TR-Electronic CDV582 Original Manual
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TR-Electronic CDV582 Original Manual

Absolute encoder cd_582 profinet/profisafe
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Absolute Encoder CD_582
PROFINET/PROFIsafe
- TR Encoder Profile
-
OPTION:
PNO Encoder Profile V4.2, Class S1/S2
- PNO Encoder Profile V4.2, Class 3/4
- PROFIsafe V2.4 / V2.6.1
CDV582
DIN EN 61508:
SIL CL2 / SIL CL3
DIN EN ISO 13849:
PL d / PL e
_Safety instructions
_Installation
_Commissioning
_Configuration / Parameterization
_Troubleshooting / Diagnostic options
Pictures show similar items
Original manual
CDS582 / CDH582
User Manual
Interface

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Summary of Contents for TR-Electronic CDV582

  • Page 1 - TR Encoder Profile OPTION: PNO Encoder Profile V4.2, Class S1/S2 - PNO Encoder Profile V4.2, Class 3/4 - PROFIsafe V2.4 / V2.6.1 CDV582 CDS582 / CDH582 Pictures show similar items DIN EN 61508: SIL CL2 / SIL CL3 DIN EN ISO 13849:...
  • Page 2 PROFIBUS™, PROFINET™ and PROFIsafe™, as well as the associated logos, are registered trademarks of PROFIBUS Nutzerorganisation e.V. (PNO) SIMATIC is a registered trademark of SIEMENS AG  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany Page 2 of 154...

  • Page 3: Table Of Contents

    6.2.1.1 Standard Telegram 81 ..............36 6.2.1.2 Standard Telegram 82 ..............36 6.2.1.3 Standard Telegram 83 ..............36  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany 11/21/2019 TR - ECE - BA - GB - 0139 - 02...
  • Page 4 6.2.4.7.9 B M P Access – Identification (PNU 974) ......67 6.2.4.7.10 Encoder object identification (PNU 975) ......68 6.2.4.7.11 Sensor Format (PNU 979) ..........68  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany Page 4 of 154...
  • Page 5 6.4.3.2.5 Velocity integration time ........... 97 6.4.4 Submodule Preset (adjustment function) ............98 6.4.4.1 Structure of the cyclic process data ..........98  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany 11/21/2019 TR - ECE - BA - GB - 0139 - 02...
  • Page 6 6.6.3 Preset adjustment function ................130 6.6.3.1 Procedure ..................130 6.6.3.2 Timing diagram ................131  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany Page 6 of 154 TR - ECE - BA - GB - 0139 - 02...
  • Page 7 11.2 PROFINET IO certificate ....................154 11.3 PROFIsafe certificate ....................154 11.4 EU Declaration of Conformity ..................154  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany 11/21/2019 TR - ECE - BA - GB - 0139 - 02...

  • Page 8: Revision Index

    - Description of bit “0” chapter 6.5.3.1.2 edited 11/21/19 - Diagnostic message/Meaning chapter 9.2 edited  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany Page 8 of 154 TR - ECE - BA - GB - 0139 - 02...

  • Page 9: General Information

    See the Chapter “Other Applicable Documents” in the Safety Manual www.tr-electronic.de/f/TR-ECE-BA-GB-0142 ● Product data sheets https://www.tr-electronic.com/s/S020955  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany 11/21/2019 TR - ECE - BA - GB - 0139 - 02 Page 9 of 154...

  • Page 10: References

    Application Layer protocol for decentralized periphery and Specification distributed automation Order no. 2.722  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany Page 10 of 154 TR - ECE - BA - GB - 0139 - 02...

  • Page 11: Abbreviations Used / Terminology

    Switching from substitute values to process values (User Acknowl- edgment) Publicly Available Specification  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany 11/21/2019 TR - ECE - BA - GB - 0139 - 02 Page 11 of 154...
  • Page 12 Recurrent test for detecting hidden dangerous failures in a safety instrumented Proof test system. EXtensible Markup Language  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany Page 12 of 154 TR - ECE - BA - GB - 0139 - 02...

  • Page 13: Main Features

    Instead of the incremental interface, a synchronous-serial absolute-value interface (SSI) is available, which is also not evaluated with respect to safety.  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany 11/21/2019...

  • Page 14: Principle Of The Safety Function

    – The system manufacturer performs a safeguarded test during commissioning and whenever a parameter has been changed.  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany Page 14 of 154 TR - ECE - BA - GB - 0139 - 02...

  • Page 15: Safety Instructions

     TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany 11/21/2019 TR - ECE - BA - GB - 0139 - 02...

  • Page 16: Safety Functions Of The Fail-Safe Processing Unit

    Timeout: Monitoring of the measuring system – response time. To check, STOP e.g., for cable breakage, power failure, etc.  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany Page 16 of 154 TR - ECE - BA - GB - 0139 - 02...

  • Page 17: Installation / Preparation For Commissioning

     Recommendation: Check the PROFINET network for sufficient bandwidth reserves (determination of network load) before starting serial operation.  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany 11/21/2019 TR - ECE - BA - GB - 0139 - 02...

  • Page 18: Profinet Io Transmission Technology, Cable Specification

    1 and 2 must be ensured. This is not the case for RT communication, which can be freely wired.  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany Page 18 of 154...

  • Page 19: Connection Instructions

    To guarantee the signal quality and minimization of possible environmental influences, we urgently recommend to use a shielded twisted pair cable.  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany 11/21/2019 TR - ECE - BA - GB - 0139 - 02...

  • Page 20: Profisafe Destination Address "F_Dest_Add

    Valid addresses: 1…65534, see also Chapter “F_Source_Add / F_Dest_Add“ on Page 135. The PROFIsafe destination address is set via two HEX rotary switches. See pin assignment for location and switch assignment.  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany Page 20 of 154...

  • Page 21: Incremental Interface / Sin/Cos Interface (Optional)

     or the organization responsible for the system must provide appropriate protective measures for downstream electronic devices. The signal characteristics of the two possible interfaces are shown below.  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany 11/21/2019...

  • Page 22: Signal Characteristics

    0 V Differential measurement Figure 2: Level definition, SIN/COS interface  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany Page 22 of 154 TR - ECE - BA - GB - 0139 - 02...

  • Page 23: Htl/Ttl Level (Optional)

    TR’s own hybrid cable (part number: 64-200-021) was used for the measurements. Figure 3: Cable lengths / limit frequencies, TTL version  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany 11/21/2019...
  • Page 24 Therefore, the fault-free function of the incremental interface with the application-dependent parameters has to be checked prior to productive operation.  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany Page 24 of 154...

  • Page 25: Ssi Interface (Optional)

    “0” after the LSB data bit. The MSB data bit is read only at time (3). Therefore, the clock number must always be one higher (n+1) than the number of data bits to be transmitted.  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany 11/21/2019...
  • Page 26 High internal Monoflop, can be retriggered Figure 6: SSI transmission format  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany Page 26 of 154 TR - ECE - BA - GB - 0139 - 02...

  • Page 27: Commissioning

    The GSDML file and the associated bitmap file are part of the measuring system. Download www.tr-electronic.de/f/TR-ECE-ID-MUL-0058  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany 11/21/2019 TR - ECE - BA - GB - 0139 - 02...

  • Page 28: Device Identification

    Each PROFINET IO device has a device identification. It consists of a Vendor ID and a manufacturer- specific part, the Device ID. The Vendor ID is assigned by the PNO and for TR-Electronic has the value 0x0153, while the Device ID has the value 0x0404.

  • Page 29: Address Assignment

    This is noted on the nameplate of the address device, eg “00-03-12-04-00-60”, and can not be changed. The name for the device type assigned by TR-Electronic is Device type TR Rotative Safety TR Rotative Safety and can not be changed.

  • Page 30: Bus Status Display

    4.3 Commissioning via SIEMENS SIMATIC S7 Download Technical Information: www.tr-electronic.de/f/TR-ECE-TI-DGB-0340  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany Page 30 of 154 TR - ECE - BA - GB - 0139 - 02 11/21/2019...

  • Page 31: Resetting The Device Parameters

    0.0.0.0 8. The measuring system reboots to apply the settings 9. The process is complete, and the screw plug can be screwed back in again  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany 11/21/2019...

  • Page 32: Parameterization And Configuration

    Each module or submodule requires a different number of inputs and outputs and has a set of parameter data, which can be set according to the application.  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany...
  • Page 33 PNO channel mode The PNO channel mode supports the PNO encoder profile V4.2. The process data are transferred about the PROFINET IO.  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany 11/21/2019 TR - ECE - BA - GB - 0139 - 02...
  • Page 34 └---Telegram 84; SUBSLOT 2 Figure 11: PNO channel mode, module / submodule / subslot assignments  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany Page 34 of 154 TR - ECE - BA - GB - 0139 - 02...

  • Page 35: Pno Encoder Profile, Not Safety Instrumented (Channel 1/2 (Pno))

    Page 40 Status word 2, Encoder ZSW2_ENC Unsigned16 Page 40  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany 11/21/2019 TR - ECE - BA - GB - 0139 - 02 Page 35 of 154...

  • Page 36: Standard Telegram 81

    Structure of output words 1 to 2, Master -> IO device OW 1 OW 2 STW2_ENC G1_STW  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany Page 36 of 154 TR - ECE - BA - GB - 0139 - 02...

  • Page 37: Format Signal 6 / 8: Actual Speed Value A / B (Nist_A / B)

    0: No querying of absolute position 1: Absolute position is cyclically transmitted via the signal G1_XIST2 Continued on next page  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany 11/21/2019 TR - ECE - BA - GB - 0139 - 02...

  • Page 38: Format Signal 10: Status Word, Sensor 1 (G1_Zsw)

    G1_XIST2, see Chapter “6.2.6.1“ on Page 71. The acknowledgement or error deletion is made via signal G1_STW Bit 15.  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany Page 38 of 154...

  • Page 39: Format Signal 11: Position Value 1, Sensor 1 (G1_Xist1)

    – 2 – 2 – 2 – 2 – 2 Data  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany 11/21/2019 TR - ECE - BA - GB - 0139 - 02 Page 39 of 154...

  • Page 40: Format Signal 80: Control Word 2, Encoder (Stw2_Enc)

    1: Warning occurred. Will be reset automatically if the cause for the warning no longer exists. reserved Continued on next page  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany Page 40 of 154 TR - ECE - BA - GB - 0139 - 02...
  • Page 41 12-15 4-bit counter in each data cycle. Valid values are 1 to 15, the value 0 means error.  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany 11/21/2019 TR - ECE - BA - GB - 0139 - 02...

  • Page 42: Parameter Access And Initialization

    Access to the PNU 65005 initialization controller is possible both via the parameter data block (if enabled) and anacyclic parameter access, and is therefore always adjustable, irrespective of the initialization setting.  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany Page 42 of 154...

  • Page 43: Configurable Module-Related Parameters

    V3.1 1: disable Class 3 and 4 Continued on next page  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany 11/21/2019 TR - ECE - BA - GB - 0139 - 02 Page 43 of 154...
  • Page 44 Preset value 18-21 Integer32 Default value: 0 (PNU 65000) Class 4  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany Page 44 of 154 TR - ECE - BA - GB - 0139 - 02 11/21/2019...

  • Page 45: Parameter Initialization (Pnu 65005_0-1)

    PNU 972 (device RESET) Read-only Parameter PNU 972 is read only  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany 11/21/2019 TR - ECE - BA - GB - 0139 - 02 Page 45 of 154...

  • Page 46: Code Sequence

    13) and G1_XIST3. The preset function is also only effective in G1_XIST1, if the parameter Preset affects XIST1 is set to enable.  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany Page 46 of 154...

  • Page 47: Preset Affects Xist1

    This means that the data volume to be transferred can be limited in synchronous mode.  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany 11/21/2019 TR - ECE - BA - GB - 0139 - 02...

  • Page 48: Compatibility Mode V3.1

    2 steps/revolution Upper limit 8192 steps per revolution Default 8192  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany Page 48 of 154 TR - ECE - BA - GB - 0139 - 02 11/21/2019...

  • Page 49: Scaling: Total Measuring Range

    G1_XIST2. Unsigned8 Data type Lower limit Upper limit Default  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany 11/21/2019 TR - ECE - BA - GB - 0139 - 02 Page 49 of 154...

  • Page 50: Velocity Value Normalization (Pnu 60001)

    1: weak filtering, high cut-off frequency . . . 10: strong filtering, low cut-off frequency  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany Page 50 of 154 TR - ECE - BA - GB - 0139 - 02...

  • Page 51: Velocity Filter Type

     MSB = 1: negative sign  MSB = 0: positive sign  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany 11/21/2019 TR - ECE - BA - GB - 0139 - 02 Page 51 of 154...

  • Page 52: Preset Value (Pnu 65000)

    (absolute) Lower limit –1 (relative), 2 Upper limit (absolute) Default  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany Page 52 of 154 TR - ECE - BA - GB - 0139 - 02 11/21/2019...

  • Page 53: Acyclic Parameter Access (Base Mode Parameter Access - Local)

    Only one command can be processed at a time The initiative always comes from the IO controller Only one parameter can be processed in a command  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany 11/21/2019...
  • Page 54 Parameter value, error number drive profile Table 2: Record Data Response  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany Page 54 of 154 TR - ECE - BA - GB - 0139 - 02...
  • Page 55 0x01 Number of parameters, mirrored Table 4: Record Data Response to write preset value 1000  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany 11/21/2019 TR - ECE - BA - GB - 0139 - 02...
  • Page 56 0xE8 Value (LSB) Table 6: Record Data Response to read back preset value  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany Page 56 of 154 TR - ECE - BA - GB - 0139 - 02...

  • Page 57: Preset Value 32-Bit (Pnu 65000)

    Error Supported errors Warnings Warnings supported Continued on next page  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany 11/21/2019 TR - ECE - BA - GB - 0139 - 02 Page 57 of 154...

  • Page 58: Block Header (Pnu 65001.00)

    1: Linear encoder, resolution in nm per step 7 - 31 reserved  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany Page 58 of 154 TR - ECE - BA - GB - 0139 - 02...

  • Page 59: Error (Pnu 65001.02)

    Command not supported 16 - 24 Always 0 25 - 31 reserved  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany 11/21/2019 TR - ECE - BA - GB - 0139 - 02 Page 59 of 154...

  • Page 60: Supported Warnings (Pnu 65001.05)

    15-8 – 2 – 2 – 2 – 2 Data  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany Page 60 of 154 TR - ECE - BA - GB - 0139 - 02 11/21/2019...

  • Page 61: Velocity Value Normalization (Pnu 65001.11)

    Preset affects XIST1, see Chapter 6.2.3.7 on Page 47) 0: enable 1: disabled Continued on next page  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany 11/21/2019 TR - ECE - BA - GB - 0139 - 02...

  • Page 62: Parameter Control (Pnu 65005)

    Write protection on PNU 972, see Chapter 6.2.3.4 on Page 45 0: write all 1: read-only 7 - 16 reserved  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany Page 62 of 154 TR - ECE - BA - GB - 0139 - 02 11/21/2019...

  • Page 63: Scaling: Measuring Units Per Revolution (Pnu 65006)

    Data type Unsigned32 Access read/write Activation PNU 972 Storage PNU 971  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany 11/21/2019 TR - ECE - BA - GB - 0139 - 02 Page 63 of 154...

  • Page 64: Profidrive-Related Parameters (Pnu 600Xx, 9Xx)

    Steps/sec Steps/100 msec Steps/10 msec Revolutions per minute N2/N4 normalized  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany Page 64 of 154 TR - ECE - BA - GB - 0139 - 02 11/21/2019...

  • Page 65: Telegram Selection (Pnu 922)

    Firmware Date (Year): YYYY (decimal) Firmware date: (Day/Month): ddmm (decimal)  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany 11/21/2019 TR - ECE - BA - GB - 0139 - 02 Page 65 of 154...

  • Page 66: Profile Identification (Pnu 965)

     TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany Page 66 of 154...

  • Page 67: B M P Access - Identification (Pnu 974)

    0x00F0 = 240 bytes Multiparameter access: 0x0001 = no multiparameter access Max. latency: 0x0000 = unspecified  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany 11/21/2019 TR - ECE - BA - GB - 0139 - 02...

  • Page 68: Encoder Object Identification (Pnu 975)

    Bit 30 = 1: Data validity in PNU 979 G1 substructure is static Bit 31 = 1: Data in PNU 979 G1 substructure are valid Continued on next page  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany Page 68 of 154...

  • Page 69: Parameter List (Pnu 980)

    0xFDEE: Scaling: Measuring units per revolution (PNU 65006), ..see Page 63 0xFDEF: Scaling: Total measuring range (PNU 65007), ....see Page 63 0x0000: End of parameter list  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany 11/21/2019...

  • Page 70: Preset Function

    A warning indicates that one or more internal measuring system parameters have been exceeded. Unlike error messages, warnings do not lead to an incorrect position output.  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany...

  • Page 71: Error Codes In Signal G1_Xist2

    In standard mode V4.2, the profile-specific control via the alarm channel is always active; it can be switched on or off in compatibility mode V3.1, see Chapter 6.2.3.9 Page 47.  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany 11/21/2019...

  • Page 72: Option: Pno Encoder Profile, Safety Instrumented (Safety Bp/Xp (Pno))

    Page 75 PNU 62000 F Preset value S_PRESET32 Integer32 Page 75  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany Page 72 of 154 TR - ECE - BA - GB - 0139 - 02 11/21/2019...

  • Page 73: Standard Telegram 36 (Bp/Xp)

    OW 2 OW 3 Safe Control, 4-Byte-CRC (V2.6.1) S_STW1_ENC S_PRESET32 F_MessageTrailer5Byte  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany 11/21/2019 TR - ECE - BA - GB - 0139 - 02 Page 73 of 154...

  • Page 74: Format Signal 96: F Actual Position Value (S_Xist32)

    Preset triggering Preset activation. See description under Bit 2 7-15 reserved  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany Page 74 of 154 TR - ECE - BA - GB - 0139 - 02 11/21/2019...

  • Page 75: Format Signal 99: Encoder F Status Word 1 (S_Zsw1_Enc)

    15-8 – 2 – 2 – 2 – 2 Data  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany 11/21/2019 TR - ECE - BA - GB - 0139 - 02 Page 75 of 154...

  • Page 76: Parameter Access And Initialization (Safety-Related)

    Every change under a data block requires a new calculation of the respective checksum value F_iPar_CRC or F_Par_CRC. A change of the iParameters therefore requires a new calculation of the checksum value for the F-parameter F_Par_CRC.  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany Page 76 of 154...
  • Page 77 As with the non-safety-related application, the parameter can also be accessed after the startup phase via the acyclic data traffic (Base Mode Parameter channel). However, for safety reasons, the parameter is read-only.  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany 11/21/2019...

  • Page 78: Configurable Module-Related Iparameters (F_Ipar)

    2: Steps/10 ms normalization 3: Revolutions per minute Class S2: Telegram 36 (BP/XP)  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany Page 78 of 154 TR - ECE - BA - GB - 0139 - 02...

  • Page 79: Code Sequence

    In this configuration, the measuring system does not support decimal numbers or revolution speeds deviating from powers of 2 (gear function).  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany...

  • Page 80: Scaling: Measuring Units Per Revolution

    “Number of steps per revolution” are selected such that the quotient of the two parameters is a power of 2.  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany Page 80 of 154...

  • Page 81: Velocity Value Normalization

    1000 increments and can not be changed. The position deviation in increments is always based on the non-scaled resolution of 13 bits = 8192 steps/revolution.  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany...

  • Page 82: Configurable Submodule-Related F-Parameters (F_Par)

    –: not applicable Centralized and detailed description of the F-parameters, see Chapter 6.8 from Page 135.  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany Page 82 of 154 TR - ECE - BA - GB - 0139 - 02...

  • Page 83: Acyclic Parameter Access (Base Mode Parameter Access - Local)

    Value range 0: Steps(s), 1: Steps/100 ms, 2: Steps/10 ms, 3: Revolutions per minute  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany 11/21/2019 TR - ECE - BA - GB - 0139 - 02...

  • Page 84: Safety Setpoint Telegram (Pnu 60024)

    Safety preset value 32 bit Data type Integer32 Access read  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany Page 84 of 154 TR - ECE - BA - GB - 0139 - 02 11/21/2019...

  • Page 85: Safety Operating Status (Pnu 65100)

    0x12 Number of indices = 18 24 - 31 reserved  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany 11/21/2019 TR - ECE - BA - GB - 0139 - 02 Page 85 of 154...

  • Page 86: Operating Status (Pnu 65100.01)

    15-8 – 2 – 2 – 2 – 2 Data  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany Page 86 of 154 TR - ECE - BA - GB - 0139 - 02 11/21/2019...

  • Page 87: Preset Adjustment Function

    (SP1, Figure 14).  Finally, the F Host must check that the new position corresponds to the new command position.  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany 11/21/2019 TR - ECE - BA - GB - 0139 - 02...

  • Page 88: Preset Finite State Machine / Control Cycle

    Parameterization and configuration 6.3.6.2 Preset finite state machine / control cycle Figure 14: Preset finite state machine / control cycle  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany Page 88 of 154 TR - ECE - BA - GB - 0139 - 02...

  • Page 89: Diagnosis

    F status word 1 S_ZSW1_ENC Chapter 4.2, Page 30 LED display Chapter 9.1, Page 140  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany 11/21/2019 TR - ECE - BA - GB - 0139 - 02...

  • Page 90: Tr Encoder Profile, Non-Safety Instrumented (Channel 1/2 (Tr))

    The preset function can only be performed in the safety-related Safety (TR) channel, but the preset function in the non-safety-related Channel 1 (TR) or Channel 2 (TR) channel is disabled.  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany...

  • Page 91: Submodule Position

    (looking at shaft, flange connection) Measuring system – position ascending clockwise forward (looking at shaft, flange connection)  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany 11/21/2019 TR - ECE - BA - GB - 0139 - 02...

  • Page 92: Scaling Parameter

    Measuring range = steps per revolution * number of revolutions For the purposes of calculation, the parameters Steps/Revolution and Number of Revolutions can be taken from the measuring system nameplate.  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany Page 92 of 154...
  • Page 93 (zero transition) if the travel is slightly exceeded. For the sake of simplicity, the full revolution range of the measuring system can also be programmed.  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany...
  • Page 94 = 1348.073499 steps / rev. * 1 denominator revolution = 5521709 steps (rounded)  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany Page 94 of 154 TR - ECE - BA - GB - 0139 - 02...

  • Page 95: Submodule Velocity

    Velocity Default value: 100 Unsigned16 integration time Value range: 1-1000  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany 11/21/2019 TR - ECE - BA - GB - 0139 - 02 Page 95 of 154...

  • Page 96: Velocity Format

    1: weak filtering, high cut-off frequency . . . 10: strong filtering, low cut-off frequency  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany Page 96 of 154 TR - ECE - BA - GB - 0139 - 02...

  • Page 97: Velocity Filter Type

    * 0.05 s 32768 steps (Steps/integration time) * factor = 32768 steps / 50 ms  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany 11/21/2019 TR - ECE - BA - GB - 0139 - 02...

  • Page 98: Submodule Preset (Adjustment Function)

    Adjustment was executed 0x01 Error, adjustment could not be executed 0x80  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany Page 98 of 154 TR - ECE - BA - GB - 0139 - 02...

  • Page 99: Submodule Status

    Substitute position Bit 0 0: off 1: on  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany 11/21/2019 TR - ECE - BA - GB - 0139 - 02 Page 99 of 154...

  • Page 100: Tr Encoder Profile, Safety Instrumented (Safety (Tr))

    Safe Control, 4-Byte-CRC (V2.6.1) Cont. 2 Cont. 1 Preset F_MessageTrailer5Byte Cont.: TR control  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany Page 100 of 154 TR - ECE - BA - GB - 0139 - 02 11/21/2019...

  • Page 101: Configurable Submodule-Related Iparameters (F_Ipar)

    Window 13-14 Unsigned16 Default value: 1000 increments Value range: 50-4000  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany 11/21/2019 TR - ECE - BA - GB - 0139 - 02 Page 101 of 154...

  • Page 102: Configurable Submodule-Related F-Parameters (F_Par)

    –: not applicable Centralized and detailed description of the F-parameters, see Chapter 6.8 from Page 135.  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany Page 102 of 154 TR - ECE - BA - GB - 0139 - 02...

  • Page 103: Submodule Velocity (Bp/Xp)

    F_MessageTrailer5Byte Structure of output data, master -> IO device Safe Control, 4-Byte-CRC (V2.6.1) F_MessageTrailer5Byte  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany 11/21/2019 TR - ECE - BA - GB - 0139 - 02...

  • Page 104: Configurable Submodule-Related Iparameters (F_Ipar)

    Sign setting Velocity Output Rotational direction Bit 0 0: backward 1: forward  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany Page 104 of 154 TR - ECE - BA - GB - 0139 - 02 11/21/2019...

  • Page 105: Configurable Submodule-Related F-Parameters (F_Par)

    –: not applicable Centralized and detailed description of the F-parameters, see Chapter 6.8 from Page 135.  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany 11/21/2019 TR - ECE - BA - GB - 0139 - 02...

  • Page 106: Submodule Position + Velocity (Bp/Xp)

    Safe Control, 4-Byte-CRC (V2.6.1) Cont. 2 Cont. 1 Preset F_MessageTrailer5Byte Cont.: TR control  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany Page 106 of 154 TR - ECE - BA - GB - 0139 - 02 11/21/2019...

  • Page 107: Input Tr Status1 (Stat. 1)

    After positive verification, the bit can be cleared by executing the preset adjustment function, see Chapter 6.5.4 on Page 118.  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany 11/21/2019...

  • Page 108: Input Tr Status2 (Stat. 2)

    Chapter “Preset adjustment function“ on Page 118. 2…7 reserved  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany Page 108 of 154 TR - ECE - BA - GB - 0139 - 02...

  • Page 109: Output Tr-Control2 (Cont. 2)

    15-8 – 2 – 2 – 2 – 2 Data  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany 11/21/2019 TR - ECE - BA - GB - 0139 - 02 Page 109 of 154...

  • Page 110: Configurable Submodule-Related Iparameters (F_Ipar)

    Window 18-19 Unsigned16 Default value: 1000 increments Value range: 50-4000  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany Page 110 of 154 TR - ECE - BA - GB - 0139 - 02 11/21/2019...

  • Page 111: Rotational Direction

    / Revolutions denominator can be a decimal number. The output actual position value is offset by a zero-point correction, the set counting direction and the entered gearbox parameter.  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany 11/21/2019...
  • Page 112 The result of the above formula must be rounded up or down. The resulting error is distributed over the total number of revolutions programmed and is therefore negligible.  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany Page 112 of 154...
  • Page 113 4096 numerator revolutions = 1348.073499 steps / rev. * 1 denominator revolution = 5521709 steps (rounded)  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany 11/21/2019 TR - ECE - BA - GB - 0139 - 02...

  • Page 114: Velocity Format

    1: weak filtering, high cut-off frequency . . . 10: strong filtering, low cut-off frequency  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany Page 114 of 154 TR - ECE - BA - GB - 0139 - 02...

  • Page 115: Velocity Filter Type

    * 0.05 s 32768 steps (Steps/integration time) * factor = 32768 steps / 50 ms  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany 11/21/2019 TR - ECE - BA - GB - 0139 - 02...

  • Page 116: Window Increments

    The larger the window increments, the larger the angle until an error will be detected. The position deviation in increments is always based on the non-scaled resolution of 13 bits = 8192 steps/revolution.  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany Page 116 of 154...

  • Page 117: Configurable Submodule-Related F-Parameters (F_Par)

    –: not applicable Centralized and detailed description of the F-parameters, see Chapter 6.8 from Page 135.  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany 11/21/2019 TR - ECE - BA - GB - 0139 - 02...

  • Page 118: Preset Adjustment Function

    1 again.  Finally, the F Host must check that the new position corresponds to the new command position.  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany Page 118 of 154 TR - ECE - BA - GB - 0139 - 02...

  • Page 119: Timing - Diagram

    Output signals F Host-> measuring system Orange area: Input signals measuring system-> F Host Figure 15: Preset Timing Diagram  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany 11/21/2019 TR - ECE - BA - GB - 0139 - 02...

  • Page 120: Calculating The Delay For A Moving Axis

    5.6 Rev. * 8192 steps * Resolution = 45875 steps dynamic Rev.  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany Page 120 of 154 TR - ECE - BA - GB - 0139 - 02 11/21/2019...

  • Page 121: Legacy (Tr) Profile

    The bit is set if the velocity value is outside the range of –32768…+32767. …2 reserved  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany 11/21/2019 TR - ECE - BA - GB - 0139 - 02...

  • Page 122: Input Tr Status

    In this case, the message in the cam register is cleared as well. The velocity is specified in Increments per Integration time safety.  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany Page 122 of 154...

  • Page 123: Input Multi-Turn / Single-Turn

    Chapter “Preset adjustment function“ on Page 130. …2 reserved  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany 11/21/2019 TR - ECE - BA - GB - 0139 - 02...

  • Page 124: Output Preset Multi-Turn / Preset Single-Turn

    The preset value is set as new position when the preset adjustment function is executed; see chapter “Preset adjustment function” on Page 130.  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany Page 124 of 154...

  • Page 125: Configurable Module-Related Iparameters (F_Ipar)

    The time basis is set to a fixed value of to 5 ms. The value range of 1...100 can therefore be used to set 5...500 ms. Standard value = 100 ms.  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany...

  • Page 126: Window Increments

    Forward code sequence = ascending counting direction Backward code sequence = descending counting direction Default value = Forward code sequence.  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany Page 126 of 154 TR - ECE - BA - GB - 0139 - 02...

  • Page 127: Configurable Module-Related F-Parameters (F_Par)

    Range: 0-4294967295 Centralized and detailed description of the F-parameters, see Chapter 6.8 from Page 135.  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany 11/21/2019 TR - ECE - BA - GB - 0139 - 02...

  • Page 128: Channel 1 (Legacy), Non-Safety Instrumented

    In this case, the message in the cam register is cleared as well. The velocity is specified in Increments per Integration time standard.  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany Page 128 of 154...

  • Page 129: Input Multi-Turn / Single-Turn

    Position in steps = (steps per revolution * number of revolutions) + single-turn position The output position is unsigned.  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany 11/21/2019...

  • Page 130: Preset Adjustment Function

    TR-Control1 register must be reset manually.  Finally, the F Host must check that the new position corresponds to the new command position.  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany Page 130 of 154...

  • Page 131: Timing Diagram

    Output signals F Host-> measuring system Orange area: Input signals measuring system-> F Host  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany 11/21/2019 TR - ECE - BA - GB - 0139 - 02...

  • Page 132: Safe Status / Safe Control (F_Messagetrailer)

    A more detailed description of the status bits can be found in the PNO document “PROFIsafe – Profile for Safety Technology on PROFIBUS DP and PROFINET IO”, Order No.: 3.192b.  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany Page 132 of 154...

  • Page 133: Safe Control (Bp/Xp)

    A more detailed description of the control bits can be found in the PNO document “PROFIsafe – Profile for Safety Technology on PROFIBUS DP and PROFINET IO”, Order No.: 3.192b.  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany 11/21/2019...

  • Page 134: Access Mechanism

     if there are hardware related errors in the measuring system  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany Page 134 of 154 TR - ECE - BA - GB - 0139 - 02...

  • Page 135: F-Parameter (F_Par) - Description

    Page 20. Default value F_Source_Add = 1 Default value F_Dest_Add = 1 F_Source_Add ≠ F_Dest_Add.  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany 11/21/2019 TR - ECE - BA - GB - 0139 - 02...

  • Page 136: F_Wd_Time

    This value is calculated by the program TR_iParameter provided by TR-Electronic, see below. The checksum value determined must then be manually entered in the Engineering Tool of the F Host.

  • Page 137: Media Redundancy (Mrp) / Fast Start-Up (Fsu)

    To enable a connection however, a crossover cable or a switch with port wiring is required for crossing the connections. See also PROFINET Design Guidelines, PNO order no.: 8.062.  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany 11/21/2019...

  • Page 138: Shared Device Applications

    Each communication relationship can in turn consist of several slots or subslots, see the following configuration example (TR mode): Figure 16: Shared Device, configuration example  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany Page 138 of 154...
  • Page 139 1, 1 per slot Channel 2 (PNO) 1, 1 per slot OPTION  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany 11/21/2019 TR - ECE - BA - GB - 0139 - 02 Page 139 of 154...

  • Page 140: Troubleshooting And Diagnostic Options

    F-CPU and measuring system is faulty Continued on next page  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany Page 140 of 154 TR - ECE - BA - GB - 0139 - 02...
  • Page 141 - The checksum calculated for the specified iParameter set is incorrect or was not included in the configuration  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany 11/21/2019 TR - ECE - BA - GB - 0139 - 02...

  • Page 142: Net-Status, Bicolor Led

    - Make sure that the setup configuration measuring system configuration parameters match the measuring system configuration  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany Page 142 of 154 TR - ECE - BA - GB - 0139 - 02...

  • Page 143: Profinet Diagnose-Alarm

    - Check the parameterization of the F:0066 (F_Source_Add) PROFIsafe communication. Continued on next page  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany 11/21/2019 TR - ECE - BA - GB - 0139 - 02 Page 143 of 154...
  • Page 144 F-CPU and measuring system is faulty. Continued on next page  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany Page 144 of 154 TR - ECE - BA - GB - 0139 - 02...
  • Page 145 F:8202 repeated. The preset adjustment is faulty. Continued on next page  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany 11/21/2019 TR - ECE - BA - GB - 0139 - 02 Page 145 of 154...
  • Page 146 - A system restart is required. The hardware diagnostics of the fieldbus interface has detected an internal error.  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany Page 146 of 154 TR - ECE - BA - GB - 0139 - 02...

  • Page 147: Return Of Submodul Alarm

    This OB is generally triggered when the measuring system transmits a diagnostic alarm to the controller, see Chapter “PROFINET Diagnostic alarm” on Pages 71 and 143.  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany...

  • Page 148: Data Status

    Data IOPS ... Data ...IOPS. Cycle Data status Transfer status 0x8892 1 ...  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany Page 148 of 154 TR - ECE - BA - GB - 0139 - 02 11/21/2019...

  • Page 149: Information & Maintenance

    Revision Status Profile ID Profile-specific type I&M Version I&M Support  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany 11/21/2019 TR - ECE - BA - GB - 0139 - 02 Page 149 of 154...
  • Page 150 Block Header Block Version, High-Byte Block Version, Low-Byte IM_Signatur (VisibleString) Signature  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany Page 150 of 154 TR - ECE - BA - GB - 0139 - 02 11/21/2019...

  • Page 151: Behavior Of The Measuring System Process Data Outputs

    Supply ON Values are initialized to 0 Values are initialized to 0  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany 11/21/2019 TR - ECE - BA - GB - 0139 - 02 Page 151 of 154...

  • Page 152: Checklist, Part 2 Of 2

    Preset adjustment function (legacy profile), Page 130 Continued on next page  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany Page 152 of 154 TR - ECE - BA - GB - 0139 - 02...
  • Page 153 Page 101 be checked ● Chapter Legacy-profile parameterization, from Page 125  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany 11/21/2019 TR - ECE - BA - GB - 0139 - 02 Page 153 of 154...

  • Page 154: Appendix

    11.4 EU Declaration of Conformity Download ● CD_582M +FS02: www.tr-electronic.de/f/TR-ECE-KE-DGB-0354 ● CD_582M +FS03: www.tr-electronic.de/f/TR-ECE-KE-DGB-0358  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany Page 154 of 154 TR - ECE - BA - GB - 0139 - 02 11/21/2019...

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