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Absolute Encoder CD_-75
PROFINET/PROFIsafe
Explosion Protection Enclosure
_A**75*
_A**88*
Protection Enclosure
_CDV115
DIN EN 61508:
DIN EN ISO 13849:
_Safety instructions
_Device-specific specifications
_Installation/Commissioning
_Parameterization
_Cause of faults and remedies
SIL CL3
PL e
Translation of the original manual
CDH 75 M
CDH 75 M
CDW 75 M
CDV 75 M
User Manual
Interface
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Table of Contents
Related Manuals for Relectronic CDH 75 M
Summary of Contents for Relectronic CDH 75 M
- Page 1 Translation of the original manual Absolute Encoder CD_-75 PROFINET/PROFIsafe CDH 75 M Explosion Protection Enclosure _A**75* _A**88* CDH 75 M Protection Enclosure _CDV115 CDW 75 M CDV 75 M DIN EN 61508: SIL CL3 DIN EN ISO 13849: PL e...
- Page 2 Contents TR-Electronic GmbH D-78647 Trossingen Eglishalde 6 Tel.: (0049) 07425/228-0 Fax: (0049) 07425/228-33 E-mail: info@tr-electronic.de www.tr-electronic.de Copyright protection This Manual, including the illustrations contained therein, is subject to copyright protection. Use of this Manual by third parties in contravention of copyright regulations is not permitted.
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Page 3: Table Of Contents
Contents Contents ........................3 Revision index ......................6 1 General information .................... 7 1.1 Applicability ..........................7 1.2 References ..........................8 1.3 Abbreviations and terms used ....................9 1.4 Main features .......................... 11 1.5 Principle of the safety function ....................12 2 Safety instructions .................... - Page 4 Contents 5.1.4 Distribution of IP addresses ..................30 5.2 PROFINET IO System boot ....................31 5.3 Bus status display, series 75 / 115 ..................31 5.4 Commissioning using the SIEMENS SIMATIC S7 control ............. 32 5.5 Configuration........................... 33 5.5.1 Safety-oriented data ....................33 5.5.1.1 Input data ....................
- Page 5 8 Preset Adjustment Function ................48 8.1 Procedure ..........................48 8.2 Timing Diagram........................49 9 Troubleshooting and Diagnosis Options ............50 9.1 Optical displays ........................50 9.1.1 Device Status, LED1 Bicolor ................... 50 9.1.2 Bus Status, LED2 ....................51 9.1.3 Link Status, PORT1:LED3; PORT2:LED5 .............. 51 9.2 PROFINET IO Diagnostic .......................
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Page 6: Revision Index
Revision index Revision index Revision Date Index First release 08/06/12 Modification of the service life from 15 years to 20 years 11/06/12 ● Notes for use in explosive areas 05/07/13 ● Incremental output: optional with 13-27 V DC ● The specified stranding of the cable for the supply voltage is no longer required 03/06/14 ●... -
Page 7: General Information
1 General information The present interface-specific User Manual addresses the following topics: ● Safety instructions ● Device-specific specifications ● Installation/Commissioning ● Parameterization ● Error causes and remedies As the documentation is arranged in a modular structure, the User Manual is supplementary to other documentation, such as product data sheets, dimensional drawings, brochures, the Safety Manual, etc. -
Page 8: References
General information 1.2 References IEC/PAS 62411 Real-time Ethernet PROFINET IO International Electrotechnical Commission IEC 61158 Digital data communications for measurement and control - Fieldbus for use in industrial control systems IEC 61784 Digital data communications for measurement and control - Fieldbus for use in industrial control systems - Profile sets for continuous and discrete manufacturing relative to fieldbus use in industrial control systems ISO/IEC 8802-3... -
Page 9: Abbreviations And Terms Used
1.3 Abbreviations and terms used Hexadecimal representation Explosion protection enclosure with ∅ 75 mm and built-in measuring A**75* system, all variants Explosion protection enclosure with ∅ 88 mm and built-in measuring A**88* system, all variants Category: Organization of cables, which is used also in connection with Ethernet. Absolute encoder with redundant dual scanning, hollow shaft design Absolute encoder with redundant dual scanning, solid shaft design Series 75 measuring system installed in a 115 "Heavy Duty"... - Page 10 General information Media Access Control, Ethernet-ID Mean Time To Failure (dangerous) MTTF Mean time until dangerous failure Media Redundancy Protocol Non-Real-Time communication Operator acknowl- Switching from substitute values to process data edgment Publicly Available Specification In the case of an F-Periphery with outputs, the F-System transmits substitute values (e.g.
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Page 11: Main Features
1.4 Main features ● PROFINET IO interface with PROFIsafe protocol, for transfer of a safe position and speed ● Quick process data channel via PROFINET IO, not safety-oriented ● Variant 1 only: Additional incremental or SIN/COS interface, not safety-oriented ● Two-channel scanning system, for generation of safe measured data through internal channel comparison –... -
Page 12: Principle Of The Safety Function
General information 1.5 Principle of the safety function System safety results when: – Each of the two scanning channels is largely fail-safe thanks to individual diagnostic measures – The measuring system internally compares the positions detected by both channels in two channels, also determines the speed in two channels and transfers the safe data to the PROFINET IO in the PROFIsafe protocol –... -
Page 13: Safety Instructions
2 Safety instructions 2.1 Definition of symbols and notes means that death or serious injury will occur if the required precautions are not met. means that death or serious injury can occur if the required precautions are not met. means that minor injuries can occur if the required precautions are not met. -
Page 14: Safety Functions Of The Fail-Safe Processing Unit
Safety instructions 2.2 Safety functions of the fail-safe processing unit The F-Host, to which the measuring system is connected, must perform the following safety checks. To enable the correct measures to be taken in the case of an error, the following applies: If no safe position can be output due to an error detected by the measuring system, the PROFIsafe data channel is automatically put into fail-safe status. -
Page 15: Technical Data
3 Technical Data 3.1 Safety Startup time ........... Time between POWER-UP and safe position output Overall system ......... ≤ 7 s with SIMATIC S7, CPU317F-2 –9 PFH, "High demand" operating mode ..1.46 * 10 Scanning, double magnetic ...... 2.30*10 –4 = 20 a) .......... -
Page 16: Device-Specific
Technical Data 3.2.2 Device-specific Total resolution ........≤ 268 435 456 steps Number of steps / revolution ....≤ 8.192 Number of revolutions ......≤ 32.768 Functional accuracy ......8192 steps, Single-Turn Scanning, double magnetic .... 256 steps, Single-Turn Accuracy Safety-related applicable .... -
Page 17: Max. Possible Step Deviation (Master System / Inspection System)
3.3 Max. possible step deviation (master system / inspection system) Figure 1: Dynamic view of the step deviation, counting direction rising (view onto flanging) Function of the straight line S1: S1 = 30 steps + (0.11 steps per revol. * actual speed [1/min]) Function of the straight line S2: S2 = -30 steps + (-0.0024 steps per revol. -
Page 18: Installation / Preparation For Commissioning
Installation / Preparation for Commissioning 4 Installation / Preparation for Commissioning 4.1 Basic rules Deactivation of the safety function through conducted interference sources! All nodes of the safety-relevant communication must be certified according to IEC 61010 or must have a corresponding EC conformity declaration. -
Page 19: Profinet Io Transfer Technology, Cable Specification
Upon completion of installation, a visual inspection with report should be carried out. Wherever possible, the quality of the network should be verified using a suitable bus analysis tool: no duplicate IP-addresses, no reflections, no telegram repetitions etc. To ensure safe and fault-free operation, the PROFINET Design Guideline, PNO Order no.: 8.062 PROFINET Assembly Guideline, PNO Order no.: 8.072 PROFINET Commissioning Guideline, PNO Order no.: 8.082... -
Page 20: Connection
Installation / Preparation for Commissioning 4.3 Connection 4.3.1 Series 75 / 115 Destruction, damage and malfunction of the measuring system in case of infiltration of damp! In case of storage as well as in the operation of the measuring system unused connecting plugs have to be provided either with a mating connector or with a protective cap. -
Page 21: Supply Voltage
4.3.3 Supply voltage Danger of unnoticed damage to the internal electronics, due to unacceptable overvoltages! • If an overvoltage of >36 V DC is inadvertently applied, the measuring system must be checked in the factory. The measuring system is permanently switched off for safety reasons, if the overvoltage is applied for more than 200 ms. -
Page 22: Profinet
Installation / Preparation for Commissioning 4.3.4 PROFINET Series 75 / 115: Signal Description Socket, M12x1, 4 pol. TxD+, Transmission Data + RxD+, Receive Data + PORT 2 TxD–, Transmission Data – RxD–, Receive Data – Signal Description Socket, M12x1, 4 pol. TxD+, Transmission Data + RxD+, Receive Data + PORT 1... -
Page 23: Incremental Interface / Sin/Cos Interface
4.3.5 Incremental interface / SIN/COS interface Series 75 / 115: Signal Description Socket, M12x1, 5 pole Channel B + 5 V differential / 13…27 V DC Channel B – 5 V differential / 13…27 V DC Channel A + 5 V differential / 13…27 V DC Channel A –... -
Page 24: Profisafe Destination Address "F_Dest_Add
Installation / Preparation for Commissioning 4.4 PROFIsafe Destination address “F_Dest_Add” The PROFIsafe destination address corresponds to the F-parameter F_Dest_Add and defines an unique source address within a PROFIsafe cluster. Valid addresses: 1…99, also see chapter “F_Source_Add / F_Dest_Add” on page 42. 4.4.1 Series 75 / 115 Destruction, damage and malfunction of the measuring system in case of infiltration of foreign substances and damp! -
Page 25: Incremental Interface / Sin/Cos Interface
4.5 Incremental interface / SIN/COS interface Series 88: optional feature In addition to the PROFINET IO interface for output of the absolute position, the measuring system in the standard version also has an incremental interface. However, this can alternatively also be designed as a SIN/COS interface. This additional interface is not evaluated in relation to safety and must not be used for safety-oriented purposes! ... -
Page 26: Signal Characteristics
Installation / Preparation for Commissioning 4.5.1 Signal characteristics 1: Edge evaluation 2: Measuring system with 4096 pulses/revol. 3: Counter evaluation 1x: 4096 Counter pulses/rev. 2x: 8192 Counter pulses/rev. 4x: 16384 Counter pulses/rev. Figure 3: Counter evaluation, incremental interface Measurement of signals against 0 V Differential measurement Figure 4: Level definition, SIN/COS interface... -
Page 27: Optional Htl-Level, 13
4.5.2 Optional HTL-Level, 13…27 VDC Optionally, the incremental interface is also available with HTL levels. For technical reasons, the user has to take the following general conditions into account with this version: ambient temperature, cable length, cable capacitance, supply voltage, and output frequency. -
Page 28: Commissioning
Commissioning 5 Commissioning 5.1 PROFINET IO Important information for the commissioning can be found in the PROFINET Guideline: ● PROFINET Commissioning Guideline, Order No.: 8.082 These and further information on PROFINET or PROFIsafe are available from the offices of the PROFIBUS User Organization: PROFIBUS Nutzerorganisation e.V., Haid-und-Neu-Str. -
Page 29: Mrp Protocol Support, Series 75 / 115
5.1.2.1 MRP protocol support, series 75 / 115 In the GSDML file versions 2.x are always contained two Device Access Points (DAP´s). 1. DAP without support of the MRP protocol: CD_75_-EPN V2.x 2. DAP with support of the MRP protocol: CD_75_-EPN MRP V2.x “Legacy devices”... -
Page 30: Device Identification
Commissioning 5.1.3 Device identification Each PROFINET IO-Device possesses a device identification. It consists of a firm identification, the Vendor-ID, and a manufacturer-specific part, the Device-ID. The Vendor-ID is assigned by the PNO. For TR-Electronic the Vendor-ID contains the value 0x0153, in case of the series 75 and 115 the Device-ID has the value 0x0401 and in case of series 88 the Device-ID has the value 0x0403. -
Page 31: Profinet Io System Boot
5.2 PROFINET IO System boot With a successful system boot the IO-Devices start automatically with the data transmission. In case of PROFINET IO a communication relation always follows the provider consumer model. With cyclical transmission of the measuring value, the IO- Device corresponds to the provider of the data, the IO-Controller (e.g. -
Page 32: Commissioning Using The Siemens Simatic S7 Control
Commissioning Bus Status, LED2 No error Parameter- or F-Parameter error; 0.5 Hz No link to the IO-Controller PORT 1; LED3 = Link, LED4 = Data Activity LED3, green Ethernet connection established LED4, yellow Data transfer TxD/RxD PORT 2; LED5= Link, LED6 = Data Activity LED5, green Ethernet connection established LED6, yellow... -
Page 33: Configuration
5.5 Configuration The following definition applies: Data flow for input data: F-Device --> F-Host Data flow for output data: F-Host --> F-Device 5.5.1 Safety-oriented data Structure of the input data Byte Input data Cams Unsigned16 TR-Status Unsigned16 Speed Integer16 Actual value, Multi-Turn, 15 bit Integer16 Actual value, Single-Turn, 13 bit Integer16... -
Page 34: Input Data
Commissioning 5.5.1.1 Input data 5.5.1.1.1 Cams Unsigned16 Byte 15 – 8 7 – 0 Data – 2 – 2 Description Speed overflow The bit is set if the speed value is outside the range of –32768…+32767. …2 reserved 5.5.1.1.2 TR-Status Unsigned16 Byte 15 –... -
Page 35: Speed
5.5.1.1.3 Speed Integer16 Byte 15 – 8 7 – 0 Data – 2 – 2 The speed is output as a two's complement value with preceding sign. Setting the direction of rotation = forward – Looking at the flange connection, turn the shaft clockwise: -->... -
Page 36: Safe Status
Commissioning 5.5.1.1.5 Safe status Unsigned8 Byte X+10 7 – 0 Data – 2 Bit Description iPar_OK: New iParameter values have been assigned to the F-Device Device_Fault: Error in F-Device or F-Module CE_CRC: Checksum error in communication WD_timeout: Watchdog timeout during communication FV_activated: Fail-safe values activated Toggle_d:... -
Page 37: Output Data
5.5.1.2 Output data 5.5.1.2.1 TR-Control1 Unsigned16 Byte 15 – 8 7 – 0 Data – 2 – 2 Description Preset_Request The bit serves to control the preset adjustment function. When this function is executed, the measuring system is set to the position value stored in the Preset Multi-Turn/Preset Single-Turn registers. -
Page 38: Safe-Control
Commissioning 5.5.1.2.4 Safe-Control Unsigned8 Byte 7 – 0 Data – 2 Description iPar_EN: iParameter assignment unlocked OA_Req: Operator acknowledgment required R_cons_nr: Resetting of the counter for the virtual consecutive no. reserved activate_FV: Activate fail-safe values Toggle_h: Toggle bit reserved The Safe-Control register can only be indirectly accessed from the safety program with the aid of variables, see chapter "Access to the safety-oriented data channel"... -
Page 39: Not Safety-Oriented Process Data
5.5.2 Not safety-oriented Process data Structure of the input data Byte Input data Cams Unsigned16 Speed Integer16 Actual value, Multi-Turn, 15 bit Integer16 Actual value, Single-Turn, 13 bit Integer16 5.5.2.1 Input data 5.5.2.1.1 Cams Unsigned16 Byte 15 – 8 7 – 0 Data –... -
Page 40: Speed
Commissioning 5.5.2.1.2 Speed Integer16 Byte 15 – 8 7 – 0 Data – 2 – 2 The speed is output as a two's complement value with preceding sign. Setting the direction of rotation = forward – Looking at the flange connection, turn the shaft clockwise: -->... -
Page 41: Parameterization
5.6 Parameterization Normally the configuration program provides an input box for the IO-Controler with which the user can enter parameter data or select from a list. The structure of the input box is stored in the device master file. ● Danger of death, serious physical injury and/or damage to property due to malfunction, caused by incorrect parameterization! ... -
Page 42: F_Sil
Commissioning 5.6.1.2 F_SIL F_SIL specifies the SIL which the user expects from the respective F-Device. This is compared with the locally saved manufacturer's specification. The measuring system support the safety classes no SIL and SIL1 to SIL3, SIL3 = standard value. 5.6.1.3 F_CRC_Length The measuring system supports the CRC length of 3 bytes. -
Page 43: Iparameters (F_Ipar)
5.6.2 iParameters (F_iPar) Application-dependent device characteristics are defined with the iParameters. A CRC calculation is necessary for safe transmission of the iParameters, see chapter "iParameters" on page 45. The iParameters supported by the measuring system are listed below. Byte order = Big Endian Byte Parameter Type... -
Page 44: Idleness Tolerance Preset
Commissioning 5.6.2.4 Idleness tolerance Preset This parameter defines the maximum permissible speed in increments per Integration time Safe for performance of the preset function, see page 47. The permissible speed is dependent on the bus behavior and the system speed, and must be determined by the system operator first. -
Page 45: Parameter Definition / Crc Calculation
6 Parameter Definition / CRC Calculation It is best to define the known parameters before configuration in the F-Host, so that they can be taken into account during configuration. The TR_iParameter software required for the CRC calculation can be downloaded from: www.tr-electronic.com/service/downloads/software.html 6.1 iParameters... -
Page 46: Integration Of The Measuring System Into The Safety Program
Integration of the measuring system into the safety program 7 Integration of the measuring system into the safety program This chapter describes the necessary steps for the integration of the measuring system into the safety program and is not related to a certain control unit. The exact process is control specific and must be taken from the system documentation of the control unit manufacturer. -
Page 47: Generating The Safety Program
7.4 Generating the safety program Define the program structure, access protection via password allocation Create modules for the program call, Diagnosis, Data, Program, Functions, Periphery, System etc., can partly performed also automatically Edit modules for the program call, operator acknowledgment of the safety- oriented periphery ... -
Page 48: Preset Adjustment Function
Preset Adjustment Function 8 Preset Adjustment Function ● Danger of death, serious physical injury and/or damage to property due to uncontrolled start-up of the drive system during execution of the preset adjustment function! Execute preset function only in the standstill, see chapter “Idleness tolerance Preset”... -
Page 49: Timing Diagram
8.2 Timing Diagram blue area: Output signals F-Host -> Measuring system orange area: Input signals Measuring system -> F-Host TR-Electronic GmbH 2012, All Rights Reserved Printed in the Federal Republic of Germany 05/30/2018 TR - ECE - BA - GB - 0095 - 19 Page 49 of 56... -
Page 50: Troubleshooting And Diagnosis Options
Troubleshooting and Diagnosis Options 9 Troubleshooting and Diagnosis Options 9.1 Optical displays For assignment and position of the status LEDs see chapter "Bus status display, series 75" on page 31. 9.1.1 Device Status, LED1 Bicolor green Cause Remedy Power supply absent Check power supply, wiring Hardware error, Replace measuring system... -
Page 51: Bus Status, Led2
9.1.2 Bus Status, LED2 red LED Cause Remedy No error – − Check the adjusted PROFIsafe destination − F-Parameterization defective, address. Valid PROFIsafe destination e.g. incorrectly set PROFIsafe addresses: 1–99, see chapter PROFIsafe destination address Destination address “F_Dest_Add” on page 24 0.5 Hz F_Dest_Add −... -
Page 52: Profinet Io Diagnostic
Troubleshooting and Diagnosis Options 9.2 PROFINET IO Diagnostic PROFINET IO supports a continuous diagnostic concept, which makes possible an efficient fault locating and recovery. At occurrence of an error the faulty IO-Device generates a diagnostic alarm to the IO-Controller. This alarm calls a corresponding program routine in the user program to initiate a reaction to the error. -
Page 53: Data Status
9.3 Data status With cyclic Real-Time communication the transferred data contains a status message. Each subslot has its own status information: IOPS/IOCS. This status information indicates whether the data are valid = GOOD (1) or invalid = BAD (0). During parameterization, as well as in the boot-up phase the output data can change to BAD for a short time. -
Page 54: Information & Maintenance
Troubleshooting and Diagnosis Options 9.5 Information & Maintenance 9.5.1 I&M0, 0xAFF0 The measuring system supports the I&M-Function “I&M0 RECORD” (60 byte), like PROFIBUS “Profile Guidelines Part 1”. I&M-Functions specify the way how the device specific data, like a nameplate, must be created in a device. -
Page 55: Checklist, Part 2 Of 2
10 Checklist, part 2 of 2 We recommend that you print out and work through the checklist for commissioning, replacing the measuring system and when changing the parameterization of a previously accepted system and store it as part of the overall system documentation. Documentation reason Date Edited... -
Page 56: Appendix
Appendix 11 Appendix 11.1 TÜV certificate Download ● www.tr-electronic.de/f/TR-ECE-TI-DGB-0297 11.2 PROFINET IO certificates Download ● CD_75: www.tr-electronic.de/f/TR-ECE-TI-GB-0217 ● AD_88: www.tr-electronic.de/f/TR-ECE-TI-GB-0290 11.3 PROFIsafe certificates Download ● CD_75: www.tr-electronic.de/f/TR-ECE-TI-GB-0218 ● AD_88: www.tr-electronic.de/f/TR-ECE-TI-GB-0291 11.4 EU Declaration of Conformity Download ● www.tr-electronic.de/f/TR-ECE-KE-DGB-0337 11.5 Drawings see subsequent pages Download ●...
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