Terminal CPX Input/output module CPX-2ZE2DA

Description

Counter module

8035734

1406NH

[8035740]

Terminal CPX

Input/output module CPX-2ZE2DA


2 Festo – P.BE-CPX-2ZE2DA-EN – 1406NH –

Translation of the original instructions

P.BE-CPX-2ZE2DA-EN

TORX® is a registered trademark of its respective trademark holder in certain countries.

Identification of hazards and instructions on how to prevent them:

Warning

Hazards that can cause death or serious injuries.

Caution

Hazards that can cause minor injuries or serious material damage.

Other symbols:

Note

Material damage or loss of function.

Recommendations, tips, references to other documentation.

Essential or useful accessories.

Information on environmentally sound usage.

Text designations:

• Activities that may be carried out in any order.

1. Activities that should be carried out in the order stated.

– General lists.


Festo – P.BE-CPX-2ZE2DA-EN – 1406NH – English 3

Table of Contents – Input/output module CPX-2ZE2DA

1 Safety and requirements for product use 10. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.1 Safety 10. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.1.1 General safety information 10. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.1.2 Intended use 10. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.2 Requirements for product use 11. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.2.1 Technical prerequisites 12. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.2.2 Qualification of specialized personnel 12. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.2.3 Range of application and certifications 12. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2 Product overview 13. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.1 Operational principle 13. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.2 Purpose 13. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.3 Supported devices 14. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.4 Displays and interfaces 14. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.4.1 Electrical interfaces 15. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.4.2 LED indicators 16. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.5 Inputs 17. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.5.1 Freely-available inputs 17. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.6 Outputs 17. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.7 Overview of operating modes 18. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.7.1 Counting 18. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.7.2 Measuring 19. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.7.3 Position and speed determination 19. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.7.4 Impulse output 20. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.7.5 Motor operating mode 20. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.8 General functions 21. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.8.1 Load value 21. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.8.2 Count limits 21. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.8.3 Hysteresis 21. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.8.4 Limit monitoring 21. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.8.5 Compare 21. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.9 Counting functions 21. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.9.1 Latching 21. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.9.2 Latch & retrigger 21. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.9.3 Synchronisation 21. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .


4 Festo – P.BE-CPX-2ZE2DA-EN – 1406NH – English

3 Mounting and installation 22. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.1 Dismantling and mounting 22. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.1.1 Dismantling 22. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.1.2 Mounting 23. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.2 Supply voltages and fuse concept 23. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.2.1 Supply via UEL/SEN 23. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.2.2 Supply via UOUT 25. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.3 Electrical installation 26. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.3.1 Safety instructions 26. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.3.2 Cables 27. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.3.3 Achieving the IP65 degree of protection 28. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.3.4 Power supply 28. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4 Commissioning and configuration 29. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.1 Prior to commissioning 29. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.2 Configuration tool 29. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.2.1 Configuration with CPX-FMT 29. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.2.2 Configuration with controller 29. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.3 Configuration concept 30. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.3.1 Parameters 30. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.3.2 Process data (PDI/PDO) 31. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.3.3 Objects 32. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.4 Selecting the operating mode 34. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5 Operating modes for counting 36. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.1 Functional description 36. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.1.1 Counters 36. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.2 Characteristics of displays and inputs/outputs 37. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.2.1 Overview of displays and inputs/outputs 37. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.2.2 Diagnostic displays 39. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.2.3 Supported encoder types 40. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.2.4 Properties of the encoder inputs 41. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.2.5 Function and characteristics of DI 46. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.2.6 Gate-function 51. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.2.7 Properties of the digital output DO 56. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .



5.3 Available function extensions 64. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.3.1 Latching 64. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.3.2 Latch and retrigger 66. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.3.3 Synchronisation 68. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.3.4 Count limits 70. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.3.5 Load value 70. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.3.6 Hysteresis 71. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .


5.3.8 Comparator 76. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.4 Count infinite 81. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.4.1 Functional description 81. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.4.2 Configuration options 81. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.5 Count once up to count limit 82. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .



5.6 Count once to count limit, return to load value 83. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .



5.7 Periodic counting 84. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .



5.8 Process data (PDI/PDO) 85. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6 Operating modes for measurment 87. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .


6.1.1 Measured value 87. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .




6.2.3 Supported encoder types 93. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .



6.2.6 Gate function 101. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.2.7 Characteristics of the digital output DO 104. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .


6.3.1 Latching 112. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.3.2 Hysteresis 113. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .


6.3.4 Comparator 119. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.4 Measure frequency 124. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .





6.5 Measure r.p.m. 126. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .



6.6 Measure duty cycle 128. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .




7 Operating modes for measure/determine position andmeasure velocity 132. . . . . . . . . . . .


7.1.1 Position/speed value 132. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.2 Supported encoder types 133. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.2.1 Pulse generator with and without direction signal 134. . . . . . . . . . . . . . . . . . . . . . .

7.2.2 Incremental encoder with two 90° out of phase tracks 136. . . . . . . . . . . . . . . . . . . .

7.2.3 Absolute encoder with synchronous serial interface (SSI) 142. . . . . . . . . . . . . . . . .


7.3.1 Overview for pulse generator with direction signal 151. . . . . . . . . . . . . . . . . . . . . . .

7.3.2 Overview for incremental encoder 153. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.3.3 Overview for absolute encoder with SSI interface 155. . . . . . . . . . . . . . . . . . . . . . .






7.4.1 Latching 175. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.4.2 Count limits 177. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.4.3 Load value 177. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.4.4 Hysteresis 178. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .


7.4.6 Comparator 183. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.5 Measure/determine position 189. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .


7.6 Measure velocity with pulse generator or incremental encoder 191. . . . . . . . . . . . . . . . . . . . .

7.6.1 Tolerance 191. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .


7.7 Measure velocity with SSI absolute encoder 193. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.7.1 Tolerance 194. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .


7.8 Measure/determine position and measure velocity 195. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .


7.9.1 Pulse generator and incremental encoder 196. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.9.2 Absolute encoder with SSI interface 197. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.9.3 All sensor types 198. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .



8 Operating modes for impulse output 199. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .








8.3 Control of the impulse output 215. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

8.3.1 Starting impulse output 215. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

8.3.2 Cancelling the impulse output 217. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

8.3.3 Changing the specifications for control 217. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

8.3.4 Time Base 217. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

8.4 Impulse output and motor operation. 217. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

8.5 Impulse output 218. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .



8.5.3 Reading the current actual values 220. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

8.6 Pulse-width modulation 221. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .




8.7 Pulse train 225. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .




8.8 Switch-on/switch-off delay 229. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .




8.9 Frequency output 231. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .







9 Motor operating mode 237. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .




9.2.2 Displays for diagnostics 240. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9.2.3 Characteristics of the encoder inputs 241. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9.2.4 Properties of the digital input DI 242. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .


9.3 Operate motor 250. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .




10 Diagnostics 256. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

10.1 Summary of diagnostics options 256. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

10.2 Diagnostics via LED display 257. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

10.3 Diagnostics via the I/O diagnostics interface 258. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

10.3.1 Error categories 258. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

10.3.2 Non-critical errors due to faulty configuration 258. . . . . . . . . . . . . . . . . . . . . . . . . . .

10.3.3 Critical errors due to faulty configuration 263. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

10.3.4 Values in the PDI with critical errors 265. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

10.3.5 List of error numbers 266. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

A Technical appendix 268. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

A.1 Technical data 268. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

A.2 Parameter overview 270. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

A.2.1 Parameterisation of the operating mode 270. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

A.2.2 encoder power parameterisation 272. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

A.2.3 Parameterisation of general diagnostics 274. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

A.2.4 Parameterisation of encoder inputs 275. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

A.2.5 Parameterisation, SSI telegram 281. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

A.2.6 Parameterisation, digital input DI 286. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

A.2.7 Parameterisation digital output DO 290. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

A.2.8 Parameterisation of gate function 295. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

A.2.9 Parameterisation of impulse output 296. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

A.2.10 Parameterisation of hysteresis 298. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

A.2.11 Parameterisation of limit monitoring 298. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

A.2.12 Parameterisation comparator 299. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

A.2.13 Measured value parameterisation 300. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

B Glossary 302. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .



Notes on this documentation

This documentation is intended to help you work safely with the input/output module CPX-2ZE2DA

(counter module). It includes safety instructions that must be observed.

An overview of the structure of the user documentation for the CPX terminal can be found

in the CPX system description P.BE.CPX-SYS.

Product identification, versions

This description refers to the module CPX-2ZE2DA from revision R21. For corresponding

specifications, see rating plate.

Note

• With newer firmware versions, check whether there is a newer version of this de-

scription available (�www.festo.com).

Service

Please consult your regional Festo contact if you have any technical problems.

1 Safety and requirements for product use



1.1 Safety

1.1.1 General safety information

• Observe the general safety information in the corresponding chapters.

Special safety and danger warnings are written directly before the action instruction.

Note

Damage to the product from incorrect handling.

• Switch off the supply voltage before mounting and installation work. Switch on sup-

ply voltage only whenmounting and installation work are completely finished.

• Never unplug or plug in a product when powered!

• Observe the handling specifications for electrostatically sensitive devices.

1.1.2 Intended use

Together with a CPX terminal, the Input/output module CPX-2ZE2DA (counter module) described in this

document allows

– the processing, analysis and generation of pulses and measured values

– the output of signals and voltages.

The module is intended for use in an industrial environment. Outside of industrial environments, e.g. in

commercial and mixed-residential areas, actions to suppress interference may have to be taken.

The module is intended exclusively for use in CPX terminals from Festo for installation in machines or

automated systems and may be used in the following ways:

– in perfect technical condition

– in original state without unauthorised modifications, except for the adaptations described in this

documentation

– within the limits of the product defined through the technical data (� A.1 Technical data).



Warning

Electric shock

Injury to people, damage to the machine and system

• For the electrical power supply, use only PELV circuits in accordance with

IEC 60204-1 (Protective Extra-Low Voltage, PELV).

• Observe the general requirements of IEC 60204-1 for PELV circuits.

• Use only voltage sources which guarantee reliable electrical isolation of the operat-

ing and load voltage in accordance with IEC 60204-1.

• Always connect all circuits for operating and load voltage supply UEL/SEN, UVAL and

UOUT.

Through the use of PELV circuits, protection from electric shock (protection from direct and indirect

contact) in accordance with IEC 60204-1 is ensured (Electrical equipment of machines. General require-

ments).

Observe the information on power supply and the earthing measures to be carried out

provided in the CPX system description (P.BE-CPX-SYS-...).

Note

In the event of damage caused by unauthorised manipulation or other than intended

use, the warranty is invalidated and the manufacturer is not liable for damages.

1.2 Requirements for product use

• Make this documentation available to the design engineer, installer and personnel responsible for

commissioning the machine or system in which this product is used.

• Make sure that the specifications of the documentation are always complied with. Consider also the

documentation for other components and modules (e.g. CPX system description P.BE-CPX-SYS-…).

• Take into consideration the legal regulations applicable for the location as well as:

– regulations and standards

– regulations of the testing organizations and insurers

– national specifications.



1.2.1 Technical prerequisites

General conditions for the correct and safe use of the product, which must be observed at all times:

• Comply with the connection and environmental conditions specified in the technical data of the

product (� Appendix A.1) and of all connected components.

Only compliance with the limit values or load limits permits operation of the product in accordance

with the relevant safety regulations.

• Observe the instructions and warnings in this documentation.

1.2.2 Qualification of specialized personnel

This description is directed exclusively to technicians trained in control and automation technology,

who are experienced in:

– installation and operation of electrical control systems

– the applicable regulations for operating safety-engineered systems

– the applicable regulations for accident protection and operational reliability

– the documentation for the product

1.2.3 Range of application and certifications

Standards and test values, which the product complies with and fulfils, can be found in the “Technical

data” section (� Appendix A.1). The product-relevant EU directives can be found in the declaration of

conformity.

Certificates and the declaration of conformity on this product can be found atwww.festo.com.

2 Product overview


2 Product overview

2.1 Operational principle

The CPX counter module makes two channels available, which support the following applications:

– rapid counting of pulses with single, periodical and endless counting in the operating modes

– frequency, duty cycle, and rotational speed measuring

– position detection and measure velocity by measuring path lengths, path direction, speed, and

angle

– fast impulse output for the impulse output, pulse train, pulse-width modulation, switch-on delay,

switch-off delay, and frequency output operating modes

– 24 V DC motor control

– 5 V and 24 V encoder power

Numerous functions are available to extend the application range:

– latching function

– synchronisation

– limit monitoring with diagnostics

– comparator unit

– load value

– hysteresis

– polarity inversion

– software emulation of hardware inputs

2.2 Purpose

With its various functions, including two channels with a full function range, the counter module can be

used very flexibly. The following application examples offer an overview of just some of the numerous

application options:

– recording travel and speed of a conveyor

– position and speed synchronisation of conveyors and pick & place applications

– counting goods, e. g. in packaging installations

– systems for filling by weight and volume

– monitoring motor speeds

– measuring equipment for determining the position of axis systems (linear, rotational)

– control of fast-switching valves

– control of the opening time of a valve

– activation of semiconductor relays

– temperature monitoring and rotational speed control for drives

– change of direction in fast drives

– activation of motors with pulse-width modulation (PWM)

2 Product overview


2.3 Supported devices

– 24 V pulse generator with or without direction level

– 24 V incremental encoder, single-ended, with two 90° phase offset tracks

– 5 V incremental encoder, single-ended or differential, with two 90° phase offset tracks

– absolute encoder with SSI interface (1 … 31 bits)

– 24 V DC motors

2.4 Displays and interfaces

The counter module possesses the displays and interfaces shown in Fig. 2.1.

1 Terminals X1.0 … X1.3








9 LED displays1

2

3

4

5

6

7

8

9

Fig. 2.1

2 Product overview


2.4.1 Electrical interfaces

The electrical interfaces of the counter module are designed as push-in terminals and arranged sepa-

rately according to the assignment to channels 0 and 1.

Name of the inputs

Inputs of the counter channel for each channel:

– 3 inputs for the evaluation of encoder signals

(encoder inputs 1, 2 and 3) and

– 1 input for the control of functions (digital

input DI).

1 2

1 Terminals, channel 0

2 Terminals, channel 1

Fig. 2.2

The following table provides an overview of the allocation of the terminals.

Terminals, channel 0 Terminals, channel 1

Terminal Allocation Terminal Allocation

X1 .0 Encoder input 1 + X5 .0 Encoder input 1 +

.1 – .1 –

.2 Encoder input 2 + .2 Encoder input 2 +

.3 – .3 –

X2 .0 Encoder input 3 + X6 .0 Encoder input 3 +

.1 – .1 –

.2 encoder power 5 V + .2 encoder power 5 V +

.3 – .3 –

X3 .0 encoder power 24 V + X7 .0 encoder power 24 V +

.1 – .1 –

.2 encoder power 24 V for DI + .2 encoder power 24 V for DI +

.3 Digital input DI .3 Digital input DI

X4 .0 encoder power 24 V for DI – X8 .0 encoder power 24 V for DI –

.1 Digital output DO .1 Digital output DO

.2 Reference potential for DO .2 Reference potential for DO

.3 Functional earth (FE) .3 Functional earth (FE)

Tab. 2.1

2 Product overview


2.4.2 LED indicators

The LED displays of the counter module (� Fig. 2.3) are arranged according to the functions, whose

state they represent.

– column 1 (left): State of the inputs of channel 0

– column 2: State of the inputs of channel 1

– column 3: State of the outputs of channels 0 and 1

– column 4: Display of diagnostic information

– column 5 (right): Display of module errors

1

2

3

4

5

6

7

8

9

aJ

aA

aB

aC

aD

aE

1 State encoder input 1 channel 0 (green)



4 State digital input DI channel 0 (green)




8 State digital input DI channel 1 (green)

9 State digital output DO channel 0 (yellow)

aJ State digital output DO channel 1 (yellow)

aA Diagnostics module error (red)

aB Diagnostics digital output DO channel 0 (red)

aC Diagnostics digital output DO channel 1 (red)

aD Diagnostics encoder power 24 V (red)

aE Diagnostics encoder power 5 V (red)

Fig. 2.3

The assignment illustrated here may deviate in individual operating modes. This is de-

scribed in the appropriate chapter.

Example:

In the operating modes for determining position and speed, the two upper LED indicators

in column 1 and column 2 show the direction of movement of the connected encoder.

2 Product overview


2.5 Inputs

The counter module possesses inputs for various functions. The inputs can be differentiated as follows:

– encoder inputs: Inputs for recording signals

– digital input: Input to control functions through individual impulses

The functions of the inputs can be configured in many ways and are described according

to the operating mode in the appropriate chapters.

2.5.1 Freely-available inputs

Encoder inputs, which are not used by the set operating mode, are available as free inputs.

2.6 Outputs

The counter module possesses a digital output for each channel. These can be controlled by different

function areas of the counter module.

Schematic representation

= LCV ≤ LCV ≥ LCV Within Beyond = LCV + Timer

Comparator outputs Pulse unit

PARAMETER “Function output DO Ch…”

Digital output DO

Digital output DO

PDO

Channel 0: Byte 8, bit 7


Fig. 2.4

The functions of the digital outputs can be configured in various ways and are described

according to the operating mode in the corresponding chapters.

The function of the comparator units and their outputs are described in the chapters for

the operating modes.

2 Product overview


2.7 Overview of operating modes

This section provides an overview of the total of 16 operating modes, which the counter module sup-

ports on the two channels.

Many of the operation modes can be extended with the functions described in overview form in section

2.8 and section 2.9.

The description of the operating modes is structured according to the appropriate functions in 5

chapters.

Operating modes for Overview Detailed description

– Counting � Section 2.7.1 � Chapter 5

– Measuring � Section 2.7.2 � Chapter 6

– Position and speed

determination

� Section 2.7.3 � Chapter 7

– Impulse output � Section 2.7.4 � Chapter 8

– Motor operation � Section 2.7.5 � Chapter 9

Tab. 2.2

2.7.1 Counting

These operating modes allow the counting of pulses (CLOCK) at encoder input 1

(� 2.4.1 Electrical interfaces).

Encoder types

The following encoder types can be used:

– pulse generator with or without direction level

Operating modes for counting

The pulses at encoder input 1 are counted. The following operating modes are available for this:

– endless counting (� 5.4)

– count once up to count limit (� 5.5)

– count once to count limit, return to load value (� 5.6)

– periodic counting (� 5.7)

2 Product overview


2.7.2 Measuring

These operating modes allow the creation of a measurement result through comparison of the pulses

recorded at encoder input 1 (� 2.4.1 Electrical interfaces) with a configurable integration time. Meas-

urement takes place within this integration time and is updated after the integration time has elapsed.

Encoder types

The following encoder types can be used:


Operating modes for measurement

The following operating modes are available for the creation of measurement results:

– measure frequency(� 6.4)

– measure r.p.m.(� 6.5)

– measure duty cycle (� 6.6)

2.7.3 Position and speed determination

These operating modes allow the determination of the position or speed of a linear or rotation value

encoder connected to the counter module.

Encoder types

The following encoder types can be used in the operating modes of this section:


– incremental encoder with two signals, out of phase by 90°

– absolute encoder with SSI interface

Operating modes for position and speed determination

The following operating modes are available:

– measure/determine position� 7.5

– measure velocity1)

– measure velocity on channel 11) / Measure velocity on channel 01)

1) The use of the operating modes for velocity measurement always differs according to the encoder

used. For this reason, these operating modes are described separately for the encoder types:

– � 7.6 Measure velocity with pulse generator or incremental encoder

– � 7.7 Measure velocity with SSI absolute encoder

– � 7.8 Measure/determine position and measure velocity

The operating mode “Measure velocity channel 0” or “Measure velocity channel 1” cor-

responds to the “Measure velocity” operating mode. Only the encoder of the other chan-

nel is evaluated (� 7.8 Measure/determine position and measure velocity).

2 Product overview


2.7.4 Impulse output

These operating modes permit the activation of the digital output DO and the appropriate bit in the

PDO, according to configurable specifications.

In so doing, the digital output can be configured as a P-switch, N-switch or push-pull driver, or deactiv-

ated.

The encoder inputs are not used by the operating modes for pulse ouptut and are avail-

able as free inputs.

Operating modes for impulse output

The following operating modes are available:

– impulse output (� 8.5)

– pulse-width modulation (� 8.6)

– pulse train (� 8.7)

– switch-on/switch-off delay (� 8.8)

– frequency output (� 8.9)

2.7.5 Motor operating mode

The motor operating mode allows the activation of a 24 V DCmotor at both digital outputs DO of chan-

nels 0 and 1. The operating mode can only be selected for channel 1. All the other operating modes can

be used in parallel on channel 0, although without the use of the digital output DO.

– operate motor (� 9.3)

2 Product overview


2.8 General functions

The functions described in this section, which is intended as an overview, can be used in various operat-

ing modes to extend the applications.

You can find a detailed description of the functions in the chapters 5 to 9.

2.8.1 Load value

The load value is a value that can be parameterised within the count limits, which can be used as the

starting value for an operation, depending on the operating mode.

2.8.2 Count limits

Specification of the count limits (upper and lower count limit) defines the counting range. The beha-

viour on reaching the count limits is dependent on the operating mode.

2.8.3 Hysteresis

A fixed value can be extended by a defined range using hysteresis. Hysteresis impacts on the limit mon-

itoring and the comparator.

2.8.4 Limit monitoring

The monitoring of definable limit values within the count limits can be used to trigger a diagnostic mes-

sage when these limit values are exceeded or fallen below.

2.8.5 Compare

The two comparator units of the counter module offer various options for comparing the recorded val-

ues (e. g. with a current counter value) with definable compare values, also between channels.

2.9 Counting functions

The counting functions can be activated via the digital input DI or the appropriate bit in the PDO and are

used to manipulate the internal counter or the appropriate value in the PDI.

2.9.1 Latching

The value of the internal counter at the moment of the latch command is written to the corresponding

bits in the PDI.

2.9.2 Latch & retrigger

The value of the internal counter at the moment of the latch command is written to the corresponding

bits in the PDI. The internal counter is set to the load value in parallel.

2.9.3 Synchronisation

Synchronisation sets the counter to the load value.

3 Mounting and installation



Information about mounting of the CPX terminal can be found in the CPX system descrip-

tion (P.BE-CPX-SYS-...).

3.1 Dismantling and mounting

The module is mounted in an interlinking block of the CPX terminal (� Fig. 3.1).

Warning

Mounting /dismantling must always take place in a de-energised state.

• To do this, disconnect the corresponding CPX terminal completely from the related

power supply or switch it off.

3.1.1 Dismantling

Dismantle the module as follows:

1. Loosen the four screws of the module with a

TORX screwdriver size T10.

2. Pull the module carefully and without tilting

away from the contact rails of the interlinking

block. 1

23

4

1 Counter module

2 Interlinking block

3 Contact rails

4 Screws

Fig. 3.1 Dismantling/mounting

Note

Material damage due to incorrect mounting.

• Select screws suitable for the installation situation.

Dependent on the material of the interlinking block:

– plastic: Thread-cutting tapping screws

– metal: Screws with metric thread.

If an individual module without CPX terminal is ordered, both screw types are included.



3.1.2 Mounting

Mount the module as follows:

1. Check the seal and the sealing surface.

2. Insert the module in the interlinking block. Make sure that the grooves with the terminals for elec-

trical contacting on the bottom of the module lie directly above the contact rails.

3. Push the module carefully and without tilting into the interlinking block up to the stop.

4. Only tighten the screws by hand. Set the screws so that the self-cutting threads can be used.

5. Tighten the screws with a TORX screwdriver size T10 with 0.9 ... 1.1 Nm torque.

3.2 Supply voltages and fuse concept

The counter module uses the following supply voltages of the CPX terminal:

– UEL/SEN (Operating voltage for electronics and sensors)

– UOUT (Load voltage for digital outputs)

The supply voltages are galvanically separated within the counter module.

3.2.1 Supply via UEL/SEN

The following areas of the counter module are powered via the supply voltage UEL/SEN:

– electronics

– 24 V encoder power (including 24 V encoder power for digital input DI)

– 5 V encoder power

encoder power

The counter module makes 24 V and 5 V available for the supply of the connected encoders. Both

voltages are protected for each module (jointly for both channels) against overload or short circuits.

– The 24 V encoder power has the voltage potential of the operating voltage UEL/SENminus the intern-

al losses through polarity protection and electronic protection.

– The 5 V encoder power uses the voltage potential of the operating voltage UEL/SEN. This is regulated

to 5 V using voltage stabilisation.

UEL/SEN (24 V DC)

Reverse polarityprotection

Electronic fuse

Channel 0Channel 1

Reverse polarityprotection

Electronic fuse

Voltage stabilisation

24 volt encoder power

Channel 0Channel 1

5 volt encoder power

Fig. 3.2



Note

Connection of the 5V and 24V encoder supplies will lead to the destruction of the module.

• Only use encoder supplies when they are separated from one another.

Note

When an encoder with an operating voltage of 5 V is connected to the 24 V encoder

power, it can be destroyed.

• Ensure that the encoder used is designed for the encoder power to which it is con-

nected.

Electronic fuse of the encoder power

The encoder power is protected against short circuit and overload. If the defined limits are exceeded,

the electronic fuse will trigger.

The parameter “Behaviour 24 V-encoder power” or “Behaviour output 5 V-encoder power” defines

whether the encoder power remains switched off after the fuse triggers or whether it becomes active

again automatically after the error has been eliminated.

Behaviour of the 24 V / 5 V encoder power on short circuit/overload

Setting Selection via FMT Voltage Selection via parameter

F no.1)

4828

+ 64 × m

Bit

7 6 5 4 3 2 1 0

In case of overload/short

circuit, the output is

switched off.

Restart after elimination of

the error through

– Switch-off/switch-on of

the electronics supply2)

– Changing the paramete-

risation to “Resume”

Leave switched off 24 V + 9 0

5 V 0



switched off. The output

checks at regular intervals

whether the error is still

pending.


the error takes place auto-

matically.

Resume

(Presetting)

24 V 1

5 V 1

1) Function number (� CPX system description); m = module number (counting from left to right, beginning with 0)

2) The switch-off/switch-on of the load voltage (UOUT) in the case of a parameterised self-latching loop does not lead to a restart.

Tab. 3.1



The parameter “Monitor 24 V-encoder power” or “Monitor 5 V-encoder power” defines whether the

diagnostic message produced when the electronic fuse triggers is output via display LED and CPX dia-

gnostics.

Diagnostic message in the case of short circuit/overload of the encoder power 24 V / 5 V


F no.1)

4828

+ 64 × m

Bit

7 6 5 4 3 2 1 0

Diagnostics are not displayed Inactive 24 V + 9 0

5 V 0

Diagnostics are displayed Active

(Presetting)

24 V 1

5 V 1


Tab. 3.2

Switching the encoder power on/off

The parameter “Operate 24 V-encoder power” or “Operate 5 V-encoder power” defines whether the

appropriate supply voltage is switched through to the appropriate terminals.

Switching the 24 V / 5 V encoder power on/off


F no.1)

4828

+ 64 × m

Bit

7 6 5 4 3 2 1 0

Encoder power switched off Off 5 V + 10 0

24 V 0

Encoder power switched on On

(Presetting)

5 V 1

24 V 1


Tab. 3.3

3.2.2 Supply via UOUT

The two digital outputs DO of the counter module are supplied using the supply voltage UOUT of the

CPX terminal.

Both digital outputs (channel 0 and channel 1) have their own electronic fuse with supplementary dia-

gnostic monitoring.

The configuration options of the digital outputs DO are described in the appropriate chapters, accord-

ing to the operating mode.



Undervoltage diagnostics

The parameter “Monitoring UOUT/VAL” defines whether a diagnostic message should be output when an

undervoltage in the load supply is detected.

Diagnostics undervoltage in load supply

Setting Selection via FMT Selection via parameter

F no.1)

4828

+ 64 × m

Bit

7 6 5 4 3 2 1 0

No diagnostics undervoltage

in load supply

Inactive + 0 0

Diagnostics undervoltage in

load supply

Active (default) 1


Tab. 3.4

3.3 Electrical installation

3.3.1 Safety instructions

Warning

• Before carrying out installation and maintenance work, switch off the following:

– compressed air supply

– operating voltage supply for the electronics/sensors

– load voltage supply for the outputs/valves

In this way, you can avoid

– uncontrolled movements of loose tubing lines

– accidental movements of the connected actuator technology

– undefined switching states of the electronics

Caution

The module contains electrostatically sensitive components.

• Do not touch any components.

• Observe the handling specifications for electrostatically sensitive devices.

They will help you avoid damage to the electronics.

Note

Handle all modules and components carefully. Please note especially the following:

– comply with the specified torques



3.3.2 Cables

The completely mounted counter module has the degree of protection IP20.

Specification of the terminals

– conductor cross-section: 0.13 … 1.5 mm²

– stripped insulation: 5 … 6 mm

Permitted copper conductors

– single wire, multi-wire, fine wire, also with tin-plated single conductors

– fine wire compressed

– fine wire with wire end sleeves (sealed against gas, crimped on) *)

– fine wire with pin cable socket (sealed against gas, crimped on *)

*) If necessary, use next smaller conductor cross section

Connecting and disconnecting the conductors

Note

• To ensure a reliable contact, only connect one conductor per terminal.

• Only insert conductors into the terminal opening. The terminal will be damaged if a

screwdriver is inserted into the opening.

1. To unlock the terminal, depress the release

mechanism with a screwdriver.

2. When the terminal is unlocked, plug in the

conductor or pull it out.

3. Remove the screwdriver from the release

mechanism. This securely clamps the conduct-

or in place.

1 Screwdriver, blade 2.5 × 0.4 mm

2 Conductor

3 Unlocking of the terminal (inside)

4 Terminal opening for inserting the conduct-

ors (outside)

1

2

3

4

Fig. 3.3



3.3.3 Achieving the IP65 degree of protection

To comply with the IP65/IP67 degree of protection for the counter module, use the cover

AK-8KL and the fittings kit VG-K-M9 from Festo.

• Note the relevant fitting instructions.

1 Cover AK-8KL

2 Fittings kit VG-K-M9

1

2

Fig. 3.4

3.3.4 Power supply

Warning

Electric shock

Injury to people, damage to the machine and system

• For the electrical power supply, use only PELV circuits in accordance with

IEC 60204-1 (Protective Extra-Low Voltage, PELV).

• Observe the general requirements of IEC 60204-1 for PELV circuits.

• Use only voltage sources which guarantee reliable electrical isolation of the operat-

ing and load voltage in accordance with IEC 60204-1.

• Always connect all circuits for operating and load voltage supply UEL/SEN, UVAL and

UOUT.

Through the use of PELV circuits, protection against electric shock (protection against direct and indir-

ect contact) is ensured in accordance with IEC 60204-1.

The current consumption of a CPX terminal depends on the number and type of integrated modules and

components.

Observe the information on power supply and the earthing measures to be carried out

provided in the CPX system description (P.BE-CPX-SYS-...).

4 Commissioning and configuration



4.1 Prior to commissioning

In order to avoid connecting and configuration errors, commissioning in steps is required. Proceed as

follows:

1. Check the counter module and connected peripheral equipment.

2. Check the CPX terminal and its power supply.

3. Commission the entire system (� CPX system description,� Description of the bus node used)

4.2 Configuration tool

The Festo Maintenance Tool for CPX terminals (CPX-FMT) or the higher-order controller can be used for

the configuration process.

4.2.1 Configuration with CPX-FMT

�www.festo.com� Automation� Enter search item: FMT

The Festo Maintenance Tool for CPX terminals offers an easy option for configuring the counter module

or the complete CPX terminal. Depending on the selected operating mode and the encoder used, only

the applicable configuration options are offered.

The configuration settings created in the CPX-FMT can be exported as a configuration file

for many common control systems (� CPX-FMT online help).

The counter module is listed in the CPX-FMT catalogue under “Technology modules”.

4.2.2 Configuration with controller

The counter module can also be configured by a higher-order controller. Additional information on this

is provided in the CPX system description and the description of the bus node used.

Caution

When using the controller for the configuration process, the configuration options are

not restricted to the operating mode-specific settings. Unintended configuration can

lead to malfunctions.

• Only perform configuration settings described in the appropriate context in this

documentation.



4.3 Configuration concept

Due to the wide range of functions offered by the counter module, it offers various configuration mech-

anisms, each requiring a different procedure during configuration.

Caution

Uncontrolled movement of the actuator technology, undefined switching states.

Injury to people, damage to the machine and system.

• When changing the configuration, ensure that no-one is located in the sphere of

influence of the machine.

• Only perform configuration settings described in this documentation.

4.3.1 Parameters

The basic settings for the operation of the counter module are defined via the parameters. The special

parameters are described in the chapters for the appropriate operating mode. The appendix contains a

complete list of all the parameters (� A.2 Parameter overview).

Note

The parameter settings are lost when the electronics power supply (UEL/SEN) is

switched off if the “System start” parameter of the bus node is configured to “Default

parameters” (factory setting).

• Ensure that the parameter settings are restored by the controller on starting the CPX

terminal.

• Alternatively, set the configuration of the “System start” parameter in the bus node

to “Saved parameters”.

The “Parameter monitoring” parameter defines whether a diagnostic message should be output on

detection of parameterisation errors.

Diagnostics parameterisation error


F no.1)

4828

+ 64 × m

Bit

7 6 5 4 3 2 1 0

No diagnostics on paramet-

erisation error

Inactive + 0 0

Diagnostics on parameterisa-

tion error

Active (default) 1


Tab. 4.1



4.3.2 Process data (PDI/PDO)

Settings, which can be changed during the course of a running process, are transferred in the process

data. The process data is described in the chapters for the appropriate operating mode.

Note

The process data is cyclical data. Its contents is lost when the electronics' power supply

(UEL/SEN) is switched off.

• Ensure that all the process-relevant settings are performed by the controlled on

starting the system.

Process data input (PDI)

This shows information on the state and states of the counter module in the “Inputs” area of the pro-

cess data. This area contains the information for both channels, although it is separated by byte (no

mixture of the contents of channels 0 and 1 within a byte). The counter module takes up 12 bytes for

this.

Process data output (PDO)

Configurations and specifications for the operation of the counter module are transferred in the “Out-

put” area of the process data and can thus be revised at any time. This area contains the configurations

for both channels, although it is separated byte-by-byte (no mixture of the contents of channels 0 and 1

within a byte). The counter module takes up 12 bytes for this.

Warning

Uncontrolled movement of the actuator technology, undefined switching states.

Injury to people, damage to the machine and system.

The process data of the counter module are only output in Intel format (byte sequence

LSB…MSB). Any deviating setting possibly defined in the bus node has no effect.

• Ensure that the process data is interpreted correctly.



4.3.3 Objects

The objects represent an extension of the parameters and are configured using the output section of

the process data (PDO). Each channel possesses 12 proprietary objects.

Object list (per channel)

Object

address

Function Presetting Object type

1 Counter object1) 0 32 bit signed integer

2 Upper count limit +2 147 483 647 (+231 – 1) 32 bit signed integer

3 Lower count limit –2 147 483 648 (–231) 32 bit signed integer

4 Upper compare value2) +2 147 483 647 (+231 – 1) 32 bit signed integer

5 Lower compare value2) –2 147 483 648 (–231) 32 bit signed integer

6 Upper limit2) +2 147 483 647 (+231 – 1) 32 bit signed integer

7 Lower limit2) –2 147 483 648 (–231) 32 bit signed integer

8 Upper compare value3) +Infinite (7F80 0000) 32 bit short real

9 Lower compare value3) –Infinite (FF80 0000) 32 bit short real

10 Upper limit3) +Infinite (7F80 0000) 32 bit short real

11 Lower limit3) –Infinite (FF80 0000) 32 bit short real

12 Conversion factor3) 1 (3F80 0000) 32 bit short real

1) The value in the counter object is used as the output value for counting, measuring and position/speed determination.

2) Only for operating modes for counting, measuring and position determination

3) Only for measure velocity operating modes

Tab. 4.2

The “Diagnostics object error” parameter defines whether a diagnostic message should be output on

detection of object errors.



F no.1)

4828

+ 64 × m

Bit

7 6 5 4 3 2 1 0

No diagnostics on object error Inactive (Presetting) + 53 0

Diagnostics on object error Active 1


Tab. 4.3



Configuring objects

Object configuration takes place using the process data (PDO) by inputting a value and the address of

the object, to which the value should be written.

Direct writing into the objects is only possible with the CPX-FMT, as it executes the process described

below automatically.

Process

1. Write the value for the object to be configured

to the appropriate area of the PDO:

– byte 0 … 3 for objects of channel 0

– byte 4 … 7 for objects of channel 1

2. Write the address of the object to be con-

figured to the appropriate area of the PDO:

– byte 9 for objects of channel 0

– byte 11 for objects of channel 1

– The value is written to the object to be con-

figured.

– The “State load function” bit in the PDI

changes from “0” to “1”.

3. Set the address in byte 9 or byte 11 of the

PDO back to “0”.

– The “State load function” bit in the PDI

changes from “1” to “0”.

PDO

Channel 0: Byte 0 … 3

Channel 1: Byte 4 … 7

Address of target objectValue of target object

PDO

Channel 0: Byte 09

Channel 1: Byte 11

>0

�

�

Value is written to target object

PDI state load function = 1

Channel 0: Byte 8 / bit 5


Set address of target object (PDO) to “0”

PDI state load function = 0



Finished

Fig. 4.1

Note

The contents of the objects is stored in the volatile memory of the counter module and

is lost when the electronics power supply (UEL/SEN) is switched off.

• Ensure that all the process-relevant settings are performed by the controlled on

starting the system.



4.4 Selecting the operating mode

The selection of the operating mode is the basis for all further settings. The individual operating modes

are described in the chapter 5 to 9.

The parameter “Operating mode Ch0” or “Operating mode Ch1” describes the operating mode for each

of the two channels.



F no.1)

4828

+ 64 × m

Bit

7 6 5 4 3 2 1 0

Channel 1 Channel 0

Count infinite Count infinite

(Presetting)

+ 6 0 0 0 0 0 0 0 0

One-off counting; counter set-

ting stops at the count limit

Count once up to count limit 0 0 0 1 0 0 0 1

One-off counting; counter set-

ting jumps to the load value

Count once, back to load value 0 0 1 0 0 0 1 0

Periodic counting Periodic counting 0 0 1 1 0 0 1 1


Tab. 4.4

Operating modes for measurement


F no.1)

4828

+ 64 × m

Bit

7 6 5 4 3 2 1 0

Channel 1 Channel 0

Measure frequency Measure frequency + 6 0 1 0 0 0 1 0 0

Measure rotational speed Measure r.p.m. 0 1 0 1 0 1 0 1

Measure duty cycle Measure duty cycle 0 1 1 0 0 1 1 0


Tab. 4.5



Operating modes for position and speed determination


F no.1)

4828

+ 64 × m

Bit

7 6 5 4 3 2 1 0

Channel 1 Channel 0

Measure/determine position Measure/determine position + 6 0 1 1 1 0 1 1 1

Measure speed Measure velocity 1 0 0 0 1 0 0 0

Measure encoder of speed on

channel 12)Measure speed, channel 1 1 0 0 1

Measure encoder of speed on

channel 03)Measure speed, channel 0 1 0 0 1


2) Only selectable on channel 0


Tab. 4.6



F no.1)

4828

+ 64 × m

Bit

7 6 5 4 3 2 1 0

Channel 1 Channel 0

Impulse output Impulse output + 6 1 0 1 0 1 0 1 0

Pulse-width modulation Pulse-width modulation 1 0 1 1 1 0 1 1

Pulse train Pulse train 1 1 0 0 1 1 0 0

Switch-on/switch-off delay Switch-on/switch-off delay 1 1 0 1 1 1 0 1

Frequency output Frequency output 1 1 1 0 1 1 1 0


Tab. 4.7

The motor operating mode can only be selected on channel 1 and uses the digital outputs

of both channels (� 9 Motor operating mode).

Operating mode for motor activation


F no.1)

4828

+ 64 × m

Bit

7 6 5 4 3 2 1 0

Channel 1 Channel 0

Motor activation Motor operating mode + 6 1 1 1 1


Tab. 4.8

5 Operating modes for counting



This chapter describes the operating modes and functions for the recording and counting of pulses

(CLOCK) and encoder input 1 (� 5.2.4 Properties of the encoder inputs).

The operating modes are available for both channels (channel 0 and channel 1).

5.1 Functional description

The operating modes described in this chapter offer various options for evaluating the recorded pulses.

Four variants of the counter controller (operating modes) are available:

– endless counting (� 5.4)

– count once up to count limit (� 5.5)

– count once to count limit, return to load value (� 5.6)

– periodic counting (� 5.7)

Each of these variants can also be supplemented by the function extensions described in section 5.3.

A 32-bit counter can count forwards and backwards in the range –231 (–2 147 483 648) to

231 –1 (2 147 483 647) (� 5.3.4 Count limits).

5.1.1 Counters

Here, the function, with which the pulses (CLOCK) recorded at encoder input 1 are counted, is termed

“internal counter”. This internal counter is not visible to the user. The value of the internal counter is

transferred either permanently (counter value) or on command (latch value,� 5.3.1 Latching) to the

process data (PDI).

Each channel has its own counter, which is independent of the counter of the other channel.

Counter value in the PDI

Channel Function Minimum1) Maximum1) Byte Type

Channel 0 Counter/latch value –2 147 483 648 2 147 483 647 0 … 3 32 bit

signed integerChannel 1 Counter/latch value –2 147 483 648 2 147 483 647 4 … 7

1) Dependent on the defined count limits (� 5.3.4 Count limits)

Tab. 5.1

The counter can be set to any value at any time using an object. When an operating mode for counting

is started, the load value (� 5.3.5 Load value) is loaded into the counter.

Value Minimum Maximum Presetting Object

Addr. Type

Counter value –2 147 483 648 2 147 483 647 0 1 32 bit

signed integer

Tab. 5.2

Condition

The counter cannot assume any value beyond the defined count limits (� 5.3.4 Count limits).



5.2 Characteristics of displays and inputs/outputs

This section describes the operating mode-specific functions of the connections and displays of the

counter module, as well as the supported encoder types and configuration options of the interfaces.

5.2.1 Overview of displays and inputs/outputs

The operating modes for counting use the following displays and inputs and outputs of the counter

module.

Fig. 5.1 only shows the connections and LED displays for the inputs and outputs. The

complete assignment of the connections is shown in Tab. 5.4.

Channel 0

Encoder input 3 (HW-Gate)

Encoder input 2 (DIR)

Encoder input 1 (CLOCK)

Digital input DI

Digital output DO

Channel 1




Digital input DI

Digital output DO




Digital input DI

Digital output DO




Digital input DI

Digital output DO

Fig. 5.1



Displays

The LED displays represent the logical state of the corresponding physical inputs and outputs

(� Fig. 5.1).

LED Colour Function

Encoder input 1 (CLOCK) Green Lights up on “1” signal at the physical input.

Encoder input 2 (DIR) Green Lights up on “1” signal at the physical input.

Encoder input 3 (HW-Gate) Green Lights up on “1” signal at the physical input.

Digital input DI Green Lights up on “1” signal at the physical input.

Digital output DO Yellow Lights up when the digital output DO is active (logically “1”).

Tab. 5.3

Any parameterised internal inversion of the inputs (� 5.2.4 and 5.2.5) is not taken into

account by the display. The LED displays show the state actually occurring at the physical

input or output.

Electrical interfaces

The following table provides an overview of the assignment of the terminals according to the various

operating modes.

Terminal overview

Terminal,

channel 0

Terminal,

channel 1

Function Description

X1 .0 X5 .0 CLOCK+ Input “+” counting pulses

.1 .1 CLOCK–1) Input “–” counting pulses

.2 .2 DIR+ Input “+” counting direction

.3 .3 DIR–1) Input “–” counting direction

X2 .0 X6 .0 HW-Gate+ Input “+” hardware-gate

.1 .1 HW-Gate–1) Input “–” hardware-gate

.2 .2 5 Volt +5 V encoder power voltage

.3 .3 0 Volt 0 V encoder power voltage

X3 .0 X7 .0 24 Volt +24 V encoder power voltage


.2 .2 24 Volt +24 V encoder power voltage for digital input DI

.3 .3 DI Digital input DI

X4 .0 X8 .0 0 Volt 0 V encoder power voltage for digital input DI

.1 .1 DO Digital output DO

.2 .2 0 Volt DO 0 V reference potential for DO

.3 .3 FE Functional earth

1) Only for connection of an encoder of type 5 V differential, otherwise leave open

Tab. 5.4



5.2.2 Diagnostic displays

The following representation shows the function of the LED displays for the representation of diagnostic

information.

1

2

3

4

5

1 Diagnostics digital output DO channel 0


3 Diagnostics 24 V encoder power


5 Diagnostics module error

Fig. 5.2

Diagnostic LED Colour Function

Digital output DO

(channel 0/1)

red Lights up on diagnostics of an error at the digital output DO

24 V encoder power red Lights up on diagnostics of an error of the 24 V encoder power

5 V encoder power red Lights up on diagnostics of an error of the 5 V encoder power

Module error red Lights up on diagnostics of a module error

Tab. 5.5

Detailed information on the possible causes and remedial measures for diagnostic dis-

plays is described in a separate chapter (� 10 Diagnostics).



5.2.3 Supported encoder types

The following encoder types can be used for the operating modes described in this chapter:


Note

The configuration of the encoder inputs must match the encoders used

(� 5.2.4 Properties of the encoder inputs).

Pulse generator with or without direction level

The pulse generator makes a signal track available with pulses (CLOCK) and, possibly, with an addition-

al direction level (DIR). The direction level can be used to control the counting direction.

Example

Counting pulses (CLOCK)

Direction level (DIR)

Counting direction

tΔ

Fig. 5.3

Note

• Between the edges of the CLOCK and DIR signals, ensure the following minimum

time distance (tΔ):

– Encoder with 5 V differential connection: 200 ns

– Encoder with 5 V single-ended connection: 1 μs


If necessary, an incremental encoder can be used as a pulse generator by using one of the

tracks as a CLOCK signal. In the case, the control of the counting direction must be imple-

mented using a separate encoder.



5.2.4 Properties of the encoder inputs

The properties of the encoder inputs (� Fig. 5.1) can be adjusted using parameters.

Encoder type

The parameter “Encoder type Ch0” or “Encoder type Ch1” defines the type of encoder at the encoder

inputs and their evaluation.

In the operating modes described here, only a pulse generator with or without direction

level can be selected. In configurations with a higher-order controller, the settings

“001” … “101” are interpreted accordingly.

Encoder type and evaluation of the encoder signals


F no.1)

4828

+ 64 × m

Bit

7 6 5 4 3 2 1 0

Channel 1 Channel 0

No evaluation of the en-

coder inputs

Inputs, channel … , blocked + 30 0 0 0 0 0 0

Pulse generator with or

without direction level

Encoder with impulse & direct.

(Presetting)

0 0 1 0 0 1

0 1 0 0 1 0

0 1 1 0 1 1

1 0 0 1 0 0

1 0 1 1 0 1


Tab. 5.6



Physical properties

The parameter “Phys. characteristic input Ch0” or “Phys. characteristic input Ch1” defines which signal

transmission the encoder use, which are connected to the encoder inputs.

Physical properties of the encoder inputs


F no.1)

4828

+ 64 × m

Bit

7 6 5 4 3 2 1 0

Channel 1 Channel 0

Encoder with 24 V single-

ended connection

CLOCK,DIR,HW-Gate 24Vsingle-end

(Presetting)

+ 14 0 0 0 0

Encoder with 5 V differen-

tial connection

A,B,0 5 V-differential 0 1 0 1


ended connection

CLOCK,DIR,HW-Gate 5Vsingle-end 1 0 1 0


Tab. 5.7

Single-ended

Encoders with the the “single-ended” connection type use only one signal line for the signal transmis-

sion of a track.

Differential

Encoders with the the “differential” connection type use two signal lines for the signal transmission of a

track. The advantage of this is the lower likelihood of faults with, simultaneously, a higher switching

frequency.



Input debounce time

The parameter “Debounce time AB0 Ch0” or “Debounce time AB0 Ch1” defines a filter to improve the

signal integrity at the encoder inputs.

Input debounce time of the encoder inputs


F no.1)

4828

+ 64 × m

Bit

7 6 5 4 3 2 1 0

Channel 1 Channel 0

0.1 μs 0.1 us (Presetting) + 8 0 0 0 0 0 0 0 0

0.2 μs 0.2 us 0 0 0 1 0 0 0 1

0.4 μs 0.4 us 0 0 1 0 0 0 1 0

0.8 μs 0.8 us 0 0 1 1 0 0 1 1

1 μs 1 us 0 1 0 0 0 1 0 0

2 μs 2 us 0 1 0 1 0 1 0 1

4 μs 4 us 0 1 1 0 0 1 1 0

8 μs 8 us 0 1 1 1 0 1 1 1

10 μs 10 us 1 0 0 0 1 0 0 0

50 μs 50 us 1 0 0 1 1 0 0 1

100 μs 100 us 1 0 1 0 1 0 1 0

500 μs 500 us 1 0 1 1 1 0 1 1

1 ms 1 ms 1 1 0 0 1 1 0 0

3 ms 3 ms 1 1 0 1 1 1 0 1

10 ms 10 ms 1 1 1 0 1 1 1 0

20 ms 20 ms 1 1 1 1 1 1 1 1


Tab. 5.8

Polarity of the CLOCK signals

The parameter “CLOCK-polarity Ch0” or “CLOCK-polarity Ch1” defines whether the signals (CLOCK)

recorded at encoder input 1 are to be inverted internally.

Inversion of the CLOCK signals at encoder input 1


F no.1)

4828

+ 64 × m

Bit

7 6 5 4 3 2 1 0

Channel 1 Channel 0

Do not invert signals Not inverted (Presetting) + 16 0 0

Invert signals Inverted 1 1


Tab. 5.9



Counting direction DIR

The counting direction (DIR) can be controlled using either the encoder input 2 or the appropriate bit in

the PDO.

– count upwards: The pulses recorded at encoder input 1 are added by the internal counter.

– count downwards: The pulses recorded at encoder input 1 are subtracted by the internal counter.

The control of the counting direction is constructed as follows:


Physical encoder input 2

PARAMETER

“Source DIR Ch...”

Counting direction

PARAMETER

“Debounce time AB0 Ch...”

PARAMETER

“Function DIR Ch...”

SW-DIR

PDO



Counting direction

PDI



Encoder input 2

PDI



Fig. 5.4

In the appropriate configuration of the parameter “Source DIR Ch…”, the control bit “SW-DIR” can be

used to control the counting direction.

Controlling the counting direction via PDO

Channel Function Address Bit

7 6 5 4 3 2 1 0

Channel 0 Signal “0” Byte 08 0

Signal “1” 1


Signal “1” 1

Tab. 5.10



The parameter “Source DIR Ch0” or “Source DIR Ch1” defines whether the physical input or the appro-

priate bit in the PDO is evaluated as the signal source.

Signal source for counting direction DIR


F no.1)

4828

+ 64 × m

Bit

7 6 5 4 3 2 1 0

Channel 1 Channel 0

Evaluate phys. input Digital input DIR (Presetting) + 14 0 0

Evaluate PDO Control bit DIR 1 1


Tab. 5.11

The parameter “Function DIR Ch0” or “Function DIR Ch1” defines which count direction is active in

which state of the encoder input 2 or the bit in the PDO.

Controlling the counting direction


F no.1)

4828

+ 64 × m

Bit

7 6 5 4 3 2 1 0

Channel 1 Channel 0

Count upwards at “1” Upward counting by high level + 15 0 0 0 0 0 0

Count upwards at “0” Upward counting by low level

(Presetting)

0 0 1 0 0 1

Reverse counting direction

on change “0”} “1”,

start direction upwards.

Dir.change by rising edge up 0 1 0 0 1 0



start direction downwards.

Dir.change by rising edge down 0 1 1 0 1 1



start direction upwards.

Dir.change by falling edge up 1 0 0 1 0 0




Dir.change by falling edge down 1 0 1 1 0 1


Tab. 5.12



The currently used counting direction is shown in the “Count direction” state bit in the process data (PDI).

Counting direction in the PDI


7 6 5 4 3 2 1 0

Channel 0 Downwards Byte 08 0

Upwards 1


Upwards 1

Tab. 5.13

5.2.5 Function and characteristics of DI

Here, “DI” refers to a system within the counter module which can be used, amongst other things, to

control function extensions (� 5.3 Available function extensions).

This system has the following structure:


Physical digital input DI

PARAMETER

“SW-emulation DI Ch...”

Internal state DI

PARAMETER

“Debounce time DI Ch...”

PARAMETER

“Signal extension DI Ch...”

PARAMETER

“Input polarity DI Ch...”

SW-Emulation-DI

PDO



Digital input DI

PDI



Fig. 5.5

Internal state DI

The internal state of DI is of primary importance for the control of function extensions. It can be influ-

enced either directly through the control bit in the PDO or by the digital input DI and its parameters

(� Fig. 5.5).



Physical properties

The physical properties of the digital input DI are set permanently and cannot be

changed. Only Encoders with the 24 V single-ended connections are supported.

Software emulation for DI

The parameter “SW-emulation DI Ch0” or “SW-emulation DI Ch1” defines whether the physical input or

the appropriate bit in the PDO is evaluated as the signal source.

Signal source for DI


F no.1)

4828

+ 64 × m

Bit

7 6 5 4 3 2 1 0

Channel 1 Channel 0

Evaluate phys. input Off (Presetting) + 15 0 0

Evaluate PDO On 1 1


Tab. 5.14

If software emulation is active, the control bit “SW-Emulation-DI” in the PDO can be used to control the

input state of DI directly.

Control bit for software emulation of the digital input DI in the PDO


7 6 5 4 3 2 1 0

Channel 0 Internal state DI = “0” Byte 08 0

Internal state DI = “1” 1



Tab. 5.15



Input debounce time DI

The parameter “Debounce time DI Ch0” or “Debounce time DI Ch1” defines a filter to improve the sig-

nal integrity at the digital input DI.

Input debounce time of the digital input DI


F no.1)

4828

+ 64 × m

Bit

7 6 5 4 3 2 1 0

Channel 1 Channel 0

0.1 μs 0.1 us (Presetting) + 7 0 0 0 0 0 0 0 0

0.2 μs 0.2 us 0 0 0 1 0 0 0 1

0.4 μs 0.4 us 0 0 1 0 0 0 1 0

0.8 μs 0.8 us 0 0 1 1 0 0 1 1

1 μs 1 us 0 1 0 0 0 1 0 0

2 μs 2 us 0 1 0 1 0 1 0 1

4 μs 4 us 0 1 1 0 0 1 1 0

8 μs 8 us 0 1 1 1 0 1 1 1

10 μs 10 us 1 0 0 0 1 0 0 0

50 μs 50 us 1 0 0 1 1 0 0 1

100 μs 100 us 1 0 1 0 1 0 1 0

500 μs 500 us 1 0 1 1 1 0 1 1

1 ms 1 ms 1 1 0 0 1 1 0 0

3 ms 3 ms 1 1 0 1 1 1 0 1

10 ms 10 ms 1 1 1 0 1 1 1 0

20 ms 20 ms 1 1 1 1 1 1 1 1


Tab. 5.16



Signal extension DI

The parameter “Signal extension DI Ch0” or “Signal extension DI Ch1” defines a time for lengthening

the pulse recorded at the digital input.

Signal extension time of the digital input DI

Channel Setting Selection via FMT Selection via parameter

F no.1)

4828

+ 64 × m

Bit

7 6 5 4 3 2 1 0

Channel 0 No signal extension 0 ms (Presetting) + 9 0 0

15 ms 15 ms 0 1

50 ms 50 ms 1 0

100 ms 100 ms 1 1

Channel 1 No signal extension 0 ms (Presetting) 0 0

15 ms 15 ms 0 1

50 ms 50 ms 1 0

100 ms 100 ms 1 1


Tab. 5.17

Polarity DI

The parameter “Input polarity DI Ch0” or “Input polarity DI Ch1” defines whether the signals recorded

at the digital input DI are to be inverted internally.

Inversion of the signals at the digital input DI


F no.1)

4828

+ 64 × m

Bit

7 6 5 4 3 2 1 0

Channel 1 Channel 0




Tab. 5.18



CNT-function

The parameter “CNT-Function input DI Ch0” or “CNT-Function input DI Ch1” defines which function

extension (� 5.3 Available function extensions) can be controlled via DI.

Function extension


F no.1)

4828

+ 64 × m

Bit

7 6 5 4 3 2 1 0

Channel 1 Channel 0

No function Latch function switched off

(Presetting)

+ 17 0 0 0 0 0 0

Latch by rising edge2) Latch by rising edge 0 0 1 0 0 1

Latch by rising and falling

edge

Latch by rising&falling edge 0 1 0 0 1 0

Latch and retrigger by

rising edge2)Latch&retrigger by rising edge 0 1 1 0 1 1


rising and falling edge

Latch&retrigger by rising&fall. 1 0 0 1 0 0

Periodic synchronisation Periodic synchronisation 1 0 1 1 0 1

One-off synchronisation One-time synchronisation 1 1 0 1 1 0


2) Latch by falling edge possible through inversion of DI

Tab. 5.19



5.2.6 Gate-function

The gate-function regulates the approval of the signals recorded at encoder input 1.

Together, the following elements form the gate-function:

– internal gate

– hardware-gate (encoder input 3, can be parameterised)

– software-gate (control bit in the PDO)

– gate stop enable (additional function in the “Count once ...” operating modes)


PARAMETER

“HW-Gate-use Ch...”

Internal gate


PARAMETER


PARAMETER

“HW-Gate-polarity Ch...”

SW-Gate

PDO



Encoder input 3

PDI



= 1

&

Internal gate

PDI



Enable gate stop1)

1) Only in the operating modes “Count once up to count limit” and “Count once, back to load value”

Fig. 5.6

Internal gate

The internal gate is of primary importance for the enabling of the signals at encoder input 1. It is con-

trolled indirectly via the software-gate and, in the corresponding configuration, via the hardware-gate.

The software-gate control bit is primarily responsible for the control of the internal gate.

The hardware-gate van also be used for control via an “AND operation”.

In this case, the internal gate is only open when the hardware and software-gate are

open.



The state bit “Internal gate” in the PDI shows the state of the internal gate.

State of internal gate in the PDI


7 6 5 4 3 2 1 0

Channel 0 Internal gate closed Byte 09 0

Internal gate open 1



Tab. 5.20

Software-gate

The “SW-gate” control bit in the PDO is primarily responsible for the control of the internal gate. If the

software-gate is closed, the internal gate cannot be opened.

Software-gate in the PDO


7 6 5 4 3 2 1 0

Channel 0 Software-gate closed Byte 08 0

Software-gate open 1

Channel 1 Software-gate closed Byte 10 0

Software-gate open 1

Tab. 5.21

Hardware-Gate

The parameter “HW-Gate-use Ch0“ or “HW-Gate-use Ch1” defines whether encoder input 3 should be

used to control the internal gate in addition to the software-gate.

Use of encoder input 3 (HW-Gate) to control the internal gate


F no.1)

4828

+ 64 × m

Bit

7 6 5 4 3 2 1 0

Channel 1 Channel 0

HW-Gate is not used Not used (Presetting) + 16 0 0

HW-Gate is used Used 1 1


Tab. 5.22



The parameter “HW-Gate-Polarity Ch0” or “HW-Gate-Polarity Ch1” defines whether the signals recor-

ded at encoder input 3 should be inverted internally.

Inversion of the signals at encoder input 3 (HW-Gate)


F no.1)

4828

+ 64 × m

Bit

7 6 5 4 3 2 1 0

Channel 1 Channel 0




Tab. 5.23

Enable gate stop

In the operating modes “Count once up to count limit” (� 5.5) and “Count once, back to load value”

(� 5.6), the internal gate is closed automatically when the count limit is reached. To be able to reopen

the internal gate, the bit “Command gate stop enable” in the PDO must briefly be set to “1”.

Process

Starting situation: Count limit reached, internal

gate closed automatically.

1. Set the bit “Command gate stop enable” in the

PDO to “1”.

– The value of the bit “State gate stop en-

able” in the PDI changes from “0” to “1”.

2. Set the bit “Command gate stop enable” in the

PDO to “0”.

– The value of the bit “State gate stop en-

able“ in the PDI changes from “1” to “0”.

Count limit, internal gate = 0

Command set enable gate stop in the PDO to “1”



Finished

PDI state enable gate stop = 1



PDI state enable gate stop = 0



Command set enable gate stop in the PDO to “0”



Fig. 5.7



Command gate stop enable in the PDO


7 6 5 4 3 2 1 0

Channel 0 Command enable gate stop inactive Byte 08 0

Command enable gate stop active 1

Channel 1 Command enable gate stop inactive Byte 10 0

Command enable gate stop active 1

Tab. 5.24

State gate stop enable in the PDI


7 6 5 4 3 2 1 0

Channel 0 Enable gate stop inactive Byte 08 0

Enable gate stop taking place 1

Channel 1 Enable gate stop inactive Byte 10 0

Enable gate stop taking place 1

Tab. 5.25



Gate-function

The behaviour of the counter when the internal gate is closed can be influences by the gate-function.

– cancelling gate function

The counting starts from the beginning

after closing and reopening of the in-

ternal gate (with the load value).

Counter value

Counting direction

Internal gate

(Cancelling)

Pulses (CLOCK)

Load value

Time

Fig. 5.8

– interrupting gate-function

The counting continues at the most

recent current counter value after clos-

ing and reopening of the internal gate.

Counter value

Counting direction

Internal gate

(Interrupting)

Pulses (CLOCK)

Load value

Time

Fig. 5.9



The parameter “Gate-function Ch0” or “Gate-function Ch1” defines whether counting should be can-

celled or interrupted when the internal gate is closed.

Gate-function cancelling/interrupting


F no.1)

4828

+ 64 × m

Bit

7 6 5 4 3 2 1 0

Channel 1 Channel 0

Cancel counting Cancelling + 16 0 0

Interrupt counting Interrupting (Presetting) 1 1


Tab. 5.26

5.2.7 Properties of the digital output DO

The digital output DO can be used and configured in various manners. Various parameters are available

to define the properties of the digital output DO.

Note

This chapter describes the parameterisable properties.

• Always refer to the additional information in the technical data

(� A.1 Technical data) when designing the application.

Control

The digital output can be controlled by three different function areas of the counter module.

– outputs of the comparator unit (� 5.3.8 Comparator)

– comparator output “=”

– comparator output “≤”

– comparator output “≥”

– comparator output “Within”

– comparator output “Beyond”

– comparator output “=” + timer

– pulse unit (� 8 Operating modes for impulse output)

– process data output (� 5.8 Process data (PDI/PDO))







Digital output DO State output DO

PDI



Digital output DO

PDO



Fig. 5.10

The comparator unit and its outputs and their functions are described in a separate sec-

tion (� 5.3.8 Comparator).

The state bit “State output DO” in the PDI represents the state of the digital output DO.

State of digital output DO in the PDI


7 6 5 4 3 2 1 0

Channel 0 Digital output DO inactive Byte 09 0

Digital output DO active 1



Tab. 5.27



The parameter “Function output DO Ch0” or “Function output DO Ch1” defines which function area or

comparator controls the digital output DO.

Control of the digital output DO


F no.1)

4828

+ 64 × m

Bit

7 6 5 4 3 2 1 0

Channel 1 Channel 0

Comparator output... + 19

“=” controls DO Count = lower comp value 0 0 0 0 0 0

“≤” controls DO Count <= lower comp value 0 0 1 0 0 1

“≥” controls DO Count >= lower comp value 0 1 0 0 1 0

“Within” controls DO Count within comp values 0 1 1 0 1 1

“Beyond” controls DO Count outside comp values 1 0 0 1 0 0

“=” + Timer control DO Count = lower comp value + TW... 1 0 1 1 0 1

Pulse unit controls DO2) To pulse unit 0 / To pulse unit 1 1 1 0 1 1 0

Process Data control DO To PDO (Presetting) 1 1 1 1 1 1


2) Only available in the operating modes for impulse output

Tab. 5.28

Control via PDO

In the appropriate configuration, the digital output DO can be controlled via the PDO.

Control of the digital output DO via PDO


7 6 5 4 3 2 1 0





Tab. 5.29



Physical properties

The parameter “Phys. characteristic output Ch0” and “Phys. characteristic output Ch1” defines the

electrical behaviour of the digital output DO.

Electrical behaviour of the digital output DO


F no.1)

4828

+ 64 × m

Bit

7 6 5 4 3 2 1 0

Channel 1 Channel 0

High impedance output

(independent of the PDO)

Output high impedance

(Presetting)

+ 11 0 0 0 0

In the active state (“1”),

output drives 24 Volt.

It has high impedance in

the inactive state (“0”).

P-switch 0 1 0 1

In the active state (“1”),

output has high imped-

ance.

In the inactive state (“0”),

it is connected to the ref-

erence potential (0 Volt).

N-switch 1 0 1 0

Output drives 24 Volt in the

active status (“1”) and is

connected to the reference

potential (0 Volt) in the in-

active status (“0”)2).

Push-pull driver 1 1 1 1


2) Recommended in order to achieve high switching frequencies

Tab. 5.30

Note

Parallel connection of the outputs of channel 0 and channel 1 is not permissible.



Continuous output current

Both the positive and negative continuous output current can be limited. If the defined limits are ex-

ceeded, the electronic fuse will trigger (� 3.2.2 Supply via UOUT).

Maximum positive continuous output current

The parameter “Max pos cont. output curr. Ch0” or “Max pos cont. output curr. Ch1” defines the limit

for the positive continuous output current at the digital output DO.

Maximum positive continuous output current of the digital output DO


F no.1)

4828

+ 64 × m

Bit

7 6 5 4 3 2 1 0

Channel 0 0.5 A 0.5 A + 12 0 0 0 1

1.0 A 1.0 A (Presetting) 0 0 1 0

1.5 A 1.5 A 0 0 1 1

2.0 A 2.0 A 0 1 0 0

2.5 A 2.5 A 0 1 0 1

3.0 A 3.0 A 0 1 1 0

3.5 A 3.5 A 0 1 1 1

4.0 A 4.0 A 1 0 0 0

4.5 A 4.5 A 1 0 0 1

5.0 A 5.0 A 1 0 1 0

Channel 1 0.5 A 0.5 A + 13 0 0 0 1

1.0 A 1.0 A (Presetting) 0 0 1 0

1.5 A 1.5 A 0 0 1 1

2.0 A 2.0 A 0 1 0 0

2.5 A 2.5 A 0 1 0 1

3.0 A 3.0 A 0 1 1 0

3.5 A 3.5 A 0 1 1 1

4.0 A 4.0 A 1 0 0 0

4.5 A 4.5 A 1 0 0 1

5.0 A 5.0 A 1 0 1 0


Tab. 5.31



Maximum negative continuous output current

The parameter “Max neg cont. output curr. Ch0” or “Max neg cont. output curr. Ch1” defines the limit

for the negative continuous output current at the digital output DO.

Maximum negative continuous output current of the digital output DO


F no.1)

4828

+ 64 × m

Bit

7 6 5 4 3 2 1 0

Channel 0 0.5 A 0.5 A + 12 0 0 0 1

1.0 A 1.0 A (Presetting) 0 0 1 0

1.5 A 1.5 A 0 0 1 1

2.0 A 2.0 A 0 1 0 0

2.5 A 2.5 A 0 1 0 1

3.0 A 3.0 A 0 1 1 0

3.5 A 3.5 A 0 1 1 1

4.0 A 4.0 A 1 0 0 0

4.5 A 4.5 A 1 0 0 1

5.0 A 5.0 A 1 0 1 0

Channel 1 0.5 A 0.5 A + 13 0 0 0 1

1.0 A 1.0 A (Presetting) 0 0 1 0

1.5 A 1.5 A 0 0 1 1

2.0 A 2.0 A 0 1 0 0

2.5 A 2.5 A 0 1 0 1

3.0 A 3.0 A 0 1 1 0

3.5 A 3.5 A 0 1 1 1

4.0 A 4.0 A 1 0 0 0

4.5 A 4.5 A 1 0 0 1

5.0 A 5.0 A 1 0 1 0


Tab. 5.32

A negative continuous output current occurs on channel 1, for example, in the following

case:

– Digital output on channel 0 is P-switch and active (drives 24 Volt).

– Digital output on channel 1 is N-switch and inactive (drives 0 Volt).

– A consuming device is connected between the two digital outputs.

The current which flows is measured on channel 0 as a positive output current and on

channel 1 as a negative output current.



Behaviour after short circuit/overload

The digital output DO is protected against short circuit and overload. If the defined limits are exceeded,

the electronic fuse will trigger (� 3.2.2 Supply via UOUT).

The parameter “Behaviour output Ch0” or “Behaviour output Ch1” defines whether the output remains

switched off after the fuse triggers or whether it becomes active again automatically after the error has

been eliminated.

Behaviour of the digital output DO after short circuit/overload


F no.1)

4828

+ 64 × m

Bit

7 6 5 4 3 2 1 0

Channel 1 Channel 0



switched off.


the error through

– Switch-off/switch-on

of the electronics

supply2)

– Changing the paramet-

erisation to “Resume”

Leave switched off

(Presetting)

+ 11 0 0






pending.



matically.

Resume 1 1


2) The switch-off/switch-on of the load voltage (UOUT) in the case of a parameterised self-latching loop does not lead to a restart.

Tab. 5.33



Diagnostics for short circuit / overload


the electronic fuse will trigger (� 3.2.2 Supply via UOUT).

The parameter “Monitor output Ch0” or “Monitor output Ch1” defines whether the diagnostic message

produced when the electronic fuse triggers is displayed via display LED and CPX diagnostics.

Diagnostic message in the case of short circuit/overload at the digital output DO


F no.1)

4828

+ 64 × m

Bit

7 6 5 4 3 2 1 0

Channel 1 Channel 0

Diagnostics are not

displayed

Inactive + 11 0 0

Diagnostics are displayed Active (default) 1 1


Tab. 5.34



5.3 Available function extensions

In addition to simple evaluation of the recorded pulses, it is possible to extend the applications using

the function extensions described here.

The function extensions “Latching”, “Latch and Retrigger” as well as “Synchronisation”

are options which can be assigned to the digital input DI. For this reason, they cannot be

used in parallel.

5.3.1 Latching

The function extension “Latching” transfers the current reading of the internal counter to the process

data (PDI) (� 5.1.1 Counters). It can be configured as a function of DI using the parameter “CNT-Func-

tion input DI Ch0” or “CNT-Function input DI Ch1” (� 5.2.5 Function and characteristics of DI).

Depending on the selected configuration, the current counter reading of the internal counter is trans-

ferred to the process data (PDI) at the positive and/or negative edge of DI.

Latch by rising edge

Fig. 5.11 illustrates the function using the example of the “Count infinite” operating mode.

Internal state DI

Counting direction

Internal gate

(Interrupting)

Pulses (CLOCK)

Internal counter

Latch value in the PDI

Time

Time

Upper count limit

Lower count limit

Fig. 5.11

The “Latch on falling edge” function can be implemented by inverting DI

(� 5.2.5 Function and characteristics of DI).



Latch by rising and falling edge


Internal state DI

Counting direction

Internal gate

(Interrupting)

Pulses (CLOCK)

Internal counter


Time

Time

Upper count limit

Lower count limit

Fig. 5.12



5.3.2 Latch and retrigger

The function extension “Latch and retrigger” transfers the current reading of the internal counter to the

process data (PDI) (� 5.1.1 Counters) and then resets the internal counter to the load value. It can be

configured as a function of DI using the parameter “CNT-Function input DI Ch0” or “CNT-Function input

DI Ch1” (� 5.2.5 Function and characteristics of DI).

Depending on the selected configuration, the current counter reading of the internal counter is trans-

ferred to the process data (PDI) at the positive and/or negative edge of DI and the counter is reset to

the load value.

Latch and retrigger on rising edge


Internal state DI

Counting direction

Internal gate

(Interrupting)

Pulses (CLOCK)

Time

Time

Internal counter


Load value

Load value

Upper count limit

Lower count limit

Fig. 5.13

The “Latch and retrigger on falling edge” function can be implemented by inverting DI




Latch and retrigger by rising and falling edge


Internal state DI

Counting direction

Internal gate

(Interrupting)

Pulses (CLOCK)

Internal counter


Time

Time

Load value

Load value

Upper count limit

Lower count limit

Fig. 5.14



5.3.3 Synchronisation

When this function extension is applied, the value of the internal counter is continuously transferred to

the process data (PDI). This means that the current reading of the internal counter and the counter

value in the PDI are also identical.

The function extension “Synchronisation” resets the internal counter to the load value. It can be con-

figured as a function of DI using the parameter “CNT-Function input DI Ch0” or “CNT-Function input DI

Ch1” (� 5.2.5 Function and characteristics of DI).

Depending on the selected configuration, the internal counter is reset to the load value at the positive

and/or negative edge of DI.

Enable synchronisation

Synchronisation has its own enable function. Synchronisation can only be performed if enable is active.

The control bit “Command sync enable” in the PDO defines the state of the enable.

Command sync enable in the PDO


7 6 5 4 3 2 1 0

Channel 0 Command sync enable inactive Byte 08 0

Command sync enable active 1

Channel 1 Command sync enable inactive Byte 10 0

Command sync enable active 1

Tab. 5.35

The current state of the synchronisation enable is shown in the state bit “State sync enable” in the PDI.

State sync enable in the PDI


7 6 5 4 3 2 1 0

Channel 0 Sync enable inactive Byte 08 0

Sync enable taking place 1

Channel 1 Sync enable inactive Byte 10 0

Sync enable taking place 1

Tab. 5.36

The enable is deactivated as follows, according to the type of synchronisation (periodic/one-off ):

– In the case of periodic synchronisation by setting the control bit “Command sync enable” in the

PDO to “0”.

– In the case of one-off synchronisation automatically by executing the synchronisation. Before a

further synchronisation, the enable must be reactivated by setting the control bit “Command sync

enable” to “0” and then back to “1”.



Periodic synchronisation


Internal state DI

Counting direction

Internal gate

(Interrupting)

Pulses (CLOCK)

Time

Counter value

Load value

Command sync

enable

Upper count limit

Lower count limit

Fig. 5.15

One-off synchronisation


Digital input DI

Counting direction

Internal gate

(Interrupting)

Pulses (CLOCK)

Time

Counter value

Load value

Command sync

enable

Upper count limit

Lower count limit

Fig. 5.16



5.3.4 Count limits

The count limits specify the minimum and maximum for the internal counter and can be parameterised

within the described value range. The values of the count limits are saved in objects (� 4.3.3 Objects).

The behaviour on reaching the count limits is dependent on the operating mode.

Value range


Addr. Type

Upper count limit –2 147 483 647 2 147 483 647 2 147 483 647 2 32 bit

signed integer

Lower count limit –2 147 483 648 2 147 483 646 –2 147 483 648 3 32 Bit

signed integer

Tab. 5.37

Condition

The following must apply to the count limits: Lower count limit is smaller than the upper count limit

(LCL < UCL).

5.3.5 Load value

The load value is a value that can be parameterised within the count limits. It is used as a starting and

revert value, according to the selected configuration. The load value is set in the PDO.

Load value in PDO

Channel Function Minimum Maximum Presetting Address

Channel 0 Load value –2 147 483 647 2 147 483 646 0 Byte 0…3


Tab. 5.38

Condition

The following must apply to the load value: Lower count limit is smaller than the load value, load value

is smaller than the upper count limit (LCL < Load value < UCL).

The hysteresis does not affect the load value.



5.3.6 Hysteresis

The limit values and compare values can be extended into ranges using the hysteresis.

Should the encoder be “oscillating” when at rest and the internal counter thus be fluctuating, this helps

to prevent the configured reaction (e.g. activation of the digital output DO via a comparator output)

being switched on and off by the rhythm of these fluctuations.

Mode of operation

A value is specified for the hysteresis (� Value range). The limit and compare values are supplemented

symmetrically by half of the hysteresis value.

Upper value

Upper value + ½ hysteresis

Time

Upper value – ½ hysteresis

Lower value

Lower value + ½ hysteresis

Lower value – ½ hysteresis

Fig. 5.17

Example of limit monitoring for the upper limit– start value: 0

– upper limit: 15

– hysteresis: 10

Counting direction forwards

The diagnostic message of the limit monitoring becomes active when the internal counter reaches 21 or

exceeds 20 (ULV + ½ hysteresis).

Counting direction backwards

The diagnostic message of the limit monitoring becomes inactive when the internal counter reaches 10

(ULV –½ hysteresis).

Upper limit (15)

Upper limit

+ ½ hysteresis (20)

Time

Upper limit

– ½ hysteresis (10)

Start value (0)

Diagnostics

Limit monitoring

Fig. 5.18



Example of limit monitoring for the lower limit

– start value: 0

– lower limit : –15

– hysteresis: 10


The diagnostic message of the limit monitoring becomes active when the counter reaches –21 or goes

below –20 (LLV –½ hysteresis).


The diagnostic message of the limit monitoring becomes inactive when the counter reaches –10

(LLV + ½ hysteresis).

Lower limit (–15)

Lower limit

+ ½ hysteresis (–10)

Time

Lower limit

- ½ hysteresis (–20)

Start value (0)

Diagnostics

Limit monitoring

Fig. 5.19

Odd hysteresis value

Only even values should be used for the hysteresis value. Behaviour in the case of odd

hysteresis values is not defined.



Value range

The parameter “Hysteresis Ch0” or “Hysteresis Ch1” defines the hysteresis value for channel 0 or chan-

nel 1. Values from 0 … 255 are possible. Hysteresis is deactivated on “0”.

Hysteresis


F no.1)

4828

+ 64 × m

Bit

7 6 5 4 3 2 1 0

Channel 0 Hysteresis value Hysteresis Ch0 (0 … 255)

Presetting: 0

+ 22 01

01

01

01

01

01

01

01


Presetting: 0

+ 23 01

01

01

01

01

01

01

01


Tab. 5.39

Condition

The following must apply to the hysteresis value: The hysteresis value must be smaller than the differ-

ence between the limit or comparison values.

Example

– upper limit: 450

– lower limit : 300

– maximum hysteresis value: 149




Defined limit values can be used for monitoring the internal counter and to trigger a diagnostic message

if these limit values are violated.

Any configured hysteresis is taken into account for limit monitoring.

Mode of operation

The limit monitoring is activated on exceeding or falling below the limits and, with appropriate configur-

ation, outputs a diagnostic message (� 10 Diagnostics).

Lower limit (–10)

Start value (0)

Upper limit (10)

Diagnostic message

Limit monitoring

Time

Fig. 5.20

In the case of an additionally configured hysteresis, the triggering of the diagnostic message is shifted

appropriately (� 5.3.6 Hysteresis).

Lower limit (–10)

Start value (0)

Upper limit (10)

Diagnostic message

Limit monitoring

Time

Fig. 5.21



Configuration

The parameter “Monitor limit monitoring Ch0” or “Monitor limit monitoring Ch1” defines whether a

diagnostic message should be output when the configured limit values are violated.

Diagnostic message for limit monitoring


F no.1)

4828

+ 64 × m

Bit

7 6 5 4 3 2 1 0

Channel 0 No diagnostic

message

Inactive + 53 0

Diagnostic

message active

Active (default) 1


message

Inactive 0

Diagnostic

message active

Active (default) 1


Tab. 5.40

The limit values can be parameterised within the described value range and are saved in objects

(� 4.3.3 Objects).

Value range


Addr. Type

Upper limit –2 147 483 647 2 147 483 647 2 147 483 647 6 32 bit

signed integer

Lower limit –2 147 483 648 2 147 483 646 –2 147 483 648 7 32 bit

signed integer

Tab. 5.41

Condition

The following must apply to the limit values: Lower limit smaller than upper limit (LLV < ULV).



5.3.8 Comparator

The counter module possess an independent comparator unit for each channel. This permanently com-

pares the value of the internal counter (� 5.1.1 Counters) of channel 0 or 1 (can be parametrised) with

definable compare values.

Any configured hysteresis extends the compare values by the defined range (� 5.3.6 Hysteresis).

Schematic representation, comparator unit and digital output DOInternal counter

channel 0

Lower compare value

(LCV)

Internal counter

channel 1

Upper compare value

(UCV)

Hysteresis

PARAMETER

Timer value ...

Pulse unit

PDO

(Channel 0: Byte 8, bit 7)


PARAMETER

Function output DO Ch...

PARAMETER

Select comparator Ch... to counter

Comparator unit

Channel 0 / Channel 1

Counter = LCV

Counter ≤ LCV

Counter ≥ LCV

Counter within

(≤ UCV & ≥ LCV)

Counter beyond

(> UCV | < LCV)

Counter

= LCVTimer

Bit 0

Bit 1

Bit 2

Bit 3

Bit 4

Bit 5

Bit 6

PDI

(Channel 0: Byte 9)

(Channel 1: Byte 11)

Digital output DO

Fig. 5.22

Inputs of the comparator unit

The following input values form the basis for the comparison process:

– counter value (internal counter, channel 0 or channel 1, selection via parameters)

– lower compare value

– upper compare value

– timer value

– hysteresis value

Outputs of the comparator unit

The comparator unit makes the following state information available at six outputs.

– = LCV: Output is “1” when counter value is equal to lower compare value.

– ≤= LCV: Output is “1” when counter value is smaller than or equal to lower compare value.

– ≥= LCV: Output is “1” when counter value is greater than or equal to lower compare value.

– Within: Output is “1” when counter value is within lower and upper compare value (≥ LCV & ≤ UCV).

– Beyond: Output is “1” when counter value is beyond lower and upper compare value

(< LCV | > UCV).

– = LCV + Timer: Output is “1” as soon as counter value is equal to lower compare value. The set timer

time elapses from this moment on. During this time, the output remains “1”.



Comparator outputs in the PDI

The state of all the comparator outputs is shown in the PDI.

State of comparator outputs in the PDI


7 6 5 4 3 2 1 0

Channel 0 = LCV Byte 09 01

≤ LCV 01

≥ LCV 01

Within 01

Beyond 01

= LCV + Timer 01


≤ LCV 01

≥ LCV 01

Within 01

Beyond 01

= LCV + Timer 01

Tab. 5.42

Assignment of counters to comparators

The parameter “Select comparator Ch0 to counter” or “Select comparator Ch1 to counter” defines

which counter the corresponding comparator evaluates.

Counter assignment to comparator units


F no.1)

4828

+ 64 × m

Bit

7 6 5 4 3 2 1 0

Channel 1 Channel 0

Comparator channel 0 evalu-

ates counter of channel 0

To counter 0

(Presetting)

+ 19 0



To counter 1 1



To counter 0 0



To counter 1

(Presetting)

1


Tab. 5.43



Compare values

Two compare values can be defined for each comparator unit:



The compare values can be parameterised within the described value range and are saved in objects

(� 4.3.3 Objects).

Value range


Addr. Type

Upper compare

value

–2 147 483 647 2 147 483 647 2 147 483 647 4 32 bit

signed integer

Lower compare

value

–2 147 483 648 2 147 483 646 –2 147 483 648 5 32 bit

signed integer

Tab. 5.44

Condition

The following must apply to the compare values: Lower compare value smaller than upper compare

value (LCV < UCV).

Timer

The timer function can be used to extend the “1” signal of the comparator output “= LCV” by a config-

urable time value. The extended signal is pending at the output “= LCV + Timer”.

Value range

The parameter “Timer value 0” or “Timer value 1” defines the time by which the “1” signal at the com-

parator output “= LCV” is extended and output at the output “= LCV + Timer”.

With a timer value ”0”, the timer function is deactivated and the comparator output

“= LCV + Timer” permanently has the state “0”, even if the counter value is equal to the

LCV.

Timer value


F no.1)

4828

+ 64 × m

Bit

7 6 5 4 3 2 1 0

Channel 0 Timer value Timer 0 (0 … 255 × 2 ms)

Presetting: 0

+ 20 01

01

01

01

01

01

01

01


Presetting: 0

+ 21 01

01

01

01

01

01

01

01


Tab. 5.45



Function example

LCV (–10)

0

UCV (10)

= LCV

Within

(≤ UCV & ≥ LCV)

Time

Timer

≤ LCV

≥ LCV

Timer

Beyond

(> UCV | < LCV)

= LCV (+ Timer)

Fig. 5.23



Function example with hysteresis

LCV (–10)

0

UCV (10)

= LCV

Within

(≤ UCV & ≥ LCV)

Time

Timer

≤ LCV

≥ LCV

Timer

Beyond

(> UCV | < LCV)

= LCV (+ Timer)

Lower compare value

- ½ hysteresis (–15)

Lower compare value


Upper compare value


Upper compare value


Fig. 5.24



5.4 Count infinite

5.4.1 Functional description

In the “Count infinite” operating mode, pulses recorded at encoder input 1 (CLOCK) after the opening of

the internal gate are added to the current counter reading (upward count direction) or subtracted from

it (downward count direction), until one of the count limits is reached. When a count limit is reached

and a further pulse is recorded, then the counter with jump to the opposite count limit without pulse

loss and will continue counting from there.

Counting direction

Pulses (CLOCK)

Internal gate

Time

Counter value

Fig. 5.25

5.4.2 Configuration options

All the functions and function extensions described in this chapter 5 can be combined with the “Count

infinite” operating mode.



5.5 Count once up to count limit


In the “Count once up to count limit” operating mode, pulses recorded at encoder input 1 (CLOCK) after

the opening of the internal gate are added to the current counter reading (upward count direction) or

subtracted from it (downward count direction), until one of the count limits is reached. The internal

gate is closed and blocked automatically when a count limit is reached. The counter value stops at the

count limit.

After automatic closing of the internal gate on reaching a count limit, the gate must first be enabled

before it can be reopened. To do this, the “Command gate stop enable” bit in the PDO must briefly be

set to “1” (� 5.2.6 Gate-function).

Opening the internal gate after the enable resets the counter to the load value, even if the gate-function

is configured as “interrupting”.

Command gate stop enable

Counting direction

Internal gate

Pulses (CLOCK)

Counter value

Lower count limit

Time

Load value

Upper count limit

Fig. 5.26



once up to count limit” operating mode.



5.6 Count once to count limit, return to load value


In the “Count once up to count limit, return to load value” operating mode, pulses recorded at encoder

input 1 (CLOCK) after the opening of the internal gate are added to the current counter reading (upward

count direction) or subtracted from it (downward count direction), until one of the count limits is

reached. The internal gate is closed and blocked automatically when a count limit is reached. The

counter value is immediately reset to the load value.

After automatic closing of the internal gate on reaching a count limit, the gate must first be enabled

before it can be reopened. To do this, the “Command gate stop enable” bit in the PDO must briefly be

set to “1” (� 5.2.6 Gate-function).

Command gate stop enable

Counting direction

Internal gate

Pulses (CLOCK)

Counter value

Lower count limit

Time

Load value

Upper count limit

Fig. 5.27



once up to count limit, return to load value” operating mode.



5.7 Periodic counting


In the “Periodic counting” operating mode, pulses recorded at encoder input 1 (CLOCK) after the open-

ing of the internal gate are added to the current counter reading (upward count direction) or subtracted

from it (downward count direction), until one of the count limits is reached. Once the counter reaches a

count limit, it jumps to the load value and counts on from there.

Counting direction

Internal gate

Pulses (CLOCK)

Counter value

Lower count limit

Time

Load value

Upper count limit

Fig. 5.28


All the functions and function extensions described in this chapter 5 can be combined with the “Period-

ic counting” operating mode.



5.8 Process data (PDI/PDO)



7 6 5 4 3 2 1 0

Channel 0 Count or stored latch value when using the latching

function

Byte 0 … 3 01

01

01

01

01

01

01

01

Channel 1 Count or stored latch value when using the latching

function

Byte 4 … 7 01

01

01

01

01

01

01

01

Channel 0 Signal1) at Encoder input 1 (CLOCK) Byte 8 01

Encoder input 2 (DIR) 01

Encoder input 3 (HW-Gate) 01

Digital input DI 01

State counting direction (1=upwards, 0=downwards) 01

State load function 01

State gate stop enable 01

State sync enable 01

Channel 0 Comparator output = LCV Byte 9 01

≤ LCV 01

≥ LCV 01

Within 01

Beyond 01

= LCV + Timer 01

State of digital output DO 01

State of internal gate 01

Channel 1 Signal1) at encoder input 1 (CLOCK) Byte 10 01

Encoder input 2 (DIR) 01


Digital input DI 01



State gate stop enable 01

State sync enable 01


≤ LCV 01

≥ LCV 01

Within 01

Beyond 01

= LCV + Timer 01



1) Parameters of the inputs (e. g. inversion of an input signal) are taken into account.

Tab. 5.46





7 6 5 4 3 2 1 0

Channel 0 Load value Byte 0 … 3 01

01

01

01

01

01

01

01


01

01

01

01

01

01

01

Channel 0 Control bit Software-gate (SW-gate) Byte 8 01

Software emulation DI

(SW-Emulation-DI)

01

Counting direction (SW-DIR) 01

Not used X

Not used X

Command sync enable 01

Command gate stop enable 01

Control bit Digital output DO 01

Channel 0 Object address Byte 9 01

01

01

01

01

01

01

01


Software emulation DI

(SW-Emulation-DI)

01


Not used X

Not used X

Command sync enable 01

Command gate stop enable 01



01

01

01

01

01

01

01

Tab. 5.47

6 Operating modes for measurment



This chapter describes the operating modes and functions for detecting and measuring pulses (CLOCK)

at the encoder input 1 (� 6.2.4 Properties of the encoder inputs).



The operating modes described in this chapter offer various opportunities to evaluate the detected

pulses. The following measured values can be determined:

– measure frequency (� 6.4)

– measure r.p.m.(� 6.5)

– measure duty cycle (� 6.6)

Each of these variants can also be supplemented by the function expansions described in section 6.3.

The measuring range and resolution are dependent on the encoder used

(� 6.2.3 Supported encoder types).

6.1.1 Measured value

To determine the measured value, the pulses are counted within the configured integration time.

This function is designated here as “internal counter” and is not visible for the user. The determined

value is transferred permanently (measured value) or on command (latch value,� 6.3.1 Latching) into

the process data (PDI).

Each channel has its own counter, which is independent of the other channel.

The measured value can only be a positive value from 0 … 2 147 483 647.

Measured value in the PDI

Channel Function Minimum Maximum1) Byte Type

Channel 0 Measured value/

latch value

0 2 147 483 647 0 … 3 32 bit

signed integer

Channel 1 Measured value/

latch value

0 2 147 483 647 4 … 7

1) Theoretical maximum, dependent on the operating mode and encoder used, see Tab. 6.2

Tab. 6.1

The unit and maximummeasured value are dependent on the selected operating mode and the encoder

used:

Operating mode Unit of the measured value Maximummeasured value

Encoder connection

Differential Single-ended

Measure frequency Counter value × 0.001 Hz 1 000 000 Hz 100 000 Hz

Rotational measure velocity Counter value × 0.001 r.p.m. 100 000 r.p.m.1) 10 000 r.p.m.1)

Measure duty cycle Counter value × 0.000 001 s (1 μs) 1 000 s 1 000 s

1) With 600 pulses/encoder rotation

Tab. 6.2



Up to the end of the initial integration time after opening of the internal gate, the meas-

ured value is “–1”. If no pulses are detected within an integration time, this has two con-

sequences:

– A diagnostic message is output: 62 – Overflow in time measurement.

As long as this diagnostic message is active, “–1” is output as measured value.

Integration time

The integration time serves as a basis for determination of the measured value. In addition, it has the

same meaning as update speed of the measured value.

The parameter “Integration time Ch0” or “Integration time Ch1” defines the duration of the individual

measurement cycles.

Integration time


F.-No.1)

4828

+ 64 × m

Bit

7 6 5 4 3 2 1 0

Channel 1 Channel 0

0.1 ms 0.0001 s (Presetting) + 24 0 0 0 0 0 0

1 ms 0.001 s 0 0 1 0 0 1

10 ms 0.01 s 0 1 0 0 1 0

100 ms 0.1 s 0 1 1 0 1 1

1 s 1 s 1 0 0 1 0 0

10 s 10 s 1 0 1 1 0 1

60 s 60 s 1 1 0 1 1 0

1 h 3600 s 1 1 1 1 1 1


Tab. 6.3

The parameter “Monitor integration time Ch0” or “Monitor integration time Ch1” defines whether a

diagnostic message is output in case of error within the integration time (no detected pulses)

(� 10 Diagnostics).

Diagnostic message for integration time errors


F.-No.1)

4828

+ 64 × m

Bit

7 6 5 4 3 2 1 0

Channel 1 Channel 0

No diagnostic message Inactive + 24 0 0

Diagnostic message active Active (default) 1 1


Tab. 6.4



Mean value calculation

In order to smooth the output of fluctuating measured values, a mean value can be calculated for a

definable number of measurements and output as the current measured value.

The parameter “Average number of measurem. Ch0” or “Average number of measurem. Ch1” defines

the number of measurements from which the average is calculated.



F.-No.1)

4828

+ 64 × m

Bit

7 6 5 4 3 2 1 0

Channel 1 Channel 0

No mean value calcula-

tion

no (Presetting) + 29 0 0 0 0 0 0 0 0

2 measurements 2 values 0 0 0 1 0 0 0 1















1) Function number (� CPX description); m = module number (counting from left to right, starting with 0)

Tab. 6.5




This section describes the operating mode-specific functions of the connections and displays of the

counter module, as well as the supported encoder types and configuration options of the interfaces.


The operating modes for measuring use the following displays as well as inputs and outputs of the

counter module.

In Fig. 6.1, only the connections and LED indicators for the inputs and outputs are marked.

The complete allocation of the connections is depicted in Tab. 6.7.

Channel 0



Digital input DI

Digital output DO

Channel 1



Digital input DI

Digital output DO

Encoder input 2 (unassigned)


Digital input DI

Digital output DO



Digital input DI

Digital output DO

Encoder input 2 (unassigned) Encoder input 2 (unassigned)

Encoder input 3 (HW-Gate) Encoder input 3 (HW-Gate)

Fig. 6.1



Displays

The LED displays present the logical state of the corresponding physical inputs and outputs

(� Fig. 6.1).

LED Colour Function

Encoder input 1 (CLOCK) Green Lights up “1” signal at the physical input.

Encoder input 2 (unassigned) Green Lights up “1” signal at the physical input.

Encoder input 3 (HW-Gate) Green Lights up “1” signal at the physical input.

Digital input DI Green Lights up “1” signal at the physical input.

Digital output DO Yellow Lights up when digital output DO is active (logical “1”).

Tab. 6.6

A possible parameterised internal inversion of the inputs (� 6.2.4 and 6.2.5) is not taken

into account in the display. The LED indicators show the state actually present on the

physical input or output.


The following table shows the operating-mode-specific assignment of the terminals.

Overview of terminals

Terminal

channel 0

Terminal

channel 1




.2 .2 Unassigned+ Input “+” freely usable

.3 .3 Unassigned–1) Input “–” freely usable

X2 .0 X6 .0 HW Gate+ Input “+” hardware gate

.1 .1 HW gate–1) Input “–” hardware gate








.1 .1 DO Output DO



1) Only for connection of an encoder of type 5 V differential

Tab. 6.7




The following representation shows the function of the LED indicators for representation of diagnostic

information.

1

2

3

4

5






Fig. 6.2


Digital output DO

(channel 0/1)

red Illuminates if a fault is diagnosed at the digital output DO

encoder power 24 V red Illuminates if a fault is diagnosed in the 24 V encoder power


Module error red Illuminates if a module error is diagnosed

Tab. 6.8





6.2.3 Supported encoder types



Note

Configuration of the encoder inputs must agree with the encoders used


Pulse generator with or without direction level

The pulse generator makes available a signal track with pulses (CLOCK) and possibly also a direction

signal (DIR).

The direction level has no effect on the measurement result but can be evaluated by the higher-order

controller, if needed.

Example


Direction signal (DIR)

Direction

tΔ

Fig. 6.3

Note

• Ensure the following minimum time difference (tΔ) between edges of the signals

CLOCK and DIR:




If required, an incremental encoder can also be used as a pulse generator by using one of

the tracks as a CLOCK signal.




The characteristics of the encoder inputs (� Fig. 6.1) can be adjusted with parameters.

Encoder type

The parameter “Encoder type Ch0” or “Encoder type Ch1” defines the type of encoder on the encoder


For the operating modes described here, only one pulse generator, with or without direc-

tion level, can be selected as encoder type. In case of configuration with a higher-order

controller, the settings “001” … “101” are interpreted correspondingly.



F.-No.1)

4828

+ 64 × m

Bit

7 6 5 4 3 2 1 0

Channel 1 Channel 0


coder inputs

Inputs channel ... blocked + 30 0 0 0 0 0 0




(Presetting)

0 0 1 0 0 1

0 1 0 0 1 0

0 1 1 0 1 1

1 0 0 1 0 0

1 0 1 1 0 1


Tab. 6.9



Physical properties


transmission the encoders use that are connected to the encoder inputs.



F.-No.1)

4828

+ 64 × m

Bit

7 6 5 4 3 2 1 0

Channel 1 Channel 0


ended connection


(Presetting)

+ 14 0 0 0 0

Encoder with 5 V differen-

tial connection



ended connection

CLOCK,DIR,HW-Gate 5 Vsingle-end 1 0 1 0


Tab. 6.10

Single-ended


sion of a track.

Differential

Encoders with the “differential” connection type use two signal lines for signal transmission of a track.

The advantage of this is the lower likelihood of faults with, simultaneously, a higher switching fre-

quency.



Input debounce time

The parameter “Debounce time AB0 Ch0” or “Debounce time AB0 Ch1” defines a filter for improvement

of the signal integrity on the encoder inputs.



F-No.1)

4828

+ 64 × m

Bit

7 6 5 4 3 2 1 0

Channel 1 Channel 0

0.1 μs 0.1 us (Presetting) + 8 0 0 0 0 0 0 0 0

0.2 μs 0.2 us 0 0 0 1 0 0 0 1

0.4 μs 0.4 us 0 0 1 0 0 0 1 0

0.8 μs 0.8 us 0 0 1 1 0 0 1 1

1 μs 1 us 0 1 0 0 0 1 0 0

2 μs 2 us 0 1 0 1 0 1 0 1

4 μs 4 us 0 1 1 0 0 1 1 0

8 μs 8 us 0 1 1 1 0 1 1 1

10 μs 10 us 1 0 0 0 1 0 0 0

50 μs 50 us 1 0 0 1 1 0 0 1

100 μs 100 us 1 0 1 0 1 0 1 0

500 μs 500 us 1 0 1 1 1 0 1 1

1 ms 1 ms 1 1 0 0 1 1 0 0

3 ms 3 ms 1 1 0 1 1 1 0 1

10 ms 10 ms 1 1 1 0 1 1 1 0

20 ms 20 ms 1 1 1 1 1 1 1 1


Tab. 6.11


The parameter “CLOCK-polarity Ch0” or “CLOCK-polarity Ch1” defines whether the signals recorded at

the encoder input 1 (CLOCK) should be internally inverted.

Inversion of the CLOCK signals at the encoder input 1


F.-No.1)

4828

+ 64 × m

Bit

7 6 5 4 3 2 1 0

Channel 1 Channel 0




Tab. 6.12




Here, “DI” designates a system within the counter module that can be used to control function exten-

sions (� 6.3 Available function extensions), among other things.




PARAMETER

“SW-emulation DI Ch…”

Internal state DI

PARAMETER


PARAMETER


PARAMETER


SW-Emulation-DI

PDO



Digital input DI

PDI



Fig. 6.4

Internal state DI

The internal state DI is decisive for control of function expansions. It can be influenced either directly

through the control bit in the PDO or through the digital input DI and its parameters (� Fig. 6.4).

Physical properties

The physical properties of the digital input DI are permanently set and cannot be

changed. Only Encoders with the the connection type 24 V single-ended are supported.





the corresponding bit in the PDO is evaluated as signal source.



F.-No.1)

4828

+ 64 × m

Bit

7 6 5 4 3 2 1 0

Channel 1 Channel 0


Evaluate PDO On 1 1


Tab. 6.13

The control bit “SW-emulation DI” in the PDO can be used with activated software emulation for direct

control of the internal state DI.

Control bit for software emulation digital input DI in the PDO


7 6 5 4 3 2 1 0





Tab. 6.14




The parameter “Debounce time DI Ch0” or “Debounce time DI Ch1” defines a filter for improvement of

the signal integrity on the digital input DI.



F.-No.1)

4828

+ 64 × m

Bit

7 6 5 4 3 2 1 0

Channel 1 Channel 0

0.1 μs 0.1 us (Presetting) + 7 0 0 0 0 0 0 0 0

0.2 μs 0.2 us 0 0 0 1 0 0 0 1

0.4 μs 0.4 us 0 0 1 0 0 0 1 0

0.8 μs 0.8 us 0 0 1 1 0 0 1 1

1 μs 1 us 0 1 0 0 0 1 0 0

2 μs 2 us 0 1 0 1 0 1 0 1

4 μs 4 us 0 1 1 0 0 1 1 0

8 μs 8 us 0 1 1 1 0 1 1 1

10 μs 10 us 1 0 0 0 1 0 0 0

50 μs 50 us 1 0 0 1 1 0 0 1

100 μs 100 us 1 0 1 0 1 0 1 0

500 μs 500 us 1 0 1 1 1 0 1 1

1 ms 1 ms 1 1 0 0 1 1 0 0

3 ms 3 ms 1 1 0 1 1 1 0 1

10 ms 10 ms 1 1 1 0 1 1 1 0

20 ms 20 ms 1 1 1 1 1 1 1 1


Tab. 6.15



Signal extension DI

The parameter “Signal extension DI Ch0” or “Signal extension DI Ch1” defines a time for extension of

the pulse detected at the digital input DI.

Pulse lengthening time of the digital input DI


F.-No.1)

4828

+ 64 × m

Bit

7 6 5 4 3 2 1 0


15 ms 15 ms 0 1

50 ms 50 ms 1 0

100 ms 100 ms 1 1


15 ms 15 ms 0 1

50 ms 50 ms 1 0

100 ms 100 ms 1 1


Tab. 6.16

Polarity DI

The parameter “Input polarity DI Ch0” or “Input polarity DI Ch1” defines whether the signals recorded

at the digital input DI are to be inverted internally.



F.-No.1)

4828

+ 64 × m

Bit

7 6 5 4 3 2 1 0

Channel 1 Channel 0




Tab. 6.17



POS function

The parameter “POS-function input DI Ch0” or “POS-function input DI Ch1” defines which function

extension (� 6.3 Available function extensions) can be controlled through DI.

Function extension


F.-No.1)

4828

+ 64 × m

Bit

7 6 5 4 3 2 1 0

Channel 1 Channel 0


(Presetting)

+ 18 0 0 0 0

Latch by rising edge2) Latch by rising edge 0 1 0 1


edge

Latch by rising&falling edge 1 0 1 0



Tab. 6.18

6.2.6 Gate function

The gate function controls release of the signals that are detected at the encoder input 1.

Together, the following elements form the gate-function:

– internal gate

– hardware gate (physical input, can be parameterised)

– software gate (control bit in the PDO)




PARAMETER

“HW-Gate use Ch...”

Internal gate


PARAMETER


PARAMETER

“HW-Gate polarity Ch...”

SW-Gate

PDO



Encoder input 3

PDI



= 1

&

Internal gate

PDI



Fig. 6.5

Internal gate

The internal gate is decisive for release of the signals at the encoder input 1. It is controlled indirectly

via the software gate and, with corresponding configuration, via the hardware gate.

The software gate is critical for control of the internal gate. The hardware gate can addi-

tionally be used for control through an “AND operation”.

In this case, the internal gate is only open if hardware and software gate are open.



The state “Internal gate” in the PDI depicts the state of the internal gate.

State of internal gate in the PDI


7 6 5 4 3 2 1 0





Tab. 6.19

Software gate

The control bit “SW-Gate” in the PDO is critical for control of the internal gate. If the software gate is

closed, the internal gate cannot be opened.

Software gate in the PDO


7 6 5 4 3 2 1 0

Channel 0 Software gate closed Byte 08 0

Software gate open 1

Channel 1 Software gate closed Byte 10 0

Software gate open 1

Tab. 6.20

Hardware gate

The parameter “HW-Gate-use Ch0” or “HW-Gate-use Ch1” defines whether the encoder input 3 should

be used in addition to the software gate for control of the internal gate.

Use of encoder input 3 (HW-Gate) for control of the internal gate


F.-No.1)

4828

+ 64 × m

Bit

7 6 5 4 3 2 1 0

Channel 1 Channel 0




Tab. 6.21



The parameter “HW-Gate-polarity Ch0” or “HW-Gate-polarity Ch1” defines whether the signals recor-

ded at the encoder input 3 should be internally inverted.

Inversion of the signals at the encoder input 3 (HW-Gate)


F.-No.1)

4828

+ 64 × m

Bit

7 6 5 4 3 2 1 0

Channel 1 Channel 0




Tab. 6.22

6.2.7 Characteristics of the digital output DO

The digital output DO can be used and configured in different ways. Various parameters are available

for definition of the characteristics of the digital output DO.

Note

The characteristics that can be parameterised are described in this chapter.



Activation

The digital output DO can be controlled by three different function ranges of the counter module.

















PDI



Digital output DO

PDO



Fig. 6.6

The comparator unit as well as its outputs and their functions are described in a separate

section (� 6.3.4 Comparator).

The state bit “State output DO” in the PDI depicts the state of the digital output DO.

Status of digital output DO in the PDI


7 6 5 4 3 2 1 0





Tab. 6.23







F.-No.1)

4828

+ 64 × m

Bit

7 6 5 4 3 2 1 0

Channel 1 Channel 0






“Beyond” controls DO Count uotside comp values 1 0 0 1 0 0



Process data control DO To PDO (Presetting) 1 1 1 1 1 1



Tab. 6.24

Control via PDO

With corresponding configuration, the digital output DO can be controlled via the PDO.



7 6 5 4 3 2 1 0





Tab. 6.25



Physical properties

The parameter “Phys. characteristic output Ch0” or “Phys. characteristic output Ch1” defines the elec-

trical characteristics of the digital output DO.

Electrical characteristics of the digital output DO


F.-No.1)

4828

+ 64 × m

Bit

7 6 5 4 3 2 1 0

Channel 1 Channel 0

Output is high impedance



(Presetting)

+ 11 0 0 0 0

Output drives 24 Volt in

the active state (“1”).


it is high impedance.

P-switch 0 1 0 1


in the active state (“1”).




N-switch 1 0 1 0


active state (“1”) and is



active state (“0”)2).




Tab. 6.26

Note





Both the positive and the negative continuous output current can be limited. If the defined limits are

exceeded, the electronic fuse is triggered (� 3.2.2 Supply via UOUT).



for the positive continuous output current on the digital output DO.



F.-No.1)

4828

+ 64 × m

Bit

7 6 5 4 3 2 1 0

Channel 0 0.5 A 0.5 A + 12 0 0 0 1

1.0 A 1.0 A (Presetting) 0 0 1 0

1.5 A 1.5 A 0 0 1 1

2.0 A 2.0 A 0 1 0 0

2.5 A 2.5 A 0 1 0 1

3.0 A 3.0 A 0 1 1 0

3.5 A 3.5 A 0 1 1 1

4.0 A 4.0 A 1 0 0 0

4.5 A 4.5 A 1 0 0 1

5.0 A 5.0 A 1 0 1 0

Channel 1 0.5 A 0.5 A + 13 0 0 0 1

1.0 A 1.0 A (Presetting) 0 0 1 0

1.5 A 1.5 A 0 0 1 1

2.0 A 2.0 A 0 1 0 0

2.5 A 2.5 A 0 1 0 1

3.0 A 3.0 A 0 1 1 0

3.5 A 3.5 A 0 1 1 1

4.0 A 4.0 A 1 0 0 0

4.5 A 4.5 A 1 0 0 1

5.0 A 5.0 A 1 0 1 0


Tab. 6.27





for the negative continuous output current on the digital output DO.



F.-No.1)

4828

+ 64 × m

Bit

7 6 5 4 3 2 1 0

Channel 0 0.5 A 0.5 A + 12 0 0 0 1

1.0 A 1.0 A (Presetting) 0 0 1 0

1.5 A 1.5 A 0 0 1 1

2.0 A 2.0 A 0 1 0 0

2.5 A 2.5 A 0 1 0 1

3.0 A 3.0 A 0 1 1 0

3.5 A 3.5 A 0 1 1 1

4.0 A 4.0 A 1 0 0 0

4.5 A 4.5 A 1 0 0 1

5.0 A 5.0 A 1 0 1 0

Channel 1 0.5 A 0.5 A + 13 0 0 0 1

1.0 A 1.0 A (Presetting) 0 0 1 0

1.5 A 1.5 A 0 0 1 1

2.0 A 2.0 A 0 1 0 0

2.5 A 2.5 A 0 1 0 1

3.0 A 3.0 A 0 1 1 0

3.5 A 3.5 A 0 1 1 1

4.0 A 4.0 A 1 0 0 0

4.5 A 4.5 A 1 0 0 1

5.0 A 5.0 A 1 0 1 0


Tab. 6.28

For example, a negative continuous output current occurs at channel 1 in the following

case:

– digital output on channel 0 is P-switch and active (drives 24 volts)

– digital output on channel 1 is N-switch and inactive (drives 0 volts)

– a consuming device is connected between both digital outputs.

The current that flows by is measured at channel 0 as positive and at channel 1 as negat-

ive output current.





the electronic fuse is triggered (� 3.2.2 Supply via UOUT).


switched off after the fuse is triggered or automatically becomes active again after the error is eliminated.

Behaviour of the digital output DO in case of short circuit/overload


F.-No.1)

4828

+ 64 × m

Bit

7 6 5 4 3 2 1 0

Channel 1 Channel 0



switched off.


the error through

– Switching the electron-

ic power supply off/

on2)



Leave switched off (Presetting) + 11 0 0






present.



matically.

Resume 1 1


2) The switch-off/switch-on of the load voltage with parameterised self-latching loop does not cause a restart.

Tab. 6.29







produced when the electronic fuse triggers is displayed via display LED and CPX diagnostics.



F.-No.1)

4828

+ 64 × m

Bit

7 6 5 4 3 2 1 0

Channel 1 Channel 0

Diagnostics are not displayed Inactive + 11 0 0



Tab. 6.30




In addition to simple evaluation of the recorded pulses, it is possible to extend the applications using

the function extensions described here.

6.3.1 Latching

The function extension “Latching” transfers the current state of the internal counter (measured value)

into the process data (PDI) (� 6.1.1 Measured value). It can be configured as a function of DI via the

parameter “POS-function input DI Ch0” or “POS-function input DI Ch1”


With a positive and/or negative edge of DI, depending on the selected configuration, the current state

of the internal counter (measured value) is transmitted into the process data (PDI).


Fig. 6.7 depicts the function using the “Count infinite” operating mode as an example.

Internal state DI

Counting direction

Internal gate

(Interrupting)

Pulses (CLOCK)

Internal counter


Time

Time

Upper count limit

Lower count limit

Fig. 6.7

The function “Latch by falling edge” can be implemented by inverting DI






Internal state DI

Counting direction

Internal gate

(Interrupting)

Pulses (CLOCK)

Internal counter


Time

Time

Upper count limit

Lower count limit

Fig. 6.8

6.3.2 Hysteresis

Limit values and comparison values can be extended to areas with the help of hysteresis.

Through this, the configured reaction (e.g. activation of the digital output DO via a comparator output)

can be prevented from being switched on and off in the rhythm of the fluctuations of the internal

counter (measured value) corresponding to the “oscillation” of the encoder at rest.

Mode of operation

A value is specified for the hysteresis (� Value range). The limit or comparison values are supplemen-

ted symmetrically by half of the hysteresis value.

Upper value


Time


Lower value



Fig. 6.9



Example, limit monitoring for upper limit

– start value: 0

– upper limit: 15

– hysteresis: 10


The diagnostic message of the limit monitoring becomes active when the measured value reaches 21 or





Upper limit (15)

Upper limit


Time

Upper limit


Start value (0)

Diagnostics

Limit monitoring

Fig. 6.10




– start value: 0


– hysteresis: 10


The diagnostic message of the limit monitoring becomes active when the measured value reaches –21

or falls below –20 (ULV –½ hysteresis).



(ULV + ½ hysteresis).

Lower limit (–15)

Lower limit


Time

Lower limit

– ½ hysteresis (–20)

Start value (0)

Diagnostics

Limit monitoring

Fig. 6.11


Only even values should be used as hysteresis value. Behaviour with odd hysteresis val-

ues is not defined.

Value range



Hysteresis


F.-No.1)

4828

+ 64 × m

Bit

7 6 5 4 3 2 1 0


Presetting: 0

+ 22 01

01

01

01

01

01

01

01


Presetting: 0

+ 23 01

01

01

01

01

01

01

01


Tab. 6.31



Condition

For the hysteresis value must apply: The hysteresis value must be smaller than the difference between

the limit or comparison values.

Example







Defined limit values can be used for monitoring the internal counter or measured value and for trigger-

ing a diagnostic message when these limit values are violated.


Mode of operation

Limit monitoring is activated when the limit values are exceeded or fallen below and, with correspond-

ing configuration, issues a diagnostic message (� 10 Diagnostics).

Lower limit (–10)

Start value (0)

Upper limit (10)

Diagnostic message

Limit monitoring

Time

Fig. 6.12

If an additionally configured hysteresis is present, triggering of the diagnostic message is delayed cor-

respondingly (� 6.3.2 Hysteresis).

Lower limit (–10)

Start value (0)

Upper limit (10)

Diagnostic message

Limit monitoring

Time

Fig. 6.13



Configuration





F.-No.1)

4828

+ 64 × m

Bit

7 6 5 4 3 2 1 0


message

Inactive + 53 0

Diagnostic

message active

Active (default) 1


message

Inactive 0

Diagnostic

message active

Active (default) 1


Tab. 6.32

The limit values can be parameterised within the described value range and are stored in objects

(� 4.3.3 Objects).

Value range


Addr. Type

Upper limit –2 147 483 647 2 147 483 647 2 147 483 647 6 32 bit

signed integer

Lower limit –2 147 483 648 2 147 483 646 –2 147 483 648 7 32 bit

signed integer

Tab. 6.33

As the measured value can only accept values ,0, only positive values make sense as limit

values.

Condition

For the limit values must apply: The lower limit is less than the upper limit (LLV < ULV).



6.3.4 Comparator

The counter module has its own comparator unit per channel. This permanently compares the value of

the internal counter (� 6.1.1 Measured value) of channel 0 or 1 (can be parameterised) with definable

comparison values.

A possibly configured hysteresis extends the comparison values by the defined range

(� 6.3.2 Hysteresis).

Schematic representation of comparator unit and digital output DOInternal counter

channel 0

Lower compare value

(LCV)

Internal counter

channel 1

Upper compare value

(UCV)

Hysteresis

PARAMETER

Timer value ...

Pulse unit

PDO



PARAMETER


PARAMETER

Selection of comparator Ch... to counter

Comparator unit


Counter = LCV

Counter ≤ LCV

Counter ≥ LCV

Counter within

(≤ UCV & ≥ LCV)

Counter beyond

(> UCV | < LCV)

Counter

= LCVTimer

Bit 0

Bit 1

Bit 2

Bit 3

Bit 4

Bit 5

Bit 6

PDI

(Channel 0: Byte 9)


Digital output DO

Fig. 6.14


The following input values are the base for the comparison process:

– measured value (internal counter channel 0 or channel 1, selection by parameter)



– timer value




– = LCV: Output is “1” if measured value is equal to lower compare value.

– ≤ LCV: Output is “1” if measured value is less than or equal to lower compare value.

– ≥ LCV: Output is “1” if measured value is greater than or equal to lower compare value.

– within: Output is “1” if measured value is within the lower and upper compare value

(≥ LCV & ≤ UCV).

– beyond: Output is “1” if measured value is not within the lower and upper compare value

(< LCV | > UCV).

– = LCV + timer: Output is “1” as soon as measured value is equal to lower compare value. From this

moment, the timer time set runs down. During this time, the output remains “1”.




The state of all comparator outputs is depicted in the PDI.



7 6 5 4 3 2 1 0


≤ LCV 01

≥ LCV 01

Within 01

Beyond 01

= LCV + Timer 01


≤ LCV 01

≥ LCV 01

Within 01

Beyond 01

= LCV + Timer 01

Tab. 6.34

Assignment of counters to comparators





F.-No.1)

4828

+ 64 × m

Bit

7 6 5 4 3 2 1 0

Channel 1 Channel 0



To counter 0

(Presetting)

+ 19 0



To counter 1 1



To counter 0 0



To counter 1

(Presetting)

1


Tab. 6.35



Comparison values

Two comparison values can be defined for each comparator unit:



The comparison values can be parameterised within the described value range and are stored in ob-

jects (� 4.3.3 Objects).

Value range


Addr. Type

Upper compare

value

–2 147 483 647 2 147 483 647 2 147 483 647 4 32 bit

signed integer

Lower compare

value

–2 147 483 648 2 147 483 646 –2 147 483 648 5 32 bit

signed integer

Tab. 6.36

As the measured value can only accept values ,0, only positive values make sense as

comparison values.

Condition


value (LCV . UCV).

Timer

The timer function can be used to extend the “logic 1” of the comparator output “= LCV” by a configur-

able time value. The extended signal is present at the output “= LCV + timer”.

Value range

The parameter “Timer value 0” or “Timer value 1” defines the time by which the “logic 1” is extended at

the comparator output “= LCV” and output at the output “= LCV + timer”.

If timer value is “0”, the timer function is deactivated and the comparator output

“= LCV + timer” has the state “0” permanently even if the counter value is equal to LCV.

Timer value


F.-No.1)

4828

+ 64 × m

Bit

7 6 5 4 3 2 1 0


Presetting: 0

+ 20 01

01

01

01

01

01

01

01


Presetting: 0

+ 21 01

01

01

01

01

01

01

01


Tab. 6.37



Function example

LCV (–10)

0

UCV (10)

= LCV

Within

(≤ UCV & ≥ LCV)

Time

Timer

≤ LCV

≥ LCV

Timer

Beyond

(> UCV | < LCV)

= LCV (+ Timer)

Fig. 6.15




LCV (–10)

0

UCV (10)

= LCV

Within

(≤ UCV & ≥ LCV)

Time

Timer

≤ LCV

≥ LCV

Timer

Beyond

(> UCV | < LCV)

= LCV (+ Timer)

Lower compare value


Lower compare value


Upper compare value


Upper compare value


Fig. 6.16



6.4 Measure frequency


In the “Measure frequency” operating mode, the pulses (CLOCK) detected at encoder 1 after opening of

the internal gate are counted within the configured integration time.

Integration time

Pulses (CLOCK)

Internal gate

Time

Measured value

0–1

Fig. 6.17

Measured value

The measured value is determined in the internal counter. 1 counter increment corresponds to

0.001 Hz.

Example

– measured frequency at the encoder input 1: 75 Hz (75.000 Hz)

– value of the internal counter: 75 000

Value range

The minimum and maximummeasurable frequency is dependent on the encoder type used:

Measurable frequency with usage of

Encoder with single-ended connection Encoder with differential connection

Minimum Maximum Minimum Maximum

0.001 Hz 100 000.000 Hz 0.001 Hz 1 000 000.000 Hz

Tab. 6.38



Reference values for error messages

The minimum and maximum error tolerance of the measured frequency is dependent on the selected

integration time (� 6.1.1 Measured value).

Integration time Error tolerance

0.0001 s 0.04 %

0.001 s 0.01 %

0.01 s 0.01 %

0.1 s 0.01 %

1 s 0.01 %

10 s 0.01 %

60 s 0.01 %

3600 s 0.01 %

Tab. 6.39


All functions and function extensions described in this chapter 6 can be combined with the “Measure

frequency” operating mode.



6.5 Measure r.p.m.


In the “Measure r.p.m.” operating mode, the pulses (CLOCK) detected at encoder 1 after opening of the

internal gate are counted within the configured integration time and allocated to the configured num-

ber of pulses per revolution.

Integration time

Pulses (CLOCK)

Internal gate

Time

Measured value

0–1

Pulses/revolution

Fig. 6.18

Measured value

The measured value is determined in the internal counter. 1 counter increment corresponds to 0.001

r.p.m.

Example

– measured speed at CLOCK: 75 r.p.m. (75.000 r.p.m.)

– value in the counter object: 75 000

Value range

The minimum and maximummeasurable rotational speed is dependent on the encoder type used as

well as its resolution (pulses per revolution).




The minimum and maximum error tolerance of the measured rotational speed is dependent on the

selected integration time (� 6.1.1 Measured value).


0.0001 s 0.04 %

0.001 s 0.01 %

0.01 s 0.01 %

0.1 s 0.01 %

1 s 0.01 %

10 s 0.01 %

60 s 0.01 %

3600 s 0.01 %

Tab. 6.40



r.p.m.” operating mode.

In addition, specification of the resolution of the encoder used (pulses per revolution) is required for

measuring r.p.m.

Resolution of the used encoder

The parameter “Pulse/rotation Ch0” or “Pulse/rotation Ch1” defines how many pulses the encoder

used generates per rotation.

Pulses per rotation


F.-No.1)

4828

+ 64 × m

Bit

7 6 5 4 3 2 1 0

Channel 0 Encoder res-

olution

Pulse/rotation Ch0

(1 … 65535)

Presetting: 1

+ 25 01

01

01

01

01

01

01

01

+ 26 01

01

01

01

01

01

01

01

Channel 1 Encoder res-

olution

Pulse/rotation Ch1

(1 … 65535)

Presetting: 1

+ 27 01

01

01

01

01

01

01

01

+ 28 01

01

01

01

01

01

01

01


Tab. 6.41

The value of the pulses per rotation must be greater than “0”.

Otherwise, a diagnostic message is triggered.



6.6 Measure duty cycle


In the “Measure duty cycle” operating mode, the pulses (CLOCK) detected at encoder 1 after opening of

the internal gate are counted within the configured integration time and allocated to the integration

time. (Integration time / number of pulses).

Integration time

Pulses (CLOCK)

Internal gate

Time

Measured value

0–1

Fig. 6.19

Measured value

The measured value is determined in the internal counter. 1 counter increment corresponds to

0.000 001 s (1 μs).

Example

– measured duty cycle at CLOCK: 5 s (5 000 000 μs)

– value in the counter object: 5 000 000

Value range

The minimum and maximummeasurable duty cycle is dependent on the encoder type used:

Measurable duty cycle with usage of

Encoder with single-ended connection Encoder with differential connection

Minimum Maximum Minimum Maximum

0.000 010 s 1 000.000 000 s 0.000 001 s 1 000.000 000 s

Tab. 6.42




The minimum and maximum error tolerance of the measured duty cycle is dependent on the selected

integration time (� 6.1.1 Measured value).


0.0001 s 0.04 %

0.001 s 0.01 %

0.01 s 0.01 %

0.1 s 0.01 %

1 s 0.01 %

10 s 0.01 %

60 s 0.01 %

3600 s 0.01 %

Tab. 6.43



duty cycle” operating mode.






7 6 5 4 3 2 1 0

Channel 0 Measured value or stored latch value with usage of

the latching function

Byte 0 … 3 01

01

01

01

01

01

01

01

Channel 1 Measured value or stored latch value with usage of

the latching function

Byte 4 … 7 01

01

01

01

01

01

01

01


Encoder input 2 (unassigned) 01


Digital input DI 01

Not used X


Not used X

Not used X


≤ LCV 01

≥ LCV 01

Within 01

Beyond 01

= LCV + Timer 01




Encoder input 2 (unassigned) 01


Digital input DI 01

Not used X


Not used X

Not used X


≤ LCV 01

≥ LCV 01

Within 01

Beyond 01

= LCV + Timer 01



1) Parameters of the inputs (e.g. inversion of an input signal) are taken into account.

Tab. 6.44





7 6 5 4 3 2 1 0


01

01

01

01

01

01

01


01

01

01

01

01

01

01


Software-emulation DI

(SW-Emulation_DI)

01

Not used X

Not used X

Not used X

Not used X

Not used X



01

01

01

01

01

01

01

Channel 1 Control bit Software gate Byte 10 01


(SW-Emulation_DI)

01

Not used X

Not used X

Not used X

Not used X

Not used X



01

01

01

01

01

01

01

Tab. 6.45

7 Operating modes for measure/determine position and measure velocity


7 Operating modes for measure/determine position andmeasure velocity

This chapter describes the operating modes and functions for determining position and/or speed of an

incremental or absolute encoder.



The following operating modes are described in this chapter:

– measure/determine position

– measure velocity

– measure velocity channel 0 / measure velocity channel 1

Application of these operating modes always differs based on the encoder used. And so the operating

modes are described separately for the encoder types:

– measure/determine position (� 7.5)

– measure velocity with pulse generator or incremental encoder (� 7.6)

– measure velocity with SSI absolute encoder (� 7.7)

– measure/determine position and measure velocity (� 7.8)

The operating mode “Measure velocity Ch0” or “Measure velocity Ch1” corresponds to

the “measure velocity” operating mode; only the encoder on the respective other channel

is evaluated (� 7.8).

Each of these variants can also be supplemented by the function expansions described in section 7.4.

7.1.1 Position/speed value

The position or speed value is determined through a function designated here as “internal counter”.

This internal counter is not visible to the user. The value of the internal counter is permanently (posi-

tion/speed value) transferred into the process data (PDI).

Each channel has its own counter, which is independent of the other channel.

Latch function

Only for the “Measure/determine position” operating mode, a latch function (� 7.4.1 Latching) is

available when a pulse generator or incremental encoder is used (� 7.2 Supported encoder types). If

the latch function is activated, the value of the internal counter is transferred to the process data (PDI)

only on command (latch value).



Position/speed value in the PDI

Various specifications apply for representation of the position or speed or latch value in the process

data, dependent on the operating mode and encoder type.

Position/latch value in the PDI with usage of pulse generators or incremental encoders

Channel Function Minimum1) Maximum1) Byte Type

Channel 0 Pos./latch value –2 147 483 648 2 147 483 647 0 … 3 32 bit

signed integerChannel 1 Pos./latch value –2 147 483 648 2 147 483 647 4 … 7

1) Dependent on the defined count limits (� 7.4.2 Count limits)

Tab. 7.1

Position value in the PDI with usage of absolute encoders

Channel Function Minimum1) Maximum Byte Type

Channel 0 Position value 0 2 147 483 647 0 … 3 32 bit

signed integerChannel 1 Position value 0 2 147 483 647 4 … 7

1) Absolute encoders can output only positive numbers

Tab. 7.2

Representation of the speed value in the PDI is independent of the encoder type used.

Speed value in the PDI

Channel Function Minimum Maximum Byte Type

Channel 0 Speed value –Infinite

(FF80 0000)

Infinite

(7F80 0000)

0 … 3 32 bit

short real

Channel 1 Speed value –Infinite

(FF80 0000)

Infinite

(7F80 0000)

4 … 7

Tab. 7.3

Condition

In the “Measure/determine position” operating mode when an impulse or incremental encoder is used,

the counter cannot take on a value beyond the defined count limits (� 7.4.2 Count limits).

7.2 Supported encoder types



– incremental encoder, single-ended or differential, with two 90° out of phase tracks

– absolute encoder with SSI interface

Note

Configuration of the encoder inputs must agree with the encoders used




7.2.1 Pulse generator with and without direction signal

The pulse generator makes available a signal track with pulses (CLOCK) and possibly also a direction

signal (DIR). The direction level can be used to control the counting direction.

Example


Direction signal (DIR)

Direction

tΔ

Fig. 7.1

Note

• Between the edges of the CLOCK and DIR signals, ensure the following minimum

time distance (tΔ):






Homing

The function DI can be used for homing of a pulse generator or incremental encoder (� 7.3.6). When

recording a pulse at DI, the load value (� 7.4.3 Load value) is accepted as the current position value,

dependent on the configuration.

The parameter “Reference mode Ch0” or “Reference mode Ch1” defines the event in which the load

value is accepted as the current position value for the encoder.

Reference mode

Setting Selection via FMT1) Selection via parameter

F.-No.2)

4828

+ 64 × m

Bit

7 6 5 4 3 2 1 0

Channel 1 Channel 0

No homing Switched off (Presetting) + 37 0 0 0 0 0 0

Homing with edge at DI and

stationary encoder.

Drive at standstill 0 0 1 0 0 1


positive encoder movement.

Edge, pos. direction 0 1 0 0 1 0


negative encoder movement.

Edge, neg. direction 0 1 1 0 1 1

1) FMT offers two additional options that are not listed here. They are only applicable when an incremental encoder is used.


Tab. 7.4

The rising edge at DI is used as standard. Usage of the negative edge can be achieved by

inverting the digital input DI (� 7.3.6 Function and characteristics of DI).

The state of homing is depicted in the “Homing” state bit in the process data (PDI).



7 6 5 4 3 2 1 0

Channel 0 Not referenced Byte 08 0

Referenced 1


Referenced 1

Tab. 7.5



7.2.2 Incremental encoder with two 90° out of phase tracks

The incremental encoder makes available two signal tracks (track A, track B), which are 90° out of

phase, and an additional track with a zero signal (track 0), if applicable.

The direction of movement of the encoder can be determined through the offset of the signal tracks to

each other (90° or 270°).

The track 0 can, for example, be used with shaft encoders for counting the revolutions of the encoder.

Example

Track B

Track A

Direction

1 revolution

Track 0

1 revolution

Fig. 7.2

Pulse A/B between two pulses 0

The parameter “Pulse/rotation between AB&0 Ch0” or “Pulse/rotation between AB&0 Ch1” defines the

number of pulses of track A or B between two pulses of track 0.

Number of pulses A/B between two pulses 0


F.-No.1)

4828

+ 64 × m

Bit

7 6 5 4 3 2 1 0

Channel 0 Pulses track

A/B between

pulses track 0

Pulse/rotation between AB&0 Ch0

(1 … 65535)

Presetting: 1

+ 31 01

01

01

01

01

01

01

01

+ 32 01

01

01

01

01

01

01

01


A/B between

pulses track 0


(1 … 65535)

Presetting: 1

+ 33 01

01

01

01

01

01

01

01

+ 34 01

01

01

01

01

01

01

01


Tab. 7.6

Homing

The function DI can be used for homing of a pulse generator or incremental encoder (� 7.3.6). When

recording a pulse at DI, the load value (� 7.4.3 Load value) is accepted as the current position value,

dependent on the configuration.





Reference mode


F.-No.1)

4828

+ 64 × m

Bit

7 6 5 4 3 2 1 0

Channel 1 Channel 0



stationary encoder.



positive encoder movement.



negative encoder movement.


Homing with edge at 0 after

edge at DI and positive en-

coder movement.

Edge, pos. direction&0 1 0 0 1 0 0

Homing with edge at 0 after

edge at DI and negative en-

coder movement.

Edge, neg. direction&0 1 0 1 1 0 1


Tab. 7.7


inverting DI (� 7.3.6 Function and characteristics of DI).

The state of homing is depicted in the “Homing” state bit in the process data (PDI).



7 6 5 4 3 2 1 0


Referenced 1


Referenced 1

Tab. 7.8



Examples

Homing with edge at DI and positive encoder movement

The load value is accepted as position value when the edge is recorded.

Internal state DI

Counting pulses

Direction of movement

Time

Position value

Load value

Fig. 7.3

Homing with edge at 0 after edge at DI and positive encoder movement

After the edge at the digital input DI, the load value is accepted as position value when the edge on

track 0 is recorded.

Track 0

Counting pulses


Time

Position value

Load value

Internal state DI

Fig. 7.4



Offset for pulse on track 0

An offset can be defined for control of homing through a pulse of track 0.

The parameter “Offset 0 Ch0” or “Offset 0 Ch1” defines how many pulses have to be detected on track

0 after the edge at DI before the next pulse is accepted as a command for homing.

Offset for detection 0-pulse


F.-No.1)

4828

+ 64 × m

Bit

7 6 5 4 3 2 1 0

Channel 0 Number of pulses

of track 0 before

release of track 0

Offset 0 Ch0 (0 … 255)

Presetting: 0

+ 35 01

01

01

01

01

01

01

01

Channel 1 Number of pulses

of track 0 before

release of track 0

Offset 0 Ch1 (0 … 255)

Presetting: 0

+ 36 01

01

01

01

01

01

01

01


Tab. 7.9

Example

Homing with edge at 0 after edge at DI and positive encoder movement with offset 3

After the edge at DI, the load value is accepted as position value when the first edge after the offset on

track 0 is recorded.

Track 0

Counting pulses


Time

Position value

Load value

Offset: 3

Internal state DI

Fig. 7.5



Evaluation of the encoder signals

The counter module can evaluate the signals from incremental encoders differently when the edges are

counted.

The type of evaluation is defined together with the encoder type via the parameter “Encoder type Ch0”

or “Encoder type Ch1” (� 7.3.5 Properties of the encoder inputs).

Single evaluation

In the standard setting (single evaluation), only one edge of track A is evaluated per period.

– Upward counting pulses are detected with positive edge at A and low level at B.

– Downward counting pulses are detected with negative edge from A and low level at B.

Track B

Track A


Counting pulses

Fig. 7.6

To achieve a higher resolution, a double or quadruple evaluation can be configured alternatively. Mul-

tiple evaluation is only possible with incremental Encoders with the two tracks out of phase by 90°.

Double evaluation

Double evaluation means that the positive and negative edges of track A are evaluated. It depends on

the level of track B whether forward or backward counting pulses are generated.

Track B

Track A


Counting pulses

Fig. 7.7



Quadruple evaluation

Quadruple evaluation means that the positive and negative edges of tracks A and B are evaluated. It

depends on the levels of both tracks whether forward or backward counting pulses are generated.

Track B

Track A


Counting pulses

Fig. 7.8

Diagnostics of the encoder signals

The counter module checks whether the recorded pulse count of tracks A and B between two pulses of

track 0 corresponds to the set value or whether a pulse occurs again at track 0 after the parameterised

pulse count of tracks A and B.

To accomplish this, for encoder monitoring, the number of pulses of track A or track B must be con-

figured between two pulses of track 0.

In addition, tracks A and B are mutually monitored so that, for example, a wire break will be detected

even if no track 0 is connected.

The parameter “Monitor encoder signals Ch0” or “Monitor encoder signals Ch1” defines whether a

diagnostic message is output when an error in the encoder signals is detected (� 10 Diagnostics).

Diagnostic message for encoder error


F.-No.1)

4828

+ 64 × m

Bit

7 6 5 4 3 2 1 0

Channel 1 Channel 0

No diagnostic message InActive (default) + 47 0 0

Diagnostic message active Active 1 1


Tab. 7.10

Tolerance

The tolerance of the encoder monitoring is ±3 pulses.



7.2.3 Absolute encoder with synchronous serial interface (SSI)

The absolute encoder makes the encoder position available as a value in the form of digital data (tele-

grams), which can be called up cyclically.

The SSI interface uses the following signals for communication:

– data signal (Data) for transmission of telegrams

– clock signal (serial clock/CLK) for synchronisation of data transmission

Structure of SSI telegram

The telegrams of the absolute encoder can include the following information (dependent on the en-

coder used, sequence of LSB in the direction of MSB):

– parity bit (encoder-dependent)

– state bits (encoder-dependent)

– encoder value

For communication between encoder and counter module, the content of the telegrams must be con-

figured in the counter module.

Sample structure of an SSI telegram

The following representation should depict an example of the structure of an SSI telegram. The actual

structure is dependent on the selected configuration of the encoder and counter module.

Telegram contents

31 … 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0

Maximum size (32 Bit)

Data framework (16 bit)

Encoder value (12 bit) State bits (3) P1)

1) Parity bit

Tab. 7.11

The number of state bits results from the data framework bits, the position value bits and,

if present, the parity bit according to the following formula:

Number of state bits = data framework bits – position value bits – parity bit.

A maximum of 3 state bits can be evaluated through the counter module.

Illustration of the SSI telegram in the process data

The SSI telegram is depicted in the process data (PDI) (� 7.9 Process data (PDI/PDO)). The represent-

ation in the process data can be influenced by the standardisation (� Standardisation).

In the operating modes for measure velocity, the speed is displayed in the process data in

place of the encoder value in the telegram.



Size of the SSI telegram/data frame bits

The parameter “SSI data frame bits Ch0” or “SSI data frame bits Ch1” defines the total size of the SSI

telegrams.

The value “0” corresponds to a size of “32 bit”.

Size of the SSI telegrams


F.-No.1)

4828

+ 64 × m

Bit

7 6 5 4 3 2 1 0

Channel 0 Data framework SSI-data frame bits Ch0 (0 … 31)2)

Presetting: 31

+ 38 01

01

01

01

01


Presetting: 31

+ 39 01

01

01

01

01


2) Value “0” corresponds to 32 bit

Tab. 7.12

Encoder resolution/position value bits

The parameter “SSI position value bits Ch0” or “SSI position value bits Ch1” defines how many bits in

the data frame are used by the actual encoder value.

As long as value “0” is set, no communication takes place with the encoder.

Size of the position value in the SSI telegram


F.-No.1)

4828

+ 64 × m

Bit

7 6 5 4 3 2 1 0

Channel 0 Position value SSI-position value bits Ch0 (0 … 31)

Presetting: 0

+ 40 01

01

01

01

01


Presetting: 0

+ 41 01

01

01

01

01


Tab. 7.13



Parity bit

A parity bit provided by the used encoder must be configured in the counter module. The parity bit

supplements the data bits of the encoder value to an even or uneven number of 1-bits.

The parameter “SSI-parity Ch0” or “SSI-parity Ch1” defines whether a parity bit is present and, if so,

what value it should have.

Parity bit


F.-No.1)

4828

+ 64 × m

Bit

7 6 5 4 3 2 1 0

Channel 1 Channel 0

No parity bit None (Presetting) + 43 0 0 0 0

DB2) + PB = odd (“1”) Odd 0 1 0 1

DB2) + PB = even (“0”) Even 1 0 1 0


2) All bits of the SSI telegram

Tab. 7.14

The counter module offers the possibility to execute the parity check.

The parameter “Monitor SSI-parity error Ch0” or “Monitor SSI-parity error Ch1” defines whether a dia-

gnostic message is output in case of a parity error (� 10 Diagnostics).

Diagnostic message for SSI parity errors


F.-No.1)

4828

+ 64 × m

Bit

7 6 5 4 3 2 1 0

Channel 0 No diagnostic message Inactive + 53 0

Diagnostic message active Active (default) 1

Channel 1 No diagnostic message Inactive 0



Tab. 7.15



State bits A, B, C

Up to three of the state bits provided by the encoder used can be depicted separately in the PDI of the

counter module (beyond the SSI telegram).

Position of the SSI state bits in the PDI


7 6 5 4 3 2 1 0

Channel 0 State bit A Byte 08 01

State bit B Byte 08 01

State bit C Byte 09 01

Channel 1 State bit A Byte 10 01

State bit B Byte 10 01

State bit C Byte 11 01

Tab. 7.16

For each of the state bits, the position it is at within the SSI telegram must be defined by parameter.

Position state bits A, B and C

The parameters “SSI-condition bit A Ch0”, “SSI-condition bit B Ch0” and “SSI-condition bit C Ch0” or

“SSI-condition bit A Ch1”, “SSI-condition bit B Ch1” and “SSI-condition bit C Ch1” define which bits of

the SSI telegram are depicted as “Condition bit A”, “Condition bit B” and “Condition bit C” in the PDI of

the counter module.

State bit A in the SSI telegram


F.-No.1)

4828

+ 64 × m

Bit

7 6 5 4 3 2 1 0

Channel 1 Channel 0

Channel 0 A = bit … of the telegram 0 … 15

Presetting: 0

+ 44 01

01

01

01

B = bit … of the telegram 0 … 15

Presetting: 1

+ 44 01

01

01

01

C = bit … of the telegram 0 … 15

Presetting: 2

+ 45 01

01

01

01


Presetting: 0

+ 45 01

01

01

01


Presetting: 1

+ 46 01

01

01

01


Presetting: 2

+ 46 01

01

01

01


Tab. 7.17



Standardisation

Standardisation of data transmission can be configured to suppress in the PDI the additional informa-

tion included in the SSI telegram (e.g. state bits). The telegram then includes only the encoder value

whose bits are shifted in the LSB direction.

Example

– size of the SSI telegram: 16 bit (bit 0 … 15)

– size of the encoder value: 12 bit (4096 position values)

– state bits: 3 (A, B, C)

– parity bit: Yes (P)

SSI telegram without standardisation

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

Contents 12 bit encoder value C B A P

Tab. 7.18

With activated standardisation, the additional data are suppressed and the encoder value is shifted in

the LSB direction (to the right). The bits behind the encoder value in the MSB direction (left of the en-

coder value) are not used.

SSI telegram with standardisation

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

Contents 12 bit encoder value

Tab. 7.19

With activated standardisation, encoder values in gray code are automatically converted

into binary code and depicted correspondingly in the PDI.

The parameter “SSI-standard Ch0” or “SSI-standard Ch1” defines whether standardization of the SSI

telegram is active.

Standardisation


F.-No.1)

4828

+ 64 × m

Bit

7 6 5 4 3 2 1 0

Channel 1 Channel 0

Standardisation inactive Off + 42 0 0

Standardisation active On (Presetting) 1 1


Tab. 7.20

Coding of SSI telegram

If the encoder used provided the information as a gray code, it must be configured correspondingly in

the counter module.



The parameter “SSI-data code type Ch0” or “SSI-data code type Ch1” defines whether encoder inform-

ation is depicted in the binary code or in the gray code.

Code type of data transmission


F.-No.1)

4828

+ 64 × m

Bit

7 6 5 4 3 2 1 0

Channel 1 Channel 0

Representation in the gray

code

Gray code (Presetting) + 47 0 0

Representation in the

binary code

Binary code 1 1


Tab. 7.21

With active standardisation, a representation in gray code is automatically converted into

binary code.

SSI communication parameters

For communication between encoder and counter module, the following parameters in the counter

module must be configured:

– encoder value detection (telegram cycle)

– baud rate

– off time

– factor

Encoder value detection (telegram cycle)

Transmission of the SSI telegrams can be triggered by the counter module in various ways.

– fixed time slot pattern (synchronous encoder value detection)

The encoder value is detected according to a fixed time slot pattern. The time slot pattern is based

on the transmission time of the telegram (dependent on size and baud rate) as well as the con-

figured off time and the configured cycle factor.

– permanent transmission (continuously changing encoder value detection)

The encoder value is detected continuously. An off time can be defined between two telegrams.

– with pulse at DI (controlled encoder value detection)

With detection of a rising edge at DI, the encoder value is recorded. During transmission of the tele-

gram and expiration of the off time, additional edges at DI are ignored.

By inverting the digital input DI (� 7.3.6 Function and characteristics of DI), the falling

edge at the digital input DI can be used to trigger encoder value detection instead of

the rising edge.



The parameter “SSI-telegram cycle Ch0” or “SSI-telegram cycle Ch1” defines the type of encoder value

detection.

Encoder value detection


F.-No.1)

4828

+ 64 × m

Bit

7 6 5 4 3 2 1 0

Channel 1 Channel 0

Fixed time slot pattern Synchronous (Presetting) + 47 0 0 0 0

Permanent transmission Continuously changing 0 1 0 1

With pulse at DI Controlled 1 0 1 0


Tab. 7.22



Baud rate

The parameter “SSI-baud rate Ch0” or “SSI-baud rate Ch1” defines the data transmission speed for the

SSI interface.

Transmission rate of the SSI interface


F.-No.1)

4828

+ 64 × m

Bit

7 6 5 4 3 2 1 0

Channel 1 Channel 0

100 kHz 100 kHz (Presetting) + 42 0 0 0 0 0 0

150 kHz 150 kHz 0 0 1 0 0 1

200 kHz 200 kHz 0 1 0 0 1 0

250 kHz 250 kHz 0 1 1 0 1 1

500 kHz 500 kHz 1 0 0 1 0 0

1.0 MHz 1 MHz 1 0 1 1 0 1

1.5 MHz 1.5 MHz 1 1 0 1 1 0

2.0 MHz 2 MHz 1 1 1 1 1 1


Tab. 7.23

Off time

An off time must be maintained between two SSI telegrams. The off time can either be set for a fixed

time or an automatic check of the data transmission line can be made (off time = 0 μs). The selection

“Check of the data transmission line” results in the fastest-possible repetition speed in the interrogation.

The function “Check of the data transmission line” is available only if the encoder value

detection is configured as “Continuously changing”.

The parameter “SSI-off time Ch0” or “SSI-off time Ch1” defines whether an automatic check of the

data transmission line takes place or which fixed off time should be used.

Off time between two SSI telegrams


F.-No.1)

4828

+ 64 × m

Bit

7 6 5 4 3 2 1 0

Channel 1 Channel 0

Check of the data

transmission line

0 us + 43 0 0 0 0

Off time = 32 μs 32 us 0 1 0 1

Off time = 48 μs 48 us 1 0 1 0

Off time = 64 μs 64 us (Presetting) 1 1 1 1


Tab. 7.24



Factor

In addition to the off time, the cycle can be extended by a factor of 1 … 4.

The parameter “SSI-factor Ch0” or “SSI-factor Ch1” defines the extension factor of the cycle.

Cycle extension factor


F.-No.1)

4828

+ 64 × m

Bit

7 6 5 4 3 2 1 0

Channel 0 No extension Factor 1x (Presetting) + 40 0 0

Factor 2 Factor 2x 0 1








Tab. 7.25

Reversing of direction of rotation

The direction of rotation of the encoder can be inverted internally (in the counter module). With revers-

ing the direction of rotation activated, the position “0” is evaluated and reversed as the maximum posi-

tion.

The parameter “SSI-reversing of direction Ch0” or “SSI-reversing of direction Ch1” defines whether the

position values are to be internally inverted.



F.-No.1)

4828

+ 64 × m

Bit

7 6 5 4 3 2 1 0

Channel 0 Position values maintained Off (Presetting) + 40 0

Invert position values On 1




Tab. 7.26




7.3.1 Overview for pulse generator with direction signal

The operating modes for position and speed determination use the following displays as well as inputs

and outputs of the counter module if a pulse generator with direction signal is used.

In Fig. 7.9, only the connections and LED indicators for the inputs and outputs are marked.

The complete allocation of the connections is depicted in Tab. 7.28.

Channel 0




Digital input DI

Digital output DO

Channel 1




Digital input DI

Digital output DO




Digital input DI

Digital output DO




Digital input DI

Digital output DO

Fig. 7.9



Displays


(� Fig. 7.9).

LED Colour Function

Encoder input 1 (CLOCK) Green Lights up “1” signal at the physical input.

Encoder input 2 (DIR) Green Lights up “1” signal at the physical input.

Encoder input 3 (unas-

signed)

Green Lights up “1” signal at the physical input.



Tab. 7.27

A possible parameterised internal inversion of the inputs is not taken into account in the

display. The LED indicators show the state actually present on the physical input or out-

put.


The following table shows the operating mode and encoder-type-specific assignment of the terminals.


Terminal

channel 0

Terminal

channel 1




.2 .2 DIR+ Input “+” counting direction

.3 .3 DIR–1) Input “–” counting direction

X2 .0 X6 .0 Unassigned+ Input “+” freely usable









.1 .1 DO Output DO




Tab. 7.28



7.3.2 Overview for incremental encoder


and outputs of the counter module if an incremental encoder with two 90° out of phase tracks is used.

In Fig. 7.10, only the connections and LED indicators for the inputs and outputs are

marked. The complete allocation of the connections is depicted in Tab. 7.30.

Channel 0

Encoder input 3 (track 0)

Encoder input 2 (track B)

Encoder input 1 (track A)

Digital input DI

Digital output DO

Channel 1


Encoder input 2 (track B)

Encoder input 1 (track A)

Digital input DI

Digital output DO


Counting direction downward

Counting direction upward

Digital input DI

Digital output DO




Digital input DI

Digital output DO

Fig. 7.10



Displays

The LED displays present the direction of movement of the encoder or the logical state of the corres-

ponding physical inputs and outputs (� Fig. 7.9).

LED Colour Function

Counting direction

upward

Green Illuminates if there is movement of the encoder in a positive

direction.

Counting direction

downward

Green Illuminates if there is movement of the encoder in a negative

direction.

Encoder input track 0 Green Lights up “1” signal at the physical input.



Tab. 7.29



put.




Terminal

channel 0

Terminal

channel 1


X1 .0 X5 .0 A+ Input “+” encoder track A

.1 .1 A–1) Input “–” encoder track A

.2 .2 B+ Input “+” encoder track B

.3 .3 B–1) Input “–” encoder track B

X2 .0 X6 .0 0+ Input “+” encoder track 0

.1 .1 0–1) Input “–” encoder track 0





.2 .2 24 Volt +24 V encoder power voltage for DI

.3 .3 DI Input “DI”

X4 .0 X8 .0 0 Volt 0 V encoder power voltage for DI

.1 .1 DO Output “DO”




Tab. 7.30



7.3.3 Overview for absolute encoder with SSI interface


and outputs of the counter module if an absolute encoder with SSI interface is used.

In Fig. 7.10, only the connections and LED indicators for the inputs and outputs are

marked. The complete allocation of the connections is depicted in Tab. 7.32.

Channel 0


Encoder input 2

(signal serial-clock)

Encoder input 1 (signal data)

Digital input DI

Digital output DO

Channel 1


Encoder input 2

(signal serial-clock)

Encoder input 1 (signal data)

Digital input DI

Digital output DO




Digital input DI

Digital output DO




Digital input DI

Digital output DO

Fig. 7.11

When an absolute encoder with SSI interface is selected in the parameter “Encoder type

Ch…”, the physical characteristics are automatically configured to “5 V differential”. The

parameter “Phys. characteristic input Ch…” is ignored.

Therefore, only one encoder of type “5 V differential” can be used on the unassigned

encoder input 3.



Displays

The LED displays present the direction of movement of the encoder or the logical state of the corres-

ponding physical inputs and outputs (� Fig. 7.9).

LED Colour Function

Counting direction

upward

Green Illuminates if there is movement of the encoder in a positive

direction.

Counting direction

downward

Green Illuminates if there is movement of the encoder in a negative

direction.

Encoder input 3

(unassigned)

Green Lights up “1” signal at the physical input.



Tab. 7.31

A possible parameterised internal inversion of the inputs is not taken into account in the dis-

play. The LED indicators show the state actually present on the physical input or output.




Terminal

channel 0

Terminal

channel 1


X1 .0 X5 .0 D+ Input “+” signal data

.1 .1 D– Input “–” signal data

.2 .2 CLK+ Output “+” signal serial-clock

.3 .3 CLK– Output “–” signal serial-clock

X2 .0 X6 .0 Unassigned+ Input “+” freely usable1)

.1 .1 Unassigned– Input “–” freely usable1)





.2 .2 24 Volt +24 V encoder power voltage for DI

.3 .3 DI Input “DI”

X4 .0 X8 .0 0 Volt 0 V encoder power voltage for DI

.1 .1 DO Output “DO”



1) Only encoders of type 5 V-differential can be used

Tab. 7.32





information.

1

2

3

4

5






Fig. 7.12


Digital output DO

(channel 0/1)





Tab. 7.33






The characteristics of the encoder inputs (� Fig. 7.9, Fig. 7.10 and Fig. 7.11) can be adjusted with

parameters.

Encoder type and evaluation





F.-No.1)

4828

+ 64 × m

Bit

7 6 5 4 3 2 1 0

Channel 1 Channel 0


coder inputs


Incremental encoder with

single evaluation

Encoder 90° phase Single eval. 0 0 1 0 0 1


double evaluation

Encoder 90° phase Double eval. 0 1 0 0 1 0


quadruple evaluation

Encoder 90° phase Quad eval. 0 1 1 0 1 1




(Presetting)

1 0 0 1 0 0

Absolute encoder with SSI

interface

SSI encoder 1 0 1 1 0 1


Tab. 7.34



Physical properties





F.-No.1)

4828

+ 64 × m

Bit

7 6 5 4 3 2 1 0

Channel 1 Channel 0

Encoder with 24 V

single-ended connection


(Presetting)

+ 14 0 0 0 0

Encoder with 5 V

differential connection


Encoder with 5 V


CLOCK,DIR,HW-Gate 5V single-end 1 0 1 0


Tab. 7.35

Single-ended


sion of a track.

Differential



quency.



Input debounce time





F.-No.1)

4828

+ 64 × m

Bit

7 6 5 4 3 2 1 0

Channel 1 Channel 0

0.1 μs 0.1 us (Presetting) + 8 0 0 0 0 0 0 0 0

0.2 μs 0.2 us 0 0 0 1 0 0 0 1

0.4 μs 0.4 us 0 0 1 0 0 0 1 0

0.8 μs 0.8 us 0 0 1 1 0 0 1 1

1 μs 1 us 0 1 0 0 0 1 0 0

2 μs 2 us 0 1 0 1 0 1 0 1

4 μs 4 us 0 1 1 0 0 1 1 0

8 μs 8 us 0 1 1 1 0 1 1 1

10 μs 10 us 1 0 0 0 1 0 0 0

50 μs 50 us 1 0 0 1 1 0 0 1

100 μs 100 us 1 0 1 0 1 0 1 0

500 μs 500 us 1 0 1 1 1 0 1 1

1 ms 1 ms 1 1 0 0 1 1 0 0

3 ms 3 ms 1 1 0 1 1 1 0 1

10 ms 10 ms 1 1 1 0 1 1 1 0

20 ms 20 ms 1 1 1 1 1 1 1 1


Tab. 7.36



the encoder input 1 (CLOCK) should be internally inverted when pulse generators are used.

Inversion of the signals at the CLOCK input


F.-No.1)

4828

+ 64 × m

Bit

7 6 5 4 3 2 1 0

Channel 1 Channel 0




Tab. 7.37



Counting direction DIR

This function is only available if pulse generators are used.

The counting direction (DIR) can be controlled using either the encoder input 2 or the appropriate bit in

the PDO.

– Counting upwards: The pulses recorded at encoder input 1 are added by the internal counter.

– Count downwards: The pulses recorded at encoder input 1 are subtracted by the internal counter.

The control of the counting direction is constructed as follows:



PARAMETER

“Source DIR Ch…”

Counting direction

PARAMETER


PARAMETER

“Function DIR Ch...”

SW-DIR

PDO



Counting direction

PDI



Encoder input 2

PDI



Fig. 7.13

In the appropriate configuration of the parameter “Source DIR Ch…”, the control bit “SW-DIR” can be

used to control the counting direction.

Controlling count direction via PDO


7 6 5 4 3 2 1 0


Signal “1” 1


Signal “1” 1

Tab. 7.38



The parameter “Source DIR Ch0” or “Source DIR Ch1” defines whether the physical input or the appro-

priate bit in the PDO is evaluated as the signal source.



F.-No.1)

4828

+ 64 × m

Bit

7 6 5 4 3 2 1 0

Channel 1 Channel 0




Tab. 7.39

The parameter “Function DIR Ch0” or “Function DIR Ch1” defines which counting direction is active in a

given state of the encoder input 2 or of the bit active in the PDO.

Controlling count direction


F.-No.1)

4828

+ 64 × m

Bit

7 6 5 4 3 2 1 0

Channel 1 Channel 0



(Presetting)

0 0 1 0 0 1


on change “0” } “1”, start

direction upwards.



with change “0” } “1”,





direction upwards.




direction downwards.



Tab. 7.40



The currently used counting direction is shown in the “Count direction” state bit in the process data

(PDI).



7 6 5 4 3 2 1 0


Upwards 1


Upwards 1

Tab. 7.41


Here, “DI” designates a system within the counter module that can be used to control function exten-

sions (� 7.4 Available function extensions), among other things.




PARAMETER


Internal state DI

PARAMETER


PARAMETER


PARAMETER

“Imput polarity DI Ch...”

SW-Emulation-DI

PDO



Digital input DI

PDI



Fig. 7.14

Internal state DI

The internal state DI is decisive for control of function expansions. It can be influenced either directly

through the control bit in the PDO or through the digital input DI and its parameters (� Fig. 7.14).



Physical properties

The physical properties of the digital input DI are set permanently and cannot be







F.-No.1)

4828

+ 64 × m

Bit

7 6 5 4 3 2 1 0

Channel 1 Channel 0


Evaluate PDO On 1 1


Tab. 7.42





7 6 5 4 3 2 1 0





Tab. 7.43








F.-No.1)

4828

+ 64 × m

Bit

7 6 5 4 3 2 1 0

Channel 1 Channel 0

0.1 μs 0.1 us (Presetting) + 7 0 0 0 0 0 0 0 0

0.2 μs 0.2 us 0 0 0 1 0 0 0 1

0.4 μs 0.4 us 0 0 1 0 0 0 1 0

0.8 μs 0.8 us 0 0 1 1 0 0 1 1

1 μs 1 us 0 1 0 0 0 1 0 0

2 μs 2 us 0 1 0 1 0 1 0 1

4 μs 4 us 0 1 1 0 0 1 1 0

8 μs 8 us 0 1 1 1 0 1 1 1

10 μs 10 us 1 0 0 0 1 0 0 0

50 μs 50 us 1 0 0 1 1 0 0 1

100 μs 100 us 1 0 1 0 1 0 1 0

500 μs 500 us 1 0 1 1 1 0 1 1

1 ms 1 ms 1 1 0 0 1 1 0 0

3 ms 3 ms 1 1 0 1 1 1 0 1

10 ms 10 ms 1 1 1 0 1 1 1 0

20 ms 20 ms 1 1 1 1 1 1 1 1


Tab. 7.44



Signal extension DI





F.-No.1)

4828

+ 64 × m

Bit

7 6 5 4 3 2 1 0


15 ms 15 ms 0 1

50 ms 50 ms 1 0

100 ms 100 ms 1 1


15 ms 15 ms 0 1

50 ms 50 ms 1 0

100 ms 100 ms 1 1


Tab. 7.45

Polarity DI

The parameter “Input polarity Ch0” or “Input polarity Ch1” defines whether the signals detected at the

digital input DI should be internally inverted.



F.-No.1)

4828

+ 64 × m

Bit

7 6 5 4 3 2 1 0

Channel 1 Channel 0




Tab. 7.46



POS function

This parameter is available only in the “Measure/determine position” operating mode

with usage of pulse generators or incremental encoders.


extension (� 7.4 Available function extensions) can be controlled through DI.

Function extension


F.-No.1)

4828

+ 64 × m

Bit

7 6 5 4 3 2 1 0

Channel 1 Channel 0


(Presetting)

+ 18 0 0 0 0


Latch by rising and falling edge Latch by rising&falling edge 1 0 1 0



Tab. 7.47




Note




Activation










– process data output (� 4.3.2 Process data (PDI/PDO))








PDI



Digital output DO

PDO



Fig. 7.15

The comparator unit as well as its outputs and their functions are described in a separate

chapter (� 7.4.6 Comparator).




7 6 5 4 3 2 1 0





Tab. 7.48







F.-No.1)

4828

+ 64 × m

Bit

7 6 5 4 3 2 1 0

Channel 1 Channel 0












Tab. 7.49

Control via PDO




7 6 5 4 3 2 1 0





Tab. 7.50



Physical properties





F.-No.1)

4828

+ 64 × m

Bit

7 6 5 4 3 2 1 0

Channel 1 Channel 0




(Presetting)

+ 11 0 0 0 0





P-switch 0 1 0 1






N-switch 1 0 1 0









Tab. 7.51

Note












F.-No.1)

4828

+ 64 × m

Bit

7 6 5 4 3 2 1 0

Channel 0 0.5 A 0.5 A + 12 0 0 0 1

1.0 A 1.0 A (Presetting) 0 0 1 0

1.5 A 1.5 A 0 0 1 1

2.0 A 2.0 A 0 1 0 0

2.5 A 2.5 A 0 1 0 1

3.0 A 3.0 A 0 1 1 0

3.5 A 3.5 A 0 1 1 1

4.0 A 4.0 A 1 0 0 0

4.5 A 4.5 A 1 0 0 1

5.0 A 5.0 A 1 0 1 0

Channel 1 0.5 A 0.5 A + 13 0 0 0 1

1.0 A 1.0 A (Presetting) 0 0 1 0

1.5 A 1.5 A 0 0 1 1

2.0 A 2.0 A 0 1 0 0

2.5 A 2.5 A 0 1 0 1

3.0 A 3.0 A 0 1 1 0

3.5 A 3.5 A 0 1 1 1

4.0 A 4.0 A 1 0 0 0

4.5 A 4.5 A 1 0 0 1

5.0 A 5.0 A 1 0 1 0


Tab. 7.52








F.-No.1)

4828

+ 64 × m

Bit

7 6 5 4 3 2 1 0

Channel 0 0.5 A 0.5 A + 12 0 0 0 1

1.0 A 1.0 A (Presetting) 0 0 1 0

1.5 A 1.5 A 0 0 1 1

2.0 A 2.0 A 0 1 0 0

2.5 A 2.5 A 0 1 0 1

3.0 A 3.0 A 0 1 1 0

3.5 A 3.5 A 0 1 1 1

4.0 A 4.0 A 1 0 0 0

4.5 A 4.5 A 1 0 0 1

5.0 A 5.0 A 1 0 1 0

Channel 1 0.5 A 0.5 A + 13 0 0 0 1

1.0 A 1.0 A (Presetting) 0 0 1 0

1.5 A 1.5 A 0 0 1 1

2.0 A 2.0 A 0 1 0 0

2.5 A 2.5 A 0 1 0 1

3.0 A 3.0 A 0 1 1 0

3.5 A 3.5 A 0 1 1 1

4.0 A 4.0 A 1 0 0 0

4.5 A 4.5 A 1 0 0 1

5.0 A 5.0 A 1 0 1 0


Tab. 7.53


case:

– digital output at channel 0 is P-switch and active (drives 24 Volt)

– digital output at channel 1 is N-switch and inactive (drives 0 Volt)



ive output current.







switched off after the fuse is triggered or automatically becomes active again after the error is elimin-

ated.



F.-No.1)

4828

+ 64 × m

Bit

7 6 5 4 3 2 1 0

Channel 1 Channel 0



switched off.


the error through

– Switching the electron-

ic power supply off/on2)









present.



matically.

Resume 1 1



Tab. 7.54







resulting from triggering of the electronic fuse is displayed via LED indicator and CPX diagnostics.



F.-No.1) Bit

7 6 5 4 3 2 1 0

Channel 1 Channel 0

Diagnostics are not displayed Inactive 4828

+ 64 × m

+ 11

0 0



Tab. 7.55




In addition to recording the position and/or speed of the encoder, the applications can be expanded

with the help of the function extensions described here.

7.4.1 Latching

This function extension is available only in the “Measure/determine position” operating

mode with usage of pulse generators or incremental encoders.

The function extension “Latching” transfers the current position value into the process data (PDI)

(� 7.1.1 Position/speed value). It can be configured as a function of DI via the parameter “POS-func-

tion input DI Ch0” or “POS-function input DI Ch1” (� 7.3.6 Function and characteristics of DI).

With a positive and/or negative edge at DI, the current position value is transmitted into the process

data (PDI), depending on the selected configuration.



Internal state DI

Counting direction

Internal gate

(Interrupting)

Pulses (CLOCK)

Internal counter


Time

Time

Upper count limit

Lower count limit

Fig. 7.16

The function “Latch by falling edge” can be implemented by inverting DI






Internal state DI

Counting direction

Internal gate

(Interrupting)

Pulses (CLOCK)

Internal counter


Time

Time

Upper count limit

Lower count limit

Fig. 7.17



7.4.2 Count limits



The count limits establish the minimum and maximum for the position value and can be parameterised

within the described value range. The values of the count limits are saved in objects (� 4.3.3 Objects).

– If the count limits are configured corresponding to the Presetting, signal detection is stopped when

a count limit is reached, and the diagnostic message (error 73) is output.

– If the count limits are configured deviating from the Presettings, the position value jumps to the

opposite count limit without pulse loss when a count limit is exceeded.

Value range


Addr. Type

Upper count limit –2 147 483 647 2 147 483 647 2 147 483 647 2 32 bit

signed integer

Lower count limit –2 147 483 648 2 147 483 646 –2 147 483 648 3 32 bit

signed integer

Tab. 7.56

Condition

The following must apply to the count limits: Lower count limit is smaller than the upper count limit (LCL

< UCL).

7.4.3 Load value



The load value is a value that can be parameterised within the count limits. It is used for homing of the

encoder position and set in the PDO.

Load value in PDO

Channel Function Minimum Maximum Presetting Address



Tab. 7.57

Condition

The following must apply to the load value: Lower count limit is smaller than the load value, load value

is smaller than the upper count limit (LCL < Load value < UCL).

The hysteresis does not affect the load value.



7.4.4 Hysteresis

Limit values and comparison values can be extended to areas with the help of hysteresis.

Through this, the configured reaction (e.g. activation of the digital output DO via a comparator output)

can be prevented from being switched on and off in the rhythm of the fluctuations of the internal

counter corresponding to the “oscillation” of the encoder at rest.

Mode of operation

A value is specified for the hysteresis (� Value range). The limit or comparison values are supplemen-

ted symmetrically by half of the hysteresis value.

Upper value


Time


Lower value



Fig. 7.18

Example of limit monitoring for the upper limit– start value: 0

– upper limit: 15

– hysteresis: 10


The diagnostic message of the limit monitoring becomes active when the internal counter reaches 21 or





Upper limit (15)

Upper limit


Time

Upper limit


Start value (0)

Diagnostics

Limit monitoring

Fig. 7.19




– start value: 0


– hysteresis: 10


The diagnostic message of the limit monitoring becomes active when the counter reaches –21 or falls

below –20 (ULV –½ hysteresis).



(ULV + ½ hysteresis).

Lower limit (–15)

Lower limit


Time

Lower limit


Start value (0)

Diagnostics

Limit monitoring

Fig. 7.20


Only even values should be used as hysteresis value. Behaviour in the case of odd hyster-

esis values is not defined.



Value range



Hysteresis


F.-No.1)

4828

+ 64 × m

Bit

7 6 5 4 3 2 1 0


Presetting: 0

+ 22 01

01

01

01

01

01

01

01


Presetting: 0

+ 23 01

01

01

01

01

01

01

01


Tab. 7.58

Condition

The following must apply to the hysteresis value: The hysteresis value must be smaller than the differ-

ence between the limit or comparison values.

Example







Defined limit values can be used for monitoring the position or speed value and for triggering a dia-

gnostic message when these limit values are violated.


Mode of operation

Limit monitoring is activated when the limit values are exceeded or fallen below and, with correspond-

ing configuration, issues a diagnostic message (� 10 Diagnostics).

Lower limit (–10)

Start value (0)

Upper limit (10)

Diagnostic message

Limit monitoring

Time

Fig. 7.21

If an additionally configured hysteresis is present, triggering of the diagnostic message is delayed cor-

respondingly (� 7.4.4 Hysteresis).

Lower limit (–10)

Start value (0)

Upper limit (10)

Diagnostic message

Limit monitoring

Time

Fig. 7.22



Configuration





F.-No.1)

4828

+ 64 × m

Bit

7 6 5 4 3 2 1 0


message

Inactive + 53 0

Diagnostic

message active

Active (default) 1


message

Inactive 0

Diagnostic

message active

Active (default) 1


Tab. 7.59

The limit values can be parameterised within the described value range and are stored in the objects

(� 4.3.3 Objects).

Value range

The limit values for the “Measure/determine position” and “Measure velocity” operating

modes or “Measure velocity Ch ...” are stored in special objects.

Limit values for measure/determine position


Addr. Type

Upper limit –2 147 483 647 2 147 483 647 2 147 483 647 6 32 bit

signed integer

Lower limit –2 147 483 648 2 147 483 646 –2 147 483 648 7 32 bit

signed integer

Tab. 7.60

Note

As absolute encoders only issue positive values, only positive values make sense as

limit values when an absolute encoder is used.



Limit values for speed determination


Addr. Type

Upper limit –Infinite

(FF80 0000)

Infinite

(7F80 0000)

Infinite

(7F80 0000)

10 32 bit short real

Lower limit –Infinite

(FF80 0000)

Infinite

(7F80 0000)

–Infinite

(FF80 0000)


Tab. 7.61

Condition

The following must apply to the limit values: Lower limit value smaller than upper limit value (LLV < ULV).

7.4.6 Comparator

The counter module possess an independent comparator unit for each channel. This permanently com-

pares the counter value of the internal counter (� 7.1.1 Position/speed value) of channel 0 or 1 (can

be parameterised) with definable comparison values.

A possibly configured hysteresis extends the comparison values by the defined range

(� 7.4.4 Hysteresis).

Schematic representation of comparator unit and digital output DO

Internal counter

channel 0

Lower compare value

(LCV)

Internal counter

channel 1

Upper compare value

(UCV)

Hysteresis

PARAMETER

Timer value ...

Pulse unit

PDO



PARAMETER


PARAMETER

Select comparator Ch... to counter

Comparator unit


Counter = LCV

Counter ≤ LCV

Counter ≥ LCV

Counter within

(≤ UCV & ≥ LCV)

Counter beyond

(> UCV | < LCV)

Counter

= LCVTimer

Bit 0

Bit 1

Bit 2

Bit 3

Bit 4

Bit 5

Bit 6

PDI

(Channel 0: Byte 9)


Digital output DO

Fig. 7.23




The following input values are the base for the comparison process:

– counter setting (counter channel 0 or channel 1, selection by parameter)



– timer value




– = LCV: Output is “1” if position/speed value equals lower comparative value.

– ≤ LCV: Output is “1” if position/speed value is less than or equal to lower comparative value.

– ≥ LCV: Output is “1” if position/speed value is greater than or equal to lower comparative value.

– within: Output is “1” if position/speed value is within the lower and upper comparative value

(≥ LCV & ≤ UCV).

– beyond: Output is “1” if position/speed value is beyond the lower and upper comparative value

(< LCV | > UCV).

– = LCV + timer: Output is “1” as soon as position/speed value equals lower comparative value. From

this moment, the timer time set runs down. During this time, the output remains “1”.


The state of all comparator outputs is depicted in the PDI.



7 6 5 4 3 2 1 0


≤ LCV 01

≥ LCV 01

Within 01

Beyond 01

= LCV + Timer 01


≤ LCV 01

≥ LCV 01

Within 01

Beyond 01

= LCV + Timer 01

Tab. 7.62



Allocation of counter to comparator





F.-No.1)

4828

+ 64 × m

Bit

7 6 5 4 3 2 1 0

Channel 1 Channel 0


ates counter from channel 0

To counter 0

(Presetting)

+ 19 0



To counter 1 1



To counter 0 0



To counter 1

(Presetting)

1


Tab. 7.63

Compare values

Two comparison values can be defined for each comparator unit:



The comparison values can be parameterised within the described value range and are stored in the

objects (� 4.3.3 Objects).

Value range

The comparison values for the “Measure/determine position” and “Measure velocity”

operating modes or “Measure velocity Ch ...” are stored in special objects.

Comparison values for measure/determine position


Addr. Type

Upper compare

value

–2 147 483 647 2 147 483 647 2 147 483 647 4 32 bit

signed integer

Lower compare

value

–2 147 483 648 2 147 483 646 –2 147 483 648 5 32 bit

signed integer

Tab. 7.64



Comparison values for speed determination


Addr. Type

Upper compare

value

–Infinite

(FF80 0000)

Infinite

(7F80 0000)

Infinite

(7F80 0000)

8 32 bit short real

Lower compare

value

–Infinite

(FF80 0000)

Infinite

(7F80 0000)

–Infinite

(FF80 0000)

9 32 bit short real

Tab. 7.65

Condition


value (LCV < UCV).

Timer

The timer function can be used to extend the “1” signal of the comparator output “= LCV” by a config-

urable time value. The extended signal is present at the output “= LCV + timer”.

Value range


the comparator output “= LCV” and output at the output “= LCV + timer”. In the case of the value “0”,

the timer function is deactivated and the comparator output is permanently “0”.

Timer value


F.-No.1)

4828

+ 64 × m

Bit

7 6 5 4 3 2 1 0


Presetting: 0

+ 20 01

01

01

01

01

01

01

01


Presetting: 0

+ 21 01

01

01

01

01

01

01

01


Tab. 7.66



Function example

LCV (–10)

0

UCV (10)

= LCV

Within

(≤ UCV & ≥ LCV)

Time

Timer

≤ LCV

≥ LCV

Timer

Beyond

(> UCV | < LCV)

= LCV (+ Timer)

Fig. 7.24




LCV (–10)

0

UCV (10)

= LCV

Within

(≤ UCV & ≥ LCV)

Time

Timer

≤ LCV

≥ LCV

Timer

Beyond

(> UCV | < LCV)

= LCV (+ Timer)

Lower compare value


Lower compare value


Upper compare value


Upper compare value


Fig. 7.25



7.5 Measure/determine position

In the “Measure/determine position” operating mode, the current position of the connected encoder is

determined and transmitted into the process data (PDI). During selection of the operating mode, the

load value is take as the initial position.

The characteristics of the encoder inputs (� 7.3.5 Properties of the encoder inputs) must

be configured in a way that fits the encoder used (� 7.2 Supported encoder types).

Fig. 7.26 shows the function of the operating mode with a pulse generator or incremental encoder as an

example.

Internal state DI

(homing)

Direction

Pulses

Time

Position value

Load value

Upper count limit

Lower count limit

State of homing

Fig. 7.26

If an absolute encoder is used, homing is not performed. The SSI telegram transmitted by

the encoder with the position value is depicted directly in the PDI

(� 7.2.3 Absolute encoder with synchronous serial interface (SSI)).


The available configuration options and function extensions are dependent on the encoder used.

Absolute encoder with SSI interface

Of the function extensions described in section 7.4, the following can be used:

– hysteresis (� 7.4.4)

– limit monitoring (� 7.4.5)

– comparator (� 7.4.6)

Pulse generator and incremental encoder

All function extensions described in section 7.4 can be used.



Application of the count limits on a pulse generator or incremental shaft encoder

With help of the count limits (� 7.4.2 Count limits), pulse generators and incremental shaft encoders

can be evaluated so that (after homing) a fixed counter value (or position value) is assigned to each

angle value of the encoder.

Example

Used encoder has 8 pulses per revolution

Upper count limit: 5

Lower count limit: –2

Counter values with clockwise movement:

0, 1, 2, 3, 4, 5, –2, –1, 0, 1, …

Counter values with anticlockwise movement:

0, –1, –2, 5, 4, 3, 2, 1, 0, –1, …

0

2–2

4

5 3

–1 1

Fig. 7.27



7.6 Measure velocity with pulse generator or incremental encoder

This section describes the function of the “Measure velocity” operating mode when a pulse generator

or incremental encoder is used.



In the “Measure velocity” operating mode, the current speed of the connected encoder is determined

within the automatically established integration time. The speed value is permanently transferred into

the process data (PDI) (� 7.1.1 Position/speed value).

Up to the end of the first integration time, “FFFF FFFF(hex)” is output as speed value (not a valid value in

the format 32 bit short real).

If there is a change in the movement direction within an integration time, the speed value “0” is output

during this integration time.

If no pulses are detected within an integration time, the integration time is automatically extended. The

last speed value is displayed for a maximum of 1 minute long. Then the speed value “0” is output.

Intergration time

(automatic)

Pulses

Direction

Speed value

Time

0

Conversion factor

1 minuteFFFF FFFF(hex)

Fig. 7.28

For measure velocity, in addition to the configurations described in sections 7.2 and 7.3, a conversion

factor must be specified (� 7.6.2 Configuration options).

7.6.1 Tolerance

Due to the method of measurement, a tolerance of maximum 0.015 % results for measure velocity with

pulse generator and incremental encoders.




When a pulse generator or incremental encoder is used, of the function extensions described in section

7.4, the following can be used for measure velocity:




Conversion factor

In order to convert the recorded pulses into speed values, a conversion factor must be specified.

Through this, a gear unit, if present, can be taken into account.

If a pulse generator or incremental encoder is used, the conversion factor corresponds to the number of

pulses or increments that the encoder outputs per metre or revolution. Only the pulses at encoder

input 1 are evaluated with a single evaluation.

The conversion factor can be parameterised within the described value range and is stored in the ob-



Addr. Type

Conversion factor 1.175×10–38

(0080 0000)

3.403×1038

(7F7F FFFF)

1

(3F80 0000)


Tab. 7.67



7.7 Measure velocity with SSI absolute encoder

This section describes the function of the “Measure velocity” operating mode when an absolute en-

coder is used with SSI interface.

The measure velocity with an absolute encoder is only possible with synchronous encoder

value detection (� 7.2.3 Absolute encoder with synchronous serial interface (SSI)). With

any other configuration, “0” is output as speed value.



In the “Measure velocity” operating mode, the current speed of the connected encoder is determined

within the automatically established integration time. The foundation for this is the change amount of

the position values within the integration time and the conversion factor. The speed value is perman-

ently transferred into the process data (PDI) (� 7.1.1 Position/speed value).

Up to the end of the first integration time, “FFFF FFFF(hex)” is output as speed value (not a valid value in

the format 32 bit short real).

If there is a change in the movement direction within an integration time, the speed value “0” is output

during this time.

Integration time

(automatic)

SSI position value

Direction

Speed value

Time

0

Conversion factor

FFFF FFFF(hex)

Fig. 7.29

For measure velocity, in addition to the configurations described in sections 7.2 and 7.3, a conversion

factor must be specified (� 7.7.2 Configuration options).



7.7.1 Tolerance

The tolerance of measure velocity depends mainly on the resolution of the encoder used as well as its

speed and is calculated through the following formula:

1

n × encoder resolution × 0.00025 sTolerance (in %) ≤ + 0.00005

n = speed of the encoder in revolutions per second

Example

View of the tolerance at different speeds.

– resolution of the absolute encoder

8 192 Position values/revolution

– SSI encoder cycle time

250 μs (0.00025 s)

– rotational speed of the absolute encoder

3 000 rpm (50 rev/s)

Calculated tolerance:1

50 × 8 192 × 0.00025+ 0.00005 L ±0.98 %

– rotational speed of the absolute encoder

600 rpm (10 rev/s)

Calculated tolerance:1

10 × 8 192 × 0.00025+ 0.00005 L ±4.88 %


Of the function extensions described in section 7.4, the following can be used for measure velocity:




Conversion factor

In order to convert the recorded position values into speed values, a conversion factor must be spe-

cified. Through this, a gear unit, if present, can be taken into account.

If an absolute encoder is used, the conversion factor corresponds to the number of position values that

the encoder outputs per metre or revolution.

The conversion factor can be parameterised within the described value range and is stored in the ob-



Addr. Type

Conversion factor 1.175×10–38

(0080 0000)

3.403×1038

(7F7F FFFF)

1

(3F80 0000)


Tab. 7.68



7.8 Measure/determine position and measure velocity

In the “Measure velocity Ch0” operating mode (selectable in channel 1) or “Measure velocity Ch1”

operating mode (selectable in channel 0), the current speed of the encoder connected to the respect-

ively other channel is determined within the integration time. The speed value is permanently trans-

ferred into the process data (PDI) of the channel in which the operating mode was selected

(� 7.1.1 Position/speed value).

As a result the position can be recorded on one channel and its speed on the other channel.

With the exception of the deviating encoder assignment, the function of the operating

modes corresponds to the description in the sections 7.6 and 7.7.




7.9.1 Pulse generator and incremental encoder



7 6 5 4 3 2 1 0

Channel 0 Position or speed value Byte 0 … 3 01

01

01

01

01

01

01

01


01

01

01

01

01

01

01

Channel 0 Signal1) at Encoder input 1 Byte 8 01

Encoder input 2 01

Encoder input 3 01

Digital input DI 01



State of homing 01

Not used X


≤ LCV 01

≥ LCV 01

Within 01

Beyond 01

= LCV + Timer 01


Not used X


Encoder input 2 01

Encoder input 3 01

Digital input DI 01



State of homing 01

Not used X


≤ LCV 01

≥ LCV 01

Within 01

Beyond 01

= LCV + Timer 01


Not used X


Tab. 7.69



7.9.2 Absolute encoder with SSI interface



7 6 5 4 3 2 1 0


01

01

01

01

01

01

01


01

01

01

01

01

01

01


Encoder input 2 01

Encoder input 3 01

Digital input DI 01



SSI-state bit A 01

SSI-state bit B 01


≤ LCV 01

≥ LCV 01

Within 01

Beyond 01

= LCV + Timer 01


SSI-state bit C 01


Encoder input 2 01

Encoder input 3 01

Digital input DI 01



SSI-state bit A 01

SSI-state bit B 01


≤ LCV 01

≥ LCV 01

Within 01

Beyond 01

= LCV + Timer 01


SSI-state bit C 01


Tab. 7.70



7.9.3 All sensor types



7 6 5 4 3 2 1 0

Channel 0 Load value (only pulse generator/incremental encoder) Byte 0 … 3 01

01

01

01

01

01

01

01

Channel 1 Load value (only pulse generator/incremental encoder) Byte 4 … 7 01

01

01

01

01

01

01

01

Channel 0 Not used Byte 8 X

Control bit Software-emulation DI

(SW-Emulation-DI)

01


Not used X

Not used X

Not used X

Not used X



01

01

01

01

01

01

01

Channel 1 Not used Byte 10 X

Control bit Software-emulation DI

(SW-Emulation-DI)

01


Not used X

Not used X

Not used X

Not used X



01

01

01

01

01

01

01

Tab. 7.71

8 Operating modes for impulse output



This chapter describes the operating modes and functions for activating the digital output DO or the

corresponding bits in the PDO. In so doing, the digital output can be configured as a P-switch, N-switch

or push-pull driver, or deactivated.

The encoder inputs are not used by the operating modes for impulse output and are available as free

inputs.



The operating modes described in this chapter offer various opportunities to activate the digital out-

put DO and the corresponding state bit in the PDI:

– impulse output (� 8.5)

– pulse-width modulation (� 8.6)

– pulse train (� 8.7)

– switch-on/switch-off delay (� 8.8)

– frequency output (� 8.9)




This section describes the operating-mode-specific functions of the connections and displays of the

counter module as well as the supported encoder types and configuration options of the

interfaces.

In this section, only the operating-mode-relevant configuration options are described,

which can also be edited with the help of the FMT. The remaining parameters (complete

list� A.2 Parameter overview) can be changed through the higher-order controller.

• Ensure that no parameterisation can be carried out that can result in unforeseeable

improper operation of the system.


Channel 0




Digital input DI

Digital output DO

Channel 1




Digital input DI

Digital output DO




Digital input DI

Digital output DO




Digital input DI

Digital output DO

Fig. 8.1 Display and inputs and outputs



Displays


(� Fig. 8.1).

LED Colour Function






Tab. 8.1



put.




Terminal

channel 0

Terminal

channel 1















.1 .1 DO Digital output DO




Tab. 8.2





information.

1

2

3

4

5






Fig. 8.2


Digital output DO

(channel 0/1)





Tab. 8.3

Detailed information on the possible causes and remedial measures if a diagnostic dis-

play is present are described in a separate chapter (� Chapter 10).





Encoder type

In the operating modes for impulse output, a pulse generator with single evaluation is permanently

specified as encoder type. The parameter “Encoder type Ch0” or “Encoder type Ch1” is not considered.

Physical properties





F.-No.1)

4828

+ 64 × m

Bit

7 6 5 4 3 2 1 0

Channel 1 Channel 0

Encoder with 24 V



(Presetting)

+ 14 0 0 0 0

Encoder with 5 V



Encoder with 5 V




Tab. 8.4

Single-ended


sion of a track.

Differential



quency.



Input debounce time





F-No.1)

4828

+ 64 × m

Bit

7 6 5 4 3 2 1 0

Channel 1 Channel 0

0.1 μs 0.1 us (Presetting) + 8 0 0 0 0 0 0 0 0

0.2 μs 0.2 us 0 0 0 1 0 0 0 1

0.4 μs 0.4 us 0 0 1 0 0 0 1 0

0.8 μs 0.8 us 0 0 1 1 0 0 1 1

1 μs 1 us 0 1 0 0 0 1 0 0

2 μs 2 us 0 1 0 1 0 1 0 1

4 μs 4 us 0 1 1 0 0 1 1 0

8 μs 8 us 0 1 1 1 0 1 1 1

10 μs 10 us 1 0 0 0 1 0 0 0

50 μs 50 us 1 0 0 1 1 0 0 1

100 μs 100 us 1 0 1 0 1 0 1 0

500 μs 500 us 1 0 1 1 1 0 1 1

1 ms 1 ms 1 1 0 0 1 1 0 0

3 ms 3 ms 1 1 0 1 1 1 0 1

10 ms 10 ms 1 1 1 0 1 1 1 0

20 ms 20 ms 1 1 1 1 1 1 1 1


Tab. 8.5




Here, “DI” designates a system within the counter module that can be used to control the impulse out-

put (� 8.3), among other things.




PARAMETER


Internal state DI

PARAMETER


PARAMETER


PARAMETER


SW-Emulation-DI

PDO



Digital input DI

PDI



Fig. 8.3

Internal state DI

The internal state DI is decisive. It can be influenced either directly through the control bit in the PDO or

through the digital input DI and its parameters (� Fig. 8.3).

Physical properties










F.-No.1)

4828

+ 64 × m

Bit

7 6 5 4 3 2 1 0

Channel 1 Channel 0


Evaluate PDO On 1 1


Tab. 8.6





7 6 5 4 3 2 1 0





Tab. 8.7








F.-No.1)

4828

+ 64 × m

Bit

7 6 5 4 3 2 1 0

Channel 1 Channel 0

0.1 μs 0.1 us (Presetting) + 7 0 0 0 0 0 0 0 0

0.2 μs 0.2 us 0 0 0 1 0 0 0 1

0.4 μs 0.4 us 0 0 1 0 0 0 1 0

0.8 μs 0.8 us 0 0 1 1 0 0 1 1

1 μs 1 us 0 1 0 0 0 1 0 0

2 μs 2 us 0 1 0 1 0 1 0 1

4 μs 4 us 0 1 1 0 0 1 1 0

8 μs 8 us 0 1 1 1 0 1 1 1

10 μs 10 us 1 0 0 0 1 0 0 0

50 μs 50 us 1 0 0 1 1 0 0 1

100 μs 100 us 1 0 1 0 1 0 1 0

500 μs 500 us 1 0 1 1 1 0 1 1

1 ms 1 ms 1 1 0 0 1 1 0 0

3 ms 3 ms 1 1 0 1 1 1 0 1

10 ms 10 ms 1 1 1 0 1 1 1 0

20 ms 20 ms 1 1 1 1 1 1 1 1


Tab. 8.8



Signal extension DI





F.-No.1)

4828

+ 64 × m

Bit

7 6 5 4 3 2 1 0


15 ms 15 ms 0 1

50 ms 50 ms 1 0

100 ms 100 ms 1 1


15 ms 15 ms 0 1

50 ms 50 ms 1 0

100 ms 100 ms 1 1


Tab. 8.9

Polarity DI





F.-No.1)

4828

+ 64 × m

Bit

7 6 5 4 3 2 1 0

Channel 1 Channel 0




Tab. 8.10




Note






Activation


– outputs of the comparator unit (not available for the operating modes for impulse output)







– pulse unit (required setting for the operating modes for impulse output)







PDI



Digital output DO

PDO



Fig. 8.4




7 6 5 4 3 2 1 0





Tab. 8.11

For the function of operating modes for impulse output, the digital output DO must be

controlled by the pulse unit.







F.-No.1)

4828

+ 64 × m

Bit

7 6 5 4 3 2 1 0

Channel 1 Channel 0











2) Required setting for operating modes for impulse output

Tab. 8.12

Control via PDO




7 6 5 4 3 2 1 0





Tab. 8.13



Physical properties





F.-No.1)

4828

+ 64 × m

Bit

7 6 5 4 3 2 1 0

Channel 1 Channel 0




(Presetting)

+ 11 0 0 0 0





P-switch 0 1 0 1






N-switch 1 0 1 0









Tab. 8.14

Note












F.-No.1)

4828

+ 64 × m

Bit

7 6 5 4 3 2 1 0

Channel 0 0.5 A 0.5 A + 12 0 0 0 1

1.0 A 1.0 A (Presetting) 0 0 1 0

1.5 A 1.5 A 0 0 1 1

2.0 A 2.0 A 0 1 0 0

2.5 A 2.5 A 0 1 0 1

3.0 A 3.0 A 0 1 1 0

3.5 A 3.5 A 0 1 1 1

4.0 A 4.0 A 1 0 0 0

4.5 A 4.5 A 1 0 0 1

5.0 A 5.0 A 1 0 1 0

Channel 1 0.5 A 0.5 A + 13 0 0 0 1

1.0 A 1.0 A (Presetting) 0 0 1 0

1.5 A 1.5 A 0 0 1 1

2.0 A 2.0 A 0 1 0 0

2.5 A 2.5 A 0 1 0 1

3.0 A 3.0 A 0 1 1 0

3.5 A 3.5 A 0 1 1 1

4.0 A 4.0 A 1 0 0 0

4.5 A 4.5 A 1 0 0 1

5.0 A 5.0 A 1 0 1 0


Tab. 8.15








F.-No.1)

4828

+ 64 × m

Bit

7 6 5 4 3 2 1 0

Channel 0 0.5 A 0.5 A + 12 0 0 0 1

1.0 A 1.0 A (Presetting) 0 0 1 0

1.5 A 1.5 A 0 0 1 1

2.0 A 2.0 A 0 1 0 0

2.5 A 2.5 A 0 1 0 1

3.0 A 3.0 A 0 1 1 0

3.5 A 3.5 A 0 1 1 1

4.0 A 4.0 A 1 0 0 0

4.5 A 4.5 A 1 0 0 1

5.0 A 5.0 A 1 0 1 0

Channel 1 0.5 A 0.5 A + 13 0 0 0 1

1.0 A 1.0 A (Presetting) 0 0 1 0

1.5 A 1.5 A 0 0 1 1

2.0 A 2.0 A 0 1 0 0

2.5 A 2.5 A 0 1 0 1

3.0 A 3.0 A 0 1 1 0

3.5 A 3.5 A 0 1 1 1

4.0 A 4.0 A 1 0 0 0

4.5 A 4.5 A 1 0 0 1

5.0 A 5.0 A 1 0 1 0


Tab. 8.16


case:

– digital output at channel 0 is P-switch and active (drives 24 Volt)

– digital output at channel 1 is N-switch and inactive (drives 0 Volt)



ive output current.








ated.



F.-No.1)

4828

+ 64 × m

Bit

7 6 5 4 3 2 1 0

Channel 1 Channel 0

In case of overload/short cir-

cuit, the output is switched off.

Restart after elimination of the

error through

– Switching the electronic

power supply off/on2)

– Changing the parameterisa-

tion to “Resume”




The output checks at regular in-

tervals whether the error is still

present.


error takes place automatically.

Resume 1 1



Tab. 8.17










F.-No.1)

4828

+ 64 × m

Bit

7 6 5 4 3 2 1 0

Channel 1 Channel 0




Tab. 8.18

8.3 Control of the impulse output

The information in this section does not apply to the “Switch-on/switch-off delay” operat-

ing mode.

8.3.1 Starting impulse output

There are two options for starting the impulse output:

– directly via the control bit “SW-Gate” in the process data (PDO)

– through a rising edge at DI with correspondingly configured parameter “HW-Gate impulse output

Ch…” if the control bit “SW-Gate” already has the state “1” in the PDO.

Impulse output cannot be started if the state of the “SW-Gate” control bit is “0”.

Software gate in the PDO


7 6 5 4 3 2 1 0

Channel 0 Impulse output blocked Byte 08 0

Impulse output approved 1

Channel 1 Impulse output blocked Byte 10 0

Impulse output approved 1

Tab. 8.19



Usage of DI for starting impulse output (hardware gate)

The parameter “HW-Gate impulse output Ch0” or “HW-Gate impulse output Ch1” defines whether the

internal state DI (� 8.2.4 Function and characteristics of DI) should be used for starting the impulse

output. Control bit “SW-Gate” in the PDO must thereby be “1”.

Usage of DI for starting impulse output


F.-No.1)

4828

+ 64 × m

Bit

7 6 5 4 3 2 1 0

Channel 1 Channel 0

Start of impulse output via

control bit “SW-Gate”

Not used (Presetting) + 48 0 0


internal state DI

used 1 1


Tab. 8.20


PARAMETER

“HW-Gate impulse output

Ch...”

Start impulse output

Physical digital input DISW-Emulation-DI

PDO



PARAMETER


Internal state DI

PARAMETER


PARAMETER


PARAMETER


SW-Gate

PDO



Digital input DI

PDI



= 1

&

Fig. 8.5



8.3.2 Cancelling the impulse output

An active impulse output can be cancelled by resetting the control bit “SW-Gate” in the PDO to “0”.

After the impulse output has started, the internal state DI no longer has influence on it.

8.3.3 Changing the specifications for control

If the parameter “HW-Gate impulse output” is changed from “Not used” to “Used” during

impulse output, the control bit “SW-Gate” must be briefly set to “0” and then back to “1”

in order to activate the change.

Exceptions are the operating modes “Impulse output” and “Pulse train”. Here, the

change in the parameter is also active if a impulse output sequence is ended.

8.3.4 Time Base

The parameter “Time base impulse output Ch0” or “Time base impulse output Ch1” defines the unit for

the specifications of operating modes for impulse output.

This unit is assigned to the values configured in the other specifications (parameter and process data).

Define unit for impulse output


F.-No.1)

4828

+ 64 × m

Bit

7 6 5 4 3 2 1 0

Channel 1 Channel 0

Time base 1 us (Presetting) + 48 0 0 0 0

1 ms 0 1 0 1

1 s 1 0 1 0


Tab. 8.21

8.4 Impulse output and motor operation.

The digital outputs of both channels are assigned through use of the motor operating

mode (� 9) at channel 1. In this case, the operating modes for impulse output can be

used by reading out the corresponding bits in the PDI (� 8.10).



8.5 Impulse output


In the “Impulse output” operating mode, the digital output DO or the corresponding bits in the PDI can

be activated for the duration of a configurable impulse.

After expiration of the set switch-on delay, the impulse becomes active and remains so for the duration

of the on time.

Switch-on delay and on time can be changed at any time through the process data (PDO). The changed

times are taken into account at the start of the next impulse.

Through the state bits “STS enable” (“1” from start of the impulse output) and “STS impulse output”

(“1” when pulse is active), the function is depicted in the process data (PDI).

Start of the impulse output without usage of DI

If the internal state DI is not used for starting the impulse output (“HW-Gate impulse output” = “0”),

the impulse output starts directly with setting of the control bit “SW-Gate” to “1”.

In order to start an additional pulse, the control bit must be set to “0” and back to “1”.

STS Enable (PDI)

SW-Gate (PDO)

Switch-on delay

Digital output DO

On time

Switch-on

delay

STS-pulse count (PDI)

Fig. 8.6

Start of the impulse output with usage of DI

With usage of the internal state DI (“HW-Gate impulse output” = “1”), the impulse output can be star-

ted at any time as long as the control bit “SW-Gate” has the state “1”. After expiration of an impulse, an

additional impulse can be started via DI without setting the control bit to “0”.

STS Enable (PDI)

Internal state DI

SW-Gate (PDO)

Switch-on delay

Digital output DO

On time

Switch-on

delay


Fig. 8.7




Specifications of the operating mode are configured through the process data.

The unit for the values defined here is configured through the time base (� 8.3.4 Time Base).

When setting, the formula “time period = value × time base” must be observed.

Specifications in the process data (PDO)


7 6 5 4 3 2 1 0

Channel 0 Switch-on delay (value1): 0 … 65 535) Byte 0 … 1 01

01

01

01

01

01

01

01

on time(value1): 0 … 65 535) Byte 2 … 3 01

01

01

01

01

01

01

01


01

01

01

01

01

01

01

on time(value1): 0 … 65 535) Byte 6 … 7 01

01

01

01

01

01

01

01

1) � Information

Tab. 8.22

The values specified here represent the maximum adjustable range. The actually usable

range depends on the set time base (parameter “Time base impulse output Ch…”)

(� Tab. 8.23).

Restriction of the usable value range

Function Time base Value range

Switch-on delay 1 μs 0 … 65 535 μs

1 ms 0 … 65 535 ms

1 s 0 … 3 600 s

On time 1 μs 25 … 65 535 μs

1 ms 1 … 65 535 ms

1 s 1 … 3 600 s

Tab. 8.23

A diagnostic message (fault 221) is output in case of configuration outside the value

ranges described here (� 10 Diagnostics).



8.5.3 Reading the current actual values

The actual values currently used for impulse output can be read out via the process data (PDI).

The same rules apply for the unit of the values as for configuration via the process data (PDO).

Current actual values in the process data (PDI)


7 6 5 4 3 2 1 0

Channel 0 Switch-on delay (value: 0 … 65 535) Byte 0 … 1 01

01

01

01

01

01

01

01

on time(value: 0 … 65 535) Byte 2 … 3 01

01

01

01

01

01

01

01


01

01

01

01

01

01

01

on time(value: 0 … 65 535) Byte 6 … 7 01

01

01

01

01

01

01

01

Tab. 8.24



8.6 Pulse-width modulation


In the “Pulse-width modulation” operating mode, the digital output DO or the corresponding bits in the

PDI can be activated in continuous impulses.

After expiration of the set switch-on delay, the impulse output, defined through on time and off time,

becomes active. The sequence remains intact as long as “SW-Gate” = “1”.

On time and off time can be changed at any time through the process data (PDO). The changed times

are taken into account at the next impulse edge.

The switch-on delay is configured by parameter. A change is taken into account only after abort and

restart.






STS Enable (PDI)

SW-Gate (PDO)

Switch-on

delay

Digital output DO


On time Off time On time Off time … … … …

Fig. 8.8





ted at any time as long as the control bit “SW-Gate” has the state “1”. To end the impulse output, the

control bit must be set to “0”.

STS Enable (PDI)

Internal state DI

SW-Gate (PDO)

Switch-on

delay

Digital output DO


On time Off time On time Off time … …

Fig. 8.9


Specifications of the operating mode are configured via parameter and process data.



Switch-on delay

The parameter “Switch-on delay impulse output Ch0” or “Switch-on delay impulse output Ch1” defines

when the pulse becomes active.

This parameter is available only for the Pulse-width modulation and Pulse train operating modes.

Switch-on delay of the pulses


F.-No.1)

4828

+ 64 × m

Bit

7 6 5 4 3 2 1 0

Channel 0 Switch-on

delay

Switch-on delay impulse output Ch0

(0 … 65 535)2)

Presetting: 0

+ 49 01

01

01

01

01

01

01

01

+ 50 01

01

01

01

01

01

01

01

Channel 1 Switch-on

delay


(0 … 65 535)2)

Presetting: 0

+ 51 01

01

01

01

01

01

01

01

+ 52 01

01

01

01

01

01

01

01


2) � Information

Tab. 8.25





7 6 5 4 3 2 1 0

Channel 0 On time (value1): 1 … 65 535) Byte 0 … 1 01

01

01

01

01

01

01

01

Off time (value1): 1 … 65 535) Byte 2 … 3 01

01

01

01

01

01

01

01

Channel 1 On time (value1): 1 … 65 535) Byte 4 … 5 01

01

01

01

01

01

01

01

Off time (value1): 1 … 65 535) Byte 6 … 7 01

01

01

01

01

01

01

01

1) � Information

Tab. 8.26



(� Tab. 8.27).




1 ms 0 … 65 535 ms

1 s 0 … 3 600 s

On time 1 μs 25 … 65 535 μs

1 ms 1 … 65 535 ms

1 s 1 … 3 600 s

Off time 1 μs 25 … 65 535 μs

1 ms 1 … 65 535 ms

1 s 1 … 3 600 s

Tab. 8.27

A diagnostic message is output in case of configuration outside the value ranges de-

scribed here (fault 221 or 222� 10 Diagnostics).








7 6 5 4 3 2 1 0

Channel 0 On time (value: 0 … 65 535) Byte 0 … 1 01

01

01

01

01

01

01

01

Off time (value: 0 … 65 535) Byte 2 … 3 01

01

01

01

01

01

01

01

Channel 1 On time (value: 0 … 65 535) Byte 4 … 5 01

01

01

01

01

01

01

01

Off time (value: 0 … 65 535) Byte 6 … 7 01

01

01

01

01

01

01

01

Tab. 8.28



8.7 Pulse train


In the “Pulse train” operating mode, the digital output DO or the corresponding bits in the PDI can be

activated in continuous impulses, whose number is configurable.

After expiration of the set switch-on delay, the impulse output, defined through periodic time and duty

cycle, becomes active. The impulse output remains active until the configured number of impulses is

reached or the software gate is set to “0”.

Periodic time, number of impulses and pulse/no pulse ratio can be changed at any time through the

process data (PDO). The changes are taken into account at the next impulse edge or next pulse train

(with changes in the number of pulses).

The switch-on delay is configured by parameter. A change is taken into account only after abort and

restart of the impulse output or after the configured number of pulses is reached.






In order to start an additional pulse train, the control bit must be set to “0” and then back to “1”.

STS Enable (PDI)

SW-Gate (PDO)

Switch-on

delay

Number of pulses: 3


Pulse 1 Pulse 2 Pulse 3

Periodic time Periodic time Periodic time

Duty cycle 50 % Duty cycle 25 % Duty cycle 75 %

Digital output DO

Fig. 8.10





ted at any time as long as the control bit “SW-Gate” has the state “1”. After expiration of the number of

pulses, an additional pulse train can be started via DI without setting the control bit to “0”.

STS Enable (PDI)

Internal state DI

SW-Gate (PDO)

Switch-on

delay

Number of pulses: 3


Pulse 1 Pulse 2 Pulse 3

Periodic time Periodic time Periodic time

Duty cycle 50 % Duty cycle 25 % Duty cycle 75 %

Digital output DO

Fig. 8.11







Switch-on delay






F.-No.1)

4828

+ 64 × m

Bit

7 6 5 4 3 2 1 0

Channel 0 Switch-on

delay


(0 … 65 535)2)

Presetting: 0

+ 49 01

01

01

01

01

01

01

01

+ 50 01

01

01

01

01

01

01

01

Channel 1 Switch-on

delay


(0 … 65 535)2)

Presetting: 0

+ 51 01

01

01

01

01

01

01

01

+ 52 01

01

01

01

01

01

01

01


2) � Information

Tab. 8.29



7 6 5 4 3 2 1 0

Channel 0 Periodic time (value1): 1 … 65 535) Byte 0 … 1 01

01

01

01

01

01

01

01

Number of pulses (value: 1 … 65 535) Byte 2 … 3 01

01

01

01

01

01

01

01

Duty cycle (value1): 0 (0 %) … 255 (100 %)) Byte 9 01

01

01

01

01

01

01

01

Channel 1 Periodic time (value1): 1 … 65 535) Byte 4 … 5 01

01

01

01

01

01

01

01


01

01

01

01

01

01

01


01

01

01

01

01

01

01

1) � Information

Tab. 8.30



(� Tab. 8.31).






1 ms 0 … 65 535 ms

1 s 0 … 3 600 s

Periodic time 1 μs 50 … 65 535 μs

1 ms 1 … 65 535 ms

1 s 1 … 3 600 s

Tab. 8.31

A diagnostic message is output in case of configuration outside the value ranges de-

scribed here (fault 221 or 222� 10 Diagnostics).

If a pulse or pause time of < 25 μs results from the configured values, a diagnostic mes-

sage is output (fault 221� 10 Diagnostics). Exception: Duty cycle 0 % or 100 %.






7 6 5 4 3 2 1 0

Channel 0 Periodic time (value: 0 … 65 535) Byte 0 … 1 01

01

01

01

01

01

01

01


01

01

01

01

01

01

01

Channel 1 Periodic time (value: 0 … 65 535) Byte 4 … 5 01

01

01

01

01

01

01

01


01

01

01

01

01

01

01

Tab. 8.32



8.8 Switch-on/switch-off delay


In the “Switch-on/switch-off delay” operating mode, the digital output DO or the corresponding bits in

the PDI can play back a pulse detected at the digital input DI with a switch-on or switch-off delay.

The switch-on/switch-off delay is activated via the control bit “SW-Gate”.

Switch-on delay and switch-off delay can be changed at any time through the process data (PDO). The

changes are taken into account only after a new release (set control bit “SW-Gate” briefly to “0” and

back to “1”).

Through the state bits “STS enable” (“1” from release of the switch-on/switch-off delay) and “STS

impulse output” (“1” when pulse is active), the function is depicted in the process data (PDI).


The “Switch-on/switch-off delay” operating mode has no function without the internal

state DI. The parameter “HW-Gate impulse output” is ignored.


The impulse output can be started at any time as long as the control bit “SW-Gate” has the state “1”.

After expiration of the switch-off delay, an additional impulse (with the same specifications for switch-

on/switch-off delay) can be started via DI without setting the control bit to “0”.

STS Enable (PDI)

Internal state DI

SW-Gate (PDO)

Switch-on

delay

Digital output DO

STS-pulse count (PDI)…

Switch-off

delay …

Fig. 8.12


Specifications of the operating mode are configured through the process data.







7 6 5 4 3 2 1 0


01

01

01

01

01

01

01

Switch-off delay (value1): 0 … 65 535) Byte 2 … 3 01

01

01

01

01

01

01

01


01

01

01

01

01

01

01

Switch-off delay (value1): 0 … 65 535) Byte 6 … 7 01

01

01

01

01

01

01

01

1) � Information

Tab. 8.33



(� Tab. 8.34).




1 ms 0 … 65 535 ms

1 s 0 … 3 600 s

Switch-off delay 1 μs 0 … 65 535 μs

1 ms 0 … 65 535 ms

1 s 0 … 3 600 s

Tab. 8.34








7 6 5 4 3 2 1 0


01

01

01

01

01

01

01

Switch-off delay (value: 0 … 65 535) Byte 2 … 3 01

01

01

01

01

01

01

01


01

01

01

01

01

01

01

Switch-off delay (value: 0 … 65 535) Byte 6 … 7 01

01

01

01

01

01

01

01

Tab. 8.35



8.9 Frequency output


In the “Frequency output” operating mode, the digital output DO or the corresponding bits in the PDI

can be activated with a selected frequency.

After expiration of the set switch-on delay, the impulse output, defined through frequency and duty

cycle, becomes active. The impulse output remains active until the software gate is set to “0”.

Switch-on delay, frequency and duty cycle can be changed at any time through the process data (PDO).

The effect of the changes is as follows:

– Changes in the switch-on delay are taken into account after abort and restart of the impulse output.

– Changes in the frequency and duty cycle are taken into account at the next impulse edge.

Through the state bits “STS enable” (“1” from start of the frequency output) and “STS impulse output”





STS Enable (PDI)

SW-Gate (PDO)

Switch-on

delay


Frequency

Pulse/pause

ratio 50 %

PPR

25 %

Pulse/pause

ratio 75 %

Digital output DO

Frequency Frequency

Fig. 8.13




With usage of the digital input DI, the impulse output can be started at any time as long as the control

bit “SW-Gate” has the state “1”. To end the impulse output, the control bit must be set to “0”.

STS Enable (PDI)

Internal state DI

SW-Gate (PDO)

Switch-on

delay


Frequency

Duty cycle 50 % DC

25 %

Duty cycle 75 %

Digital output DO

Frequency Frequency

Fig. 8.14





Frequency base

The parameter “Freq. base impulse output Ch0” or “Freq. base impulse output Ch1” defines the unit for

the frequency output.

Define unit for frequency output


F.-No.1)

4828

+ 64 × m

Bit

7 6 5 4 3 2 1 0

Channel 1 Channel 0

Frequency base 1 Hz (1 … 20 000) (Presetting) + 48 0 0

1 mHz (1 … 65 535) 1 1


Tab. 8.36





7 6 5 4 3 2 1 0


01

01

01

01

01

01

01

Frequency (value1): 1 … 65 535) Byte 2 … 3 01

01

01

01

01

01

01

01


01

01

01

01

01

01

01


01

01

01

01

01

01

01

Frequency (value1): 1 … 65 535) Byte 6 … 7 01

01

01

01

01

01

01

01


01

01

01

01

01

01

01

1) � Information

Tab. 8.37


range depends on the set time base (parameter “Time base impulse output Ch…”,

� Tab. 8.38) or on the set frequency base (parameter “Freq. base impulse output Ch…”,

� Tab. 8.39).




1 ms 0 … 65 535 ms

1 s 0 … 3 600 s

Tab. 8.38

Function Frequency

base

Value range

Frequency 1 Hz 1 … 20 000 Hz

1 mHz 1 … 65 535 mHz

Tab. 8.39



If a pulse or pause time of < 25 μs results from the configured values, a diagnostic mes-

sage (fault 221) is output (� 10 Diagnostics). Exception: Duty cycle 0 % or 100 %.








7 6 5 4 3 2 1 0


01

01

01

01

01

01

01

Frequency1) (value: 1 … 65 535) Byte 2 … 3 01

01

01

01

01

01

01

01


01

01

01

01

01

01

01

Frequency1) (value: 1 … 65 535) Byte 6 … 7 01

01

01

01

01

01

01

01

1) This value is a copy of the specification value in the PDO

Tab. 8.40






7 6 5 4 3 2 1 0

Channel 0 Function depending on operating mode

(� Chapter 8.5 to 8.9)

Byte 0 … 3 01

01

01

01

01

01

01

01



Byte 4 … 7 01

01

01

01

01

01

01

01


Encoder input 2 01

Encoder input 3 01

Digital input DI 01

STS-enable 01

STS-pulse count2) 01

Not used X

Not used X


≤ LCV 01

≥ LCV 01

Within 01

Beyond 01

= LCV + Timer 01


Not used X


Encoder input 2 01

Encoder input 3 01

Digital input DI 01

STS-enable 01

STS-pulse count2) 01

Not used X

Not used X


≤ LCV 01

≥ LCV 01

Within 01

Beyond 01

= LCV + Timer 01


Not used X


2) The bit “STS-pulse count” returns the logical state of the output signal.

Tab. 8.41 Process data PDI





7 6 5 4 3 2 1 0



Byte 0 … 3 01

01

01

01

01

01

01

01



Byte 4 … 7 01

01

01

01

01

01

01

01

Channel 0 Control bit SW-Gate Byte 8 01


(SW-Emulation-DI)

01

Not used, no function X






Channel 0 Duty cycle1) Byte 9 01

01

01

01

01

01

01

01

Channel 1 Control bit SW-Gate Byte 10 01


(SW-Emulation-DI)

01







Channel 1 Duty cycle1) Byte 11 01

01

01

01

01

01

01

01

1) Only with pulse train and frequency output: 0 = always off, 128 = 50 %, 255 = 100 %

Tab. 8.42 Process data PDO

9 Motor operating mode



This chapter describes the operating mode for control of a 24 V DC motor with a maximum current con-

sumption of 5 A.


A motor connected to the digital outputs DO of channel 0 and channel 1 can be controlled taking into

account various specifications (� 9.3 Operate motor).

Connection of a 24 V DC motor

1 23

M

1 Digital output DO, channel 0

2 Digital output DO, channel 1

3 24 V DC motor

Fig. 9.1

The operating mode can only be selected and set on channel 1. All operating modes can

be used on channel 0, but without usage of the digital output DO. The encoder inputs and

the digital input DI are freely usable on channel 1.


In this section, only the operating-mode-relevant configuration options are described,

which can also be edited with the help of the FMT. The remaining parameters (complete

list� A.2 Parameter overview) can be changed through the higher-order controller.

• Ensure that no parameterisation can be carried out that can result in unforeseeable

improper operation of the system.




Channel 0

Encoder input 31)

Encoder input 21)

Encoder input 11)

Digital input DI1)

Channel 1




Digital input DI (unassigned)

Encoder input 31)

Encoder input 21)

Encoder input 11)

Digital input DI1)

Digital output DO




Digital input DI (unassigned)

Digital output DO

Digital output DO

(motor connection)

Digital output DO

(motor connection)

1) Assignment and function depend on the operating mode

Fig. 9.2

Displays

The LED displays present the logical state of the corresponding physical inputs and outputs.

LED Colour Function

Encoder input 1 (unassigned) Green Lights up on “1” signal at the physical input.



Digital input DI Green Lights up on “1” signal at the physical input.

Digital output DO Yellow Illuminates if voltage is present at the digital output DO

Tab. 9.1



put.




Note

Through connection of the motor to the 0 V reference potential, the control function

becomes ineffective and the motor turns uncontrollably. The direction of rotation can

also no longer be controlled.

• Connect the motor only between the digital outputs (terminals X4.1 and X8.1).



Terminal

channel 01)Terminal

channel 1















.1 .1 DO Digital output DO (motor connection)

.2 .2 0 Volt DO Do not use!


1) The function of the encoder inputs at channel 0 is dependent on the selected operating mode at this channel.


Tab. 9.2 Assignment of the terminals

The function of the encoder inputs at channel 0 is dependent on the selected operating

mode at this channel.



Behaviour during changing of the operating mode

Leaving the motor operating mode when operating a motor at high rotational speed could

result in the motor behaving uncontrollably or in damage to the counter module through

voltage feedback without corresponding configuration of the digital outputs.

The counter module therefore runs the motor down with the maximum braking ramp

before executing the operating mode change (� 9.3.1 Functional description).

9.2.2 Displays for diagnostics


information.

1

2

3

4

5






Fig. 9.3


Digital output DO

(channel 0/1)





Tab. 9.3 Overview of the diagnostics LED





9.2.3 Characteristics of the encoder inputs


Encoder type

In the motor operating mode, a pulse generator with single evaluation is permanently specified as en-

coder type. The parameter “Encoder type Ch1” is not considered.

Physical properties





F.-No.1)

4828

+ 64 × m

Bit

7 6 5 4 3 2 1 0

Channel 1 Channel 0

Encoder with 24 V



(Presetting)

+ 14 0 0 0 0

Encoder with 5 V



Encoder with 5 V




Tab. 9.4

Single-ended


sion of a track.

Differential



quency.



Input debounce time





F-No.1)

4828

+ 64 × m

Bit

7 6 5 4 3 2 1 0

Channel 1 Channel 0

0.1 μs 0.1 us (Presetting) + 8 0 0 0 0 0 0 0 0

0.2 μs 0.2 us 0 0 0 1 0 0 0 1

0.4 μs 0.4 us 0 0 1 0 0 0 1 0

0.8 μs 0.8 us 0 0 1 1 0 0 1 1

1 μs 1 us 0 1 0 0 0 1 0 0

2 μs 2 us 0 1 0 1 0 1 0 1

4 μs 4 us 0 1 1 0 0 1 1 0

8 μs 8 us 0 1 1 1 0 1 1 1

10 μs 10 us 1 0 0 0 1 0 0 0

50 μs 50 us 1 0 0 1 1 0 0 1

100 μs 100 us 1 0 1 0 1 0 1 0

500 μs 500 us 1 0 1 1 1 0 1 1

1 ms 1 ms 1 1 0 0 1 1 0 0

3 ms 3 ms 1 1 0 1 1 1 0 1

10 ms 10 ms 1 1 1 0 1 1 1 0

20 ms 20 ms 1 1 1 1 1 1 1 1


Tab. 9.5

9.2.4 Properties of the digital input DI

The parameters described in this section are available for adjustment of the properties of the digital

input DI (� Fig. 9.2).

Physical properties










F.-No.1)

4828

+ 64 × m

Bit

7 6 5 4 3 2 1 0

Channel 1 Channel 0

0.1 μs 0.1 us (Presetting) + 7 0 0 0 0 0 0 0 0

0.2 μs 0.2 us 0 0 0 1 0 0 0 1

0.4 μs 0.4 us 0 0 1 0 0 0 1 0

0.8 μs 0.8 us 0 0 1 1 0 0 1 1

1 μs 1 us 0 1 0 0 0 1 0 0

2 μs 2 us 0 1 0 1 0 1 0 1

4 μs 4 us 0 1 1 0 0 1 1 0

8 μs 8 us 0 1 1 1 0 1 1 1

10 μs 10 us 1 0 0 0 1 0 0 0

50 μs 50 us 1 0 0 1 1 0 0 1

100 μs 100 us 1 0 1 0 1 0 1 0

500 μs 500 us 1 0 1 1 1 0 1 1

1 ms 1 ms 1 1 0 0 1 1 0 0

3 ms 3 ms 1 1 0 1 1 1 0 1

10 ms 10 ms 1 1 1 0 1 1 1 0

20 ms 20 ms 1 1 1 1 1 1 1 1


Tab. 9.6



Signal extension DI





F.-No.1)

4828

+ 64 × m

Bit

7 6 5 4 3 2 1 0


15 ms 15 ms 0 1

50 ms 50 ms 1 0

100 ms 100 ms 1 1


15 ms 15 ms 0 1

50 ms 50 ms 1 0

100 ms 100 ms 1 1


Tab. 9.7

Polarity DI





F.-No.1)

4828

+ 64 × m

Bit

7 6 5 4 3 2 1 0

Channel 1 Channel 0




Tab. 9.8




Various parameters are available for definition of the characteristics of the digital output DO.

Note




Activation

In the motor operating mode, the following characteristics of the digital outputs of both channels are

permanently assigned:

– parameter “Function output DO Ch…”: “To pulse unit”

– parameter “Phys. characteristic output Ch...”: “Push-pull-driver”

Changes in the parameters have no effects.




Since the digital outputs of both channels are used, positive and negative continuous

output current as well as behaviour in case of short circuit/overload must be configured

identically on both channels.



Maximum positive permanent output current





F.-No.1)

4828

+ 64 × m

Bit

7 6 5 4 3 2 1 0

Channel 0 0.5 A 0.5 A + 12 0 0 0 1

1.0 A 1.0 A (Presetting) 0 0 1 0

1.5 A 1.5 A 0 0 1 1

2.0 A 2.0 A 0 1 0 0

2.5 A 2.5 A 0 1 0 1

3.0 A 3.0 A 0 1 1 0

3.5 A 3.5 A 0 1 1 1

4.0 A 4.0 A 1 0 0 0

4.5 A 4.5 A 1 0 0 1

5.0 A 5.0 A 1 0 1 0

Channel 1 0.5 A 0.5 A + 13 0 0 0 1

1.0 A 1.0 A (Presetting) 0 0 1 0

1.5 A 1.5 A 0 0 1 1

2.0 A 2.0 A 0 1 0 0

2.5 A 2.5 A 0 1 0 1

3.0 A 3.0 A 0 1 1 0

3.5 A 3.5 A 0 1 1 1

4.0 A 4.0 A 1 0 0 0

4.5 A 4.5 A 1 0 0 1

5.0 A 5.0 A 1 0 1 0


Tab. 9.9








F.-No.1)

4828

+ 64 × m

Bit

7 6 5 4 3 2 1 0

Channel 0 0.5 A 0.5 A + 12 0 0 0 1

1.0 A 1.0 A (Presetting) 0 0 1 0

1.5 A 1.5 A 0 0 1 1

2.0 A 2.0 A 0 1 0 0

2.5 A 2.5 A 0 1 0 1

3.0 A 3.0 A 0 1 1 0

3.5 A 3.5 A 0 1 1 1

4.0 A 4.0 A 1 0 0 0

4.5 A 4.5 A 1 0 0 1

5.0 A 5.0 A 1 0 1 0

Channel 1 0.5 A 0.5 A + 13 0 0 0 1

1.0 A 1.0 A (Presetting) 0 0 1 0

1.5 A 1.5 A 0 0 1 1

2.0 A 2.0 A 0 1 0 0

2.5 A 2.5 A 0 1 0 1

3.0 A 3.0 A 0 1 1 0

3.5 A 3.5 A 0 1 1 1

4.0 A 4.0 A 1 0 0 0

4.5 A 4.5 A 1 0 0 1

5.0 A 5.0 A 1 0 1 0


Tab. 9.10








ated.



F.-No.1)

4828

+ 64 × m

Bit

7 6 5 4 3 2 1 0

Channel 1 Channel 0




error through

– Switching the electronic

power supply off/on2)








present.



Resume 1 1



Tab. 9.11










F.-No.1)

4828

+ 64 × m

Bit

7 6 5 4 3 2 1 0

Channel 1 Channel 0




Tab. 9.12



9.3 Operate motor


With activated motor operating mode, both digital outputs DO of the counter module are automatically

assigned to the motor control and are no longer available for other functions.

The motor is controlled via PWM signals at the digital outputs DO. The frequency of the PWM signals is

20 kHz. The speed of the motor and its direction of rotation can be controlled through opposing

changes to the PWM duty cycles of both outputs.

Caution

The actual direction of rotation depends on the connection of the motor.

• Before commissioning, ensure through a safe test that the actual direction of rota-

tion of the attached motor corresponds to the desired behaviour.

Note

Danger from unexpected movement of the motor or axis.

• Make sure that the movement does not endanger anyone.

• Perform a risk evaluation in accordance with the EC Machine Directive.

• Design the safety system for the entire machine based on this risk assessment and

taking into account all integrated components. This also includes the electric drives.

Bypassing of safety equipment is impermissible.

The PWM duty cycle on the motor is specified. Specification is made in the CPX-FMT from –100 % (full

power backward) to +100 % (full power forward).

Through the process data (PDO), the PWM duty cycle is set from –32768 (corresponds to –100 %) to

32767 (corresponds to +100 %).



Example

Specification: Duty cycle +50 % (direction of rotation forward)

PWM output channel 0:

75 %

PWM frequency

Duty cycle: +50%

Voltage at the motor:

24 V × 50 % PWM


25 %

Connection “+”

Direction of rotation: Forward

Connection “–”

Fig. 9.4

With specification of –50 % (direction of rotation backward), the PWM signals of both

outputs are exchanged. As a result, there is a reverse-poled output at the digital outputs.

Example

Specification: Duty cycle +100 % (direction of rotation forward)


100 %

PWM frequency

Duty cycle: +100%


24 V × 100 % PWM


0 %

Connection “+”

Direction of rotation: Forward


Fig. 9.5



With specification of PWM duty cycle = “0”, both outputs are switched off and carry 0 V

reference potential.

Example

Specification: Duty cycle 0 %


0 %

PWM frequency

Duty cycle: 0 %


0 V


0 %

Connection “+”


Fig. 9.6

Further examples

Specification PWM DO 0

(motor +)

PWM DO 1

(motor -)

Voltage at the motor Direction of rotation

FMT PDO

100 % 32767 100.0 % 0 % 24 V × 100 % PWM 100 % forward

75 % 24576 87.5 % 12.5 % 24 V × 75 % PWM 75 % forward

50 % 16384 75.0 % 25.0 % 24 V × 50 % PWM 50 % forward

25 % 8192 62.5 % 37.5 % 24 V × 25 % PWM 25 % forward

0 % 0 0 % 0 % 0 V Rest

–25 % -8192 37.5 % 62.5 % 24 V × –25 % PWM 25 % backward

–50 % -16384 25.0 % 75.0 % 24 V × –50 % PWM 50 % backward

–75 % -24576 12.5 % 87.5 % 24 V × –75 % PWM 75 % backward

–100 % -32768 0 % 100 % 24 V × –100 % PWM 100 % backward

Tab. 9.13



Measured current value

The current output current of both digital outputs DO is represented in the PDI as an 8 bit signed in-

teger with a resolution of 100 mA (� 9.4 Process data (PDI/PDO)).

Output current of the digital outputs DO in the PDI


7 6 5 4 3 2 1 0

Channel 1 Measured current DO channel 0 Byte 6 01

01

01

01

01

01

01

01

Measured current DO channel 1 Byte 7 01

01

01

01

01

01

01

01

Tab. 9.14

The value range goes from –128 (-12.8 A) to 127 (12.7 A). 1 increment corresponds thereby to 100 mA.

Value Minimum Maximum Resolution

In the PDI –128 127 1

Corresponding current –12.8 A 12.7 A 100 mA

Tab. 9.15

Voltage feedback

Note

During external drive or coasting of the motor, part of the energy is fed back, which can

result in voltage peaks and thus to defects in the power supply unit.

The brief switch-off of the power supply for power supply units with overvoltage protec-

tion results in temporarily uncontrolled behaviour of the motor.

The reliability of the system is influenced considerably through this.

• Check or measure feedback to the voltage supply.

• Plan for external overvoltage protection (e.g. a capacitor switched in parallel to

receive the returned energy).

• Brake the motor as slowly as possible.

• Use an appropriate power supply unit.

• Integrate feedback protection.



Acceleration and braking ramps

Behaviour when the motor speed is changed can be defined with acceleration and braking ramps via

the process data (PDO).

The definition is based on specification of the PWM duty cycle in the process data (PDO)

from –32768 … 32767. The specifications for the acceleration and braking ramps define

what amount per second the duty cycle at the digital outputs changes.

Example:

– specification of PWM at the outputs: +50 % (PDO: 16384)

– specification of acceleration ramp: 10 % (PDO: 6554)

– specification of braking ramp: 10 % (PDO: 6554)

If the PWM specification in the PDO is changed to +75 % (PDO: 24576), the duty cycle or specification

value in the PDO changes per second by the amount 6554.

Target value 24576 – initial value 16384 = difference value 8192

Difference value 8192 / difference per second 6554 = duration 1.25 seconds

A value of “0” for the acceleration and braking ramp causes the PWM duty cycle at the

digital outputs not to change any more.

In order to control a motor, the chosen acceleration and braking ramps must be > 0.


Specifications of the operating mode are configured through the process data (� 9.4)






7 6 5 4 3 2 1 0

Channel 0 Function dependent on the operating mode at chan-

nel 0

Byte 0 … 3 01

01

01

01

01

01

01

01

Channel 1 Current output duty cycle Byte 4 … 5 01

01

01

01

01

01

01

01

Backward-read current value at DO channel 0 Byte 6 01

01

01

01

01

01

01

01

Backward-read current value at DO channel 1 Byte 7 01

01

01

01

01

01

01

01

Channel 0 Function dependent on the operating mode at channel 0 Byte 8 … 9 01

01

01

01

01

01

01

01


Encoder input 2 01

Encoder input 3 01

Digital input DI 01

Motor direction of rotation (0=backward, 1= forward) 01

Not used X

Not used X

Not used X


≤ LCV 01

≥ LCV 01

Within 01

Beyond 01

= LCV + Timer 01


Not used X


Tab. 9.16



7 6 5 4 3 2 1 0


01

01

01

01

01

01

01

Channel 1 Acceleration ramp (0 … 65 535 (100 %)) Byte 4 … 5 01

01

01

01

01

01

01

01

Braking ramp (0 … 65 535 (100 %)) Byte 6 … 7 01

01

01

01

01

01

01

01


01

01

01

01

01

01

01

Channel 1 PWM duty cycle, direction of rotation

(-32768 (–100 %) … 32767 (100 %))

Byte 10…11 01

01

01

01

01

01

01

01

Tab. 9.17

5 Diagnostics


10 Diagnostics

10.1 Summary of diagnostics options

The following possibilities for diagnostics and error handling are available, depending on the paramet-

erisation of the counter module:

Diagnostics option Brief description Benefits Detailed

description

LED indicator The LEDs directly display

hardware faults, configura-

tion errors, bus errors, etc.

Fast “on-the-spot”

recognition of errors

� 10.2

CPX diagnostics The counter module reports

specific malfunctions as er-

ror messages (error num-

bers) to the CPX bus node

or CPX-FEC/CPX-CEC.

Detailed error recognition � 10.3

Tab. 10.1

Observe that the diagnostic information displayed can depend on the parameterisation

and operating mode (� Chapter 5 … 9,� Appendix A.2).

5 Diagnostics


10.2 Diagnostics via LED display

LEDs are available on the counter module for diagnosing the counter module and any connected

devices.

The following illustration (� Fig. 10.1) shows the function of the LED indicators for representation of

diagnostic information.

1

2

3

4

5






Fig. 10.1

Diagnostic LED Colour Function Description

Digital output DO

(channel 0/1)

red Illuminates if a fault is diagnosed

at the digital output DO

Overload/short circuit, digital

output

encoder power 24 V red Illuminates if a fault is diagnosed

in the 24 V encoder power

Overload/short circuit, 24 V

sensor supply

encoder power 5 V red Illuminates if a fault is diagnosed

in the 5 V encoder power

Overload/short circuit, 5 V

sensor supply

Module error red Illuminates if a module error is

diagnosed

Illuminates for all module errors

described in the following table.

(� Tab. 10.22)

Tab. 10.2 Diagnostics via LED display

5 Diagnostics


10.3 Diagnostics via the I/O diagnostics interface

10.3.1 Error categories

The errors recognisable and output by the counter module are subdivided into two categories:

– non-critical errors

– critical errors

They differ in their effect and the resulting behaviour of the counter module.

Non-critical errors

The function of the channel is not influenced. The effects of the error are:

– output of a diagnostic message with error number

– reset of the faulty setting to the presetting

The user can check and correct the configuration.

Critical errors

The function of the channel is set. Further effects of the error are:

– output of a diagnostic message with error number

– digital output DO used by the channel enters the high-resistance state and does not supply any

active signals.

The channel remains in the error state until the cause of the error is remedied by the user, i.e. the error-

causing configuration is set to a correct value.

Other configurations can be changed prior to the error-causing configuration, for ex-

ample, to prevent activation of the digital output DO after the end of the error state.

10.3.2 Non-critical errors due to faulty configuration

Which configuration leads to a non-critical error is dependent on the operating mode. The following

tables list the possible configuration errors according to operating mode and error number.

The configuration errors presented here can occur only through configuration of a higher-

order controller. FMT does not offer the corresponding settings.

5 Diagnostics


All operating modes

Parameter Error Value (bits) Information

Designation F.-No

.

7 6 5 4 3 2 1 0

Channel 1 Channel 0

Max pos cont. output curr. Ch0 12 207 0 0 0 0 Value not defined

1 0 1 1

1 1 0 0

1 1 0 1

1 1 1 0

1 1 1 1

Max pos cont. output curr. Ch1 13 207 0 0 0 0

1 0 1 1

1 1 0 0

1 1 0 1

1 1 1 0

1 1 1 1

Max neg cont. output curr. Ch0 12 208 0 0 0 0

1 0 1 1

1 1 0 0

1 1 0 1

1 1 1 0

1 1 1 1

Max neg cont. output curr. Ch1 13 208 0 0 0 0

1 0 1 1

1 1 0 0

1 1 0 1

1 1 1 0

1 1 1 1

Tab. 10.3



Designation F.-No. 7 6 5 4 3 2 1 0

Channel 1 Channel 0

CNT-function input DI Ch... 17 209 1 1 1 Value not defined

1 1 1

Tab. 10.4

5 Diagnostics


Process data output (PDO) Error Value (bits) Information

Designation Byte 7 6 5 4 3 2 1 0

Object address channel 0 9 220 01

01

01

01

01

01

01

01

1)

Object address channel 1 11 01

01

01

01

01

01

01

01

1)

1) Causes an error if > 00001100(bin) (12(dec))

Tab. 10.5

Object Error Information

Designation Addr.

Upper limit (ULV) 6 216 Causes an error if ULV – LLV ≤ hysteresis

Lower limit (LLV) 7

Upper count limit (UCL) 2 217 Causes an error if UCL ≤ LCL

Lower count limit (LCL) 3

Upper compare value (UCV) 4 218 Causes an error if UCV – LCV ≤ hysteresis

Lower compare value (LCV) 5

Tab. 10.6

Operating modes for measurment



Channel 1 Channel 0

POS-function input DI Ch... 18 210 1 1 Value not defined

1 1

Tab. 10.7




01

01

01

01

01

01

01

1)


01

01

01

01

01

01

01

1)


Tab. 10.8


Designation Addr.

Upper limit (ULV) 6 216 Causes an error if ULV – LLV ≤ hysteresis

Lower limit (LLV) 7

Upper compare value (UCV) 4 218 Causes an error if UCV – LCV ≤ hysteresis

Lower compare value (LCV) 5

Tab. 10.9

5 Diagnostics


Operating modes for measure/determine position andmeasure velocity



Channel 1 Channel 0

POS-function input DI Ch...1) 18 210 1 1 Value not defined

1 1

SSI-telegram cycle Ch...2) 47 219 1 1 Value not defined

1 1

1) Only operating mode “Measure/determine position”

2) Causes an error if “Encoder type Ch...” = “SSI-encoder”

Tab. 10.10



Pulse/rotation between AB&0

Ch0

31 227 0 0 0 0 0 0 0 0 1)

32 0 0 0 0 0 0 0 0

Pulse/rotation between AB&0

Ch1

33 227 0 0 0 0 0 0 0 0 1)

34 0 0 0 0 0 0 0 0

1) Causes an error if “Encoder type Ch...” = “Encoder 90° phase …”

Tab. 10.11




01

01

01

01

01

01

01

1)


01

01

01

01

01

01

01

1)


Tab. 10.12

5 Diagnostics



Designation Addr.

Upper limit (ULV) 61) 216 Causes an error if ULV – LLV ≤ hysteresis

102)

Lower limit (LLV) 71)

112)

Upper count limit (UCL) 2 217 Causes an error if UCL ≤ LCL1)

Lower count limit (LCL) 3

Upper compare value (UCV) 41) 218 Causes an error if UCV – LCV ≤ hysteresis

82)

Lower compare value (LCV) 51)

92)

1) Only operating mode “Measure/determine position”

2) Only operating mode “Measure velocity” and “Measure velocity ...”

Tab. 10.13




Switch-on delay impulse output Ch0 49 222 01

01

01

01

01

01

01

01

1) 2)

50 01

01

01

01

01

01

01

01

Switch-on delay impulse output Ch1 51 222 01

01

01

01

01

01

01

01

1) 2)

52 01

01

01

01

01

01

01

01

1) Only “Pulse-width modulation” and “Pulse train” operating modes

2) Causes an error if > 3 600 and “Time base impulse output Ch...” = “1 s”

Tab. 10.14



Specifications of impulse

output, channel 0

0 … 3 221 01

01

01

01

01

01

01

01

1)

Specifications of impulse

output, channel 1

4 … 7 01

01

01

01

01

01

01

01

1)

1) Causes an error if pulse and/or on time< 25 μs or > 3 600 s or if switch-on/switch-off delay > 3 600 s

Tab. 10.15

Motor operating mode

No errors are defined in the motor operating mode.

5 Diagnostics


10.3.3 Critical errors due to faulty configuration

Which configuration leads to a critical error is dependent on the operating mode. Exceptions are the

parameters “Operating mode Ch...” themselves. The following tables list the possible configuration

errors according to operating mode and error number.

The configuration errors presented here can occur only through configuration of a higher-

order controller. FMT does not offer the corresponding settings.

Parameter “Operating mode”



Channel 1 Channel 0

Operating mode Ch... 6 206 1 0 0 1 1)

1 0 0 1 1)

1 1 1 1 Value not defined

1) Setting “Measure velocity channel ...” Causes a critical error if operating mode of the other channel is not “Measure/determine

position” or “Measure velocity”

Tab. 10.16




Channel 1 Channel 0

Phys. characteristic input Ch... 14 224 1 1 Value not defined

1 1

Function DIR Ch... 15 225 1 1 0

1 1 1

1 1 0

1 1 1

Tab. 10.17

5 Diagnostics





Channel 1 Channel 0

Phys. characteristic input Ch... 14 224 1 1 Value not defined

1 1

Pulse/rotation Ch01) 25

26

226 0 0 0 0 0 0 0 0

0 0 0 0 0 0 0 0

Pulse/rotation Ch11) 27

28

0 0 0 0 0 0 0 0

0 0 0 0 0 0 0 0

1) Only “Measure r.p.m.” operating mode

Tab. 10.18

Operating modes for Measure/determine position andMeasure velocity



Channel 1 Channel 0

Phys. characteristic input Ch...1) 14 224 1 1 Value not defined

1 1

Function DIR Ch...2) 15 225 1 1 0

1 1 1

1 1 0

1 1 1

Encoder type Ch... 30 211 1 1 0

1 1 1

1 1 0

1 1 1

Reference mode Ch…2) 3) 37 212 1 0 0

1 0 1

1 0 0

1 0 1

SSI-parity Ch...4) 43 213 1 1

1 1

SSI-data frame bits Ch... 38

39

214 01

0101

01

01

5)�

1) Causes a critical error if “Encoder type Ch...” ≠ “SSI-encoder”

2) Causes a critical error if “Encoder type Ch...” = “Encoder with impulse and direction”

3) Only “Measure/determine position” operating mode if “Encoder type Ch” ≠ “SSI-encoder”

4) Causes a critical error if “Encoder type Ch...” = “SSI-encoder”

5) Causes a critical error if data frame bits < position value bits + parity bit and “Encoder type Ch...” = “SSI-encoder”

Tab. 10.19

5 Diagnostics



Designation Addr.

Conversion factor1) 12 223 Causes an error if

< 1.175×10–38 (0080 0000(hex)) or

+Infinite (7F80 0000(hex)).

1) Only operating mode “Measure velocity” and “Measure velocity ...”

Tab. 10.20




Channel 1 Channel 0

Time base, impulse output Ch... 48 215 1 1 Value not defined

1 1

Tab. 10.21

Motor operating mode

No errors are defined in the motor operating mode.

10.3.4 Values in the PDI with critical errors

In order to recognise a critical error through the process data with the higher-order controller as well,

the bytes 0 … 3 (channel 0) or the bytes 4 … 7 (channel 1) in the input section of the process data (PDI)

take on the maximum representable value when a critical error occurs.

In the operating modes “Measure velocity Ch…” and “Measure velocity channel …”, these

bytes use the representation format “32 bit short real”. The maximum representable

value corresponds here to “+ infinity” (7F80 0000).

5 Diagnostics


10.3.5 List of error numbers

The counter module can report the following errors (� Tab. 10.22):

Further information can be found in the CPX system description in the chapter “Dia-

gnostics and error handling”.

Error Error Description

2 Short circuit Short circuit/overload



– Digital output 0

– Digital output 1

5 Undervoltage in power supply Undervoltage in load supply

9 Lower limit exceeded Current value is less than lower limit

10 Upper limit exceeded Current value is greater than upper limit

62 Overflow in time measurement No impulse within the integration time

72 SSI-parity error Parity error in the SSI-telegram

73 Limit monitoring Value of encoder outside the number range

74 Limit exceeded in measure duty cycle Exceeded the maximum time for measure

duty cycle

108 Encoder error Error during inspection of the shaft encoder

between the 0 pulses

206 Fault in param. Operating mode Operating mode not possible

Causes:

– motor operating mode selected by high-

er-order controller at channel 0.

– “Measure velocity channel ....” is selec-

ted on one channel, whereas on the oth-

er channel “Measure/determine posi-

tion” or “Measure velocity” is selected.

207 Fault in param. max pos cont. output curr. Value not possible

208 Fault in param. max neg cont. output curr. Value not possible

209 Fault in param. CNT-function input DI Value not possible

210 Fault in param. POS-function input DI Value not possible

211 Fault in param. Encoder type Value not possible

212 Fault in param. Reference mode Value not possible

213 Fault in param. SSI-parity Value not possible

214 Fault in param. SSI-telegram cycle Value not possible

215 Fault in param. time base impulse output Value not possible

216 Fault in object limit Upper limit – lower limit ≤ hysteresis

217 Fault in object count limit Upper count limit ≤ Lower count limit

218 Fault in object comp value Upper compare value – Lower comparative

value ≤ hysteresis

5 Diagnostics


Error DescriptionError

219 Fault in reference mode Value not possible

220 Invalid object address Non-existent object address

221 Fault in impulse output setting Setting of PDO impulse output on time, off

time < 25 μs or > 3 600 s

or

Setting of PDO impulse output switch-on/

switch-off delay > 3 600 s

222 impulse output debounce time out of range Setting of parameter Impulse output de-

bounce time is outside the specification

(> 3 600 s)

223 Fault in conversion factor Faulty conversion factor in measure velocity:

< 1.175×10–38 (0080 0000(hex)) or +Infinite

(7F80 0000(hex))

224 Fault in phys. characteristic input Value not possible

225 Fault in function DIR Value not possible

226 Fault in pulses per rotation Value not possible

227 Fault in pulses per rotation AB&0 Value not possible

Tab. 10.22

A Technical appendix



A.1 Technical data

General technical data of the CPX terminal� CPX system description P.BE-CPX-SYS...

General

Degree of protection provided by housing 1)

according to IEC 60529:

– completely mounted

– plug connector inserted or provided with pro-

tective cap

– terminals equipped with cover AK-8KL includ-

ing fittings kits VG-K-M9.

IP65/IP67

Protection against electric shock

Protection against direct and indirect contact in

accordance with IEC 60204-1

through PELV circuit

(protected extra−low voltage)

Module code (CPX-specific) 183/1

Module identifier (in operator unit CPX-MMI) 2CI2DO counter module

1) Note that connected devices might only satisfy a lower protection class, a smaller temperature range, etc.

Tab. A.1

Power supply

Operating voltage supply for electronics/sensors

(UEL/SEN)

18 … 30 V DC

Intrinsic current consumption of counter module

from operating voltage supply for electronics/

sensors (UEL/SEN)

Max. 370 mA at 24 V

Reverse polarity protection of operating voltage

supply for electronics/sensors (UEL/SEN)

Yes

Reverse polarity protection of load voltage supply Yes

Mains buffering time 10 ms

Short circuit protection of encoder/sensor supply

24 V DC

Per module

Continuous nominal current of encoder/sensor

supply 24 V DC

Max. 1 A

Short circuit protection of encoder power 5 V DC Per module



Power supply

Continuous nominal current of encoder power

5 V DC

Max. 1 A

Diagnostic message undervoltage at outputs

UOUT (monitoring UOUT, load voltage outside

function range)

≤17 … 14 V

Parallel switching of outputs for increased per-

formance

Not permissible

Short circuit protection of outputs Internal electronic fuse for each channel

Protection against reverse voltage of the outputs No

Voltage drop at output ≤1 V

Encoder interface/24 V input

– Permanent dielectric strength ±30 V

– Electrostatic discharge according to IEC

60749-26 (human body model)

±16 kV

– Electrical isolation between the channels No

Max. line length of the encoder interface

(screened)

30 m

Tab. A.2



A.2 Parameter overview

A.2.1 Parameterisation of the operating mode

The operating mode of the counter module is defined through the parameter “Operating mode Ch0” or

“Operating mode Ch1” for channel 0 and channel 1.



F.-No.1)

4828

+ 64 × m

Bit

7 6 5 4 3 2 1 0

Channel 1 Channel 0

Count infinite Count infinite

(Presetting)

+ 6 0 0 0 0 0 0 0 0

Count once, counter setting

stops at the counter limit

Count once up to count limit 0 0 0 1 0 0 0 1

Count once, counter setting

jumps to the load value

Count once, back to load value 0 0 1 0 0 0 1 0

Count periodically Count periodically 0 0 1 1 0 0 1 1




F.-No.1)

4828

+ 64 × m

Bit

7 6 5 4 3 2 1 0

Channel 1 Channel 0

Measure frequency Measure frequency + 6 0 1 0 0 0 1 0 0

Measure rotational speed Measure r.p.m. 0 1 0 1 0 1 0 1

Measure duty cycle Measure duty cycle 0 1 1 0 0 1 1 0


Tab. A.3



Operating modes for measure/determine position andmeasure velocity


F.-No.1)

4828

+ 64 × m

Bit

7 6 5 4 3 2 1 0

Channel 1 Channel 0

Measure/determine position Measure/determine position + 6 0 1 1 1 0 1 1 1

Measure velocity Measure velocity 1 0 0 0 1 0 0 0

Measure speed of the en-

coder at channel 12)Measure velocity channel 1 1 0 0 1

Measure speed of the en-

coder at channel 03)Measure velocity channel 0 1 0 0 1




Tab. A.4



F.-No.1)

4828

+ 64 × m

Bit

7 6 5 4 3 2 1 0

Channel 1 Channel 0

impulse output impulse output + 6 1 0 1 0 1 0 1 0

Pulse-width modulation Pulse-width modulation 1 0 1 1 1 0 1 1

Pulse train Pulse train 1 1 0 0 1 1 0 0

Switch-on/switch-off delay Switch-on/switch-off delay 1 1 0 1 1 1 0 1

Frequency output Frequency output 1 1 1 0 1 1 1 0


Tab. A.5

Operating mode for motor controller


F.-No.1)

4828

+ 64 × m

Bit

7 6 5 4 3 2 1 0

Channel 1 Channel 0

Motor activation Motor operating mode + 6 1 1 1 1


Tab. A.6



A.2.2 encoder power parameterisation

The parameter “Operate 24 V-encoder power” or “Operate 5 V-encoder power” defines whether the

respective supply voltage is switched through to the corresponding terminals.

Switch encoder power 24 V / 5 V on/off


F.-No.1)

4828

+ 64 × m

Bit

7 6 5 4 3 2 1 0

encoder power switched off Off 5 V + 10 0

24 V 0

encoder power switched on On

(Presetting)

5 V 1

24 V 1


Tab. A.7

The parameter “Monitor UOUT/UVAL” defines whether a diagnostic message should be output upon

detection of undervoltage in the load voltage.



F.-No.1)

4828

+ 64 × m

Bit

7 6 5 4 3 2 1 0


in load supply

Inactive + 0 0


load supply

Active (default) 1


Tab. A.8

The parameter “Monitor 24 V-encoder power” or “Monitor 5 V-encoder power” defines whether the

diagnostic message resulting from triggering of the electronic fuse is output via LED indicator and CPX

diagnostics.

Diagnostic message in the case of short circuit/overload of the encoder power 24 V / 5 V


F.-No.1)

4828

+ 64 × m

Bit

7 6 5 4 3 2 1 0

Diagnostics are not displayed Inactive 24 V + 9 0

5 V 0

Diagnostics are displayed Active

(Presetting)

24 V 1

5 V 1


Tab. A.9



The parameter “Behaviour 24 V-encoder power” or “Behaviour 5 V-encoder power” defines whether

the encoder power remains switched off after the fuse is triggered or automatically becomes active

again after the error is eliminated.

Behaviour of the encoder power 24 V / 5 V in case of short circuit/overload


F.-No.1)

4828

+ 64 × m

Bit

7 6 5 4 3 2 1 0




error through

– Switch-off/switch-on of the

electronics supply2)



Leave switched

off

24 V + 9 0

5 V 0





present.



Resume

(Presetting)

24 V 1

5 V 1



Tab. A.10



A.2.3 Parameterisation of general diagnostics

The parameter “Monitor parameters” defines whether a diagnostic message should be output upon

detection of parameterisation errors.



F.-No.1)

4828

+ 64 × m

Bit

7 6 5 4 3 2 1 0

No diagnostics on paramet-

erisation error

Inactive + 0 0

Diagnostics on parameterisa-

tion error

Active (default) 1


Tab. A.11

The parameter “Monitor object error” defines whether a diagnostic message should be output upon

detection of object errors.



F.-No.1)

4828

+ 64 × m

Bit

7 6 5 4 3 2 1 0

No diagnostics on object er-

ror

InActive (default) + 53 0

Diagnostics on object error Active 1


Tab. A.12

The parameter “Monitor UOUT/VAL” defines whether a diagnostic message should be output upon de-

tection of undervoltage in the load voltage.



F.-No.1)

4828

+ 64 × m

Bit

7 6 5 4 3 2 1 0


in load supply

Inactive + 0 0


load supply

Active (default) 1


Tab. A.13



A.2.4 Parameterisation of encoder inputs





F.-No.1)

4828

+ 64 × m

Bit

7 6 5 4 3 2 1 0

Channel 1 Channel 0

No evaluation of the encoder

inputs



single evaluation

Encoder 90° phase Single eval. 0 0 1 0 0 1


double evaluation

Encoder 90° phase Double eval. 0 1 0 0 1 0


quadruple evaluation

Encoder 90° phase Quad eval. 0 1 1 0 1 1

Pulse generator with direc-

tion sensor


(Presetting)

1 0 0 1 0 0

Absolute encoder with SSI

interface

SSI-encoder 1 0 1 1 0 1


Tab. A.14

For the operating modes for counting and measuring, only one pulse generator, with or

without direction sensor, can be selected as encoder type. In case of configuration with a

higher-order controller, the settings “001” … “101” are interpreted correspondingly.





F.-No.1)

4828

+ 64 × m

Bit

7 6 5 4 3 2 1 0

Channel 1 Channel 0

Encoder with 24 V



(Presetting)

+ 14 0 0 0 0

Encoder with 5 V



Encoder with 5 V




Tab. A.15







F.-No.1)

4828

+ 64 × m

Bit

7 6 5 4 3 2 1 0

Channel 1 Channel 0

0.1 μs 0.1 us (Presetting) + 8 0 0 0 0 0 0 0 0

0.2 μs 0.2 us 0 0 0 1 0 0 0 1

0.4 μs 0.4 us 0 0 1 0 0 0 1 0

0.8 μs 0.8 us 0 0 1 1 0 0 1 1

1 μs 1 us 0 1 0 0 0 1 0 0

2 μs 2 us 0 1 0 1 0 1 0 1

4 μs 4 us 0 1 1 0 0 1 1 0

8 μs 8 us 0 1 1 1 0 1 1 1

10 μs 10 us 1 0 0 0 1 0 0 0

50 μs 50 us 1 0 0 1 1 0 0 1

100 μs 100 us 1 0 1 0 1 0 1 0

500 μs 500 us 1 0 1 1 1 0 1 1

1 ms 1 ms 1 1 0 0 1 1 0 0

3 ms 3 ms 1 1 0 1 1 1 0 1

10 ms 10 ms 1 1 1 0 1 1 1 0

20 ms 20 ms 1 1 1 1 1 1 1 1


Tab. A.16


the encoder input 1 (CLOCK) should be internally inverted.

Inversion of the CLOCK signals at the encoder input 1


F.-No.1)

4828

+ 64 × m

Bit

7 6 5 4 3 2 1 0

Channel 1 Channel 0




Tab. A.17



The parameter “Function DIR Ch0” or “Function DIR Ch1” defines which counting direction is active in a

given state of the encoder input 2 or of the bit active in the PDO.

Controlling count direction


F.-No.1)

4828

+ 64 × m

Bit

7 6 5 4 3 2 1 0

Channel 1 Channel 0



(Presetting)

0 0 1 0 0 1


on change “0” } “1”, start dir-

ection upwards.



with change “0” } “1”, start

direction downwards.




ection upwards.




ection downwards.



Tab. A.18

The parameter “Source DIR Ch0” or “Source DIR Ch1” defines whether the physical input or the corres-

ponding bit in the PDO is evaluated as signal source.



F.-No.1)

4828

+ 64 × m

Bit

7 6 5 4 3 2 1 0

Channel 1 Channel 0




Tab. A.19



The parameter “Pulse/rotation Ch0” or “Pulse/rotation Ch1” defines how many pulses the encoder

used generates per rotation.

Pulses per rotation


F.-No.1)

4828

+ 64 × m

Bit

7 6 5 4 3 2 1 0

Channel 0 Encoder

resolution

Pulse/rotation Ch0

(1 … 65535)

Presetting: 1

+ 25 01

01

01

01

01

01

01

01

+ 26 01

01

01

01

01

01

01

01

Channel 1 Encoder

resolution

Pulse/rotation Ch1

(1 … 65535)

Presetting: 1

+ 27 01

01

01

01

01

01

01

01

+ 28 01

01

01

01

01

01

01

01


Tab. A.20

The value of the pulses per rotation must be greater than “0”.

Otherwise, a diagnostic message is triggered with selected operating mode “Measure

r.p.m.” (� 10 Diagnostics).

The parameter “Pulse/rotation between AB&0 Ch0” or “Pulse/rotation between AB&0 Ch1” defines the

number of pulses on track A or B between 2 impulses on track 0.

Number of pulses A/B between two pulses 0


F.-No.1)

4828

+ 64 × m

Bit

7 6 5 4 3 2 1 0


A/B between

pulses track 0


(1 … 65535)

Presetting: 1

+ 31 01

01

01

01

01

01

01

01

+ 32 01

01

01

01

01

01

01

01


A/B between

pulses track 0


(1 … 65535)

Presetting: 1

+ 33 01

01

01

01

01

01

01

01

+ 34 01

01

01

01

01

01

01

01


Tab. A.21





Reference mode


F.-No.1)

4828

+ 64 × m

Bit

7 6 5 4 3 2 1 0

Channel 1 Channel 0


Homing with edge at DI

and stationary encoder.



and positive encoder

movement.



and negative encoder

movement.


Homing with edge at 0

after edge at DI and posit-

ive encoder movement.

Edge, pos. direction&0 1 0 0 1 0 0

Homing with edge at 0

after edge at DI and negat-

ive encoder movement.

Edge, neg. direction&0 1 0 1 1 0 1


Tab. A.22


inverting DI (� 7.3.6 Function and characteristics of DI).



The parameter “Offset 0 Ch0” or “Offset 0 Ch1” defines howmany pulses have to be detected on track

0 after the edge at DI before the next pulse is accepted as a command for homing.

Offset for detection 0-pulse


F.-No.1)

4828

+ 64 × m

Bit

7 6 5 4 3 2 1 0

Channel 0 Number of

pulses of track 0

before release

of track 0

Offset 0 Ch0 (0 … 255)

Presetting: 0

+ 35 01

01

01

01

01

01

01

01

Channel 1 Number of

pulses of track 0

before release

of track 0

Offset 0 Ch1 (0 … 255)

Presetting: 0

+ 36 01

01

01

01

01

01

01

01


Tab. A.23

The parameter “Monitor encoder signals Ch0” or “Monitor encoder signals Ch1” defines whether a

diagnostic message is output when an error in the encoder signals is detected (� 10 Diagnostics).

Diagnostic message for encoder error


F.-No.1)

4828

+ 64 × m

Bit

7 6 5 4 3 2 1 0

Channel 1 Channel 0

No diagnostic message Inactive (Presetting) + 47 0 0

Diagnostic message active Active 1 1


Tab. A.24

Tolerance

The tolerance of the encoder monitoring is ±3 pulses.



A.2.5 Parameterisation, SSI telegram

The parameter “SSI data frame bits Ch0” or “SSI data frame bits Ch1” defines the total size of the SSI

telegrams.

The value “0” corresponds to a size of “32 bit”.

Size of the SSI telegrams


F.-No.1)

4828

+ 64 × m

Bit

7 6 5 4 3 2 1 0


Presetting: 31

+ 38 01

01

01

01

01


Presetting: 31

+ 39 01

01

01

01

01


2) Value “0” corresponds to 32 bit

Tab. A.25

The parameter “SSI position value bits Ch0” or “SSI position value bits Ch1” defines how many bits in

the data frame are used by the actual encoder value.

As long as value “0” is set, no communication takes place with the encoder.

Size of the position value in the SSI telegram


F.-No.1)

4828

+ 64 × m

Bit

7 6 5 4 3 2 1 0


Presetting: 0

+ 40 01

01

01

01

01


Presetting: 0

+ 41 01

01

01

01

01


Tab. A.26



The parameter “SSI-parity Ch0” or “SSI-parity Ch1” defines whether a parity bit is present and, if so,

what value it should have.

Parity bit


F.-No.1)

4828

+ 64 × m

Bit

7 6 5 4 3 2 1 0

Channel 1 Channel 0

No parity bit None (Presetting) + 43 0 0 0 0

DB2) + PB = odd (“1”) Odd 0 1 0 1

DB2) + PB = even (“0”) Even 1 0 1 0


2) All bits of the SSI telegram

Tab. A.27

The parameter “Monitor SSI-parity error Ch0” or “Monitor SSI-parity error Ch1” defines whether a dia-

gnostic message is output in case of a parity error (� 10 Diagnostics).

Diagnostic message for SSI parity errors


F.-No.1)

4828

+ 64 × m

Bit

7 6 5 4 3 2 1 0

Channel 0 No diagnostic message Inactive + 53 0


Channel 1 No diagnostic message Inactive 0



Tab. A.28



The parameters “SSI-condition bit A Ch0”, “SSI-condition bit B Ch0” and “SSI-condition bit C Ch0” or

“SSI-condition bit A Ch1”, “SSI-condition bit B Ch1” and “SSI-condition bit C Ch1” define which bits of

the SSI telegram are depicted as “Condition bit A”, “Condition bit B” and “Condition bit C” in the PDI of

the counter module.

State bit A in the SSI telegram


F.-No.1)

4828

+ 64 × m

Bit

7 6 5 4 3 2 1 0

Channel 1 Channel 0


Presetting: 0

+ 44 01

01

01

01


Presetting: 1

+ 44 01

01

01

01


Presetting: 2

+ 45 01

01

01

01


Presetting: 0

+ 45 01

01

01

01


Presetting: 1

+ 46 01

01

01

01


Presetting: 2

+ 46 01

01

01

01


Tab. A.29

The parameter “SSI-standard Ch0” or “SSI-standard Ch1” defines whether standardization of the SSI

telegram is active.

Standardisation


F.-No.1)

4828

+ 64 × m

Bit

7 6 5 4 3 2 1 0

Channel 1 Channel 0

Standardisation inactive Off + 42 0 0

Standardisation active On (Presetting) 1 1


Tab. A.30



The parameter “SSI-data code type Ch0” or “SSI-data code type Ch1” defines whether encoder inform-

ation is depicted in the binary code or in the gray code.

Code type of data transmission


F.-No.1)

4828+ 64 × m

Bit

7 6 5 4 3 2 1 0

Channel 1 Channel 0

Representation in the graycode

Gray code (Presetting) + 47 0 0

Representation in thebinary code

Binary code 1 1


Tab. A.31

The parameter “SSI-telegram cycle Ch0” or “SSI-telegram cycle Ch1” defines the type of encoder value

detection.

Encoder value detection


F.-No.1)

4828+ 64 × m

Bit

7 6 5 4 3 2 1 0

Channel 1 Channel 0

Fixed time slot pattern Synchronous (Presetting) + 47 0 0 0 0

Permanent transmission Continuously changing 0 1 0 1

With pulse at DI Controlled 1 0 1 0


Tab. A.32

The parameter “SSI-baud rate Ch0” or “SSI-baud rate Ch1” defines the data transmission speed for the

SSI interface.

Transmission rate of the SSI interface


F.-No.

4828

+ 64 × m

Bit

7 6 5 4 3 2 1 0

Channel 1 Channel 0

100 kHz 100 kHz (Presetting) + 42 0 0 0 0 0 0

150 kHz 150 kHz 0 0 1 0 0 1

200 kHz 200 kHz 0 1 0 0 1 0

250 kHz 250 kHz 0 1 1 0 1 1

500 kHz 500 kHz 1 0 0 1 0 0

1.0 MHz 1 MHz 1 0 1 1 0 1

1.5 MHz 1.5 MHz 1 1 0 1 1 0

2.0 MHz 2 MHz 1 1 1 1 1 1


Tab. A.33



The parameter “SSI-off time Ch0” or “SSI-off time Ch1” defines whether an automatic check of the

data transmission line takes place or which fixed off time should be used.

Off time between 2 SSI telegrams


F.-No.1)

4828

+ 64 × m

Bit

7 6 5 4 3 2 1 0

Channel 1 Channel 0

Check of the data

transmission line

0 us + 43 0 0 0 0

Off time = 32 μs 32 us 0 1 0 1

Off time = 48 μs 48 us 1 0 1 0

Off time = 64 μs 64 us (Presetting) 1 1 1 1


Tab. A.34

In addition to the off time, the cycle can be extended by a factor of 1 … 4.

The parameter “SSI-factor Ch0” or “SSI-factor Ch1” defines the extension factor of the cycle.

Cycle extension factor


F.-No.1)

4828

+ 64 × m

Bit

7 6 5 4 3 2 1 0










Tab. A.35



The parameter “SSI-reversing of direction Ch0” or “SSI-reversing of direction Ch1” defines whether the

position values are to be internally inverted.



F.-No.1)

4828

+ 64 × m

Bit

7 6 5 4 3 2 1 0






Tab. A.36

A.2.6 Parameterisation, digital input DI





F.-No.1)

4828

+ 64 × m

Bit

7 6 5 4 3 2 1 0

Channel 1 Channel 0


Evaluate PDO On 1 1


Tab. A.37







F.-No.1)

4828

+ 64 × m

Bit

7 6 5 4 3 2 1 0

Channel 1 Channel 0

0.1 μs 0.1 us (Presetting) + 7 0 0 0 0 0 0 0 0

0.2 μs 0.2 us 0 0 0 1 0 0 0 1

0.4 μs 0.4 us 0 0 1 0 0 0 1 0

0.8 μs 0.8 us 0 0 1 1 0 0 1 1

1 μs 1 us 0 1 0 0 0 1 0 0

2 μs 2 us 0 1 0 1 0 1 0 1

4 μs 4 us 0 1 1 0 0 1 1 0

8 μs 8 us 0 1 1 1 0 1 1 1

10 μs 10 us 1 0 0 0 1 0 0 0

50 μs 50 us 1 0 0 1 1 0 0 1

100 μs 100 us 1 0 1 0 1 0 1 0

500 μs 500 us 1 0 1 1 1 0 1 1

1 ms 1 ms 1 1 0 0 1 1 0 0

3 ms 3 ms 1 1 0 1 1 1 0 1

10 ms 10 ms 1 1 1 0 1 1 1 0

20 ms 20 ms 1 1 1 1 1 1 1 1


Tab. A.38







F.-No.1)

4828

+ 64 × m

Bit

7 6 5 4 3 2 1 0


15 ms 15 ms 0 1

50 ms 50 ms 1 0

100 ms 100 ms 1 1


15 ms 15 ms 0 1

50 ms 50 ms 1 0

100 ms 100 ms 1 1


Tab. A.39





F.-No.1)

4828

+ 64 × m

Bit

7 6 5 4 3 2 1 0

Channel 1 Channel 0




Tab. A.40



The parameter “CNT-function input DI Ch0” or “CNT-function input DI Ch1” defines which function ex-

tension (� 5.3 Available function extensions) can be controlled through DI.

Function extension


F.-No.1)

4828

+ 64 × m

Bit

7 6 5 4 3 2 1 0

Channel 1 Channel 0


(Presetting)

+ 17 0 0 0 0 0 0

Latch by rising edge2) Latch by rising edge 0 0 1 0 0 1


edge

Latch by rising&falling edge 0 1 0 0 1 0


rising edge2)Latch&retrigger by rising edge 0 1 1 0 1 1


rising and falling edge

Latch&retrigger by rising&fall. 1 0 0 1 0 0

Periodic synchronisation Periodic synchronisation 1 0 1 1 0 1

One-off synchronisation One-time synchronisation 1 1 0 1 1 0



Tab. A.41




extension (� 6.3.1 Latching or 7.4.1 Latching) can be controlled through DI.

This parameter is available only in the “Measure/determine position” operating mode

with usage of pulse generators or incremental encoders and in the operating modes for

measuring.

Function extension


F.-No.1)

4828

+ 64 × m

Bit

7 6 5 4 3 2 1 0

Channel 1 Channel 0


(Presetting)

+ 18 0 0 0 0



edge

Latch by rising&falling edge 1 0 1 0



Tab. A.42

A.2.7 Parameterisation digital output DO

The parameter “Function output DO Ch0” or “Function output DO Ch1” defines which function range or

comparator output controls the digital output DO.



F.-No.1)

4828

+ 64 × m

Bit

7 6 5 4 3 2 1 0

Channel 1 Channel 0



“” controls DO Count <= lower comp value 0 0 1 0 0 1

“” controls DO Count >= lower comp value 0 1 0 0 1 0








Tab. A.43







F.-No.1)

4828

+ 64 × m

Bit

7 6 5 4 3 2 1 0

Channel 1 Channel 0




(Presetting)

+ 11 0 0 0 0





P-switch 0 1 0 1






N-switch 1 0 1 0









Tab. A.44

Note








F.-No.1)

4828

+ 64 × m

Bit

7 6 5 4 3 2 1 0

Channel 0 0.5 A 0.5 A + 12 0 0 0 1

1.0 A 1.0 A (Presetting) 0 0 1 0

1.5 A 1.5 A 0 0 1 1

2.0 A 2.0 A 0 1 0 0

2.5 A 2.5 A 0 1 0 1

3.0 A 3.0 A 0 1 1 0

3.5 A 3.5 A 0 1 1 1

4.0 A 4.0 A 1 0 0 0

4.5 A 4.5 A 1 0 0 1

5.0 A 5.0 A 1 0 1 0

Channel 1 0.5 A 0.5 A + 13 0 0 0 1

1.0 A 1.0 A (Presetting) 0 0 1 0

1.5 A 1.5 A 0 0 1 1

2.0 A 2.0 A 0 1 0 0

2.5 A 2.5 A 0 1 0 1

3.0 A 3.0 A 0 1 1 0

3.5 A 3.5 A 0 1 1 1

4.0 A 4.0 A 1 0 0 0

4.5 A 4.5 A 1 0 0 1

5.0 A 5.0 A 1 0 1 0


Tab. A.45







F.-No.1)

4828

+ 64 × m

Bit

7 6 5 4 3 2 1 0

Channel 0 0.5 A 0.5 A + 12 0 0 0 1

1.0 A 1.0 A (Presetting) 0 0 1 0

1.5 A 1.5 A 0 0 1 1

2.0 A 2.0 A 0 1 0 0

2.5 A 2.5 A 0 1 0 1

3.0 A 3.0 A 0 1 1 0

3.5 A 3.5 A 0 1 1 1

4.0 A 4.0 A 1 0 0 0

4.5 A 4.5 A 1 0 0 1

5.0 A 5.0 A 1 0 1 0

Channel 1 0.5 A 0.5 A + 13 0 0 0 1

1.0 A 1.0 A (Presetting) 0 0 1 0

1.5 A 1.5 A 0 0 1 1

2.0 A 2.0 A 0 1 0 0

2.5 A 2.5 A 0 1 0 1

3.0 A 3.0 A 0 1 1 0

3.5 A 3.5 A 0 1 1 1

4.0 A 4.0 A 1 0 0 0

4.5 A 4.5 A 1 0 0 1

5.0 A 5.0 A 1 0 1 0


Tab. A.46





ated.



F.-No.1)

4828

+ 64 × m

Bit

7 6 5 4 3 2 1 0

Channel 1 Channel 0




error through

– Switch-off/switch-on of the

electronics supply2)



Leave switched off

(Presetting)

+ 11 0 0





present.



Resume 1 1



Tab. A.47




resulting from triggering of the electronic fuse is output via LED indicator and CPX diagnostics.



F.-No.1)

4828

+ 64 × m

Bit

7 6 5 4 3 2 1 0

Channel 1 Channel 0




Tab. A.48

A.2.8 Parameterisation of gate function

The parameter “HW-Gate-use Ch0” or “HW-Gate-use Ch1” defines whether the encoder input 3 should

be used in addition to the software gate for control of the internal gate.

Use of encoder input 3 (HW-Gate) for control of the internal gate


F.-No.1)

4828

+ 64 × m

Bit

7 6 5 4 3 2 1 0

Channel 1 Channel 0




Tab. A.49

The parameter “HW-Gate-polarity Ch0” or “HW-Gate-polarity Ch1” defines whether the signals recor-

ded at the encoder input 3 should be internally inverted.

Inversion of the signals at the encoder input 3 (HW-Gate)


F.-No.1)

4828

+ 64 × m

Bit

7 6 5 4 3 2 1 0

Channel 1 Channel 0




Tab. A.50



The parameter “Gate-function Ch0” or “Gate-function Ch1” defines whether counting should be can-

celled or interrupted when the internal gate is closed.

Gate function cancelling/interrupting


F.-No.1)

4828

+ 64 × m

Bit

7 6 5 4 3 2 1 0

Channel 1 Channel 0

Cancel counting Cancelling + 16 0 0

Interrupt counting Interrupting (Presetting) 1 1


Tab. A.51

A.2.9 Parameterisation of impulse output

The parameter “HW-Gate impulse output Ch0” or “HW-Gate impulse output Ch1” defines whether the

internal state DI should be used for starting the impulse output. Control bit “SW-Gate” in the PDO must

thereby be “1”.

Usage of DI for starting impulse output


F.-No.1)

4828

+ 64 × m

Bit

7 6 5 4 3 2 1 0

Channel 1 Channel 0


control bit “SW-Gate”

Not used (Presetting) + 48 0 0


internal state DI

used 1 1


Tab. A.52

The parameter “Time base impulse output Ch0” or “Time base impulse output Ch1” defines the unit for

the specifications of operating modes for impulse output.

Define unit for impulse output


F.-No.1)

4828

+ 64 × m

Bit

7 6 5 4 3 2 1 0

Channel 1 Channel 0

Time base 1 us (Presetting) + 48 0 0 0 0

1 ms 0 1 0 1

1 s 1 0 1 0


Tab. A.53



The parameter “Freq. base impulse output Ch0” or “Freq. base impulse output Ch1” defines the unit for

the frequency output.

Define unit for frequency output


F.-No.1)

4828

+ 64 × m

Bit

7 6 5 4 3 2 1 0

Channel 1 Channel 0

Frequency base 1 Hz (1 … 20000) (Presetting) + 48 0 0

1 mHz (1 … 65535) 1 1


Tab. A.54






F.-No.1)

4828

+ 64 × m

Bit

7 6 5 4 3 2 1 0

Channel 0 Switch-on delay Switch-on delay impulse output Ch0

(0 … 65535)

Presetting: 0

+ 49 01

01

01

01

01

01

01

01

+ 50 01

01

01

01

01

01

01

01

Channel 1 Switch-on delay Switch-on delay impulse output Ch1

(0 … 65535)

Presetting: 0

+ 51 01

01

01

01

01

01

01

01

+ 52 01

01

01

01

01

01

01

01


Tab. A.55



A.2.10 Parameterisation of hysteresis



Hysteresis


F.-No.1)

4828

+ 64 × m

Bit

7 6 5 4 3 2 1 0


Presetting: 0

+ 22 01

01

01

01

01

01

01

01


Presetting: 0

+ 23 01

01

01

01

01

01

01

01


Tab. A.56

A.2.11 Parameterisation of limit monitoring





F.-No.1)

4828

+ 64 × m

Bit

7 6 5 4 3 2 1 0


message

Inactive + 53 0

Diagnostic

message active

Active (default) 1


message

Inactive 0

Diagnostic

message active

Active (default) 1


Tab. A.57



A.2.12 Parameterisation comparator





F.-No.1)

4828

+ 64 × m

Bit

7 6 5 4 3 2 1 0

Channel 1 Channel 0



To counter 0

(Presetting)

+ 19 0



To counter 1 1



To counter 0 0



To counter 1

(Presetting)

1


Tab. A.58


the comparator output “= LCV” and output at the output “= LCV + timer”.

With a timer value ”0”, the timer function is deactivated and the comparator output

“= LCV +Timer” permanently has the status “0”, even if the counter value is equal to the LCV.

Timer value


F.-No.1)

4828

+ 64 × m

Bit

7 6 5 4 3 2 1 0


Presetting: 0

+ 20 01

01

01

01

01

01

01

01


Presetting: 0

+ 21 01

01

01

01

01

01

01

01


Tab. A.59



A.2.13 Measured value parameterisation

The parameter “Integration time Ch0” or “Integration time Ch1” defines the duration of the individual

measurement cycles.

Integration time


F.-No.1)

4828

+ 64 × m

Bit

7 6 5 4 3 2 1 0

Channel 1 Channel 0

0.1 ms 0.0001 s (Presetting) + 24 0 0 0 0 0 0

1 ms 0.001 s 0 0 1 0 0 1

10 ms 0.01 s 0 1 0 0 1 0

100 ms 0.1 s 0 1 1 0 1 1

1 s 1 s 1 0 0 1 0 0

10 s 10 s 1 0 1 1 0 1

60 s 60 s 1 1 0 1 1 0

1 h 3600 s 1 1 1 1 1 1


Tab. A.60

The parameter “Monitor integration time Ch0” or “Monitor integration time Ch1” defines whether a

diagnostic message is output in case of error within the integration time (no detected pulses)

(� 10 Diagnostics).

Diagnostic message for integration time


F.-No.1)

4828

+ 64 × m

Bit

7 6 5 4 3 2 1 0

Channel 1 Channel 0

No diagnostic message Inactive + 24 0 0

Diagnostic message active Active (default) 1 1


Tab. A.61



The parameter “Average number of measurem. Ch0” or “Average number of measurem. Ch1” defines

the number of measurements from which the average is calculated.



F.-No.1)

4828

+ 64 × m

Bit

7 6 5 4 3 2 1 0

Channel 1 Channel 0

No mean value calculation No (Presetting) + 29 0 0 0 0 0 0 0 0










1 024 measurements 1024 values 1 0 1 0 1 0 1 0







Tab. A.62

B Glossary


B Glossary

Term/abbreviation Description

A Output

Absolute encoder Sensors that can detect angle changes and direction of rotation (rotatory) or

position changes and direction of path (linear). The absolute value is avail-

able immediately after the power supply is switched on. No homing has to

take place.

Acyclic data Data that do not constantly repeat. e.g. parameterisation data, configuration

data, diagnostic messages.

Bus node Connects the CPX terminal to the fieldbus or network; it transmits control

signals to the connected CPX and pneumatic modules and monitors their

functionality.

Compare value Upper and lower compare values are permanently compared with the current

state of the internal counter through the comparator units. The statees of the

comparator outputs result from the comparison.

Count limit Specifies the maximum possible lower and upper limit to which a counter

value can be counted.

Counter value All counter values that can be counted in the area of the count limits.

CPX module Collective term for the electrical modules which can be integrated into a CPX

terminal

CPX system descrip-

tion (P.BE-CPX-SYS-…)

Overview of structure, components, function, installation and commissioning

as well as basic principles for parameterisation of CPX terminals (Festo Sup-

port Portal�www.festo.com).

CPX terminal Complete system consisting of CPX modules with or without pneumatics

Cyclic data Data that frequently repeat and are regularly exchanged for control of actuat-

ors and sensors. Process data, for example.

Differential Encoders with the the “differential” connection type use two signal lines for

the signal transmission of a track. The advantage of this is the lower likeli-

hood of faults with, simultaneously, a higher switching frequency.

Encoder Sensors and measurement encoders that detect movements or positions of

drive systems (rotatory or linear) and can be output as an electrical signal.

FMT PC software Festo Maintenance Tool for CPX (CPX-FMT) for configuration and

diagnostics of CPX terminals.

Homing Establishment of an encoder position as a reference point, e.g. zero point of

an encoder. Not required for absolute encoders.

HW gate Hardware gate is a physical input that can be used for release of a function.

Use of the hardware gate is optional and configurable.

I/O Input/output

B Glossary


Term/abbreviation Description

Incremental encoder Sensors that can detect angle changes and direction of rotation (rotatory) or

position changes and direction of path (linear). After the power supply is

switched on, only the changes from the switch-on position are measured.

The absolute value is available only after homing.

Integration time Time period that specifies the time in which incoming impulses are meas-

ured, dependent on the respective parameterisation.

Latch value Stored state of the internal counter at the time of the latch command.

Limit value Lower limit and upper limit can be used to monitor the counter setting and

output a diagnostic message when fallen below or exceeded (limit monitor-

ing).

Load value The load value is a value that can be parameterised within the count limits,

which can be used as the starting value for an operation, depending on the

operating mode.

Logic 0 At the input or output is 0 V (positive logic, corresponds to LOW).

Logic 1 At the input or output is 5 V or 24 V (positive logic, corresponds to HIGH).

Objects Internal variables that can be loaded with the help of the process data. The

objects are stored in volatile memory; their contents are lost when the elec-

tronic power supply (UEL/SEN) is switched off.

Parameter Values which can be read and changed via an acyclic channel. Through para-

meterisation, the behaviour of the counter module can be adapted to each

particular application.

PDI Process data input (input section): State and conditions.

The counter module allocates 3 × 32 bits for inputs.

PDO Process data output (output section): Configurations and specifications.

The counter module allocates 3 × 32 bits for outputs.

Physical properties In this description, “physical characteristics” means the electrical paramet-

ers of the encoder inputs.

Process data Cyclic data that are gained from a technical process by means of sensors.

Process data represent the current state of the system.

Single-ended Encoders with the the “single-ended” connection type use only one signal

line for the signal transmission of a track.

Signal integrity Digital signal that has unique characteristics (amplitude and signal running

time show a fast and clear progression and have no distortions; signal

statees “0” and “1” are exactly defined).

SW-Gate Software gate is a control bit in the process data that can be used for release

of a function. Optionally, a hardware gate (physical input) can be placed

upstream.

Tab. B.1 Terms and abbreviations



Index

A

Acceleration and braking ramps 254. . . . . . . . . .

C

Comparator 76. . . . . . . . . . . . . . . . . . . . . . . . . . .

Compare 21. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Compare values 78. . . . . . . . . . . . . . . . . . . . . . . .

Conductor 27. . . . . . . . . . . . . . . . . . . . . . . . . . . . .

– approved 27. . . . . . . . . . . . . . . . . . . . . . . . . . . .

– mounting and dismantling 27. . . . . . . . . . . . . .

Conversion factor 192, 194. . . . . . . . . . . . . . . . . .

Count infinite 81. . . . . . . . . . . . . . . . . . . . . . . . . .

Count limits 21, 70. . . . . . . . . . . . . . . . . . . . . . . .

Count once to count limit,

return to load value 83. . . . . . . . . . . . . . . . . . .

Count once up to count limit 82. . . . . . . . . . . . . .

Counting direction 44. . . . . . . . . . . . . . . . . . . . . .

CPX-FMT 29. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

D

Degree of protection 27, 268. . . . . . . . . . . . . . . .

– IP20 27. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

– IP65 28. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

DI. See Digital input

Diagnostics 256. . . . . . . . . . . . . . . . . . . . . . . . . . .

– encoder signals 141. . . . . . . . . . . . . . . . . . . . . .

– options 256. . . . . . . . . . . . . . . . . . . . . . . . . . . .

– undervoltage 26. . . . . . . . . . . . . . . . . . . . . . . .

– via I/O diagnostics interface 258. . . . . . . . . . .

– via LED display 257. . . . . . . . . . . . . . . . . . . . . .

Differential 42. . . . . . . . . . . . . . . . . . . . . . . . . . . .

Digital input, Function and characteristics 46. . .

Digital output 56. . . . . . . . . . . . . . . . . . . . . . . . . .

– activation 56. . . . . . . . . . . . . . . . . . . . . . . . . . .

– continuous output current 60. . . . . . . . . . . . . .

Dismantling 22. . . . . . . . . . . . . . . . . . . . . . . . . . .

Displays 14. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Double evaluation 140. . . . . . . . . . . . . . . . . . . . .

E

Enable gate stop 53. . . . . . . . . . . . . . . . . . . . . . .

Encoder power 23. . . . . . . . . . . . . . . . . . . . . . . . .

– switch-on/off 25. . . . . . . . . . . . . . . . . . . . . . . .

Error categories 258. . . . . . . . . . . . . . . . . . . . . . .

– critical errors 258. . . . . . . . . . . . . . . . . . . . . . . .

– non-critical errors 258. . . . . . . . . . . . . . . . . . . .

Error numbers 266. . . . . . . . . . . . . . . . . . . . . . . .

F

FMT. See CPX-FMT

Frequency output 231. . . . . . . . . . . . . . . . . . . . . .

Functional principle 13. . . . . . . . . . . . . . . . . . . . .

Functions 21. . . . . . . . . . . . . . . . . . . . . . . . . . . . .

– counting functions 21. . . . . . . . . . . . . . . . . . . .

– general functions 21. . . . . . . . . . . . . . . . . . . . .

– latch & retrigger 21. . . . . . . . . . . . . . . . . . . . . .

– latching 21. . . . . . . . . . . . . . . . . . . . . . . . . . . . .

– synchronisation 21. . . . . . . . . . . . . . . . . . . . . .

Fuse concept 23. . . . . . . . . . . . . . . . . . . . . . . . . .

– electronic fuse of the encoder power 24. . . . . .

G

Gate function 51, 55. . . . . . . . . . . . . . . . . . . . . . .

H

Hardware-gate 52. . . . . . . . . . . . . . . . . . . . . . . . .

Homing

– incremental encoder 136. . . . . . . . . . . . . . . . . .

– pulse generator 135. . . . . . . . . . . . . . . . . . . . .

Hysteresis 21, 71. . . . . . . . . . . . . . . . . . . . . . . . . .

I

Impulse output 218. . . . . . . . . . . . . . . . . . . . . . . .

– cancel 217. . . . . . . . . . . . . . . . . . . . . . . . . . . . .

– controller 215. . . . . . . . . . . . . . . . . . . . . . . . . .

– start 215. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

– time base 217. . . . . . . . . . . . . . . . . . . . . . . . . .



Incremental encoder 136. . . . . . . . . . . . . . . . . . .

Inputs 17. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

– digital input 17. . . . . . . . . . . . . . . . . . . . . . . . . .

– encoder inputs 17. . . . . . . . . . . . . . . . . . . . . . .

– freely-available inputs 17. . . . . . . . . . . . . . . . .

Installation, electrical 26. . . . . . . . . . . . . . . . . . .

Integration time 88. . . . . . . . . . . . . . . . . . . . . . . .

Intended use 10. . . . . . . . . . . . . . . . . . . . . . . . . .

Interfaces 14. . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Interlinking block 22. . . . . . . . . . . . . . . . . . . . . . .

Internal gate 51. . . . . . . . . . . . . . . . . . . . . . . . . . .

Internal state DI 46. . . . . . . . . . . . . . . . . . . . . . . .

L

Latch and retrigger 66. . . . . . . . . . . . . . . . . . . . . .

Latching 64. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

LED indicators. See Displays

Limit monitoring 21, 74. . . . . . . . . . . . . . . . . . . . .

Load value 21, 70. . . . . . . . . . . . . . . . . . . . . . . . .

M

Mean value calculation 89. . . . . . . . . . . . . . . . . .

Measure duty cycle 128. . . . . . . . . . . . . . . . . . . .

Measure frequency 124. . . . . . . . . . . . . . . . . . . .

Measure r.p.m. 126. . . . . . . . . . . . . . . . . . . . . . . .

Measure velocity channel ... 195. . . . . . . . . . . . .

Measure velocity with pulse generator

or incremental encoder 191. . . . . . . . . . . . . . .

Measure velocity with SSI

absolute encoder 193. . . . . . . . . . . . . . . . . . . .

Measure/determine position 189. . . . . . . . . . . . .

Measure/determine position

and measure velocity 195. . . . . . . . . . . . . . . . .

Mounting 23. . . . . . . . . . . . . . . . . . . . . . . . . . . . .

N

Notes on the documentation 9. . . . . . . . . . . . . . .

O

Objects 32. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

– configure 33. . . . . . . . . . . . . . . . . . . . . . . . . . . .

Operating modes

– counting 18, 36. . . . . . . . . . . . . . . . . . . . . . . . .

– impulse output 20, 199. . . . . . . . . . . . . . . . . . .

– measure/determine position

and measure velocity 132. . . . . . . . . . . . . . . . .

– measuring 19. . . . . . . . . . . . . . . . . . . . . . . . . . .

– measurment 87. . . . . . . . . . . . . . . . . . . . . . . . .

– motor operating mode 20, 237. . . . . . . . . . . . .

– overview 18. . . . . . . . . . . . . . . . . . . . . . . . . . . .

– position and speed determination 19. . . . . . . .

– select 34. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Outputs 17. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

P

Parameter 30. . . . . . . . . . . . . . . . . . . . . . . . . . . . .

– overview 270. . . . . . . . . . . . . . . . . . . . . . . . . . .

Periodic 84. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Power supply 28. . . . . . . . . . . . . . . . . . . . . . . . . .

Process Data 31. . . . . . . . . . . . . . . . . . . . . . . . . .

– PDI 31. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

– PDO 31. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Pulse generator 40. . . . . . . . . . . . . . . . . . . . . . . .

Pulse train 225. . . . . . . . . . . . . . . . . . . . . . . . . . .

Pulse-width modulation 221. . . . . . . . . . . . . . . . .

Purpose 13. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Q

Quadruple evaluation 141. . . . . . . . . . . . . . . . . .

S

Safety instructions, General 10. . . . . . . . . . . . . .

Single evaluation 140. . . . . . . . . . . . . . . . . . . . . .

Single-ended 42. . . . . . . . . . . . . . . . . . . . . . . . . .

Software emulation 47. . . . . . . . . . . . . . . . . . . . .



Software-gate 52. . . . . . . . . . . . . . . . . . . . . . . . .

SSI

– baud rate 149. . . . . . . . . . . . . . . . . . . . . . . . . .

– coding 146. . . . . . . . . . . . . . . . . . . . . . . . . . . . .

– communication parameters 147. . . . . . . . . . . .

– data frame bits 143. . . . . . . . . . . . . . . . . . . . . .

– encoder resolution 143. . . . . . . . . . . . . . . . . . .

– encoder value 142. . . . . . . . . . . . . . . . . . . . . . .

– encoder value detection 147. . . . . . . . . . . . . . .

– factor 150. . . . . . . . . . . . . . . . . . . . . . . . . . . . .

– illustration in the process data 142. . . . . . . . . .

– off time 149. . . . . . . . . . . . . . . . . . . . . . . . . . . .

– parity bit 142, 144. . . . . . . . . . . . . . . . . . . . . . .

– reversing of direction of rotation 150. . . . . . . .

– standardisation 146. . . . . . . . . . . . . . . . . . . . .

– state bits 142, 145. . . . . . . . . . . . . . . . . . . . . . .

– telegram structure 142. . . . . . . . . . . . . . . . . . .

Supply voltages 23. . . . . . . . . . . . . . . . . . . . . . . .

Supported devices 14. . . . . . . . . . . . . . . . . . . . . .

Switch-on/switch-off delay 229. . . . . . . . . . . . . .

Synchronisation 68. . . . . . . . . . . . . . . . . . . . . . . .

– one-off 69. . . . . . . . . . . . . . . . . . . . . . . . . . . . .

– periodic 69. . . . . . . . . . . . . . . . . . . . . . . . . . . . .

T

Technical data 268. . . . . . . . . . . . . . . . . . . . . . . .

Telegram cycle. See SSI encoder value detection

Terminals 15, 27. . . . . . . . . . . . . . . . . . . . . . . . . .

Timer 78. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

U

UEL/SEN 23. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

UOUT 23. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Reproduction, distribution or sale of this document or communica-tion of its contents to others without express authorization isprohibited. Offenders will be liable for damages. All rights re-served in the event that a patent, utility model or design patent isregistered.

Copyright:Festo AG & Co. KGPostfach73726 EsslingenGermany

Phone:+49 711 347-0

Fax:+49 711 347-2144

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Original: de

Terminal CPX Input/output module CPX-2ZE2DA

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