Baumer GK473 Manuale utente

Baumer IVO GmbH & Co. KG

Dauchinger Strasse 58-62

DE-78056 Villingen-Schwenningen

Phone +49 (0)7720 942-0

Fax +49 (0)7720 942-900 05.11 · 174.02.042/4

[email protected] Subject to technical and design modifications.

www.baumer.com Errors and omissions excepted.

Manual

GK473 - Gateway RS485 – Profibus-DP

Version 1.00 and up

Applicable for:

Spindle position display N 140 / N 141 / N 142 / N 143 / N 150 / N 152 / N 153 / N 155

Manual_GK473_Profibus_EN.doc 2/16 Baumer IVO GmbH & Co. KG

04.05.11 Villingen-Schwenningen, Germany

Contents

Page

1. Introduction 3

1.1. Scope of delivery 3

1.2. Product assignment 3

2. Overview 3

3. Safety precautions and operating information 4

4. Commissioning 5

4.1. Scope of delivery 5

4.2. Mechanical Mounting 5

4.3. Electrical connection 5

4.3.1. Electrical commissioning 5

4.3.2. Supply voltage connection 5

4.3.3. Shield connection / functional earth 5

4.3.4. Profibus - RS485 bus connection 6

4.4. Device parameters 7

4.4.1. How to open the housing (partial pull-out) 7

4.4.2. Setting the Profibus user address 7

4.4.3. Setting the Profibus bus termination 7

4.4.4. Gateway projecting in Profibus project 8

5. Profibus-DP interface description 9

5.1. General information 9

5.2. Data transfer structure 9

5.3. Transparent gateway function 10

5.3.1. General information 10

5.3.2. Broadcast commands 10

5.3.3. Interface documentation 10

5.4. Automatic gateway functions 10

5.4.1. Automatic SPA recognition 10

5.4.2. Continuous scanning of all connected SPAs 11

5.5. Profibus-specific commands 11

5.5.1. Batched information „SPAs connected“ 11

5.5.2. Batched information „Check Position“ 12

5.5.3. Batched information „Device Status“ 12

5.5.4. Automatic SPA scanning ON or OFF 13

5.5.5. Readout gateway version or serial number 13

5.6. Error signals (data exchange) 13

5.7. Error and warning signals (diagnostic data) 14

5.8. Front panel display elements (LEDs) 15

6. Technical Data 16

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Disclaimer of liability

The present manual was compiled with utmost care, errors and omissions reserved. For this reason

Baumer IVO GmbH & Co. KG rejects any liability for the information compiled in the present manual.

Baumer IVO nor the author will accept any liability for direct or indirect damages resulting from the use of the

present information.

At any time we should be pleased receiving your comments and proposals for further improvement of the

present document.

1. Introduction

1.1. Scope of delivery

Please check the delivery upon completeness prior to commissioning.

Depending on encoder configuration and part number delivery is including:

•Encoder

•CD with describing file and manual (also available as download in the Internet)

1.2. Product assignment

Product GSD-File Product family

GK473.0073PDx GK4_059B.gsd multicon

2. Overview

GK473 gateway (interface transformer) is connecting the spindle position displays (SPAs) of the Baumer

IVO multicon system (for example: N 140 / N 142 / N 150) to a Profibus-DP-capable PLC. The gateway is

transforming the data blocks of the SPA’s RS485 interface into Profibus DP protocol (or vice-versa).

Some gateway functions simplify considerably programming the PLC.

The gateway allows connection of max. 32 SPAs to Profibus DP and can be used for all multicon SPAs

(spindle position displays).

In addition, it is possible to use several gateways with the Profibus in order to connect more SPAs.

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3. Safety precautions and operating information

Supplementary information

•This manual is intended as a supplement to already existing documentation (catalogues, product

information and mounting instructions).

•It is imperative to read the manual prior to initial commissioning of the equipment.

Intended purpose

•The gateway is an interface transformer for RS485 serial interface and Profibus DP. It comprises specific

modifications for the IVO multicon spindle positioning system.

•The gateway may only be used for this purpose.

Commissioning

•The gateway may only be installed and mounted by qualified experts.

•Observe the operating instructions of the machine manufacturer.

Safety remarks

•Prior to commissioning of the equipment, check all electrical connections.

•If installation, e-connection or any other work performed at the gateway and at the equipment is not

carried out correctly this can result in malfunction or failure of the gateway.

•Steps must be taken to exclude any risk of personal injury, damage to the plant or to the operating

equipment as a result of gateway failure or malfunction by providing corresponding safety precautions.

•The gateway must not be operated beyond the limit values specified in the product information.

Failure to comply with the safety remarks can result in malfunctions, personal injury or damage of property.

Transport and storage

•Transport and storage in the original packaging only.

•Never drop the gateway or expose it to major shocks.

Mounting

•Avoid impacts or shocks on the housing.

Disposal

•Gateway components are to be disposed of according to the legal regulations prevailing in the respective

country.

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4. Commissioning

4.1. Scope of delivery

•Gateway

•Two screw terminals

•Strain relief/shield connection terminal

•Data carrier with GSD file

•Manual

4.2. Mechanical Mounting

The gateway features a small housing for DIN rail mounting. It can easily be opened by screwdriver and

pulled out partially in order to set the bus node ID and bus termination.

•Width of pattern 22.5 mm, height approx. 100 mm and depth approx. 110 mm

•For mounting onto 35 mm DIN rails

For mounting onto the DIN rail, the gateway is inserted from rear into the DIN rail and then pressed

down to lock.

4.3. Electrical connection

4.3.1. Electrical commissioning

•Do not carry out any electrical modifications at the gateway.

•Ensure that the entire equipment is installed in line with EMC requirements. Ambient installation and

wiring affect the electromagnetic compatibility of the gateway. Install gateway and supply cables in

separate rooms or far away from cables with high interference emission (frequency converters,

protections, etc.

•Provide a separate supply voltage for the gateway where working with consumers with high interference

emission.

•Connect the gateway to protective earth (PE) conductor using shielded cable. The braided shield must

be connected to cable gland or plug. Ideally, aim at a bilateral connection to protective earth (PE), i.e.

housing via mechanical assembly and cable shield via downstream devices. In case of earth loop

problems, earth on one side only as a minimum requirement.

Failure to observe these instructions may result in malfunctions, material damage or personal injury.

4.3.2. Supply voltage connection

Supply voltage connection for gateway and SPA by pin 5 (GNDB) and 6 (UB) or by pin 7 (GNDB) and

8 (UB). Pin 5 and 7 as well as 6 and 8 are internally connected with each other for looping the

operating voltage down to other consumers (for example to SPA).

UB: 12...24 VDC, ripple less than 5 %, 200 mA.

In addition, each spindle position display (without motive drive) is consuming approx. 30 mA. For

specific data of the SPA power consumption please refer to the respective data sheet.

4.3.3. Shield connection / functional earth

Connection of protective earth to pin 1 which is at the same time serving for connecting the RS485

bus shield. There is a connection between pin 1 and the housing of the 9-pin D-Sub connector

(Profibus). The PE (protective earth) connection is additionally carried out by the DIN rail mounting.

For this intention the DIN rail has to be connected to functional earth by low-impedance.

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4.3.4. Profibus - RS485 bus connection

Profibus

CAN Bus connection is provided by 9-

pin D-SUB connector (female) that is

integrated in the front panel.

Connector-housing: shield / functional

earth.

Any requested Profibus looping can be

proceeded in the attachment connector

itself (not included in the

delivery).Corresponding connectors are

available in specialized shops. It is

imperative to avoid stub lines in cabling

but to proceed any Profibus loops

directly at the device itself.

PIN Function

1 Shield/functional earth

3 Profibus B (+)

8 Profibus A (-)

RS485 Bus

RS485 Bus connection and power

supply is provided by 2 x 4-pin screw

terminal connectors

UB:12..24 VDC, ripple 5%, 40 mA

Supplementary consumption of each

spindle position display (with no

motive drive): approx. 30 mA.

It is possible to connect up to 32

multicon SPAs to the RS485 bus in

any combination.

The bus terminator is firmly installed

in the gateway. That’s why the

gateway always has to be at one of

the two ends of an RS485 string. The

respectively remaining end has to

provide a bus terminating connector

at the final SPA.

Pin Funktion

1 Protective earth

2 Signal-GND

3 Rx/Tx +

4 Rx/Tx –

5 GNDB

6 UB

7 GNDB

8 UB

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4.4. Device parameters

4.4.1. How to open the housing (partial pull-out)

Setting the user address requires partial opening of the gateway housing. Please use a small screw-

driver, press-in the snap-locks provided at the top and bottom behind the screw terminals and pull out

the housing halfway until stop so that the operating elements are accessible. The housing is closed

again by pulling it back to its original position until both locks snap in again.

4.4.2. Setting the Profibus user address

The Profibus-user address is set decimally within the range from 00 to 99 using two BCD rotary switches. Please

consider that the lower addresses are often reserved to the Profibus master, reason why an address of 0, 1 or is

not recommended. Default setting is 00.

The illustration shows the address switch in position „42“, the decimal digit at the left, the unit digit at

the right.

4.4.3. Setting the Profibus bus termination

The gateway provides a two-pole DIP switch for bus termination. Both switches have always to be

pushed together. The bus terminator will be active if both DIP switches are in „ON“ position. Default

setting is OFF.

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A bus termination is imperative as soon as the connected gateway is the final user in a Profibus

segment. Make sure that only the first and the last user in the Profibus segment provide a bus

termination.

The bus termination in the arriving D-Sub connector must not be used since it is not actively

terminating the Bus to 0 V and + 5 V.

4.4.4. Gateway projecting in Profibus project

For gateway projecting in the Profibus project there is a GSD file attached that first is to be imported

into the projecting software. Proceed as usual with all other DP slaves and place the bus Node ID set

in the gateway.

For parameterization you have the following options:

Auto Scan SPA

Default: ON

During operation the gateway is automatically and continuously scanning all SPAs connected,

checking whether they are „in position“. If required, this information can be compiled by special

command for read in by Profibus. AutoScan spares the DP master cyclic polling of each SPA itself.

However, there are situations where this feature is not welcome. In this case please refer to the

gateway command “SPA AutoScan ON or OFF“ that has an impact on this function also during

operation.

Auto message SPA position

Default: OFF

If active, in the following situations the gateway will automatically transmit a message without prior

DP master request.

•After all SPAs having been „in position“ before, now at least one SPA is no longer. If further

SPAs are no more „in position“ either, no supplementary message will be transmitted. A

message is also transmitted upon one SPA signalising “error” status.

•After at least one SPA having been not „in position“ before, now all are „in position“ again.

This option is only available with Auto Scan SPA =ON. The message transmitted is identical to the

response on the command „Batched information Check Position“ of block number 20h.

Auto message SPA error

Default: OFF

If active, in the following situations the gateway will automatically transmit a message without prior

DP master request.

•After all SPAs having transmitted „no error“ („in position“ or „not in position), now at least one

SPA is in „error“ status. If further SPAs join, no supplementary message will be transmitted.

•After at least one SPA having been in „error“ status, now all SPAs are „in position“ or „not in

position“.

This option is only available with Auto Scan SPA =ON. The message transmitted is identical to the

response on the command “Batched information Device Status” of block number 20h.

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5. Profibus-DP interface description

5.1. General information

The gateway provides the connection between the SPA’s RS 485 protocol and the Profibus-DP.

The Profibus-DP interface is in line with Profibus standard DP-V0 (cyclic communication) according

DIN EN 50170. Possible transmission rates are 9600, 19200, 93,75k, 187,5k, 500k, 1.5M, 3M, 6M and

12M Baud. The baud rate applied is recognised and set automatically.

Since there are no existing standards for gateway profiles they are manufacturer-specific.

5.2. Data transfer structure

The PLC output data to the gateway contain the complete command for the addressed SPA. The

command is added by tokens for start and stop as well as by the CRC check sum and passed by the

gateway via RS485. In the Profibus line the gateway has a firm length of 16 byte I/O data.

In direction vice-versa, the tokens for start and stop as well as the CRC check sum are removed from

the RS485 message, but latter is passed with unchanged content to the data block of a Profibus

message so that it is available at the PLC as consistent input data.

Furthermore, the gateway provides additional functions to relieve the upstream PLC and its program

editing.

To identify new RS485 telegrams, the Profibus telegram comprises an additional count byte that is

altered or better incremented with each new RS485 telegram.

Contrary to the RS485 protocol of the SPA, the Profibus data block has a firmly defined length of 16

byte. Basically it is consistently transferred in both directions and also has to be evaluated this way by

the PLC. Consistency means in this case that all bytes belong together and must not be separated.

The example below is showing how a „check position“ command is transformed from Profibus into

RS485 as well as the transformation of the RS485 response into Profibus.

The gateway is receiving the following, consistent data block from the PLC. The first 00h is serving as

footer token marking the end of the command so that its length can be recognised by the gateway. The

count byte zz was incremented in the PLC to activate reception in the gateway.

Zhl Adr Cmd data

transmit zz 27h 43h 00h 00h 00h 00h 00h 00h 00h 00h 00h 00h 00h 00h 00h

Now the SPA (address 7 = 27h) is getting the following command by the gateway:

SOH Adr Cmd EOT CRC

transmit 01h 27h 43h 04h 16h

In the SPA profile number 5 is active, the SPA is „in position“ (token „o“) SPA replies to gateway by

SOH Adr Cmd Stat. Profil-Nr=05 EOT CRC

response 01h 27h 43h 6Fh 30h 35h 04h 45h

The gateway transforms the response into the following consistent data block. The count byte is

incremented to release reception in the PLC.

Zhl Adr Cmd data

response zz 27h 43h 6Fh 30h 35h 00h 00h 00h 00h 00h 00h 00h 00h 00h 00h

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5.3. Transparent gateway function

5.3.1. General information

Basically all commands with code „A“ ... „z“ are transparently transmitted by Profibus to the SPAs and

vice-versa, allowing addressing each SPA individually or altogether by PLC broadcast command. The

gateway does not check whether an SPA is connected by the registered address, neither the code of

the command.

The gateway will only accept commands with code „@“ for local processing without SPA commitment,

the response is transmitted immediately to the Profibus master by Profibus.

Basically the gateway is responding to every command received from DP-Master (PLC).

The DP-Master always has to wait for the response prior to sending another command to the gateway.

This enables the DP Master to always recognise when a command is successfully accomplished.

The response will be

•by passing transparently the SPA response if an individual SPA was addressed and is duly

replying.

•by error signal if the SPA does not reply after having elapsed the timeout (approx. 100 ms)

•by confirmatory response after having transmitted a broadcast command (to address 99,

83h) to all SPAs.

Any timeout in the DP master for monitoring the gateway replies should not be less than 400 ms.

5.3.2. Broadcast commands

Due to the bus conflict, SPAs are generally not in a position to reply via RS485 interface to broadcast

commands, i.e. to commands addressed to all SPAs at the same time (address 99, 83h). Therefore, on

behalf of the SPA the gateway will transmit a response to the DP master in the format described

below. The response is only repeating broadcast address (99) and command code. It is only to confirm

that the broadcast command was transmitted by RS485 interface to all SPA. It is NOT confirming any

acceptance or accomplishment at the end of the SPA.

Example: Broadcast command „i“ is programming all SPA to „mm“ as measuring unit.

Zhl Adr Cmd data

transmit zz 83h 69h 30h 00h 00h 00h 00h 00h 00h 00h 00h 00h 00h 00h 00h

Zhl Adr Cmd data

response zz 83h 69h 00h 00h 00h 00h 00h 00h 00h 00h 00h 00h 00h 00h 00h

5.3.3. Interface documentation

The respective SPA’s interface description(s) is giving complete information on the SPA interface. The

interface description is indispensable for editing a gateway application.

5.4. Automatic gateway functions

5.4.1. Automatic SPA recognition

After switch on the gateway will automatically scan all SPA addresses. Each address found is stored in the internal memory.

Later, the addresses of all SPAs connected may be compiled by special command for read-in by Profibus.

This function takes for granted that all SPA are already “ON” or at least being switched on together

with the gateway. A reliable information on all SPA connected is available at the beginning of the

Profibus communication.

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