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- 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:...
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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...
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...
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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...
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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...
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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...
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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...
- 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...
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...
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...
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...
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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...
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...
– 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...
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...
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...
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...
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...
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...
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...
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...
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...
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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...
“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...
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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...
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...
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.
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.
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...
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...
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...
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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...
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└---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 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...
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...
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...
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...
– 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...
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...
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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...
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...
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...
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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...
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...
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...
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...
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...
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...
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...
(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...
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...
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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...
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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...
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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...
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...
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...
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...
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...
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...
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...
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...
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...
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...
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...
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...
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...
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 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...
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...
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...
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...
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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...
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...
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...
“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...
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...
–: 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...
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...
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...
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...
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...
(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...
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...
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...
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...
(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...
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...
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(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...
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= 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...
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...
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...
* 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...
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...
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...
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...
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...
–: 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...
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...
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...
–: 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...
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...
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...
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...
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...
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...
/ 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...
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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...
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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...
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...
* 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...
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...
–: 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...
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...
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...
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...
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...
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...
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...
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...
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...
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...
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...
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...
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...
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...
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...
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...
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 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...
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.
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...
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...
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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...
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...
- 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...
- 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...
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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...
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- 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...
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...
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...
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...
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...
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...
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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...
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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