FACTORY AUTOMATION Manual

Absolute rotary encoder P**58

PROFIBUS interface
 With regard to the supply of products, the current issue of the following document is applicable:
The General Terms of Delivery for Products and Services of the Electrical Industry, as published by
the Central Association of the "Elektrotechnik und Elektroindustrie (ZVEI) e.V.",
including the supplementary clause "Extended reservation of title".

We at Pepperl+Fuchs recognize a duty to make a contribution to the future.

For this reason, this printed matter is produced on paper bleached without the use of chlorine.
 Absolute rotary encoder P**58
Table of contents

1 General . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
1.1 Declaration of conformity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
1.2 Working principle . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
1.3 PROFIBUS technology . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
1.4 Symbols used . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
2 Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
2.1 Settings in the connection hood . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
2.1.1 Member address . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
2.1.2 Bus terminator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
2.2 Connection of signal and power supply lines . . . . . . . . . . . . . . . . . . . . . . . . . . 7
2.3 Wiring of connection hood . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
2.4 Connecting the screen line . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
2.5 Notes on mechanical fitting and the electrical connection . . . . . . . . . . . . . . . 8
3 Device configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
3.1 Principle of data transfer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
3.2 Overview of encoder classes – functionality . . . . . . . . . . . . . . . . . . . . . . . . . . 11
3.3 Overview of encoder classes – data format . . . . . . . . . . . . . . . . . . . . . . . . . . 12
4 Encoder classes of the PROFIBUS user organisation . . . . . . . . . . . 13
4.1 Parameter assignment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
4.1.1 Direction of rotation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
4.1.2 Class 2 functionality . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
4.1.3 Commissioning diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
4.1.4 Scaling function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
4.1.5 Measurement steps per revolution . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
4.1.6 Overall resolution . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
4.2 Data exchange in normal operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
4.2.1 Transferring the actual process value . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
4.2.2 Preset function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
5 Manufacturer specific encoder classes . . . . . . . . . . . . . . . . . . . . . . . 17
5.1 Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
5.1.1 Activation of manufacturer specific parameters . . . . . . . . . . . . . . . . . . . . . . . . . . 18
5.1.2 Desired measurement steps . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
5.1.3 Resolution reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
5.1.4 Activate commissioning mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
5.1.5 Reduced diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
5.1.6 Software limit switches . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
5.1.7 Physical measurement steps . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
5.1.8 Rotary encoder type . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
5.1.9 Unit of measure for speed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
01/15/04

5.2 Data exchange in normal mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23

Date of issue

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Absolute rotary encoder P**58
Table of contents

5.3 Commissioning mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24

5.3.1 Setting the direction of rotation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
5.3.2 TEACH-IN start . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
5.3.3 TEACH-IN stop . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
5.3.4 Preset value . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
6 Diagnostic messages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
6.1 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
6.2 Supported diagnostic messages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
6.2.1 Advanced diagnostics header . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
6.2.2 Memory error . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
6.2.3 Operating status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
6.2.4 Rotary encoder type . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
6.2.5 Singleturn resolution . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
6.2.6 Number of revolutions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
6.2.7 Operating time warning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
6.2.8 Profile version . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
6.2.9 Software version . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
6.2.10 Operating time . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
6.2.11 Reference point shift . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
6.2.12 Resolution as assigned by parameter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
6.2.13 Overall resolution as assigned by parameter . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
6.2.14 Serial number . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
6.3 Status information of LEDs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
7 Sample configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
7.1 Reading the GSD file . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
7.2 Projecting the rotary encoder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
7.3 Selecting the device class . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
7.4 Parameter assignment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
8 Technical data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
8.1 Electrical data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
8.2 Mechanical data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
8.3 Ambient conditions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
8.4 Dimensional drawings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
8.4.1 Rotary encoder with servo flange . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
8.4.2 Rotary encoder with clamp flange . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
8.4.3 Rotary encoder with recessed hollow shaft . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
9 Appendix . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
9.1 Type code, model number . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
9.2 Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
01/15/04

9.3 Terms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
10 Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46
Date of issue

Subject to reasonable modifications due to technical advances. Copyright Pepperl+Fuchs, Printed in Germany
2 Pepperl+Fuchs Group • Tel.: Germany +49 621 776-0 • USA +1 330 4253555 • Singapore +65 67799091 • Internet http://www.pepperl-fuchs.com
 Absolute rotary encoder P**58
Indroduction

Indroduction

Impressum
Pepperl+Fuchs
Königsberger Allee 87
D-68307 Mannheim
Phone +49 621 776-0
Internet www.pepperl-fuchs.com
Fax +49 621 776-1000
E-mail [email protected]

Copyright
All rights for this documentation reserved by Pepperl+Fuchs GmbH. This
documentation must not be modified, expanded, duplicated or passed on to third
parties without prior written consent of Pepperl+Fuchs GmbH.

Subject to modification
Because we are constantly striving to improve our products, we reserve the right to
make resulting technical modifications to the technical information included in this
document at any time.

Document information
Filename: PROFIBUS manual
Release date: 01/2004
Version number: 3.0
Editor: Rainer Russ

Service phone number

We will be happy to assist you with technical support, questions and suggestions for
improving our products and documentation. Please call +49 7461-9298-0.
01/15/04
Date of issue

Subject to reasonable modifications due to technical advances. Copyright Pepperl+Fuchs, Printed in Germany
Pepperl+Fuchs Group • Tel.: Germany +49 621 776-0 • USA +1 330 4253555 • Singapore +65 67799091 • Internet http://www.pepperl-fuchs.com 3
Absolute rotary encoder P**58
General

1 General

This manual describes commissioning and configuration of the absolute rotary

encoder with PROFIBUS DP interface. The device satisfies requirements for a
PROFIBUS slave according to the PROFIBUS standard and is certified by the
PROFIBUS user organisation.

1.1 Declaration of conformity

Absolute rotary encoders of Series P**58 are developed and manufactured taking
into consideration applicable European standards and directives.

A corresponding declaration of conformity may be requested from the

manufacturer.

Note

The manufacturer of the product, Pepperl+Fuchs GmbH in D-68301 Mannheim, has

a certified quality assurance program in accordane with ISO 9001.

ISO9001

1.2 Working principle

The basic principle of recording absolute measurement values is optical sensing of a
transparent disk with a printed code that is connected to the shaft to be measured.
The position of the shaft can be determined by evaluating the code at a resolution of
up to 65,536 increments or "steps" per revolution (16 bits).
In the case of Multiturn devices, additional code disks can be included in the circuit
with ratio reduction gears, which can be used to determine the absolute rotation
speed of the shaft (up to 16,384 revolutions = 14 bits).
In the case of an absolute rotary encoder with a PROFIBUS interface, the optically
recorded position value is calculated in an integrated microprocessor and is
transferred with the PROFIBUS.
01/15/04
Date of issue

Subject to reasonable modifications due to technical advances. Copyright Pepperl+Fuchs, Printed in Germany
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 Absolute rotary encoder P**58
General

1.3 PROFIBUS technology

PROFIBUS is a manufacturer independent, open fieldbus standard specified by
international standards EN 50170 and EN 50254. There are 3 versions: DP, FMS and
PA. The rotary encoders support the DP versions and are designed for commonly
used transfer rate up to 12 MBaud.
In addition to manufacturer specific functions, the devices support Classes 1 and 2
according to the encoder profile. This device profile can be ordered from the
PROFIBUS user organisation with order number 3.062. Additional information on
PROFIBUS (functionality, manufacturer and products) as well as standards and
profiles are also available here:
PROFIBUS User Organisation
Haid-und-Neu-Strasse 7
76131 Karlsruhe
Tel.: +49 721 9658-590
Fax: +49 721 9658-589
E-mail: www.profibus.com

1.4 Symbols used

This symbol warns of a danger. Failure to heed this warning can lead
to personal injury or death and/or damage to or destruction of
equipment.
Warning

This symbol warns of a possible fault. Failure to observe the

instructions given in this warning may result in the device and any
facilities or systems connected to it developing a fault or even failing
Attention completely.

This symbol draws your attention to important information.

Note
01/15/04
Date of issue

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Absolute rotary encoder P**58
Installation

2 Installation

The connection hood is used to connect the rotary encoder. It is connected with a
rotary encoder by means of a 15-pin sub-D plug and can be removed by loosening
two screws on the back of the device. Bus and power supply lines are directed into
the hood through cable glands and connected with screw terminals.

2.1 Settings in the connection hood

2.1.1 Member address

The PROFIBUS member address can be set with decimal rotary switches in the
connection hood. The valency (x 10 or x 1) is specified on the switch. Possible
addresses are between 1 and 99. Each address can occur only once in the system.
The device address is read in by the rotary encoder when the power supply is turned
on. Change of address by the master ("Set_Slave_Add") is not supported.

RT
ON

B A - + B A - +
9 01 9 01
8 2 8 2
7 3 7 3
6 54 6 54
x10 x1

2.1.2 Bus terminator

If the rotary encoder is fitted as a terminal device, then the terminating resistor that is
integrated into the device must be switched into the circuit. This is done with the slide
switch in the connection hood:

member X last member

RT RT
ON ON
01/15/04
Date of issue

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 Absolute rotary encoder P**58
Installation

When the terminating resistor is turned on, the rest of the bus (Bus
Out) is disconnected.

Note

The bus is not correctly terminated unless the rotary encoder is mounted on the
connection hood. If the encoder needs to be replaced while the system is in operation,
we recommend using a separate active bus termination.
After the address is set on the hardware side and the power terminating resistor has
been switched into the circuit if necessary, the rotary encoder can be placed in
operation.

2.2 Connection of signal and power supply lines

B A - + B A - +

Bus In Bus Out

Terminal Explanation
⊥ ground connection for power supply
B (left) data line B (pair 1), Bus In
A (left) data line A (pair 1), Bus In
(-) 0V
(+) 10 V ... 30 V
B (right) data line B (pair 2), Bus Out
A (right) data line A (pair 2), Bus Out
(-) 0V
(+) 10 V ... 30 V

Power supply lines only need to be connected once (no matter to

which terminals). When the terminating resistor is turned on, the rest of
the bus (Bus Out) is disconnected.
Note
01/15/04
Date of issue

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Absolute rotary encoder P**58
Installation

2.3 Wiring of connection hood

Proceed as follows in the wiring:
• Remove the pressure screw, pressure insert and cone from the cable gland.
• Remove about 55 mm of the bus line covering and about 50 mm of the screening
mesh.
• Remove about 5 mm of insulation on the individual wires.
• After that, push the pressure screw and pressure insert onto the cable.
• Push the cone under the screen as shown in the drawing.
• Push the pressure screw, pressure insert and cone into the cable gland.
• Then tighten the pressure screw.

2.4 Connecting the screen line

To achieve the best interference immunity possible, the transfer of signals between
the system components should be via shielded lines with a shield seating on either
side. With certain system configurations an equalisation current can flow through the
shield connected on both sides of the cables. Because of this, a potential equalisation
line is recommended.

2.5 Notes on mechanical fitting and the electrical connection

Please observe the following items:
Do not drop the rotary encoder or expose it to significant vibration. It is a precision
instrument.
Do not open the rotary encoder housing (this does not mean you should not remove
the hood). Opening or closing the device improperly may damage it or result in
contamination.
The rotary encoder shaft must be connected with the shaft to be measured by means
of a suitable coupling. The purpose of this coupling is to absorb blows and imbalances
and prevent major forces from reaching the rotary encoder shaft. Suitable couplings
are available from Pepperl+Fuchs.
Rotary encoders are sturdy, but they should be protected by suitable protective
measures when used in a very harsh environment. In particular, they should not be
fitted to make them suitable for holding grips or stepping blocks.
Commissioning and operation of this electrical device must only be performed by
qualified personnel. This means persons who are authorised to place devices,
01/15/04

systems and circuits in service, ground them and identify them with appropriate
markings according to the latest state of fail-safe technology.
Date of issue

No electrical changes must be made to the rotary encoder.

Subject to reasonable modifications due to technical advances. Copyright Pepperl+Fuchs, Printed in Germany
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 Absolute rotary encoder P**58
Installation

The connection lines to the rotary encoder must be laid at a great distance (or sepa-
rated in different compartments) from power lines that could cause interference. To
ensure reliable data transfer, completely shielded cables must be used, and care
must be taken to ground them properly.
Wiring jobs, and opening or closing electrical connections must only be performed
when no voltage is present. Short circuits, voltage spikes and similar phenomena may
result in improper functionality and uncontrolled states. They may also cause
significant injury to persons or damage to property.
Before turning on the system, check all electrical connections. Connections that are
not made correctly can result in improper functionality of the system. Wrong
connections may result in significant injury to persons or damage to property.
01/15/04
Date of issue

Subject to reasonable modifications due to technical advances. Copyright Pepperl+Fuchs, Printed in Germany
Pepperl+Fuchs Group • Tel.: Germany +49 621 776-0 • USA +1 330 4253555 • Singapore +65 67799091 • Internet http://www.pepperl-fuchs.com 9
Absolute rotary encoder P**58
Device configuration

3 Device configuration

The rotary encoder with a PROFIBUS interface can be configured and parameters
can be assigned to it according to the needs of the user. For this purpose, the GSD
file associated with the device is loaded into the projecting tool. Various "encoder
classes" as they are known are then available to select during projecting. The
adjustable parameters and functionality of the device depend on the encoder class
that is selected. Rotary encoders support all encoder classes described below, i. e.
functionality is not limited on the hardware side. It is determined by the user alone. In
addition to the encoder classes described in the encoder profile, "Class 1" and
"Class 2", rotary encoders of Pepperl+Fuchs also offer additional encoder classes
with manufacturer specific functions.
Selecting the encoder class determines configuration and parameter data during
projecting. This data that is stored in the PROFIBUS master is transferred to the rotary
encoder once when the system starts up (configuration and parameter assignment
phase "DDLM_Set_Prm"). It is not possible to change the configuration or
parameters while the system is in operation (exception: "Commissioning mode" see
section 5.3).
After the configuration and parameter data is received, the rotary encoder goes into
"normal mode" (cyclic data exchange – "DDLM_Data_Exchange Modus"). In this
mode the position value is transferred, among other things. The length and format of
the exchanged data is also specified during projecting when the encoder class is
selected.

3.1 Principle of data transfer

GSD file

projecting software database

parameter ("DDLM_Set_Prm")
once when starting up

cyclic data exchange

(for example position value)
specification of device class
control module rotary encoder
parameter input
01/15/04
Date of issue

Subject to reasonable modifications due to technical advances. Copyright Pepperl+Fuchs, Printed in Germany
10 Pepperl+Fuchs Group • Tel.: Germany +49 621 776-0 • USA +1 330 4253555 • Singapore +65 67799091 • Internet http://www.pepperl-fuchs.com
 Absolute rotary encoder P**58
Device configuration

3.2 Overview of encoder classes – functionality

Model number Cyclic data exchange Adjustable parameters Other items

Class 1 position value – 16-bit input direction of rotation -
singleturn
Class 1 position value – 32-bit input direction of rotation -
multiturn
Class 2 position value – 16-bit input direction of rotation preset function
singleturn preset value – 16-bit output scaling
Class 2 position value – 32-bit input direction of rotation preset function
multiturn preset value – 32-bit output scaling
P+F 2.1 position value (32-bit input) direction of rotation preset function
singleturn preset value/TEACH-IN scaling commissioning
(32-bit output) gear factor mode
reduced diagnostics
limit switch
P+F 2.1 position value (32-bit input) direction of rotation preset function
multiturn preset value/TEACH-IN scaling commissioning
(32-bit output) gear factor mode
reduced diagnostics
limit switch
P+F 2.2 position value (32-bit input) direction of rotation preset function
singleturn scaling commissioning
preset value/TEACH-IN gear factor mode
(32-bit output) reduced diagnostics speed output
limit switch
speed unit of speed output
(16-bit input)
P+F 2.2 position value (32-bit input) direction of rotation preset function
multiturn scaling commissioning
preset value/TEACH-IN gear factor mode
(32-bit output) reduced diagnostics speed output
limit switch
speed unit of speed output
(16-bit input)
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Absolute rotary encoder P**58
Device configuration

3.3 Overview of encoder classes – data format

Configuration Input words Output words For description

Model number (identifier) (encoder → (master → see
hex dec. master) encoder) chap. page
Class 1 singleturn D0 208 1 0 4 13
(based on encoder
profile)
Class 1 multiturn D1 209 2 0
(based on encoder
profile)
Class 2 singleturn F0 240 1 1
(based on encoder
profile)
Class 2 multiturn F1 241 2 2
(based on encoder
profile)
P+F 2.1 singleturn F1 241 2 2 5 17
P+F 2.1 multiturn F1 241 2 2
P+F 2.2 singleturn F1 241 2 2
D0 208 1
P+F 2.2 multiturn F1 241 2 2
D0 208 1

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 Absolute rotary encoder P**58
Encoder classes of the PROFIBUS user organisation

4 Encoder classes of the PROFIBUS user organisation

Encoder classes Class 1 and Class 2 are different versions based on the encoder
profile specified by the Encoder working group in the PROFIBUS user organisation
(available from the PROFIBUS user organisation under order number 3.062).

4.1 Parameter assignment

The following table contains an overview of parameters that can be set using the
encoder profile together with their layout in the parameter assignment telegram. Since
parameters can generally be set by means of user-friendly input masks in the
projecting tool, a detailed description of the parameter assignment telegram is
typically not of interest to users.

Octet no. Parameter Bit no. Details

1 ... 8 PROFIBUS standard parameter
9 direction of rotation 0 section 4.1.1, page 13
class 2 functionality 1 section 4.1.2, page 14
commissioning diagnostics 2 section 4.1.3, page 14
scaling function 3 section 4.1.4, page 14
reserved 4
reserved 5
not used for Class 1 and Class 2 6
not used for Class 1 and Class 2 7
10 ... 13 measurement steps/revolution section 4.1.5, page 14
14 ... 17 overall resolution section 4.1.6, page 15
18 ... 25 reserved (according to encoder profile)
26 ... not used for Class 1 and Class 2
(see versions P+F 2.1 and 2.2)

4.1.1 Direction of rotation

The direction of rotation defines the counting direction of the output of the actual
process value when the shaft is turning clockwise (cw) or counterclockwise (ccw) as
seen when facing the shaft. The counting direction is specified by Bit 0 in Octet 9:

Octet 9 Bit 0 Direction of rotation (facing the shaft) Output code

0 clockwise (cw) rising
1 counterclockwise (ccw) rising

If Class 1 is selected, only the direction of rotation can be changed by

parameter.

Note
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Absolute rotary encoder P**58
Encoder classes of the PROFIBUS user organisation

4.1.2 Class 2 functionality

This switch can be used to limit rotary encoders with Class 2 functionality to Class 1
functionality. In other words, the capability to assign parameters is turned off. To use
the functions of Class 2 rotary encoders, Bit 1 in Octet 9 must be set.

Octet 9 Bit 1 Class 2 functionality

0 turned off
1 turned on

4.1.3 Commissioning diagnostics

This function has no meaning for the Pepperl+Fuchs rotary encoder.

4.1.4 Scaling function

The scaling function enables parameter assignment of resolution per revolution and
the selected overall resolution. This switch should always be turned on if you would
like to use the functions of Class 2 (or of manufacturer specific classes).

Octet 9 Bit 3 Scaling function

0 turned off
1 turned on

4.1.5 Measurement steps per revolution

The "Measurement steps per revolution" is used to assign a desired number of steps
in reference to 1 revolution to the rotary encoder.
If the value of the parameter exceeds the actual (physical) basic resolution of the
encoder, the output value no longer consists of one step. In this case, a parameter
error is displayed and the device does not switch into cyclic data exchange.

Desired number of measurement steps per revolution

Octet 10 11 12 13
Bit 31 ... 24 23 ... 16 15 ... 8 7 ... 0
Data 231 to 224 223 to 216 215 to 28 27 to 20
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 Absolute rotary encoder P**58
Encoder classes of the PROFIBUS user organisation

4.1.6 Overall resolution

The "Overall resolution" parameter allows users to adjust the measurement range of
the device: The rotary encoder increments up to the overall resolution assigned by
parameter and then starts again at 0.

Selected overall resolution in measurement steps

Octet 14 15 16 17
Bit 31 ... 24 23 ... 16 15 ... 8 7 ... 0
Data 231 to 224 223 to 216 215 to 28 27 to 20

Example: If 100 steps have been selected per revolution with an overall resolution of
12,800, the rotary encoder starts again at zero after 128 revolutions and then counts
up to 11,799 again.
For many projecting tools, the value must be divided up into high word and low word;
for more information see also section 7.4, page 34
When entering the "Overall resolution" parameter, note also the following:

If n steps have been selected per revolution, the overall resolution that
is selected must not result in the period being longer than the
maximum available (physical) number of revolutions of the device (see
Note manufacturer's rating plate), i. e. for a Multiturn device running at
16,384 revolutions, the device resolution must be less than 16,384
times the number of steps per revolution set by parameter:
Overall resolution < measurement steps per revolution x number
of revolutions (physical)
If this is not taken into consideration, the device indicates a parameter
error and does not switch into cyclic data exchange.
The period and thus the overall resolution/measurement steps per
revolution must be an integer number. In addition, when 16,384 is
divided by it, the result must be an even number (integer division with
no remainder). The following expression must thus be true:
(16,384 x measurement steps per revolution)/overall resolution =
integer number

4.2 Data exchange in normal operation

The so-called DDLM_Data_Exchange mode is the normal state of operation for the
system. On request, the rotary encoder sends current (position) values to the master.
Vice versa, the rotary encoder is also capable of receiving cyclic data (for example
the preset value for a Class 2 encoder).
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Absolute rotary encoder P**58
Encoder classes of the PROFIBUS user organisation

4.2.1 Transferring the actual process value

In the case of a Multiturn encoder, the current position value is transferred to the
master as a 32 bit value (double word):
Similarly, transfer for a Singleturn encoder is as a 16 bit value (word).

Word word 1 word 0

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

0 0 0 0 0 0 0 X X X X X X X X X X X X X X X X X X X X X X X X X

4.2.2 Preset function

The Preset function can be used to adjust the encoder zero point to the mechanical
zero point of the system. Setting the preset value sets the actual value of the rotary
encoder to the desired "Preset value". The necessary zero point offset is calculated
by the device and stored zero-voltage-safe in an EEPROM (requires less than 40 ms).
The preset value is activated by Bit 31 in the (peripheral) output double word
(accepted with a rising edge). The preset value must be set after the scaling
parameters are transferred, i. e. the preset value refers to the actual scaled value.
(The procedure can be applied to the Singleturn version with appropriate changes –
in this case, Bit 15 is used to activate the preset value.)

Status bits Data bits

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

Master → 0 0 0 0 0 0
1 transfer of desired value (= Preset value)
Encoder
Encoder 0 0 0 0 0 0 0
new = desired actual process value is transferred
→ Master
Master → 0 0 0 0 0 0 0
reset Bit 31 – normal mode
Encoder
Encoder 0 0 0 0 0 0 0
new = desired actual process value is transferred
→ Master

If very high precision is required, the preset value should only be set when the rotary
encoder shaft is at rest. If the shaft moves very rapidly during this time, there may be
shifts, since run times may occur through the bus while the preset value is being set.
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 Absolute rotary encoder P**58
Manufacturer specific encoder classes

5 Manufacturer specific encoder classes

With manufacturer specific encoder classes P+F 2.1 and P+F 2.2, the rotary encoder
offers, in addition to functions based on the encoder profile of the PROFIBUS user
organisation, functions such as commissioning mode (TEACH-IN), speed output and
limit switches.
The following table describes transfer of individual parameters in the parameter
assignment telegram. Note also the following: Users will generally be using user-
friendly input masks in the projecting tool. The structure of the parameter assignment
telegram itself is only of interest in exceptional cases.

Octet no. Parameter Bit no. Details

1 ... 8 PROFIBUS standard parameter
9 direction of rotation 0 section 4.1.1, page 13
Class 2 functionality 1 section 4.1.2, page 14
commissioning diagnostics 2 section 4.1.3, page 14
scaling function 3 section 4.1.4, page 14
reserved 4
reserved 5
activate manufacturer specific parameters
6 section 5.1.1, page 18
(Octet 26)
reserved 7
desired measurement steps (reference:
10 ... 13 section 5.1.2, page 18
Octet 26 Bits 0 and 1)
14 ... 17 overall resolution section 4.1.6, page 15
18 ... 25 reserved (according to encoder profile)
26 0
reference for desired measurement steps section 5.1.3, page 19
1
activate commissioning mode 2 section 5.1.4, page 20
reduced diagnostics 3 section 5.1.5, page 20
reserved 4
activate lower software limit switch 5 section 5.1.6, page 20
activate upper software limit switch 6 section 5.1.6, page 20
activation of parameters starting at Octet 27 7 section 5.1.1, page 18
27 ... 30 lower limit switch section 5.1.6, page 20
31 ... 34 upper limit switch section 5.1.6, page 20
35 ... 38 physical measurement steps section 5.1.7, page 21
39 reserved 0
rotary encoder type (singleturn or multiturn) 1 section 5.1.8, page 22
reserved 2
reserved 3
4
01/15/04

selection of unit of measure for speed output section 5.1.9, page 22

5
reserved 6
Date of issue

reserved 7

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Absolute rotary encoder P**58
Manufacturer specific encoder classes

5.1 Parameters
Manufacturer specific parameters are described in greater detail below. For a
description of parameters based on the encoder profile (that are also supported), see
section 4.

5.1.1 Activation of manufacturer specific parameters

• The manufacturer specific parameter byte 26 is activated with Bit 6 in Octet 9.
• Manufacturer specific Octets 27 ... 39 are further activated in Octet 26.
If Encoder class P+F 2.1 or P+F 2.2 is selected, this happens automatically. These
bits only need to be considered if parameters are assigned "manually" in
hexadecimal.

Octet 9 Bit 6 Octet 26

0 deactivated
1 activated

Octet 26 Bit 7 Octet 27 ... 39

0 deactivated
1 activated

5.1.2 Desired measurement steps

The parameter "Desired measurement steps" is used to program the device so that
any number of measurement steps can be implemented in reference to one
revolution, the entire measurement range or any given partial measurement range.

Desired measurement steps

Octet 10 11 12 13
Bit 31 ... 24 23 ... 16 15 ... 8 7 ... 0
Data 231 to 224 223 to 216 215 to 28 27 to 20

What the measurement steps refer to is specified with the parameter "Resolution
reference" (see section 5.1.3). If "per revolution" is selected here as the reference for
the desired measurement steps, the measurement range can be adjusted with the
parameter "Overall resolution". The rules listed in section 4.1.6 must be taken into
consideration for this.

For many projecting tools, the value must be divided up into high word
and low word; for more information see section 7.4, page 34.

Note
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 Absolute rotary encoder P**58
Manufacturer specific encoder classes

5.1.3 Resolution reference

This parameter is used to specify what the "desired measurement steps" that are
entered should refer to (see section 5.1.2):
• Revolution
• maximum overall resolution
• Physical measurement steps

Desired resolution per revolution

In this case the position value is set in such a manner that it is incremented by the
number of desired measurement steps for each revolution. In addition, in this case the
"Overall resolution" parameter is evaluated. It can be used to adjust the measurement
range (see section 4.1.6).
Desired resolution per maximum overall resolution
The desired measurement steps that are entered refer to the entire measurement
range of the device, i. e. the device generates the number of measurement steps
assigned by parameter over the entire (physical) number of revolutions.
Desired resolution per physical measurement steps
In this case, the desired number of steps refers to the physical measurement steps
entered with the "Physical measurement steps" parameter (see also section 5.1.7). In
this context, physical steps means the numeric value that is read internally from the
code disk by the rotary encoder (for example 4,096 steps per revolution for the
standard 12 bit version). Gear factors can be freely set with this option.

Reference Octet 26 Bit 0 Octet 26 Bit 1

per revolution 0 0
01/15/04

per maximum overall resolution 1 0

per physical measurement steps
0 1
(= steps specified in Octet 35 ... 38)
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Absolute rotary encoder P**58
Manufacturer specific encoder classes

5.1.4 Activate commissioning mode

Bit 2 in Octet 26 represents a switch for "commissioning mode". Commissioning mode
is a special state of the device in which additional parameters beyond the Preset value
can be transferred to the rotary encoder. When commissioning mode is activated, you
can perform "TEACH-IN", a form of programming in which the gear factor can be
determined by moving the system directly. In this mode (recognisable by the flashing
green LED) the direction of rotation and scaling set during projecting are ignored.
Instead of them, values stored internally in EEPROM are used.
The device can also be operated long term in commissioning mode. We recommend,
however, that you transfer the parameters determined in commissioning mode to
projecting and then use the device in normal mode. (This makes it possible to replace
the device without having to perform TEACH-IN again).
For a detailed description of commissioning mode, please refer to section 5.3.

Octet 26 Bit 2 Commissioning mode

0 turned off
1 turned on

5.1.5 Reduced diagnostics

For many PROFIBUS masters, the full number of diagnostic bytes (standard
diagnostics: 57 bytes) may lead to problems. Often older masters in particular cannot
work with the full number of diagnostic bytes. With rotary encoders, there is the
possibility of reducing the number of diagnostic bytes generated by the rotary encoder
to 16. If "Class 1" is selected as the device class, only 16 diagnostic bytes will be
generated.

Octet 26 Bit 3 Diagnostic data length

0 standard = 57 bytes
1 reduced = 16 bytes

5.1.6 Software limit switches

Two positions can be programmed. If the value falls above or below these limits
respectively, the absolute encoder sets Bit 27 to "1" in the 32-bit actual process value.
The bit is set to "0" between these two positions. Both limit switch values can be set
as desired with parameter assignment, but they must not exceed the value of the
"Overall resolution" parameter. Limit switches are activated via Bits 5 and 6 in
Octet 26.

Octet 26 Bit 5 Lower limit switch

0 turned off
1 turned on

Octet 26 Bit 6 Upper limit switch

0 turned off
1 turned on
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 Absolute rotary encoder P**58
Manufacturer specific encoder classes

For many projecting tools, values must be divided up into high word and low word; for
more information see section 7.4, page 34

Lower limit switch in measurement steps (in reference to scaled value)

Octet 27 28 29 30
Bit 31 ... 24 23 ... 16 15 ... 8 7 ... 0
Data 231 to 224 223 to 216 215 to 28 27 to 20

Upper limit switch in measurement steps (in reference to scaled value)

Octet 31 32 33 34
Bit 31 ... 24 23 ... 16 15 ... 8 7 ... 0
Data 231 to 224 223 to 216 215 to 28 27 to 20

5.1.7 Physical measurement steps

This parameter is evaluated by the device if "Physical measurement steps" was
selected as the reference for the desired measurement steps
(see section 5.1.3).
A gear factor can be freely selected using "Physical measurement steps". The user
specifies in this process how many measurement steps ("Desired measurement
steps") should be generated for a specified partial measurement range. This option is
helpful if you will be entering "uneven" scaling factors.

Physical measurement steps

Octet 35 36 37 38
Bit 31 ... 24 23 ... 16 15 ... 8 7 ... 0
231 to 224 223 to 216 215 to 28 27 to 20
01/15/04

Data
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Absolute rotary encoder P**58
Manufacturer specific encoder classes

Example:
Problem: The rotary encoder must generate 400 steps over 3 revolutions.
This number of steps cannot be set with the "Desired measurement steps per
revolution" reference (the "Desired measurement steps" would have to contain the
value 133,333 but only whole numbers can be entered in this case).
Solution:
"Physical measurement steps" is selected as a reference for the desired number of
steps.
The number of physical measurement steps over the desired measurement range is
determined based on the actual (physical) resolution of the device (see the
manufacturer's rating plate). For an absolute encoder with a standard resolution of 12
bits, for example, this would be
4,096 steps/revolution x 3 revolutions = 12,288 steps in this case
This value is then entered as the "Physical measurement steps" parameter and the
actual number of steps desired, 400, is entered under "Desired measurement steps".
The rotary encoder now generates 400 steps for a measurement range of 12,288
physical steps (i. e. for 3 revolutions).

For many projecting tools, the value must be divided up into high word
and low word; for more information see also section 7.4, page 34

Note

5.1.8 Rotary encoder type

The type of rotary encoder (singleturn or multiturn) is specified in Bit 1 of Octet 39.
This happens automatically if the encoder class is selected. The user only needs to
make note of this parameter if parameter assignment is made directly in hexadecimal.

Octet 39 Bit 1 Type

0 singleturn
1 multiturn

5.1.9 Unit of measure for speed

You can use this parameter to adjust the unit for speed output (Class P+F 2.2). This
base value will be stored in Bits 4 and 5 of Octet 39.

Unit Bit 4 Bit 5

steps/second 0 0
steps/100 ms 1 0
steps/10 ms 0 1
revolutions/minute 1 1
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 Absolute rotary encoder P**58
Manufacturer specific encoder classes

5.2 Data exchange in normal mode

For manufacturer specific encoder classes P+F 2.1 and P+F 2.2, the actual process
value is transferred as a 32-bit value (double word). In addition to 25 bits that are used
for the position value, another 7 bits are used as status bits. The master sends the
Preset value to the rotary encoder along with the control bits in the (periphery) output
double word.
The current speed value is transferred as well in an additional (periphery) input word
in device class P+F 2.2:

Identifier F1 hex D0 hex

Enc. → Master status + actual position value speed
status + 224 223 ... 216 215 ... 28 27 ... 20 215 ... 28 27 ... 20

Master → Encoder Preset value + control bits

control + 224 223 ... 216 215 ... 28 27 ... 20

The meanings of the status bits in the input double word are as follow:

Bit 28 Bit 27 Bit 26 Bit 25 Meaning

ready for operation
0 = rotary encoder not ready for operation
1 = rotary encoder ready for operation
operating mode
0 = commissioning mode
1 = normal mode
software limit switch
0 = lower limit switch = actual value = upper limit switch
1 = actual value > upper limit switch or actual value <
lower limit switch
direction of rotation
0 = rising clockwise (as seen facing the shaft)
1 = rising counterclockwise (as seen facing the
shaft)
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Absolute rotary encoder P**58
Manufacturer specific encoder classes

5.3 Commissioning mode

If the rotary encoder is switched into commissioning mode using parameter
assignment, gear factors can be determined directly on the system using a process
called "TEACH-IN".
Commissioning mode is indicated by the rotary encoder by the flashing green LED in
the connection hood and by Bit 26 in the input double word (set to 0).
In commissioning mode, parameters set in projecting mode (direction of rotation and
scaling) are ignored. Instead of them, values stored internally in EEPROM are used.
If the direction of rotation and gear factor are changed in commissioning mode, the
new values are stored in EEPROM and the device will then use these new values.
The main procedure in commissioning mode is as follows:
• Install the device into the system.
• Turn on commissioning mode with parameter assignment (see section 5.1.4).
• If necessary, adjust the direction of rotation.
• Move the system to its initial position.
• Transfer the Start command for TEACH-IN to the rotary encoder.
• Move the system to its end position.
• Use the TEACH-IN stop command to transfer the desired number of steps to the
rotary encoder.
• The preset value is set.
• Transfer the values determined in TEACH-IN to projecting (parameters).
• Commissioning mode is turned off in parameter assignment.

5.3.1 Setting the direction of rotation

The direction of rotation in which the output code rises can be changed online in
commissioning mode. The current direction of rotation is displayed with Bit 28 in the
input double word (0: rising/1: falling, clockwise). The direction of rotation can be
changed with Bit 28 in the output double word.

Status bits Data bits

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

Master →
0 0 0 1 0 0 0 changeover of direction of rotation via Bit 28
Encoder
Encoder rotary encoder acknowledged in Bit 0 and Bit 28 with new
0 0 0 0/1 0 0 1 0/1
→ Master direction of rotation
Master →
0 0 0 0 0 0 0 changeover is ended by resetting Bit 28
Encoder
Encoder output of actual process value with modified direction of
0 0 0 0/1 X 0 1
→ Master rotation

The direction of rotation that is set is saved zero-voltage-safe in EEPROM.

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 Absolute rotary encoder P**58
Manufacturer specific encoder classes

5.3.2 TEACH-IN start

After the system has been moved to the beginning of the measurement range, the
TEACH-IN start command is transferred to the rotary encoder. The device will now
start the measurement for determining the gear factor internally.

Status bits Data bits

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

Master →
0 1 0 0 0 0 0 start of TEACH-IN by setting Bit 30
Encoder
Encoder rotary encoder acknowledges start of TEACH-IN by setting
0 1 0 X X 0 1
→ Master Bit 30
Master →
0 0 0 0 0 0 0 reset Bit 30
Encoder
Encoder output of uncalculated feedback value (gear factor = 1,
0 1 0 X X 0 1
→ Master Preset not active)

The gear factor is set to 1 internally; the zero point offset is deleted.

Note

5.3.3 TEACH-IN stop

After the system is moved over the measurement range with the TEACH-IN stop
command, the number of steps desired over the measurement path must be
transferred. Care should be taken that the physical resolution is not exceeded.
Positive and negative direction as well as the zero point having been exceeded are
automatically taken into consideration. The measurement path that is traversed must
not exceed 2,047 revolutions.
In response to the TEACH-IN stop command, the rotary encoder transfers the overall
resolution calculated by the device. This value should be noted and accepted later for
normal operation of the system in projecting/parameter assignment.
After this procedure, the device works with the new scaling factor that has just been
determined. It is stored zero-voltage-safe in EEPROM.

Status bits Data bits

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

Master →
0 0 1 0 0 0 0 number of desired steps via measurement path traversed
Encoder
Encoder determination of overall resolution for new gear factor (should
0 1 1 X X 0 1
→ Master be noted for later reference)
Master →
0 0 0 0 0 0 0 reset Bit 29
Encoder
Encoder
0 0 0 X X 0 1 output of actual value calculated with the new gear factor
→ Master
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Absolute rotary encoder P**58
Manufacturer specific encoder classes

To make it possible to replace the encoder later without having to repeat the TEACH-
IN procedure, the overall resolution determined by the encoder should be transferred
to projecting. This is done by entering the overall resolution that was determined du-
ring TEACH-IN (and noted for future reference) in the parameter field "Desired mea-
surement steps" (see section 5.1.2) and then setting the "Resolution reference"
switch to "Maximum overall resolution" (see section 5.1.3). Care must be taken in the
reconfiguration that the direction of rotation (see section 4.1.1) is entered correctly.
The setting in commissioning mode must also be observed when assigning parame-
ters. Then commissioning mode can be turned off with parameter assignment. The
rotary encoder is now used in "normal mode".

5.3.4 Preset value

The preset value can be set in a manner similar to the procedure described in section
4.2.2. The only difference is that setting of the preset value is confirmed for
manufacturer specific classes P+F 2.1 and P+F 2.2 by a status bit:

Status bits Data bits

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

Master →
1 0 0 0 0 0 0 transfer of desired value (= Preset value)
Encoder
Encoder
1 0 0 0 0 0 1 new = desired actual process value is transferred
→ Master
Master →
0 0 0 0 0 0 0 reset Bit 31 – normal mode
Encoder
Encoder
0 0 0 0 0 0 1 new = desired actual process value is transferred
→ Master

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 Absolute rotary encoder P**58
Diagnostic messages

6 Diagnostic messages

6.1 Overview
In the "DDLM_Slave_Diag" operating mode, diagnostic data is transferred from the
rotary encoder to the master on request. The number of diagnostic bytes is 57.
Exception: Reduced diagnostics (see section 5.1.5). Output of diagnostic data is
based on the specifications of the PROFIBUS standard (Octets 1 ... 6) or on the
encoder profile (starting at Octet 7).

Diagnostic
Diagnostic function Data type Octet Encoder class
number
Station status 1 (see: PROFIBUS standard) Octet 1 1
Station status 2 (see: PROFIBUS standard) Octet 2 1
Station status 3 (see: PROFIBUS standard) Octet 3 1
Diagnostic master address Octet 4 1
Profibus user organisation ID number Octet 5, 6 1
Advanced diagnostics header Octet string 7 1
Alarm messages Octet string 8 1
Operating status Octet string 9 1
Encoder type Octet string 10 1
Resolution per revolution (hardware) unsigned 32 11 ... 14 1
Number of revolutions (hardware) unsigned 16 15, 16 1
Additional alarm messages Octet string 17 2
Supported alarm messages Octet string 18, 19 2
Warning messages Octet string 20, 21 2
Supported warning messages Octet string 22, 23 2
Profile version Octet string 24, 25 2
Software version Octet string 26, 27 2
Operating time unsigned 32 28 ... 31 2
Reference point shift unsigned 32 32 ... 35 2
Manufacturer specific: offset values unsigned 32 36 ... 39 2
Resolution per revolution as assigned by
unsigned 32 40 ... 43 2
parameter
Overall resolution as assigned by parameter unsigned 32 44 ... 47 2
Serial number ASCII string 48 ... 57 2
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Absolute rotary encoder P**58
Diagnostic messages

6.2 Supported diagnostic messages

Individual diagnostic entries are explained below in greater detail.

6.2.1 Advanced diagnostics header

Diagnostic Octet 7 contains the length of advanced diagnostics (including the
diagnostics header itself).

6.2.2 Memory error

Bit 4 in diagnostic Octet 8 indicates whether a memory error has occurred.
In this context, a memory error means that the EEPROM of the rotary encoder is no
longer functioning properly and zero-voltage-safe storage (for example of the zero
point offset) is no longer ensured.

Bit Definition 0 1
4 memory error (defect in EEPROM) no yes

6.2.3 Operating status

Diagnostic Octet 9 can be used to query operating parameters that are set by
parameter assignment.

Bit Definition 0 1
0 direction of rotation cw ccw
1 Class 2 functionality off on
2 diagnostic routine off on
3 scaling function off on

6.2.4 Rotary encoder type

Diagnostic Octet 10 can be used to query the version of the rotary encoder.

Octet 10 Definition
0 singleturn rotary encoder
1 multiturn rotary encoder

6.2.5 Singleturn resolution

Diagnostic Octets 11 ... 14 can be used to store the physical resolution per revolution
of the rotary encoder.

6.2.6 Number of revolutions

Diagnostic Octets 15 and 16 can be used to query the physical number of
distinguishable revolutions. Standard values are 1 for Singleturn and 4,096 for
Multiturn.

6.2.7 Operating time warning

Bit 4 of diagnostic Octet 20 displays the warning message for exceeding the operating
time. The bit is set after 105 hours.
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 Absolute rotary encoder P**58
Diagnostic messages

6.2.8 Profile version

The profile version of the rotary encoder is stored in diagnostic Octets 24 and 25:

Revision no. Index

Octet 24 25
Bit 15 ... 8 7 ... 0
Data 27 ... 20 27 ... 20

6.2.9 Software version

The software version of the rotary encoder is stored in diagnostic Octets 26 and 27.

Revision no. Index

Octet 26 27
Bit 15 ... 8 7 ... 0
Data 27 ... 20 27 ... 20

6.2.10 Operating time

Diagnostic Octets 28 ... 31 contain the operating time of the device. When power
supply voltage is applied, the "Operating time" value is stored again once every 6
minutes in the rotation encoder in increments of 0.1 hours.

6.2.11 Reference point shift

The zero point offset is available for output in diagnostic Octets 32 ... 35.

6.2.12 Resolution as assigned by parameter

Diagnostic Octets 40 ... 43 store the resolution per revolution as assigned by
parameter. This value is only valid if the gear factor has been calculated with the
setting "Resolution per revolution" in the parameter mask (see section 5.1.3).

6.2.13 Overall resolution as assigned by parameter

The overall resolution assigned by parameter or calculated is stored in diagnostic
Octets 44 ... 47.

6.2.14 Serial number

Diagnostic Octets 48 ... 57 are provided for a serial number according to the encoder
profile.
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Absolute rotary encoder P**58
Diagnostic messages

6.3 Status information of LEDs

The connection hood is equipped with two LEDs that provide a visual indication of the
operating status on the rotary encoder. The red LED serves to display errors, while
the green LED displays the status of the rotary encoder. Each LED can be in one of
three states: On, Off, or Flashing. Of the nine possible combinations of these states,
only seven are used to indicate a special status.
If problems occur while the device is being placed in service, the status of the LEDs
should first be checked. Often this makes it possible to draw conclusions regarding
the cause of the error.

Error display Status display

LED red LED green

No. red LED green LED Status information/possible cause

1 off off no power supply
rotary encoder is ready for operation, but has not yet received
any configuration data based on voltage;
2 on on
possible causes: address set incorrectly, bus line incorrectly
connected
error in parameter assignment or configuration
the rotary encoder is receiving configuration or parameter
3 on flashing
assignment data of incorrect length or inconsistent data;
possible cause: (for example) overall resolution set to high
rotary encoder is ready for operation, but is not being
4 flashing on accessed by the master (for example the wrong address may
be accessed)
rotary encoder has not received any data for some time
01/15/04

5 on off
(approx. 40 seconds) (the data line may be interrupted)
6 off on normal operation in Data Exchange mode
Date of issue

7 off flashing commissioning mode in Data Exchange mode

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 Absolute rotary encoder P**58
Sample configuration

7 Sample configuration

Commissioning of the rotary encoder is described below, using the STEP7 projecting
tool (V5.1) and the CPU 315-2DP (with an integrated PROFIBUS interface) as
examples. For questions related to other projecting tools, please contact the
manufacturer in question.

7.1 Reading the GSD file

The first time it is used, the GSD file must be installed ("PFDG5046.gsd") to accept
the rotary encoder in the hardware catalogue. Select "Install new GSD" in the "HW
Config" window and select the GSD file ("PFDG5046.gsd").

After the GSD file is read, the rotary encoder appears in the hardware catalogue
under "PROFIBUS-DP" – "Other field devices" – "Encoders" –"Rotary encoders".
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Absolute rotary encoder P**58
Sample configuration

7.2 Projecting the rotary encoder

After the PROFIBUS network has been configured in the hardware configurator using
the menu item "Insert" – "Master system" the absolute encoder can be selected from
the hardware catalogue and inserted into the network. To do this, connect the
"Encoder" device to the bus using Drag and Drop (or double click on the module with
the bus marked).
After the device has been inserted, the station address of the slave device must be
entered. It must agree with the address set in the connection hood.
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 Absolute rotary encoder P**58
Sample configuration

7.3 Selecting the device class

As described in section 3, the functionality of the device depends on which encoder
class is selected. After the device has been inserted into the PROFIBUS network as
described above, the desired device class can then be selected. To do this, drag one
of the modules listed in the hardware catalogue under "Rotary encoders" to mounting
station 1 using Drag and Drop (Table in the lower part of the station window):
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Absolute rotary encoder P**58
Sample configuration

7.4 Parameter assignment

Mark the rotary encoder to which you want to assign parameters in projecting and
then double click on mounting station 1 (table in the lower part of the station window).
The "DP slave properties" dialog window appears. You can change the default
address of the device here if you want to.
To enter parameters, select the "Parameter assignment" properties tab.

Next, enter the parameters of the device. After selecting the "Device-specific
parameters" folder, various parameters can be entered, depending on the encoder
class that is selected. If there is a selection between multiple options in the fields on
the right, an additional selection window appears when you double click. On the other
hand, numeric values can be entered directly. The example shows parameter
selection for version P+F 2.2 – the device class with the greatest functionality.
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 Absolute rotary encoder P**58
Sample configuration

As required by the STEP 7 projecting software, 32-bit parameter values (for example
overall resolution, limit switches, etc.) are divided into high word and low word.

Example:

Decimal Hexadecimal Hexadecimal Decimal (input)

129,600 00 01 FA 40 high word 0001 1
low word FA 40 64,064
The decimal value "1" is entered in the high field, while the decimal value "64,064" is
entered in the low field.

or:
Divide the value by 65,536 and enter the integer portion of the result into the high
word, the remainder portion into the low word:

129,600/65,536 = 1,977539 → integer portion = 1 → high word:1

129,600 – 1 x 65,536 = 64,064 → remainder = 64,064 → low word = 64,064

It is also possible to enter parameters directly as hex values. However, this is

significantly more complicated. If possible, it should be avoided.
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Absolute rotary encoder P**58
Technical data

8 Technical data

8.1 Electrical data

based on DIN VDE 0160, protection class III, accumulation level 2,

General design
overvoltage category II
Power supply 10 V DC ... 30 V DC (absolute limit values)
Power consumption max. 2.5 Watt
emitted interference in accordance with EN 61000-6-4
EMC
interference rejection in accordance with EN 61000-6-2
Bus interface galvanically isolated by optocoupler
Interface line driver in accordance with RS 485
12 MBaud; 6 MBaud; 3 MBaud; 1.5 MBaud; 500 kBaud;
Baud rates
187.5 kBaud; 93.75 kBaud; 19.2 kBaud; 9.6 kBaud
standard: 8.192 steps/revolution
Resolution
optional: 65,536 steps/revolution
Number of revolutions standard: 4,096 revolutions
recorded optional: 16,384 revolutions
Spacing accuracy ± 2 LSB at 16 bits, ± 1 LSB at 13 bits, ± 0,5 LSB at 12 bits
Step frequency max. 100 kHz
Code type binary code
Expected service life,
electrical > 105 h

Addressing adjustable via rotary switch in connection hood

Absolute rotary encoders must only be operated at low protective

voltage.

Attention

8.2 Mechanical data

Housing aluminium or stainless steel

Flange servo flange clamping flange
Shaft diameter 6 mm 10 mm
Shaft length 10 mm 20 mm
Shaft load axial 40 N, radial 110 N
Moment of friction ≤ 3 Ncm
Moment of inertia of the rotor ≈ 30 gcm2
Expected service life > 105 h for 1000 min-1
Speed max. 12,000 min-1
Shock (EN 60068-2-27) ≤ 100 g, 6 ms
Vibration (EN 60068-2-6) ≤ 10 g, 10 Hz ... 2000 Hz
Connection connection hood with terminal strip as T distributor
01/15/04

singleturn aluminium: ca. 550 g

stainl. steel: ca. 1.100 g
Date of issue

Weight (including connection hood)

multiturn aluminium: ca. 600 g
stainl. steel: ca. 1.200 g

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 Absolute rotary encoder P**58
Technical data

8.3 Ambient conditions

Working temperature range -40 °C ... +85 °C

Storage temperature range -40 °C ... +85 °C
Relative humidity 98 % (no moisture condensation)
Protection class (EN 60529)
Housing side IP65
IP64 (without shaft seal)
Shaft side
IP66 (with shaft seal)
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Absolute rotary encoder P**58
Technical data

8.4 Dimensional drawings

8.4.1 Rotary encoder with servo flange

Singleturn design

3 x M4
82
6 deep
4 30

3
x
12
0˚
10
23
ø59
ø50f7
ø6f6
ø58

ø60
ø42
3 3 63.5
~32

Cable gland PG9, radial

Servo flange
ø5.5 ... ø9 20 20
15

Multiturn design

3 x M4
92
6 deep
4 30
3
x
12
0˚

10
23
ø59
ø50f7
ø6f6
ø58

ø60
ø42
63.5

3 3
~32

Cable gland PG9, radial

Servo flange
ø5.5 ... ø9 20 20
15
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 Absolute rotary encoder P**58
Technical data

8.4.2 Rotary encoder with clamp flange

Singleturn design

3 x M4
30 82 6 deep
10 30 3 x M3 15˚

3
x
6 deep

12
0˚
18 23
1

ø59
ø10h8
ø36f7

63.5
ø58
ø53

ø48
ø60
3 3

~32
Cable gland PG9, radial

Clamping flange ø5.5 ... ø9 20 20

15

Multiturn design

3 x M4
30 92 6 deep
10 30 3 x M3 15˚

3
x
6 deep

12
0˚
18 23
1

ø59
ø10h8
ø36f7

63.5
ø58
ø53

ø48
ø60

3 3
~32

Clamping flange ø5.5 ... ø9 20 20

Cable gland PG9, radial 15

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Absolute rotary encoder P**58
Technical data

8.4.3 Rotary encoder with recessed hollow shaft

Singleturn design

100 72
3.3 30 ø63
1.3

23
ø15F7*

ø59

63.5
ø60

20˚
20
Lay-on edge
torque rest

max. insertion
~32

depth = 30
min. insertion
depth = 15
3.2
Cable gland PG9, radial
ø5.5 ... ø9 20 20

Recessed hollow shaft 15

* shaft can be reduced to ø10F7 or ø12F7 by using an adapter

Multiturn design

112 72
3.3 30 ø63
1.3

23
ø15F7*

ø59

63.5
ø60

20˚
20
Lay-on edge
torque rest

max. insertion
~32

depth = 30
min. insertion
depth = 15
3.2
Cable gland PG9, radial
ø5.5 ... ø9 20 20

Recessed hollow shaft 15

* shaft can be reduced to ø10F7 or ø12F7 by using an adapter

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 Absolute rotary encoder P**58
Appendix

9 Appendix

9.1 Type code, model number

P 5 8 – A G R 0 B N – 1 2 1 3

Number of bits singleturn

13 8,192 (standard)
16 65,536
Number of bits multiturn
12 4,096 (standard)
14 16,384
Option 2
N not extended
Output code
B binary
Option 1
0 no option
Exit position
R radial
Connection type
AG removable housing cover with terminal compartment
Shaft dimension/flange version
011 shaft Ø10 mm x 20 mm with clamp flange
032 shaft Ø6 mm x 10 mm with servo flange
F1A recessed hollow shaft Ø10 mm x 30 mm
F2A recessed hollow shaft Ø12 mm x 30 mm
Housing material
N Aluminium, powder-coated
I Inox
Principle of operation
M multiturn
S singleturn
Shaft version
S recessed hollow shaft
V solid shaft
Data format
P PROFIBUS
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Absolute rotary encoder P**58
Appendix

9.2 Troubleshooting
Problem
If one of the following PROFIBUS masters is used, problems occur when the system
starts up if encoder classes higher than Class 1 are used (bus malfunction, encoder
does not report):
• SIEMENS S5-95U
• Master connection SIEMENS IM 308-B
• Softing PROFIboard
• Allen Bradley 1785 PFB/B
• Mitsubishi A1SJ 71PB92D
Possible cause
Masters do not support the full number of diagnostic bytes (57 bytes) made available
by absolute encoders in some circumstances.
Solution
If this is a possibility, the maximum amount of diagnostic data per slave should be
increased in the master.
If this is not a possibility, the absolute encoder can either be used as a Class1 device
(16 diagnostic bytes), or one of the manufacturer specific P+F classes can be
selected (P+F 2.1 or 2.2), in which case "Reduced diagnostics" should be turned on
in parameter assignment (see section 5.1.5).

Problem:
For COM PROFIBUS version 5.0, the P+F absolute encoder cannot be projected
together with the S5-95U.
Cause
The S5-95U does not support the full amount of diagnostic data (57 bytes).
For the COM PROFIBUS version 5.0, the GSD entry "Max_Diag_Data_Len=57" is
checked and projecting together with the S5-95U is prevented.
Solution
Use COM PROFIBUS version 3.3, select one of the manufacturer specific P+F
classes (P+F 2.1 or 2.2), and activate reduced diagnostics (parameter).
Use with COM Profibus Version 5.0 is only possible with a modified GSD file (the
slave key "Max_Diag_Data_Len" must be changed).
For COM PROFIBUS version 5.0, the P+F absolute encoder cannot be projected
together with the S5-95U.
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 Absolute rotary encoder P**58
Appendix

Problem
The PLC and master connection are turned on and the bus is active, but the absolute
encoder is not reporting.
Solution
First, check the status of the LEDs in the connection hood (see section 6.3). In some
cases this will allow you to draw conclusions to determine what the cause of the error
is.
• Both LEDs off: Check the power supply!
• Both LEDs on: The device is not receiving any parameters or configuration data.
Check the address setting in the connection hood. Check for correction connection
of bus lines (BUS IN/BUS OUT). Check projecting.
• Red LED on, green LED flashing: Parameter error! Check parameter assignment:
(for example the overall resolution (see section 4.1.6)

Problem
Bus malfunctions occur sporadically.
Possible cause
Terminating resistors not correct
Solution
Check terminating resistors!
A terminating resistor of 220 Ω must be switched into the circuit at the beginning and
end of the bus segment. Measure the resistance between the two data lines! To do
this, turn off the power supply and measure in the connection hood between
connections "A" and "B". The measured resistance value must be approximately
110 Ω (parallel 220 Ω).

Problem
Bus malfunctions occur sporadically.
Possible cause
EMC problems
Solution
Check whether the baud rate that is set is permissible for the line length. It may be
necessary to use a lower baud rate. Check the connection hood to ensure the shield
is connected properly and that the cable is laid properly for EMC.
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Absolute rotary encoder P**58
Appendix

9.3 Terms

Term Meaning
Address A number that is assigned to each bus station regardless of whether
it is a master or slave. For a rotary encoder, it can be adjusted in the
connection hood with decimal rotary switches and is retained in
memory even when the power is turned off.
Baud rate The speed of a data transfer; indicates then number of bits
transferred per second (baud rate = bit rate).
Bus station A device that is capable of sending, receiving or amplifying data via
the bus.
Configuration During configuration, the master specifies properties of the slave,
for example the number of input and output words.
(→ DDLM_Set_Prm).
DDLM Direct Data Link Mapper. The interface between PROFIBUS DP
functions and the encoder software.
DDLM_Data_Exchange The operating status of the bus in which "normal" data traffic occurs.
DDLM_Set_Prm The operating status of the bus in which configuration data is
transferred.
DDLM_Slave_Diag The operating status of the bus in which diagnostic data is
requested by the slave (for example rotary encoder).
Diagnostics Detection, pinpointing, classification, display and further evaluation
of faults, malfunctions and messages.
DP Local peripherals
Encoder Alternative designation for absolute rotary encoder
Freeze A master command to the slave. The master is thus able to freeze
the states of the inputs to the current value. Input data is not
updated again until after the UNFREEZE command is sent.
GSD file Device master data file (in german: Geräte-Stammdaten-Datei). A
file in which slave-specific properties are specified. The GSD is a file
that is made available by the manufacturer for most PROFIBUS
stations. The formats of the GSD are specified in a uniform manner,
thus facilitating access to them by the corresponding control
software. (→ type file).
Master A bus station that is able to send data "of its own initiative". It also
determines which slave should send data at any given time. (→
Slave)
Octet, Byte A data unit of 8 bits = 1 byte
Parameter assignment Transfer of specific parameters (in this case, for example resolution
per revolution, direction of rotation, etc.) from the master to the slave
(in this case the rotary encoder).
Parameter assignment is performed when the system starts up.
PROFIBUS Process Fieldbus, a european fieldbus standard specified in the
PROFIBUS standard. It assigns functional electrical and mechanical
properties to a bit-serial fieldbus system.
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 Absolute rotary encoder P**58
Appendix

Term Meaning
Rotary encoders Alternative designation for absolute rotary encoder
Slave A bus station that essentially sends data only in response to the
command of a → master. Rotary encoders are always slaves by
definition.
Terminating resistor Resistance to line adjustment with bus cable; terminating resistors;
always required at cable and segment ends.
Type file Similar to a GSD file; used by older projecting tools.
Word Frequently, but not uniformly used for a data unit of 2 bytes.
01/15/04
Date of issue

Subject to reasonable modifications due to technical advances. Copyright Pepperl+Fuchs, Printed in Germany
Pepperl+Fuchs Group • Tel.: Germany +49 621 776-0 • USA +1 330 4253555 • Singapore +65 67799091 • Internet http://www.pepperl-fuchs.com 45
Absolute rotary encoder P**58
Index

10 Index

C
ccw. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
Clamping flange . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
Code type. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
Commissioning mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
Configuration (identifier). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
Counting direction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
cw. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13

D
DDLM_Data_Exchange . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10, 15, 44
Desired measurement steps . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
Device address . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
Diagnostic bytes. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
Direction of rotation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13, 24

I
EEPROM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
Encoder class . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
Encoder classes. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10, 11, 17
Encoder is not reporting. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43

G
Gear factor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
GSD file . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10, 44

H
High word. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
Hollow shaft . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40

I
Installation of GSD file . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31

L
LED . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
Limit switch . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
Low word . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35

M
Measurement range. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
01/15/04

O
Overall resolution . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
Date of issue

Subject to reasonable modifications due to technical advances. Copyright Pepperl+Fuchs, Printed in Germany
46 Pepperl+Fuchs Group • Tel.: Germany +49 621 776-0 • USA +1 330 4253555 • Singapore +65 67799091 • Internet http://www.pepperl-fuchs.com
 Absolute rotary encoder P**58
Index

P
Physical measurement steps . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17, 19, 21
Power consumption . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
Power supply . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
Preset function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11, 16
Preset set . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16, 26
Preset value . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16, 26
PROFIBUS user organisation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5

S
Scaling function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
Servo flange . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
Shaft load . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
Speed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
Status bits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23

T
TEACH-IN. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17, 20
TEACH-IN start command . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
TEACH-IN stop command . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
Terminating resistor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
Type code . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
Type file . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
01/15/04
Date of issue

Subject to reasonable modifications due to technical advances. Copyright Pepperl+Fuchs, Printed in Germany
Pepperl+Fuchs Group • Tel.: Germany +49 621 776-0 • USA +1 330 4253555 • Singapore +65 67799091 • Internet http://www.pepperl-fuchs.com 47
Absolute rotary encoder P**58
Notes

01/15/04
Date of issue

Subject to reasonable modifications due to technical advances. Copyright Pepperl+Fuchs, Printed in Germany
48 Pepperl+Fuchs Group • Tel.: Germany +49 621 776-0 • USA +1 330 4253555 • Singapore +65 67799091 • Internet http://www.pepperl-fuchs.com
 Absolute rotary encoder P**58
Notes
01/15/04
Date of issue

Subject to reasonable modifications due to technical advances. Copyright Pepperl+Fuchs, Printed in Germany
Pepperl+Fuchs Group • Tel.: Germany +49 621 776-0 • USA +1 330 4253555 • Singapore +65 67799091 • Internet http://www.pepperl-fuchs.com 49
Absolute rotary encoder P**58
Notes

01/15/04
Date of issue

Subject to reasonable modifications due to technical advances. Copyright Pepperl+Fuchs, Printed in Germany
50 Pepperl+Fuchs Group • Tel.: Germany +49 621 776-0 • USA +1 330 4253555 • Singapore +65 67799091 • Internet http://www.pepperl-fuchs.com
 Absolute rotary encoder P**58
Notes
01/15/04
Date of issue

Subject to reasonable modifications due to technical advances. Copyright Pepperl+Fuchs, Printed in Germany
Pepperl+Fuchs Group • Tel.: Germany +49 621 776-0 • USA +1 330 4253555 • Singapore +65 67799091 • Internet http://www.pepperl-fuchs.com 51
Absolute rotary encoder P**58
Notes

01/15/04
Date of issue

Subject to reasonable modifications due to technical advances. Copyright Pepperl+Fuchs, Printed in Germany
52 Pepperl+Fuchs Group • Tel.: Germany +49 621 776-0 • USA +1 330 4253555 • Singapore +65 67799091 • Internet http://www.pepperl-fuchs.com
 With regard to the supply of products, the current issue of the following document is applicable:
The General Terms of Delivery for Products and Services of the Electrical Industry, as published by
the Central Association of the "Elektrotechnik und Elektroindustrie (ZVEI) e.V.",
including the supplementary clause "Extended reservation of title".

We at Pepperl+Fuchs recognize a duty to make a contribution to the future.

For this reason, this printed matter is produced on paper bleached without the use of chlorine.
 d
th e worl of autom
or ati
f on
s
gn al
Si

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