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PROFIdrive bit
Enc Gn_STW S_src
p0480[n-1]
(0) Control word for encoder n (n = 1 or 2)
Bit no.
<1>
Select function to be activated (with bit value = 1)
Function for bit 7 = 0
Function no.
(search reference mark)
0 1 Reference mark 1
1 2 Reference mark 2
2 3 Reference mark 3
3 4 Reference mark 4
Start/stop/read selected function
4
0 1 0
5 0 0 1
6 0 0 0
Mode of the function to be activated
7 1 = Reserved
0 = Search for reference mark (zero mark or BERO)
8…12 Reserved
1 = Request cyclic transfer of the absolute position value in
13 Gn_XIST2
(e.g. EQN absolute track; acknowledgment in Gn_ZSW bit 13)
14 1 = Request parking encoder (handshake with Gn_ZSW bit 14)
= Acknowledge encoder fault (located in Gn_ZSW, bit 15;
15
Handshake with Gn_ZSW bit 11)
<3>
1 2
DO: DC_CTRL
Encoder evaluation - Encoder interface, receive signals, encoders 1 ... 2
1
1
0
Interrupt function
Read generated value
Activate selected function
No function
<4>
3 4
<1>
Enc Gn_STW To the position sensing, encoder n
r0487[n-1] [4704.3]
<1> Index [n-1]
Index [0]
Index [1]
<2> Actual position values are read out from Gn.XIST2 using a handshake procedure.
e. g.: Read position value(s) at reference mark(s)
1. Set r0487.0…3 according to the function to be activated.
2. Set r0487.4 (activate function).
Bits 0...13 control what is
3. Reset all bits from r0487.0...4 to 0.
transferred in Gn_XIST 2.
4. r0481.0...3 must be active depending on the activated function.
There are 2 alternatives:
5. Passing zero mark(s) until all bits in r0481.0…3 are reset to 0.
- Bit 7 = 0: Position actual value
6. Select r0487.0...3 individually and activate with r0487.5 until r0481.4...7 is equal to 1
at the reference mark
and read out the position values in r0483.
<2>
7. Reset all bits, starting with r0487.5 followed by r0487.0...3.
- Bit 13 = 1: Cyclic absolute
position value from
By way of an example, the following pulse diagram illustrates the process of reading in
absolute encoder
the position at reference mark 1 (mode: bit 7 = 0)
Select function 1 [bit 3...0]
("find reference mark 1")
Start function [bit 6...4]
Function active [Gn_ZSW bit 0]
Actual value saving with
reference mark
Read generated value [bit 6...4]
Value of function 1 available
[Gn_ZSW bit 4]
Actual position value at
reference mark 1 in Gn_XIST2
Additional reference marks can be read out in accordance with the PROFIdrive profile.
<3> The bits are processed with the following order of priority (highest-priority --> lowest-
priority bit): bit 14 --> bit 15 --> bit 4-7 --> bit 12 --> bit 13.
<4> Feedback issued in Gn_ZSW bit 14, but without actually parking the encoder.
5
fp_4720_13_eng.vsd
22.08.18 V01.05.00
PROFIdrive sampling time
Encoder n
Encoder 1
Encoder 2
0001
000 000
001
000 010
6 7
Function diagram
SINAMICS DCM
8
- 4720 -