TR-Electronic CM*-36 Series User Manual
  1. Manuals
  2. Brands
  3. TR-Electronic Manuals
  4. Media Converter
  5. CM*-36 Series
  6. User manual

TR-Electronic CM*-36 Series User Manual

Canopen absolute encoder
Hide thumbs
Table of Contents

Advertisement

Available languages

Available languages

Quick Links

Download this manual
D
Seite 2 - 64
GB
Page 65 - 127
Absolute Encoder CM_-36
CMS-36
CMV-36
_Zusätzliche Sicherheitshinweise
_Installation
_Inbetriebnahme
_Parametrierung
_Fehlerursachen und Abhilfen
_Additional safety instructions
_Installation
_Commissioning
_Parameterization
_Cause of faults and remedies
Benutzerhandbuch
User Manual
437A16_101

Advertisement

Chapters

Table of Contents
loading
Need help?

Need help?

Do you have a question about the CM*-36 Series and is the answer not in the manual?

Questions and answers

Subscribe to Our Youtube Channel

Related Manuals for TR-Electronic CM*-36 Series

Summary of Contents for TR-Electronic CM*-36 Series

  • Page 1 Seite 2 - 64 Page 65 - 127 Absolute Encoder CM_-36 CMS-36 CMV-36 _Zusätzliche Sicherheitshinweise _Installation _Inbetriebnahme _Parametrierung _Fehlerursachen und Abhilfen _Additional safety instructions _Installation _Commissioning _Parameterization _Cause of faults and remedies Benutzerhandbuch User Manual 437A16_101...
  • Page 2 CANopen und CiA sind eingetragene Gemeinschaftsmarken der CAN in Automation e.V.  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany Page 2 of 127 TR - ECE - BA - DGB - 0128 - 01...

  • Page 3: Table Of Contents

    3.7.5.3 Inquire identity Revision-Number Protokoll ................31 3.7.5.4 Inquire identity Serial-Number Protokoll ..................31 3.7.6 Inquire Node-ID Protokoll..................32  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany 11/20/2018 TR - ECE - BA - DGB - 0128 - 01...
  • Page 4 7.14 Objekt 1017h: Producer Heartbeat Time ................49 7.15 Objekt 1018h: Identity Objekt ....................49 7.16 Objekt 1021h: EDS abspeichern ..................50  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany Page 4 of 127...
  • Page 5 11.2.1 Objekt 1001h: Fehlerregister ................62 11.2.2 Objekt 1003h: Vordefiniertes Fehlerfeld, Bits 0 – 15 ..........63 11.3 Sonstige Störungen ......................63  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany 11/20/2018 TR - ECE - BA - DGB - 0128 - 01...

  • Page 6: Änderungs-Index

    Erstausgabe 15.11.16 Hinweis auf Node-ID und Baudrate über TRWinProg 20.11.18  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany Page 6 of 127 TR - ECE - BA - DGB - 0128 - 01 11/20/2018...

  • Page 7: Allgemeines

    Benutzerhandbuch  Steckerbelegung  Montageanleitung: www.tr-electronic.de/f/TR-ECE-BA-DGB-0108  Produktdatenblatt: www.tr-electronic.de/s/S011882  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany 11/20/2018 TR - ECE - BA - DGB - 0128 - 01 Page 7 of 127...

  • Page 8: Referenzen

    Januar 2006 CiA DS-406 V2.0, CANopen Profil für Encoder, Mai 1998  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany Page 8 of 127 TR - ECE - BA - DGB - 0128 - 01...

  • Page 9: Verwendete Abkürzungen / Begriffe

    Geräten. Service Data Object. Punkt zu Punkt Kommunikation mit Zugriff auf die Objekt-Datenliste eines Gerätes.  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany 11/20/2018 TR - ECE - BA - DGB - 0128 - 01...

  • Page 10: Zusätzliche Sicherheitshinweise

    Beachten der Montageanleitung, insbesondere das dort enthaltene Kapitel "Grundlegende Sicherheitshinweise" muss vor Arbeitsbeginn gelesen und verstanden worden sein  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany Page 10 of 127 TR - ECE - BA - DGB - 0128 - 01...

  • Page 11: Organisatorische Maßnahmen

    Dies gilt in besonderem Maße für nur gelegentlich, z.B. bei der Parametrierung des Mess-Systems, tätig werdendes Personal.  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany 11/20/2018 TR - ECE - BA - DGB - 0128 - 01...

  • Page 12: Canopen Informationen

    Geräteprofile entwickelt, in der mit der Struktur des Objektverzeichnisses und den allgemeinen Kodierungsregeln der gemeinsame Nenner aller Geräteprofile definiert ist.  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany Page 12 of 127 TR - ECE - BA - DGB - 0128 - 01...

  • Page 13: Canopen - Kommunikationsprofil

    Network Management Object (NMO) z.B. Life / Node-Guarding Boot-Up,… Error Control Protokoll  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany 11/20/2018 TR - ECE - BA - DGB - 0128 - 01 Page 13 of 127...

  • Page 14: Prozess- Und Service-Daten-Objekte

    Bestätigung  bestätigende Dienste Abbildung 3: Gegenüberstellung von PDO/SDO-Eigenschaften  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany Page 14 of 127 TR - ECE - BA - DGB - 0128 - 01 11/20/2018...

  • Page 15: Objektverzeichnis (Object Dictionary)

    SYNC 0001bin 1005 181h – 1FFh PDO1 (tx) 0011bin 1800h  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany 11/20/2018 TR - ECE - BA - DGB - 0128 - 01 Page 15 of 127...

  • Page 16: Übertragung Von Sdo Nachrichten

    Im Fall eines Fehlers (SDO Response CCD = 0x80) enthält der Datenbereich einen 4-Byte-Fehlercode, der über die Fehlerursache Auskunft gibt. Die Bedeutung der Fehlercodes ist aus der Tabelle 10: SDO-Fehlercodes, Seite 61 zu entnehmen.  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany Page 16 of 127...
  • Page 17 Kein weiteres Datensegment vorhanden. 0x01 SDO Response Die Bytes 1 bis 7 beinhalten die angeforderten Daten.  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany 11/20/2018 TR - ECE - BA - DGB - 0128 - 01...

  • Page 18: Lese Sdo

    Wenn nur 1 Datenbyte (Daten 0) Daten enthält, ist der Wert von Byte 0 = "4Fh". Ist Byte 0 = 80h, wird die Übertragung abgebrochen.  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany Page 18 of 127...

  • Page 19: Schreibe Sdo

    High Byte Ist Byte 0 = 80h, wird die Übertragung abgebrochen.  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany 11/20/2018 TR - ECE - BA - DGB - 0128 - 01 Page 19 of 127...

  • Page 20: Netzwerkmanagement, Nmt

    (9),(10),(11) Reset_Node --> Reset Knoten (12),(13),(14) Reset_Communication --> Reset Kommunikation  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany Page 20 of 127 TR - ECE - BA - DGB - 0128 - 01 11/20/2018...

  • Page 21: Netzwerkmanagement-Dienste

    Danach Übergang in den Zustand INITIALIZATION, (14) erster Zustand nach dem Einschalten. Tabelle 4: NMT-Dienste zur Gerätekontrolle  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany 11/20/2018 TR - ECE - BA - DGB - 0128 - 01...

  • Page 22: Nmt-Dienste Zur Verbindungsüberwachung

    Ist die Life Time = 0, ist das Life Guarding abgeschaltet. Tabelle 5: Parameter für NMT-Dienste  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany Page 22 of 127 TR - ECE - BA - DGB - 0128 - 01...

  • Page 23: Layer Setting Services (Lss) Und Protokolle

    ● LSS identify non-configured slave  Rückmeldung der LSS-Slaves auf das vorherige Kommando  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany 11/20/2018 TR - ECE - BA - DGB - 0128 - 01 Page 23 of 127...

  • Page 24: Finite State Automaton, Fsa

    LSS identify slave LSS identify non-configured remote slave LSS identify non-configured slave  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany Page 24 of 127 TR - ECE - BA - DGB - 0128 - 01...

  • Page 25: Übertragung Von Lss-Diensten

    Byte 7 Tabelle 7: LSS-Nachricht Byte 0 enthält die Command-Specifier (CS), danach folgen 7 Byte für die Daten.  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany 11/20/2018 TR - ECE - BA - DGB - 0128 - 01...

  • Page 26: Switch Mode Protokolle

    0x43 LSS-Slave --> LSS-Master COB-ID Reserved by CiA 0x7E4 0x44  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany Page 26 of 127 TR - ECE - BA - DGB - 0128 - 01 11/20/2018...

  • Page 27: Configuration Protokolle

    Specific Error Wenn Error Code = 255 --> applikationsspezifischer Fehler aufgetreten, sonst reserviert durch die CiA  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany 11/20/2018 TR - ECE - BA - DGB - 0128 - 01...

  • Page 28: Configure Bit Timing Parameters Protokoll

    Specific Error Wenn Error Code = 255 --> applikationsspezifischer Fehler aufgetreten, sonst reserviert durch die CiA  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany Page 28 of 127 TR - ECE - BA - DGB - 0128 - 01...

  • Page 29: Activate Bit Timing Parameters Protokoll

    Specific Error Wenn Error Code = 255 --> applikationsspezifischer Fehler aufgetreten, sonst reserviert durch die CiA  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany 11/20/2018 TR - ECE - BA - DGB - 0128 - 01...

  • Page 30: Inquire Lss-Address Protokolle

    LSS-Slave --> LSS-Master Product-Code (≙Index 1018h:02) COB-ID Reserved by CiA 0x7E4 0x5B  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany Page 30 of 127 TR - ECE - BA - DGB - 0128 - 01 11/20/2018...

  • Page 31: Inquire Identity Revision-Number Protokoll

    LSS-Slave --> LSS-Master Serial-No. (≙Index 1018h:04) COB-ID Reserved by CiA 0x7E5 0x5D  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany 11/20/2018 TR - ECE - BA - DGB - 0128 - 01 Page 31 of 127...

  • Page 32: Inquire Node-Id Protokoll

    Node-ID zurückgemeldet. Erst nach Ausführung des NMT-Dienstes Reset Communication (0x82) wird die aktuelle Node-ID zurückgemeldet.  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany Page 32 of 127 TR - ECE - BA - DGB - 0128 - 01...

  • Page 33: Identification Protokolle

    LSS-Adress-Attributen entsprechen, antworten mit diesem Protokoll. LSS-Slave --> LSS-Master COB-ID Reserved by CiA 0x7E4 0x4F  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany 11/20/2018 TR - ECE - BA - DGB - 0128 - 01 Page 33 of 127...

  • Page 34: Lss Identify Non-Configured Remote Slave Protokoll

    Protokoll. LSS-Slave --> LSS-Master COB-ID Reserved by CiA 0x7E4 0x50  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany Page 34 of 127 TR - ECE - BA - DGB - 0128 - 01 11/20/2018...

  • Page 35: Geräteprofil

    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 2016, All Rights Reserved Printed in the Federal Republic of Germany 11/20/2018 TR - ECE - BA - DGB - 0128 - 01 Page 35 of 127...

  • Page 36: Installation / Inbetriebnahmevorbereitung

    Normen und Richtlinien zu beachten! Insbesondere sind die EMV-Richtlinie sowie die Schirmungs- und Erdungsrichtlinien in den jeweils gültigen Fassungen zu beachten!  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany Page 36 of 127...

  • Page 37: Anschluss

    Mess-System Auslieferungszustand die Node-ID 10 (0x0A) und eine Baudrate von 1 MBaud.  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany 11/20/2018 TR - ECE - BA - DGB - 0128 - 01...

  • Page 38: Konfiguration Der Node-Id, Ablauf

    LSS-Slave mit dem Dienst 04 Switch state global protocol,  Mode = 0 in den Zustand Waiting state bringen.  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany Page 38 of 127 TR - ECE - BA - DGB - 0128 - 01...

  • Page 39: Inbetriebnahme

    Mess-System ordnungsgemäß konfigurieren bzw. in Betrieb nehmen zu können. Die EDS-Datei hat den Dateinamen "CMV36M_CANopen.eds". Download:  www.tr-electronic.de/f/TR-ECE-ID-MUL-0054  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany 11/20/2018 TR - ECE - BA - DGB - 0128 - 01 Page 39 of 127...

  • Page 40: Kommunikations-Profil

    Istwert kann nur über einen Remote-Frame übertragen werden Istwert wird asynchron mit dem Timerwert aus den Objekten 1800h und 1801h übertragen (Subindex 5)  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany Page 40 of 127...

  • Page 41: Aufbau Der Parameter, 1A00H-1A01H

    Inhalt des PDOS durch dessen Index, Subindex und der Länge in Bit: Index Subindex Länge in Bit  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany 11/20/2018 TR - ECE - BA - DGB - 0128 - 01...

  • Page 42: Übertragungsarten

    1A01h größter unterstützter Subindex 1, max 8 Positionswert 6004 0020h  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany Page 42 of 127 TR - ECE - BA - DGB - 0128 - 01 11/20/2018...

  • Page 43: Kommunikationsspezifische Standard-Objekte (Cia Ds-301)

    1F80 NMT Autostart Unsigned32 Tabelle 8: Kommunikationsspezifische Standard-Objekte segmentiertes Lesen  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany 11/20/2018 TR - ECE - BA - DGB - 0128 - 01 Page 43 of 127...

  • Page 44: Objekt 1000H: Gerätetyp

    7.3 Objekt 1002h: Hersteller-Status-Register Dieses Objekt wird durch das Mess-System nicht verwendet, bei Lesezugriff ist der Wert immer "0".  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany Page 44 of 127 TR - ECE - BA - DGB - 0128 - 01...

  • Page 45: Objekt 1003H: Vordefiniertes Fehlerfeld

    Positionswert des Mess-Systems einmalig durch das zweite Sende-Prozessdaten- Objekt (Objekt 1801h) übertragen. Objekt Funktions-Code COB-ID SYNC 0001  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany 11/20/2018 TR - ECE - BA - DGB - 0128 - 01 Page 45 of 127...

  • Page 46: Objekt 1008H: Hersteller Gerätenamen

    Node-Guarding-Protokoll. Standardwert = 0. Unsigned8 Life-Time-Faktor Byte 0 bis 2  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany Page 46 of 127 TR - ECE - BA - DGB - 0128 - 01 11/20/2018...

  • Page 47: Objekt 1010H: Parameter Abspeichern

    0606 0000 h. Wurde eine falsche Signatur geschrieben, verweigert das Gerät die Speicherung und antwortet mit Abbruch der Übertragung: Fehlercode 0800 0020 h.  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany 11/20/2018 TR - ECE - BA - DGB - 0128 - 01...

  • Page 48: Objekt 1014H: Cob-Id Emcy

    Die Heartbeat time ist als Vielfaches von 1 ms anzugeben. Der Eintrag für die Node- ID entspricht der Node-ID des zu überwachenden Knotens.  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany Page 48 of 127...

  • Page 49: Objekt 1017H: Producer Heartbeat Time

    0x00010001, bzw. aktuelle Revisions-Nr. Subindex4: Bei Lesezugriff liefert das Gerät Informationen über die Serien-Nr.: aktuelle Serien-Nr.  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany 11/20/2018 TR - ECE - BA - DGB - 0128 - 01...

  • Page 50: Objekt 1021H: Eds Abspeichern

    Domain Schlug das Firmware-Update fehl, antwortet das Gerät mit Abbruch der Übertragung: Fehlercode 0606 0000h.  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany Page 50 of 127 TR - ECE - BA - DGB - 0128 - 01...

  • Page 51: Objekt 1F51H: Programmsteuerung

    Attribut 1F56h größter unterstützter Subindex Unsigned8 Programm Nummer 1 Unsigned32  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany 11/20/2018 TR - ECE - BA - DGB - 0128 - 01 Page 51 of 127...

  • Page 52: Objekt 1F57H: Programm Status

    Start Der Versuch ein Bit zu ändern das nicht im Mess-System vorhanden ist, veranlasst eine Abort-Nachricht (0609 0030h).  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany Page 52 of 127 TR - ECE - BA - DGB - 0128 - 01...

  • Page 53: Parametrierung

    Ist sofort nach Aufruf wirksam und wird erst nach Ausführen von "Objekt 1010h: Parameter abspeichern" dauerhaft im EEPROM abgespeichert. Ist sofort nach Aufruf wirksam und wird dauerhaft im EEPROM abgespeichert.  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany 11/20/2018...

  • Page 54: Objekt 2000H: Mode-Umschaltung Tr / Cia Ds-406

    CiA DS-406 - Mode TR - Mode 6000h, Zählrichtung 2001h, Zählrichtung  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany Page 54 of 127 TR - ECE - BA - DGB - 0128 - 01...

  • Page 55: Tr - Mode

    TPDO2 Senden bei Node-Start AUS (standard) 2 - 7 reserviert  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany 11/20/2018 TR - ECE - BA - DGB - 0128 - 01 Page 55 of 127...

  • Page 56: Cia Ds-406 - Mode

    Byte 3 bis 2 bis 2 bis 2 bis 2  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany Page 56 of 127 TR - ECE - BA - DGB - 0128 - 01 11/20/2018...

  • Page 57: Objekt 6200H: Cyclic-Timer

    8.3.5.4 Objekt 6505h: Warnungen Dieses Objekt wird nicht unterstützt. Bei Lesezugriff ist der Wert immer "0".  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany 11/20/2018 TR - ECE - BA - DGB - 0128 - 01...

  • Page 58: Objekt 6506H: Unterstützte Warnungen

    8.3.5.10 Objekt 650Bh: Serien-Nummer Dieses Objekt enthält die aktuelle Serien-Nr. des Gerätes und entspricht dem Identity- Objekt 1018h, Subindex 4.  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany Page 58 of 127 TR - ECE - BA - DGB - 0128 - 01...

  • Page 59: Emergency-Meldung

    Wenn der Fehler nicht mehr vorhanden ist, überträgt das Mess-System eine Emergency-Meldung mit dem Fehlercode "0" (Reset Fehler / kein Fehler) und Fehler- Register "0".  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany 11/20/2018...

  • Page 60: Übertragung Des Mess-System-Positionswertes

    COB-ID übertragen den Positionswert. Objekt Funktions-Code COB-ID Index Kommunikations-Parameter SYNC 0001bin 1005h  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany Page 60 of 127 TR - ECE - BA - DGB - 0128 - 01 11/20/2018...

  • Page 61: Fehlerursachen Und Abhilfen

    Lesezugriff auf Objekt 1003h Subindex 01, siehe Seite Fehler! Textmarke nicht definiert.. Tabelle 10: SDO-Fehlercodes  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany 11/20/2018 TR - ECE - BA - DGB - 0128 - 01...

  • Page 62: Emergency-Fehlercodes

    Fehlers wird das Fehlerregister zurückgesetzt und eine EMCY-Nachricht mit Fehlercode „0x000“ übertragen. Bedeutung generischer Fehler Kommunikationsfehler (Überlauf, Fehlerstatus)  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany Page 62 of 127 TR - ECE - BA - DGB - 0128 - 01 11/20/2018...

  • Page 63: Objekt 1003H: Vordefiniertes Fehlerfeld, Bits 0 - 15

    Welle. Wenn der Fehler trotz dieser Maßnahme weiterhin der Welle oder einen auftritt, muss das Mess-System getauscht werden. Defekt der Abtastung.  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany 11/20/2018 TR - ECE - BA - DGB - 0128 - 01...
  • Page 64 Fehlerursachen und Abhilfen  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany Page 64 of 127 TR - ECE - BA - DGB - 0128 - 01 11/20/2018...
  • Page 65 User Manual CM_ -36 CANopen  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany 11/20/2018 TR - ECE - BA - DGB - 0128 - 01 Page 65 of 127...
  • Page 66 CANopen and CiA are registered community trademarks of CAN in Automation e.V.  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany Page 66 of 127 TR - ECE - BA - DGB - 0128 - 01...

  • Page 67: Contents

    3.7.5.3 Inquire identity Revision-Number protocol ................95 3.7.5.4 Inquire identity Serial-Number protocol ..................95 3.7.6 Inquire Node-ID protocol ..................96  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany 11/20/2018 TR - ECE - BA - DGB - 0128 - 01...
  • Page 68 7.14 Object 1017h: Producer heartbeat time ................113 7.15 Object 1018h: Identity Object ....................113 7.16 Object 1021h: Store EDS ..................... 114  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany Page 68 of 127...
  • Page 69 11.2.1 Object 1001h: Error register ................. 126 11.2.2 Object 1003h: Pre-defined Error field, bits 0 – 15 ..........127 11.3 Other faults ........................... 127  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany 11/20/2018 TR - ECE - BA - DGB - 0128 - 01...

  • Page 70: Revision Index

    First release 11/15/16 Note on Node-ID and Baud rate via TRWinProg 11/20/18  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany Page 70 of 127 TR - ECE - BA - DGB - 0128 - 01...

  • Page 71: General Information

    Pin assignment  Assembly Instructions: www.tr-electronic.com/f/TR-ECE-BA-DGB-0108  Product data sheet: www.tr-electronic.com/s/S011886  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany 11/20/2018 TR - ECE - BA - DGB - 0128 - 01 Page 71 of 127...

  • Page 72: References

    January 2006 CiA DS-406 V2.0, CANopen Profile for Encoder, May 1998  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany Page 72 of 127 TR - ECE - BA - DGB - 0128 - 01...

  • Page 73: Abbreviations And Definitions

    Service Data Object. Peer to peer communication with access to the Object Dictionary of a device.  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany 11/20/2018 TR - ECE - BA - DGB - 0128 - 01...

  • Page 74: 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 2016, All Rights Reserved Printed in the Federal Republic of Germany Page 74 of 127 TR - ECE - BA - DGB - 0128 - 01...

  • Page 75: Organizational Measures

    This particularly applies for personnel who are only deployed occasionally, e.g. at the parameterization of the measurement system.  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany 11/20/2018 TR - ECE - BA - DGB - 0128 - 01...

  • Page 76: Canopen Information

     TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany...

  • Page 77: Canopen - Communication Profile

    Network Management Object (NMO) e.g. Life / Node-Guarding Boot-Up,… Error Control Protocol  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany 11/20/2018 TR - ECE - BA - DGB - 0128 - 01 Page 77 of 127...

  • Page 78: Process- And Service-Data-Objects

     no Acknowledgement Figure 3: Comparison of PDO/SDO characteristics  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany Page 78 of 127 TR - ECE - BA - DGB - 0128 - 01...

  • Page 79: Object Dictionary

    SYNC 0001bin 1005 181h – 1FFh PDO1 (tx) 0011bin 1800h  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany 11/20/2018 TR - ECE - BA - DGB - 0128 - 01 Page 79 of 127...

  • Page 80: Transmission Of Sdo Messages

    Meaning of the error codes see Table 10: SDO Error codes on page 125.  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany Page 80 of 127...
  • Page 81 No further data segment available. 0x01 SDO Response The bytes 1 to 7 contain the requested data.  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany 11/20/2018 TR - ECE - BA - DGB - 0128 - 01...

  • Page 82: Read Sdo

    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 2016, All Rights Reserved Printed in the Federal Republic of Germany...

  • Page 83: Write Sdo

    Index High Byte If byte 0 = 80h the transfer has been aborted.  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany 11/20/2018 TR - ECE - BA - DGB - 0128 - 01 Page 83 of 127...

  • Page 84: Network Management, Nmt

    (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 2016, All Rights Reserved Printed in the Federal Republic of Germany Page 84 of 127 TR - ECE - BA - DGB - 0128 - 01 11/20/2018...

  • Page 85: Network Management Services

    Afterwards transition into the INITIALIZATION state, first state (14) after Power on. Table 4: NMT device control services  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany 11/20/2018 TR - ECE - BA - DGB - 0128 - 01...

  • Page 86: Nmt Node / Life Guarding Services

    Guard Time = 0: No monitoring active Life Time = 0: Life guarding disabled Table 5: Parameter for NMT services  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany Page 86 of 127 TR - ECE - BA - DGB - 0128 - 01...

  • Page 87: Layer Setting Services (Lss) And Protocols

    ● LSS identify non-configured remote slave ● LSS identify non-configured slave  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany 11/20/2018 TR - ECE - BA - DGB - 0128 - 01 Page 87 of 127...

  • Page 88: Finite State Automaton, Fsa

    LSS identify slave LSS identify non-configured remote slave LSS identify non-configured slave  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany Page 88 of 127 TR - ECE - BA - DGB - 0128 - 01...

  • Page 89: Transmission Of Lss Services

    Byte 7 Table 7: LSS message Byte 0 contains the Command-Specifier (CS), afterwards 7 byte data are following.  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany 11/20/2018 TR - ECE - BA - DGB - 0128 - 01...

  • Page 90: Switch Mode Protocols

    0x43 LSS-Slave --> LSS-Master COB-ID Reserved by CiA 0x7E4 0x44  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany Page 90 of 127 TR - ECE - BA - DGB - 0128 - 01 11/20/2018...

  • Page 91: Configuration Protocols

    Specific Error if Error Code = 255 --> application specific error occurred, otherwise reserved by CiA  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany 11/20/2018 TR - ECE - BA - DGB - 0128 - 01...

  • Page 92: Configure Bit Timing Parameters Protocol

    Specific Error if Error Code = 255 --> application specific error occurred, otherwise reserved by CiA  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany Page 92 of 127 TR - ECE - BA - DGB - 0128 - 01...

  • Page 93: Activate Bit Timing Parameters Protocol

    Specific Error if Error Code = 255 --> application specific error occurred, otherwise reserved by CiA  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany 11/20/2018 TR - ECE - BA - DGB - 0128 - 01...

  • Page 94: Inquire Lss Address Protocols

    LSS-Slave --> LSS-Master Product-Code (≙Index 1018h:02) COB-ID Reserved by CiA 0x7E4 0x5B  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany Page 94 of 127 TR - ECE - BA - DGB - 0128 - 01 11/20/2018...

  • Page 95: Inquire Identity Revision-Number Protocol

    LSS-Slave --> LSS-Master Serial-No. (≙Index 1018h:04) COB-ID Reserved by CiA 0x7E5 0x5D  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany 11/20/2018 TR - ECE - BA - DGB - 0128 - 01 Page 95 of 127...

  • Page 96: Inquire Node-Id Protocol

    Configure Node-ID service, the original Node-ID is reported. Only after execution of the NMT service Reset Communication (0x82) the actual Node-ID is reported.  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany Page 96 of 127...

  • Page 97: Identification Protocols

    LSS-Slave --> LSS-Master Reserved by CiA COB-ID 0x7E4 0x4F  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany 11/20/2018 TR - ECE - BA - DGB - 0128 - 01 Page 97 of 127...

  • Page 98: Lss Identify Non-Configured Remote Slave Protocol

    LSS-Slave --> LSS-Master COB-ID Reserved by CiA 0x7E4 0x50  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany Page 98 of 127 TR - ECE - BA - DGB - 0128 - 01 11/20/2018...

  • Page 99: 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 2016, All Rights Reserved Printed in the Federal Republic of Germany 11/20/2018 TR - ECE - BA - DGB - 0128 - 01 Page 99 of 127...

  • Page 100: Installation / Preparation For Start-Up

    In particular, the applicable EMC directive and the shielding and grounding guidelines must be observed!  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany Page 100 of 127 TR - ECE - BA - DGB - 0128 - 01...

  • Page 101: Connection

    If the option "LSS use" is active, the measuring system in the delivery state has the Node-ID 10 (0x0A) and a Baud rate of 1 MBaud.  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany...

  • Page 102: Configuration Of The Node-Id, Sequence

    Perform service 04 Switch state global protocol,  Mode = 0, to switch the LSS slave into Waiting state.  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany Page 102 of 127 TR - ECE - BA - DGB - 0128 - 01...

  • Page 103: Commissioning

    The EDS file has the file name "CMx36M_CANopen.eds". Download:  www.tr-electronic.com/f/TR-ECE-ID-MUL-0054  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany 11/20/2018 TR - ECE - BA - DGB - 0128 - 01 Page 103 of 127...

  • Page 104: The Communication Profile

    Actual value can be transferred only over a remote frame Actual value is transferred asynchronously with the timer value from object 1800h and 1801h (sub-index 5)  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany Page 104 of 127...

  • Page 105: Structure Of The Objects, 1A00H-1A01H

    Index Sub-index Length in bit  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany 11/20/2018 TR - ECE - BA - DGB - 0128 - 01 Page 105 of 127...

  • Page 106: Transmission Types

    Sub-Index 1, max 8 Position value 6004 0020h  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany Page 106 of 127 TR - ECE - BA - DGB - 0128 - 01 11/20/2018...

  • Page 107: Communication Specific Standard Objects (Cia Ds-301)

    NMT startup Unsigned32 Table 8: Communication specific standard objects segmented reading  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany 11/20/2018 TR - ECE - BA - DGB - 0128 - 01 Page 107 of 127...

  • Page 108: Object 1000H: Device Type

    7.3 Object 1002h: Manufacturer status register This object is not used by the measuring system, by read access the value is always "0".  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany Page 108 of 127...

  • Page 109: Object 1003H: Pre-Defined Error Field

    2nd Transmit PDO (object 1801h), non- recurrent triggering. Object Function Code COB-ID SYNC 0001  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany 11/20/2018 TR - ECE - BA - DGB - 0128 - 01 Page 109 of 127...

  • Page 110: Object 1008H: Device Name

    Default value = 0. Unsigned8 Life Time Factor Byte 0 to 2  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany Page 110 of 127 TR - ECE - BA - DGB - 0128 - 01 11/20/2018...

  • Page 111: Object 1010H: Store Parameters

    Error code 0606 0000h. If a wrong signature is written, the device refuses to save and responds with abort domain transfer: Error code 0800 0020h.  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany 11/20/2018...

  • Page 112: Object 1014H: Cob-Id Emcy

    The heartbeat time is given in multiples of 1 ms. The entry for the Node-ID corresponds to the Node-ID of the node to be guarded.  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany Page 112 of 127...

  • Page 113: Object 1017H: Producer Heartbeat Time

    Sub-index3: Provides information about the Revision-No.: 0x00010001, or current Revision-No. Sub-index4: Provides information about the Serial-No.: current Serial-No.  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany 11/20/2018 TR - ECE - BA - DGB - 0128 - 01...

  • Page 114: Object 1021H: Store Eds

    Domain If the firmware update fails for any reason, the device responds with abort domain transfer: Error code 0606 0000h.  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany Page 114 of 127 TR - ECE - BA - DGB - 0128 - 01...

  • Page 115: Object 1F51H: Program Control

    Attribute 1F56h largest supported Sub-Index Unsigned8 Program number 1 Unsigned32  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany 11/20/2018 TR - ECE - BA - DGB - 0128 - 01 Page 115 of 127...

  • Page 116: Object 1F57H: Flash Status Identification

    An attempt to change a bit of a functionality that is not supported by the CANopen device shall be responded with the abort message 0609 0030h.  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany...

  • Page 117: Parameterization

    Is immediately active after a write command and is durably stored in the EEPROM after execute the object "Object 1010h: Store parameters". Is immediately active and durably stored in the EEPROM after a write command.  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany 11/20/2018...

  • Page 118: Object 2000H: Mode Selection Tr / Cia Ds-406

    CiA DS-406 mode TR mode 6000h, Counting direction 2001h, Counting direction  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany Page 118 of 127 TR - ECE - BA - DGB - 0128 - 01...

  • Page 119: Tr - Mode

    Send TPDO2 at Node-Start off (default) 2 - 7 Reserved for further use  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany 11/20/2018 TR - ECE - BA - DGB - 0128 - 01 Page 119 of 127...

  • Page 120: Cia Ds-406 - Mode

    Byte 3 to 2 to 2 to 2 to 2  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany Page 120 of 127 TR - ECE - BA - DGB - 0128 - 01 11/20/2018...

  • Page 121: Object 6200H: Cyclic Timer

    8.3.5.4 Object 6505h: Warnings This object is not supported. By read access the value is always "0".  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany 11/20/2018 TR - ECE - BA - DGB - 0128 - 01...

  • Page 122: Object 6506H: Supported Warnings

    8.3.5.10 Object 650Bh: Serial number This object contains the current Serial-No. of the device and corresponds to the Identity-Object 1018h, Sub-index 4.  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany Page 122 of 127...

  • Page 123: Emergency Message

    1001h: Error register”. If the error disappears, the measuring system transmits an emergency message with error code "0" (reset error / no error) and error register "0".  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany 11/20/2018...

  • Page 124: Transmission Of The Measuring System Position Value

    Object Function Code COB-ID Index Communication Parameter SYNC 0001bin 1005h  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany Page 124 of 127 TR - ECE - BA - DGB - 0128 - 01 11/20/2018...

  • Page 125: Causes Of Faults And Remedies

    No data available access on object 1003h sub-index 1, see page 109. Table 10: SDO Error codes  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany 11/20/2018 TR - ECE - BA - DGB - 0128 - 01...

  • Page 126: Emergency Error Codes

    "0x000" is transferred. Meaning generic error communication error (overrun, error state)  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany Page 126 of 127 TR - ECE - BA - DGB - 0128 - 01...

  • Page 127: Object 1003H: Pre-Defined Error Field, Bits 0 - 15

     TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany 11/20/2018 TR - ECE - BA - DGB - 0128 - 01...

This manual is also suitable for:

Cms-36Cmv-36

Table of Contents