90 / KHK53

55

Encoder Mounting and Connection

10.2.1 Screen Connection at the Bus Link Adapter with Cable Fitting ATM60-P/ATM90-P/
KHK53-P

Components of the cable fitting

Insert Profibus cable through

the inlay

Strip sheathing

Bend braided screen back

and strip cores

Observe the max. length of

the braided screen

Plug cable fitting together and

pull tight

Finished cable fitting

Figure 101: Screen Connection at the Bus Link Adapter with Cable ATM60P/ATM90-P/ KHK53-P.

56

ATM60 / ATM90 / KHK53

Jan 2005

Encoder Mounting and Connection

10.2.2 Screen Connection at the Bus Link Adapter with Screw-in System ATM90-P

Only insert cable

into the inlay, up
to the stop (arrow
point)
4

Figure 102: Screen Connection with Screw-in System ATM90-P.

Jan 2005

ATM60 / ATM90 / KHK53

57

Encoder Mounting and Connection

10.3

Connection to the Network

There are the following different versions:

Encoder with link adapter connection via cable fitting (*1)
Encoder with bus link adapter connection via screw-in system M12 (*1)
Encoder without bus link adapter connection directly via screw-in system M14 (*1)
(*1)

Not all versions are available for each encoder type

10.3.1 Installation Notes re: Voltage Supply

The operating voltage is generally supplied via a separate line and is not designed as a line
structure. If, for the voltage supply, the same cabling arrangement as used by the bus is implemented, the following limitation applies:
Max. current flow across the plugs or terminal block in the bus link adapter is limited to 2 A.
Max. number of encoders [series connection] is 10.

10.3.2 ATM 60 with Bus Link Adapter Cable Fitting

ATM 60 with bus link adapter connection via 3 cable fittings. The electrical wiring is via the internal terminal block (X1).

X1

X1
1
2
3
4
5
6
7
8
9

Signal
US (24V)
GND
B
A
B
A
2P5
2M
RTS

Description
Operating voltage 10-32 V
0 V (Gnd)
B line Profibus DP (out)
A line Profibus DP (out)
B line Profibus DP (in)
A line Profibus DP (in)
+5 V (potential separated)
0 V (potential separated)
Request to Send (2)

(1)
(1)

Figure 103: Pinout ATM 60 with Bus Link Adapter Cable Fitting.
(1)

(2)

58

For external bus termination or supplying the transmitter/receiver of a fibre-optic connection.

Signal is optional, serves to detect the direction of a fibre-optic connection.

ATM60 / ATM90 / KHK53

Jan 2005

Encoder Mounting and Connection

10.3.3 ATM 60 with Bus Link Adapter Screw-in System M12
ATM 60 with bus link adapter connection via 3 x screw-in system M12.
Profibus DP (IN)
4

US
3

Profibus DP (OUT)
3

4
5

5
1

Profibus DP (IN)

1
2
3
4
5

Signal
nc
A
nc
B
Screen

1
2
3
4

Signal
US (24V)
nc
GND
nc

Description
Operating voltage (10-32) V

1
2
3
4
5

Signal
2P5
A
2M
B
Screen

Description
+5 V (potential separated) (1)
A line Profibus DP
0 V (potential separated) (1)
B line Profibus DP
Housing potential

US

Profibus DP (OUT)

Description
A line Profibus DP
B line Profibus DP
Housing potential

0 V (ground)

Figure 104: Pinout ATM 60 Direct with Bus Link Adapter Screw-in System M12.
(1)

For external bus termination or supplying the transmitter/receiver of a fibre-optic connection.

Jan 2005

ATM60 / ATM90 / KHK53

59

Encoder Mounting and Connection

10.3.4 ATM 90 with Bus Link Adapter Cable Fitting
ATM 90 with bus link adapter connection via 3 cable fittings. The electrical wiring is via the internal terminal block (X1).
X1
1
2
3
4
5
6
7
8
9

Signal
US (24V)
GND
B
A
B
A
2P5
2M
RTS

Description
Operating voltage 10-32 V
0 V (Gnd)
B line Profibus DP (out)
A line Profibus DP (out)
B line Profibus DP (in)
A line Profibus DP (in)
+5 V (potential separated) (1)
0 V (potential separated) (1)
Request to Send (2)

Figure 105: Pinout ATM 90 with Bus Link Adapter.

(1)

(2)

60

For external bus termination or supplying the transmitter/receiver of a fibre-optic connection.

Signal is optional, serves to detect the direction of a fibre-optic connection.

ATM60 / ATM90 / KHK53

Jan 2005

Encoder Mounting and Connection

10.3.5 ATM 90 with Screw-in System M14 without Bus Link Adapter
ATM 90 (without bus link adapter) connection directly via 3 x screw-in system M14 (Minitec,
7-pin).
Profibus DP (IN / OUT)

US

Profibus DP (IN / OUT)

1
2
1
6
3/7
7 2
5
4
3
4
5
6

Signal
RTS
A
nc
B
2M
2P5

US

Signal
US (24V )
GND
RTS
nc

5
4

1
3
5
2/4/6
/7

Profibus DP (IN / OUT)

5
4

Description
Request to Send (2)
A line Profibus DP
B line Profibus DP
0 V (potential separated) (1)
+5 V (potential separated) (1)
Description
Operating voltage (10-32) V
0 V (Gnd)
Request to Send (2)

Figure 106: Pinout ATM 90 Direct with Screw-in System M14 without Bus Link
Adapter.
(1)

(2)

For external bus termination or supplying the transmitter/receiver of a fibre-optic connection.

Signal is optional, serves to detect the direction of a fibre-optic connection.

Jan 2005

ATM60 / ATM90 / KHK53

61

Encoder Mounting and Connection

10.3.6 Linear Encoder KHK53 with Bus Link Adapter Cable Fitting
KHK53 with bus link adapter connection via 3 cable fittings. The electrical wiring is via the internal terminal block (X1).
X1
1
2
3
4
5
6
7
8
9

Signal
US (24V)
GND
B
A
B
A
2P5
2M
RTS

Description
Operating voltage 10-32 V
0 V (Gnd)
B line ProfiBus DP (out)
A line ProfiBus DP (out)
B line ProfiBus DP (in)
A line ProfiBus DP (in)
+5 V (potential separated) (1)
0 V (potential separated) (1)
Request to Send (2)

Figure 107: Pinout Linear Encoder KHK53 with Bus Link Adapter
(1)

(2)

10.4

For external bus termination or supplying the transmitter/receiver of a fibre-optic connection.

Signal is optional, serves to detect the direction of a fibre-optic connection.

Device Handling in the Network

The following encoder features are configured via the hardware:

Station address (node ID).
Counting direction.
Bus termination.
Preset function.
The following measures are required to execute one of these functions (model-dependent):
Remove screw cap on the back of the bus link adapter housing (ATM 60 with cable fitting or
screw-in system M12).
Remove screw cap on the front of the encoder housing (ATM 90 with screw-in system M14).
Pull off bus link adapter housing (ATM 90 with bus link adapter/KHK53 with bus link
adapter).

62

ATM60 / ATM90 / KHK53

Jan 2005

Encoder Mounting and Connection

Switch settings
LED-2

LED-1

S3

1 2 3 4 5 6 7 8

S2

S 1 (7-1)

Address setting (0..127)

S 1 (8-8)

Counting direction (CW/CCW)

S2

Bus termination

S3

Preset pushbutton (number SET)

S1

Status information

OFF ON

LED-1

Operating voltage (green)

LED-2

Bus activity (red)

Figure 108: Device Handling in the Network 'ATM 60' (DIP Switch in the Bus Link
Adapter).

Switch settings
8
2

S2

7
6
5

S3

S1

S 1 (7-1)

Address setting (0..127)

S 1 (8-8)

Counting direction (CW/CCW)

S2

Bus termination

S3

Preset pushbutton (number SET)

3
2
1

OFF ON

LED-1

Status information

LED-2

LED-1

Operating voltage (green)

LED-2

Bus activity (red)

Figure 109: Device Handling in the Network 'ATM 90' (Aperture for DIP Switch in the
Encoder).

In the version with a bus link adapter (ATM 90), the switches S1 and S2 are also inside the bus
link adapter.

Jan 2005

ATM60 / ATM90 / KHK53

63

Encoder Mounting and Connection

Switch settings
Back Side

S2

S1

1 2

1 2 3 4 5 6 7 8

S 1 (7-1)

Address setting (0..127)

S 1 (8-8)

Counting direction (CW/CCW)

S2

Bus termination

ON
OFF

Status information
Front Side

LED-1

LED-2

LED-1

Operating voltage (green)

LED-2

Bus activity (red)

Figure 1010: Device Handling in the Network 'KHK53' (DIP Switch in the Bus Link
Adapter).

10.4.1 Address Setting

The station (node) address (NODE ID) can be set using DIP switch S1 (7-1). The factory setting
(default) is "1". The address must not be the same as for another subscriber in the network.
DIP-7
2 (msb)
0
0
...
1
1

DIP-6
25
0
0
...
1
1

DIP-5
24
0
0
...
1
1

DIP-4
23
0
0
...
1
1

DIP-3
22
0
0
...
1
1

DIP-2
21
0
0
...
1
1

DIP-1
20 (lsb)
0
1
...
0
1

Address
0
1
...
126
127

ON
OFF

DIP

Figure 1011: DIP Switch S1 Setting

64

ATM60 / ATM90 / KHK53

Jan 2005

Encoder Mounting and Connection

Address table
decimal

binary

decimal

binary

decimal

binary

decimal

binary

0000000

32

0100000

64

1000000

96

1100000

0000001

33

0100001

65

1000001

97

1100001

0000010

34

0100010

66

1000010

98

1100010

0000011

35

0100011

67

1000011

99

1100011

0000100

36

0100100

68

1000100

100

1100100

0000101

37

0100101

69

1000101

101

1100101

0000110

38

0100110

70

1000110

102

1100110

0000111

39

0100111

71

1000111

103

1100111

0001000

40

0101000

72

1001000

104

1101000

0001001

41

0101001

73

1001001

105

1101001

10

0001010

42

0101010

74

1001010

106

1101010

11

0001011

43

0101011

75

1001011

107

1101011

12

0001100

44

0101100

76

1001100

108

1101100

13

0001101

45

0101101

77

1001101

109

1101101

14

0001110

46

0101110

78

1001110

110

1101110

15

0001111

47

0101111

79

1001111

111

1101111

16

0010000

48

0110000

80

1010000

112

1110000

17

0010001

49

0110001

81

1010001

113

1110001

18

0010010

50

0110010

82

1010010

114

1110010

19

0010011

51

0110011

83

1010011

115

1110011

20

0010100

52

0110100

84

1010100

116

1110100

21

0010101

53

0110101

85

1010101

117

1110101

22

0010110

54

0110110

86

1010110

118

1110110

23

0010111

55

0110111

87

1010111

119

1110111

24

0011000

56

0111000

88

1011000

120

1111000

25

0011001

57

0111001

89

1011001

121

1111001

26

0011010

58

0111010

90

1011010

122

1111010

27

0011011

59

0111011

91

1011011

123

1111011

28

0011100

60

0111100

92

1011100

124

1111100

29

0011101

61

0111101

93

1011101

125

1111101

30

0011110

62

0111110

94

1011110

126

1111110

31

0011111

63

0111111

95

1011111

127

1111111

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10.4.2 Counting Direction
The counting direction can be set with DIP switch S1 (8-8).
OFF (0)
ON (1)

CW
CCW

ascending
descending

Factory setting (default)

The setting 'ON' always has priority over the setting via software. Only the DIP
switch setting 'OFF' permits a change by telegram.
The view for determining the counting direction is device-dependent:

ATM90 looking at the baseplate

ATM60 looking at the shaft

KHK53 from the first material measure

10.4.3 Preset Function

The encoder is set to a special, predefined value if the PRESET function is executed by pressing pushbutton S3. - The factory default value is zero (0).

The preset function is not intended for dynamic adjustment processes. The function is meant for electronic adjustment during commissioning, to allocate a certain
position value to any mechanical shaft position of the encoder. In case of constantly recurring activation of the preset function, the corresponding memory locations in the EEPROM are destroyed, with time lapsing!
The use of the preset function leads to a change in the position value output by
the encoder. This could cause an unexpected movement which may lead to
damage of the system, other objects or bodily harm.

10.4.4 Bus Termination

The bus termination can be performed with DIP switch S2. The factory preset (default) is 'OFF.
If the encoders are wired in 'line topology', the internal termination resistor must only be
switched at the two end points of the line (the two physically most distant points). Thus, in
this configuration, the switches for the bus termination resistor shall be switched to ON always
at the last bus subscriber of the line.
If the bus is terminated externally, the DIP switches S2 must generally be in the OFF position.

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10.5

Status/Display Information

The devices have two LEDs displaying the status information.

LED
green Operating
voltage
red

Bus activity

(C-1)

Jan 2005

Zustand
OFF

Erklrung
Device is not or not sufficiently supplied with voltage.

ON
OFF
ON

Operating voltage is applied -Operating Mode.

Valid data communication (Data_Exchange_Mode) (C-1)
NO valid data communication --- Data_Exchange_ Mode
was not started or cancelled:
- during the configuration sequence
- due to incorrect parameter data or configuration data
- due to incorrect hardware settings (bus termination,
address, pin-out, cable breakage, ...).

Valid data communication only means that master and slave can communicate with
one another via telegrams. It does not mean that the data within the remote telegrams is also correct --- e.g. incorrect position value, incorrect offset, ... .

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Technical Description

11

Technical Description

11.1

Description of the Rotary Encoders

The absolute rotary encoders ATM 60-P/ATM 90-P have a total resolution of 26 bits. The singleturn position value is transmitted with 13 bits (8192 steps/rev.). The number of revolutions in the
multi-turn range also is 13 bits (8192 rev.). The revolutions are determined via a gearbox
mechanism.
The Profibus DP interface is an integral part of the encoder. The encoder is configured as a
slave, with cyclical data transmission mode (DP-V0).
The encoder functionality is implemented by the profile for encoders.

11.2

Description of the Linear Encoder

The KHK53-P is a real absolute length measuring system with a resolution of 100 m and supports a measuring length of up to 1700 m.
A non-contact reading head determines the absolute position from a series of scale sections
(material measures) fitted along the measurement path.
The reading head itself consists of a number of magnetoresistive sensors, which can always
evaluate the position of at least three permanent magnets (fitted inside the material measure
elements) to always determine from their coded relative distances the absolute position.
The material measure elements are made from an aluminium sections. These are mounted at
fixed intervals in a row, using a mounting aid, until the required measuring length is achieved.
The reading head moves parallel along the material measure elements.
The distance between the reading head and a material measure is nominally 25 mm .
The Profibus DP interface is an integral part of the encoder. The encoder is configured as a
slave, with cyclical data transmission mode (DP-V0).
The encoder functionality is implemented by the profile for encoders.

11.3

Profibus Interface Brief Overview of Specific Features

Profibus DP according to EN 50 170-2 (RS485), implemented with ASIC SPC3 by Siemens.

Electrical isolation of the bus interface.
Functionality according to 'encoder profile' (profile for encoders).
Configuration using hardware settings (DIP switches) in the bus connection adapter housing:
Electronic pushbutton adjustment (PRESET)
Address setting (NODE ID)
Counting direction (cw, ccw)
Status information of the message link via LED (red).
Configurable parameters of the encoder via the protocol:
Profile-specific parameters:
Counting direction, scaling function, scaling parameters (CPR, CMR).
Manufacturer-specific settings:
Enabling the SSA Service, selecting the address setting (switch or protocol), extended
I/O data transmission (speed, time stamp).
Storage of all important data parameters in the EEPROM.
Formation of new position values at intervals of 0.250 ms.

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11.4

Profibus Interface Specification

Profibus DP interface
Electrical interface
RS485 according to EN 50170-2 (DIN 19245, 1-3),
DC isolated via opto-coupler[s].
Protocol
Profibus DP, with 'profile for encoders' (07hex)
Address setting (node number)
0...127
Address setting (node number)
Data transmission rate (baud rate)
9.6 kBaud - 12 MBaud Data transmission rate (baud
rate)
Electronic adjustment
Via PRESET pushbutton or protocol
Status information
Operating voltage (green), bus activity (red).
Bus termination
Via DIP switch. -- (for terminal only).
(1)
Electrical connection
PG-9 or metric cable fitting (3x).
(2)
M14 screw-in system (3x).
(3)
M12 screw-in system (3x)
(1)
(2)
(3)

Encoder model: ATM 60, ATM 90, KHK 53

Encoder model: ATM 90
Encoder model: ATM 60

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Technical Description

List of Figures
Figure 41: Protocol Architecture ...........................................................................................................................14
Figure 42: Master/Slave Principle of the SRD Service..........................................................................................15
Figure 43: Topology of Profibus DP......................................................................................................................17
Figure 45: Cabling (9-Pin D-Sub Connector) and Bus Termination. .....................................................................18
Figure 71: Device Integration................................................................................................................................30
Figure 72: GSD Implementation ...........................................................................................................................31
Figure 73: Module Configuration...........................................................................................................................32
Figure 74: Parameter Data Operating Mode......................................................................................................33
Figure 75: Parameter Data Scaling....................................................................................................................33
Figure 76: Parameter Data Operating Mode......................................................................................................34
Figure 77: Parameter Data Scaling....................................................................................................................34
Figure 81: DP State Machine................................................................................................................................36
Figure 101: Screen Connection at the Bus Link Adapter with Cable ATM60-P/ATM90-P/ KHK53-P. ..................56
Figure 102: Screen Connection with Screw-in System ATM90-P. ........................................................................57
Figure 103: Pinout ATM 60 with Bus Link Adapter Cable Fitting. ......................................................................58
Figure 104: Pinout ATM 60 Direct with Bus Link Adapter Screw-in System M12. .............................................59
Figure 105: Pinout ATM 90 with Bus Link Adapter. ..............................................................................................60
Figure 106: Pinout ATM 90 Direct with Screw-in System M14 without Bus Link Adapter. .................................61
Figure 107: Pinout Linear Encoder KHK53 with Bus Link Adapter .......................................................................62
Figure 108: Device Handling in the Network 'ATM 60' (DIP Switch in the Bus Link Adapter). ..............................63
Figure 109: Device Handling in the Network 'ATM 90' (Aperture for DIP Switch in the Encoder). ........................63
Figure 1010: Device Handling in the Network 'KHK53' (DIP Switch in the Bus Link Adapter). .............................64
Figure 1011: DIP Switch S1 Setting......................................................................................................................64

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Notes

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915 040 103 526/Issue: Jan. 2005 Index: Printed in Germany Subject to change without prior notice The specified product features and technical data do not represent any guarantee 01 A4Stg 2c int22

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