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

Canopen interface
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Drehgeber
Baureihe:
- 582
- 802
- 1102
_Zusätzliche Sicherheitshinweise
_Installation
_Inbetriebnahme
_Parametrierung
_Fehlerursachen und Abhilfen
D
Seite 2 - 98
GB
Page 99 - 196
Benutzerhandbuch

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Summary of Contents for TR-Electronic 582 Series

  • Page 1 Seite 2 - 98 Page 99 - 196 Drehgeber Baureihe: - 582 - 802 - 1102 _Zusätzliche Sicherheitshinweise _Installation _Inbetriebnahme _Parametrierung _Fehlerursachen und Abhilfen Benutzerhandbuch...
  • Page 2 CANopen und CiA sind eingetragene Gemeinschaftsmarken der CAN in Automation e.V.  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany Page 2 of 196 TR - ECE - BA - DGB - 0147 - 02...

  • Page 3: Table Of Contents

    4.7.7.3 LSS identify non-configured remote slave Protokoll ..............35 4.7.7.4 LSS identify non-configured slave Protokoll................35 4.8 Geräteprofil ..........................36  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany 03/06/2020 TR - ECE - BA - DGB - 0147 - 02...
  • Page 4 8.17 Objekt 1021h: EDS abspeichern ..................55 8.18 Objekt 1022h: EDS Speicherformat ..................55 8.19 Objekt 1029h: Verhalten im Fehlerfall .................. 55  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany Page 4 of 196...
  • Page 5 9.3.2.1 Objekt 6001h: Mess-Schritte pro Umdrehung ................80 9.3.2.2 Objekt 6002h: Gesamt Messlänge in Schritten ................. 80 9.3.3 Objekt 6003h: Presetwert ..................82  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany 03/06/2020 TR - ECE - BA - DGB - 0147 - 02...
  • Page 6 11.3.2 Objekt 1003h: Vordefiniertes Fehlerfeld, Bits 0 – 15 ..........97 11.4 Alarm-Meldungen ......................... 97 11.5 Sonstige Störungen ......................98  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany Page 6 of 196 TR - ECE - BA - DGB - 0147 - 02...

  • Page 7: Änderungs-Index

    Erstausgabe 22.05.2019 Zweitschnittstelle SSI erweitert 31.10.2019 Zweitschnittstelle Inkremental erweitert 06.03.2020  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany 03/06/2020 TR - ECE - BA - DGB - 0147 - 02 Page 7 of 196...

  • Page 8: Allgemeines

    - Baureihe 582: www.tr-electronic.de/s/S020796 - Baureihe 802: www.tr-electronic.de/s/S020797 - Baureihe 1102: www.tr-electronic.de/s/S020798  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany Page 8 of 196 TR - ECE - BA - DGB - 0147 - 02 03/06/2020...

  • Page 9: Referenzen

    V2.2.5, Layer Setting Services (LSS) und Protokolle, November 2010 CiA DS-406 V3.2, CANopen Profil für Encoder, Dezember 2006  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany 03/06/2020 TR - ECE - BA - DGB - 0147 - 02...

  • Page 10: Verwendete Abkürzungen / Begriffe

    Service Data Object. Punkt zu Punkt Kommunikation mit Zugriff auf die Objekt-Datenliste eines Gerätes. Synchron-Serielles-Interface  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany Page 10 of 196 TR - ECE - BA - DGB - 0147 - 02...

  • Page 11: Zusätzliche Sicherheitshinweise

    "CANopen Device Profile für Encoder CiA DS-406 V2.0A". Die technischen Richtlinien zum Aufbau des CANopen Netzwerks der CAN- Nutzerorganisation CiA sind für einen sicheren Betrieb zwingend einzuhalten.  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany 03/06/2020...

  • Page 12: Optionale Schnittstellenvarianten

    Funktionsumfang der dazugehörigen EDS-Datei  Firmware-Nr.  Vereinbarung zwischen TR-Electronic und dem Kunden  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany Page 12 of 196 TR - ECE - BA - DGB - 0147 - 02 03/06/2020...

  • Page 13: Canopen Informationen

    Geräteprofile entwickelt, in der mit der Struktur des Objektverzeichnisses und den allgemeinen Kodierungsregeln der gemeinsame Nenner aller Geräteprofile definiert ist.  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany 03/06/2020 TR - ECE - BA - DGB - 0147 - 02...

  • Page 14: Canopen - Kommunikationsprofil

    Network Management Object (NMO) z.B. Life / Node-Guarding Boot-Up,… Error Control Protokoll  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany Page 14 of 196 TR - ECE - BA - DGB - 0147 - 02 03/06/2020...

  • Page 15: Prozess- Und Service-Daten-Objekte

    Bestätigung bestätigende Dienste Abbildung 3: Gegenüberstellung von PDO/SDO-Eigenschaften  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany 03/06/2020 TR - ECE - BA - DGB - 0147 - 02 Page 15 of 196...

  • Page 16: Objektverzeichnis (Object Dictionary)

    SYNC 0001bin 1005 181h – 1FFh PDO1 (tx) 0011bin 1800h  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany Page 16 of 196 TR - ECE - BA - DGB - 0147 - 02 03/06/2020...

  • Page 17: Übertragung Von Sdo Nachrichten

    Im Fall eines Fehlers (SDO Response CCD = 0x80) enthält der Datenbereich einen 4-Byte-Fehlercode, der über die Fehlerursache Auskunft gibt. Die Bedeutung der Fehlercodes ist aus der Tabelle 10, Seite 95 zu entnehmen.  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany 03/06/2020...
  • Page 18 0x01 SDO Response Die Bytes 1 bis 7 beinhalten die angeforderten Daten.  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany Page 18 of 196 TR - ECE - BA - DGB - 0147 - 02...

  • Page 19: Lese Sdo

    Wenn nur 1 Datenbyte (Daten 0) Daten enthält, ist der Wert von Byte 0 = "4Fh". Ist Byte 0 = 80h, wird die Übertragung abgebrochen.  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany 03/06/2020...

  • Page 20: Schreibe Sdo

    High Byte Ist Byte 0 = 80h, wird die Übertragung abgebrochen.  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany Page 20 of 196 TR - ECE - BA - DGB - 0147 - 02...

  • Page 21: Netzwerkmanagement, Nmt

    (9),(10),(11) Reset_Node --> Reset Knoten (12),(13),(14) Reset_Communication --> Reset Kommunikation  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany 03/06/2020 TR - ECE - BA - DGB - 0147 - 02 Page 21 of 196...

  • Page 22: Netzwerkmanagement-Dienste

    (14) erster Zustand nach dem Einschalten. Tabelle 4: NMT-Dienste zur Gerätekontrolle  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany Page 22 of 196 TR - ECE - BA - DGB - 0147 - 02...

  • Page 23: Nmt-Dienste Zur Verbindungsüberwachung

    Ist die Life Time = 0, ist das Life Guarding abgeschaltet. Tabelle 5: Parameter für NMT-Dienste  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany 03/06/2020 TR - ECE - BA - DGB - 0147 - 02...

  • Page 24: Layer Setting Services (Lss) Und Protokolle

    LSS identify non-configured slave  Rückmeldung der LSS-Slaves auf das vorherige Kommando  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany Page 24 of 196 TR - ECE - BA - DGB - 0147 - 02...

  • Page 25: Finite State Automaton, Fsa

    LSS identify remote slave LSS identify slave LSS identify non-configured remote slave LSS identify non-configured slave  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany 03/06/2020 TR - ECE - BA - DGB - 0147 - 02...

  • Page 26: Übertragung Von Lss-Diensten

    Byte 7 Tabelle 7: LSS-Nachricht Byte 0 enthält die Command-Specifier (CS), danach folgen 7 Byte für die Daten.  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany Page 26 of 196 TR - ECE - BA - DGB - 0147 - 02...

  • Page 27: Switch Mode Protokolle

    0x43 LSS-Slave --> LSS-Master COB-ID Reserved by CiA 0x7E4 0x44  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany 03/06/2020 TR - ECE - BA - DGB - 0147 - 02 Page 27 of 196...

  • Page 28: Configuration Protokolle

    SDO geändert werden. Siehe hierzu auch Kap. 5.4 „Einstellen der Node-ID und Baudrate“ auf Seite 39 und Kap. 9.2.9 „Objekt 2110h: LSS Node-ID“ auf Seite 70.  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany...

  • Page 29: Configure Bit Timing Parameters Protokoll

    SDO geändert werden. Siehe hierzu auch Kap. 5.4 „Einstellen der Node-ID und Baudrate“ auf Seite 39 und Kap. 9.2.10 „Objekt 2111h: LSS-BitTiming“ auf Seite 70.  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany 03/06/2020...

  • Page 30: Activate Bit Timing Parameters Protokoll

    Specific Error Wenn Error Code = 255 --> applikationsspezifischer Fehler aufgetreten, sonst reserviert durch die CiA  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany Page 30 of 196 TR - ECE - BA - DGB - 0147 - 02...

  • Page 31: Inquire Lss-Address Protokolle

    LSS-Slave --> LSS-Master Product-Code (≙Index 1018h:02) COB-ID Reserved by CiA 0x7E4 0x5B  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany 03/06/2020 TR - ECE - BA - DGB - 0147 - 02 Page 31 of 196...

  • Page 32: Inquire Identity Revision-Number Protokoll

    LSS-Slave --> LSS-Master Serial-No. (≙Index 1018h:04) COB-ID Reserved by CiA 0x7E5 0x5D  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany Page 32 of 196 TR - ECE - BA - DGB - 0147 - 02 03/06/2020...

  • Page 33: Inquire Node-Id Protokoll

    Node-ID zurückgemeldet. Erst nach Ausführung des NMT-Dienstes Reset Communication (0x82) wird die aktuelle Node-ID zurückgemeldet.  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany 03/06/2020 TR - ECE - BA - DGB - 0147 - 02...

  • Page 34: Identification Protokolle

    LSS-Adress-Attributen entsprechen, antworten mit diesem Protokoll. LSS-Slave --> LSS-Master COB-ID Reserved by CiA 0x7E4 0x4F  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany Page 34 of 196 TR - ECE - BA - DGB - 0147 - 02 03/06/2020...

  • Page 35: Lss Identify Non-Configured Remote Slave Protokoll

    Protokoll. LSS-Slave --> LSS-Master COB-ID Reserved by CiA 0x7E4 0x50  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany 03/06/2020 TR - ECE - BA - DGB - 0147 - 02 Page 35 of 196...

  • Page 36: Geräteprofil

    DE-91058 Erlangen Tel. +49-9131-69086-0 Fax +49-9131-69086-79 Website: www.can-cia.org E-Mail: headquarters@can-cia.org  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany Page 36 of 196 TR - ECE - BA - DGB - 0147 - 02 03/06/2020...

  • Page 37: 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 2019, All Rights Reserved Printed in the Federal Republic of Germany 03/06/2020 TR - ECE - BA - DGB - 0147 - 02...

  • Page 38: Anschluss - Hinweise

    Daten-Objekte möglich. Es ist aber möglich, PDOs unter Nutzung von SDOs zu konfigurieren. Ist das Mess-System in den Zustand OPERATIONAL überführt worden, ist auch eine Übertragung von PDOs möglich.  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany Page 38 of 196...

  • Page 39: Einstellen Der Node-Id Und Baudrate

    Mode = 0 in den Zustand Waiting state bringen. NMT-Dienst Reset Communication (0x82) aufrufen, damit die neue Node-ID  aktiv wird.  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany 03/06/2020 TR - ECE - BA - DGB - 0147 - 02...

  • Page 40: Konfiguration Der Baudrate

    2111h: LSS-BitTiming“ eingestellt. Siehe Kap.: 9.2.9 und 9.2.10. Die über SDOs eingestellte Node-ID und Baudrate entsprechen den über LSS- Dienste eingestellten Werten und überschreiben sich gegenseitig.  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany Page 40 of 196...

  • Page 41: Inbetriebnahme

    Die Steckerbelegungsnummer ist auf dem Typenschild des Mess-Systems vermerkt. Entsprechende Maßnahmen im Fehlerfall siehe Kapitel „Optische Anzeigen“, Seite 94.  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany 03/06/2020 TR - ECE - BA - DGB - 0147 - 02...

  • Page 42: Kommunikations-Profil

    Istwert kann nur über einen Remote-Frame übertragen werden Istwert wird asynchron mit dem Timerwert aus den Objekten 1800h und 1801h übertragen (Subindex 5)  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany Page 42 of 196...

  • Page 43: Aufbau Der Mappingparameter, 1A00H-1A01H

    Subindex und der Länge in Bit: Index Subindex Länge in Bit  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany 03/06/2020 TR - ECE - BA - DGB - 0147 - 02 Page 43 of 196...

  • Page 44: Ändern Der Mappingeinstellung

    Seite 69. In der Standardeinstellung kann jetzt der Positionswert auf verschiedene Arten übertragen werden:  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany Page 44 of 196 TR - ECE - BA - DGB - 0147 - 02...

  • Page 45: Erstes Sende-Prozessdaten-Objekt

    7. gemapptes Objekt 0000 0000h 8. gemapptes Objekt 0000 0000h  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany 03/06/2020 TR - ECE - BA - DGB - 0147 - 02 Page 45 of 196...

  • Page 46: Kommunikationsspezifische Standard-Objekte (Cia Ds-301)

    1F80 NMT Autostart Unsigned32 Tabelle 8: Kommunikationsspezifische Standard-Objekte segmentiertes Lesen  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany Page 46 of 196 TR - ECE - BA - DGB - 0147 - 02 03/06/2020...

  • Page 47: Objekt 1000H: Gerätetyp

    Im Moment des Auftretens wird ein Fehler durch eine EMCY- Nachricht signalisiert. Unsigned8 Bedeutung generischer Fehler Kommunikationsfehler (Überlauf, Fehlerstatus)  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany 03/06/2020 TR - ECE - BA - DGB - 0147 - 02 Page 47 of 196...

  • Page 48: Objekt 1002H: Hersteller-Status-Register

    Byte 1 Byte 2 Byte 3 Fehlercode Zusatz-Fehlerinformation, wird nicht unterstützt  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany Page 48 of 196 TR - ECE - BA - DGB - 0147 - 02 03/06/2020...

  • Page 49: Objekt 1005H: Cob-Id Sync Nachricht

    8.8 Objekt 100Ah: Hersteller Softwareversion Enthält die Firmware-Nr. (visible string) Übertragung per „Segment Protokoll“.  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany 03/06/2020 TR - ECE - BA - DGB - 0147 - 02...

  • Page 50: Objekt 100Ch: Guard-Time (Überwachungszeit)

    Node-Guarding-Protokoll. Standardwert = 0. Unsigned8 Life-Time-Faktor Byte 0 bis 2  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany Page 50 of 196 TR - ECE - BA - DGB - 0147 - 02 03/06/2020...

  • Page 51: Objekt 1010H: Parameter Abspeichern

    0606 0000 h. Wurde eine falsche Signatur geschrieben, verweigert das Gerät die Speicherung und antwortet mit Abbruch der Übertragung: Fehlercode 0800 0020 h.  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany 03/06/2020 TR - ECE - BA - DGB - 0147 - 02...

  • Page 52: Objekt 1011H: Wiederherstellung Der Parameter-Standardwerte

    Übertragung: Fehlercode 0606 0000 h. Wurde eine falsche Signatur geschrieben, verweigert das Gerät die Wiederherstellung und antwortet mit Abbruch der Übertragung: Fehlercode 0800 0020 h.  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany Page 52 of 196...

  • Page 53: Objekt 1014H: Cob-Id Emergency (Emcy)

    Heartbeat time [ms], Default = 0 Die Heartbeat time ist als Vielfaches von 1 ms anzugeben. Der Eintrag für die Node- ID entspricht der Node-ID des zu überwachenden Knotens.  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany 03/06/2020...

  • Page 54: Objekt 1017H: Producer Heartbeat Time

    Revisions-Nr. Subindex4: Bei Lesezugriff liefert das Gerät Informationen über die Serien-Nr.: aktuelle Serien-Nr.  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany Page 54 of 196 TR - ECE - BA - DGB - 0147 - 02...

  • Page 55: Objekt 1021H: Eds Abspeichern

    (nur wenn sich das Gerät im OPERATIONAL-Mode befindet) keine Änderung des NMT-Status NMT in STOPPED-Mode versetzen  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany 03/06/2020 TR - ECE - BA - DGB - 0147 - 02...

  • Page 56: Firmware-Update

    SDO Abort-Nachricht ausgegeben. Die Abort-Nachricht 0609 0030h zeigt an, dass die Aktion nicht unterstützt wird. Die Abort-Nachricht 0800 0022h zeigt an, dass die Aktion im Moment nicht ausgeführt werden kann.  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany Page 56 of 196...

  • Page 57: Objekt 1F56H: Programm Software Identifikation

    2…7 Nicht unterstützt 8…15 Reserviert (immer 0) 16…31 Nicht unterstützt  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany 03/06/2020 TR - ECE - BA - DGB - 0147 - 02 Page 57 of 196...

  • Page 58: Objekt 1F80H: Nmt Autostart

    Start Der Versuch ein Bit zu ändern das nicht im Mess-System vorhanden ist, veranlasst eine Abort-Nachricht (0609 0030h).  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany Page 58 of 196 TR - ECE - BA - DGB - 0147 - 02...

  • Page 59: Parametrierung

    2710 TR-Produktion Unsigned8 2720 TR-Produktion Unsigned8 2721 TR-Produktion Unsigned16 …  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany 03/06/2020 TR - ECE - BA - DGB - 0147 - 02 Page 59 of 196...
  • Page 60 EEPROM abgespeichert. Ist sofort nach Aufruf wirksam und wird dauerhaft im EEPROM abgespeichert. Segmentiertes Lesen  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany Page 60 of 196 TR - ECE - BA - DGB - 0147 - 02...

  • Page 61: Objekt 2000H: Mode-Umschaltung Tr / Cia Ds-406

    0x6002, Gesamtmesslänge in Schritten 0x2003, Anzahl Umdrehungen - Zähler 0x2004, Anzahl Umdrehungen - Nenner  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany 03/06/2020 TR - ECE - BA - DGB - 0147 - 02...

  • Page 62: Tr - Mode

    Sicherstellen, dass sich Positionierungen im stromlosen Zustand bei einem Multi-Turn Mess-System innerhalb von 512 Umdrehungen befinden.  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany Page 62 of 196 TR - ECE - BA - DGB - 0147 - 02...

  • Page 63: Objekt 2002H: Tr-Gesamtmesslänge In Schritten

    Gesamtmesslänge in Schritten = Anzahl Schritte pro Umdrehung * Anzahl Umdrehungen Zur Berechnung können die Parameter Schritte/Umdr. und Anzahl Umdrehungen vom Typenschild des Mess-Systems abgelesen werden.  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany 03/06/2020...

  • Page 64: Objekt 2003H - 2004H: Tr-Umdrehungen Zähler / Nenner

    Anzahl der Umdrehungen: Anzahl Umdrehungen Zähler Anzahl der Umdrehungen = Anzahl Umdrehungen Nenner  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany Page 64 of 196 TR - ECE - BA - DGB - 0147 - 02...
  • Page 65 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 2019, All Rights Reserved Printed in the Federal Republic of Germany 03/06/2020 TR - ECE - BA - DGB - 0147 - 02...
  • Page 66 = 1348,073499 Schritte / Umdr. * 1 Umdrehung Nenner = 5521709 Schritte (abgerundet)  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany Page 66 of 196 TR - ECE - BA - DGB - 0147 - 02...

  • Page 67: Objekt 2005H: Geschwindigkeitsauflösung

    9.2.4 Objekt 2006h: Zusätzliche Parameter/Kommandos (gerätespezifisch) Über dieses Objekt können gerätespezifische Parameter/Kommandos ausgetauscht werden.  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany 03/06/2020 TR - ECE - BA - DGB - 0147 - 02...

  • Page 68: Objekt 2007H: Geschwindigkeitsfaktor

    * 0,05 s 32768 Schritte (Schritte/Integrationszeit) * Faktor = 32768 Schritte / 50 ms  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany Page 68 of 196 TR - ECE - BA - DGB - 0147 - 02...

  • Page 69: Objekt 2100H: Cob-Id Für Boot-Up Nachricht

    TPDO2 Senden bei Node-Start AUS (standard) 2 - 7 reserviert  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany 03/06/2020 TR - ECE - BA - DGB - 0147 - 02 Page 69 of 196...

  • Page 70: Objekt 2110H: Lss Node-Id

    0x08 = 10 kbit/s 9.2.11 Objekt 2200h: DMF abspeichern Dieses Objekt dient zu Servicezwecken.  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany Page 70 of 196 TR - ECE - BA - DGB - 0147 - 02...

  • Page 71: Ssi-Ausgabe

    Wert 0x00 = Gray 0x01 = Binär 0x02 = Gray gekappt  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany 03/06/2020 TR - ECE - BA - DGB - 0147 - 02 Page 71 of 196...

  • Page 72: Objekt 2503H: Ssi-Anzahl Datenbits

    PDO Mapping Untergrenze 4 µs (0x0004) Obergrenze 999 µs (0x03E7)  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany Page 72 of 196 TR - ECE - BA - DGB - 0147 - 02 03/06/2020...

  • Page 73: Presetfunktion

    Untergrenze programmierte Messlänge in Schritten – 1 Obergrenze Default  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany 03/06/2020 TR - ECE - BA - DGB - 0147 - 02 Page 73 of 196...

  • Page 74: Inkremental-Ausgabe

    0x00 = K1 zu K2 90° voreilend * 0x01 = K1 zu K2 90° nacheilend * * Drehrichtung der Mess-System-Welle im Uhrzeigersinn mit Sicht auf den Flansch.  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany Page 74 of 196...

  • Page 75: Objekt 2523H: Inkremental-K0 Verhalten

    Ausgangstreiber: RS422-Ausgangsstufe 0x01 = HTL, US Versorgungsspannung Ausgangstreiber: Gegentakt-Ausgangsstufe Versorgungsspannung muss > 8 VDC betragen.  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany 03/06/2020 TR - ECE - BA - DGB - 0147 - 02...

  • Page 76: Objekt 2525H: Inkremental-K0 Länge

    0 = K0 wird auf die aktuelle Position gesetzt programmierte Anzahl Impulse (Kap.: 9.2.14.2) Obergrenze  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany Page 76 of 196 TR - ECE - BA - DGB - 0147 - 02...

  • Page 77: Externe-Anzeige

    Display Control Beschreibung Datentyp UNSIGNED8 Objektcode VARIABLE Zugriff PDO Mapping nein  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany 03/06/2020 TR - ECE - BA - DGB - 0147 - 02 Page 77 of 196...

  • Page 78: Objekt 2536H: Anzeige-Daten Numerisch

    PDO Mapping 9.2.16 TR-Produktion Die Objekte „TR-Produktion“ sind für herstellerspezifische Funktionen reserviert.  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany Page 78 of 196 TR - ECE - BA - DGB - 0147 - 02...

  • Page 79: Cia Ds-406 - Mode

     Sicherstellen, dass sich Positionierungen im stromlosen Zustand bei einem Multi-Turn Mess-System innerhalb von 512 Umdrehungen befinden.  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany 03/06/2020 TR - ECE - BA - DGB - 0147 - 02...

  • Page 80: 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 2019, All Rights Reserved Printed in the Federal Republic of Germany Page 80 of 196...
  • Page 81 Gesamtschrittzahl unterschritten wird und das Mess-System vor Erreichen des maximalen mechanischen Verfahrweges einen Nullübergang generiert.  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany 03/06/2020 TR - ECE - BA - DGB - 0147 - 02...

  • Page 82: Objekt 6003H: Presetwert

    Byte 3 bis 2 bis 2 bis 2 bis 2  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany Page 82 of 196 TR - ECE - BA - DGB - 0147 - 02 03/06/2020...

  • Page 83: Objekt 6030H: Geschwindigkeit

    Timers sich auch im Cyclic Timer auswirkt und umgekehrt. Die Kommunikationsparameter 1801h benutzt ausschließlich seinen eigenen Timer, Zugriff über Subindex 5.  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany 03/06/2020 TR - ECE - BA - DGB - 0147 - 02...

  • Page 84: Objekt 6400H: Bereichs-Statusregister

    - 2 147 483 648 = (0x8000 0000) Untergrenze + 2 147 483 647 = (0x7FFF FFFF) Obergrenze  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany Page 84 of 196 TR - ECE - BA - DGB - 0147 - 02...

  • Page 85: Mess-System Diagnose

    2 bis 2 bis 2 Standardwert: abhängig von der Kapazität, siehe Typenschild  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany 03/06/2020 TR - ECE - BA - DGB - 0147 - 02 Page 85 of 196...

  • Page 86: Objekt 6502H: Anzahl Der Umdrehungen

    59392 = E800h Umdrehungen. Da dieses Objekt nur einen 16 Bit-Wert speichern kann, wird der höherwertige Anteil der Zahl 3E800h (256.000) nicht dargestellt.  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany Page 86 of 196...

  • Page 87: Objekt 6503H: Alarme

    EE-PROM-Fehler Das Mess-System hat eine falsche Checksumme im EEPROM-Bereich erkannt, oder ein Schreibvorgang in das EEPROM konnte nicht erfolgreich abgeschlossen werden.  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany 03/06/2020 TR - ECE - BA - DGB - 0147 - 02...

  • Page 88: Objekt 6504H: Unterstützte Alarme

    EE-PROM-Fehler Nein Reserviert für weitere Verwendung herstellerspezifische Funktionen herstellerspezifische Funktionen  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany Page 88 of 196 TR - ECE - BA - DGB - 0147 - 02 03/06/2020...

  • Page 89: 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 2019, All Rights Reserved Printed in the Federal Republic of Germany 03/06/2020 TR - ECE - BA - DGB - 0147 - 02...

  • Page 90: Objekt 6506H: Unterstützte Warnungen

    Reserviert für weitere Verwendung Temperaturwarnung Nein herstellerspezifische Funktionen herstellerspezifische Funktionen herstellerspezifische Funktionen  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany Page 90 of 196 TR - ECE - BA - DGB - 0147 - 02 03/06/2020...

  • Page 91: Objekt 6507H: Profil- Und Softwareversion

    Operating time Datentyp UNSIGNED32 Objektcode VARIABLE Zugriff PDO Mapping nein  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany 03/06/2020 TR - ECE - BA - DGB - 0147 - 02 Page 91 of 196...

  • Page 92: Objekt 6509H: Offsetwert

    Serial number Datentyp UNSIGNED32 Objektcode VARIABLE Zugriff nein PDO Mapping  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany Page 92 of 196 TR - ECE - BA - DGB - 0147 - 02 03/06/2020...

  • Page 93: Emergency-Meldung

    Wenn der Fehler nicht mehr vorhanden ist, überträgt das Mess-System eine Emergency-Meldung mit dem Fehlercode "0" (Reset Fehler / kein Fehler) und Fehler- Register "0".  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany 03/06/2020...

  • Page 94: Fehlerursachen Und Abhilfen

    PRE-OPERATIONAL- oder den STOPPED-Mode überführt werden soll, siehe Seite 55. In diesem Fall ist die abgesetzte Emergency-Meldung auszuwerten, siehe Emergency-Fehlercodes ab Seite 96.  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany Page 94 of 196...

  • Page 95: Sdo-Fehlercodes

    Keine Daten verfügbar bei Lesezugriff auf Objekt 1003h Subindex 01, siehe Seite 48. Tabelle 10: SDO-Fehlercodes  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany 03/06/2020 TR - ECE - BA - DGB - 0147 - 02...

  • Page 96: Emergency-Fehlercodes

    Fehlers wird das Fehlerregister zurückgesetzt und eine EMCY-Nachricht mit Fehlercode „0x000“ übertragen. Bedeutung generischer Fehler Kommunikationsfehler (Überlauf, Fehlerstatus)  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany Page 96 of 196 TR - ECE - BA - DGB - 0147 - 02 03/06/2020...

  • Page 97: Objekt 1003H: Vordefiniertes Fehlerfeld, Bits 0 - 15

    Speicherbereich im internen System getauscht werden. EE-PROM-Fehler EEPROM defekt Tabelle 12: Alarm-Meldungen  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany 03/06/2020 TR - ECE - BA - DGB - 0147 - 02 Page 97 of 196...

  • Page 98: Sonstige Störungen

    Mess-System getauscht werden. Defekt der Abtastung. Tabelle 13: Sonstige Störungen  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany Page 98 of 196 TR - ECE - BA - DGB - 0147 - 02...
  • Page 99 User Manual _Commissioning Interface _Parameterization _Cause of faults and remedies  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany 03/06/2020 TR - ECE - BA - DGB - 0147 - 02 Page 99 of 196...
  • Page 100 CANopen and CiA are registered community trademarks of CAN in Automation e.V.  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany Page 100 of 196 TR - ECE - BA - DGB - 0147 - 02...
  • Page 101 4.7.7.3 LSS identify non-configured remote slave protocol ..............133 4.7.7.4 LSS identify non-configured slave protocol ................133 4.8 Device profile .......................... 134  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany 03/06/2020 TR - ECE - BA - DGB - 0147 - 02...
  • Page 102 8.17 Object 1021h: Store EDS ..................... 153 8.18 Object 1022h: Store format ....................153 8.19 Object 1029h: Error behavior object ..................153  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany Page 102 of 196...
  • Page 103 9.3.2.1 Object 6001h: Measuring units per revolution ................178 9.3.2.2 Object 6002h: Total measuring range in measuring units............178 9.3.3 Object 6003h: Preset value..................180  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany 03/06/2020...
  • Page 104 11.3.2 Object 1003h: Pre-defined Error field, bits 0 – 15 ..........195 11.4 Alarm messages ........................195 11.5 Other faults ........................... 196  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany Page 104 of 196...

  • Page 105: Revision Index

    Additional SSI interface added 10/31/2019 Additional incremental interface added 03/06/2020  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany 03/06/2020 TR - ECE - BA - DGB - 0147 - 02 Page 105 of 196...

  • Page 106: General Information

    - Series 582: www.tr-electronic.de/s/S020796 - Series 802: www.tr-electronic.de/s/S020797 - Series 1102: www.tr-electronic.de/s/S020798  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany Page 106 of 196 TR - ECE - BA - DGB - 0147 - 02 03/06/2020...

  • Page 107: References

    V2.2.5, Layer Setting Services (LSS) and Protocols, November 2010 CiA DS-406 V3.2, CANopen Profile for Encoder, December 2006  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany 03/06/2020 TR - ECE - BA - DGB - 0147 - 02...

  • Page 108: Abbreviations And Definitions

    Service Data Object. Peer to peer communication with access to the Object Dictionary of a device. Synchronous-Serial-Interface  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany Page 108 of 196 TR - ECE - BA - DGB - 0147 - 02...

  • Page 109: Additional Safety Instructions

    The technical guidelines for the structure of the CANopen network from the CAN User Organization CiA are always to be observed in order to ensure safe operation.  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany...

  • Page 110: Optional Interface Variants

     Firmware no.  Declaration between TR electronic and the customer  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany Page 110 of 196 TR - ECE - BA - DGB - 0147 - 02...

  • Page 111: Canopen Information

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

  • Page 112: Canopen - Communication Profile

    Network Management Object (NMO) e.g. Life / Node-Guarding Boot-Up,… Error Control Protocol  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany Page 112 of 196 TR - ECE - BA - DGB - 0147 - 02 03/06/2020...

  • Page 113: Process- And Service-Data-Objects

    CAN pure acknowledged services no Acknowledgement Figure 3: Comparison of PDO/SDO characteristics  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany 03/06/2020 TR - ECE - BA - DGB - 0147 - 02 Page 113 of 196...

  • Page 114: Object Dictionary

    SYNC 0001bin 1005 181h – 1FFh PDO1 (tx) 0011bin 1800h  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany Page 114 of 196 TR - ECE - BA - DGB - 0147 - 02 03/06/2020...

  • Page 115: Transmission Of Sdo Messages

    In the case of an error (SDO response CCD = 0x80) the data field contains a 4-byte error code, which gives information about the error cause. Meaning of the error codes, see Table 10 on page 193.  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany 03/06/2020...
  • Page 116 0x01 SDO Response The bytes 1 to 7 contain the requested data.  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany Page 116 of 196 TR - ECE - BA - DGB - 0147 - 02...

  • Page 117: Read Sdo

    If only 1 data byte (Data 0) contains data the value of byte 0 is "4FH". If byte 0 = 80h the transfer has been aborted.  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany...

  • Page 118: Write Sdo

    High Byte If byte 0 = 80h the transfer has been aborted.  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany Page 118 of 196 TR - ECE - BA - DGB - 0147 - 02...

  • Page 119: Network Management, Nmt

    (4),(7) Enter_PRE-OPERATIONAL_State --> Pre-Operational (5),(8) Stop_Remote_Node (9),(10),(11) Reset_Node (12),(13),(14) Reset_Communication  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany 03/06/2020 TR - ECE - BA - DGB - 0147 - 02 Page 119 of 196...

  • Page 120: Network Management Services

    Afterwards transition into the INITIALIZATION state, first state (14) after Power on. Table 4: NMT device control services  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany Page 120 of 196 TR - ECE - BA - DGB - 0147 - 02...

  • Page 121: Nmt Node / Life Guarding Services

    Guard Time = 0: No monitoring active Life Time = 0: Life guarding disabled Table 5: Parameter for NMT services  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany 03/06/2020 TR - ECE - BA - DGB - 0147 - 02...

  • Page 122: Layer Setting Services (Lss) And Protocols

    ● LSS identify non-configured remote slave ● LSS identify non-configured slave  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany Page 122 of 196 TR - ECE - BA - DGB - 0147 - 02...

  • Page 123: Finite State Automaton, Fsa

    LSS identify remote slave LSS identify slave LSS identify non-configured remote slave LSS identify non-configured slave  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany 03/06/2020 TR - ECE - BA - DGB - 0147 - 02...

  • Page 124: Transmission Of Lss Services

    Byte 7 Table 7: LSS message Byte 0 contains the Command-Specifier (CS), afterwards 7 byte data are following.  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany Page 124 of 196 TR - ECE - BA - DGB - 0147 - 02...

  • Page 125: Switch Mode Protocols

    0x43 LSS-Slave --> LSS-Master COB-ID Reserved by CiA 0x7E4 0x44  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany 03/06/2020 TR - ECE - BA - DGB - 0147 - 02 Page 125 of 196...

  • Page 126: Configuration Protocols

    SDO. See also chapter 5.4 "Setting the Node-ID and Baud rate" on page 137 and chap. 9.2.9 "Object 2110h: LSS Node-ID" on page 168.  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany Page 126 of 196...

  • Page 127: Configure Bit Timing Parameters Protocol

    BitTiming" using SDO. See also chapter 5.4 "Setting the Node-ID and Baud rate" on page 137 and chap. 9.2.10 "Object 2111h: LSS BitTiming" on page 168.  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany...

  • Page 128: Activate Bit Timing Parameters Protocol

    Specific Error if Error Code = 255 --> application specific error occurred, otherwise reserved by CiA  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany Page 128 of 196 TR - ECE - BA - DGB - 0147 - 02...

  • Page 129: Inquire Lss Address Protocols

    LSS-Slave --> LSS-Master Product-Code (≙Index 1018h:02) COB-ID Reserved by CiA 0x7E4 0x5B  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany 03/06/2020 TR - ECE - BA - DGB - 0147 - 02 Page 129 of 196...

  • Page 130: Inquire Identity Revision-Number Protocol

    LSS-Slave --> LSS-Master Serial-No. (≙Index 1018h:04) COB-ID Reserved by CiA 0x7E5 0x5D  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany Page 130 of 196 TR - ECE - BA - DGB - 0147 - 02 03/06/2020...

  • Page 131: Inquire Node-Id Protocol

    Configure Node-ID service, the original Node-ID is reported. Only after execution of the NMT service Reset Communication (0x82) the actual Node-ID is reported.  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany 03/06/2020...

  • Page 132: Identification Protocols

    LSS-Slave --> LSS-Master Reserved by CiA COB-ID 0x7E4 0x4F  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany Page 132 of 196 TR - ECE - BA - DGB - 0147 - 02 03/06/2020...

  • Page 133: Lss Identify Non-Configured Remote Slave Protocol

    LSS-Slave --> LSS-Master COB-ID Reserved by CiA 0x7E4 0x50  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany 03/06/2020 TR - ECE - BA - DGB - 0147 - 02 Page 133 of 196...

  • Page 134: Device Profile

    DE-91058 Erlangen Tel. +49-9131-69086-0 Fax +49-9131-69086-79 Website: www.can-cia.org e-mail: headquarters@can-cia.org  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany Page 134 of 196 TR - ECE - BA - DGB - 0147 - 02 03/06/2020...

  • Page 135: Installation / Preparation For Start-Up

    In particular, the applicable EMC directive and the shielding and grounding guidelines must be observed!  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany 03/06/2020 TR - ECE - BA - DGB - 0147 - 02...

  • Page 136: Connection - Notes

    Objects is possible. But it is possible to configure PDOs with the help of SDOs. If the measuring system was transferred into the OPERATIONAL state, also a transmission of PDOs is possible.  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany Page 136 of 196...

  • Page 137: Setting The Node-Id And Baud Rate

    Mode = 0, to switch the LSS slave into Waiting state. Perform NMT service Reset Communication (0x82), to switch the new  Node-ID active.  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany 03/06/2020 TR - ECE - BA - DGB - 0147 - 02...

  • Page 138: Configuration Of The Baud Rate

    2111h: LSS BitTiming". See chapters 9.2.9 and 9.2.10. The Node-ID and Baud rate set via SDOs correspond to the values set via LSS services and overwrite each other.  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany Page 138 of 196...

  • Page 139: Commissioning

    Corresponding measures in case of an error see chapter “Optical displays”, page 192.  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany 03/06/2020 TR - ECE - BA - DGB - 0147 - 02...

  • Page 140: Communication Profile

    Actual value can be transferred only over a remote frame Actual value is transferred asynchronously with the timer value from object 1800h and 1801h (sub-index 5)  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany Page 140 of 196...

  • Page 141: Structure Of The Mapping Parameter, 1A00H-1A01H

    PDO by their index, sub-index and length in bit: Index Sub-index Length in bit  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany 03/06/2020 TR - ECE - BA - DGB - 0147 - 02...

  • Page 142: Procedure For Re-Mapping

    "Object 2101h: Send PDO at Node-Start" on page 167. In the default setting the measuring system position value can be transmitted in different ways:  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany Page 142 of 196...

  • Page 143: 1St Transmit Process-Data-Object

    7. mapped object 0000 0000h 8. mapped object 0000 0000h  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany 03/06/2020 TR - ECE - BA - DGB - 0147 - 02 Page 143 of 196...

  • Page 144: Communication Specific Standard Objects (Cia Ds-301)

    NMT startup Unsigned32 Table 8: Communication specific standard objects segmented reading  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany Page 144 of 196 TR - ECE - BA - DGB - 0147 - 02...

  • Page 145: Object 1000H: Device Type

    EMCY message. Unsigned8 Meaning generic error communication error (overrun, error state)  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany 03/06/2020 TR - ECE - BA - DGB - 0147 - 02 Page 145 of 196...

  • Page 146: Object 1002H: Manufacturer Status Register

    Byte 2 Byte 3 Error code Additional Information, not supported  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany Page 146 of 196 TR - ECE - BA - DGB - 0147 - 02 03/06/2020...

  • Page 147: Object 1005H: Cob-Id Sync Message

    8.8 Object 100Ah: Software version Contains the manufacturer software version (visible string), transmission via “Segment Protocol”.  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany 03/06/2020 TR - ECE - BA - DGB - 0147 - 02...

  • Page 148: Object 100Ch: Guard Time

    Default value = 0. Unsigned8 Life Time Factor Byte 0 to 2  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany Page 148 of 196 TR - ECE - BA - DGB - 0147 - 02 03/06/2020...

  • Page 149: Object 1010H: Store Parameters

    Error code 0606 0000h. If a wrong signature is written, the device refuses to save and responds with abort domain transfer: Error code 0800 0020h.  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany 03/06/2020...

  • Page 150: Object 1011H: Restore Default Parameter Values

    If a wrong signature is written, the device refuses to restore the defaults and responds with abort domain transfer: Error code 0800 0020h.  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany Page 150 of 196...

  • Page 151: Object 1014H: Cob-Id Emergency (Emcy)

    The heartbeat time is given in multiples of 1 ms. The entry for the Node-ID corresponds to the Node-ID of the node to be guarded.  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany 03/06/2020...

  • Page 152: Object 1017H: Producer Heartbeat Time

    Sub-index3: Provides information about the Revision-No.: current Revision-No. Sub-index4: Provides information about the Serial-No.: current Serial-No.  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany Page 152 of 196 TR - ECE - BA - DGB - 0147 - 02...

  • Page 153: Object 1021H: Store Eds

    (only if currently in NMT state OPERATIONAL) No change of the NMT state Change to NMT state STOPPED  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany 03/06/2020 TR - ECE - BA - DGB - 0147 - 02...

  • Page 154: Firmware Update

    The SDO abort code 0800 0022h shall indicate that a requested action can currently not be performed.  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany Page 154 of 196...

  • Page 155: Object 1F56H: Program Software Identification

    2..7 Not supported 8…15 Reserved (always 0) 16…31 Not supported  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany 03/06/2020 TR - ECE - BA - DGB - 0147 - 02 Page 155 of 196...

  • Page 156: Object 1F80H: Nmt Autostart

    An attempt to change a bit of a functionality that is not supported by the CANopen device shall be responded with the abort message 0609 0030h.  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany...

  • Page 157: Parameterization

    2710 TR-Production Unsigned8 2720 TR-Production Unsigned8 2721 TR-Production Unsigned16 …  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany 03/06/2020 TR - ECE - BA - DGB - 0147 - 02 Page 157 of 196...
  • Page 158 "1010, Store parameters". Is immediately active and durably stored in the EEPROM after a write command. segmented reading  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany Page 158 of 196 TR - ECE - BA - DGB - 0147 - 02...

  • Page 159: Object 2000H: Mode Selection Tr / Cia Ds-406

    0x2002, Total measuring range in steps 0x6002, Total measuring range in steps 0x2003, Number of revolution - numerator 0x2004, Number of revolution - denominator  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany 03/06/2020 TR - ECE - BA - DGB - 0147 - 02...

  • Page 160: Tr - Mode

    2  Ensure that every positioning in the de-energized state for a multi-turn measuring system is within 512 revolutions.  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany Page 160 of 196...

  • Page 161: Object 2002H: Tr-Total Measuring Range In Steps

    Total measuring range = Steps per revolution * Number of revolutions To calculate, the parameters steps/rev. and the number of revolutions can be read on the measuring system nameplate.  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany 03/06/2020...

  • Page 162: Object 2003H - 2004H: Tr-Number Of Revolutions, Numerator / Denominator

    Number of revolutions numerator Number of revolutions = Number of revolutions denominator  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany Page 162 of 196 TR - ECE - BA - DGB - 0147 - 02...
  • Page 163 (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 2019, All Rights Reserved Printed in the Federal Republic of Germany 03/06/2020...
  • Page 164 = 1348.073499 steps / rev. * 1 revolution denominator = 5521709 steps (rounded off)  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany Page 164 of 196 TR - ECE - BA - DGB - 0147 - 02...

  • Page 165: Object 2005H: Speed Unit

    See Object 2000h: Mode selection TR / CiA DS-406. 9.2.4 Object 2006h: Additional Parameter/Commands (device specific) About this object device specific parameters and commands can be exchanged.  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany 03/06/2020...

  • Page 166: Object 2007H: Speed Factor

    * 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 Page 166 of 196 TR - ECE - BA - DGB - 0147 - 02...

  • Page 167: Object 2100H: Cob-Id For Bootup Message

    Send TPDO2 at Node-Start off (default) 2 - 7 Reserved for further use  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany 03/06/2020 TR - ECE - BA - DGB - 0147 - 02 Page 167 of 196...

  • Page 168: Object 2110H: Lss Node-Id

    0x08 = 10 kbit/s 9.2.11 Object 2200h: Store DMF This object is for service purposes.  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany Page 168 of 196 TR - ECE - BA - DGB - 0147 - 02...

  • Page 169: Ssi-Output

    Value 0x00 = Gray 0x01 = Binary 0x02 = Gray cut  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany 03/06/2020 TR - ECE - BA - DGB - 0147 - 02 Page 169 of 196...

  • Page 170: Object 2503H: Ssi-Output - Number Of Data-Bits

    Lower limit 4 µs (0x0004) Upper limit 999 µs (0x03E7)  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany Page 170 of 196 TR - ECE - BA - DGB - 0147 - 02 03/06/2020...

  • Page 171: Preset Function

    Lower limit programmed measuring length in steps – 1 Upper limit Default  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany 03/06/2020 TR - ECE - BA - DGB - 0147 - 02 Page 171 of 196...

  • Page 172: Incremental-Output

    0x00 = K1 leads to K2 by 90° * 0x01 = K1 lagging to K2 by 90° * * Turning direction clockwise with view on the flange.  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany Page 172 of 196...

  • Page 173: Object 2523H: Incremental-Output K0-Condition

    0x00 = TTL, 5 VDC; Output driver: RS422 0x01 = HTL, US Supply voltage; Output driver: Push-Pull The supply voltage must be > 8 VDC  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany 03/06/2020...

  • Page 174: Object 2525H: Incremental-Output K0 Len

    0 = K0 is set to the current position programmed number of pulses (chapter: 9.2.14.2) Upper limit  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany Page 174 of 196 TR - ECE - BA - DGB - 0147 - 02...

  • Page 175: External Display

    Display Control Data type UNSIGNED8 Object code VARIABLE Access PDO mapping  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany 03/06/2020 TR - ECE - BA - DGB - 0147 - 02 Page 175 of 196...

  • Page 176: Object 2536H: Display Data Numeric

    PDO mapping 9.2.16 TR-Production The objects "TR-Produktion" are reserved for manufacturer-specific functions.  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany Page 176 of 196 TR - ECE - BA - DGB - 0147 - 02...

  • Page 177: Cia Ds-406 - Mode

     Ensure that every positioning in the de-energized state for a multi-turn measuring system is within 512 revolutions.  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany 03/06/2020 TR - ECE - BA - DGB - 0147 - 02...

  • Page 178: Object 6001H: Measuring Units Per Revolution

    "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 2019, All Rights Reserved Printed in the Federal Republic of Germany Page 178 of 196...
  • Page 179  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany 03/06/2020...

  • Page 180: Object 6003H: Preset Value

    Byte 3 to 2 to 2 to 2 to 2  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany Page 180 of 196 TR - ECE - BA - DGB - 0147 - 02 03/06/2020...

  • Page 181: Object 6030H: Speed Value

    That means that a change in the event timer causes a change in the cyclic timer and vice versa. The communication parameter 1801h exclusively uses its own timer, access over sub-index 5.  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany 03/06/2020...

  • Page 182: Object 6400H: Area State Register

    Lower limit + 2 147 483 647 = (0x7FFF FFFF) Upper limit  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany Page 182 of 196 TR - ECE - BA - DGB - 0147 - 02...

  • Page 183: Measuring System Diagnostics

    2 to 2 to 2 Standard value: depending on capacity marked on nameplate  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany 03/06/2020 TR - ECE - BA - DGB - 0147 - 02...

  • Page 184: Object 6502H: Number Of Distinguishable Revolutions

    Standard value: 59392 = E800h revolutions. Since this object only can store a 16-bit value, the high-order word with the number 3E800h (256.000) is not represented.  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany Page 184 of 196...

  • Page 185: Object 6503H: Alarms

    EE-PROM error The measuring system detects a wrong checksum in the EEPROM area or a write process into the EEPROM could not be finished successfully.  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany 03/06/2020...

  • Page 186: Object 6504H: Supported Alarms

    EE-PROM error Manufacturer specific functions Manufacturer specific functions Manufacturer specific functions  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany Page 186 of 196 TR - ECE - BA - DGB - 0147 - 02...

  • Page 187: Object 6505H: Warnings

    Limits: 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 2019, All Rights Reserved Printed in the Federal Republic of Germany 03/06/2020...

  • Page 188: Object 6506H: Supported Warnings

    Temperature warning Manufacturer specific functions Manufacturer specific functions Manufacturer specific functions  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany Page 188 of 196 TR - ECE - BA - DGB - 0147 - 02...

  • Page 189: Object 6507H: Profile And Software Version

    Operating time Data type UNSIGNED32 Object code VARIABLE Access PDO mapping  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany 03/06/2020 TR - ECE - BA - DGB - 0147 - 02 Page 189 of 196...

  • Page 190: Object 6509H: Offset Value

    Serial number Data type UNSIGNED32 Object code VARIABLE Access PDO mapping  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany Page 190 of 196 TR - ECE - BA - DGB - 0147 - 02 03/06/2020...

  • Page 191: Emergency Message

    1001h. If the error disappears, the measuring system transmits an emergency message with error code "0" (reset error / no error) and error register "0".  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany 03/06/2020...

  • Page 192: Causes Of Faults And Remedies

    STOPPED-Mode, see page 153. In this case the emergency massage should be evaluated, see "Emergency Error codes" on page 194.  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany Page 192 of 196...

  • Page 193: Sdo Error Codes

    No data available access on object 1003h sub-index 1, see page 146. Table 10: SDO Error codes  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany 03/06/2020 TR - ECE - BA - DGB - 0147 - 02...

  • Page 194: Emergency Error Codes

    "0x000" is transferred. Meaning generic error communication error (overrun, error state)  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany Page 194 of 196 TR - ECE - BA - DGB - 0147 - 02...

  • Page 195: Object 1003H: Pre-Defined Error Field, Bits 0 - 15

    EE-PROM error EE-PROM defective Table 12: Alarm messages  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany 03/06/2020 TR - ECE - BA - DGB - 0147 - 02...

  • Page 196: Other Faults

    Table 13: Other faults  TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany Page 196 of 196 TR - ECE - BA - DGB - 0147 - 02...

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