TR-Electronic LP-46 User Manual
  1. Manuals
  2. Brands
  3. TR-Electronic Manuals
  4. Media Converter
  5. LP-46 Series
  6. User manual

TR-Electronic LP-46 User Manual

Ethercat conformance tested, absolut linear encoder, interface
Hide thumbs Also See for LP-46:
Table of Contents

Advertisement

Available languages

Available languages

Quick Links

Absolut Linear Encoder
LP-46
LMPI-46
_Zusätzliche Sicherheitshinweise
_Installation
_Inbetriebnahme
_Konfiguration / Parametrierung
_Fehlerursachen und Abhilfen
5608xx, 5621xx, 5628xx
D
Seite 2 - 64
GB
Page 65 - 127
LA-46
LMRI-46
Benutzerhandbuch

Advertisement

Chapters

Table of Contents
loading
Need help?

Need help?

Do you have a question about the LP-46 and is the answer not in the manual?

Questions and answers

Subscribe to Our Youtube Channel

Related Manuals for TR-Electronic LP-46

Summary of Contents for TR-Electronic LP-46

  • Page 1 Seite 2 - 64 Page 65 - 127 Absolut Linear Encoder LP-46 LMPI-46 LA-46 LMRI-46 _Zusätzliche Sicherheitshinweise _Installation _Inbetriebnahme _Konfiguration / Parametrierung _Fehlerursachen und Abhilfen Benutzerhandbuch 5608xx, 5621xx, 5628xx...
  • Page 2 Alle anderen genannten Produkte, Namen und Logos dienen ausschließlich Informationszwecken und können Warenzeichen ihrer jeweiligen Eigentümer sein, ohne dass eine besondere Kennzeichnung erfolgt.  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 2 of 127...

  • Page 3: Table Of Contents

    5.2.1 Anzeigezustände und Blinkfrequenz ..............27 5.2.2 Link / Data Activity LED, IN/OUT ................28 5.2.3 Net Run LED ......................28  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 04/09/2020 TR - ELA - BA - DGB - 0005 - 11...
  • Page 4 9.3.1 Emergency Error Codes ..................62 9.3.2 Error Register ......................62 9.4 Sonstige Störungen ........................ 63  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 4 of 127 TR - ELA - BA - DGB - 0005 - 11...

  • Page 5: Änderungs-Index

    10.07.2018  Kapitel 8.2 Objekt 2001h: Interpolation um Beispiel ergänzt 09.04.2020  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 04/09/2020 TR - ELA - BA - DGB - 0005 - 11 Page 5 of 127...

  • Page 6: Allgemeines

    Es gelten somit zusammen folgende Dokumentationen:  siehe Kapitel „Mitgeltende Dokumente“ in der Montageanleitung www.tr-electronic.de/f/TR-ELA-BA-DGB-0004  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 6 of 127 TR - ELA - BA - DGB - 0005 - 11...

  • Page 7: Referenzen

    IEEE 1588-2002 IEEE Standard for a Precision Clock Synchronization Protocol for Networked Measurement and Control Systems  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 04/09/2020 TR - ELA - BA - DGB - 0005 - 11...

  • Page 8: Verwendete Abkürzungen / Begriffe

    Zugriff auf die Objekt-Datenliste eines Gerätes. Extensible Markup Language, Beschreibungsdatei für die Inbetriebnahme des Mess-Systems.  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 8 of 127 TR - ELA - BA - DGB - 0005 - 11...

  • Page 9: Zusätzliche Sicherheitshinweise

    Beachten der Montageanleitung, insbesondere das dort enthaltene Kapitel "Grundlegende Sicherheitshinweise" muss vor Arbeitsbeginn gelesen und verstanden worden sein  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 04/09/2020 TR - ELA - BA - DGB - 0005 - 11...

  • Page 10: Ethercat Informationen

    Ringstruktur. Slave Slave Slave Master Ethernet Abbildung 1: EtherCAT-Funktionsprinzip  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 10 of 127 TR - ELA - BA - DGB - 0005 - 11 04/09/2020...

  • Page 11: Protokoll

    Informationen zu einem lokalen Zeitpunkt der Datenerfassung liefern. Durch das System hängt die Genauigkeit einer Geschwindigkeitsberechnung nicht mehr vom Jitter des Kommunikationssystems ab.  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 04/09/2020 TR - ELA - BA - DGB - 0005 - 11...

  • Page 12: Geräteprofil

    Protokoll, und damit das vom CANopen her bekannte „Device Profile for Encoder“, CiA DS-406. Abbildung 3: CANopen over EtherCAT Kommunikationsmechanismus  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 12 of 127 TR - ELA - BA - DGB - 0005 - 11...

  • Page 13: Canopen Over Ethercat (Coe)

    Abbildung 5: EtherCAT eingeordnet im ISO/OSI-Schichtenmodell EN 50325-4: Industrielle-Kommunikations-Systeme, basierend auf ISO 11898 (CAN) für Controller-Device Interfaces. Teil 4: CANopen.  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 04/09/2020 TR - ELA - BA - DGB - 0005 - 11...

  • Page 14: Objektverzeichnis

    Wichtige Merkmale von SDO und PDO Abbildung 7: Gegenüberstellung von PDO/SDO-Eigenschaften  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 14 of 127 TR - ELA - BA - DGB - 0005 - 11...

  • Page 15: Kompatibilität Zum Cia Ds-301 Kommunikationsprofil

    „Download SDO Segment” Request / „Upload SDO Segment” Response kann mehr als 7 Byte Daten beinhalten Download und Upload aller Sub-Indices auf einmal  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 04/09/2020 TR - ELA - BA - DGB - 0005 - 11...

  • Page 16: Übertragung Von Sdo Nachrichten

    Über diese Dienste können jeweils bis zu vier Byte geschrieben, bzw. bis zu vier Byte gelesen werden. Für die meisten Objekte ist dies ausreichend.  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 16 of 127...
  • Page 17 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 2007, All Rights Reserved Printed in the Federal Republic of Germany 04/09/2020...

  • Page 18: Canopen Over Ethercat Protokoll

    2 Byte schreiben SDO Request 0x2F 1 Byte schreiben SDO Request  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 18 of 127 TR - ELA - BA - DGB - 0005 - 11 04/09/2020...

  • Page 19: Initiate Sdo Download Expedited Response

    Im Fall eines Fehlers (SDO-Response CCD = 0x80) enthält der Datenbereich einen 4-Byte-Fehlercode, der über die Fehlerursache Auskunft gibt, siehe Kapitel SDO Abort Codes, Seite 60.  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 04/09/2020...

  • Page 20: Initiate Sdo Upload Expedited Request

    Aus dem obigen Protokoll lässt sich folgendes SDO-Lesetelegramm ableiten: Bedeutung Gültig für 0x40 Leseanforderung SDO Request  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 20 of 127 TR - ELA - BA - DGB - 0005 - 11 04/09/2020...

  • Page 21: Initiate Sdo Upload Expedited Response

    Im Fall eines Fehlers (SDO-Response CCD = 0x80) enthält der Datenbereich einen 4-Byte-Fehlercode, der über die Fehlerursache Auskunft gibt, siehe Kapitel SDO Abort Codes, Seite 60.  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 04/09/2020...

  • Page 22: Pdo-Mapping

    Stop Output Update, Stop Input Update Stop Input Update, Stop Mailbox Communication Stop Output Update, Stop Input Update, Stop Mailbox Communication  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 22 of 127 TR - ELA - BA - DGB - 0005 - 11...

  • Page 23: Weitere Informationen

    + 49 (0) 9 11 / 5 40 5629 Email: info@ethercat.org Internet: www.ethercat.org  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 04/09/2020 TR - ELA - BA - DGB - 0005 - 11 Page 23 of 127...

  • Page 24: 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 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 24 of 127...

  • Page 25: Anschluss

    15 21 26 1  Harting 21 03 281 1405 HARAX M12-L  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 04/09/2020 TR - ELA - BA - DGB - 0005 - 11 Page 25 of 127...

  • Page 26: Einschalten Der Versorgungsspannung

    Werte ausgibt. Dies gilt für die Zustände SAFE-OPERATIONAL und OPERATIONAL. In der Regel werden die Mailbox-Zugriffe über SDO-Anforderungen ausgelöst.  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 26 of 127 TR - ELA - BA - DGB - 0005 - 11...

  • Page 27: Inbetriebnahme

    Dreimaliges kurzes Aufblinken, 200 ms AN/AUS, Triple flash gefolgt von einer langen AUS-Zeit, 1000 ms. Tabelle 5: LED Anzeigezustände  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 04/09/2020 TR - ELA - BA - DGB - 0005 - 11...

  • Page 28: Link / Data Activity Led, In/Out

    Gerät befindet sich im SAFE-OPERATIONAL Zustand Single Flash Gerät befindet sich im OPERATIONAL Zustand  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 28 of 127 TR - ELA - BA - DGB - 0005 - 11...

  • Page 29: Betriebsarten

    EtherCAT-Master den Betriebsmodus „Free Run“ zur Verfügung. In diesem Betriebsmodus gibt das Mess-System keine plausiblen Geschwindigkeits- und Beschleunigungswerte aus.  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 04/09/2020 TR - ELA - BA - DGB - 0005 - 11...

  • Page 30: Kommunikationsspezifische Standard-Objekte (Cia Ds-301)

    Sync Manager 3 1C33 ARRAY Unsigned16 Parameter (Input) Tabelle 6: Kommunikationsspezifische Standard-Objekte  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 30 of 127 TR - ELA - BA - DGB - 0005 - 11 04/09/2020...

  • Page 31: Objekt 1000H: Gerätetyp

    PDO Mapping nein " ", abhängig von der Geräteausführung Wert  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 04/09/2020 TR - ELA - BA - DGB - 0005 - 11 Page 31 of 127...

  • Page 32: Objekt 1009H: Hersteller Hardwareversion

    PDO Mapping nein Wert "Vxxx", abhängig von der aktuellen Version  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 32 of 127 TR - ELA - BA - DGB - 0005 - 11 04/09/2020...

  • Page 33: Objekt 1018H: Identity Objekt

    Datentyp UNSIGNED32 Kategorie Mandatory Zugriff PDO Mapping nein Wert 1289  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 04/09/2020 TR - ELA - BA - DGB - 0005 - 11 Page 33 of 127...
  • Page 34 Serial Number Datentyp UNSIGNED32 Kategorie Mandatory Zugriff nein PDO Mapping Wert  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 34 of 127 TR - ELA - BA - DGB - 0005 - 11 04/09/2020...

  • Page 35: Objekt 1A00H: 1 St Transmit Pdo Mapping

    Bit 8-15: Sub-Index des gemappten Objekts = 0 Bit 16-31: Index des gemappten Objekts = 3000  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 04/09/2020 TR - ELA - BA - DGB - 0005 - 11...
  • Page 36 Bit 8-15: Sub-Index des gemappten Objekts = 0 Bit 16-31: Index des gemappten Objekts = 6030  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 36 of 127 TR - ELA - BA - DGB - 0005 - 11...

  • Page 37: Objekt 1A01H: 2 Nd Transmit Pdo Mapping

    Bit 8-15: Sub-Index des gemappten Objekts = 0 Bit 16-31: Index des gemappten Objekts = 3000  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 04/09/2020 TR - ELA - BA - DGB - 0005 - 11...
  • Page 38 Bit 8-15: Sub-Index des gemappten Objekts = 0 Bit 16-31: Index des gemappten Objekts = 6040  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 38 of 127 TR - ELA - BA - DGB - 0005 - 11...

  • Page 39: Objekt 1A02H: 3 Rd Transmit Pdo Mapping

    Bit 8-15: Sub-Index des gemappten Objekts = 0 Bit 16-31: Index des gemappten Objekts = 3000  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 04/09/2020 TR - ELA - BA - DGB - 0005 - 11...
  • Page 40 Bit 8-15: Sub-Index des gemappten Objekts = 0 Bit 16-31: Index des gemappten Objekts = 6040  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 40 of 127 TR - ELA - BA - DGB - 0005 - 11...

  • Page 41: Objekt 1C00H: Sync Manager Communication Type

    PDO Mapping nein Wert 2: Mailbox senden (Slave --> Master)  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 04/09/2020 TR - ELA - BA - DGB - 0005 - 11 Page 41 of 127...
  • Page 42 Zugriff PDO Mapping nein Wert 4: Prozessdaten-Eingang (Slave --> Master)  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 42 of 127 TR - ELA - BA - DGB - 0005 - 11 04/09/2020...

  • Page 43: Objekt 1C13H: Sync Manager Channel 3 (Prozess-Daten-Eingang)

    0x1A01: TxPDO 2 oder 0x1A02: TxPDO 3 Default 0x1A00: TxPDO 1  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 04/09/2020 TR - ELA - BA - DGB - 0005 - 11 Page 43 of 127...

  • Page 44: Objekt 1C33H: Sync Manager 3, Parameter

    PDO Mapping nein Wert Min. Zeit zwischen zwei SM2/3 Ereignissen in ns.  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 44 of 127 TR - ELA - BA - DGB - 0005 - 11...
  • Page 45 Wert vom lokalen Speicher zum Sync Manager benötigt, bevor die Daten für den EtherCAT verfügbar sind.  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 04/09/2020 TR - ELA - BA - DGB - 0005 - 11...
  • Page 46 Fehlerzähler wird erhöht, wenn fehlende Sync Manager Wert Ereignisse festgestellt werden.  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 46 of 127 TR - ELA - BA - DGB - 0005 - 11...
  • Page 47 Conditional Zugriff PDO Mapping 0: keine Fehlerunterstützung Wert 1: Synchronisationsfehler  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 04/09/2020 TR - ELA - BA - DGB - 0005 - 11 Page 47 of 127...

  • Page 48: Hersteller- Und Profilspezifische Objekte (Cia Ds-406)

    Mess-Schritt 6030 Geschwindigkeitswert Integer16 6040 Beschleunigungswert Integer16 Tabelle 7: Encoder-Profilbereich  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 48 of 127 TR - ELA - BA - DGB - 0005 - 11 04/09/2020...

  • Page 49: Objekt 2000H: Parameter Übernehmen

    Bit 0 = 1: Interpolation eingeschaltet Die Buszykluszeit kann über „Objekt 3001h: Buszykluszeit“ und die Mess-System- Zykluszeit über „Objekt 3002h: Interne Zykluszeit“ ausgelesen werden.  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 04/09/2020 TR - ELA - BA - DGB - 0005 - 11...
  • Page 50 Abbildung 10: Beispiel für die Ausgabe des Positionswerts ohne Interpolation Interpolation = EIN Abbildung 11: Beispiel für die Ausgabe des Positionswerts mit Interpolation  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 50 of 127...

  • Page 51: Objekt 2002H: Beobachter

    Bit 1 = 1: Gerät im Initialisierungszustand zur Berechnung des Buszyklusses --> keine gültige Ausgangsdaten Default  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 04/09/2020 TR - ELA - BA - DGB - 0005 - 11...

  • Page 52: Objekt 3001H: Buszykluszeit

    0x0000: Position steigend zum Stabende Wert 0x000C: Position fallend zum Stabende  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 52 of 127 TR - ELA - BA - DGB - 0005 - 11...

  • Page 53: Objekt 6002H: Messlänge In Schritten

    Auflösung in Objekt 6005, Sub-Index 1 „Positions-Schritt“. Messlänge  Messlänge Schritten Auflösung  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 04/09/2020 TR - ELA - BA - DGB - 0005 - 11 Page 53 of 127...

  • Page 54: Objekt 6003H: Presetwert

    Byte 3 bis 2 bis 2 bis 2 bis 2  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 54 of 127 TR - ELA - BA - DGB - 0005 - 11 04/09/2020...

  • Page 55: Objekt 6004H: Positionswert

    Anzahl der Einträge Datentyp UNSIGNED8 Kategorie Mandatory Zugriff PDO Mapping nein Wert  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 04/09/2020 TR - ELA - BA - DGB - 0005 - 11 Page 55 of 127...
  • Page 56 Ausgabe in 1 m/s : Eingabewert = 1000 Default 100 = 0,1 ms  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 56 of 127 TR - ELA - BA - DGB - 0005 - 11...

  • Page 57: Objekt 6030H: Geschwindigkeitswert

    Wert Beschleunigungswert Byte 0 Byte 1 bis 2 bis 2  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 04/09/2020 TR - ELA - BA - DGB - 0005 - 11 Page 57 of 127...

  • Page 58: Fehlerursachen Und Abhilfen

    Mess-System betriebsbereit, Verbindung zum Master hergestellt, es werden momentan keine Daten übermittelt.  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 58 of 127 TR - ELA - BA - DGB - 0005 - 11...

  • Page 59: Abort Sdo Transfer Request Protocol

    Abort Code DWORD Abort Code Tabelle 8: Abort SDO Transfer Request  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 04/09/2020 TR - ELA - BA - DGB - 0005 - 11 Page 59 of 127...

  • Page 60: Sdo Abort Codes

    0x08 00 00 23 Dynamischer Erstellungsfehler des Objektverzeichnisses, oder kein Objektverzeichnis vorhanden Tabelle 9: SDO Abort Codes  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 60 of 127 TR - ELA - BA - DGB - 0005 - 11...

  • Page 61: Emergency Request Protocol

    Error Code F000-FFFF: Herstellerspezifisches Fehlerfeld reserviert BYTE[n-10] noch nicht spezifiziert Tabelle 10: Emergency Request  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 04/09/2020 TR - ELA - BA - DGB - 0005 - 11 Page 61 of 127...

  • Page 62: Emergency Error Codes

    Geräteprofil-spezifisch reserviert, immer 0 Hersteller-spezifisch Tabelle 12: Aufbau des Error Registers  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 62 of 127 TR - ELA - BA - DGB - 0005 - 11...

  • Page 63: Sonstige Störungen

    Schirmung und die Leitungsführung müssen nach den Aufbaurichtlinien für jeweilige Feldbus-System ausgeführt sein.  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 04/09/2020 TR - ELA - BA - DGB - 0005 - 11 Page 63 of 127...
  • Page 64 Fehlerursachen und Abhilfen  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 64 of 127 TR - ELA - BA - DGB - 0005 - 11 04/09/2020...
  • Page 65 _Commissioning _Parameterization _Cause of faults and remedies User Manual Interface  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 04/09/2020 TR - ELA - BA - DGB - 0005 - 11 Page 65 of 127...
  • Page 66 All other 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 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 66 of 127...

  • Page 67: Contents

    5.2.1 Indicator states and flash rates ................91 5.2.2 Link / Data Activity LED, IN/OUT ................92 5.2.3 Net Run LED ......................92  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 04/09/2020 TR - ELA - BA - DGB - 0005 - 11...
  • Page 68 9.3.1 Emergency Error Codes ..................126 9.3.2 Error Register ......................126 9.4 Miscellaneous faults ....................... 127  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 68 of 127 TR - ELA - BA - DGB - 0005 - 11...

  • Page 69: Revision Index

    07/10/2018  Chapter 8.2 Object 2001h: Interpolation examples added 04/09/2020  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 04/09/2020 TR - ELA - BA - DGB - 0005 - 11 Page 69 of 127...

  • Page 70: General Information

     see chapter “Other applicable documents” in the Assembly Instructions www.tr-electronic.com/f/TR-ELA-BA-DGB-0004  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 70 of 127 TR - ELA - BA - DGB - 0005 - 11...

  • Page 71: References

    IEEE 1588-2002 IEEE Standard for a Precision Clock Synchronization Protocol for Networked Measurement and Control Systems  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 04/09/2020 TR - ELA - BA - DGB - 0005 - 11...

  • Page 72: Abbreviations Used / Terminology

    Extensible Markup Language, description file for commissioning the measuring system.  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 72 of 127 TR - ELA - BA - DGB - 0005 - 11...

  • Page 73: 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 2007, All Rights Reserved Printed in the Federal Republic of Germany 04/09/2020 TR - ELA - BA - DGB - 0005 - 11...

  • Page 74: Ethercat Information

    Slave Slave Slave Master Ethernet Figure 1: EtherCAT functional principle  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 74 of 127 TR - ELA - BA - DGB - 0005 - 11 04/09/2020...

  • Page 75: Protocol

    Through the system, the accuracy of a speed calculation no longer depends on the jitter of the communication system.  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 04/09/2020...

  • Page 76: Device Profile

    "Device Profile for Encoder", CiA DS-406, known from CANopen. Figure 3: CANopen over EtherCAT communication mechanism  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 76 of 127 TR - ELA - BA - DGB - 0005 - 11...

  • Page 77: Canopen Over Ethercat (Coe)

    Figure 5: EtherCAT organized in the ISO/OSI layer model EN 50325-4: Industrial Communication Systems, based on ISO 11898 (CAN) for Controller Device Interfaces. Part 4: CANopen.  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 04/09/2020...

  • Page 78: Object Dictionary

    Important features of SDO and PDO Figure 7: Comparison of PDO/SDO characteristics  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 78 of 127 TR - ELA - BA - DGB - 0005 - 11...

  • Page 79: Compatibility With The Cia Ds-301 Communication Profile

    "Download SDO Segment" Request / "Upload SDO Segment" Response can contain more than 7 bytes of data Download and upload of all sub-indices at once  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 04/09/2020...

  • Page 80: Transmission Of Sdo Messages

    Initiate SDO Upload Expedited are dealt with in more detail below. Up to four bytes can be written and up to four bytes read via these services. This is sufficient for most objects.  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 80 of 127...
  • Page 81 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 2007, All Rights Reserved Printed in the Federal Republic of Germany 04/09/2020...

  • Page 82: Canopen Over Ethercat Protocol

    Write 2 byte SDO Request 0x2F Write 1 byte SDO Request  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 82 of 127 TR - ELA - BA - DGB - 0005 - 11 04/09/2020...

  • Page 83: Initiate Sdo Download Expedited Response

    In the case of an error (SDO response CCD = 0x80), the data range contains a 4-byte-error code, which provides information on the cause of the error, see chapter SDO Abort Codes, page 124.  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany...

  • Page 84: Initiate Sdo Upload Expedited Request

    The following SDO read frame can be derived from the above protocol: Meaning Valid for 0x40 Read request SDO Request  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 84 of 127 TR - ELA - BA - DGB - 0005 - 11 04/09/2020...

  • Page 85: Initiate Sdo Upload Expedited Response

    In the case of an error (SDO response CCD = 0x80), the data range contains a 4-byte-error code, which provides information on the cause of the error, see chapter SDO Abort Codes, page 124.  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany...

  • Page 86: Pdo Mapping

    Stop Output Update, Stop Input Update Stop Input Update, Stop Mailbox Communication Stop Output Update, Stop Input Update, Stop Mailbox Communication  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 86 of 127 TR - ELA - BA - DGB - 0005 - 11...

  • Page 87: Further Information

    + 49 (0) 9 11 / 5 40 5629 Email: info@ethercat.org Internet: www.ethercat.org  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 04/09/2020 TR - ELA - BA - DGB - 0005 - 11 Page 87 of 127...

  • Page 88: Installation / Preparation For Commissioning

    In particular, the applicable EMC directive and the shielding and grounding directives must be observed!  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 88 of 127...

  • Page 89: Connection

    15 21 26 1  Harting 21 03 281 1405 HARAX M12-L  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 04/09/2020 TR - ELA - BA - DGB - 0005 - 11 Page 89 of 127...

  • Page 90: Switching On The Supply Voltage

    This applies for the SAFE-OPERATIONAL and OPERATIONAL states. Mailbox access is generally triggered by SDO requests.  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 90 of 127...

  • Page 91: Commissioning

    Triple flash followed by a long OFF phase, 1000 ms. Table 5: LED indicator states  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 04/09/2020 TR - ELA - BA - DGB - 0005 - 11...

  • Page 92: Link / Data Activity Led, In/Out

    The device is in state SAFE-OPERATIONAL Single Flash The device is in state OPERATIONAL  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 92 of 127 TR - ELA - BA - DGB - 0005 - 11...

  • Page 93: Operating Modes

    Irrespective of the measuring system operating modes supported, many EtherCAT masters provide the "Free Run" operating mode. In this operating mode, the measuring system does not output any plausible speed and acceleration values.  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 04/09/2020...

  • Page 94: Communication-Specific Standard Objects (Cia Ds-301)

    1C33 ARRAY Unsigned16 Parameter (Input) Table 6: Communication-specific standard objects  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 94 of 127 TR - ELA - BA - DGB - 0005 - 11 04/09/2020...

  • Page 95: Object 1000H: Device Type

    Access PDO mapping " ", depending on the device type Value  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 04/09/2020 TR - ELA - BA - DGB - 0005 - 11 Page 95 of 127...

  • Page 96: Object 1009H: Manufacturer Hardware Version

    Access PDO mapping Value "Vxxx", depending on the current version  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 96 of 127 TR - ELA - BA - DGB - 0005 - 11 04/09/2020...

  • Page 97: Object 1018H: Identity Object

    Data type UNSIGNED32 Category Mandatory Access PDO mapping Value 1289  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 04/09/2020 TR - ELA - BA - DGB - 0005 - 11 Page 97 of 127...
  • Page 98 Serial Number Data type UNSIGNED32 Category Mandatory Access PDO mapping Value  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 98 of 127 TR - ELA - BA - DGB - 0005 - 11 04/09/2020...

  • Page 99: Object 1A00H: 1 St Transmit Pdo Mapping

    Bit 8-15: Sub-index of the mapped object = 0 bit 16-31: Index of the mapped object = 3000  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 04/09/2020 TR - ELA - BA - DGB - 0005 - 11...
  • Page 100 Bit 8-15: Sub-index of the mapped object = 0 Bit 16-31: Index of the mapped object = 6030  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 100 of 127 TR - ELA - BA - DGB - 0005 - 11...

  • Page 101: Object 1A01H: 2 Nd Transmit Pdo Mapping

    Bit 8-15: Sub-index of the mapped object = 0 Bit 16-31: Index of the mapped object = 3000  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 04/09/2020 TR - ELA - BA - DGB - 0005 - 11...
  • Page 102 Bit 8-15: Sub-index of the mapped object = 0 Bit 16-31: Index of the mapped object = 6040  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 102 of 127 TR - ELA - BA - DGB - 0005 - 11...

  • Page 103: Object 1A02H: 3 Rd Transmit Pdo Mapping

    Bit 8-15: Sub-index of the mapped object = 0 Bit 16-31: Index of the mapped object = 3000  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 04/09/2020 TR - ELA - BA - DGB - 0005 - 11...
  • Page 104 Bit 8-15: Sub-index of the mapped object = 0 Bit 16-31: Index of the mapped object = 6040  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 104 of 127 TR - ELA - BA - DGB - 0005 - 11...

  • Page 105: Object 1C00H: Sync Manager Communication Type

    Access PDO mapping Value 2: Send mailbox (Slave --> Master)  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 04/09/2020 TR - ELA - BA - DGB - 0005 - 11 Page 105 of 127...
  • Page 106 Access PDO mapping Value 4: Process data input (Slave --> Master)  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 106 of 127 TR - ELA - BA - DGB - 0005 - 11...

  • Page 107: Object 1C13H: Sync Manager Channel 3 (Process Data Input)

    0x1A01: TxPDO 2 or 0x1A02: TxPDO 3 0x1A00: TxPDO 1 Default  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 04/09/2020 TR - ELA - BA - DGB - 0005 - 11 Page 107 of 127...

  • Page 108: Object 1C33H: Sync Manager 3, Parameter

    PDO mapping Value Min. time between two SM2/3 events in ns.  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 108 of 127 TR - ELA - BA - DGB - 0005 - 11...
  • Page 109 Value process data from the local memory to the Sync Manager before the data is available for EtherCAT.  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 04/09/2020 TR - ELA - BA - DGB - 0005 - 11...
  • Page 110 This error counter is incremented when the application Value expects a Sync Manager event but does not receive it in time.  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 110 of 127 TR - ELA - BA - DGB - 0005 - 11...
  • Page 111 PDO mapping 0: no error support Value 1: Synchronization error  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 04/09/2020 TR - ELA - BA - DGB - 0005 - 11 Page 111 of 127...

  • Page 112: Manufacturer And Profile Specific Objects (Cia Ds-406)

    Integer16 6040 Acceleration value Integer16 Table 7: Encoder profile range  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 112 of 127 TR - ELA - BA - DGB - 0005 - 11 04/09/2020...

  • Page 113: Object 2000H: Accept Parameters

    The bus cycle time can be read out via „Object 3001h: Bus cycle time“ and the measuring system cycle time via „Object 3002h: Internal cycle time“.  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany...
  • Page 114 Figure 10: Example for position value output without interpolation Interpolation = ON Figure 11: Example for position value output with interpolation  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 114 of 127 TR - ELA - BA - DGB - 0005 - 11...

  • Page 115: Object 2002H: Observer

    Bit 1 = 1: Device in initialization state to calculate the bus cycle --> no valid output data Default  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 04/09/2020 TR - ELA - BA - DGB - 0005 - 11...

  • Page 116: Object 3001H: Bus Cycle Time

    0x0000: Position rising at rod end Value 0x000C: Position falling at rod end  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 116 of 127 TR - ELA - BA - DGB - 0005 - 11...

  • Page 117: Object 6002H: Total Measuring Range In Steps

    Object 6005, Sub-index 1 "Position step". Measuring length  Measuring length steps resolution  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 04/09/2020 TR - ELA - BA - DGB - 0005 - 11 Page 117 of 127...

  • Page 118: Object 6003H: Preset Value

    Byte 3 to 2 to 2 to 2 to 2  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 118 of 127 TR - ELA - BA - DGB - 0005 - 11 04/09/2020...

  • Page 119: Object 6004H: Position Value

    Number of entries Data type UNSIGNED8 Category Mandatory Access PDO mapping Value  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 04/09/2020 TR - ELA - BA - DGB - 0005 - 11 Page 119 of 127...
  • Page 120 Output in 1 m/s : Input value = 1000 Default 100 = 0.1 ms  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 120 of 127 TR - ELA - BA - DGB - 0005 - 11...

  • Page 121: Object 6030H: Speed Value

    Acceleration value Byte 0 Byte 1 to 2 to 2  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 04/09/2020 TR - ELA - BA - DGB - 0005 - 11 Page 121 of 127...

  • Page 122: Error Causes And Remedies

    Measuring system ready for operation, connection to master established, no data transfer.  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 122 of 127 TR - ELA - BA - DGB - 0005 - 11...

  • Page 123: Abort Sdo Transfer Request Protocol

    Abort code DWORD Abort code Table 8: Abort SDO Transfer Request  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 04/09/2020 TR - ELA - BA - DGB - 0005 - 11 Page 123 of 127...

  • Page 124: Sdo Abort Codes

    0x08 00 00 23 Dynamic creation error in the object dictionary, or no object dictionary present Table 9: SDO Abort Codes  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 124 of 127 TR - ELA - BA - DGB - 0005 - 11...

  • Page 125: Emergency Request Protocol

    Error Code F000-FFFF: Manufacturer-specific error field reserved BYTE[n-10] not yet specified Table 10: Emergency Request  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 04/09/2020 TR - ELA - BA - DGB - 0005 - 11 Page 125 of 127...

  • Page 126: Emergency Error Codes

    0 Manufacturer-specific Table 12: Structure of the error register  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 126 of 127 TR - ELA - BA - DGB - 0005 - 11...

  • Page 127: Miscellaneous Faults

    The shielding and line routing must be executed in accordance with the Equipment Mounting Directives for the respective field bus system.  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 04/09/2020...

This manual is also suitable for:

Lmpi-46La-46Lmri-46

Table of Contents