PROFINET

FOR 900 SERIES ENCODERS

MANUAL / USERS GUIDE
Leine Linde
T +46-(0)152-265 00
F +46-(0)152-265 05
info@leinelinde.com
www.leinelinde.com

Publication date: 2020-06-16

 PROFINET
USER MANUAL www.leinelinde.com

Contents

1 INTRODUCTION 10
1.1 APPLICABILITY OF MANUAL 10
1.2 ABOUT LEINE LINDE 10
1.3 ABOUT ABSOLUTE ENCODERS 11
1.4 ABOUT PROFINET TECHNOLOGY 11
1.5 ENCODER PROFILES 12

2 DECLARATION OF CONFORMITIES 14

3 TECHNICAL AND COMMERCIAL SUPPORT 15

3.1 REFERENCES 15
3.2 ABBREVIATIONS 15

4 INSTALLATION 17
4.1 INSTALLATION CHECKLIST 17
4.2 CABLES AND STANDARDS 17
4.3 CONNECTORS AND PIN CONFIGURATION FOR ABSOLUTE ENCODER 18
4.4 SHIELDING CONCEPT OF THE DEVICE 19
4.5 MAC-ADDRESS AND CHANGE INDEX 20
4.6 LED INDICATION 21

5 CONFIGURATION EXAMPLE WITH TIA-PORTAL 22

5.1 INSTALLATION OF GSDML FILES 22
5.2 SETTING THE ENCODER CONFIGURATION 23
5.3 ASSIGN THE DEVICE TO IO-CONTROLLER 24
5.4 SETTING ENCODER IP-ADDRESS AND ENCODER DEVICE NAME 25
5.5 ASSIGNING DEVICE NAME 26
5.6 SETTING ENCODER PARAMETERS 28

6 PROFINET IO DATA DESCRIPTION 31

6.1 ENCODER PROFILE OVERVIEW, PNO ORDER NO. 3.162 31
6.2 APPLICATION CLASS DEFINITION 31
6.3 STANDARD AND MANUFACTURER SPECIFIC SIGNALS 32
6.4 STANDARD AND MANUFACTURER-SPECIFIC TELEGRAMS 32
6.5 STANDARD TELEGRAM 81 33
6.6 STANDARD TELEGRAM 82 34
6.7 STANDARD TELEGRAM 83 34
6.8 STANDARD TELEGRAM 84 35
6.9 STANDARD TELEGRAM 86 36
6.10 STANDARD TELEGRAM 87 36
6.11 STANDARD TELEGRAM 88 37
6.12 STANDARD TELEGRAM 89 37
6.13 MANUFACTURER TELEGRAM 59001 38

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6.14 MANUFACTURER TELEGRAM 59002 39

6.15 FORMAT OF G1 XIST1 AND G1 XIST2 39
6.16 FORMAT OF G1 XIST3 40
6.17 SENSOR PRESET CONTROL WORD (G1 XIST1 PRESET B) 40
6.18 SENSOR PRESET CONTROL WORD (G1 XIST1 PRESET B1) 41
6.19 SENSOR PRESET CONTROL WORD (G1 XIST1 PRESET C) 41
6.20 CONTROL WORD 2 (STW2 ENC) 41
6.21 STATUS WORD 2 (ZSW2 ENC) 42
6.22 CONTROL WORD (G1 STW) 43
6.23 STATUS WORD (G1 ZSW) 44
6.24 REAL-TIME COMMUNICATION 44

7 ALARMS AND WARNINGS 46

7.1 DIAGNOSTICS AND ALARMS 46
7.2 CHANNEL DIAGNOSTICS 46
7.2.1 Extended channel diagnostics 46
7.3 ERROR CODES IN G1 XIST 2 47

8 ACYCLIC PARAMETER DATA 48

8.1 ACYCLIC DATA EXCHANGE 48
8.2 IDENTIFICATION AND MAINTENANCE (I&M FUNCTIONS) 48
8.3 BASE MODE PARAMETER ACCESS 48
8.3.1 General characteristics 48
8.3.2 Parameter requests and responses 48
8.3.3 Changing the preset value 49
8.3.4 Reading the preset value 49
8.4 SUPPORTED PARAMETERS 50
8.4.1 Parameter 922, read only 50
8.4.2 Parameter 925, read/write 50
8.4.3 Parameter 964, read only 50
8.4.4 Parameter 965, read only 50
8.4.5 Parameter 971, read/write 50
8.4.6 Parameter 972, read/write 51
8.4.7 Parameter 974, read only 51
8.4.8 Parameter 975, read only 51
8.4.9 Parameter 979, read only 51
8.4.10 Parameter 980, read only 51
8.4.11 Parameter 60000, read/write 52
8.4.12 Parameter 60001, read/write 52
8.4.13 Parameter 61000, read/write 52
8.4.14 Parameter 61001, read/write 52
8.4.15 Parameter 61002, read only 52
8.4.16 Parameter 61003, read only 52
8.4.17 Parameter 61004, read only 52
8.4.18 Parameter 65000, read/write 52
8.4.19 Parameter 65001, read only 52
8.4.20 Parameter 65002, read/write 53
8.4.21 Parameter 65003, read only 53
8.4.22 Parameter 65004, read/write 54
8.4.23 Parameter 65005, read/write 54
8.4.24 Parameter 65006, read/write 54

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8.4.25 Parameter 65007, read/write 54

8.4.26 Parameter 65008, read/write 54
8.4.27 Parameter 65009, read/write 54
8.5 EXAMPLE OF READING AND WRITING TO A PARAMETER 55
8.5.1 Used blocks 55

9 FUNCTIONAL DESCRIPTION OF THE DEVICE 61

9.1 CODE SEQUENCE 62
9.2 CLASS 4 FUNCTIONALITY 62
9.3 G1 XIST1 PRESET CONTROL 63
9.4 SCALING FUNCTION CONTROL 63
9.5 ALARM CHANNEL CONTROL (PROFILE V3) 63
9.6 ENCODER PROFILE V3.1 COMPATIBILITY 64
9.7 ENCODER PROFILE 64
9.8 ENCODER TYPE 65
9.9 PRESET VALUE 65
9.10 SCALING FUNCTION PARAMETERS 66
9.10.1 Measuring units per revolution 66
9.10.2 Total measuring range 66
9.11 VELOCITY REFERENCE VALUE 69
9.12 MAXIMUM MASTER SIGN-OF-LIFE FAILURES 69
9.13 VELOCITY MEASURING UNITS 69
9.14 ENCODER PROFILE VERSION 70
9.15 OPERATING TIME 70
9.16 OFFSET VALUE 70
9.17 ACYCLIC DATA 71
9.17.1 PROFIdrive parameters 71
9.17.2 Encoder parameter numbers 72
9.17.3 Parameter 65000 and 65002 - Preset value 72
9.17.4 Parameter 65001 - Operating status 73
9.17.5 Device specific parameter 65003 – Operating status 64-bit 74
9.17.6 Parameter 65004 Function control 75
9.17.7 Parameter 65005 Parameter control 76
9.17.8 Parameter 65006-65009 Scaling function 77
9.17.9 Identification & Maintenance functions (I&M function) 77

10 FIRMWARE UPGRADE 79

11 MEDIA REDUNDANCY PROTOCOL (MRP) 81

12 DEVICE REPLACEMENT USING LLDP 82

13 ENCODER STATE DESCRIPTION 87

13.1 NORMAL OPERATION STATE 87
13.1.1 Profile version 4.x 87
13.1.2 Profile version 3.x 87
13.1.3 Profile version 3.x and 4.x 87
13.2 PARKING STATE 87

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13.3 SET/SHIFT HOME POSITION (PRESET) 87

13.3.1 Preset depending on different telegrams 87
13.3.2 Absolute preset with negative value 88
13.4 ERROR STATE 88
13.5 ERROR ACKNOWLEDGEMENT 88
13.6 START UP 88

14 TROUBLESHOOTING 89

15 REVISION HISTORY 90

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Tables
Table 1 Bus connection 18
Table 2 Power supply connection 19
Table 3 LED indication 21
Table 4 GSDML file 22
Table 5 Standard specific signals 32
Table 6 Standard Telegram 81 32
Table 7 Supported 32
Table 8 Standard Telegram 82 32
Table 9 Supported 32
Table 10 Supported telegrams 33
Table 11 Output data Telegram 81 33
Table 12 Input data Telegram 81 34
Table 13 Output data Telegram 82 34
Table 14 Input data Telegram 82 34
Table 15 Output data Telegram 83 35
Table 16 Input data Telegram 83 35
Table 17 Output data Telegram 84 35
Table 18 Input data Telegram 84 36
Table 19 Output data Telegram 86 36
Table 20 Input data Telegram 86 36
Table 21 Output data Telegram 87 36
Table 22 Input data Telegram 87 37
Table 23 Output data Telegram 88 37
Table 24 Input data Telegram 88 37
Table 25 Output data Telegram 89 37
Table 26 Input data Telegram 89 38
Table 27 Output data Telegram 59001 38
Table 28 Input data Telegram 59001 38
Table 29 Output data from IO-controller to encoder 39
Table 30 Input data from encoder to IO-controller 39
Table 31 Format of G1 XIST3 40
Table 32 G1 XIST1 PRESET B 40
Table 33 G1 XIST1 PRESET B1 41
Table 34 G1 XIST1 PRESET C 41
Table 35 Control word 2 (STW2 ENC) 41
Table 36 Detailed assignment of Control word 2 (STW2 ENC) 42
Table 37 Status word 2 (ZSW2 ENC) 42
Table 38 Detailed assignment of Status word 2 (ZSW2 ENC) 43
Table 39 Control word (G1 STW) 43
Table 40 Status word (G1 ZSW) 44
Table 41 Channel diagnostics 46
Table 42 Manufacturer-specific error types 47
Table 43 Error codes in G1 XIST 2 47
Table 44 Changing the preset value 49
Table 45 Reading the preset value (request) 49
Table 46 Reading the preset value (response) 50
Table 47 Hardware components 55
Table 48 Software components 55
Table 49 Parameters of SFB52 58
Table 50 Parameters of SFB53 59
Table 51 Supported functions 61
Table 52 Code sequence 62
Table 53 Class 4 functionality 62

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Table 54 G1 XIST1 Preset control 63

Table 55 Scaling function control 63
Table 56 Alarm channel control 63
Table 57 Profile V3.1 compatibility mode 64
Table 58 Compatibility mode overview 64
Table 59 Encoder profile 64
Table 60 Encoder type 65
Table 61 Measuring units per revolution 66
Table 62 Maximum Master Sign-of-Life failures 69
Table 63 Velocity measuring units for encoders 69
Table 64 Encoder profile 70
Table 65 Operating time 70
Table 66 Offset value 71
Table 67 Supported PROFIdrive parameters 71
Table 68 Device specific parameter 72
Table 69 Parameter 65000, Preset value 72
Table 70 Parameter 65002, Preset value 64 bit 73
Table 71 Parameter 65001, Operating status 73
Table 72 Parameter 65001, Sub index 74
Table 73 Parameter 65001, Sub index 1 74
Table 74 Parameter 65003, Operating status 64 bit 75
Table 75 Parameter 65003 75
Table 76 Parameter 65004, Function control 75
Table 77 Parameter 65004 Bit definition 76
Table 78 Parameter 65005 Parameter control 76
Table 79 Parameter 65005 bit definition 76
Table 80 Parameter 65005 detailed bit definition 77
Table 81 Parameters 65006-65009 Scaling function 77
Table 82 Identification & Maintenance 78
Table 83 Revision history 90

Figures
Figure 1 Encoder port 1 and 2 18
Figure 2 Encoder power supply 19
Figure 3 MAC-adress 20
Figure 4 Change index 20
Figure 5 GSDML installation 22
Figure 6 Setting up the encoder configuration 23
Figure 7 Telegram selection 24
Figure 8 Assign IO controller 24
Figure 9 IP-address and device name settings 25
Figure 10 Assigning device name 26
Figure 11 Assign PROFINET device name 26
Figure 12 Assign name OK 27
Figure 13 Setting encoder parameters 28
Figure 14 Example of parameter data 29
Figure 15 Compile 29
Figure 16 Download settings 30
Figure 17 Overview of encoder profiles 31
Figure 18 Absolute value in G1 XIST1 40
Figure 19 Absolute value in G1 XIST2 40

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Figure 20 Real-time communication 45
Figure 21 Request data block, DB1 55
Figure 22 Response data block, DB2 56
Figure 23 Instance data block, DB3 56
Figure 24 Instance data block, DB4 56
Figure 25 Organization block, OB1 57
Figure 26 Diagnostic address of slot 1 59
Figure 27 Variable table 60
Figure 28 Cyclic operation 67
Figure 29 Non cyclic operation, preset control enabled 67
Figure 30 Non-cyclic operation, preset control disabled 68
Figure 31 Firmware upgrade PC software running 79
Figure 32 Firmware upgrade PC software completed 80
Figure 33 MRP 81
Figure 34 LLDP Properties 82
Figure 35 LLDP Port configuration 83
Figure 36 LLDP Partner port settings 83
Figure 37 Open Topology editor 84
Figure 38 Topology editor 84
Figure 39 Edit Ethernet node 85
Figure 40 Factory reset 85
Figure 41 Factory set configuration 86

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1 Introduction
Thank you for choosing this device produced by the Swedish encoder manufacturer Leine Linde. In your
hands, you have a state of the art component that is ready to be used in the utmost demanding environments.
This manual describes the installation procedures and configuration of absolute encoders with PROFINET
interface. If you are in need of assistance during the system design phase, commissioning, or during operation,
please make sure that you contact your local Leine Linde representative.

1.1 Applicability of manual

This product manual is applicable to Leine Linde’s PROFINET encoders within the following series.

PSE 901 PHE 901

PSE 903 PHE 903
PSE 921 PHE 921
PSE 923 PHE 923

Leine Linde is a company that often customizes the product to fit individual customer requirements.
Such customized products may therefore not be fully compliant with the descriptions in this product manual.
Customized encoder devices are indicated by their type label, and marked 99X – where the “9” digit in the
second position indicates that the device has some customized parameters. Encoder series with the following
name and type plate information may therefore have deviating functional performance.

PSE 991
PSE 993
PHE 991
PHE 993

If your product is of the type mentioned above, contact Leine Linde to obtain the product’s complete
functional description.

1.2 About Leine Linde

Leine Linde is a Swedish company with international presence. For more than 50 years, Leine Linde has concen-
trated on development and manufacturing of advanced encoders that meet the most rigorous demands a user
can place on them. That is why a wide assortment of incremental and absolute encoders with obvious concen-
tration on robust products and quality down to the last detail can be offered. Leine Linde encoders provide the
utmost in reliability year after year, in working conditions where vibration, dirt, cold and other harsh environ-
ments are common.

Leine Linde can meet very specific individual demands. Due to a modular design in the collection, the encoders
are easily adapted exactly to the customer’s needs with respect to resolution, electrical connections and inter-
faces, voltage, casings, etc. Leine Linde concentrates on advanced development of intelligent encoders with inte-
grated ASICs, new special features and with adaptations to different fieldbus systems. Thereby the company can
meet the need for increasingly effective and dependable machines and automation to an even higher degree.

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1.3 About absolute encoders

With an absolute encoder each angular position is assigned a
coded position value generated by optical or inductive scan-
ning. The optical encoder has a code disc equipped with sev-
eral fine graduations tracks which are scanned as a specific
pattern for every position. The inductive encoder has a stator
and rotor. It works with electromagnetic inductance meaning
that electric current is generated in an electrical conductor if
a magnetic field varies within its present generating signals.

Absolute encoders can be single-turn or multi-turn. Single-

turn encoders produce absolute positions within one revolu-
tion, the absolute position information repeats itself with
every revolution. Multi-turn encoders can also distinguish the
revolutions. The numbers of unique revolutions is determined
by the resolution of the multi-turn scanning and repeats itself
after the total resolution is reached. A major benefit of the
absolute encoder type is that if the encoder loses power, the
encoder is able to keep track of its position also if the shaft is
turned during the power loss. This is due to the genuine abso-
lute scanning principle.

An absolute encoder can also be used to calculate a digital speed value. By internally dividing the difference in
position with a small delta time an accurate speed value can be calculated and transmitted to the subsequent
electronics for closed loop control.

1.4 About PROFINET technology

PROFINET is the open industrial Ethernet standard of PROFIBUS & PROFINET International (PI) for automation.
PROFINET uses TCP/IP and IT standards, and is in effect, real-time Ethernet. The PROFINET concept features a
modular structure so that users can select the cascading functions themselves. They differ essentially because
of the type of data exchange in order to fulfill the sometimes very high speed requirements.

In conjunction with PROFINET, the two perspectives PROFINET CBA and PROFINET IO exist. PROFINET CBA is
suitable for the component-based communication via TCP/IP and the real-time communication for real-time
requirements in modular systems engineering. Both communication options can be used in parallel.

PROFINET IO was developed for real-time (RT) and isochronous real-time (IRT) communication with the
Decentralized periphery. The designations RT and IRT merely describe the real-time properties for the commu-
nication within PROFINET IO.

To achieve these functions, three different protocol levels are defined:

• TCP/IP for PROFINET CBA and the commissioning of a plant with reaction times in the range of 100 ms.
• RT (Real-Time) protocol for PROFINET CBA and PROFINET IO applications up to 1 ms cycle times.
• IRT (Isochronous Real-Time) for PROFINET IO applications in drive systems with cycle times of less than
1 ms.

Interfacing the peripherals devices such as encoders is performed through PROFINET IO. Its basis is a cascad-
ing real-time concept. PROFINET IO defines the entire data exchange between controllers (devices with “master
functionality”) and the devices (devices with “slave functionality”), as well as parameter setting and diagnosis.

PROFINET IO is designed for the fast exchange of data between Ethernet-based field devices and follows the

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provider-consumer model. The configuration of an IO-System has been kept nearly identical to the “look and
feel” of PROFIBUS.

A PROFINET IO system consists of the following devices:

• The IO Controller, which controls the automation task.
• The IO Device, which is a field device such as an encoder, monitored and controlled by an IO Controller.
• The IO Supervisor is software typically based on a PC for setting parameters and diagnosing individual IO
Devices.

An application relation (AR) is established between an IO Controller and an IO Device. These ARs are used
to define communication relations (CR) with different characteristics for the transfer of parameters, cyclic
exchange of data and handling of alarms.

The characteristics of an IO Device are described by the device manufacturer in a General Station Description
(GSD) file. The language used for this purpose is the GSDML (GSD Markup Language) – an XML based language.
The GSD file provides the supervision software with a basis for planning the configuration of a PROFINET IO
system.

Within PROFINET IO, process data and alarms are always transmitted in real-time (RT). Real-time in PROFI-
NET is based on the definition of IEEE and IEC, which allows for only a limited time for execution of real-time
services within a bus cycle. The RT communication represents the basis for the data exchange for PROFINET IO
and real-time data are always treated with a higher priority than TCP (UDP)/IP data.

1.5 Encoder Profiles

Profiles are pre-defined configurations of the functions and features available from PROFINET for use in spe-
cific devices or applications such as encoders. They are specified by PI (PROFIBUS & PROFINET International)
working groups and are published by PI. Profiles are important for openness, interoperability and interchange-
ability, so that the end user can be sure that similar equipment from different vendors perform in a standard-
ized way.

Leine Linde devices comply with the definitions in the Encoder profile 3.162, version 4.2. The encoder device
profile describing encoder functionality and additional information about PROFINET can be ordered from
PROFIBUS User Organization, PNO.

PROFINET is generally defined by PROFIBUS & PROFINET International (PI) and is backed by the INTERBUS
Club. Since 2003, it has been part of the IEC 61158 and IEC 61784 standards.

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PROFIBUS User Organization

Haid-und-Neu Straße 7
DE-76131 Karlsruhe, Germany
Tel: +49-(0)721-96 58 590
Fax: +49-(0)721-96 58 589
Web: www.profibus.com

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2 Declaration of conformities
This device conforms to prevailing legal requirements and is designed in accordance with proper engineering
practices. A certificate of conformity can be provided upon request from Leine Linde.

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3 Technical and commercial support

Leine Linde is represented by subsidiaries in many countries around the world. In addition to the address
listed here, there are many services agencies and distributors located worldwide ready to reply to commercial
enquires or technical support. For more information, please visit our website or contact Leine Linde in
Strängnäs, Sweden.

Leine & Linde AB

Box 8
SE-645 21 Strängnäs, Sweden
Tel: +46-(0)152-265 00
Fax: +46-(0)152-265 05
E-mail: info@leinelinde.com
Web: www.leinelinde.com

3.1 References
Profile Encoders for PROFIBUS and PROFINET V4.1,
Order No. 3.162

Profile Encoders for PROFIBUS and PROFINET V4.2,

Order No. 3.162

Profile Drive Technology, PROFIdrive V4.2,

PROFIBUS International, Order No. 3.172

PROFIBUS Encoder profile V1.1, PROFIBUS Inter-national, Order No. 3.062

PROFIBUS Guidelines, Part 1: Identification & Maintenance Functions V1.1, PROFIBUS International,
Order No. 3.502

PROFIBUS Guidelines, Part 3: Diagnosis, Alarms and Time Stamping V1.0, PROFIBUS International,
Order No. 3.522

PROFINET Application Layer Service Definition Application Layer Protocol Specification, Version 2.0,
PROFIBUS International, Order No. 2.332

PROFIBUS Guidelines: PROFIBUS Interconnection Technology V1.1, PROFIBUS International,

Order No. 2.142

PROFINET Guidelines: PROFINET Cabling and Interconnection Technology V1.99, PROFIBUS International,
Order No. 2.252

3.2 Abbreviations
PI PROFIBUS and PROFINET International
IO Input/Output
DO Drive Object
DU Drive Unit
AR Application Relation
CR Communication Relation
MLS Master Sign-of-Life
RT Real Time Ethernet

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IRT Isochronous Real Time Ethernet

IsoM Isochronous Mode
LLDP Link Layer Discovery Protocol
GSD General Station Description
GSDML General Station Description Markup Language
UDP User Datagram Protocol
TCP Transmission Control Protocol
IP Internet Protocol
DHCP Dynamic Host Configuration Protocol
TFTP Trivial File Transfer Protocol
MAC Media Access Control
I&M Identification & Maintenance
MSW Most Significant Word
(upper part of Unsigned64)
LSW Least Significant Word
(Lower part of Unsigned64)
RPM Revolutions Per Minute
MRP Media Redundancy Protocol
DCP Discovery and Configuration Protocol
OB Organizational Block

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4 Installation
A summary of the PROFINET guideline: PROFINET Cabling and Interconnection Technology V 1.99,
Profibus International, Order No 2.252 is provided in this section.

4.1 Installation checklist

This chapter contains a simplified checklist for installation and setup of the device.
• Setup the hardware and connect the cabling according to the mounting instruction. Always use shielded
cables, also for the power supply.
• Install the correct GSDML file for the device.
• Configure the device/devices according to this manual.
– Choose configuration, single-turn or multi-turn.
– Choose telegram
– Configure the IP-address settings and give the device a unique device name.
– Configure the encoder module parameters
– Compile and download the configuration

4.2 Cables and standards

Two shielded copper cables twisted in pairs are defined as the normal transmission medium for PROFINET
networks. In such networks, the signal transmission is performed in accordance with 100BASE-TX at a trans-
mission speed of 100 Mbps (Fast-Ethernet).

Only shielded cables and connecting elements are allowed in a PROFINET network. The individual compo-
nents have to satisfy the requirements of Category 5 in accordance with IEC 11801. The entire transmission
path has to meet the requirements of Class D in accordance with IEC 11801.
Furthermore, PROFINET cables must have a cable cross-section of AWG 22 in order to enable even complex ca-
bling structures through minimum damping. For this reason, the specification of the PROFINET cables supports
a modular setup, which ensures an IEC 11801-compliant structure in adherence to simple installation rules.

Transmission channel lengths are determined by the type of cable being used. The choice of cable shall be such
that a transmission channel length of 100 meters is achieved between two active network devices. The use of a
high number of plug connections has a negative effect on attenuation and reflection and consequently reduces
the transmission channel length. A maximum of three interconnections can be inserted between two active
devices without reduction of the permissible transmission lengths of 100 meters.

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4.3 Connectors and pin configuration for absolute encoder

M12 connectors are used for PROFINET data communication of the encoder, constituted by a 4-pin female
shielded D-coded version.

Port 1

Port 2

Signal Function Pin

Tx+ Transmission data + 1

Tx- Transmission data - 3

Rx+ Receiver data + 2

Rx- Receiver data - 4

Figure 1 Encoder port 1 and 2 Table 1 Bus connection

Note: The encoder provides integrated switch functionality between the two M12 connectors used for
PROFINET communication. It is important to distinguish between these ports when IRT-communication is
being used.

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The M12 connectors used for power supply of the encoder is constituted by a 4-pin male shielded
A-coded version.

Supply

Signal Function Pin

+E Volt Power supply 1

Not connected - 2

0 Volt 0 Volt 3

Not connected - 4

Figure 2 Encoder power supply Table 2 Power supply connection

Note: It is not possible to use passive T-couplings in a PROFINET network. All devices must be connected
through active network components.

4.4 Shielding concept of the device

Automation systems in an industrial environment are subjected to high levels of electromagnetic disturbance.
Switching large electrical loads creates high interference levels that can be picked up in various ways by elec-
tronic devices with detrimental effects. Even under such conditions, electrical components within an automa-
tion system must still guarantee a continuous, uninterrupted function.

The electromagnetic compatibility (EMC) of the entire plant must be ensured by using suitably designed
components and assembling them correctly to create the system. Data cabling is considered a passive system
and cannot be tested for EMC compliance individually. Nevertheless, cabling and connection elements for
PROFINET support compliance with devices requirements by providing a high-quality, comprehensive shielding
concept.

To achieve the highest possible noise immunity and resistance against other EMC related disturbances, the bus
and power supply cables must always be shielded. The screen should be connected to ground on both ends of
the cable. In certain cases, compensation current might flow over the screen.

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4.5 MAC-address and Change Index

To make the device unique, it is given an ID, i.e. the MAC address, which is a string loaded in the device.
The MAC address is constituted by a 6-byte Ethernet address for each individual station and is unique world-
wide. A MAC-ID consists of two parts, the first 3 bytes represents the manufacturer-specific ID and the
last 3 bytes represents a consecutive number. For the encoder, the MAC address is always printed on the en-
coder label for commissioning purposes. See picture.

Figure 3 MAC-adress

One other identification mark on the label is the Change index used in upgraded versions of the firmware in
order to identify the version of the firmware. The Change index is a letter that is added behind the serial num-
ber as in the picture below.

Figure 4 Change index

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4.6 LED indication

The following table defines diagnostic indications shown by the encoder’s two bi-colored LEDs.

Bus Module Meaning Cause

Off Off No power

– Bus disconnected
No connection to another
– Controller not available/
Red Green device.
switched off
Criteria: No data exchange

– I/O device not configured

Parameterization fault, no yet or wrong configuration
data exchange
– Wrong station address as-
Criteria: Data exchange
Blinking red Green signed
correct, however the en-
coder did not switch to the – Actual configuration of
data exchange mode the slave differs from the
nominal configuration
– Diagnosis exists, slave in
Green Red System failure
data exchange mode
Data exchange and encoder
Green Green
functions properly
Firmware upgrade in
Blinking green* Blinking green
process
Failure during firmware
Blinking red* Blinking red
upgrade
Missing EnDat encoder; – No connection to EnDat
Red Red
No bus communication encoder

Green Orange Warning present – Command not supported

*) The Blinking frequency is 0.5 Hz. Minimal indication time is 3 seconds.

Table 3 LED indication

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5 Configuration example with TIA-portal

This chapter will illustrate how to setup and configure a PROFINET multi-turn encoder with the TIA-portal. In
the following example, Totally Integrated Automation Portal version V13 SP1 and Step 7 Basic Version V13 SP1 was
used. Please refer to the manufacturer of the configuration tool if other configuration tools are being used.

5.1 Installation of GSDML files

In order to start using a PROFINET device a GSDML file needs to be imported into the software.

The necessary GSDML-file can be downloaded from www.leinelinde.com.

GSDML file

Encoder GSDML-V2.35-LL-PROFINET-PxE-900-xxxxxxxx.xml

Table 4 GSDML file

Installation of GSDML-file

Figure 5 GSDML installation

1. Select Options -> Manage general station description files (GSD) and click the “Browse” button to navigate to
the location of the GSDML file. If a bitmap picture representing the encoder is requested, make sure that
the bitmap file is located in the same folder as the GSDML file. A bitmap file is included in the zip-file
downloadable from www.leinelinde.com.
2. Select the GSDML file and click the “Install” button to start installing the selected GSDML file.

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5.2 Setting the encoder configuration

When the GSDML file has been installed the supported encoder types can be found in the “HW catalog” under
Other Field Devices->PROFINET IO-> Encoders->LEINE LINDE->LEINE LINDE PROFINET Encoders. Select either multi-
turn encoders or single-turn encoders depending on the type of encoder to be configured. Drag and drop the
device as shown in the picture below. In the example in figure 29 below, a multi-turn encoder was chosen. If
more than one encoder shall be configured, then the following steps need to be done once for each device.

Note: The steps above need to be performed once for each device to be connected.

Figure 6 Setting up the encoder configuration

The next step will be to choose the data length and the type of data that should be sent to and from the IO
controller. This is done by choosing different telegrams. Available telegrams can be found in the “Hardware
catalog” in the “Device” view. Expand the “Module” folder in the catalogue tree and double-click on “EO Mul-
titurn”. That will open up the “Submodules” folder. Double-click on the telegram to be used. For more informa-
tion regarding the different telegrams refer to chapter sections 6.4 - 6.14.

Note: The steps above need to be performed once for each device.

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Figure 7 Telegram selection

5.3 Assign the device to IO-controller

In the “Network” view, right-click “Not assigned” and click on the “Assign new IO controller” to connect the
device to the IO controller.

Figure 8 Assign IO controller

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5.4 Setting encoder IP-address and encoder device name

In a PROFINET network all IO devices needs to have a unique IP-address and device name.
In the “Network” view, click on the “PROFINET ENCODER” device. Then click on the “Properties” tab for the “PN-
900”. The setting for the IP-address and device name can be found under the General tab -> PROFINET inter-
face [X1]->Ethernet addresses. Set the IP-address and enter a suitable device name. Unclick the box “Generate
PROFINET device name automatically” to set your own device name.

Figure 9 IP-address and device name settings

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5.5 Assigning device name

To assign the device name to the device, right-click on the “PN-900” device, then click on “Assign device name”
or click on the “Assign device name” icon.

Figure 10 Assigning device name

The “Assign PROFINET device name” window will then open. Under the “Online access field” choose “PN/IE” as
the type of PG/PC interface. Then click on the “Update list” button to update the list. The encoder should now
be available in the list. Choose the device to be configured with the help of the MAC address. The MAC address
for the device is written on the device label.
Then choose the PROFINET device name from the drop down list and click the “Assign name” button.

Figure 11 Assign PROFINET device name

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If the assigning of the name went well, this will be indicated with a status “OK”.

Figure 12 Assign name OK

Note: All connected devices need to be assigned a unique device name.

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5.6 Setting encoder parameters

This chapter describes how to change the module parameters in the encoder.
To set the encoder user parameters, click on the “Parameter Access Point” under the “Device” view. Then click
Properties->General-> Module parameters.

Figure 13 Setting encoder parameters

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The “Module parameters” window will open. Change the value of the different parameters by clicking on the
drop-down list in the “Value” field for the respective parameter. For more information regarding parameter
data, see chapter 8.

Figure 14 Example of parameter data

When the configuration and parameterization of the device has been done, the settings needs to be compiled
before they can be downloaded to the IO controller. This is done by clicking on the “Compile” button.

Figure 15 Compile

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Then download the settings to the IO controller by clicking on the “Download” button.

Figure 16 Download settings

In the extended “Download to device” window, select your interface/subnet (PN/IE_1) and click on the “Start
search” button. Then choose the IO controller and click on the “Load” button.
If everything went well, both the Module and Bus LED shall turn to green.

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6 PROFINET IO data description

6.1 Encoder profile overview, PNO order no. 3.162
This manual relates to encoders that fulfill the demands and functionality according to Encoder profile V4.2
(PNO no 3.162). The operating functions for devices according to this profile are divided into four encoder ap-
plication classes, named Class 1, Class 2, Class 3 and Class 4. For an overview of the different encoder profiles
for PROFIBUS and PROFINET and the related standards, see the picture below.

For further information regarding the device functionality, refer to the device profile. The profile and
PROFINET technical information can be ordered at PNO in Karlsruhe, Germany (www.profinet.com).

Figure 17 Overview of encoder profiles

6.2 Application Class definition

The PROFINET devices can be configured as a class 1, 2, 3 or class 4 PROFINET IO device according to the En-
coder profile V.4.2.

CLASS 1 Standard encoder with preset functionality. Isochronous mode is not supported. Inherited
from old PROFIBUS profile for DP-V0. Specially dedicated to General motion application.

CLASS 2 Standard encoder with base mode parameter access, preset functionality, velocity value and
scaling functionality. Isochronous mode is not supported. Inherited from old PROFIBUS profile
for DP-V0. Specially dedicated to General motion application.

CLASS 3 Device with base mode parameter access and limited parameterization of the functionality.
Isochronous mode is not supported.

CLASS 4 Device with scaling, preset and base mode parameter access. Isochronous mode is supported.

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6.3 Standard and manufacturer specific signals

The table below describes the standard and manufacturer-specific window signals that are used to configure
the IO data. The signals are described in the following sections of chapter 6.

Significance Abbreviation Length (bits) Data type

Velocity value A NIST A 16 Signed

Velocity value B NIST B 32 Signed

Control word G1 STW 16 Unsigned

Status word G1 ZSW 16 Unsigned

Position value 1 G1 XIST1 32 Unsigned

Position value 2 G1 XIST2 32 Unsigned

Position value 3 G1 XIST3 64 Unsigned

Control word 2 STW2 ENC 16 Unsigned

Status word 2 ZSW2 ENC 16 Unsigned

Encoder preset control

word 31 bit with trig- G1 XIST PRESET B 32 Unsigned
ger bit included
Encoder preset control
G1 XIST PRESET B1 32 Unsigned
word 32 bit
Encoder preset control
G1 XIST PRESET C 64 Unsigned
word 64 bit

Table 5 Standard specific signals

6.4 Standard and manufacturer-specific telegrams

Configuration of PROFINET devices are made by choosing different telegram structures.
The telegrams are used to specify the data length and which type of data that are sent to and from the IO
controller. A configuration error will occur if for example a 37 bits multi-turn encoder is used and has been
configured with Telegram 81-83. A 37 bit encoder needs Telegram 84 which supports 64 bit position values.
Leine Linde PROFINET 900 series encoders support the standard and manufacturer-specific telegrams accord-
ing to the table below.

Telegram Absolute encoder

Standard Telegram 81 Supported

Standard Telegram 82 Supported

Standard Telegram 83 Supported

Standard Telegram 84 Supported

Standard Telegram 86 Supported

Standard Telegram 87 Supported

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Telegram Absolute encoder

Standard Telegram 88 Supported

Standard Telegram 89 Supported

Manufacturer Telegram 59001 Supported

Manufacturer Telegram 59002 Supported

Table 6 Supported telegrams

6.5 Standard Telegram 81

Standard Telegram 81 uses 4 bytes for output data from the IO controller to the device and 12 bytes of input
data from the encoder to the IO-controller.

Output data from the IO controller:

2 bytes Control word 2 (STW2 ENC).
2 bytes Control word 1 (G1 STW).

IO Data (word) 1 2

Byte 0 1 2 3

Set point STW2 ENC G1 STW

Table 7 Output data Telegram 81

Input data to the IO controller:

2 bytes Status word 2 (ZSW2 ENC).
2 bytes Status word 1 (G1 ZSW).
4 bytes Position value 1 (G1 XIST1).
4 bytes Position value 2 (G1 XIST2).

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IO Data
1 2 3 4 5 6
(word)

Byte 0 1 2 3 4 5 6 7 8 9 10 11

Actual
ZSW2 ENC G1 ZSW G1 XIST1 G1 XIST2
value

Table 8 Input data Telegram 81

6.6 Standard Telegram 82

Standard Telegram 82 uses 4 bytes for output data from the IO controller to the device and 14 bytes of input
data from the device to the controller.

Output data from the IO controller:

2 bytes Control word 2 (STW2 ENC).
2 bytes Control word 1 (G1 STW).

IO Data (word) 1 2

Byte 0 1 2 3

Set point STW2 G1 STW

Table 9 Output data Telegram 82

Input data to the IO controller:

2 bytes Status word 2 (ZSW2 ENC).
2 bytes Status word 1 (G1 ZSW).
4 bytes Position value 1 (G1 XIST1).
4 bytes Position value 2 (G1 XIST2).
2 bytes Velocity value A (NIST A)

IO Data
1 2 3 4 5 6 7
(word)

Byte 0 1 2 3 4 5 6 7 8 9 10 11 12 13

Actual
ZSW2 ENC G1 ZSW G1 XIST1 G1 XIST2 NIST A
value

Table 10 Input data Telegram 82

Note: Avoid using telegram 82. Telegram 82 uses only a 16 bit velocity value and an overflow of the speed
value is likely to occur.

6.7 Standard Telegram 83

Standard Telegram 83 uses 4 bytes for output data from the controller to the device and 16 bytes of input data
from the device to the controller.

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Output data from the IO controller:

2 bytes Control word 2 (STW2 ENC).
2 bytes Control word 1 (G1 STW).

IO Data (word) 1 2

Byte 0 1 2 3

Set point STW2 ENC G1 STW

Table 11 Output data Telegram 83

Input data to the IO controller:

2 bytes Status word 2 (ZSW2 ENC).
2 bytes Status word 1 (G1 ZSW).
4 bytes Position value 1 (G1 XIST1).
4 bytes Position value 2 (G1 XIST2).
4 bytes Velocity value B (NIST B)

IO Data
1 2 3 4 5 6 7 8
(word)

Byte 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15

Actual
ZSW2 ENC G1 ZSW G1 XIST1 G1 XIST2 NIST B
value

Table 12 Input data Telegram 83

6.8 Standard Telegram 84

Standard Telegram 84 uses 4 bytes for output data from the controller to the encoder and 20 bytes of input
data from the encoder to the controller. Telegram 84 shall only be used for encoders with resolution higher
than 32 bit.

Output data from the IO controller:

2 bytes Control word 2 (STW2 ENC).
2 bytes Control word 1 (G1 STW).

IO Data (word) 1 2

Byte 0 1 2 3

Set point STW2 ENC G1 STW

Table 13 Output data Telegram 84

Input data to the IO controller:

2 bytes Status word 2 (ZSW2 ENC)
2 bytes Status word 1 (G1 ZSW)
8 bytes Position value 3 (G1 XIST3)
4 bytes Position value 2 (G1 XIST2)
4 bytes Velocity value B (NIST B)

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IO Data
1 2 3 4 5 6 7 8 9 10
(word)

Byte 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19

Actual ZSW2 G1
G1 XIST3 G1 XIST2 NIST B
value ENC ZSW

Table 14 Input data Telegram 84

Note: In standard Telegram 84, G1 XIST2 is used to transfer error codes and optionally position values if the
measuring length exceeds 64 bits.

6.9 Standard Telegram 86

Standard Telegram 86 uses 4 bytes for output data from the controller to the encoder and 8 bytes of input data
from the encoder to the controller. With Telegram 86 it is possible to get cyclic data transmission and also the
possibility to do a preset via IO-data without the need of control and status words.

IO Data (word) 1 2

Byte 0 1 2 3

Set point G1 XIST PRESET B

Table 15 Output data Telegram 86

IO Data (word) 1 2 3 4

Byte 0 1 2 3 4 5 6 7

Actual value G1 XIST1 NIST B

Table 16 Input data Telegram 86

6.10 Standard Telegram 87

Standard Telegram 87 uses 4 bytes for output data from the controller to the encoder and 4 bytes of input data
from the encoder to the controller. With Telegram 87 it is possible to get cyclic data transmission and also the
possibility to do a preset via IO-data without the need of control word and status words.

IO Data (word) 1 2

Byte 0 1 2 3

Set point G1 XIST PRESET B

Table 17 Output data Telegram 87

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IO Data (word) 1 2

Byte 0 1 2 3

Actual value G1 XIST1

Table 18 Input data Telegram 87

6.11 Standard Telegram 88

Standard Telegram 88 uses 8 bytes for output data from the controller to the encoder and 12 bytes of input
data from the encoder to the controller. With Telegram 88 it is possible to get cyclic data transmission and also
the possibility to do a preset via IO-data without the need of control word and status words.

IO Data (word) 1 2 3 4

Byte 0 1 2 3 4 5 6 7

Actual value G1 XIST PRESET C

Table 19 Output data Telegram 88

IO Data
1 2 3 4 5 6
(word)

Byte 0 1 2 3 4 5 6 7 8 9 10 11

Actual
G1 XIST3 NIST B
value

Table 20 Input data Telegram 88

Note: Telegram 88 should only be used if the measuring range exceeds 32 bits.

6.12 Standard Telegram 89

Standard Telegram 89 uses 6 bytes for output data from the controller to the encoder and 10 bytes of input
data from the encoder to the controller. With Telegram 89 a preset is initiated by a trigger bit in Control word 2
(STW2 ENC).

IO Data (word) 1 2 3

Byte 0 1 2 3 4 5

Actual value STW2 ENC G1 PRESET B1

Table 21 Output data Telegram 89

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IO Data (word) 1 2 3 4 5

Byte 0 1 2 3 4 5 6 7 8 9

Actual value ZSW2 ENC G1 XIST1 NIST B

Table 22 Input data Telegram 89

6.13 Manufacturer Telegram 59001

The Manufacturer Telegram 59001 is a simplified telegram to get cyclic data transmission and also the possibil-
ity to do a preset via IO-data without the need of control word and status words.

The preset function can be used to set the actual position of the encoder to any entered value within the work-
ing range of the encoder. If scaling is active and has been done on the device it is only possible to enter a preset
value within the working range of the encoder.

The preset is activated when the most significant bit (bit 31) is set to 1. The actual preset value should be en-
tered in the following bits according to below.

IO Data (word) 1 2

Byte 0 1 2 3

Bits 31(MSB) 30-24 23-16 15-8 7-0(LSB)

Preset control bit Preset value < total resolution

Table 23 Output data Telegram 59001

The Manufacturer Telegram 59001 input data consist of a 4 bytes position data value and a 4 byte velocity
value as shown below. The velocity value uses the format that is defined in the Velocity measuring unit.

IO Data (word) 1 2 3 4

Byte 0 1 2 3 4 5 6 7

Position value Velocity value

Actual value
32 bit Unsigned int 32 bit Signed int

Table 24 Input data Telegram 59001

Note: User parameter Class 4 functionality and G1 XIST1 Preset control, must be activated in order to acti-
vate the preset in Manufacturer Telegram 59001.

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6.14 Manufacturer Telegram 59002

The manufacturer telegram 59002 is a simplified telegram to get cyclic data transmission and also the possibil-
ity to do a preset via IO-data without the need of control word and status words.

The preset function can be used to set the actual position of the encoder to any entered value within the work-
ing range of the encoder. If scaling is active and has been done on the encoder it is only possible to enter a
preset value within the scaled working range of the encoder.

The preset is activated when the Most significant Bit (bit 63) is set to 1. The actual preset value should be en-
tered in the other following bits according to below.

Byte 0 1 2 3 4 5 6 7
Bits 63 (MSB) 62-56 55-48 47-40 39-32 31-24 23-16 15-8 7-0
Preset control bit Preset value < total resolution

Table 25 Output data from IO-controller to encoder

The manufacturer telegram 59002 input data consist of an 8 byte position value and a 4 byte velocity value as
shown below. The velocity value uses the format that is defined in the Velocity measuring unit.

IO Data
0 1 2 3 4 5
(word)
Byte 0 (MSB) 1 2 3 4 5 6 7 (LSB) 8 (MSB) 9 10 11 (LSB)
Velocity value 32 Bit
Actual value Position value 64 Bit Unsigned int
Signed int

Table 26 Input data from encoder to IO-controller

Note: User parameter Class 4 functionality and G1_XIST1 Preset control must be activated in order to acti-
vate the preset in manufacturer telegram 59002.

6.15 Format of G1 XIST1 and G1 XIST2

The G1 XIST1 and G1 XIST2 signals consist of the absolute position value in binary format. By default, the
G1 XIST1 signal is equal to the G1 XIST2 signal. The format of the actual position values in G1 XIST1 and
G1 XIST2 is shown below.

Format definition for G1 XIST1 and G1 XIST2:

• All values are presented in binary format.
• The shift factor is always zero (right-aligned value) for both G1 XIST1 and G1 XIST2.
• The setting in the encoder parameter data affects the position value in both G1 XIST1 and G1 XIST2.
• G1 XIST2 displays the error telegram instead of the position value if error occurs.

Example with absolute rotary encoder:

25-bit multi-turn absolute encoder (8,192 steps per revolution, 4,096 distinguishable revolutions).
M = Multi-turn value (distinguishable revolutions)
S = Single-turn value (number of steps per revolution)

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31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0

M M M M M M M M M M M M S S S S S S S S S S S S S

MSB LSB

Figure 18 Absolute value in G1 XIST1

31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0

M M M M M M M M M M M M S S S S S S S S S S S S S

MSB LSB

Figure 19 Absolute value in G1 XIST2

6.16 Format of G1 XIST3

G1 XIST3 is a 64-bit position value that is used to support encoders with a resolution exceeding 32 bits.

Format definition for G1 XIST3:

• Binary format.
• The actual position value is always right-aligned; a shifting factor is not used.
• The settings in the encoder parameter data affect the position value in G1 XIST3 if Class 4 is enabled.

IO Data (word) 1 2 3 4

Format 64 bit position value

Table 27 Format of G1 XIST3

6.17 Sensor preset control word (G1 XIST1 PRESET B)

G1 XIST1 PRESET B is a 32 bit signal that includes a trigger bit for PRESET Control used for Telegram 86 and 87.
The controller can transmit a preset value for the sensor via cyclic data telegram and activate this preset value
by setting the trigger bit. As the trigger bit is transferred in the same signal as the preset value only a preset
value of maximum 31 bit can be applied.

IO Data (word) 1 2

Byte 0 1 2 3

Bits 31(MSB) 30-24 23-16 15-8 7-0(LSB)

Preset control bit Preset value < total resolution

Table 28 G1 XIST1 PRESET B

Note: The preset function should only be used at encoder standstill.

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6.18 Sensor preset control word (G1 XIST1 PRESET B1)

G1 XIST1 PRESET B1 is a 32 bit signal used for Telegram 89. G1 XIST1 PRESET B1 can be used to transmit a preset
value in full 32 bit length. The activation of the preset value is triggered by bit 0 in Control word 2 (STW2 ENC).

IO Data (word) 1 2

Byte 0 1 2 3

PRESET value

Table 29 G1 XIST1 PRESET B1

Note: The preset function should only be used at encoder standstill.

6.19 Sensor preset control word (G1 XIST1 PRESET C)

G1 XIST1 PRESET C is a 64 bit signal that includes a trigger bit for preset control used for Telegram 88. The
controller can transmit a preset value for the sensor via cyclic data telegram and activate this preset value by
setting the trigger bit. As the trigger bit is transferred in the same signal as the preset value, only a preset value
of maximum 63 bit can be applied.

IO Data (word) 1 2 3 4

Bits (MSB)Bit 63 Preset control Bit 62..0 Preset value

Table 30 G1 XIST1 PRESET C

Note: The preset function should only be used at encoder standstill.

6.20 Control word 2 (STW2 ENC)

The Control word 2 (STW2 ENC) is referred to as the Master Sign-of-Life and it includes the Control by PLC
mechanism from PROFIdrive STW2.

Bit Function

0 Preset trigger (Only For telegram 89)

1...6 Reserved

7 Not supported

8, 9 Reserved

10 Control by PLC

11 Reserved

12...15 Controller Sign-of-Life

Table 31 Control word 2 (STW2 ENC)

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Bit Value Significance Comments

Trigger for performing preset

1 Preset trigger 0->1
(For Telegram 89 only)
0
Before starting a new preset operation the
0 Idle
controller has to reset this bit

1 Control by PLC Control via interface, EO IO Data is valid.

10
0 No Control by PLC EO IO Data not valid, except Sign-of-Life

12...15 0 to 15 Controller Sign-of-Life Received if isochronous operation is activated

Table 32 Detailed assignment of Control word 2 (STW2 ENC)

6.21 Status word 2 (ZSW2 ENC)

The Status word 2 (ZSW2 ENC) is referred to as the slave’s Sign-of-Life and it includes the Control by PLC
mechanism from PROFIdrive ZSW1 and the Slave Sign-of-Life mechanism from PROFIdrive ZSW2.

Bit Function

0 PRESET acknowledge

1 G1 XISTx position value valid

2 NISTx speed value valid

3 Fault Present

4...6 Reserved

7 Warning Present

8 Reserved

9 Control requested

10, 11 Reserved

12...15 Encoder Sign-of-Life

Table 33 Status word 2 (ZSW2 ENC)

Bit Value Significance Comments

Preset Acknowledge
1 The preset value was set as new position value.
0->1
0 The encoder position offset value was stored in
0 Idle the encoder and the encoder is now ready for a
new Preset operation.

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Bit Value Significance Comments

This bit shows if there is a valid position value in

G1 XISTx position value
1 the corresponding XISTx of a Class 1 or class 2
is valid
1 Telegram. This bit is only used for Telegram 89.
G1 XISTx position value
0 This bit is only used for Telegram 89.
is invalid
This bit shows if there is a valid speed value in
NISTx speed value is
1 the corresponding NISTx of a Class 1 or class 2
valid
2 Telegram. This bit is only used for Telegram 89.
NISTx speed value is
0 This bit is only used for Telegram 89.
invalid
At least one fault is present. The position value
1 Fault Present
should be considered invalid.
3
0 No Fault

At least one warning is present. One or more

1 Warning Present critical limits are reach but all encoder func-
7 tionality is still operable.

0 No Warning

The automation system is requested to assume

1 Control requested
control.
9
Control by the automation system is not pos-
0 No Control requested
sible.

12...15 0 to 15 Encoder Sign-of-Life Send if isochronous operation is activated.

Table 34 Detailed assignment of Status word 2 (ZSW2 ENC)

6.22 Control word (G1 STW)

The control word controls the functionality of major encoder functions.

Bit Function

0...7 Not supported

8...10 Reserved

11 Home position mode(Preset)

12 Request set/shift of home position (Preset)

13 Request absolute value cyclically

14 Activate parking sensor

15 Acknowledging a sensor error

Table 35 Control word (G1 STW)

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Note: If the sensor parking is activated (bit 14 = 1), the encoder remains on the bus with the Slave Sign-of-
Life active and the encoder error and diagnostics switched off.

6.23 Status word (G1 ZSW)

The status word defines encoder states, acknowledgements, error messages of major encoder functions.

Bit Function

0...7 Not supported

8...10 Reserved

11 Requirements of error acknowledgment detected

12 Set/shift of home position (Preset) executed

13 Transmit absolute value cyclically

14 Parking sensor active

15 Sensor fault

Table 36 Status word (G1 ZSW)

Note: If bit 13 Transmit absolute value cyclically or bit 15 Sensor error is not set there is no valid value or
error code transferred in G1 XIST2.

Note: Bit 13 Transmit absolute value cyclically cannot be set at the same time as bit 15 Sensor error as these
bits are used to indicate either a valid position value transmission (bit 13) or the error code transmission
(bit 15) in G1 XIST2.

6.24 Real-Time Communication

PROFINET IO uses three different communication channels to exchange data with programmable controllers
and other devices. The non real-time channel, based on for example TCP (UDP)/IP, is used for parameterization,
configuration and acyclic read/write operations.

The RT (Real-Time) channel is used for process data transfer and alarms.
Real-time data are treated with a higher priority than data sent over the open channel. RT communications
overrides the open channel to handle the data exchange with programmable Controllers.

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The third channel, Isochronous Real-Time (IRT) is the high-performance, high-speed channel used for demanding
motion control applications. IRT data are treated with a higher priority than RT data sent over the RT channel.

Figure 20 Real-time communication

PROFINET distinguishes between three real-time classes for transmission of time-critical process data.
The three RT classes are:

REAL-TIME, RT CLASS 1
• Unsynchronized real-time communication
• Industrial standard switches can be used
• Typical application area: Factory automation

REAL-TIME, RT CLASS 2
• Synchronized and unsynchronized data transmission
• Special switches supporting IRT is needed
• Typical application area: Factory automation

ISOCHRONOUS REAL-TIME, RT CLASS 3

The isochronous operation mode is used when real-time positioning with high-performance is required. The
basic principal is that all PROFINET devices on the net are clock synchronized with the controller using a global
control broadcast enabling simultaneous data accusation from all devices with microsecond accuracy. The
data exchange cycles for IRT are usually in the range of a few hundred microseconds up to a few milliseconds.

The difference to real-time communication is essentially the high degree of determinism, so that the
start of a bus cycle is maintained with high precision. The synchronization is monitored by “Sign-of-Life” mes-
sages in “Control word 2” (STW2 ENC) and “Status word 2” (ZSW2 ENC).

• Clock synchronized data transmission

• Special switches supporting IRT is needed
• IRT is required for example motion control applications

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7 Alarms and warnings

7.1 Diagnostics and Alarms
Diagnostic data is always transferred acyclically using Record Data communications over the non real-time
channel. An IO-Supervisor must specifically request the diagnostic or status data from the IO-device using
RDO (Record Data Object) services.

Alarm data is transmitted from the IO-device to the IO-controller via the RT channel.

Alarm is generated by the encoder when a failure occurs that affects the position value. Alarms can be reset
(deleted) once all encoder parameters are within the specified value ranges and the position value is correct.

7.2 Channel diagnostics

The device outputs a diagnostic interrupt to the CPU when it detects one of the supported channel diagnostics.

Supported channel diagnostic Diagnostic data record Description

Position error The device fails to read the correct

0x9100
(hardware and signal quality) position value
The device fails to read stored offset
Memory error 0x9116 or preset values from the non-vola-
tile memory
Commissioning
0x9105 User parameter data assignment error
diagnostics
A master Sign-of-Life evaluation error
Master´s Sign-of-Life fault 0x910B
was detected
The activation of a non-supported
Command not supported 0x910F
function was detected

Table 37 Channel diagnostics

In a SIMATIC STEP 7 system the operation system responds by calling a diagnostic OB. The OB number and
start information provides the cause and location of the error. The error information can be read by calling a
system Function block (SFB54 RALRM for STEP 7). Then the user can decide how the system should handle the
error.

Note: If the called OB is not included in the program the CPU will cause CPU stop mode.

7.2.1 Extended channel diagnostics

The below table shows the manufacturer specific error types implemented.

Error code Description

0x7FFF Checksum incorrect

0x7FFE Encoder missing (communication error)

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Error code Description

0x7FFD Light source error

0x7FFC Signal amplitude error

0x7FFB Position error

0x7FFA Overvoltage error

0x7FF9 Undervoltage error

0x7FF8 Overcurrent error

0x7FF7 Battery error

0x7FF6 Error value unknown

Table 38 Manufacturer-specific error types

7.3 Error codes in G1 XIST 2

Diagnosis information can be obtained by monitoring of the Error bit in the Sensor Status word G1 ZSW (bit 15)
and evaluation of the error code transmitted in G1 XIST2.

Supported diagnostic Error code in G1 XIST2 Description

The device fails to read the correct posi-

Sensor group error 0x0001
tion value
The device fails to read stored offset
Memory error 0x1001 or preset values from the non-volatile
memory
User parameter data assignment error or
Command not supported 0x0F01 command error in commands words G1
STW and STW2 ENC
The number of permissible failures of
Master´s Sign-of-Life fault 0x0F02
the controller’s life sign was exceeded.

Table 39 Error codes in G1 XIST 2

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8 Acyclic Parameter Data

8.1 Acyclic data exchange
In addition to the cyclic data exchange, the PROFINET device also supports acyclic data exchange. The acyclic
data exchange is transferred over the non real-time channel and is used to read out and write status information
from and to the IO device. The acyclic data exchange is conducted in parallel to the cyclic data communication.

Example of acyclic data:

1. Reading of diagnostics
2. Reading of I&M functions
3. Reading of PROFIdrive parameters

8.2 Identification and Maintenance (I&M functions)

Devices according to the Encoder profile 3.162 also support I&M functionality.
The main purpose of the I&M functions is to support the end user if the device is acting faulty or missing some
of its functionality. The I&M functions could be seen as an electronic nameplate containing common informa-
tion regarding the device and its manufacturer. The I&M parameters are accessed using the Record Data Object
0xAFF0.

Example of I&M functions:

4. MAC address
5. Hardware Version
6. Software Version
7. Product type
8. Manufacturer ID

For more information regarding additional I&M functions supported by the encoder, refer to chapter 9.17.9.

8.3 Base Mode Parameter access

The PROFIdrive parameters and the encoder parameter 65000 can be accessed by the Acyclic Data Exchange
service using the Base Mode parameter access local (Record Data Object 0xB02E).

8.3.1 General characteristics

Acyclic parameters can be transmitted 1 (single) or up to 39 (multi) in one access. A parameter access can be
up to 240 bytes long.

8.3.2 Parameter requests and responses

Request header:
Request ID, DO-ID and number of parameters of the access.

Parameter address:
One address for each parameter, if several parameters are accessed.

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Parameter value:
If the Request ID is 0x02 (change value) the value is set in the request and if the Request ID is 0x01 (request
value), the value appears in the reply.

8.3.3 Changing the preset value

The table below shows the structure of a change value request.

Write of Preset value, parameter 65000 Parameter request

Request reference 0x00

Request ID 0x02 0x02 Write value

DO-ID (axis) 0x01 Drive Object ID

No. of parameters 0x01

Attribute 0x10 0x10 Value

No. of elements 0x00

Parameter number 0xFDE8 Parameter 65000

Sub index 0x0000

Format 0x04 Data type integer 32

Number of values 0x01

Table 40 Changing the preset value

Note: Preset value should only be changed during standstill.

8.3.4 Reading the preset value

The tables below show the structure of a read value request.

Read of Preset value, parameter 65000 Parameter request

Request reference 0x00

Request ID 0x01 0x01 read value

DO-ID (axis) 0x01 Drive Object ID

No. of parameters 0x01 0x01 Read one parameter

Attribute 0x10 0x10 Value

No. of elements 0x00

Parameter number 0xFDE8 Parameter 65000

Sub index 0x0000

Table 41 Reading the preset value (request)

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Read of Preset value, parameter 65000 Parameter request

Request reference 0x00 Mirrored

Request ID 0x01 0x01 read value

DO-ID (axis) 0x01 Mirrored

No. of parameters 0x01

Format 0x04 0x04= Data type unsigned 32

No. of values 0x01

Values or errors 0x00, 0x00, 0x00, 0x64 Preset value 100

Table 42 Reading the preset value (response)

8.4 Supported parameters

8.4.1 Parameter 922, read only

922 unsigned16, presents which telegram is used. Telegram 81, 82, 83, 84, 86, 87, 88, 89, 59001 or 59002 is
possible.

8.4.2 Parameter 925, read/write

925 unsigned16, Number of Controller Sign-of-Life failures which will be tolerated

8.4.3 Parameter 964, read only

964 Array unsigned32, Device identification

964[0] = Manufacturer Id. This is set during manufacturing of the encoder.

964[1] = 0 DU Drive unit type, always set to 0.
964[2] = Software version
964[3] = Software year
964[4] = Software day and month
964[5] = 1 Number of drive objects (DO)

8.4.4 Parameter 965, read only

965 OctetString 2

965[0] = 0x3D Profile number

965[1] = 31, 41 or 42 Profile version, set by customer (module_parameters)

8.4.5 Parameter 971, read/write

971 unsigned16, Stores the local parameter to a non-volatile memory. Preset value is saved when writing
value 1 and is set to 0 by the device firmware when finished. This means that the preset value has been saved
when reading back value 0.

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8.4.6 Parameter 972, read/write

972 unsigned16, Reset encoder device

Note: Only supported in Encoder profile V4.2 mode

8.4.7 Parameter 974, read only

974 Array unsigned16, BMP access service identification

974[0] = Max block length

974[1] = Max number of parameter requests per multi-parameter request
974[2] = Max latency per request, (n x 10 ms)

8.4.8 Parameter 975, read only

975 Array of Unsigned16, Encoder object identification

Subindex:
975[0] = Manufacturer Id, Set in the production.
975[1] = DO type
975[2] = Software version
975[3] = Software year
975[4] = Software day and month
975[5] = PROFIdrive DO type class
975[6] = PROFIdrive SUB class 1
975[7] = Drive object Id (DO ID).

8.4.9 Parameter 979, read only

979 Array unsigned32, Sensor format

Subindex:
979[0] = Header
979[1] = Sensor type
Bit 0 = 0 Rotary encoder, Bit 0 = 1 linear encoder
Bit 1 = 1 always set to 1
Bit 2 = 0 32 bit data, Bit 2 = 1 64 bit data
Bit 31 = 1 if configuration and parameterization is OK

979[2] = Sensor resolution

979[3] = Shift factor for G1 XIST1 always set to 0.
979[4] = Shift factor for G1 XIST2 always set to 0.
979[5] = Single-turn = 1, Multi-turn = 4096
979[6] = 0
979[7] = 0
979[8] = 0
979[9] = 0
979[10] = 0

8.4.10 Parameter 980, read only

This parameter shows the supported parameters
980 Array unsigned16

Note: Supported parameters depend on encoder profile configuration

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8.4.11 Parameter 60000, read/write

Velocity reference value
60000 Float 32
The parameter 60000 sets the value for the velocity reference (100% value) for N2/N4 normalized speed actual
values (NIST A, NIST B).

Note: Only supported in Encoder profile V4.2 mode

Note: This parameter is only used together with parameter 60001 set to N2/N4 Normalized.

8.4.12 Parameter 60001, read/write

Velocity value normalization
60001 Unsigned 16
Value 0 = Steps/s
Value 1 = Steps/100 ms
Value 2 = Steps/10 ms
Value 3 = RPM
Value 4 = N2/N4 Normalized

Note: Only supported in Encoder profile V4.2 mode

8.4.13 Parameter 61000, read/write

Name of station
61000 OctetString, 240 octets

8.4.14 Parameter 61001, read/write

IP of station
61001 OctetString

8.4.15 Parameter 61002, read only

MAC of station
61002 OctetString, 6 octets

8.4.16 Parameter 61003, read only

Default gateway of station
61003 OctetString

8.4.17 Parameter 61004, read only

Subnet mask of station
61004 OctetString

8.4.18 Parameter 65000, read/write

Preset value 32 bit.
65000 Integer32

8.4.19 Parameter 65001, read only

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65001 Array Integer32, Operating status

65001[0] = 0x00120102 Header, Version of parameter structure and numbers of index describing the
encoder. 19 index and version 1.2

65001[1] = Operating status (Bit 4 alarm channel control is always set with profile version 4.x)

65001[2] = Errors
65001[3] = Supported errors
65001[4] = Warnings
65001[5] = Supported warnings
65001[6] = Encoder profile version
65001[7] = Operating time
65001[8] = Offset value
65001[9] = Measuring units per revolution
65001[10] = Total measuring length in measuring units (Linear = 1)
65001[11] = Velocity value normalization
65001[12] = Velocity reference value
65001[13] = Measuring units per revolution 64 bit (MSW)
65001[14] = Measuring units per revolution 64 bit (LSW)
65001[15] = Total measuring range in measuring units 64 bit (MSW)
65001[16] = Total measuring range in measuring units 64 bit (LSW)
65001[17] = Offset value 64 bit (MSW)
65001[18] = Offset value 64 bit (LSW)

8.4.20 Parameter 65002, read/write

Preset value 64 bit
65002 Integer64

8.4.21 Parameter 65003, read only

Operating status 64 bit
65003 Array integer64
65003[0] = 0x0000000000040101 Header Version of parameter structure and numbers of index describ
ing encoder. 4 index and version 1.01
65003[1] = Offset value 64 bit
65003[2] = Measuring units per revolution 64 bit
65003[3] = Total measuring range in measuring units 64 bit, (Linear =1)

Note: Only supported in Encoder profile V4.1 mode

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8.4.22 Parameter 65004, read/write

Function control
65004 Unsigned32

Bit 0 = Code sequence, (0=CW, 1=CCW)

Bit 1 = Class 4 functionality, (0=Disable, 1=Enable)
Bit 2 = G1 XIST1 Preset Control, (0=Enable, 1=Disable)
Bit 3 = Scaling function control, (0=Disable, 1=Enable)
Bit 4 = Alarm channel control, (0=Disable, 1=Enable)
Bit 5 = V3.1 Compatibility mode, (0=Compatibility mode enabled) (1=Compatibility mode Disabled)
Bit 6 = Encoder type, (0=Rotary, 1=Linear)
Bit 7-31 = Reserved

Note: Only supported in Encoder profile V4.2 mode

8.4.23 Parameter 65005, read/write

Parameter control
65005 Unsigned16

Bit 0-1 = Parameter Initialization control (0=PRM, 1=Non-volatile RAM)

Bit 2-4 = Parameter write protect (0=Write all, 1=Read only)
Bit 5 = Parameter 65005 write protect (0=Write all, 1=Read only)
Bit 6 = Reset control write protect (0=Write all, 1=Read only)
Bit 7-15 = Reserved

Note: Only supported in Encoder profile V4.2 mode

8.4.24 Parameter 65006, read/write

Measuring units per revolution
65006 Unsigned32

Note: Only supported in Encoder profile V4.2 mode

8.4.25 Parameter 65007, read/write

Total Measuring range in measuring units
65007 Unsigned32

Note: Only supported in Encoder profile V4.2 mode

8.4.26 Parameter 65008, read/write

Measuring units per revolution 64 bit
65008 Unsigned64

Note: Only supported in Encoder profile V4.2 mode

8.4.27 Parameter 65009, read/write

Total Measuring range in measuring units 64bit
65009 Unsigned64

Note: Only supported in Encoder profile V4.2 mode

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8.5 Example of reading and writing to a parameter

This is an example of S7 blocks used for reading and writing to parameter 65000 (preset value).
Experience with S7 programming and Statement List programming language STL is required.

Hardware components

Controller SIEMENS S7-F CPU CPU 315F-2PN/DP

IO Device PROFINET encoder

Table 43 Hardware components

Software components

SIMATIC STEP 7 V5.4 + SP5

GSDML file for PROFINET encoder

Table 44 Software components

8.5.1 Used blocks

Request data block DB1
Response data block DB2
Instance data blocks DB3 and DB4
Organization blocks OB1
Read record block SFB52 RDREC
Write record block SFB53 WRREC

DB1
DB1 is the request data block.

Figure 21 Request data block, DB1

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DB2
DB2 is the response data block.

Figure 22 Response data block, DB2

DB3
DB3 is the instance data block of SFB52

Figure 23 Instance data block, DB3

DB4
DB4 is the instance data block of SFB53

Figure 24 Instance data block, DB4

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OB1
OB1 controls the read and write operation.

Figure 25 Organization block, OB1

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SFB52
SFB52 is standard S7 block for reading parameters.

Parameters of SFB52

Parameter Declaration Data type Description

REQ INPUT BOOL REQ=1 Enables data transfer

Logical address of the PROFINET IO module or

ID INPUT DWORD
sub module (PAP-module address 2039)

INDEX* INPUT INT Record number

Maximum length of the record information in

MLEN* INPUT INT
bytes

VALID OUTPUT BOOL New record has been received and is valid.

BUSY OUTPUT BOOL Busy=1 during the read operation

ERROR OUTPUT BOOL Error=1 read error

STATUS OUTPUT DWORD Block status or error code

LEN* OUTPUT INT Length of record information

RECORD IN_OUT ANY Target area for the record

*) Negative values are interpreted as 16-bit unsigned integers.

Table 45 Parameters of SFB52

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SFB53
SFB53 is standard S7 block for writing parameters.

Parameters of SFB53

Parameter Declaration Data type Description

REQ INPUT BOOL REQ=1 Enables data transfer

Logical address of the PROFINET IO module or

ID INPUT DWORD
sub module (PAP-module address 2039)

INDEX* INPUT INT Record number

LEN* INPUT INT Length of the record information in bytes

DONE OUTPUT BOOL Data record was transferred

BUSY OUTPUT BOOL Busy=1 during the write operation

ERROR OUTPUT BOOL Error=1 write error

STATUS OUTPUT DWORD Block status or error code

RECORD IN_OUT ANY Data record

*) Negative values are interpreted as 16-bit unsigned integers.

Table 46 Parameters of SFB53

Diagnostic address

Figure 26 Diagnostic address of slot 1

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Variable table

With the variable table the user can monitor and modify variables.

Figure 27 Variable table

To change the value of parameter 65000 with the variable table perform the following steps:
1. Enable monitoring by clicking the “Monitor variable” button.
2. Write 02hex to address DB1.DBB 1 by entering B#16#02 in the “Modify value” column.
3. Write the new preset value in hexadecimal to address DB1.DBD 12 by entering the value in the “Modify
value” column. (Ex.DW#16#000001F4)
4. Click the “Modify variable” button. The status value of DB1.DBB 12 should now contain the new value.
5. Run the program – right-click on “M8.4” and click “Modify address to 1” to run the program. Then stop the
program by right-click and click “Modify address to 0”.
6. The status value of DB2.DBD 6 should now have been changed to the new preset value.
7. Change the value in DB1.DBB 1 to 01hex (B#16#01#) and click “Modify variable”.
8. To set the encoder to the new preset value bit 12 in control word must be set to 1. This is done by writing
1000hex (W#16#1000) to address PQW 2. Then click the button “Modify variable” to make the preset of the
encoder.
9. The encoder can now at any time be set to the preset value by setting bit 12 in Control word (G1 STW).

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9 Functional description of the device

The table below shows the supported functions in the PROFINET encoder.

Function Encoder

Code sequence √
Class 4 functionality √
G1 XIST1 Preset control √
Scaling function control √
Alarm channel control √
Encoder profile V3.1 compatibility √
Encoder profile √
Encoder type √
Preset value √
Preset value 64 bit √
Measuring units per revolution/Measuring step √
Total measuring range √
Measuring units per revolution 64 bit √
Total measuring range 64 bit √
Velocity reference value √
Maximum Master Sign-of-Life errors √
Velocity measuring unit √
Encoder profile version √
Operating time √
Offset value √
Offset value 64 bit √
Acyclic data √

Table 47 Supported functions

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9.1 Code sequence

Rotary encoder:
The code sequence defines whether the absolute position value should increase during clockwise or counter-
clockwise rotation of the encoder shaft, seen from flange side. The code sequence is set by default to increase
the absolute position value when the shaft is turned clockwise (0).

Linear encoder:
The code sequence defines the direction count of the absolute position value. The code sequence is by default
set to increase (CW) when the scale is traversed towards the right (viewed from ID-label side).

Attribute Meaning Value

Rotary encoder:
CW 0
Increasing position values with clockwise rotation (seen from shaft side)
Increasing position values with counter-clockwise rotation (seen from
CCW 1
shaft side)

Table 48 Code sequence

Note: The position value will be affected when the code sequence is changed during operation. It might be
necessary to perform a preset after the code sequence has been changed.

9.2 Class 4 functionality

This parameter enables or disables the measuring task functions Scaling, Preset and Code sequence. If the
function is enabled, scaling and code sequence control affects the position value in G1 XIST1, G1 XIST2 and
G1 XIST3. A preset will in this case always affect G1 XIST2 and G1 XIST3 but if the parameter “G1 XIST1 Preset
control” is disabled the preset will not affect the position value in G1 XIST1.

Attribute Meaning Value

Enable Scaling/preset/code sequence control enabled 1

Disable Scaling/preset/code sequence control disabled 0

Table 49 Class 4 functionality

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9.3 G1 XIST1 Preset control

This parameter controls the effect of a preset on the G1 XIST1 actual value.
If “Class 4 functionality” is activated and “G1 XIST1 Preset control” is disabled, the position value in G1 XIST1
will not be affected by a Preset.

Attribute Meaning Value

Enable G1 XIST1 is affected by a preset command 0

Disable Preset does not affect G1 XIST1 1

Table 50 G1 XIST1 Preset control

Note: This parameter is disabled by setting the value to 1.

Note: There is no functionality of this parameter if the “Class 4 functionality” parameter is disabled.

9.4 Scaling function control

This parameter enables or disables the Scaling function of the encoder.

Attribute Meaning Value

Enable Scaling function is enabled 1

Disable Scaling function is disabled 0

Table 51 Scaling function control

Note: The parameter “Class 4 functionality” must be enabled to use this parameter.

9.5 Alarm channel control (Profile V3)

This parameter enables or disables the device-specific Alarm channel transferred as “Channel Related
Diagnosis”. This functionality is used to limit the amount of data sent in isochronous mode.

If the value is zero (default value) only the communication related alarms are sent via the alarm channel.

If the value is one (1) also encoder profile specific faults and warnings are sent via the alarm channel.

Attribute Meaning Value

Enable Profile specific diagnosis is switched on 1

Disable No profile specific diagnosis (default) 0

Table 52 Alarm channel control

Note: This parameter is only supported in Encoder profile V3.1 compatibility mode. In standard mode the
profile-specific diagnosis is always active.

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9.6 Encoder profile V3.1 Compatibility

This parameter defines if the device should run in a mode compatible to Version 3.1 of the Encoder profile.
See below for an overview of functions affected when the compatibility mode is enabled.

Attribute Meaning

Enable Compatibility with Encoder profile V3.1

Disable No backward-compatibility

Table 53 Profile V3.1 compatibility mode

Function Compatibility mode enabled (=0) Compatibility mode disabled (=1)

Ignored, the control word (G1 STW)

Control by PLC and the set point values are always
Supported
(STW2 ENC) valid. Control requested (ZSW2 ENC)
is not supported and is set to 0.
Not supported in V4.1 mode. In V4.1
Module parameter
the value is fixed to 1. PROFIdrive
Maximum Master Sign Supported
P925 is optional to control the life
of Life failures
sign monitoring.
Not supported, the application
User parameter Alarm
Supported alarm channel is active and con-
channel control
trolled by a PROFIdrive parameter.

P965 Profile Version 31 (V3.1) 41(V4.1)/42(V4.2)

Table 54 Compatibility mode overview

9.7 Encoder profile

This parameter defines if the encoder functionality shall be according to Encoder profile 3.162 V4.1 or Encoder
profile 3.162 V4.2.

Attribute Meaning Value

Profile version V4.1 Functionality according to Profile V4.1 0

Profile version V4.2 Functionality according to Profile V4.2 1

Table 55 Encoder profile

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9.8 Encoder type

The parameter 65001 subindex 1 bit 6 defines if the encoder is a rotary or linear encoder.

Attribute Meaning Value

Encoder resolution is measured in

Rotary encoder 0
number of increments per turn
Encoder resolution is measured in
Linear encoder 1
number nm per increment

Table 56 Encoder type

9.9 Preset value

The preset value function enables adaptation of the position value from the encoder to a known mechanical
reference point of the system. The preset function sets the actual position of the encoder to zero (= default
value) or to the selected preset value. Depending on the telegram used, the preset function is either controlled
by bits in the Control word or by a preset trigger bit in Control word 2 (STW2 ENC) or directly set in the output
data with some telegrams. A preset value can be set more than once and it can be stored to the non-volatile
memory using PROFIdrive parameter 971.

The preset function has an absolute and a relative operating mode selectable by bit 11 in the Control word (G1
STW). Bit 11 and bit 12 in the Control word controls the preset in the following way.

Normal operating mode: Bit 12 = 0

In this mode, the encoder will make no change in the output value.

Preset mode absolute: Bit 11 =0, Bit 12 = 1

In this mode, the encoder reads the current position value and calculates an internal offset value from the
preset value and the current position value. The position value is then shifted with the calculated offset value
to get a position value equal to the preset value. No preset will be made if a negative preset value is used while
trying to initiate an absolute preset.

Preset mode relative: Bit 11 =1, Bit 12 = 1

In this mode the position value is shifted by the preset value, which could be a negative or a positive value set
by encoder parameter 65000 or 65002.

The steps below should be followed by the IO-controller when modifying the Preset value parameters:
1. Read the requested Preset value parameter and check if the returned value meets the application require-
ments. If not, proceed with the following steps.
2. Write the Preset value into the individual parameter.
3. Store the value in the non-volatile memory by PROFIdrive parameter 971 if the value should be valid also
after the next power on sequence.

Note: The preset function should only be used at encoder standstill.

Note: The number of possible preset cycles is unlimited.

Note: If scaling is used the preset function shall be used after the scaling function to ensure that the preset
value is entered in the current measuring unit.

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Note: There is no preset activated when the preset value is written to the encoder. How the preset is con-
trolled depends on the telegram used.

Note: Preset can also be done with encoder specific Parameter 65000 or 65002 (64bit).

9.10 Scaling function parameters

The scaling function converts the encoder’s physical absolute position value by means of software in order to
change the resolution of the encoder. The scaling parameters will only be activated if the parameter “Class 4
functionality” and “Scaling function control” are enabled. The permissible value range for the scaling is lim-
ited by the resolution of the encoder. The scaling parameters are securely stored in the IO-controller and are
reloaded into the encoder at each power-up.

9.10.1 Measuring units per revolution

This parameter sets the single-turn resolution of the encoder. In other words it is the number of measuring
steps during one revolution of the encoder shaft.

Example:
For a 13-bit encoder with a single-turn resolution of 13 bits, the permissible value range for “Measuring units
per revolution” is between 20 and 213 (8192).

Parameter Meaning Data type

Measuring units per The single-turn resolution in measuring

Unsigned 32
revolution steps
The single-turn resolution in measur-
Measuring units per
ing steps for encoders with a resolution Unsigned 64
revolution 64 bit
exceeding 32 bits.

Table 57 Measuring units per revolution

Note: After downloading new scaling parameters, the preset function must be used to set the encoder start-
ing point to absolute position 0 or to any required starting position within the scaled operating range.

9.10.2 Total measuring range

This parameter sets the total measuring range of the encoder. The total measuring range is calculated
by multiplying the single-turn resolution with the number of distinguishable revolutions.

Example:
The total measuring range for a 25 bit multi-turn encoder with a 13 bit single-turn and a 12 bit multi-turn reso-
lution is between 20 and 225 (33 554 432).

The total measuring range is calculated as below:

Measuring units per revolution x Total measuring range

= 8192 (213) x 4096 (212)
= 33554432
If the total measuring range for the encoder is higher than 31 bit, telegram 84 or telegram 88 shall be used.
The device has two different operating modes, depending on the specified measuring range. When the device re-
ceives a parameter message, it checks the scaling parameters if a binary scaling can be used. If binary scaling can
be used, the device selects operating mode A (see following explanation). If not, operating mode B is selected.

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A. Cyclic operation (binary scaling)

Cyclic operation is used when operating with 2X number of turns (2, 4, 8, 16, 32, 64, 128, 256, 512, 1024, 2048,
4096... number of turns). If the desired total measuring range is equal to the specified single-turn resolution * 2X
(where x<= 12) the encoder operates in endless cyclic operation (0 - max - 0 -max). If the position value increas-
es above the maximum value by rotating the encoder shaft, the encoder continues from 0.

Example of a cyclic scaling:

Measuring units per revolution = 1 000
Total measuring range = 32 000
(25 = number of revolutions 32)

Figure 28 Cyclic operation

B. Non-cyclic operation
If the desired total measuring range is not equal to the specified single-turn resolution * 2X (where x<= 12)
the encoder operates in non-cyclic operation. The non-cyclic operation is affected by the parameter G1 XIST1
Preset control as described below.

G1 XIST1 Preset control = Enabled

If the position value increases or decreases outside the maximum value or below 0 with the parameter G1
XIST1 Preset control enabled, the device outputs the maximum position value within the scaled total range for
both position values G1 XIST1 and G1 XIST2.

Example of non-cyclic scaling with G1 XIST1 Preset control enabled:

Measuring units per revolution = 100
Total measuring range = 5000
(number of revolutions 50)

Figure 29 Non cyclic operation, preset control enabled

G1 XIST1 Preset control = Disabled

With the parameter G1 XIST1 disabled, and if the position value increases or decreases outside the maximum
value or below 0, the device will output the maximum position value within the scaled total range for the posi-

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tion value G1 XIST2. The position value G1 XIST1 is not limited to the scaled total range. For the position value
G1 XIST1, the device will continue to output a scaled position value within the encoder’s total measuring range
(up to 33554432 positions for a 25 bit encoder).

Example of non-cyclic scaling with G1 XIST1 Preset control disabled:

Measuring units per revolution = 100
Total measuring range = 5000 (number of revolutions 50)

Figure 30 Non-cyclic operation, preset control disabled

Handling 64 bit data

Siemens hardware configuration tool does not support 64 bit data type, so when writing larger numbers than
32 bit into the configuration tool, this needs to be done according to below:

Example:
Total measuring range in measuring units = 236

MSB LSB
2 = 68719476736 = 0x 00 00 00 10 00 00 00 00
36

4 byte = 32 bit 4 byte = 32 bit

Take the 4 least significant bytes above and convert to decimal:

0x00 00 00 00 = 0 = Total measuring range LSB

Then take the 4 most significant bytes above and convert to decimal:
0x00 00 00 10 = 16 = Total measuring range MSB

In the configuration software enter the decimal values:

Total measuring range LSB = 0
Total measuring range MSB = 16

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9.11 Velocity reference value

This parameter sets the value for the velocity reference (100% value) for N2/N4 normalized speed actual values
NIST A, NIST B.

Note: This parameter is only used when N2/N4 Normalization has been chosen as velocity measuring unit.

9.12 Maximum Master Sign-Of-Life failures

With this parameter, the number of allowed failures of the Master´s Sign-Of-Life is defined.
The default value is one (1).

Parameter Meaning Value

The number of permissible failures of the

Maximum Master Sign-of-Life failures 0...255
master’s life sign.

Table 58 Maximum Master Sign-of-Life failures

Note: This parameter is only supported in Encoder profile V3.1 or V4.2 mode. When using the encoder in
V4.1 mode the value is fixed to 1.

9.13 Velocity measuring units

This parameter defines the coding of the velocity measuring units used to configure the signals NIST A and
NIST B. Telegrams 82, 83, 84, 86, 88, 89 and manufacturer specific telegram 59001 and 59002 includes velocity
output and needs a declaration of the velocity measuring unit.

Parameter Meaning Value

Definition of the units for the encoder

Velocity measuring units See below
velocity output value

Velocity measuring units for encoder Value

Steps/s 0

Steps/100 ms 1

Steps/10 ms 2

RPM 3

N2/N4 normalized 8

Table 59 Velocity measuring units for encoders

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The velocity calculations are made with a maximum of 19 bits resolution. If the resolution is higher than 219,
the value used for velocity calculations is automatically reduced to 219.

Example:
For a 37 bit multi-turn encoder with a 225 single-turn resolution and a 212 multi-turn resolution, the maxi-
mum single-turn value for velocity calculations will be 219. For a single-turn encoder the maximum resolution
can be up to 31 bit, but the value used for velocity calculations will in this case also be 219.

Note: In case of the steps/s unit, an average is made over 200 ms and the value is multiplied by 5.

Note: Avoid using telegram 82. Telegram 82 uses only a 16 bit velocity value and an overflow of the speed
value is likely to occur.

9.14 Encoder profile version

The Encoder Profile Version is the version of the encoder profile document implemented in the device.
This parameter is not affected by the Compatibility mode settings.

Bits Meaning

Profile Version, least significant number,

0...7
(value range: 0-99), decimal coding
Profile Version, most significant number,
8...15
(value range: 0-99), decimal coding

16...31 Reserved

Table 60 Encoder profile

9.15 Operating time

The operating time monitor stores the operating time for the device in operating hours. The operating time is
saved every six minutes in the non-volatile memory in the device. This happens as long as the device is pow-
ered on.

If the operating time function is not used the operating time value is set to the maximum value (0xFFFF FFFF).

Parameter Meaning Data type

The accumulated
Operating time Unsigned 32
power on time

Table 61 Operating time

9.16 Offset value

The offset value is calculated in the preset function and shifts the position value with the calculated value. The
offset value is stored in a non-volatile memory and can be read from the device at any time. The data type for
the offset value is a 32 bit or 64 bit binary value with sign, whereby the offset value range is equal to the meas-
uring range of the device.

The preset function is used after the scaling function. This means that the offset value is indicated according
to the scaled resolution of the device.

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Parameter Meaning Data type

The offset value for encoders with a measuring range

Offset value Integer 32
of maximum 32 bits
The offset value for encoders with a measuring range
Offset value 64 bit Integer 64
exceeding 32 bits

Table 62 Offset value

Note: The offset value is read only and cannot be modified by a parameter write access.

9.17 Acyclic data

The devices supports the following acyclic data exchange functions: write parameter, read parameter.

9.17.1 PROFIdrive parameters

The following PROFIdrive parameters are supported:

PNU (Prm.no) Significance Data type Read/Write

922 Telegram selection Unsigned 16 R

Number of Controller Sign-of-Life

925 Unsigned 16 R/W
failures which may be tolerated.
Array[n]
964 Drive Unit identification R
Unsigned 16

965 Profile identification number Octet string 2 R

971 Transfer to non-volatile memory Unsigned 16 W

Reset encoder device

972 Note: Only available when the encod- Unsigned 16 R/W

er is configured according to Encoder
profile 4.2.
Base Mode Parameter Access service Array[n]
974 R
identification Unsigned 16
Array[n]
975 Encoder object identification R
Unsigned 16
Array[n]
979 Sensor format R
Unsigned 32
Array[n]
980 List of supported parameters R
Unsigned 16

Table 63 Supported PROFIdrive parameters

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9.17.2 Encoder parameter numbers

The table below specifies the device specific parameter that is supported.

PNU (Prm.no) Significance Data type Read/Write

60000 N2/N4 Velocity reference value Float 32 R/W

60001 Velocity value normalization Unsigned 16 R/W

61000 Name of station Octet String [240] R

61001 IP of station Unsigned 32 R

61002 MAC of station Octet String[6] R

61003 Default gateway of station Unsigned 32 R

61004 Subnet Mask Of Station Unsigned 32 R

65000 Preset value Integer 32 R/W

Array [n]
65001 Operating status R
Integer 32

65002 Preset value 64 bit Integer 64 R/W

Additional parameters available when the encoder is configured according to the Encoder profile V.4.1.
(See chapter 9.7 Encoder Profile)
Array [n]
65003 Operating status 64 bit R
Integer 64

Table 64 Device specific parameter

9.17.3 Parameter 65000 and 65002 - Preset value

The parameter 65000 and 65002 sets the value for the preset function. The parameter 65002 should be used if
the preset value exceeds 32 bits.

PNU 65000

Significance Preset value

Data type Integer 32

Access Read and write

The preset value sets the value for the preset function. The preset value can be
Explanation stored in the non-volatile memory by PROFIdrive parameter 971 and will be re-
loaded at each start-up if stored.

Table 65 Parameter 65000, Preset value

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PNU 65002

Significance Preset value

Data type Integer 64

Access Read and write

The preset value sets the value for the preset function. The preset value can be
Explanation stored in the non-volatile memory by PROFIdrive parameter 971 and will be re-
loaded at each start-up if stored.

Table 66 Parameter 65002, Preset value 64 bit

9.17.4 Parameter 65001 - Operating status

This parameter structure is a read only structure where information on the device operating status can be
found. It is a complement to the PROFIdrive parameter 979 described in the Profile for Drive Technology.

PNU 65001

Significance Encoder Operating Status

Data type Array[n] Integer 32

Access Read

Explanation The operating status displays the status of the encoder.

Table 67 Parameter 65001, Operating status

Sub index Meaning

0 Header

1 Operating status

2 Faults

3 Supported Faults

4 Warnings

5 Supported warnings

6 Encoder profile version

7 Operating time

8 Offset value

9 Measuring units per revolution

10 Total measuring range in measuring units

11 Velocity value normalization

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Sub index Meaning

Sub-indices 12..18 are only available when the encoder is configured according to the Encoder profile ver-
sion V.4.2. (See chapter 9.7 Encoder profile)

12 Velocity reference value

13 Measuring units per revolution 64bit MSW

14 Measuring units per revolution 64bit LSW

15 Total measuring range in measuring units 64 bit MSW

16 Total measuring range in measuring units 64 bit LSW

17 Offset value 64 bit MSW

18 Offset value 64 bit LSW

Table 68 Parameter 65001, Sub index

Sub index 1: Operating status

In sub index 1 the status of different encoder functions can be read out. The mapping of the respective func-
tions is according to the table below.

Bits Definition

0 Code sequence

1 Class 4 functionality

2 G1 XIST1 Preset control

3 Scaling function control

4 Alarm channel control

5 V3.1 Compatibility mode

6 Encoder type

7...27 Reserved for future use

28...31 Reserved for manufacturer

Table 69 Parameter 65001, Sub index 1

9.17.5 Device specific parameter 65003 – Operating status 64-bit

The parameter 65003 is only available when the encoder is configured according to Encoder profile V4.1. (See
chapter 9.7 Encoder profile).

Parameter 65003 is a read only parameter where information on the 64 bit parameter values can be found.

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PNU 65003

Significance Operating Status 64 bit

Data type Array[n] Integer 64

Access Read

Explanation The status of operating parameters with 64 bit length.

Table 70 Parameter 65003, Operating status 64 bit

Sub index Meaning

0 Header

1 Offset value 64 bit

2 Measuring units per revolution 64 bit

3 Total measuring range in measuring units 64 bit

Table 71 Parameter 65003

9.17.6 Parameter 65004 Function control

The setting of the Function control parameter permits or locks the encoder-related functionalities. For more
detailed information about the bit definition refer to chapter 9.1-9.9.

PNU 65004

Significance Function control

Data type Unsigned 32

Access Read/write

Explanation This parameter configures position acquisition related functionality

Table 72 Parameter 65004, Function control

Bits Definition

0 Code sequence

1 Class 4 functionality

2 G1 XIST1 Preset control

3 Scaling function control

4 Alarm channel control

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Bits Definition

5 V3.1 Compatibility mode

6 Encoder type

7...31 Reserved

Table 73 Parameter 65004 Bit definition

9.17.7 Parameter 65005 Parameter control

The parameter 65005 controls the run-up initialisation of the encoder parameters and the online write access
on the encoder parameters via the BMP parameter channel.

PNU 65005

Significance Parameter control

Data type Unsigned 16

Access Read/write

This parameter configures all available parameter initialization and access func-
Explanation
tionality

Table 74 Parameter 65005 Parameter control

Bits Definition

0-1 Parameter initialization control

2-4 Parameter write protect

5 Parameter 65005 write protect

6 Reset control write protect

7...15 Reserved

Table 75 Parameter 65005 bit definition

Bit Value Attribute Comments

Initialisation of parameter set out of PRM Data Block

0 PRM
enabledIni
0-1
1 NV-RAM Only initialization via internal NV-RAM

0 Write all Write/read access to all parameters

2-4
Read access to all parameters.
1 Read only
(Parameter 971, 972 and 65005 excluded)

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Bit Value Attribute Comments

0 Write all Write/read access to 65005 and 971

5
1 Read only Read access to 65005 and 971

0 Write all Reset control via 972 enabled

6
1 Read only Reset control via 972 disabled

7...15 Reserved

Table 76 Parameter 65005 detailed bit definition

9.17.8 Parameter 65006-65009 Scaling function

With these parameters the encoder’s internal numerical value is converted by software to change the resolu-
tion of the encoder.

Parameter Meaning Data type

Measuring units per revolution/Measuring step:

65006 Unsigned 32
The single-turn resolution in measuring steps
Total measuring range in measuring units:
65007 The total absolute measuring range in measuring Unsigned 32
steps
Measuring units per revolution 64 bit:
65008 The single-turn resolution for rotary encoders with a Unsigned 64
resolution exceeding 32 bits per revolution
Total measuring range in measuring units 64bit:
65009 The total absolute measuring range for encoders with Unsigned 64
a range exceeding 32 bits

Table 77 Parameters 65006-65009 Scaling function

9.17.9 Identification & Maintenance functions (I&M function)

In addition to the PROFIdrive parameter 964, Device Identification, I&M functions are supported by the devices.
The I&M functions can be accessed with record index 0xAFF0-0xAFF4.
The following I&M functions are supported:

I&M Parameter Octets Comment

Header

Manufacturer specific 10 Not used

I&M Block

MANUFACTURER_ID 2 Manufacturer Id

ORDER_ID 20 Part number

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I&M Parameter Octets Comment

SERIAL_NUMBER 16 Serial number

HARDWARE_REVISION 2 Hardware revision

SOFTWARE_REVISION 4 Software revision

REVISION_COUNTER 2 Not used

PROFILE_ID 2 Profile number

PROFILE_SPECIFIC_TYPE 2 Type of device

IM_VERSION 2 Versions of the I&M profile

IM_SUPPORTED 2 Value = 0 means support of I&M

Table 78 Identification & Maintenance

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10 Firmware upgrade
The Leine Linde encoders support a firmware upgrade function. The firmware upgrade function has been
developed to offer the possibility to upgrade the device to the latest released firmware. For more information
regarding the firmware upgrade function, please contact Leine Linde.

The update is performed with a PC software with an interface as figure below. The PC software is available
from Leine Linde. The below procedure for firmware upgrade is only valid for encoders with change index A or
later. For more information about change index, refer to chapter 4.5.

Note: Please contact Leine Linde for firmware upgrade of older encoders, without change index.

The following steps shall be followed to perform a firmware upgrade:

1. Make sure that you have the firmware upgrade PC software and a valid *.bin firmware file.
2. Make sure that the device has a valid IP-address set.
3. Connect the device to the PC where the Firmware upgrade tool is located.
4. Click on the “Open file” tab and browse to the location of the firmware *.bin file.
5. Enter the IP-address of the encoder in the IP-address field.
6. Click on the “Update” button.
7. Once the update is finished this is indicated in the status field with the text “Firmware updated success-
fully”.

Figure 31 Firmware upgrade PC software running

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Figure 32 Firmware upgrade PC software completed

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11 Media Redundancy Protocol (MRP)

Figure 33 MRP

Ring redundancy is supported by the Leine Linde encoder through the Media Redundancy Protocol (MRP).
The ring is managed by a Media Redundancy Manager and all the other devices on the network act as Media
Redundancy Clients. The Media Redundancy Manager is responsible for issuing test frames for testing the
network and for re-configuring the network in the event of a ring failure due to a non-functioning device or a
broken cable.

If for example a cable or slave is damaged in the network the Media Redundancy Manager detects this through
the failure of the test frames that is sent out. Additionally, the Media Redundancy Clients will communicate
failure messages back to the manager if a failure is detected on its forwarding port.

Once a failure is detected, the Media Redundancy Manager will send out reconfiguration instructions to all
clients on both ports. The manager will then begin sending data traffic out on both ports so that the messages
reaches all clients. The total time for this process is about 200 ms. MRP is not supported for IRT.

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12 Device replacement using LLDP

The devices support Link Layer Discovery Protocol (LLDP). LLDP is essentially a neighbor discovery protocol
used by network devices for advertising of their identity, capabilities and interconnections.

In a PROFINET network all IO devices are recognized by their device name.

Sometimes an IO device needs to be replaced in an automation system, and this is when LLDP is useful. Using
LLDP, the neighbor relations between the individual IO device and the IO controller are analyzed and stored on
the IO controller. If an IO device has been replaced, the IO controller will recognize this and will redefine the
device name.

Below is an example on how to exchange an IO device using LLDP:

Select “Properties” of the PN-IO controllers interface module and enable “Support device replacement without
exchangeable medium”.

Figure 34 LLDP Properties

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Configure the topology of the system for all connected ports.

Figure 35 LLDP Port configuration

In the “Properties” window, select the corresponding partner port.

Figure 36 LLDP Partner port settings

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Then select Edit -> PROFINET IO -> Topology to open the “Topology editor”.

Figure 37 Open Topology editor

Figure 38 Topology editor

Verify that the offline topology matches the online topology.

After the above has been verified it is possible to replace any IO device if the ports are reconnected in the same
way and the new device is set to factory reset.

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To manually do a factory set of the encoder, follow the steps below:

Select PLC -> Ethernet -> Edit Ethernet Node.

Figure 39 Edit Ethernet node

Enter the device’s MAC-address and then click on the “Reset” button. The MAC-address of the device is written
on the label of the device.

Figure 40 Factory reset

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Click “Reset” under “Reset to factory settings”, and then “Yes” in the confirmation window to reset the encoder
to its factory settings.

Figure 41 Factory set configuration

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13 Encoder state description

13.1 Normal Operation state

13.1.1 Profile version 4.x

If using devices complying with Encoder profile V4.1 or V4.2, then bit 10 Control by PLC in Control word 2 needs
to be set before the data in Control word is valid. If not set, Control word is not used by the device firmware.
See chapter 9.7 for more information about encoder profiles.

13.1.2 Profile version 3.x

If using devices complying with Encoder profile 3.x, the data in Control word is always valid and bit 9 Control
requested in Status word 2 is always cleared.

13.1.3 Profile version 3.x and 4.x

When using Telegram 81-83 and Control word bit 13 Request absolute value cyclically is set, then Status word
bit 13 Transmit absolute value cyclically is set. Status word bit 13 is cleared (bit 13=0) when Control word bit 13
is cleared. Status word bit 13 is always cleared when using Telegram 84, due to the fact that no absolute value
is sent in G1 XIST2.

13.2 Parking state

This state can be reached from any other state. The position value in G1 XIST1, G1 XIST2 and G1 XIST3 are set
to zero. Errors are cleared and alarms are disabled in parking mode. The parking mode is activated by setting
bit 14 in Control word (G1 STW).

13.3 Set/shift home position (Preset)

The Set/shift home position is initiated when Control word (G1 STW) bit 12 Request set/shift of home position
is set. In this case the Status word bit 12 Set/shift of home position executed is set to 1. In order to initiate a
set/shift home position Class 4 functionality must be enabled otherwise there will be an error message in G1
XIST2 and the encoder Module LED will turn orange indicating a warning.

13.3.1 Preset depending on different telegrams

When using standard Telegram 81-83 the acyclic encoder parameter 65000 Preset value 32 bit shall be used to
set a preset value (<=32 bit) for the encoder. If the acyclic parameter 65002 Preset value 64 bit is used in this
case, an error message will be returned. When using Telegram 86, 87, and 89, the PRESET value is set directly in
the output data.

With Telegram 84, the acyclic parameter 65002 Preset value 64 bit shall be used to set a preset value (<=64 bit)
for the device. If the acyclic parameter 65000 Preset value 32 bit is used in this case, an error message will be
returned.

When using Telegram 88 the preset value is set directly in the output data. The operating status is read by pa-
rameter 65001 Operating status and 65003 Operating status 64bit if using the encoder in Encoder profile V4.1. If
using the encoder in Encoder profile V4.2 the operating status is read by parameter 65001.

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13.3.2 Absolute preset with negative value

Preset data sent with acyclic parameter 65000 or 65002 are signed values. The relative preset mode uses signed
preset values, but with the absolute preset mode no preset will be made if a negative preset value (set with
parameter 65000 or 65002) is used while trying to initiate an absolute preset.

13.4 Error state

This state is reached when an error has occurred. The device can enter this state from both the normal opera-
tion state and the set/shift home position state. If an error occurs, the Status word (G1 ZSW) bit 15 “Sensor
error” is set, and the error code is displayed in G1 XIST2 instead of the position value.

13.5 Error acknowledgement

This state is reached when an error has occurred, and Control word (G1 STW) bit 15 “Acknowledging a sensor
error” has been set. The Status word bit 11 “Requirement of error acknowledgment detected” and Status word
(G1 ZSW) bit 15 “Sensor error” are set to 1.

13.6 Start up
This state is only reached when Control word (G1 STW) bit 14 “Activate parking sensor” is cleared (=0). Once the
Control word bit 14 is cleared, it takes about 500 ms before the Status word bit 14 “Parking sensor active” is set
to zero (=0).The reason for the delay is that before the encoder goes to normal operation mode, an initializing
of the encoder is made.

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14 Troubleshooting
1. Problem:
Preset, parking mode and error reset is not possible.

Solution:
The Control By PLC bit in Control Word 2 has to be set to 1 (Profile V4.1/V4.2).

2. Problem:
The preset value is lost if the power supply is switched off.

Solution:
Parameter 971 has to be set to 1 in order to save the preset value into non-volatile memory.

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15 Revision history

Revision Date Changes

Rev. 01 2017-01-03 First release

Added functionality according to
Rev. 02 2020-06-15
profile 4.2

Table 79 Revision history

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