TR-Electronic 582 Series User Manual
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TR-Electronic 582 Series User Manual

Ethercat / ethercat p rotary encoder + option, additional interfaces
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optionale Zweitschnittstellen
Drehgeber
Baureihe: 582/802/1102
Keine Gültigkeit für 582_-1_ _ _ _
siehe
TR-ECE-BA-DGB-0094
_Zusätzliche Sicherheitshinweise
_Installation
_Inbetriebnahme
_Parametrierung
_Fehlerursachen und Abhilfen
D
Seite 2 - 66
GB
Page 67 - 130
Benutzerhandbuch
Schnittstelle

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Summary of Contents for TR-Electronic 582 Series

  • Page 1 Seite 2 - 66 Page 67 - 130 optionale Zweitschnittstellen Drehgeber Baureihe: 582/802/1102 Keine Gültigkeit für 582_-1_ _ _ _ siehe TR-ECE-BA-DGB-0094 _Zusätzliche Sicherheitshinweise _Installation _Inbetriebnahme _Parametrierung _Fehlerursachen und Abhilfen Benutzerhandbuch Schnittstelle...
  • 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 2020, All Rights Reserved Printed in the Federal Republic of Germany Page 2 of 131...

  • Page 3: Table Of Contents

    8.1 Objekt 1001h: Fehlerregister ....................20 8.2 Objekt 1010h: Parameter abspeichern ..................21 8.3 Objekt 1011h: Wiederherstellung der Parameter-Standardwerte ..........23  TR-Electronic GmbH 2020, All Rights Reserved Printed in the Federal Republic of Germany 07/20/2020 TR - ECE - BA - DGB - 0159 - 03...
  • Page 4 9.2.6.1 Mess-System – Arbeitsbereich ................. 48 9.2.6.1.1 Objekt 6401h: Unterer Grenzwert ................48 9.2.6.1.2 Objekt 6402h: Oberer Grenzwert ................. 49  TR-Electronic GmbH 2020, All Rights Reserved Printed in the Federal Republic of Germany Page 4 of 131 TR - ECE - BA - DGB - 0159 - 03...
  • Page 5 12.5 Sonstige Störungen ........................ 63 13 Firmware-Update ..........................64 14 Anhang ............................. 65 14.1 Elementare Datentypen ......................65  TR-Electronic GmbH 2020, All Rights Reserved Printed in the Federal Republic of Germany 07/20/2020 TR - ECE - BA - DGB - 0159 - 03...

  • Page 6: Änderungs-Index

    Gesamt Messlänge in Schritten (2002h und 6002h) angepasst 28.01.2020 Objekt 6030h: Geschwindigkeit angepasst 20.07.2020  TR-Electronic GmbH 2020, All Rights Reserved Printed in the Federal Republic of Germany Page 6 of 131 TR - ECE - BA - DGB - 0159 - 03...

  • Page 7: Allgemeines

    - Baureihe 1102: www.tr-electronic.de/s/S017035  Erweiterung EtherCAT P www.tr-electronic.de/f/TR-E-TI-DGB-0112  optional: -Benutzerhandbuch  TR-Electronic GmbH 2020, All Rights Reserved Printed in the Federal Republic of Germany 07/20/2020 TR - ECE - BA - DGB - 0159 - 03 Page 7 of 131...

  • Page 8: Referenzen

    IEEE 1588-2002 IEEE Standard for a Precision Clock Synchronization Protocol for Networked Measurement and Control Systems  TR-Electronic GmbH 2020, All Rights Reserved Printed in the Federal Republic of Germany Page 8 of 131 TR - ECE - BA - DGB - 0159 - 03...

  • Page 9: Verwendete Abkürzungen / Begriffe

    Service Data Object. Punkt zu Punkt Kommunikation mit Zugriff auf die Objekt-Datenliste eines Gerätes. Extensible Markup Language, Beschreibungsdatei für die Inbetriebnahme des Mess-Systems.  TR-Electronic GmbH 2020, All Rights Reserved Printed in the Federal Republic of Germany 07/20/2020 TR - ECE - BA - DGB - 0159 - 03...

  • Page 10: Zusätzliche Sicherheitshinweise

    Geräteprofil entspricht dem „CANopen Device Profile für Encoder CiA DS-406“. Die technischen Richtlinien zum Aufbau des Fast Ethernet Netzwerks sind für einen sicheren Betrieb zwingend einzuhalten.  TR-Electronic GmbH 2020, All Rights Reserved Printed in the Federal Republic of Germany Page 10 of 131...

  • Page 11: Einsatz In Explosionsfähigen Atmosphären

    Funktionsumfang der dazugehörigen EDS-Datei  Firmware-Nr.  Vereinbarung zwischen TR-Electronic und dem Kunden  TR-Electronic GmbH 2020, All Rights Reserved Printed in the Federal Republic of Germany 07/20/2020 TR - ECE - BA - DGB - 0159 - 03 Page 11 of 131...

  • Page 12: Ethercat Informationen

    Kommunikation eine logische Ringstruktur. Da Fast-Ethernet mit Voll-Duplex arbeitet, ergibt sich auch physikalisch eine Ringstruktur. Abbildung 1: EtherCAT-Funktionsprinzip  TR-Electronic GmbH 2020, All Rights Reserved Printed in the Federal Republic of Germany Page 12 of 131 TR - ECE - BA - DGB - 0159 - 03...

  • Page 13: Objektverzeichnis

    Wichtige Merkmale von SDO und PDO Abbildung 3: Gegenüberstellung von PDO/SDO-Eigenschaften  TR-Electronic GmbH 2020, All Rights Reserved Printed in the Federal Republic of Germany 07/20/2020 TR - ECE - BA - DGB - 0159 - 03...

  • Page 14: 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 2020, All Rights Reserved Printed in the Federal Republic of Germany Page 14 of 131 TR - ECE - BA - DGB - 0159 - 03...

  • Page 15: Weitere Informationen

    + 49 (0) 9 11 / 5 40 5629 Email: info@ethercat.org Internet: www.ethercat.org  TR-Electronic GmbH 2020, All Rights Reserved Printed in the Federal Republic of Germany 07/20/2020 TR - ECE - BA - DGB - 0159 - 03 Page 15 of 131...

  • Page 16: Installation / Inbetriebnahmevorbereitung

    Die Steckerbelegungsnummer ist auf dem Typenschild des Mess-Systems vermerkt.  TR-Electronic GmbH 2020, All Rights Reserved Printed in the Federal Republic of Germany Page 16 of 131 TR - ECE - BA - DGB - 0159 - 03...

  • Page 17: Ethercat P (Ethercat + Power)

    Aktivierung Ausgangsdaten nicht möglich war, verbleibt das Mess-System weiterhin im Zustand SAFE-OPERATIONAL und gibt eine Fehlermeldung aus.  TR-Electronic GmbH 2020, All Rights Reserved Printed in the Federal Republic of Germany 07/20/2020 TR - ECE - BA - DGB - 0159 - 03...

  • Page 18: Inbetriebnahme

    Zuordnung der LEDs sind der beiliegenden Steckerbelegung zu entnehmen. Anzeigezustände und Blinkfrequenz Abbildung 5: Anzeigezustände  TR-Electronic GmbH 2020, All Rights Reserved Printed in the Federal Republic of Germany Page 18 of 131 TR - ECE - BA - DGB - 0159 - 03...

  • Page 19: Betriebsarten

    SYNC-Signalen der Distributed-Clocks-Einheit synchronisiert. Die Einstellungen hierfür werden im EtherCAT-Master vorgenommen. Vom Mess-System werden die Synchronisationssignale „SYNC0“ und „SYNC1“ unterstützt.  TR-Electronic GmbH 2020, All Rights Reserved Printed in the Federal Republic of Germany 07/20/2020 TR - ECE - BA - DGB - 0159 - 03...

  • Page 20: Kommunikationsspezifische Standard-Objekte (Cia Ds-301)

    Bit 0 Entsprechende Maßnahmen im Fehlerfall siehe Kapitel „Mess-System – Fehler“, Seite 62.  TR-Electronic GmbH 2020, All Rights Reserved Printed in the Federal Republic of Germany Page 20 of 131 TR - ECE - BA - DGB - 0159 - 03...

  • Page 21: Objekt 1010H: Parameter Abspeichern

    Um eine versehentliche Speicherung der Parameter zu vermeiden, wird die Speicherung nur ausgeführt, wenn eine spezielle Signatur in das Objekt geschrieben wird. Die Signatur heißt "save".  TR-Electronic GmbH 2020, All Rights Reserved Printed in the Federal Republic of Germany 07/20/2020...
  • Page 22 (Abort-Code = 0606 0000h -> EEPROM defekt). Wurde eine falsche Signatur geschrieben, verweigert das Gerät die Speicherung und antwortet sofort mit dem Abort-Code = 0800 0020h.  TR-Electronic GmbH 2020, All Rights Reserved Printed in the Federal Republic of Germany Page 22 of 131...

  • Page 23: Objekt 1011H: Wiederherstellung Der Parameter-Standardwerte

    Abort-Code = 0606 0000h. Wurde eine falsche Signatur geschrieben, verweigert das Gerät die Wiederherstellung und antwortet mit dem Abort-Code = 0800 0020h.  TR-Electronic GmbH 2020, All Rights Reserved Printed in the Federal Republic of Germany 07/20/2020 TR - ECE - BA - DGB - 0159 - 03...

  • Page 24: Aufbau Der Mappingparameter

    5004 / 0 UDINT32 Adjustment control 5005 / 0 USINT8  TR-Electronic GmbH 2020, All Rights Reserved Printed in the Federal Republic of Germany Page 24 of 131 TR - ECE - BA - DGB - 0159 - 03 07/20/2020...

  • Page 25: Objekt 1A00H: 1 St Transmit Pdo Mapping

    Alarms 6503 / 0 UINT16 Warnings 6505 / 0 UINT16  TR-Electronic GmbH 2020, All Rights Reserved Printed in the Federal Republic of Germany 07/20/2020 TR - ECE - BA - DGB - 0159 - 03 Page 25 of 131...

  • Page 26: Hersteller- Und Profilspezifische Objekte

    Justage - Kontrollwert USINT8 5006 Justage - Status USINT8 …  TR-Electronic GmbH 2020, All Rights Reserved Printed in the Federal Republic of Germany Page 26 of 131 TR - ECE - BA - DGB - 0159 - 03 07/20/2020...
  • Page 27 ∘ Objekt wird erst mittels Objekt 1010h aktiv und dauerhaft gespeichert ∙ Objekt wird sofort aktiv aber erst mittels Objekt 1010h dauerhaft gespeichert  TR-Electronic GmbH 2020, All Rights Reserved Printed in the Federal Republic of Germany 07/20/2020 TR - ECE - BA - DGB - 0159 - 03...

  • Page 28: Herstellerspezifische Objekte (Tr)

    0x6002, Gesamtmesslänge in Schritten 0x2003, Anzahl Umdrehungen - Zähler 0x2004, Anzahl Umdrehungen - Nenner  TR-Electronic GmbH 2020, All Rights Reserved Printed in the Federal Republic of Germany Page 28 of 131 TR - ECE - BA - DGB - 0159 - 03...

  • Page 29: Objekt 2001H: Tr-Zählrichtung (Betriebsparameter)

    Mess-System mit dem SDO-Abort-Transfer-Service, Abort-Code = 0604 0047h und zeigt damit eine generelle Inkompatibilität im Gerät an. Die Parameter werden nicht gespeichert.  TR-Electronic GmbH 2020, All Rights Reserved Printed in the Federal Republic of Germany 07/20/2020 TR - ECE - BA - DGB - 0159 - 03...

  • Page 30: Objekt 2002H: Tr-Gesamtmesslänge

    Obergrenze Zähler 256 000 Default 4096 Aktivierung/Speicherung über Objekt 0x1010  TR-Electronic GmbH 2020, All Rights Reserved Printed in the Federal Republic of Germany Page 30 of 131 TR - ECE - BA - DGB - 0159 - 03 07/20/2020...
  • Page 31 Mess-System bei einer geringfügigen Überschreitung des Verfahrweges keinen Istwertsprung (Nullübergang) erzeugt. Der Einfachheit halber kann auch der volle Umdrehungsbereich des Mess-Systems programmiert werden.  TR-Electronic GmbH 2020, All Rights Reserved Printed in the Federal Republic of Germany 07/20/2020 TR - ECE - BA - DGB - 0159 - 03...
  • Page 32 = 1348,073499 Schritte / Umdr. * 1 Umdrehung Nenner = 5521709 Schritte (abgerundet)  TR-Electronic GmbH 2020, All Rights Reserved Printed in the Federal Republic of Germany Page 32 of 131 TR - ECE - BA - DGB - 0159 - 03...

  • Page 33: Geschwindigkeitsausgabe

    PDO Mapping nein Untergrenze Obergrenze 1000 Default Aktivierung/Speicherung über Objekt 0x1010  TR-Electronic GmbH 2020, All Rights Reserved Printed in the Federal Republic of Germany 07/20/2020 TR - ECE - BA - DGB - 0159 - 03 Page 33 of 131...

  • Page 34: Objekt 2007H: Tr-Geschwindigkeitsfaktor

    0x03 = Position+Geschwindigkeit (48 Bit, hintereinander) Aktivierung/Speicherung über Objekt 0x1010  TR-Electronic GmbH 2020, All Rights Reserved Printed in the Federal Republic of Germany Page 34 of 131 TR - ECE - BA - DGB - 0159 - 03 07/20/2020...

  • Page 35: Objekt 2502H: Ssi-Ausgabecode

    4 µs (0x0004) Obergrenze 999 µs (0x03E7) Aktivierung/Speicherung über Objekt 0x1010  TR-Electronic GmbH 2020, All Rights Reserved Printed in the Federal Republic of Germany 07/20/2020 TR - ECE - BA - DGB - 0159 - 03 Page 35 of 131...

  • Page 36: Objekt 2505H: Ssi-Sonderbit

    Messlänge in Schritten – 1 Obergrenze Default Aktivierung/Speicherung über Objekt 0x1010  TR-Electronic GmbH 2020, All Rights Reserved Printed in the Federal Republic of Germany Page 36 of 131 TR - ECE - BA - DGB - 0159 - 03 07/20/2020...

  • Page 37: Objekt 2512H: Presetwert 2

    Datentyp USINT8 Zugriff PDO Mapping nein Aktivierung/Speicherung über Objekt 0x1010  TR-Electronic GmbH 2020, All Rights Reserved Printed in the Federal Republic of Germany 07/20/2020 TR - ECE - BA - DGB - 0159 - 03 Page 37 of 131...

  • Page 38: Objekt 2535H: Anzeige-Steuerung

    0x2538 Beschreibung Display Status Datentyp USINT8 Zugriff PDO Mapping Default  TR-Electronic GmbH 2020, All Rights Reserved Printed in the Federal Republic of Germany Page 38 of 131 TR - ECE - BA - DGB - 0159 - 03 07/20/2020...

  • Page 39: Objekt 3101H: Positionen Und Zeitstempel

    Time Stamp Datentyp UDINT32 Zugriff PDO Mapping in ns Wert  TR-Electronic GmbH 2020, All Rights Reserved Printed in the Federal Republic of Germany 07/20/2020 TR - ECE - BA - DGB - 0159 - 03 Page 39 of 131...

  • Page 40: Justage On The Fly

    Byte 3 bis 2 bis 2 bis 2 bis 2  TR-Electronic GmbH 2020, All Rights Reserved Printed in the Federal Republic of Germany Page 40 of 131 TR - ECE - BA - DGB - 0159 - 03 07/20/2020...

  • Page 41: Objekt 5005H: Justage - Kontrollwert

    Preset wird nicht ausgeführt Preset wird kontinuierlich ausgeführt 1 - 8 reserviert  TR-Electronic GmbH 2020, All Rights Reserved Printed in the Federal Republic of Germany 07/20/2020 TR - ECE - BA - DGB - 0159 - 03 Page 41 of 131...

  • Page 42: Profilspezifische Objekte (Cia Ds-406)

    Objekten 6001h und 6002h. Liegt eine ungültige Kombination vor, wird der Wert in Objekt 6002h automatisch korrigiert. Es wird keine Fehlermeldung ausgegeben.  TR-Electronic GmbH 2020, All Rights Reserved Printed in the Federal Republic of Germany Page 42 of 131...

  • Page 43: Objekt 6001H: Mess-Schritte Pro Umdrehung

    Da der Wert "0" bereits als Schritt gezählt wird, ist der Endwert = Messlänge in Schritten – 1. Gesamtmesslänge in Schritten = Mess-Schritte pro Umdrehung * Anzahl der Umdrehungen  TR-Electronic GmbH 2020, All Rights Reserved Printed in the Federal Republic of Germany 07/20/2020...
  • Page 44 Gesamtschrittzahl unterschritten wird und das Mess-System vor Erreichen des maximalen mechanischen Verfahrweges einen Nullübergang generiert.  TR-Electronic GmbH 2020, All Rights Reserved Printed in the Federal Republic of Germany Page 44 of 131...

  • Page 45: Objekt 6003H: Presetwert

    Presetwert überprüft. Ist er größer als die neu programmierte Messlänge, wird der Presetwert auf die neue Messlänge angepasst. In einem weiteren Schritt kann jetzt der gewünschte Presetwert geschrieben werden.  TR-Electronic GmbH 2020, All Rights Reserved Printed in the Federal Republic of Germany 07/20/2020...

  • Page 46: Objekt 6004H: Positionswert

    Die Aktualisierung des Geschwindigkeitswertes unter dem SDO-Objekt 0x6030:01 des Objektverzeichnisses findet nur dann statt wenn das Objekt 0x6030:01 zu den Prozessdaten gemappt wurde.  TR-Electronic GmbH 2020, All Rights Reserved Printed in the Federal Republic of Germany Page 46 of 131...

  • Page 47: Objekt 6400H: Bereichs-Zustands-Register

    0: keine Bereichsüberschreitung 1: Position < als definierter Wert in Objekt 0x6401 3 - 7 reserviert, immer 0  TR-Electronic GmbH 2020, All Rights Reserved Printed in the Federal Republic of Germany 07/20/2020 TR - ECE - BA - DGB - 0159 - 03...

  • Page 48: Mess-System - Arbeitsbereich

    Kanal 1, unterer Grenzwert DINT32 Kanal 2, unterer Grenzwert DINT32  TR-Electronic GmbH 2020, All Rights Reserved Printed in the Federal Republic of Germany Page 48 of 131 TR - ECE - BA - DGB - 0159 - 03 07/20/2020...

  • Page 49: Objekt 6402H: Oberer Grenzwert

    Skalierungsparameter werden verwendet 3 - 15 reserviert  TR-Electronic GmbH 2020, All Rights Reserved Printed in the Federal Republic of Germany 07/20/2020 TR - ECE - BA - DGB - 0159 - 03 Page 49 of 131...

  • Page 50: Objekt 6501H: Single-Turn Auflösung

    Number of distinguishable revolutions Datentyp UDINT32 Zugriff PDO Mapping nein Obergrenze gerätespezifisch  TR-Electronic GmbH 2020, All Rights Reserved Printed in the Federal Republic of Germany Page 50 of 131 TR - ECE - BA - DGB - 0159 - 03 07/20/2020...

  • Page 51: Objekt 6503H: Alarme

    Reserviert für weitere Verwendung EEPROM-Fehler Nein 13 - 15 herstellerspezifische Funktionen  TR-Electronic GmbH 2020, All Rights Reserved Printed in the Federal Republic of Germany 07/20/2020 TR - ECE - BA - DGB - 0159 - 03 Page 51 of 131...

  • Page 52: Objekt 6505H: Warnungen

    Die Grenzwerte können dem gerätespezifischen Datenblatt entnommen werden. Alle Warnungen werden automatisch gelöscht, sobald sich die Betriebsparameter wieder im Normalbereich befinden.  TR-Electronic GmbH 2020, All Rights Reserved Printed in the Federal Republic of Germany Page 52 of 131 TR - ECE - BA - DGB - 0159 - 03...

  • Page 53: Objekt 6506H: Unterstützte Warnungen

    Profile and software version Datentyp UDINT32 Zugriff PDO Mapping nein  TR-Electronic GmbH 2020, All Rights Reserved Printed in the Federal Republic of Germany 07/20/2020 TR - ECE - BA - DGB - 0159 - 03 Page 53 of 131...

  • Page 54: Objekt 6508H: Betriebsdauer

    0x650B Beschreibung Serial Number Datentyp UDINT32 Zugriff PDO Mapping nein  TR-Electronic GmbH 2020, All Rights Reserved Printed in the Federal Republic of Germany Page 54 of 131 TR - ECE - BA - DGB - 0159 - 03 07/20/2020...

  • Page 55: Vom Mess-System Unterstütze Objekte Auslesen

    ● Programmreiter CoE – Online auswählen ● Button Erweitert klicken ● Radio-Button Online... auswählen ● --> Alle Objekte  TR-Electronic GmbH 2020, All Rights Reserved Printed in the Federal Republic of Germany 07/20/2020 TR - ECE - BA - DGB - 0159 - 03...

  • Page 56: Justage On The Fly Ausführen

    Positionswert, der sich als Summe aus aktuellem Positionswert + Justage-Wert ergibt. Überschreitet der neue Positionswert die Messlänge, so wird er entsprechend als Überlauf, bezogen auf die aktuelle Messlänge, eingestellt.  TR-Electronic GmbH 2020, All Rights Reserved Printed in the Federal Republic of Germany Page 56 of 131...
  • Page 57 1. Installation der ESI-Datei ins Verzeichnis ...\Io\EtherCAT. 2. Installation der Geräte-Box: 3. Auswahl Geräte-Box:  TR-Electronic GmbH 2020, All Rights Reserved Printed in the Federal Republic of Germany 07/20/2020 TR - ECE - BA - DGB - 0159 - 03...
  • Page 58 Buttons „Linked to…“ mit dem Objekt 0x5005 verlinkt. 6. Die Eingangs-Variable „Var 34“ ist im konkreten Beispiel der folgenden Abbildung mit dem Objekt 0x6004, der Position, verlinkt.  TR-Electronic GmbH 2020, All Rights Reserved Printed in the Federal Republic of Germany Page 58 of 131...
  • Page 59 Dialog mittels der Schaltfläche „OK“ geschlossen wird, ändert sich auch der Wert des Objektes 0x5004 im Objekt-Verzeichnis. Im konkreten Fall ist der Wert 7000 zu sehen.  TR-Electronic GmbH 2020, All Rights Reserved Printed in the Federal Republic of Germany 07/20/2020...
  • Page 60 Anmerkung: Unabhängig davon, ob eine relative oder absolute Justage durchgeführt wurde, wird der zuletzt eingestellte Justage/Preset-Wert im Objekt 0x6003 angezeigt.  TR-Electronic GmbH 2020, All Rights Reserved Printed in the Federal Republic of Germany Page 60 of 131 TR - ECE - BA - DGB - 0159 - 03...

  • Page 61: Fehlerursachen Und Abhilfen

    Flickering erreicht wurde. Maßnahme nicht zum Erfolg, muss das Mess- system ausgetauscht werden.  TR-Electronic GmbH 2020, All Rights Reserved Printed in the Federal Republic of Germany 07/20/2020 TR - ECE - BA - DGB - 0159 - 03 Page 61 of 131...

  • Page 62: Mess-System - Fehler

    0x08 00 00 23 Dynamischer Erstellungsfehler des Objektverzeichnisses oder kein Objektverzeichnis vorhanden Tabelle 3: SDO Abort Codes  TR-Electronic GmbH 2020, All Rights Reserved Printed in the Federal Republic of Germany Page 62 of 131 TR - ECE - BA - DGB - 0159 - 03...

  • Page 63: Emergency Error Codes

    Welle. Wenn der Fehler trotz dieser Maßnahme weiterhin der Abtastung. auftritt, muss das Mess-System getauscht werden.  TR-Electronic GmbH 2020, All Rights Reserved Printed in the Federal Republic of Germany 07/20/2020 TR - ECE - BA - DGB - 0159 - 03...

  • Page 64: Firmware-Update

    Schaltfläche „OK“ bestätigen. 7. Die Firmware wird übertragen. Sobald das Firmware-Update abgeschlossen ist, wird das Mess-System automatisch neu gestartet und das Update ist fertiggestellt.  TR-Electronic GmbH 2020, All Rights Reserved Printed in the Federal Republic of Germany Page 64 of 131...

  • Page 65: Anhang

    Character String, 1 Byte/Zeichen, 1 Byte Längenindex EPATH CIP Pfad Segment STRINGI International Character String  TR-Electronic GmbH 2020, All Rights Reserved Printed in the Federal Republic of Germany 07/20/2020 TR - ECE - BA - DGB - 0159 - 03 Page 65 of 131...
  • Page 66 Anhang  TR-Electronic GmbH 2020, All Rights Reserved Printed in the Federal Republic of Germany Page 66 of 131 TR - ECE - BA - DGB - 0159 - 03 07/20/2020...
  • Page 67 User Manual _Configuration / Parameterization Interface _Troubleshooting / Diagnostic options  TR-Electronic GmbH 2020, All Rights Reserved Printed in the Federal Republic of Germany 07/20/2020 TR - ECE - BA - DGB - 0159 - 03 Page 67 of 131...
  • Page 68 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 2020, All Rights Reserved Printed in the Federal Republic of Germany Page 68 of 131...

  • Page 69: Contents

    8.1 Object 1001h: Error register ..................... 86 8.2 Object 1010h: Store Parameters ....................87 8.3 Object 1011h: Restore default parameter values ..............89  TR-Electronic GmbH 2020, All Rights Reserved Printed in the Federal Republic of Germany 07/20/2020 TR - ECE - BA - DGB - 0159 - 03...
  • Page 70 9.2.6.1 Measuring system – Work area ................114 9.2.6.1.1 Object 6401h: Work area low limit ................114 9.2.6.1.2 Object 6402h: Work area high limit ................115  TR-Electronic GmbH 2020, All Rights Reserved Printed in the Federal Republic of Germany Page 70 of 131...
  • Page 71 12.5 Miscellaneous faults ......................129 13 Firmware-Update ...........................130 14 Appendix ............................131 14.1 Elementary Data types ......................131  TR-Electronic GmbH 2020, All Rights Reserved Printed in the Federal Republic of Germany 07/20/2020 TR - ECE - BA - DGB - 0159 - 03...

  • Page 72: Revision Index

    Total measuring range (2002h and 6002h) edited 01/28/2020 Object 6030h: Speed edited 07/20/2020  TR-Electronic GmbH 2020, All Rights Reserved Printed in the Federal Republic of Germany Page 72 of 131 TR - ECE - BA - DGB - 0159 - 03...

  • Page 73: General Information

    - Series 1102: www.tr-electronic.com/s/S017038  EtherCAT P www.tr-electronic.de/f/TR-E-TI-DGB-0112  optional: -User Manual  TR-Electronic GmbH 2020, All Rights Reserved Printed in the Federal Republic of Germany 07/20/2020 TR - ECE - BA - DGB - 0159 - 03 Page 73 of 131...

  • Page 74: References

    IEEE 1588-2002 IEEE Standard for a Precision Clock Synchronization Protocol for Networked Measurement and Control Systems  TR-Electronic GmbH 2020, All Rights Reserved Printed in the Federal Republic of Germany Page 74 of 131 TR - ECE - BA - DGB - 0159 - 03...

  • Page 75: Abbreviations Used / Terminology

    Extensible Markup Language, description file for commissioning the measuring system.  TR-Electronic GmbH 2020, All Rights Reserved Printed in the Federal Republic of Germany 07/20/2020 TR - ECE - BA - DGB - 0159 - 03...

  • Page 76: Additional Safety Instructions

    "CANopen Device Profile for Encoder CiA DS-406". The technical guidelines for configuration of the Fast Ethernet network must be adhered to in order to ensure safe operation.  TR-Electronic GmbH 2020, All Rights Reserved Printed in the Federal Republic of Germany Page 76 of 131...

  • Page 77: Usage In Explosive Atmospheres

     Firmware no.  Declaration between TR electronic and the customer  TR-Electronic GmbH 2020, All Rights Reserved Printed in the Federal Republic of Germany 07/20/2020 TR - ECE - BA - DGB - 0159 - 03 Page 77 of 131...

  • Page 78: Ethercat Information

    As Fast-Ethernet works with Full Duplex, a physical ring structure also results. Figure 1: EtherCAT functional principle  TR-Electronic GmbH 2020, All Rights Reserved Printed in the Federal Republic of Germany Page 78 of 131...

  • Page 79: Object Dictionary

    Important features of SDO and PDO Figure 3: Comparison of PDO/SDO characteristics  TR-Electronic GmbH 2020, All Rights Reserved Printed in the Federal Republic of Germany 07/20/2020 TR - ECE - BA - DGB - 0159 - 03...

  • Page 80: 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 2020, All Rights Reserved Printed in the Federal Republic of Germany Page 80 of 131 TR - ECE - BA - DGB - 0159 - 03...

  • Page 81: Further Information

    + 49 (0) 9 11 / 5 40 5629 Email: info@ethercat.org Internet: www.ethercat.org  TR-Electronic GmbH 2020, All Rights Reserved Printed in the Federal Republic of Germany 07/20/2020 TR - ECE - BA - DGB - 0159 - 03 Page 81 of 131...

  • Page 82: Installation / Preparation For Commissioning

    „www.tr-electronic.com/service/downloads/pin-assignments.html”. The number of the pin assignment is noted on the nameplate of the measuring system.  TR-Electronic GmbH 2020, All Rights Reserved Printed in the Federal Republic of Germany Page 82 of 131...

  • Page 83: Ethercat P (Ethercat + Power)

    If activation of the output data was not possible, the measuring system remains in SAFE-OPERATIONAL status and outputs an error message.  TR-Electronic GmbH 2020, All Rights Reserved Printed in the Federal Republic of Germany 07/20/2020...

  • Page 84: Commissioning

    LEDs have to be taken from the enclosed pin assignment! Indicator states and flash rates Figure 5: Indicator states  TR-Electronic GmbH 2020, All Rights Reserved Printed in the Federal Republic of Germany Page 84 of 131...

  • Page 85: Operating Modes

    SYNC-Signals of the Distributed-Clocks-Unit. The relevant settings are performed in the EtherCAT master. By the measuring system the synchronization signals "SYNC0" and "SYNC1" are supported.  TR-Electronic GmbH 2020, All Rights Reserved Printed in the Federal Republic of Germany 07/20/2020...

  • Page 86: Communication-Specific Standard Objects (Cia Ds-301)

    Bit 0 For appropriate measures in case of error see chapter "Measuring system errors" page 128.  TR-Electronic GmbH 2020, All Rights Reserved Printed in the Federal Republic of Germany Page 86 of 131 TR - ECE - BA - DGB - 0159 - 03...

  • Page 87: Object 1010H: Store Parameters

    In order to avoid storage of parameters by mistake, storage is only executed when a specific signature is written to the object. The signature is "save".  TR-Electronic GmbH 2020, All Rights Reserved Printed in the Federal Republic of Germany...
  • Page 88 Service (Abort-Code = 0606 0000h -> EEPROM defective). If a wrong signature was written, the device refuses the storing and responds immediately with the Abort-Code = 0800 0020h.  TR-Electronic GmbH 2020, All Rights Reserved Printed in the Federal Republic of Germany Page 88 of 131...

  • Page 89: Object 1011H: Restore Default Parameter Values

    Abort-Code = 0606 0000h. If a wrong signature is written, the device refuses to restore the defaults and responds with abort domain transfer: Abort-Code = 0800 0020h.  TR-Electronic GmbH 2020, All Rights Reserved Printed in the Federal Republic of Germany 07/20/2020...

  • Page 90: Structure Of The Mapping Parameter

    5004 / 0 UNSIGNED32 Adjustment control 5005 / 0 UNSIGNED8  TR-Electronic GmbH 2020, All Rights Reserved Printed in the Federal Republic of Germany Page 90 of 131 TR - ECE - BA - DGB - 0159 - 03 07/20/2020...

  • Page 91: Object 1A00H: 1 St Transmit Pdo Mapping

    Alarms 6503 / 0 UINT16 Warnings 6505 / 0 UINT16  TR-Electronic GmbH 2020, All Rights Reserved Printed in the Federal Republic of Germany 07/20/2020 TR - ECE - BA - DGB - 0159 - 03 Page 91 of 131...

  • Page 92: Manufacturer And Profile-Specific Objects

    UDINT32 5005 Adjustment control USINT8 5006 Adjustment status USINT8 …  TR-Electronic GmbH 2020, All Rights Reserved Printed in the Federal Republic of Germany Page 92 of 131 TR - ECE - BA - DGB - 0159 - 03 07/20/2020...
  • Page 93 Object will only be active and permanently stored by means of object 1010h ∙ Object is immediately active but will only be permanently stored by means of object 1010h  TR-Electronic GmbH 2020, All Rights Reserved Printed in the Federal Republic of Germany...

  • Page 94: Manufacturer-Specific Objects (Tr)

    0x6002, Total measuring range in steps 0x2003, Number of revolution - numerator 0x2004, Number of revolution - denominator  TR-Electronic GmbH 2020, All Rights Reserved Printed in the Federal Republic of Germany Page 94 of 131 TR - ECE - BA - DGB - 0159 - 03...

  • Page 95: Object 2001H: Tr-Counting Direction (Operating Parameters)

    SDO-Abort-Transfer-Service, Abort-Code = 0604 0047h and reports a general incompatibility in the device. The parameters are not saved.  TR-Electronic GmbH 2020, All Rights Reserved Printed in the Federal Republic of Germany 07/20/2020 TR - ECE - BA - DGB - 0159 - 03...

  • Page 96: Object 2002H: Tr-Total Measuring Range

    Upper limit 256 000 Default 4096 Activation/Storage by object 0x1010  TR-Electronic GmbH 2020, All Rights Reserved Printed in the Federal Republic of Germany Page 96 of 131 TR - ECE - BA - DGB - 0159 - 03 07/20/2020...
  • Page 97 (zero transition) if the distance travelled is exceeded. To simplify matters the complete revolution range of the measuring system can also be programmed.  TR-Electronic GmbH 2020, All Rights Reserved Printed in the Federal Republic of Germany 07/20/2020...
  • Page 98 = 1348.073499 steps / rev. * 1 revolution denominator = 5521709 steps (rounded off)  TR-Electronic GmbH 2020, All Rights Reserved Printed in the Federal Republic of Germany Page 98 of 131 TR - ECE - BA - DGB - 0159 - 03...

  • Page 99: Speed Output

    Lower limit Upper limit 1000 Default by object 0x1010 Activation/Storage  TR-Electronic GmbH 2020, All Rights Reserved Printed in the Federal Republic of Germany 07/20/2020 TR - ECE - BA - DGB - 0159 - 03 Page 99 of 131...

  • Page 100: Object 2007H: Tr-Speed Factor

    0x03 = Position+Speed (48 bit, behind each other) Activation/Storage by object 0x1010  TR-Electronic GmbH 2020, All Rights Reserved Printed in the Federal Republic of Germany Page 100 of 131 TR - ECE - BA - DGB - 0159 - 03...

  • Page 101: Object 2502H: Ssi-Output - Code

    (0x0004) Upper limit 999 µs (0x03E7) Activation/Storage by object 0x1010  TR-Electronic GmbH 2020, All Rights Reserved Printed in the Federal Republic of Germany 07/20/2020 TR - ECE - BA - DGB - 0159 - 03 Page 101 of 131...

  • Page 102: Object 2505H: Ssi-Output - Special-Bit

    – 1 Upper limit Default by object 0x1010 Activation/Storage  TR-Electronic GmbH 2020, All Rights Reserved Printed in the Federal Republic of Germany Page 102 of 131 TR - ECE - BA - DGB - 0159 - 03 07/20/2020...

  • Page 103: Object 2512H: Preset-Input Value 2

    Data type USINT8 Access PDO mapping Activation/Storage by object 0x1010  TR-Electronic GmbH 2020, All Rights Reserved Printed in the Federal Republic of Germany 07/20/2020 TR - ECE - BA - DGB - 0159 - 03 Page 103 of 131...

  • Page 104: Object 2535H: Display Control

    Description Display Status Data type USINT8 Access PDO mapping Default  TR-Electronic GmbH 2020, All Rights Reserved Printed in the Federal Republic of Germany Page 104 of 131 TR - ECE - BA - DGB - 0159 - 03 07/20/2020...

  • Page 105: Object 3101H: Positions And Time Stamp

    Description Data type UDINT32 Access PDO mapping Value in ns  TR-Electronic GmbH 2020, All Rights Reserved Printed in the Federal Republic of Germany 07/20/2020 TR - ECE - BA - DGB - 0159 - 03 Page 105 of 131...

  • Page 106: Adjustment On The Fly

    Byte 3 to 2 to 2 to 2 to 2  TR-Electronic GmbH 2020, All Rights Reserved Printed in the Federal Republic of Germany Page 106 of 131 TR - ECE - BA - DGB - 0159 - 03 07/20/2020...

  • Page 107: Object 5005H: Adjustment Control

    Adjustment is not performed Adjustment is performed continuously 1 - 8 reserved  TR-Electronic GmbH 2020, All Rights Reserved Printed in the Federal Republic of Germany 07/20/2020 TR - ECE - BA - DGB - 0159 - 03 Page 107 of 131...

  • Page 108: Profile-Specific Objects (Cia Ds-406)

    6001h and 6002h. If there is an invalid combination, the value in object 6002h is corrected automatically. No error message is output.  TR-Electronic GmbH 2020, All Rights Reserved Printed in the Federal Republic of Germany Page 108 of 131...

  • Page 109: Object 6001H: Single Measuring Range

    "0" is already counted as a step, the end value = measurement length in steps - 1. Total measuring range = Steps per revolution * Number of revolutions  TR-Electronic GmbH 2020, All Rights Reserved Printed in the Federal Republic of Germany 07/20/2020...
  • Page 110  TR-Electronic GmbH 2020, All Rights Reserved Printed in the Federal Republic of Germany Page 110 of 131...

  • Page 111: Object 6003H: Preset Value

    Now, in another step the desired preset value can be written.  TR-Electronic GmbH 2020, All Rights Reserved Printed in the Federal Republic of Germany 07/20/2020...

  • Page 112: Object 6004H: Position Value

    The update of the speed value under the SDO object 0x6030:01 of the object directory only takes place when the object 0x6030:01 has been mapped to the process data.  TR-Electronic GmbH 2020, All Rights Reserved Printed in the Federal Republic of Germany Page 112 of 131...

  • Page 113: Object 6400H: Area State Register

    0: No range underflow 1: Position is lower than the position value set in object 0x6401 3 - 7 reserved, always 0  TR-Electronic GmbH 2020, All Rights Reserved Printed in the Federal Republic of Germany 07/20/2020 TR - ECE - BA - DGB - 0159 - 03...

  • Page 114: Measuring System - Work Area

    Channel 1, low limit DINT32 Channel 2, low limit DINT32  TR-Electronic GmbH 2020, All Rights Reserved Printed in the Federal Republic of Germany Page 114 of 131 TR - ECE - BA - DGB - 0159 - 03 07/20/2020...

  • Page 115: Object 6402H: Work Area High Limit

    3 - 15 reserved  TR-Electronic GmbH 2020, All Rights Reserved Printed in the Federal Republic of Germany 07/20/2020 TR - ECE - BA - DGB - 0159 - 03 Page 115 of 131...

  • Page 116: Object 6501H: Single-Turn Resolution

    Data type UDINT32 Access PDO mapping Upper limit device specific  TR-Electronic GmbH 2020, All Rights Reserved Printed in the Federal Republic of Germany Page 116 of 131 TR - ECE - BA - DGB - 0159 - 03 07/20/2020...

  • Page 117: Object 6503H: Alarms

    Reserved for further use EE-PROM error 13 - 15 Manufacturer specific functions  TR-Electronic GmbH 2020, All Rights Reserved Printed in the Federal Republic of Germany 07/20/2020 TR - ECE - BA - DGB - 0159 - 03 Page 117 of 131...

  • Page 118: Object 6505H: Warnings

    The limit values can be seen on the device specific data sheet. All warnings are cleared if the tolerances are again within normal parameters.  TR-Electronic GmbH 2020, All Rights Reserved Printed in the Federal Republic of Germany Page 118 of 131...

  • Page 119: Object 6506H: Supported Warnings

    Profile and Software Version Data type UDINT32 Access PDO mapping  TR-Electronic GmbH 2020, All Rights Reserved Printed in the Federal Republic of Germany 07/20/2020 TR - ECE - BA - DGB - 0159 - 03 Page 119 of 131...

  • Page 120: Object 6508H: Operating Time

    0x650B Description Serial Number Data type UDINT32 Access PDO mapping  TR-Electronic GmbH 2020, All Rights Reserved Printed in the Federal Republic of Germany Page 120 of 131 TR - ECE - BA - DGB - 0159 - 03 07/20/2020...

  • Page 121: Read-Out The Supported Objects Of The Measuring System

    ● Click the Advanced button ● Select radio button Online... ● --> All Objects  TR-Electronic GmbH 2020, All Rights Reserved Printed in the Federal Republic of Germany 07/20/2020 TR - ECE - BA - DGB - 0159 - 03...

  • Page 122: Perform „Adjustment On The Fly

    + adjustment value. If the new position value exceeds the measuring length, it is set accordingly as overflow, based on the current measuring length.  TR-Electronic GmbH 2020, All Rights Reserved Printed in the Federal Republic of Germany Page 122 of 131...
  • Page 123 1. Installation of the ESI file into the directory ...\Io\EtherCAT. 2. Installation of the Device-Box: 3. Selection of the Device-Box:  TR-Electronic GmbH 2020, All Rights Reserved Printed in the Federal Republic of Germany 07/20/2020 TR - ECE - BA - DGB - 0159 - 03...
  • Page 124 6. In the concrete example of the following figure, the input variable "Var 34" is linked to the object 0x6004, the position.  TR-Electronic GmbH 2020, All Rights Reserved Printed in the Federal Republic of Germany Page 124 of 131...
  • Page 125 "OK" button, the value of the object 0x5004 also changes in the object directory. In the specific case, the value 7000 can be seen.  TR-Electronic GmbH 2020, All Rights Reserved Printed in the Federal Republic of Germany...
  • Page 126 Note: Regardless of whether a relative or absolute adjustment has been performed, the last set adjustment/preset value is displayed in object 0x6003.  TR-Electronic GmbH 2020, All Rights Reserved Printed in the Federal Republic of Germany Page 126 of 131...

  • Page 127: Error Causes And Remedies

    If the error recurs despite this Flickering reached. measure, the measuring system must be replaced.  TR-Electronic GmbH 2020, All Rights Reserved Printed in the Federal Republic of Germany 07/20/2020 TR - ECE - BA - DGB - 0159 - 03 Page 127 of 131...

  • Page 128: Measuring System Errors

    0x08 00 00 23 Dynamic creation error in the object dictionary, or no object dictionary present Table 3: SDO Abort Codes  TR-Electronic GmbH 2020, All Rights Reserved Printed in the Federal Republic of Germany Page 128 of 131 TR - ECE - BA - DGB - 0159 - 03...

  • Page 129: Emergency Error Codes

     TR-Electronic GmbH 2020, All Rights Reserved Printed in the Federal Republic of Germany 07/20/2020 TR - ECE - BA - DGB - 0159 - 03...

  • Page 130: Firmware-Update

    7. The firmware will be transferred. As soon as the firmware update is completed, the measuring system is automatically restarted and the update is completed.  TR-Electronic GmbH 2020, All Rights Reserved Printed in the Federal Republic of Germany Page 130 of 131...

  • Page 131: Appendix

    Character String, 1 Byte/Character, 1 Byte length indicator EPATH CIP Path Segment STRINGI International Character String  TR-Electronic GmbH 2020, All Rights Reserved Printed in the Federal Republic of Germany 07/20/2020 TR - ECE - BA - DGB - 0159 - 03 Page 131 of 131...

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