Osicoder

1690024 02A55 04/2011

OsiSense XCC
PROFIBUS-DP Multi-Turn Absolute
Encoder
User’s Manual
Version
04/2011
1690024 02A55 02

www.schneider-electric.com
 © 2011 Schneider Electric. All rights reserved.

2 1690024 02A55 04/2011

 Table of Contents

Safety Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
About the Book . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
Chapter 1 Introduction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
General Presentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
Chapter 2 Installation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
Connection Base . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
Wiring the Bus and the Power Supply. . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
Wiring the Encoder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
Accessories . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
Installation Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
Chapter 3 Characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
Encoder Characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
Chapter 4 Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
Encoder Configuration. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
Software Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
SyCon Configuration Tool . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
Chapter 5 Functions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
Description of the Encoder Profile. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
Description of Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
Data Exchange . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
Commissioning Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48
Chapter 6 Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53
Diagnostic Messages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54
Status Indication Provided by the LEDs in the Base . . . . . . . . . . . . . . . . . 57
FAQ . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59
Glossary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61
Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65

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4 1690024 02A55 04/2011
 Safety Information
§

Important Information

NOTICE
Read these instructions carefully, and look at the equipment to become familiar with
the device before trying to install, operate, or maintain it. The following special
messages may appear throughout this documentation or on the equipment to warn
of potential hazards or to call attention to information that clarifies or simplifies a
procedure.

1690024 02A55 04/2011 5

PLEASE NOTE
Electrical equipment should be installed, operated, serviced, and maintained only by
qualified personnel. No responsibility is assumed by Schneider Electric for any
consequences arising out of the use of this material.
A qualified person is one who has skills and knowledge related to the construction
and operation of electrical equipment and its installation, and has received safety
training to recognize and avoid the hazards involved.

6 1690024 02A55 04/2011

 About the Book

At a Glance

Document Scope
This manual explains how to install and configure the absolute rotary encoder with
PROFIBUS-DP interface connected on a bus.

Related Documents

Title of Documentation Reference Number

Instruction sheet W9 1690021

You can download these technical publications and other technical information from
our website at www.schneider-electric.com.

User Comments
We welcome your comments about this document. You can reach us by e-mail at
[email protected].

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8 1690024 02A55 04/2011
 Osicoder
Introduction
1690024 02A55 04/2011

Introduction

1
Overview
The purpose of this section is to provide general information about the encoder
described in this documentation.
References of the PROFIBUS-DP encoders:

Description Reference
PROFIBUS-DP encoder with a solid shaft XCC 3510PV84FBN
PROFIBUS-DP encoder with a hollow shaft XCC 3515CV84FBN

What’s in this Chapter?

This chapter contains the following topics:
Topic Page
Introduction 10
General Presentation 12

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Introduction

Introduction

Principle
This manual explains how to install and configure the absolute rotary encoder with
PROFIBUS-DP interface.

Multi-Turn Absolute Rotary Encoder

Multi-turn absolute rotary encoders identify any moving point by means of a single
digital signal. Due to their ability to give a single, exact position to all linear and
angular positions, absolute rotary encoders have become one of the most important
links between the mechanical system and the control system.
The basic principle behind an absolute rotary encoder is the optical sampling of a
transparent disk fixed on the rotating shaft.
Resolution:

Type Value No. of bits

Maximum no. of steps per revolution 8192 13
Maximum no. of detectable revolutions 4096 12
Maximum resolution (no. of steps) 33554432 25

The encoder casing provides access to two rotary switches for configuring the
address. It also incorporates two LEDs that assist diagnostics. The encoder acts as
a T with two PG9s for the Bus In and Bus Out signals.
The encoders comply with international standards IEC61158 and IEC61784 for
PROFIBUS-DP communication and the PROFIBUS-DP standard EN50170 CLASS
2 according to encoder profile 3.062 version 1.1 for the encoder application. They
are certified by the PNO organization and satisfy Schneider-Electric’s interopera-
bility standards.
The encoder configuration GSD file can be downloaded from "www.schneider-
electric.com".

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 Introduction

General PROFIBUS Information

PROFIBUS is an open and non-proprietary international standard relating to
fieldbuses, defined in international standards EN 50170 and EN 50254. It is
available in three versions: PROFIBUS-DP, PROFIBUS-FMS and PROFIBUS-PA.
The Telemecanique absolute encoder is designed for the DP version. It supports all
standard data transmission speeds up to 12 MBauds.
NOTE: More extensive information on the PROFIBUS technology (functionality,
manufacturer, products), encoder standards and profiles are available from PNO:
PROFIBUS Nutzerorganisation (PNO)
Haid-und-Neu-Straße 7
D-76131 Karlsruhe
Tel: ++49 (0) 721 / 96 58 590
Fax: ++49 (0) 721 / 96 58 589
www.profibus.com

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Introduction

General Presentation

Description
The absolute rotary encoder with PROFIBUS-DP interface looks like this:

Encoder elements:

No. Description
1 Encoder body
2 Connection base

The encoder body connects to the base via a 15-pin SUB-D connector.

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 Introduction

Networking
The absolute rotary encoder interface is based on the PROFIBUS-DP standard
(standard EN 50170). In order to be able to use the encoder as a slave with the
PROFIBUS-DP interface, an interface card is required in the control system which
acts as a PROFIBUS master.
The power to the encoders is supplied directly via the central PG9 of each encoder.

Bus Architecture
The maximum number of stations on PROFIBUS is 126. The encoder can be
addressed from 0 to 99.
The maximum number of nodes per segment (including repeaters) is 32 (a bus is
divided into segments via repeaters).
Between 2 nodes, there are 4 repeaters maximum.
The available transmission speeds are: 9.6, 19.2, 45.45, 93.75, 187.5, 500, 1500,
3000, 6000, 12000 kBaud

CAUTION
UNINTENDED EQUIPMENT OPERATION
 Warranty invalidated if dismantled.
 Handle with care.
 In environments subject to interference, it is advisable to connect the encoder
to ground, using one of the fixing screws.
Failure to follow these instructions can result in injury or equipment damage.

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Introduction

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 Osicoder
Installation
1690024 02A55 04/2011

Installation

2
Overview
The absolute encoder is connected to a connection base by means of a 15-pin SUB-
D connector. The base can be removed from the encoder (encoder without supply)
by undoing two screws located on the side of the base. The bus and the electrical
supply are routed into the base with PG9 cable glands and are connected to the
terminal blocks.

What’s in this Chapter?

This chapter contains the following topics:
Topic Page
Connection Base 16
Wiring the Bus and the Power Supply 18
Wiring the Encoder 20
Accessories 21
Installation Precautions 22

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Installation

Connection Base

Description
Unscrew the encoder base to access the encoder settings:

Elements that can be accessed in the base:

No. Description Application

1 Rotary switches Encoder network address
2 Switch Enables the line terminator
3 15-pin SUB-D Base/encoder connection
4 Terminal block Bus IN, Bus OUT and power supply
5 3 PG9 cable glands Cable/base connection (for 24 VDC power supply
cable,  4...8 mm)

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 Installation

DANGER
RISK OF ELECTROCUTION
 Switch off the power supply before working on this device.
 Check that the rotating machine is immobilized before working on this device.
 Close the cover correctly after configuration or wiring the microswitch.
Failure to follow these instructions will result in death or serious injury.

Encoder Address
The rotary switches located in the base are used to set the encoder network address
(node):

The switch marked (x1) is used to set the units and the switch marked (x10) is used
to set the tens. The possible addresses are between 0 and 99, and any one address
can only be used once in the network. The change of address is taken into account
after a restart.

Line Terminator
If the encoder is connected at one end of the bus line, the line terminator must be
enabled (set the switch to the "ON" position).

Encoder location on the bus Switch position

Encoder in the middle of the bus

Encoder at the end of the bus

NOTE: If the terminator is set to "ON", the "Bus Out" terminals shall be disconnected
(see Wiring the Bus and the Power Supply, page 18).
The base must be connected to the encoder for the bus to be wired correctly. If it is
necessary to change the encoder during operation, a separate line terminator must
be used.

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Installation

Wiring the Bus and the Power Supply

Description
With the power off, remove the base to access the encoder wiring:

Description of the terminal block:

Terminal block Terminal Description

Bus In B B bus line
A A bus line
- 0V
+ 11...30 V
Bus Out B B bus line
A A bus line
- 0V
+ 11...30 V

The electrical supply must be connected to the "Bus In" terminal block.
NOTE: If the terminator is set to "ON", the "Bus Out" terminals are disconnected.

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 Installation

DANGER
RISK OF ELECTROCUTION
 Switch off the power supply before working on this device.
 Check that the rotating machine is immobilized before working on this device.
 Close the cover correctly after configuration or wiring the microswitch.
Failure to follow these instructions will result in death or serious injury.

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Installation

Wiring the Encoder

Connecting the Connection Base

To connect the connection base, proceed as follows:

Step Action
1 Remove the screw, the seal gasket and the cable gland collar.
2 Prepare the cable as shown in the diagram below.
3 Place the screw and the seal gasket on the cable.
4 Fit the collar under the shielding.
5 Insert the cable assembly in the cable gland and tighten the screw.

Wiring diagram:

NOTE: Shielded cables should be used for data transmission to avoid problems with
electromagnetic interference. The shielding should be connected to ground at both
ends of the cable.
NOTE: If the cable linking two encoders transmits data as well as the power supply,
use a cable consisting of two twisted pairs that are shielded separately.

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 Installation

Accessories

List of accessories
The list of available accessories is as follows:

Description Type
Reducing ring * 0.59 in to 0.55 in XCC R358RDL14
Reducing ring * 0.59 in to 0.47 in XCC R358RDL12
Reducing ring * 0.59 in to 0.39 in XCC R358RDL10
Reducing ring * 0.59 in to 0.31 in XCC R358RDL08
Reducing ring * 0.59 in to 0.24 in XCC R358RDL06

* Only for hollow shafts

Assembly instructions
Encoder with output shaft:
Connect the encoder shaft to the revolving shaft using an XCC RA coupling.
Encoder with hollow shaft:
Position the encoder, fix it on the revolving shaft using the loop clamp, with or
without the reducing ring. Then attach the flexible kit to a fixed support.
Do not tighten the fixing ring if the driving shaft and the bushing are missing from the
encoder.

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Installation

Installation Precautions

Precautions
Follow the instructions below:
 Do not knock over the encoder and do not expose it to excessive vibration. The
encoder is a precision device.
 Do not open the encoder casing (this does not mean that the connection base
cannot be removed).
 The encoder shaft must be connected to the shaft to be measured by means of
an appropriate coupling. This coupling is used to dampen vibrations and
compensate for any imbalance at the encoder shaft, and also to prevent any
significant unauthorized force. Schneider-Electric offers appropriate couplings.
 Schneider-Electric absolute encoders are robust, but when used in difficult
environmental conditions they must still be protected appropriately. The encoder
must not be used as a handle or a step.
 Only qualified personnel can commission and operate these encoders. Such
personnel are authorized to commission, connect to ground and identify the
devices, systems and circuits in compliance with current safety standards.
 No electrical modifications should be made to the encoder.
 Route the connection cable from the bus to the encoder, ensuring it is a sufficient
distance or completely separate from the power supply cables and associated
electromagnetic interference. Use fully shielded cables to obtain reliable data
transfer and ensure correct grounding.
 In environments subject to interference, it is advisable to ground the encoder.

DANGER
RISK OF ELECTROCUTION
 Switch off the power supply before working on this device.
 Check that the rotating machine is immobilized before working on this device.
 Close the cover correctly after configuration or wiring the microswitch.
Failure to follow these instructions will result in death or serious injury.

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 Installation

WARNING
UNINTENDED EQUIPMENT OPERATION
 Check the electrical connections to avoid short-circuits and voltage peaks.
 Check the connections before use and when carrying out maintenance
operations.
 Comply with the recommendations for use
Failure to follow these instructions can result in death, serious injury, or
equipment damage.

CAUTION
LOSS OF PROTECTION LEVEL IP
Close the cover correctly after configuration or wiring the microswitch.
Failure to follow these instructions can result in equipment damage.

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Installation

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 Osicoder
Characteristics
1690024 02A55 04/2011

Characteristics

3
Encoder Characteristics

Mechanical Characteristics
The mechanical characteristics are as follows:

Shaft type  10 mm h8 (0.39 in h8)

 15 mm F7 (0.59 in F7)
Maximum rotation speed 6000 rpm
Moment of inertia 30 g.cm2
Torque 0.3 N.cm
Maximum load Radial 11 daN

Electrical Characteristics
The electrical characteristics are as follows:

Supply voltage 11...30 V. Max. ripple: 500 mV

No-load current consumption 100 mA
Frequency 800 kHz

Environmental Characteristics
The environmental characteristics are as follows:

Conformity CE
Ambient air Operation -40...+85C (-40...+185F)
temperature
Storage -40...+85C (-40...+185F)
Degree of protection IP 64
Vibration resistance 10 g (f = 10...2000 Hz), acc. to IEC 60068-2-6
Shock resistance 100 g (6 ms, 1/2 sine wave) acc. to IEC 60068-
2-27

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Characteristics

Immunity to Electrostatic Acc. to IEC 61000-4-2: level 2, 4 kV air, 2 kV

electromagnetic discharges contact
interference
Radiated Acc. to IEC 61000-4-3: level 3, 10 V/m
electromagnetic
fields
(electromagnetic
waves)
Fast transients Acc. to IEC 61000-4-4: level 3, 2 kV (1 kV for
(On/Off the I/O)
interference)
Impulse voltage Acc. to 61000-4-5: level 1, 500 V
Materials Base Aluminum
Cover Aluminum
Shaft Stainless steel
Bearings Steel balls 6000ZZ1 (solid shaft) - 6803ZZ
(hollow shaft)

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 Osicoder
Configuration
1690024 02A55 04/2011

Configuration

4
Overview
The purpose of this chapter is to describe the configuration parameters for the
absolute encoder with PROFIBUS-DP interface.

What’s in this Chapter?

This chapter contains the following topics:
Topic Page
Encoder Configuration 28
Software Configuration 30
SyCon Configuration Tool 31

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Configuration

Encoder Configuration

General
The absolute encoder with PROFIBUS-DP interface can be programmed to suit the
user’s requirements. The GSD file corresponding to the encoder must be installed
in the software workshop of the configuration master of the PROFIBUS network
used.
The file contains various configurations.
NOTE: THE 2.2 MULTI-TURN VERSION IS THE ONLY ONE AVAILABLE.
The encoder supports specific functions and the encoder configuration that are
stored in the PROFIBUS master. When the PROFIBUS network starts up
("DDLM_Set_Prm"), they are sent to the slave (encoder). The parameters and the
configuration cannot be modified when the encoder is operating in normal mode
(exception: "Commissioning mode", see Commissioning Mode, page 48).
After receiving the parameter-setting and configuration data, the absolute encoder
switches to normal operating mode (cyclic data transmission –
"DDLM_Data_Exchange"). In this mode, the process values (example: position
value) are transmitted. The data length and format are determined by the user when
selecting an encoder configuration.

Configuration
Download the GSD file and its 3 associated images from
"www.telemecanique.com":
 TELE4711.gsd
 TELE4711_R.bmp
 TELE4711_S.bmp
 TELE4711_D.bmp

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 Configuration

The system is configured as shown in the diagram below:

Functions
The table below contains the encoder functions:

Cyclic communication Programmable parameters Additional functions

 Position value  Code sequence  Preset function
(32 input bits)  Scale factor  Commissioning mode
 Default value/Teach-in  Shorter diagnostics  Speed output
procedure (32 output bits)  Limit switches
 Speed (16 input bits)  Speed time base

Data Format
Data exchanged between the master and the encoder:

Configuration Input words Output words Description

Hex. Dec. (Encoder -> (Master ->
Master) Encoder)
F1 241 2 2 Functions, page 37
D0 208 1 2

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Configuration

Software Configuration

Principle
The encoders described in this section are configured using the following software:

Setting the network parameters SyCon version  2.9

PLC programming Unity Pro version  4.0

Please refer to the software documentation for the minimum PC configuration used.

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 Configuration

SyCon Configuration Tool

Presentation
Using this software tool, it is possible to configure the PROFIBUS network and
generate an ASCII file for the Premium PLC.

Configuring the PROFIBUS Network and Generating an ASCII File

Steps to follow when configuring the PROFIBUS Network and generating an ASCII
file:

Step Action
1 To configure the slave, obtain the TELE4711.GSD file and place it in the
appropriate directory:
Example: "C:\Program Files\Schneider
Electric\SyCon\Fieldbus\PROFIBUS\GSD".
Also obtain the 3 associated images and place them in the appropriate directory:
Example: "C:\Program Files\Schneider
Electric\SyCon\Fieldbus\PROFIBUS\BMP".
In this example, a Schneider Premium controller acts as PROFIBUS MASTER
with the TSX PBY 100 PROFIBUS interface.
2 Start SyCon.
3 Select the PROFIBUS fieldbus system.

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Configuration

Step Action
4 Insert the Master:
In the menu, select "Insert/Master" (you should specify where the master should
be inserted).
Select "TSX PBY 100" from the available masters.
Click "Add".
Enter the network address and the designation of the master:

Click "OK" to confirm and close the window.

Result: After inserting the Master, double-click on the icon representing the
master in the main window to obtain the following configuration window:

5 Using the rotary switches, adjust the encoder in order to configure the address
(see Encoder Address, page 17).

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 Configuration

Step Action
6 Insert the slave (encoder):
In the menu, select "Insert/Slave" (you should specify where the slave should be
inserted).
Select the encoder and click "Add".
Enter the network address (in accordance with the position of the rotary switches)
and also the designation of the encoder.
If the network includes several masters, select the required master for the
encoder. In this example, it is the TSX PBY 100 interface:

Click "OK" to confirm and close the window.

Result: After inserting the Slave, the window looks like this:

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Configuration

Step Action
7 By clicking twice on NODE2, you can configure the encoder.
Slave configuration window:

Note: THE 2.2 MULTI-TURN VERSION IS THE ONLY ONE AVAILABLE.

Click "OK" to confirm and close the window.
8 Click on "Parameter Data..." to configure the encoder.
Double-click on a value to modify it:

Click "OK" to confirm the value, then click "OK" again to close the window.
For further information on the encoder parameters, see Functions, page 37.

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 Configuration

Step Action
9 In the menu, select "File/Save As…" :

10 Select the master and then, in the menu, select File/Export/ASCII":

The created file is a "CNF" file type.

Note: The file name must have 15 characters maximum.

Result
The fieldbus master file is now ready.
The "CNF" file created with the SyCon software should be integrated by the PLC
software in order to be available.

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Configuration

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 Osicoder
Functions
1690024 02A55 04/2011

Functions

5
Overview
The purpose of this section is to describe the various parameters that can be
configured in order to customize use of the encoders.

What’s in this Chapter?

This chapter contains the following topics:
Topic Page
Description of the Encoder Profile 38
Description of Functions 40
Data Exchange 47
Commissioning Mode 48

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Functions

Description of the Encoder Profile

List of Functions

CAUTION
UNINTENDED EQUIPMENT OPERATION
For double-word writing, write words WORD 0 and WORD 1 in the correct order
according to the PLC used.
Failure to follow these instructions can result in injury or equipment damage.

The list of encoder parameters is as follows:

PROFIBUS SyCon Parameter Bit

byte no. parameter no. no.
1...8 - PROFIBUS standard parameters (non-configurable)
9 1 Code Sequence 0
Classe 2 functionnality 1
Commissioning diagnostics (not implemented) 2
Scaling function control 3
Reserved 4
Reserved 5
Activation of manufacturer-specific parameters (byte 6
26)
Reserved 7
10...13 2...5 Desired measuring units (see: bits 0 and 1 of byte 26)
14...17 6...9 Total measuring range
18...25 10...17 Reserved
26 18 Basis for desired measuring units 0
1
Commissioning mode 2
Shorter diagnostics 3
Reserved 4
Activate lower limit switch 5
Activate upper limit switch 6
Activation of bytes 27-39 7
27...30 19...22 Lower limit switch
31...34 23...26 Upper limit switch

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 Functions

PROFIBUS SyCon Parameter Bit

byte no. parameter no. no.
35...38 27...30 Physical impulses
39 31 Reserved 0
Encoder type (Singleturn/Multiturn) 1
Reserved 2
Reserved 3
Velocity outpout unit 4
5
Reserved 6
Reserved 7

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Functions

Description of Functions

Note
Check the difference in the function numbers given by the PROFIBUS-DP standard
and the SyCon software. The configurable function numbers in SyCon run from 1 to
31 whereas they run from 9 to 39 in the PROFIBUS-DP standard (function number
1 in SyCon = function number 9 for PROFIBUS-DP).

Code Sequence
The "Code sequence" parameter defines the counting direction for the position
value. The code is incremented when the shaft turns in a clockwise (CW) or counter-
clockwise (CCW) direction (as seen from the shaft). The code sequence is defined
in bit 0 of byte 9:

Byte 9 Bit 0 Direction of rotation as seen on the shaft Code

0 Clockwise (CW) Ascending
1 Counter-clockwise (CCW) Ascending

Classe 2 functionnality
Allows Class 2 encoders to be used as Class 1 encoders. The scaling parameters
are deactivated. To use Class 2 functionality, bit 1 of byte 9 must be activated.

Byte 9 Bit 1 Class 2 functionality

0 Inactive
1 Active

Commissioning diagnostics
This function is not implemented.

Scaling function control

The "Scaling function control" parameter activates the "Step per revolution" and
"Total resolution" scaling parameters. It must always be activated to use Class 2
functions.

Byte 9 Bit 3 Scaling

0 Inactive
1 Active

Activation of Manufacturer-Specific Parameters

Byte 26 of the manufacturer-specific parameters is activated with bit 6 of byte 9.

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 Functions

The user only needs to monitor this point if the parameters are entered "manually"
(using hexadecimal code directly).

Byte 9 Bit 6 Byte 26

0 Inactive
1 Active

Desired measuring units

The "Desired measuring units" parameter is used to program the desired number of
steps for 1 revolution, for all or part of the measuring range.
If the specified value is more than the encoder base resolution (physical), the output
code no longer operates in single steps. By generating a "B1" message, the encoder
indicates a parameter error (LED) and does not switch to data exchange mode.

Byte 10 11 12 13
Bit 31-24 23-16 15-8 7-0
Data 2 31
... 2 24
2 23
... 2 16
2 15
... 2 8
27 ... 20
Function Desired measuring units

The basis for the desired measuring units is specified with the "Basis for desired
measuring units" parameter (see Basis for desired measuring units, page 42). If "Per
revolution" is selected, the measuring range can be adapted with the "Total
measuring range" parameter. Follow the rules specified for the Total measuring
range, page 41.
Note: Many software tools require the value to be divided into least significant and
most significant words.

Total measuring range

The total measuring range is as follows:

Byte 14 15 16 17
Bit 31-24 23-16 15-8 7-0
Data 2 31
... 2 24
2 23
... 2 16
2 15
... 2 8
27 ... 20
Function Total measuring range

The "Total measuring range" parameter is used to adapt the encoder measuring
range to the actual measuring range of the application. The encoder counts until the
position value has reached the programmed total resolution and starts again from 0
(loopback).
Many software tools require the value to be divided into least significant and most
significant words. In total resolution, the following rule must be adhered to:

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Functions

Total resolution < measuring units per revolution x actual number of

revolutions (physical)
If this rule is not adhered to, the encoder signals a parameter error and does not
switch to data exchange mode.
Example:
100 steps are programmed for each revolution ("Measuring units per revolution"
parameter) and the total resolution is set to 12800. The encoder counts to 12799,
starts again from "0" after completing 128 revolutions, counts to 12799, and so on.

Basis for desired measuring units

With this parameter, the basis for the measuring units (see Desired measuring units,
page 41) can be determined in several ways:
 Per revolution
 Per maximum total resolution
 Per number of physical impulses
With SyCon:

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 Functions

Desired measuring units per revolution: The position value is incremented by the
number of programmed steps (desired measuring units) during a revolution. The
"Total resolution" parameter is used to adapt the measuring range (see Total
measuring range, page 41).
Desired measuring units per maximum total measuring range: The "Desired
measuring units" parameter refers to the complete measuring range of the encoder:
the encoder indicates the programmed number of measuring units for the whole
measuring range (4096 revolutions with the multi-turn encoder).
Desired measuring units per physical impulse: The measuring units refer to the
physical impulses specified in bytes 35-39 (see Physical impulses, page 45). The
physical impulses correspond to the actual value read internally from the encoder
disk (for example: 8192 points per revolution).
With this option, it is possible to set the reduction factors without restriction:

Basis Byte 26 bit 0 Byte 26 bit 1

Per revolution 0 0
Per maximum total measuring range 1 0
Per physical impulse 0 1
(= steps specified in bytes 35-38)

Activate commissioning mode

Bit 2 of byte 26 is used to activate commissioning mode. This is a special mode that
can be used to set other parameters in data exchange mode (apart from the preset
value). In commissioning mode, it is possible to use a "Teach-In" procedure (the
reduction factor can be determined directly by the encoder). When this special
mode, indicated by a flashing green LED, is activated, the parameters defined in the
system configuration are ignored by the encoder. Commissioning mode uses
parameters stored in an internal EEPROM memory.
This mode can be used over a long period but it is advisable to transfer the
parameters determined with the "Teach-In" procedure to the system configuration.
The encoder should then be used in "normal" operating mode, which means the
exchange can be performed without using a new "Teach-In" procedure.
See Commissioning, page 48 for more details.

Byte 26 Bit 2 Commissioning mode

0 Inactive
1 Active

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Functions

Shorter diagnostics
Some PROFIBUS masters encounter problems with the length of the full diagnostic
data (57 bytes). The Telemecanique encoder offers an option which allows the
length of this data to be reduced to 16 bytes. In Class 1, the standard diagnostic data
length is 16 bytes.

Byte 26 Bit 3 Diagnostics

0 Standard = 57 bytes
1 Shorter = 16 bytes

Software Limit Switch

Two positions (upper and lower limit switch) can be programmed and define a range.
If the position value is within this range, bit 27 of the 32-bit process value is set to 1.
Outside this range, bit 27 is set to 0. The limit switches can be set to any value once
this value is less than that specified for the "Total measuring range" parameter. The
limit switches are activated with bits 5 and 6 of byte 26.
Note: Many software tools require the value to be divided into least significant and
most significant words.

Byte 27 28 29 30
Bit 31-24 23-16 15-8 7-0
Data 2 31
... 2 24
2 23
... 2 16
2 15
... 2 8
27 ... 20
Function Lower limit switch
(in measuring steps, compared to the scaling value)

Byte 31 32 33 34
Bit 31-24 23-16 15-8 7-0
Data 231 ... 224 223 ... 216 215 ... 28 27 ... 20
Function Upper limit switch
(in measuring steps, compared to the scaling value)

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 Functions

Byte 26 Bit 5 Lower limit switch

0 Inactive
1 Active

Byte 26 Bit 6 Upper limit switch

0 Inactive
1 Active

Activation of Bytes 27 to 39
Bit 7 of byte 26 is used to activate other parameter bytes (27-39)

Byte 26 Bit 7 Byte 27 - 39

0 Inactive
1 Active

Physical impulses

Byte 35 36 37 38
Bit 31-24 23-16 15-8 7-0
Data 231 ... 224 223 ... 216 215 ... 28 27 ... 20
Function Physical impulses

This parameter is assessed if the basis for the "Desired measuring units" is
expressed in "Physical impulses" (see Basis for desired measuring units, page 42).

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Functions

The "Physical impulses" parameter is used to set a reduction factor without

restriction. The user defines the output steps ("Desired measuring steps") on part of
the measuring range. This option is useful for programming scale factors generating
a non-whole number of steps for 1 revolution.
Example:
Requirement: The position value has been incremented by 400 steps during 3
revolutions.
With the "Steps per revolution" basis, it is not possible to program this scale factor
(the "Desired measuring steps" parameter should be set) to 133.33, as this
parameter must be assigned to a whole value).
Solution: Choose "Physical impulses" as the basis for "Desired measuring units".
The number of physical measuring steps for the desired measuring range is
determined. To obtain this value, the actual resolution (physical) of the encoder
(label) is used. In the example given, this would be (with a standard encoder, 12-bit
resolution):
4096 steps/revolution x 3 revolutions = 12288 steps
Enter the value (12288) as "Physical impulses" and set "Desired measuring units"
to 400. The encoder increments the position value by 400 steps over a measuring
range of 12288 physical steps (3 revolutions).

Encoder type
The encoder type (Single-turn or Multi-turn) is specified in bit 1 of byte 39:

Byte 39 Bit 1 Type

0 Single-turn
1 Multi-turn

Velocity output unit

This parameter allows the user to choose the time base applicable to the output
speed. The time base can be configured by bits 4 and 5 of byte 39.

Time base Bit 4 Bit 5

Step/Second 0 0
Step/100 ms 1 0
Step/10 ms 0 1
Rpm (revolutions per minute) 1 1

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 Functions

Data Exchange

Data Exchange Format in Normal Operating Mode

"DDLM_Data_Exchange mode" indicates the encoder normal operating mode. The
encoder is a slave. It communicates the current position at the master’s request. The
encoder can also receive data issued by the master (for example: the preset value
in the Class 2 configuration).
The encoder transmits values coded on 32 bits, 25 bits for the position value and the
other 7 for the status bits.
The absolute encoder can have a position (physical)  33554432 points (25 bits).
Beyond this, these values are not supported by the encoder. The higher bits will be
overwritten by the status bits. If the encoders have a total resolution (physical) > 25
bits, the user must make sure that the position value is scaled with a maximum
output value < 33554432.
The current speed is transmitted in an additional input (peripheral) word.

ID F1 Hex D0 Hex
Encoder Status Position value Speed
-> Master 31 25
2 -2 224 223 - 216 215 - 28 27 - 20 215 - 28 27 - 20
Master -> Status Preset value
Encoder 31 25
2 -2 224 223 - 216 215 - 28 27 - 20

Meaning of the various status bits:

Bit 28 Bit 27 Bit 26 Bit 25 Meaning

Ready
0 = the encoder is not ready to operate.
1 = the encoder is ready to operate.
Mode
0 = commissioning mode.
1 = normal mode.
Software limit switch
0 = lower limit switch  current position value  upper limit
switch.
1 = current position value > upper limit switch or current
position value < lower limit switch.
Code sequence
0 = incrementation in clockwise direction (seen from the
shaft side).
1 = incrementation in anti-clockwise direction.

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Functions

Commissioning Mode

Commissioning
If commissioning mode is activated in the encoder parameters, the scale factor can
be determined directly in the machine with a "Teach-In" procedure. Commissioning
mode is indicated by the green LED flashing and bit 26 in the input word (bit 26 set
to 0).
If the encoder starts in commissioning mode, the parameters specified in the system
configuration (code sequence, scaling) are ignored. The parameters used are
stored in an internal EEPROM memory. If the code sequence or the scale factor are
modified in commissioning mode, the new values are stored in a non-volatile
memory and the encoder uses these new parameters.
To switch to commissioning mode, proceed as follows:

Step Action
1 Install the encoder in the machine/system.
2 Activate commissioning mode (parameter settings, seeCommissioning, page 48
3 Change the counting direction (if necessary).
4 Place the machine/system in the startup position.
5 Send the encoder the "Teach-In-Start" command.
6 Place the machine/system in the stop position.
7 Indicate the desired number of steps to the encoder with the "Teach-In-Stop"
command.
8 Define the preset value.
9 Assign the values determined with the "Teach-In" procedure to the system
configuration parameters.
10 Deactivate commissioning mode (parameter setting).

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 Functions

Setting the Counting Direction

If the encoder is operating in commissioning mode, the counting direction (Code
Sequence) can be modified online. The current code sequence is indicated with bit
28 in the 32-bit process value (0: incrementation in clockwise direction /1: incremen-
tation in anti-clockwise direction). The counting direction can be changed with bit 28
of the double output word (falling edge).

Status bits Data bits Description

31 30 29 28 27 26 25 24 ... 0
Master -> 0 0 0 1 0 0 0 Changing the counting direction by setting bit
Encoder 28
Encoder -> 0 0 0 0/1 0 0 1 0/1 The encoder sends an acknowledgement
Master (new counting direction in bits 0 and 28)
Master -> 0 0 0 0 0 0 0 The change is finalized by resetting bit 28
Encoder
Encoder -> 0 0 0 0/1 X 0 1 Process output value with a modified
Master counting direction

Starting the "Teach-In" Procedure

When the machine connected to the encoder is in the startup position, the "Teach-
In-Start" command is sent to the encoder. The encoder starts the internal calculation
of a new scale factor.

Status bits Data bits Description

31 30 29 28 27 26 25 24 ... 0
Master -> 0 1 0 0 0 0 0 Setting bit 30 to 1 to start the "Teach-In"
Encoder procedure
Encoder - 0 1 0 X X 0 1 Setting bit 30 to 1 for transmission of an
> Master acknowledgement by the encoder)
Master -> 0 0 0 0 0 0 0 Resetting bit 30
Encoder
Encoder - 0 1 0 X X 0 1 The uncalculated position value is sent
> Master (reduction factor = 1, no offset)

Note: The scale factor is set to 1; the zero point offset is set to zero.

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Functions

Stopping the "Teach-In" Procedure

When the machine connected to the encoder is in the stop position, the " Teach-In-
Stop" command is sent. The desired number of steps per modified measuring range
is sent with this command. The user should check that the physical resolution has
not been exceeded (for example: 20000 steps for a quarter turn). Both negative and
positive directions are automatically taken into account, as is crossing the physical
zero point.
Note: The measuring range must not exceed half the encoder physical measuring
range (2047 revolutions maximum for a multi-turn encoder performing 4096
revolutions and 8191 revolutions maximum for a 12-bit multi-turn encoder).
After receipt of the "Teach-In-Stop" command, the encoder transmits the calculated
total resolution. Note down the value, then when the encoder switches back to
normal mode, enter the value in the parameter settings.
After this procedure, the encoder operates with the new reduction factor (which is
stored in a non-volatile internal EEPROM memory).

Status bits Data bits Description

31 30 29 28 27 26 25 24 ... 0
Master -> 0 0 1 0 0 0 0 Desired number of steps (for the relevant
Encoder measuring range)
Encoder - 0 1 1 X X 0 1 Transferring the total resolution (to be noted
> Master down)
Master -> 0 0 0 0 0 0 0 Resetting bit 29
Encoder
Encoder - 0 0 0 X X 0 1 Current position value output, scaling with the
> Master new reduction factor

To replace the encoder at a later date without using a new "Teach-In" procedure, the
total measuring range determined with the "Teach-In" procedure must be
transferred to the system configuration. For this, "Total resolution" must be specified
in the "Desired measuring units" parameter field (see Desired measuring units,
page 41) and the basis (see Basis for desired measuring units, page 42) must be
set to "Maximum total measuring range". When setting the parameters, check the
Code sequence (the counting direction set in commissioning mode must be
transferred to the system configuration). Commissioning mode can then be
deactivated and the encoder can be used in normal mode.

"Preset" Values
Using the preset function, it is possible to adapt the encoder zero point according to
the application zero point. With this function, the current encoder position value is
set to the desired preset value. The integrated microcontroller calculates the internal
zero point offset. This value is stored in a non-volatile EEPROM memory (this
operation takes less than 40 ms).

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 Functions

The preset value is activated if bit 31 of the double output (peripheral) word is set to
1 (rising edge). As the preset function is used after receipt of the scaling parameters,
the preset value corresponds to the scaling position value.
When bit 31 of the input double word is set to 1, an acknowledgement is sent.

Status bits Data bits Description

31 30 29 28 27 26 25 24 ... 0
Master -> 1 0 0 0 0 0 0 Transferring the desired position value (=
Encoder "Preset" value)
Encoder -> 1 0 0 0 0 0 1 The desired position value is transferred
Master
Master -> 0 0 0 0 0 0 0 Resetting bit 31 – normal mode
Encoder
Encoder -> 0 0 0 0 0 0 1 The desired position value is transferred
Master

NOTE: This parameter can be used for a RESET or SET function.

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Functions

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 Osicoder
Diagnostics
1690024 02A55 04/2011

Diagnostics

6
Overview
This chapter describes the various diagnostic messages that can be generated by
the encoder.

What’s in this Chapter?

This chapter contains the following topics:
Topic Page
Diagnostic Messages 54
Status Indication Provided by the LEDs in the Base 57
FAQ 59

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Diagnostics

Diagnostic Messages

Principle
At the master’s request, the encoder sends diagnostic data ("DDLM_Slave_Diag").
The length of this data is 57 bytes (Exception: diagnostics, Shorter diagnostics,
page 44). The format of the diagnostic data depends on the PROFIBUS standard
(bytes 1-6) and the Encoder profiles (beginning with byte 7).

Diagnostic Function
The table below gives the list of encoder diagnostic functions:

Diagnostic function Data type Diagnostics -

byte number
Station 1 status (see: PROFIBUS standard) Byte 1
Station 2 status (see: PROFIBUS standard) Byte 2
Station 3 status (see: PROFIBUS standard) Byte 3
Diagnostic master address Byte 4
PNO identification number Byte 5, 6
Extended diagnostic header Byte string 7
Alarm messages Byte string 8
Operating status Byte string 9
Encoder type Byte string 10
Resolution per revolution (hardware) Unsigned 32 11-14
Number of revolutions (hardware) Unsigned 16 15-16
Reserved - 17-23
Profile version Byte string 24-25
Software version Byte string 26-27
Operating time Unsigned 32 28-31
Zero offset Unsigned 32 32-35
Manufacturer-specific: offset value Unsigned 32 36-39
Programmed resolution per revolution Unsigned 32 40-43
Total programmed resolution Unsigned 32 44-47
Serial number ASCII string 48-57

Extended Diagnostic Header

Diagnostic byte 7 specifies the length of the extended diagnostics (including the
header).

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 Diagnostics

Memory Error
Bit 4 of diagnostic byte 8 indicates a memory error.
We talk about a memory error when the encoder internal EEPROM memory no
longer works correctly and it is not possible to guarantee that the values (the offset
values for example) have been stored in non-volatile memory.

Bit Definition 0 1
4 Memory error (EEPROM default) No Yes

Operating Status
Diagnostic byte 9 contains the parameters set in the system configuration.

Bit Definition 0 1
0 Direction of rotation CW CCW
1 Class 2 functionality Inactive Active
2 Diagnostic routine Inactive Active
3 Scaling function Inactive Active

Encoder Type
Diagnostic byte 10 specifies the encoder version (Single-turn or Multi-turn).

Byte 10 Definition
0 Single-turn encoder
1 Multi-turn encoder

Single-turn Resolution
Diagnostic bytes 11-14 specify the actual resolution (physical) per encoder
revolution.

Number of Revolutions
Diagnostic bytes 15 and 16 specify the actual number (physical) of revolutions
completed by the encoder. The multi-turn version goes from 1 to 4096 revolutions
maximum.

Operating Time Alarm

Bit 4 of diagnostic byte 21 contains an alarm concerning the operating time. This bit
is set after 105 hours.

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Diagnostics

Profile Version
Diagnostic bytes 24 and 25 indicate the encoder profile version.

Byte 24 25
Bit 15-8 7-0
Data 2 7
-2 0
27-20
Revision no. Index

Software Version
Diagnostic bytes 26 and 27 indicate the encoder software version.

Byte 26 27
Bit 15-8 7-0
Data 27-20 27-20
Revision no. Index

Operating Time
The encoder operating time is indicated in diagnostic bytes 28 to 31. If the encoder
is supplied with power, the operating time is saved to the EEPROM memory every
six minutes in steps of 0.1 hour.

Zero Offset
The zero offset is indicated in diagnostic bytes 32 to 35.

Programmed Resolution
The programmed resolution per revolution is indicated in diagnostic bytes 40 to 43.
The value is only valid if the scale factor is based on the "Step per revolution"
parameter (see Basis for desired measuring units, page 42).

Total Programmed Resolution

The total calculated and programmed resolution is indicated in diagnostic bytes 44
to 47 (MAX RANGE).

Serial Number
Diagnostic bytes 48-57 are reserved for the serial number.
Note: With the current version, the serial number is not saved in the encoder, so the
bytes contain the default hexadecimal value 2A.

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 Diagnostics

Status Indication Provided by the LEDs in the Base

Principle
Two LEDs are located on the base. They indicate the status of the encoder in the
PROFIBUS network.
The red LED indicates errors. The green LED indicates the encoder status.
These two LEDs can be either off, on or flashing. Seven of the nine possible
combinations indicate a special condition.
In the event of problems on system startup, the LED status can provide invaluable
information on the cause of the error.

Description
LED on the base:

No. Description
1 RED LED
2 GREEN LED

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Diagnostics

LED status table for diagnostics:

No. Red LED Green LED Status/possible cause

1 Off Off No electrical supply
2 On On The encoder is ready to operate but has not received any
configuration data since being powered up.
Possible causes: incorrect addressing, bus lines
incorrectly connected
3 On Flashing Configuration or parameter error.
The encoder is receiving parameter or configuration data
that is inconsistent or the incorrect length.
Possible cause: the value of the "total measuring range"
parameter is too high.
4 Flashing On The encoder is ready to operate but is not being
addressed by the master (for example: incorrect address
in the configuration).
5 On Off The encoder has not received any data for a long time
(approx. 40 s).
Possible cause: the bus line has been interrupted.
6 Off On Normal operation in data exchange mode
7 Off Flashing Commissioning mode

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 Diagnostics

FAQ

Problem Possible cause Possible solutions

Problems with the The master does not support In the master, increment the maximum number of diagnostic
PROFIBUS network the full diagnostic data length data authorized for each slave. If this operation is not possible,
(bus error, absence (57 bytes). the encoder can be used with shorter diagnostics (see Shorter
of encoder diagnostics, page 44).
response)
With COM The master does not support Use COM PROFIBUS Version 3.3 and activate the shorter
PROFIBUS Version the full diagnostic data length diagnostics function. With COM PROFIBUS V5.0, the
5.0, it is not possible (57 bytes). COM PROFIBUS Telemecanique encoder can only be configured with a modified
to insert the V5.0 checks the GSD GSD file (the slave key "Max_Diag_Data_Len" must be
Telemecanique parameter changed).
encoder in the "Max_Diag_Data_Len=57"
hardware and prevents simultaneous
configuration. configuration of both devices.
The PLC and the Check the status of the LEDs in the base (see Status Indication
master are powered Provided by the LEDs in the Base, page 57).
up, the bus is active Both LEDs are off: check the power supply!
but the encoder Both LEDs are on: The encoder is ready but is not receiving any
does not respond. parameter-setting or configuration telegrams. Check the
address in the base. Check the connection of the bus lines
(BUS IN/BUS OUT). Check the hardware configuration in the
software tool.
Red LED on, green LED flashing: parameter error! Check the
parameters, for example the parameter-setting rules applicable
to the total measuring range (see Total measuring range,
page 41)
Random bus errors The line termination resistors Check the termination resistors!
are incorrect. The 220  resistors must be activated at the start and end of
the bus segment. Turn off the power and measure the
resistance between terminals A and B in the base.
This resistance should be approx. 110  (220  in parallel).
EMC problems Is the transmission speed used compatible with the length of
the bus lines?
Try and use a slower speed if necessary. Check the shielding
is properly connected in the base. Do the cables and
conductors comply with all the EMC rules?

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Diagnostics

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 Osicoder
Glossary
1690024 02A55 04/2011

Glossary

Address
Number, assigned to each node, irrespective of whether it is a master or slave. The
address (non-volatile) is configured in the base with rotary switches.

ARE
Abbreviation: absolute rotary encoder

Baud rate
Data transmission speed specified in the form of a number of bits transferred per
second (baud rate = data rate).

Bus node
Device that can send and/or receive or amplify data by means of the bus.

Byte
8-bit unit of data = 1 byte

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Glossary

Configuration
When the master configures the slave, the properties of the latter are specified (for
example: number of input and output bytes).

DDLM
Direct Data Link Mapper: interface between the PROFIBUS-DP functions and the
encoder software.

DDLM_Data_Exchange
Bus operating status, for standard data transfers.

DDLM_Set_Prm
Bus operating status, the configuration and parameters are transmitted.

DDLM_Slave_Diag
Operating status, the diagnostic data are requested from the slave (for example:
encoder).

Diagnostics
Identification, location, classification, display, additional evaluation of errors and
messages.

DP
Distributed Peripherals

FAQ
Frequently Asked Questions

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 Glossary

Freeze
Command from the master sent to the slave that can be used to freeze the state of
the inputs. The input data is only updated after receipt of the UNFREEZE command.

GSD file
Standardized file containing the description of the parameters and the
communication methods of the associated device.

Line termination resistor

Resistor terminating the main segments of the bus.

Master
"Active" device within the network, that can send data without having received a
request. Monitors data exchanges.

PNO
PROFIBUS Nutzerorganisation

PROFIBUS
Process fieldbus, European standard for fieldbuses defined in the PROFIBUS
standard (EN 50170). Specifies the mechanical, electrical and functional character-
istics of a fieldbus system.

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Glossary

Slave
Bus node that sends data at the request of the master. Absolute rotary encoders are
always slaves.

SyCon
Software tool with a uniform interface under Windows. Description files (GSD, EDS,
etc.) are used as basic information by the software.

Word
Expression used for a unit of data consisting of two bytes.

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 Osicoder
Index
1690024 02A55 04/2011

Index
B
AC
Symbols Description of the Encoder Profile, 38
Desired measuring units, 41
"Preset" Values, 50
Diagnostic Function, 54
Diagnostic Messages, 54
A
Accessoires, 21 E
Activate commissioning mode, 43
Electrical Characteristics, 25
Activation of Bytes 27 to 39, 45
Encoder Address, 17
Activation of Manufacturer-Specific Parame-
Encoder type, 46
ters, 40
Encoder Type, 55
Assembly instructions, 21
Environmental Characteristics, 25
Extended Diagnostic Header, 54
B
Basis for desired measuring units, 42 F
FAQ, 59
C
Class 2 functionality, 40 L
Code Sequence , 40
Line Terminator, 17
Commissioning, 48
List of accessories, 21
Commissioning diagnostics, 40
Commissioning Mode, 48
Connecting the Connection Base, 20 M
Connection Base, 16
Mechanical Characteristics, 25
Memory Error, 55
D
Data Exchange, 47 N
Description, 16
Number of Revolutions, 55
Description of Functions, 40

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Index

O
Operating Status, 55
Operating Time, 56
Operating Time Alarm, 55

P
Physical impulses, 45
Profile Version, 56
Programmed Resolution, 56

S
Scaling function control, 40
Serial Number, 56
Setting the Counting Direction, 49
Shorter diagnostics, 44
Single-turn Resolution, 55
Software Limit Switch, 44
Software Version, 56
Starting the "Teach-In" Procedure, 49
Status Indication Provided by the LEDs in
the Base, 57
Stopping the "Teach-In" Procedure, 50

T
Total measuring range, 41
Total Programmed Resolution, 56

V
Velocity output unit, 46

W
Wiring the Bus and the Power Supply, 18
Wiring the Encoder, 20

Z
Zero Offset, 56

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