TR-Electronic Cxx-65 Series User Manual
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TR-Electronic Cxx-65 Series User Manual

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D
Seite 2 - 94
GB
Page 95 - 187
Absolute Encoder C__-65
CEV-65
COV-65
CES-65
COS-65
_Zusätzliche Sicherheitshinweise
_Installation
_Inbetriebnahme
_Konfiguration / Parametrierung
_Fehlerursachen und Abhilfen
_Additional safety instructions
_Installation
_Commissioning
_Configuration / Parameterization
_Cause of faults and remedies
Benutzerhandbuch
User Manual
5617

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Summary of Contents for TR-Electronic Cxx-65 Series

  • Page 1 Seite 2 - 94 Page 95 - 187 Absolute Encoder C__-65 CEV-65 COV-65 CES-65 COS-65 _Zusätzliche Sicherheitshinweise _Installation _Inbetriebnahme _Konfiguration / Parametrierung _Fehlerursachen und Abhilfen _Additional safety instructions _Installation _Commissioning _Configuration / Parameterization _Cause of faults and remedies Benutzerhandbuch User Manual 5617...
  • Page 2 Genannte Produkte, Namen und Logos dienen ausschließlich Informationszwecken und können Warenzeichen ihrer jeweiligen Eigentümer sein, ohne dass eine besondere Kennzeichnung erfolgt.  TR-Electronic GmbH 2008, All Rights Reserved Printed in the Federal Republic of Germany Page 2 of 187 TR - ECE - BA - DGB - 0071 - 05...

  • Page 3: Table Of Contents

    4 Installation / Inbetriebnahmevorbereitung..................32 4.1 Netzwerktopologie ........................33 4.1.1 Hubs ........................33 4.1.2 Jitter ........................33  TR-Electronic GmbH 2008, All Rights Reserved Printed in the Federal Republic of Germany 06/26/2017 TR - ECE - BA - DGB - 0071 - 05...
  • Page 4 6.22 Objekt 1F99h: NMT_CNBasicEthernetTimeout_U32 ............71 6.23 Objekt 1F9Ah: NMT_HostName_VSTR ................72 6.24 Objekt 1F9Eh: NMT_ResetCmd_U8 ..................72  TR-Electronic GmbH 2008, All Rights Reserved Printed in the Federal Republic of Germany Page 4 of 187 TR - ECE - BA - DGB - 0071 - 05...
  • Page 5 9.3 Error Codes ..........................92 9.4 Error Register, Objekt 0x1001 ....................93 9.5 Sonstige Störungen ........................ 93  TR-Electronic GmbH 2008, All Rights Reserved Printed in the Federal Republic of Germany 06/26/2017 TR - ECE - BA - DGB - 0071 - 05...

  • Page 6: Änderungs-Index

    Anpassung an die xdd-Datei TR-ECE-ID-MUL-0032-01 09.02.17 Technische Daten entfernt 26.06.17  TR-Electronic GmbH 2008, All Rights Reserved Printed in the Federal Republic of Germany Page 6 of 187 TR - ECE - BA - DGB - 0071 - 05 06/26/2017...

  • Page 7: Allgemeines

    Es gelten somit zusammen folgende Dokumentationen:  siehe Kapitel „Mitgeltende Dokumente“ in der Montageanleitung www.tr-electronic.de/f/TR-ECE-BA-DGB-0046.  TR-Electronic GmbH 2008, All Rights Reserved Printed in the Federal Republic of Germany 06/26/2017 TR - ECE - BA - DGB - 0071 - 05...

  • Page 8: Referenzen

    Definiert das Internet Protocol (IP) 15. RFC1213 Definiert u.a. die IP Group und Interface Group  TR-Electronic GmbH 2008, All Rights Reserved Printed in the Federal Republic of Germany Page 8 of 187 TR - ECE - BA - DGB - 0071 - 05...

  • Page 9: Verwendete Abkürzungen / Begriffe

    Internationale Elektrotechnische Kommission International Standard Organisation Publicly Available Specification Verein Deutscher Elektrotechniker  TR-Electronic GmbH 2008, All Rights Reserved Printed in the Federal Republic of Germany 06/26/2017 TR - ECE - BA - DGB - 0071 - 05 Page 9 of 187...
  • Page 10 Service Data Object. Punkt-zu-Punkt Kommunikation mit Zugriff auf die Objekt-Datenliste eines Gerätes. …  TR-Electronic GmbH 2008, All Rights Reserved Printed in the Federal Republic of Germany Page 10 of 187 TR - ECE - BA - DGB - 0071 - 05...
  • Page 11 Unicast Teilnehmer gesendet. XML Gerätebeschreibungsdatei (Device Description File) Extensible Markup Language  TR-Electronic GmbH 2008, All Rights Reserved Printed in the Federal Republic of Germany 06/26/2017 TR - ECE - BA - DGB - 0071 - 05 Page 11 of 187...

  • Page 12: Zusätzliche Sicherheitshinweise

    Beachten der Montageanleitung, insbesondere das dort enthaltene Kapitel "Grundlegende Sicherheitshinweise" muss vor Arbeitsbeginn gelesen und verstanden worden sein  TR-Electronic GmbH 2008, All Rights Reserved Printed in the Federal Republic of Germany Page 12 of 187 TR - ECE - BA - DGB - 0071 - 05...

  • Page 13: Organisatorische Maßnahmen

    Dies gilt in besonderem Maße für nur gelegentlich, z.B. bei der Parametrierung des Mess-Systems, tätig werdendes Personal.  TR-Electronic GmbH 2008, All Rights Reserved Printed in the Federal Republic of Germany 06/26/2017 TR - ECE - BA - DGB - 0071 - 05...

  • Page 14: Powerlink Informationen

    – IEEE 802.3u Fast Ethernet – Unterstützung von IP basierten Protokollen wie z.B. UDP – Integration der CANopen Profile nach EN50325-4 für Geräte Kompatibilität  TR-Electronic GmbH 2008, All Rights Reserved Printed in the Federal Republic of Germany Page 14 of 187...

  • Page 15: Slot Communication Network Management

    (CN) genannt und besitzen Slave-Funktionalität. Das Mess-System entspricht einem Controlled Node. Abbildung 1: Slot Communication Network Management, SCNM  TR-Electronic GmbH 2008, All Rights Reserved Printed in the Federal Republic of Germany 06/26/2017 TR - ECE - BA - DGB - 0071 - 05...

  • Page 16: Powerlink - Zyklus, Zeitscheibenverfahren

    Asnd: Asynchronous Send Managing Node Controlled Node isochrone Daten, Prozessdaten  TR-Electronic GmbH 2008, All Rights Reserved Printed in the Federal Republic of Germany Page 16 of 187 TR - ECE - BA - DGB - 0071 - 05 06/26/2017...

  • Page 17: Mac Adressierung

    Unicast xx-xx-xx-xx-xx-xx im azyklischen Datenaustausch. Tabelle 1: Physikalische Adressierung von EPL-Frames  TR-Electronic GmbH 2008, All Rights Reserved Printed in the Federal Republic of Germany 06/26/2017 TR - ECE - BA - DGB - 0071 - 05 Page 17 of 187...

  • Page 18: Protokoll

    (Master), und Standard-Tools (z. B. Monitor) eingesetzt werden. Abbildung 3: Ethernet Frame Struktur  TR-Electronic GmbH 2008, All Rights Reserved Printed in the Federal Republic of Germany Page 18 of 187 TR - ECE - BA - DGB - 0071 - 05...

  • Page 19: Geräteprofil

    Das CANopen-Protokoll liegt auf der Anwendungsschicht. Bei POWERLINK wird einfach das Transportmittel CAN gegen Ethernet ausgetauscht: Abbildung 4: Virtuelle EPL / CANopen Software-Architektur  TR-Electronic GmbH 2008, All Rights Reserved Printed in the Federal Republic of Germany 06/26/2017 TR - ECE - BA - DGB - 0071 - 05...

  • Page 20: Referenz-Modell

    Abbildung 5: POWERLINK eingeordnet im Schichtenmodell [Quelle: EPSG Powerlinkspezifikation] EN 50325-4: Industrielle-Kommunikations-Systeme, basierend auf ISO 11898 (CAN) für Controller-Device Interfaces. Teil 4: CANopen.  TR-Electronic GmbH 2008, All Rights Reserved Printed in the Federal Republic of Germany Page 20 of 187...

  • Page 21: Objektverzeichnis

    Wichtige Merkmale von SDO und PDO Abbildung 7: Gegenüberstellung von PDO/SDO-Eigenschaften  TR-Electronic GmbH 2008, All Rights Reserved Printed in the Federal Republic of Germany 06/26/2017 TR - ECE - BA - DGB - 0071 - 05...

  • Page 22: Übertragung Von Sdo Nachrichten

    übertragen, welche nicht mit der Initiate SDO Upload Dienstantwort übertragen werden konnten. Der Server startet so viele Upload SDO Segment Dienste, bis alle Daten vom Server übertragen worden sind.  TR-Electronic GmbH 2008, All Rights Reserved Printed in the Federal Republic of Germany Page 22 of 187...

  • Page 23: Abort Sdo Transfer Protokoll

    RxPDOs bzw. 0x1A00ff für die TxPDOs. Im Gegensatz zu einem CANopen Gerät ist bei einem POWERLINK Controlled Node nur ein TxPDO Kanal möglich.  TR-Electronic GmbH 2008, All Rights Reserved Printed in the Federal Republic of Germany 06/26/2017 TR - ECE - BA - DGB - 0071 - 05...

  • Page 24: Nmt State Machine

    Zustandsmaschine „NMT MN State Machine“ verzweigt. Die MN-spezifische Zustandsmaschine ist nicht Bestandteil dieser Beschreibung. Abbildung 10: Common Initialisation NMT State Machine [Quelle: EPSG Powerlinkspezifikation]  TR-Electronic GmbH 2008, All Rights Reserved Printed in the Federal Republic of Germany Page 24 of 187...
  • Page 25 Gerät gültige Zustandsmaschine verzweigt. Die angegebenen Zustände sind geräteinterne Zustände, welche nicht durch eine Statusabfrage angezeigt werden können.  TR-Electronic GmbH 2008, All Rights Reserved Printed in the Federal Republic of Germany 06/26/2017 TR - ECE - BA - DGB - 0071 - 05...

  • Page 26: Nmt Cn State Machine

    State Machine gesteuert und ist ein untergeordneter Status von NMT_GS_POWERED und NMT_GS_COMMUNICATING. Abbildung 11: NMT CN State Machine [Quelle: EPSG Powerlinkspezifikation]  TR-Electronic GmbH 2008, All Rights Reserved Printed in the Federal Republic of Germany Page 26 of 187 TR - ECE - BA - DGB - 0071 - 05...

  • Page 27: Nmt_Cs_Not_Active

    Fehler erkannt wird. Der Übergang von NMT_CS_PRE_OPERATIONAL_2 nach NMT_CS_STOPPED wird ausgelöst, wenn das NMT Status Kommando NMTStopNode empfangen worden ist.  TR-Electronic GmbH 2008, All Rights Reserved Printed in the Federal Republic of Germany 06/26/2017 TR - ECE - BA - DGB - 0071 - 05...

  • Page 28: Nmt_Cs_Ready_To_Operate

    Fehler erkannt wird. Der Übergang von NMT_CS_OPERATIONAL nach NMT_CS_STOPPED wird ausgelöst, wenn das NMT Status Kommando NMTStopNode empfangen worden ist.  TR-Electronic GmbH 2008, All Rights Reserved Printed in the Federal Republic of Germany Page 28 of 187...

  • Page 29: Nmt_Cs_Stopped

    EPL Knoten sollten nicht im Basic Ethernet Mode betrieben werden, wenn sie Teil eines Automationssystem sind. Der Basic Ethernet Mode ist nur für die Punkt-zu- Punkt Konfiguration, Knoten-Setup und Servicezwecke vorgesehen.  TR-Electronic GmbH 2008, All Rights Reserved Printed in the Federal Republic of Germany 06/26/2017...

  • Page 30: Zustände Und Kommunikations-Objekt Beziehung

    Zustandswechsel hängt davon ab, ob das Protokoll unterstützt wird keine Framebearbeitung  TR-Electronic GmbH 2008, All Rights Reserved Printed in the Federal Republic of Germany Page 30 of 187 TR - ECE - BA - DGB - 0071 - 05...

  • Page 31: Weitere Informationen

    + 49 (0) 30-85 08 85-86 Email: info@ethernet-powerlink.org Internet: http://www.ethernet-powerlink.org  TR-Electronic GmbH 2008, All Rights Reserved Printed in the Federal Republic of Germany 06/26/2017 TR - ECE - BA - DGB - 0071 - 05 Page 31 of 187...

  • Page 32: 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 2008, All Rights Reserved Printed in the Federal Republic of Germany Page 32 of 187...

  • Page 33: Netzwerktopologie

    Wenn sich der MN im Zentrum einer Linien- bzw. Stern-Topologie befindet, ist die Anzahl der Hub-Ebenen zum meist entferntesten CN irrelevant für den Synchronisations-Jitter.  TR-Electronic GmbH 2008, All Rights Reserved Printed in the Federal Republic of Germany 06/26/2017...

  • Page 34: Anschluss

    21 03 281 1405 HARAX M12-L Für Servicezwecke, z.B. Softwareupdate  TR-Electronic GmbH 2008, All Rights Reserved Printed in the Federal Republic of Germany Page 34 of 187 TR - ECE - BA - DGB - 0071 - 05 06/26/2017...

  • Page 35: Epl Node-Id

    EPL auf Standard Ethernet Router isochron EPL Broadcast keine Tabelle 3: EPL Node-ID Zuordnung  TR-Electronic GmbH 2008, All Rights Reserved Printed in the Federal Republic of Germany 06/26/2017 TR - ECE - BA - DGB - 0071 - 05 Page 35 of 187...

  • Page 36: Einschalten Der Versorgungsspannung

    Betriebszustand des Mess-Systems. Der aktive Prozessdatenaustausch zwischen MN und Mess-System über PReq- und PRes-Nachrichten ist jetzt möglich. Die Prozessdaten entsprechen der Mapping-Konfiguration.  TR-Electronic GmbH 2008, All Rights Reserved Printed in the Federal Republic of Germany Page 36 of 187...
  • Page 37 Fehler dargestellt. Das Beispiel zeigt ebenso eine Konfigurationsaktualisierung des CN’s in BOOT_STEP1. Abbildung 14: Beispiel, Boot-Vorgang mit nur einem CN [Quelle: EPSG Powerlinkspezifikation]  TR-Electronic GmbH 2008, All Rights Reserved Printed in the Federal Republic of Germany 06/26/2017 TR - ECE - BA - DGB - 0071 - 05...

  • Page 38: Inbetriebnahme

    Triple flash gefolgt von einer langen AUS-Zeit, ca. 1000 ms. Tabelle 4: LED Anzeigezustände  TR-Electronic GmbH 2008, All Rights Reserved Printed in the Federal Republic of Germany Page 38 of 187 TR - ECE - BA - DGB - 0071 - 05...

  • Page 39: Error Led

    „Data Activity“, wenn Daten gesendet oder empfangen werden. Die Data Activity Anzeige ist dominierend gegenüber der Link-Anzeige. Entsprechende Maßnahmen im Fehlerfall siehe Kapitel „Optische Anzeigen“, Seite 90.  TR-Electronic GmbH 2008, All Rights Reserved Printed in the Federal Republic of Germany 06/26/2017...

  • Page 40: Netzwerkkonfiguration

    Inbetriebnahme 5.3 Netzwerkkonfiguration 5.3.1 MAC-Adresse Jedem POWERLINK-Gerät wird bereits bei TR-Electronic eine weltweit eindeutige Geräte-Identifikation zugewiesen und dient zur Identifizierung des Ethernet-Knotens. Diese 6 Byte lange Geräte-Identifikation ist die MAC-Adresse und ist nicht veränderbar. Die MAC-Adresse teilt sich auf in: ●...

  • Page 41: Zusammenhang Ip-Adresse Und Default-Subnetzmaske

    (00000000 00000000 00000000 00011111) 00000000 00000000 00000000 00000011 Hostadresse = Hostadresse  TR-Electronic GmbH 2008, All Rights Reserved Printed in the Federal Republic of Germany 06/26/2017 TR - ECE - BA - DGB - 0071 - 05 Page 41 of 187...

  • Page 42: Ip-Adressierung

    Default Gateway 192.168.100.254, kann angepasst werden Tabelle 7: IP-Parameter eines EPL-Knotens  TR-Electronic GmbH 2008, All Rights Reserved Printed in the Federal Republic of Germany Page 42 of 187 TR - ECE - BA - DGB - 0071 - 05...

  • Page 43: Hostname

    über ein ASnd-Frame mit dem IdentResponse Service gelesen werden. Alternativ kann der Hostname aber auch über Objekt 1F9Ah: NMT_HostName_VSTR auf Seite 72 konfiguriert werden.  TR-Electronic GmbH 2008, All Rights Reserved Printed in the Federal Republic of Germany 06/26/2017...

  • Page 44: Kommunikationsspezifische Standard-Objekte (Cia Ds-301)

    NMT_HostName_VSTR VISIBLE_STRING32 0x1F9E VAR NMT_ResetCmd_U8 UNSIGNED8 Tabelle 8: Kommunikationsspezifische Standard-Objekte  TR-Electronic GmbH 2008, All Rights Reserved Printed in the Federal Republic of Germany Page 44 of 187 TR - ECE - BA - DGB - 0071 - 05 06/26/2017...

  • Page 45: Objekt 1000H: Nmt_Devicetype_U32

    Default Absoluter Single-Turn Encoder je nach Encoder-Typ Absoluter Multi-Turn Encoder  TR-Electronic GmbH 2008, All Rights Reserved Printed in the Federal Republic of Germany 06/26/2017 TR - ECE - BA - DGB - 0071 - 05 Page 45 of 187...

  • Page 46: Objekt 1001H: Err_Errorregister_U8

    Reset Standardwert 5000 µs PDO Mapping nein  TR-Electronic GmbH 2008, All Rights Reserved Printed in the Federal Republic of Germany Page 46 of 187 TR - ECE - BA - DGB - 0071 - 05 06/26/2017...

  • Page 47: Objekt 100Ah: Nmt_Manufactswvers_Vs

    PDO Mapping nein Standardwert 0x025C 0…0xFF FF FF FF Wertebereich  TR-Electronic GmbH 2008, All Rights Reserved Printed in the Federal Republic of Germany 06/26/2017 TR - ECE - BA - DGB - 0071 - 05 Page 47 of 187...
  • Page 48 CONST PDO Mapping nein Standardwert 0…0xFF FF FF FF Wertebereich  TR-Electronic GmbH 2008, All Rights Reserved Printed in the Federal Republic of Germany Page 48 of 187 TR - ECE - BA - DGB - 0071 - 05 06/26/2017...

  • Page 49: Objekt 1020H: Cfm_Verifyconfiguration_Rec

    Zugriff PDO Mapping nein Standardwert 0…0xFF FF FF FF Wertebereich  TR-Electronic GmbH 2008, All Rights Reserved Printed in the Federal Republic of Germany 06/26/2017 TR - ECE - BA - DGB - 0071 - 05 Page 49 of 187...
  • Page 50 Diese Information kann durch ein Konfigurations-Tool oder einer Applikation benutzt werden, um eine Warnung anzuzeigen, falls die Konfiguration eines Knotens modifiziert worden ist.  TR-Electronic GmbH 2008, All Rights Reserved Printed in the Federal Republic of Germany Page 50 of 187...

  • Page 51: Objekt 1030H: Nmt_Interfacegroup_0H_Rec

    Die Schnittstelle, die durch einen bestimmten Wert dieses Indexes definiert wird, ist die selbe Schnittstelle definiert durch den selben Wert von Objekt 1E40h: NWL_IpAddrTable_0h_REC.IfIndex_U16.  TR-Electronic GmbH 2008, All Rights Reserved Printed in the Federal Republic of Germany 06/26/2017 TR - ECE - BA - DGB - 0071 - 05...
  • Page 52 Mandatory Datentyp OCTET_STRING6 Zugriff CONST PDO Mapping nein Standardwert Wertebereich  TR-Electronic GmbH 2008, All Rights Reserved Printed in the Federal Republic of Germany Page 52 of 187 TR - ECE - BA - DGB - 0071 - 05 06/26/2017...
  • Page 53 Standardwert Wertebereich TRUE (1) = Daten gültig, FALSE (0) = Daten ungültig  TR-Electronic GmbH 2008, All Rights Reserved Printed in the Federal Republic of Germany 06/26/2017 TR - ECE - BA - DGB - 0071 - 05 Page 53 of 187...

  • Page 54: Objekt 1300H: Sdo_Sequlayertimeout_U32

    Mandatory Datentyp UNSIGNED8 Zugriff PDO Mapping nein Standardwert Wertebereich 0…0xFE  TR-Electronic GmbH 2008, All Rights Reserved Printed in the Federal Republic of Germany Page 54 of 187 TR - ECE - BA - DGB - 0071 - 05 06/26/2017...
  • Page 55 Mapping Version Die Mapping Version wird benötigt, um die Kompatibilität des TPDO-Kanals mit Hilfe des „PDO-Mapping-Version-Handlings“ zu gewährleisten.  TR-Electronic GmbH 2008, All Rights Reserved Printed in the Federal Republic of Germany 06/26/2017 TR - ECE - BA - DGB - 0071 - 05...

  • Page 56: Objekt 1A00H: Pdo_Txmappparam_0H_Au64

    Offset in Bits reserved Sub-Index Index UNSIGNED16 UNSIGNED16 UNSIGNED8 UNSIGNED16  TR-Electronic GmbH 2008, All Rights Reserved Printed in the Federal Republic of Germany Page 56 of 187 TR - ECE - BA - DGB - 0071 - 05 06/26/2017...

  • Page 57: Objekt 1C0Ah: Dll_Cncollision_Rec

    Zugriff PDO Mapping nein Standardwert 0…0xFF FF FF FF Wertebereich  TR-Electronic GmbH 2008, All Rights Reserved Printed in the Federal Republic of Germany 06/26/2017 TR - ECE - BA - DGB - 0071 - 05 Page 57 of 187...

  • Page 58: Objekt 1C0Bh: Dll_Cnlosssoc_Rec

    Anzahl der Einträge Zugriff CONST PDO Mapping nein Standardwert Wertebereich  TR-Electronic GmbH 2008, All Rights Reserved Printed in the Federal Republic of Germany Page 58 of 187 TR - ECE - BA - DGB - 0071 - 05 06/26/2017...
  • Page 59 0…0xFF FF FF FF; 0 = Funktion deaktiviert, keine Fehlerauslösung Wertebereich 1 = direkte Fehlerauslösung  TR-Electronic GmbH 2008, All Rights Reserved Printed in the Federal Republic of Germany 06/26/2017 TR - ECE - BA - DGB - 0071 - 05...

  • Page 60: Objekt 1C0Fh: Dll_Cncrcerror_Rec

    0…0xFF FF FF FF; 0 = Funktion deaktiviert, keine Fehlerauslösung Wertebereich 1 = direkte Fehlerauslösung  TR-Electronic GmbH 2008, All Rights Reserved Printed in the Federal Republic of Germany Page 60 of 187 TR - ECE - BA - DGB - 0071 - 05...

  • Page 61: Objekt 1C14H: Dll_Cnlossofsoctolerance_U32

    0…0xFF FF FF FF Zugriff Standardwert 10 ms nein Mapping  TR-Electronic GmbH 2008, All Rights Reserved Printed in the Federal Republic of Germany 06/26/2017 TR - ECE - BA - DGB - 0071 - 05 Page 61 of 187...

  • Page 62: Objekt 1E40H: Nwl_Ipaddrtable_0H_Rec

    Zugriff PDO Mapping nein Standardwert Wertebereich 0…0xFF FF FF FF  TR-Electronic GmbH 2008, All Rights Reserved Printed in the Federal Republic of Germany Page 62 of 187 TR - ECE - BA - DGB - 0071 - 05 06/26/2017...
  • Page 63 Zugriff PDO Mapping nein Standardwert 0…0xFF FF FF FF Wertebereich  TR-Electronic GmbH 2008, All Rights Reserved Printed in the Federal Republic of Germany 06/26/2017 TR - ECE - BA - DGB - 0071 - 05 Page 63 of 187...

  • Page 64: Objekt 1E4Ah: Nwl_Ipgroup_Rec

    UNSIGNED16 Zugriff PDO Mapping nein Standardwert 0x40 Wertebereich 0…0xFF FF  TR-Electronic GmbH 2008, All Rights Reserved Printed in the Federal Republic of Germany Page 64 of 187 TR - ECE - BA - DGB - 0071 - 05 06/26/2017...

  • Page 65: Objekt 1F82H: Nmt_Featureflags_U32

    SDO Read/Write Mult. Parameter by Index 16-23 = 0 reserved 24-31 = 0 reserved Tabelle 9: NMT_FeatureFlags_U32 Interpretation  TR-Electronic GmbH 2008, All Rights Reserved Printed in the Federal Republic of Germany 06/26/2017 TR - ECE - BA - DGB - 0071 - 05...

  • Page 66: Objekt 1F83H: Nmt_Eplversion_U8

    NMT_CS_STOPPED 0100 1101 NMT_CS_BASIC_ETHERNET 0001 1110 Tabelle 10: CN NMT-Zustände  TR-Electronic GmbH 2008, All Rights Reserved Printed in the Federal Republic of Germany Page 66 of 187 TR - ECE - BA - DGB - 0071 - 05 06/26/2017...

  • Page 67: Objekt 1F93H: Nmt_Eplnodeid_Rec

    Standardwert Wertebereich 0 = softwaremäßige Einstellung, 1 = hardwaremäßige Einstellung  TR-Electronic GmbH 2008, All Rights Reserved Printed in the Federal Republic of Germany 06/26/2017 TR - ECE - BA - DGB - 0071 - 05 Page 67 of 187...

  • Page 68: Objekt 1F98H: Nmt_Cycletiming_Rec

    Zugriff CONST PDO Mapping nein Standardwert 1490 Bytes 0x0024…0x05D2 Wertebereich  TR-Electronic GmbH 2008, All Rights Reserved Printed in the Federal Republic of Germany Page 68 of 187 TR - ECE - BA - DGB - 0071 - 05 06/26/2017...
  • Page 69 Reset PDO Mapping nein Standardwert 0x24 0x24…Sub-Index 001 Wertebereich  TR-Electronic GmbH 2008, All Rights Reserved Printed in the Federal Republic of Germany 06/26/2017 TR - ECE - BA - DGB - 0071 - 05 Page 69 of 187...
  • Page 70 InterfaceMtu_U16-Wert sein und muss durch jeden Knoten im Segment unterstützt werden können. AsyncMTU_U16 sollte bei jedem Knoten im Segment den gleichen Wert haben.  TR-Electronic GmbH 2008, All Rights Reserved Printed in the Federal Republic of Germany Page 70 of 187...

  • Page 71: Objekt 1F99H: Nmt_Cnbasicethernettimeout_U32

    Um ein fehlerhaftes Umschalten in den NMT_CS_BASIC_ETHERNET – Mode beim Systemstart zu vermeiden, sollte der hier eingetragene Wert größer als die Bootzeit des MN’s sein (Objekt 1F89 NMT_BootTime_REC.MNWaitNotAct_U32).  TR-Electronic GmbH 2008, All Rights Reserved Printed in the Federal Republic of Germany 06/26/2017...

  • Page 72: Objekt 1F9Ah: Nmt_Hostname_Vstr

    0x2A NMTSwReset 0x2B NMTInvalidService 0xFF Tabelle 11: CN NMT Reset-Kommandos  TR-Electronic GmbH 2008, All Rights Reserved Printed in the Federal Republic of Germany Page 72 of 187 TR - ECE - BA - DGB - 0071 - 05 06/26/2017...

  • Page 73: Hersteller- Und Profil-Spezifische Objekte (Cia Ds-406)

    ARRAY Positionswert UNSIGNED32 3100 ARRAY Mapping UNSIGNED32 Tabelle 12: Encoder-Profilbereich  TR-Electronic GmbH 2008, All Rights Reserved Printed in the Federal Republic of Germany 06/26/2017 TR - ECE - BA - DGB - 0071 - 05 Page 73 of 187...

  • Page 74: Skalierungsparameter

    Umdrehungen Zähler/Umdrehungen Nenner eine Kommazahl sein darf. Der ausgegebene Positionswert wird mit einer Nullpunktskorrektur, der eingestellten Zählrichtung und den eingegebenen Getriebeparametern verrechnet.  TR-Electronic GmbH 2008, All Rights Reserved Printed in the Federal Republic of Germany Page 74 of 187...

  • Page 75: Objekt 2002H: Messlänge In Schritten

    2 bis 2 bis 2 bis 2 bis 2  TR-Electronic GmbH 2008, All Rights Reserved Printed in the Federal Republic of Germany 06/26/2017 TR - ECE - BA - DGB - 0071 - 05 Page 75 of 187...

  • Page 76: Objekt 2000-2001H: Umdrehungen, Zähler/Nenner

    Anzahl Umdrehungen Zähler Messlänge in Schritten = Anzahl Schritte pro Umdrehung * Anzahl Umdrehungen Nenner  TR-Electronic GmbH 2008, All Rights Reserved Printed in the Federal Republic of Germany Page 76 of 187 TR - ECE - BA - DGB - 0071 - 05...
  • Page 77 Mess-System bei einer geringfügigen Überschreitung des Verfahrweges keinen Istwertsprung (Nullübergang) erzeugt. Der Einfachheit halber kann auch der volle Umdrehungsbereich des Mess-Systems programmiert werden.  TR-Electronic GmbH 2008, All Rights Reserved Printed in the Federal Republic of Germany 06/26/2017 TR - ECE - BA - DGB - 0071 - 05...
  • Page 78 = 1348,073499 Schritte / Umdr. * 1 Umdrehung Nenner = 5521709 Schritte (abgerundet)  TR-Electronic GmbH 2008, All Rights Reserved Printed in the Federal Republic of Germany Page 78 of 187 TR - ECE - BA - DGB - 0071 - 05...

  • Page 79: Objekt 2003H: Presetwert

    2 bis 2 bis 2 bis 2 bis 2  TR-Electronic GmbH 2008, All Rights Reserved Printed in the Federal Republic of Germany 06/26/2017 TR - ECE - BA - DGB - 0071 - 05 Page 79 of 187...

  • Page 80: Objekt 2004H: Set_Preset

    Optional Wertebereich nicht relevant Zugriff Standardwert 0 PDO Mapping nein  TR-Electronic GmbH 2008, All Rights Reserved Printed in the Federal Republic of Germany Page 80 of 187 TR - ECE - BA - DGB - 0071 - 05 06/26/2017...

  • Page 81: Objekt 2007H: Positionswert

    2 bis 2 bis 2 bis 2 bis 2  TR-Electronic GmbH 2008, All Rights Reserved Printed in the Federal Republic of Germany 06/26/2017 TR - ECE - BA - DGB - 0071 - 05 Page 81 of 187...

  • Page 82: Objekt 3100H: Mapping

    2 bis 2 bis 2 bis 2 bis 2  TR-Electronic GmbH 2008, All Rights Reserved Printed in the Federal Republic of Germany Page 82 of 187 TR - ECE - BA - DGB - 0071 - 05 06/26/2017...

  • Page 83: Fehlerbehandlung

    Die Fehlererkennung hängt stark von der Implementierung der Gerätehardware und Software ab. Welche Fehler vom Gerät erkannt werden, wird durch den entsprechenden Eintrag in der Gerätebeschreibungs-Datei angezeigt.  TR-Electronic GmbH 2008, All Rights Reserved Printed in the Federal Republic of Germany 06/26/2017...
  • Page 84 NMT_CT11, Error Condition --> NMT_CS_PRE_OPERATIONAL_1, siehe NMT CN State Machine Seite 26  TR-Electronic GmbH 2008, All Rights Reserved Printed in the Federal Republic of Germany Page 84 of 187 TR - ECE - BA - DGB - 0071 - 05...

  • Page 85: Fehlererfassung

    Immer wenn ein Fehlersymptom auftritt, wird der Cumulative Counter (Summenzähler) um 1 inkrementiert. Da der Summenzähler beim Systemstart oder durch Reset- Kommandos nicht gelöscht wird, kann auch ein Überlauf erfolgen.  TR-Electronic GmbH 2008, All Rights Reserved Printed in the Federal Republic of Germany 06/26/2017...

  • Page 86: Unterstützte Fehlermeldungen

    Error Code = 0x8164 Tabelle 14: Static Error Bit Field, Fragment des StatusResponse-Frames  TR-Electronic GmbH 2008, All Rights Reserved Printed in the Federal Republic of Germany Page 86 of 187 TR - ECE - BA - DGB - 0071 - 05...

  • Page 87: Loss Of Soc

    Error Code = 0x8245 Tabelle 15: Static Error Bit Field, Fragment des StatusResponse-Frames  TR-Electronic GmbH 2008, All Rights Reserved Printed in the Federal Republic of Germany 06/26/2017 TR - ECE - BA - DGB - 0071 - 05...

  • Page 88: Rx Mac Buffer Overflow / Tx Mac Buffer Underrun

    Error Code = 0x8166 Tabelle 16: Static Error Bit Field, Fragment des StatusResponse-Frames  TR-Electronic GmbH 2008, All Rights Reserved Printed in the Federal Republic of Germany Page 88 of 187 TR - ECE - BA - DGB - 0071 - 05...

  • Page 89: Kollisionen

    Error Code = 0x8163 Tabelle 17: Static Error Bit Field, Fragment des StatusResponse-Frames  TR-Electronic GmbH 2008, All Rights Reserved Printed in the Federal Republic of Germany 06/26/2017 TR - ECE - BA - DGB - 0071 - 05...

  • Page 90: Fehlerursachen Und Abhilfen

    Mess-System betriebsbereit, Verbindung zum Master hergestellt, es werden momentan keine Daten übermittelt.  TR-Electronic GmbH 2008, All Rights Reserved Printed in the Federal Republic of Germany Page 90 of 187 TR - ECE - BA - DGB - 0071 - 05...

  • Page 91: Sdo Abort Codes

    0x08 00 00 24 EDS, DCF oder Concise DCF-Datensatz enthält keine Daten Tabelle 18: SDO Abort Codes  TR-Electronic GmbH 2008, All Rights Reserved Printed in the Federal Republic of Germany 06/26/2017 TR - ECE - BA - DGB - 0071 - 05...

  • Page 92: Error Codes

    - Kapitel „Fehlerbehandlung“, Seite 83 - Kapitel „Objekt 1C0Bh: DLL_CNLossSoC_REC“, Seite 58 Tabelle 19: Error Codes  TR-Electronic GmbH 2008, All Rights Reserved Printed in the Federal Republic of Germany Page 92 of 187 TR - ECE - BA - DGB - 0071 - 05...

  • Page 93: Error Register, Objekt 0X1001

    Welle oder einen auftritt, muss das Mess-System getauscht werden. Defekt der Abtastung. Tabelle 21: Sonstige Störungen  TR-Electronic GmbH 2008, All Rights Reserved Printed in the Federal Republic of Germany 06/26/2017 TR - ECE - BA - DGB - 0071 - 05...
  • Page 94 Fehlerursachen und Abhilfen  TR-Electronic GmbH 2008, All Rights Reserved Printed in the Federal Republic of Germany Page 94 of 187 TR - ECE - BA - DGB - 0071 - 05 06/26/2017...
  • Page 95 User Manual C__ -65 POWERLINK  TR-Electronic GmbH 2008, All Rights Reserved Printed in the Federal Republic of Germany 06/26/2017 TR - ECE - BA - DGB - 0071 - 05 Page 95 of 187...
  • Page 96 Specified products, names and logos serve exclusively for information purposes and may be trademarks of their respective owners, without any special marking to indicate this.  TR-Electronic GmbH 2008, All Rights Reserved Printed in the Federal Republic of Germany Page 96 of 187...

  • Page 97: Contents

    4 Installation / Preparation for Commissioning................126 4.1 Network topology ........................127 4.1.1 Hubs ........................127 4.1.2 Jitter ........................127  TR-Electronic GmbH 2008, All Rights Reserved Printed in the Federal Republic of Germany 06/26/2017 TR - ECE - BA - DGB - 0071 - 05...
  • Page 98 6.22 Object 1F99h: NMT_CNBasicEthernetTimeout_U32 ............165 6.23 Object 1F9Ah: NMT_HostName_VSTR ................166 6.24 Object 1F9Eh: NMT_ResetCmd_U8 ..................166  TR-Electronic GmbH 2008, All Rights Reserved Printed in the Federal Republic of Germany Page 98 of 187 TR - ECE - BA - DGB - 0071 - 05...
  • Page 99 9.3 Error Codes ..........................186 9.4 Error Register, Object 0x1001 ....................187 9.5 Miscellaneous faults ....................... 187  TR-Electronic GmbH 2008, All Rights Reserved Printed in the Federal Republic of Germany 06/26/2017 TR - ECE - BA - DGB - 0071 - 05...

  • Page 100: Revision Index

    Editing corresponding to the xdd-file TR-ECE-ID-MUL-0032-01 02/09/17 Technical data removed 06/26/17  TR-Electronic GmbH 2008, All Rights Reserved Printed in the Federal Republic of Germany Page 100 of 187 TR - ECE - BA - DGB - 0071 - 05...

  • Page 101: General Information

    The following documentation therefore also applies:  see chapter “Other applicable documents” in the Assembly Instructions www.tr-electronic.de/f/TR-ECE-BA-DGB-0046  TR-Electronic GmbH 2008, All Rights Reserved Printed in the Federal Republic of Germany 06/26/2017 TR - ECE - BA - DGB - 0071 - 05...

  • Page 102: References

    Defines the Internet Protocol (IP) 15. RFC1213 Defines the IP Group and Interface Group, among others  TR-Electronic GmbH 2008, All Rights Reserved Printed in the Federal Republic of Germany Page 102 of 187 TR - ECE - BA - DGB - 0071 - 05...

  • Page 103: Abbreviations Used / Terminology

    International Standard Organization Publicly Available Specification Verein Deutscher Elektrotechniker (Association of German Electrotechnicians)  TR-Electronic GmbH 2008, All Rights Reserved Printed in the Federal Republic of Germany 06/26/2017 TR - ECE - BA - DGB - 0071 - 05 Page 103 of 187...
  • Page 104 Service Data Object. Point to point communication with access to the object data list of a device. …  TR-Electronic GmbH 2008, All Rights Reserved Printed in the Federal Republic of Germany Page 104 of 187 TR - ECE - BA - DGB - 0071 - 05...
  • Page 105 Unicast subscriber in the network. XML (Device Description File) Extensible Markup Language  TR-Electronic GmbH 2008, All Rights Reserved Printed in the Federal Republic of Germany 06/26/2017 TR - ECE - BA - DGB - 0071 - 05 Page 105 of 187...

  • Page 106: Additional Safety Instructions

    Assembly Instructions, particularly the chapter "Basic Safety Instructions" contained therein, must have been read and understood prior to commencement of work  TR-Electronic GmbH 2008, All Rights Reserved Printed in the Federal Republic of Germany Page 106 of 187...

  • Page 107: Organizational Measures

    Instructions". This particularly applies for personnel who are only deployed occasionally, e.g. in the parameterization of the measurement system.  TR-Electronic GmbH 2008, All Rights Reserved Printed in the Federal Republic of Germany 06/26/2017 TR - ECE - BA - DGB - 0071 - 05...

  • Page 108: Powerlink Information

    – IEEE 802.3u Fast Ethernet – IP based protocols supported, e.g. UDP – Integration with CANopen Profiles EN50325-4 for device interoperability  TR-Electronic GmbH 2008, All Rights Reserved Printed in the Federal Republic of Germany Page 108 of 187 TR - ECE - BA - DGB - 0071 - 05...

  • Page 109: Slot Communication Network Management

    “Controlled Nodes” (CN) and offer Slave functionality. The measuring system corresponds to a Controlled Node. Figure 1: Slot Communication Network Management, SCNM  TR-Electronic GmbH 2008, All Rights Reserved Printed in the Federal Republic of Germany 06/26/2017 TR - ECE - BA - DGB - 0071 - 05...

  • Page 110: Powerlink - Cycle, Time Slot Principle

    Asynchronous Send Managing Node Controlled Node Isochronous data, Process data  TR-Electronic GmbH 2008, All Rights Reserved Printed in the Federal Republic of Germany Page 110 of 187 TR - ECE - BA - DGB - 0071 - 05 06/26/2017...

  • Page 111: Mac Addressing

    Unicast xx-xx-xx-xx-xx-xx in acyclic data exchange. Table 1: Physical addressing of EPL frames  TR-Electronic GmbH 2008, All Rights Reserved Printed in the Federal Republic of Germany 06/26/2017 TR - ECE - BA - DGB - 0071 - 05 Page 111 of 187...

  • Page 112: Protocol

    POWERLINK frames can be sent by any Ethernet controller (master). Also standard tools (e.g. monitor) can be used. Figure 3: Ethernet frame structure  TR-Electronic GmbH 2008, All Rights Reserved Printed in the Federal Republic of Germany Page 112 of 187...

  • Page 113: Device Profile

    CANopen is located on the application layer. In case of POWERLINK the “Means of transportation CAN” is exchanged simply against Ethernet: Figure 4: Virtual EPL / CANopen software architecture  TR-Electronic GmbH 2008, All Rights Reserved Printed in the Federal Republic of Germany 06/26/2017...

  • Page 114: Reference Model

    Specification] EN 50325-4: Industrial Communication Systems, based on ISO 11898 (CAN) for Controller Device Interfaces. Part 4: CANopen.  TR-Electronic GmbH 2008, All Rights Reserved Printed in the Federal Republic of Germany Page 114 of 187 TR - ECE - BA - DGB - 0071 - 05...

  • Page 115: Object Dictionary

    Important features of SDO and PDO Figure 7: Comparison of PDO/SDO characteristics  TR-Electronic GmbH 2008, All Rights Reserved Printed in the Federal Republic of Germany 06/26/2017 TR - ECE - BA - DGB - 0071 - 05...

  • Page 116: Transmission Of Sdo Messages

    Initiate SDO Upload service response. The server starts as many Upload SDO Segment services as are required to transfer all data from the server.  TR-Electronic GmbH 2008, All Rights Reserved Printed in the Federal Republic of Germany Page 116 of 187...

  • Page 117: Abort Sdo Transfer Protocol

    TxPDOs. In contrast to a CANopen device only one TxPDO channel is possible with a POWERLINK Controlled Node.  TR-Electronic GmbH 2008, All Rights Reserved Printed in the Federal Republic of Germany 06/26/2017 TR - ECE - BA - DGB - 0071 - 05...

  • Page 118: Nmt State Machine

    Managing Node passes the MN-specific state machine “NMT MN State Machine”. The MN-specific state machine is not part of this description. Figure 10: Common Initialization NMT State Machine [Reference: EPSG Powerlink Specification]  TR-Electronic GmbH 2008, All Rights Reserved Printed in the Federal Republic of Germany Page 118 of 187...
  • Page 119 CN-specific state machine. The shown states are device internal states and aren't signalled over the network by an individual NMT-Status command.  TR-Electronic GmbH 2008, All Rights Reserved Printed in the Federal Republic of Germany 06/26/2017 TR - ECE - BA - DGB - 0071 - 05...

  • Page 120: Nmt Cn State Machine

    NMT_GS_COMMUNICATING. Figure 11: NMT CN State Machine [Reference: EPSG Powerlink Specification]  TR-Electronic GmbH 2008, All Rights Reserved Printed in the Federal Republic of Germany Page 120 of 187 TR - ECE - BA - DGB - 0071 - 05...

  • Page 121: Nmt_Cs_Not_Active

    The transition from NMT_CS_PRE_OPERATIONAL_2 to NMT_CS_STOPPED is triggered by reception of NMT state command NMTStopNode.  TR-Electronic GmbH 2008, All Rights Reserved Printed in the Federal Republic of Germany 06/26/2017 TR - ECE - BA - DGB - 0071 - 05...

  • Page 122: Nmt_Cs_Ready_To_Operate

    The transition from NMT_CS_OPERATIONAL to NMT_CS_STOPPED is triggered by reception of NMT state command NMTStopNode.  TR-Electronic GmbH 2008, All Rights Reserved Printed in the Federal Republic of Germany Page 122 of 187 TR - ECE - BA - DGB - 0071 - 05...

  • Page 123: Nmt_Cs_Stopped

    EPL nodes shouldn’t operate in Basic Ethernet Mode, when the node is part of an automation system. Basic Ethernet Mode is provided for point to point configurations, to be used for node setup and service purpose only.  TR-Electronic GmbH 2008, All Rights Reserved Printed in the Federal Republic of Germany 06/26/2017...

  • Page 124: States And Communication Object Relation

     TR-Electronic GmbH 2008, All Rights Reserved Printed in the Federal Republic of Germany Page 124 of 187 TR - ECE - BA - DGB - 0071 - 05...

  • Page 125: Further Information

    + 49 (0) 30-85 08 85-86 Email: info@ethernet-powerlink.org Internet: http://www.ethernet-powerlink.org  TR-Electronic GmbH 2008, All Rights Reserved Printed in the Federal Republic of Germany 06/26/2017 TR - ECE - BA - DGB - 0071 - 05 Page 125 of 187...

  • Page 126: Installation / Preparation For Commissioning

    In particular, the applicable EMC directive and the shielding and grounding directives must be observed!  TR-Electronic GmbH 2008, All Rights Reserved Printed in the Federal Republic of Germany Page 126 of 187...

  • Page 127: Network Topology

    MN and most distanced CN is relevant. If the MN is located in the centre of line or a star topology, the number of hub level between the most distanced CN is irrelevant for synchronization jitter.  TR-Electronic GmbH 2008, All Rights Reserved Printed in the Federal Republic of Germany 06/26/2017...

  • Page 128: Connection

    21 03 281 1405 HARAX M12-L for service purposes, e.g. software update  TR-Electronic GmbH 2008, All Rights Reserved Printed in the Federal Republic of Germany Page 128 of 187 TR - ECE - BA - DGB - 0071 - 05...

  • Page 129: Epl Node-Id

    EPL to legacy Ethernet Router isochronous EPL Broadcast Table 3: EPL Node-ID assignment  TR-Electronic GmbH 2008, All Rights Reserved Printed in the Federal Republic of Germany 06/26/2017 TR - ECE - BA - DGB - 0071 - 05 Page 129 of 187...

  • Page 130: Switching On The Supply Voltage

    Now, active process data exchange between MN and measuring system over PReq and PRes messages is possible. The process data correspond to the mapping configuration.  TR-Electronic GmbH 2008, All Rights Reserved Printed in the Federal Republic of Germany Page 130 of 187...
  • Page 131 The example also shows a configuration update of the CN in BOOT_STEP1. Figure 14: Boot procedure example for a single CN [Reference: EPSG Powerlink Specification]  TR-Electronic GmbH 2008, All Rights Reserved Printed in the Federal Republic of Germany...

  • Page 132: Commissioning

    Triple flash followed by a long OFF phase, approx. 1000 ms. Table 4: LED indicator states  TR-Electronic GmbH 2008, All Rights Reserved Printed in the Federal Republic of Germany Page 132 of 187 TR - ECE - BA - DGB - 0071 - 05...

  • Page 133: Error Led

    Die Data Activity indicator is dominant over the Link indicator. For appropriate measures in case of error see chapter “Optical displays” page 184.  TR-Electronic GmbH 2008, All Rights Reserved Printed in the Federal Republic of Germany 06/26/2017...

  • Page 134: Network Configuration

    5.3 Network configuration 5.3.1 MAC-Address Already by TR-Electronic each POWERLINK device a worldwide explicit device identification is assigned und serves for the identification of the Ethernet node. This 6 byte long device identification is the MAC-Address and is not changeable.

  • Page 135: Combination Ip-Address And Default Subnet Mask

    (00000000 00000000 00000000 00011111) 00000000 00000000 00000000 00000011 Host address = Host address  TR-Electronic GmbH 2008, All Rights Reserved Printed in the Federal Republic of Germany 06/26/2017 TR - ECE - BA - DGB - 0071 - 05 Page 135 of 187...

  • Page 136: Ip Addressing

    Default Gateway 192.168.100.254, may be modified Table 7: IP parameters of an EPL node  TR-Electronic GmbH 2008, All Rights Reserved Printed in the Federal Republic of Germany Page 136 of 187 TR - ECE - BA - DGB - 0071 - 05...

  • Page 137: Hostname

    IdentResponse service. Alternatively the hostname can be configured also by means of Object 1F9Ah: NMT_HostName_VSTR, see page 166.  TR-Electronic GmbH 2008, All Rights Reserved Printed in the Federal Republic of Germany 06/26/2017 TR - ECE - BA - DGB - 0071 - 05...

  • Page 138: Communication-Specific Standard Objects (Cia Ds-301)

    VISIBLE_STRING32 0x1F9E VAR NMT_ResetCmd_U8 UNSIGNED8 Table 8: Communication-specific standard objects  TR-Electronic GmbH 2008, All Rights Reserved Printed in the Federal Republic of Germany Page 138 of 187 TR - ECE - BA - DGB - 0071 - 05 06/26/2017...

  • Page 139: Object 1000H: Nmt_Devicetype_U32

    Absolute single turn encoder depending on the encoder type Absolute multi turn encoder  TR-Electronic GmbH 2008, All Rights Reserved Printed in the Federal Republic of Germany 06/26/2017 TR - ECE - BA - DGB - 0071 - 05 Page 139 of 187...

  • Page 140: Object 1001H: Err_Errorregister_U8

    Default value 5000 µs PDO mapping  TR-Electronic GmbH 2008, All Rights Reserved Printed in the Federal Republic of Germany Page 140 of 187 TR - ECE - BA - DGB - 0071 - 05 06/26/2017...

  • Page 141: Object 100Ah: Nmt_Manufactswvers_Vs

    PDO mapping Default value 0x025C 0…0xFF FF FF FF Value range  TR-Electronic GmbH 2008, All Rights Reserved Printed in the Federal Republic of Germany 06/26/2017 TR - ECE - BA - DGB - 0071 - 05 Page 141 of 187...
  • Page 142 PDO mapping Default value 0…0xFF FF FF FF Value range  TR-Electronic GmbH 2008, All Rights Reserved Printed in the Federal Republic of Germany Page 142 of 187 TR - ECE - BA - DGB - 0071 - 05 06/26/2017...

  • Page 143: Object 1020H: Cfm_Verifyconfiguration_Rec

    PDO mapping Default value 0…0xFF FF FF FF Value range  TR-Electronic GmbH 2008, All Rights Reserved Printed in the Federal Republic of Germany 06/26/2017 TR - ECE - BA - DGB - 0071 - 05 Page 143 of 187...
  • Page 144 A configuration tool or an application may use this information to display a warning if the configuration of a node was modified.  TR-Electronic GmbH 2008, All Rights Reserved Printed in the Federal Republic of Germany Page 144 of 187...

  • Page 145: Object 1030H: Nmt_Interfacegroup_0H_Rec

    The interface identified by a particular value of this index is the same interface as identified by the same value of Object 1E40h: NWL_IpAddrTable_0h_REC.IfIndex_U16.  TR-Electronic GmbH 2008, All Rights Reserved Printed in the Federal Republic of Germany 06/26/2017...
  • Page 146 Data type OCTET_STRING6 Access CONST PDO mapping Default value Value range  TR-Electronic GmbH 2008, All Rights Reserved Printed in the Federal Republic of Germany Page 146 of 187 TR - ECE - BA - DGB - 0071 - 05 06/26/2017...
  • Page 147 Default value Value range TRUE (1) = Data valid, FALSE (0) = Data invalid  TR-Electronic GmbH 2008, All Rights Reserved Printed in the Federal Republic of Germany 06/26/2017 TR - ECE - BA - DGB - 0071 - 05...

  • Page 148: Object 1300H: Sdo_Sequlayertimeout_U32

    Data type UNSIGNED8 Access PDO mapping Default value Value range 0…0xFE  TR-Electronic GmbH 2008, All Rights Reserved Printed in the Federal Republic of Germany Page 148 of 187 TR - ECE - BA - DGB - 0071 - 05 06/26/2017...
  • Page 149 Sub version Mapping version Compatibility of TPDO channel may be ensured by PDO mapping version handling.  TR-Electronic GmbH 2008, All Rights Reserved Printed in the Federal Republic of Germany 06/26/2017 TR - ECE - BA - DGB - 0071 - 05...

  • Page 150: Object 1A00H: Pdo_Txmappparam_0H_Au64

    Offset in bits reserved Sub-Index Index Type UNSIGNED16 UNSIGNED16 UNSIGNED8 UNSIGNED16  TR-Electronic GmbH 2008, All Rights Reserved Printed in the Federal Republic of Germany Page 150 of 187 TR - ECE - BA - DGB - 0071 - 05 06/26/2017...

  • Page 151: Object 1C0Ah: Dll_Cncollision_Rec

    PDO mapping Default value 0…0xFF FF FF FF Value range  TR-Electronic GmbH 2008, All Rights Reserved Printed in the Federal Republic of Germany 06/26/2017 TR - ECE - BA - DGB - 0071 - 05 Page 151 of 187...

  • Page 152: Object 1C0Bh: Dll_Cnlosssoc_Rec

    Number of entries Access CONST PDO mapping Default value Value range  TR-Electronic GmbH 2008, All Rights Reserved Printed in the Federal Republic of Germany Page 152 of 187 TR - ECE - BA - DGB - 0071 - 05 06/26/2017...
  • Page 153 0…0xFF FF FF FF; 0 = error reaction deactivated Value range 1 = immediate error reaction  TR-Electronic GmbH 2008, All Rights Reserved Printed in the Federal Republic of Germany 06/26/2017 TR - ECE - BA - DGB - 0071 - 05...

  • Page 154: Object 1C0Fh: Dll_Cncrcerror_Rec

    0…0xFF FF FF FF; 0 = error reaction deactivated Value range 1 = immediate error reaction  TR-Electronic GmbH 2008, All Rights Reserved Printed in the Federal Republic of Germany Page 154 of 187 TR - ECE - BA - DGB - 0071 - 05...

  • Page 155: Object 1C14H: Dll_Cnlossofsoctolerance_U32

    0…0xFF FF FF FF Value range Access Default value 10 ms mapping  TR-Electronic GmbH 2008, All Rights Reserved Printed in the Federal Republic of Germany 06/26/2017 TR - ECE - BA - DGB - 0071 - 05 Page 155 of 187...

  • Page 156: Object 1E40H: Nwl_Ipaddrtable_0H_Rec

    PDO mapping Default value 0…0xFF FF FF FF Value range  TR-Electronic GmbH 2008, All Rights Reserved Printed in the Federal Republic of Germany Page 156 of 187 TR - ECE - BA - DGB - 0071 - 05 06/26/2017...
  • Page 157 PDO mapping Default value 0…0xFF FF FF FF Value range  TR-Electronic GmbH 2008, All Rights Reserved Printed in the Federal Republic of Germany 06/26/2017 TR - ECE - BA - DGB - 0071 - 05 Page 157 of 187...

  • Page 158: Object 1E4Ah: Nwl_Ipgroup_Rec

    Access PDO mapping Default value 0x40 0…0xFF FF Value range  TR-Electronic GmbH 2008, All Rights Reserved Printed in the Federal Republic of Germany Page 158 of 187 TR - ECE - BA - DGB - 0071 - 05 06/26/2017...

  • Page 159: Object 1F82H: Nmt_Featureflags_U32

    SDO Read/Write Mult. Parameter by Index 16-23 = 0 reserved 24-31 = 0 reserved Table 9: NMT_FeatureFlags_U32 interpretation  TR-Electronic GmbH 2008, All Rights Reserved Printed in the Federal Republic of Germany 06/26/2017 TR - ECE - BA - DGB - 0071 - 05...

  • Page 160: Object 1F83H: Nmt_Eplversion_U8

    0100 1101 NMT_CS_BASIC_ETHERNET 0001 1110 Table 10: CN NMT states  TR-Electronic GmbH 2008, All Rights Reserved Printed in the Federal Republic of Germany Page 160 of 187 TR - ECE - BA - DGB - 0071 - 05 06/26/2017...

  • Page 161: Object 1F93H: Nmt_Eplnodeid_Rec

    PDO mapping Default value Value range 0 = Software adjustment, 1 = Hardware adjustment  TR-Electronic GmbH 2008, All Rights Reserved Printed in the Federal Republic of Germany 06/26/2017 TR - ECE - BA - DGB - 0071 - 05...

  • Page 162: Object 1F98H: Nmt_Cycletiming_Rec

    CONST PDO mapping Default value 1490 Bytes 0x0024…0x05D2 Value range  TR-Electronic GmbH 2008, All Rights Reserved Printed in the Federal Republic of Germany Page 162 of 187 TR - ECE - BA - DGB - 0071 - 05 06/26/2017...
  • Page 163 PDO mapping Default value 0x24 0x24…Sub-Index 001 Value range  TR-Electronic GmbH 2008, All Rights Reserved Printed in the Federal Republic of Germany 06/26/2017 TR - ECE - BA - DGB - 0071 - 05 Page 163 of 187...
  • Page 164 This limit shall be 18 bytes less than the minimum InterfaceMTU_U16 value provided by any node in the segment. AsyncMTU_U16 shall be equal in all nodes of the segment.  TR-Electronic GmbH 2008, All Rights Reserved Printed in the Federal Republic of Germany Page 164 of 187...

  • Page 165: Object 1F99H: Nmt_Cnbasicethernettimeout_U32

    To avoid erroneous change over to NMT_CS_BASIC_ETHERNET mode at system startup, NMT_CNBasicEthernetTimeout_U32 should be larger than the MN’s NMT_BootTime_REC.MNWaitNotAct_U32, object 1F89.  TR-Electronic GmbH 2008, All Rights Reserved Printed in the Federal Republic of Germany 06/26/2017 TR - ECE - BA - DGB - 0071 - 05...

  • Page 166: Object 1F9Ah: Nmt_Hostname_Vstr

    NMTSwReset 0x2B NMTInvalidService 0xFF Table 11: CN NMT Reset commands  TR-Electronic GmbH 2008, All Rights Reserved Printed in the Federal Republic of Germany Page 166 of 187 TR - ECE - BA - DGB - 0071 - 05 06/26/2017...
  • Page 167 UNSIGNED32 3100 ARRAY Mapping UNSIGNED32 Table 12: Encoder profile range  TR-Electronic GmbH 2008, All Rights Reserved Printed in the Federal Republic of Germany 06/26/2017 TR - ECE - BA - DGB - 0071 - 05 Page 167 of 187...
  • Page 168 / Revolutions denominator can be a decimal number. The position value output is calculated with a zero point correction, the count direction set and the gearbox parameter entered.  TR-Electronic GmbH 2008, All Rights Reserved Printed in the Federal Republic of Germany Page 168 of 187...
  • Page 169 2 to 2 to 2 to 2 to 2  TR-Electronic GmbH 2008, All Rights Reserved Printed in the Federal Republic of Germany 06/26/2017 TR - ECE - BA - DGB - 0071 - 05 Page 169 of 187...
  • Page 170 Number of Revolutions numerator Total measuring range = Steps per revolution * Number of Revolutions denominator  TR-Electronic GmbH 2008, All Rights Reserved Printed in the Federal Republic of Germany Page 170 of 187 TR - ECE - BA - DGB - 0071 - 05...
  • Page 171 (zero transition) if the distance travelled is exceeded. To simplify matters the complete revolution range of the measuring system can also be programmed.  TR-Electronic GmbH 2008, All Rights Reserved Printed in the Federal Republic of Germany 06/26/2017...
  • Page 172 = 1348.073499 steps / rev. * 1 revolution denominator = 5521709 steps (rounded off)  TR-Electronic GmbH 2008, All Rights Reserved Printed in the Federal Republic of Germany Page 172 of 187 TR - ECE - BA - DGB - 0071 - 05...
  • Page 173 2 to 2 to 2 to 2 to 2  TR-Electronic GmbH 2008, All Rights Reserved Printed in the Federal Republic of Germany 06/26/2017 TR - ECE - BA - DGB - 0071 - 05 Page 173 of 187...
  • Page 174 Value range not relevant Access Default value 0 PDO mapping no  TR-Electronic GmbH 2008, All Rights Reserved Printed in the Federal Republic of Germany Page 174 of 187 TR - ECE - BA - DGB - 0071 - 05 06/26/2017...
  • Page 175 2 to 2 to 2 to 2 to 2  TR-Electronic GmbH 2008, All Rights Reserved Printed in the Federal Republic of Germany 06/26/2017 TR - ECE - BA - DGB - 0071 - 05 Page 175 of 187...
  • Page 176 2 to 2 to 2 to 2 to 2  TR-Electronic GmbH 2008, All Rights Reserved Printed in the Federal Republic of Germany Page 176 of 187 TR - ECE - BA - DGB - 0071 - 05 06/26/2017...
  • Page 177 Error recognition strongly depends of the device’s hardware and software implementation. Error support of the device is indicated by the respective device description entry.  TR-Electronic GmbH 2008, All Rights Reserved Printed in the Federal Republic of Germany 06/26/2017 TR - ECE - BA - DGB - 0071 - 05...
  • Page 178 NMT_CT11, Error Condition --> NMT_CS_PRE_OPERATIONAL_1, see NMT CN State Machine page 120  TR-Electronic GmbH 2008, All Rights Reserved Printed in the Federal Republic of Germany Page 178 of 187 TR - ECE - BA - DGB - 0071 - 05...
  • Page 179 The cumulative counter is incremented by 1 every time an error symptom occurs. Because the cumulative counter is not reset at system start or by reset commands, also an overflow may occur.  TR-Electronic GmbH 2008, All Rights Reserved Printed in the Federal Republic of Germany 06/26/2017...
  • Page 180 Error Code = 0x8164 Table 14: Static Error Bit Field, fragment of the StatusResponse frame  TR-Electronic GmbH 2008, All Rights Reserved Printed in the Federal Republic of Germany Page 180 of 187 TR - ECE - BA - DGB - 0071 - 05...
  • Page 181 Error Code = 0x8245 Table 15: Static Error Bit Field, fragment of the StatusResponse frame  TR-Electronic GmbH 2008, All Rights Reserved Printed in the Federal Republic of Germany 06/26/2017 TR - ECE - BA - DGB - 0071 - 05...
  • Page 182 Error Code = 0x8166 Table 16: Static Error Bit Field, fragment of the StatusResponse frame  TR-Electronic GmbH 2008, All Rights Reserved Printed in the Federal Republic of Germany Page 182 of 187 TR - ECE - BA - DGB - 0071 - 05...
  • Page 183 Error Code = 0x8163 Table 17: Static Error Bit Field, fragment of the StatusResponse frame  TR-Electronic GmbH 2008, All Rights Reserved Printed in the Federal Republic of Germany 06/26/2017 TR - ECE - BA - DGB - 0071 - 05...
  • Page 184 Measuring system ready for operation, connection to master established, no data transfer.  TR-Electronic GmbH 2008, All Rights Reserved Printed in the Federal Republic of Germany Page 184 of 187 TR - ECE - BA - DGB - 0071 - 05...
  • Page 185 0x08 00 00 24 EDS, DCF or Concise DCF data record contains no data Table 18: SDO Abort Codes  TR-Electronic GmbH 2008, All Rights Reserved Printed in the Federal Republic of Germany 06/26/2017 TR - ECE - BA - DGB - 0071 - 05...
  • Page 186 - Chapter “Error handling”, page 177 - Chapter “Object 1C0Bh: DLL_CNLossSoC_REC”, page 152 Table 19: Error Codes  TR-Electronic GmbH 2008, All Rights Reserved Printed in the Federal Republic of Germany Page 186 of 187 TR - ECE - BA - DGB - 0071 - 05...
  • Page 187 Table 21: Miscellaneous faults  TR-Electronic GmbH 2008, All Rights Reserved Printed in the Federal Republic of Germany 06/26/2017 TR - ECE - BA - DGB - 0071 - 05...

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