TR-Electronic LE-200 User Manual
Laser measuring device
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- User manual (75 pages) ,
- Assembly instructions manual (172 pages) ,
- User manual (37 pages)
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Summary of Contents for TR-Electronic LE-200
- Page 1 Laser Measuring Device LE-200 _Additional safety instructions _Installation _Commissioning _Configuration / Parameterization _Troubleshooting / Diagnostic options User Manual...
- Page 2 CANopen and CiA are registered community trademarks of CAN in Automation e.V. TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 2 of 47 TR - ELE - BA - GB - 0010 - 10...
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Page 3: Table Of Contents
5.1 CANopen interface ......................... 24 5.1.1 EDS-file ........................24 5.1.2 Bus status ....................... 25 TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 12/08/2017 TR - ELE - BA - GB - 0010 - 10... - Page 4 8.2.4 Object 6504h - Supported alarms ................44 8.2.5 Object 6505h - Warnings ..................44 8.2.6 Object 6506h - Supported warnings ............... 45 TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 4 of 47...
- Page 5 Dimensioned drawing (cable outlet) ........www.tr-electronic.com/f/04-K2200-002 Dimensioned drawing (M12 connector) ......www.tr-electronic.com/f/04-K2200-012 TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 12/08/2017 TR - ELE - BA - GB - 0010 - 10 Page 5 of 47...
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Page 6: Revision Index
Reference to Support-DVD removed 02/08/16 Technical data removed 12/08/17 TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 6 of 47 TR - ELE - BA - GB - 0010 - 10 12/08/2017... -
Page 7: General Information
The following documentation therefore also applies: see chapter “Other applicable documents” in the Assembly Instructions www.tr-electronic.de/f/TR-ELE-BA-DGB-0018. TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 12/08/2017 TR - ELE - BA - GB - 0010 - 10... -
Page 8: References
November 2010 CiA DS-406 V3.2, CANopen Profile for Encoder, December 2006 TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 8 of 47 TR - ELE - BA - GB - 0010 - 10... -
Page 9: Abbreviations And Definitions
Service Data Object. Peer to peer communication with access to the Object Dictionary of a device. TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 12/08/2017 TR - ELE - BA - GB - 0010 - 10... -
Page 10: Additional Safety Instructions
observing the assembly instructions. The "Basic safety instructions" in particular must be read and understood prior to commencing work. TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 10 of 47 TR - ELE - BA - GB - 0010 - 10... -
Page 11: Organizational Measures
This particularly applies for personnel who are only deployed occasionally, e.g. at the parameterization of the measurement system. TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 12/08/2017 TR - ELE - BA - GB - 0010 - 10... -
Page 12: Canopen Information's
TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany... -
Page 13: Canopen - Communication Profile
Network Management Object (NMO) e.g. Life / Node-Guarding Boot-Up,… Error Control Protocol TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 12/08/2017 TR - ELE - BA - GB - 0010 - 10 Page 13 of 47... -
Page 14: Process- And Service-Data-Objects
no Acknowledgement Figure 3: Comparison of PDO/SDO characteristics TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 14 of 47 TR - ELE - BA - GB - 0010 - 10... -
Page 15: Object Dictionary
SYNC 0001 1005 181h – 1FFh PDO1 (tx) 0011 1800h TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 12/08/2017 TR - ELE - BA - GB - 0010 - 10 Page 15 of 47... -
Page 16: Network Management
(4),(7) Enter_PRE-OPERATIONAL_State --> Pre-Operational (5),(8) Stop_Remote_Node (9),(10),(11) Reset_Node (12),(13),(14) Reset_Communication TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 16 of 47 TR - ELE - BA - GB - 0010 - 10 12/08/2017... -
Page 17: Device Profile
DE-91058 Erlangen Tel. +49-9131-69086-0 Fax +49-9131-69086-79 Website: www.can-cia.org e-mail: headquarters@can-cia.org TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 12/08/2017 TR - ELE - BA - GB - 0010 - 10 Page 17 of 47... -
Page 18: Installation / Preparation For Start-Up
In particular, the applicable EMC directive and the shielding and grounding guidelines must be observed! TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 18 of 47 TR - ELE - BA - GB - 0010 - 10... -
Page 19: Electrical Connection
1516171819 20 Pin 18 CAN_H Pin 19 CAN_L Pin 20 CAN_L TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 12/08/2017 TR - ELE - BA - GB - 0010 - 10 Page 19 of 47... -
Page 20: Bus Termination
Baud rate 20 kbps DIP-Switch 125 kbps 500 kbps 1000 kbps TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 20 of 47 TR - ELE - BA - GB - 0010 - 10 12/08/2017... -
Page 21: Switching Input / Switching Output
4 5 6 9 10 11 121314 1516171819 20 Pin 10 RS485+ TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 12/08/2017 TR - ELE - BA - GB - 0010 - 10 Page 21 of 47... -
Page 22: Wiring Examples
CiA DR 303-1 conformal pin assignment see “TR-ELE-TI-DGB-0011” CANopen connection RS485-connection with parameter setting via "TRWinProg" TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 22 of 47 TR - ELE - BA - GB - 0010 - 10... -
Page 23: General Interference Suppression Measures
If the laser detects an internal error, an emergency message with the error code will be transmitted (see chapter "Emergency Message", page 46). TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany... -
Page 24: Commissioning
The EDS-file has the file name "LE200.EDS". Download: www.tr-electronic.de/f/TR-ELE-ID-MUL-0011 TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 24 of 47 TR - ELE - BA - GB - 0010 - 10 12/08/2017... -
Page 25: Bus Status
ERR, - Off-Line red flashing OK, green Laser hardware ok TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 12/08/2017 TR - ELE - BA - GB - 0010 - 10 Page 25 of 47... -
Page 26: Communication Profile
Data Objects, see chapter “1 Transmit Process Data Object (asynchronous)” and “2 Transmit Process Data Object (synchronous)” on page 27. TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 26 of 47 TR - ELE - BA - GB - 0010 - 10... -
Page 27: St Transmit Process Data Object (Asynchronous)
1A02h number of mapped objects Position value 60040020h TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 12/08/2017 TR - ELE - BA - GB - 0010 - 10 Page 27 of 47... -
Page 28: Read/Write Service Data Object
If only 1 data byte (Data 0) contains data the value of byte 0 is "4FH". If byte 0 = 80h the transfer has been aborted. TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany... -
Page 29: Write Sdo
If byte 0 = 80h the transfer has been aborted. TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 12/08/2017 TR - ELE - BA - GB - 0010 - 10 Page 29 of 47... -
Page 30: Communication Specific Standard Objects
Unsigned8 COB-ID guarding protocol 100E Unsigned32 store parameters 1010 Unsigned32 TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 30 of 47 TR - ELE - BA - GB - 0010 - 10 12/08/2017... -
Page 31: Object 1000H: Device Type
7.3 Object 1002h: Manufacturer Status Register This object is not used by the laser, by read access the value is always "0". TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 12/08/2017... -
Page 32: Object 1003H: Pre-Defined Error Field
E.g. this is the case at a position Bit 6 in byte 0 jump if a second reflection foil is held into the laser beam. TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 32 of 47... -
Page 33: Object 1004H: Number Of Pdos Supported
The default value 80 H in byte 0 (bit 0 -7) can be overwritten by another value ( 0). The new adjusted value is stored permanently about “Object 1010h: Store Parameters”, page 35. TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 12/08/2017... -
Page 34: Object 1008H: Manufacturer Device Name
Unsigned16, Read/Write Guard-Time Byte 0 Byte 1 to 2 to 2 TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 34 of 47 TR - ELE - BA - GB - 0010 - 10 12/08/2017... -
Page 35: Object 100Dh: Life Time Factor
Sub-index0: The entry in sub-index 0 contains the largest sub-index which is supported. Value = 1. Sub-index1: By read access the device provides information about its saving possibility. TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 12/08/2017... - Page 36 If a wrong signature is written, the device refuses to store and responds with abort domain transfer, error class 8, error code 0. TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 36 of 47...
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Page 37: Parameterization And Configuration
Serial number Unsigned32 On the following pages each single object is explained in detail. TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 12/08/2017 TR - ELE - BA - GB - 0010 - 10... -
Page 38: Object 2000 - Clear Preset
All 24 bits are set to ‘1’ (0xFFFFFF or -1) 0xFF last valid value Output of the last valid position TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 38 of 47 TR - ELE - BA - GB - 0010 - 10... -
Page 39: Object 2003 - Function External Input
(default) Temperature Intensity Hardware all errors Speed-check Plausibility measured value TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 12/08/2017 TR - ELE - BA - GB - 0010 - 10 Page 39 of 47... -
Page 40: Object 2006 - Switching Functions
Free resolution (in 1/100 mm), valid values are 1 - 65535, default = 100 With selection "Free resolution" the entered value of the object "Object 6005h – Measuring step" is used. TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 40 of 47... -
Page 41: Object 6000H - Operating Parameters
Byte 3 to 2 to 2 to 2 to 2 TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 12/08/2017 TR - ELE - BA - GB - 0010 - 10 Page 41 of 47... -
Page 42: Object 6004H - Position Value
When the laser is started with the NODE START command and the value of the cyclic timer is > 0, the 1 transmit PDO (object 1800h) transmit the laser position. TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 42 of 47... -
Page 43: Laser Diagnostics
Byte 0 Byte 1 error code Reserved for further use TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 12/08/2017 TR - ELE - BA - GB - 0010 - 10 Page 43 of 47... -
Page 44: Object 6504H - Supported Alarms
8.2.5 Object 6505h - Warnings This object is not supported. By read access the value is always "0". TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 44 of 47 TR - ELE - BA - GB - 0010 - 10... -
Page 45: Object 6506H - Supported Warnings
By read access the offset value is "0". 8.2.11 Object 650Bh - Serial number This object contains the serial number of the laser device (4 byte). TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 12/08/2017... -
Page 46: Emergency Message
(reset error / no error) and error register "0". To this it is prerequisite that the error acknowledgment was set to "automatically" (see "Object 2004 – Automatic error acknowledgement", page 39). TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 46 of 47... -
Page 47: Causes Of Faults And Remedies
Plausibility warning couldn't be guaran- components will be damaged. teed any more. TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 12/08/2017 TR - ELE - BA - GB - 0010 - 10 Page 47 of 47...
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