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TR-Electronic LA-46 Manual

Rthercat +multi sensor 3
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+Multi sensor 3
Linear Encoder
magnetostrictiv
_Zusätzliche Sicherheitshinweise
_Installation
_Inbetriebnahme
_Konfiguration / Parametrierung
_Fehlerursachen und Abhilfen
5610xx / 5618xx / 5626xx
D
Seite 2 - 68
GB
Page 69 - 135
Benutzerhandbuch
Benutzerhandbuch

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Summary of Contents for TR-Electronic LA-46

  • Page 1 Seite 2 - 68 Page 69 - 135 +Multi sensor 3 Linear Encoder magnetostrictiv _Zusätzliche Sicherheitshinweise _Installation _Inbetriebnahme _Konfiguration / Parametrierung _Fehlerursachen und Abhilfen Benutzerhandbuch Benutzerhandbuch 5610xx / 5618xx / 5626xx...
  • Page 2 Alle anderen genannten Produkte, Namen und Logos dienen ausschließlich Informationszwecken und können Warenzeichen ihrer jeweiligen Eigentümer sein, ohne dass eine besondere Kennzeichnung erfolgt.  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 2 of 135...

  • Page 3: Table Of Contents

    5.2.2 Link / Data Activity LED, IN/OUT ................29 5.2.3 Net Run LED ......................29 6 Betriebsarten ........................... 30  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 06/06/2019 TR - ELA - BA - DGB - 0007 - 13...
  • Page 4 9.3.1 Emergency Error Codes ..................66 9.3.2 Error Register ......................66 9.4 Sonstige Störungen ........................ 67  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 4 of 135 TR - ELA - BA - DGB - 0007 - 13...

  • Page 5: Änderungs-Index

    - LMRI-46 / LMPI-46 ergänzt 20.01.17 - Technische Daten entfernt LMRB-27 ergänzt 06.06.19  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 06/06/2019 TR - ELA - BA - DGB - 0007 - 13 Page 5 of 135...

  • Page 6: Allgemeines

    Es gelten somit zusammen folgende Dokumentationen:  siehe Kapitel „Mitgeltende Dokumente“ in der Montageanleitung www.tr-electronic.de/f/TR-ELA-BA-DGB-0004  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 6 of 135 TR - ELA - BA - DGB - 0007 - 13...

  • Page 7: Referenzen

    IEEE 1588-2002 IEEE Standard for a Precision Clock Synchronization Protocol for Networked Measurement and Control Systems  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 06/06/2019 TR - ELA - BA - DGB - 0007 - 13...

  • Page 8: Verwendete Abkürzungen / Begriffe

    Objekt-Datenliste eines Gerätes. Extensible Markup Language, Beschreibungsdatei für die Inbetriebnahme des Mess-Systems.  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 8 of 135 TR - ELA - BA - DGB - 0007 - 13...

  • Page 9: Zusätzliche Sicherheitshinweise

    Beachten der Montageanleitung, insbesondere das dort enthaltene Kapitel "Grundlegende Sicherheitshinweise" muss vor Arbeitsbeginn gelesen und verstanden worden sein  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 06/06/2019 TR - ELA - BA - DGB - 0007 - 13...

  • Page 10: Organisatorische Maßnahmen

    Dies gilt in besonderem Maße für nur gelegentlich, z.B. bei der Parametrierung des Mess-Systems, tätig werdendes Personal.  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 10 of 135 TR - ELA - BA - DGB - 0007 - 13...

  • Page 11: Ethercat Informationen

    Ringstruktur. Slave Slave Slave Master Ethernet Abbildung 1: EtherCAT-Funktionsprinzip  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 06/06/2019 TR - ELA - BA - DGB - 0007 - 13 Page 11 of 135...

  • Page 12: Protokoll

    Informationen zu einem lokalen Zeitpunkt der Datenerfassung liefern. Durch das System hängt die Genauigkeit einer Geschwindigkeitsberechnung nicht mehr vom Jitter des Kommunikationssystems ab.  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 12 of 135...

  • Page 13: Geräteprofil

    Protokoll, und damit das vom CANopen her bekannte „Device Profile for Encoder“, CiA DS-406. Abbildung 3: CANopen over EtherCAT Kommunikationsmechanismus  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 06/06/2019 TR - ELA - BA - DGB - 0007 - 13...

  • Page 14: Canopen Over Ethercat (Coe)

    Abbildung 5: EtherCAT eingeordnet im ISO/OSI-Schichtenmodell EN 50325-4: Industrielle-Kommunikations-Systeme, basierend auf ISO 11898 (CAN) für Controller-Device Interfaces. Teil 4: CANopen.  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 14 of 135 TR - ELA - BA - DGB - 0007 - 13...

  • Page 15: Objektverzeichnis

    Wichtige Merkmale von SDO und PDO Abbildung 7: Gegenüberstellung von PDO/SDO-Eigenschaften  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 06/06/2019 TR - ELA - BA - DGB - 0007 - 13...

  • Page 16: Kompatibilität Zum Cia Ds-301 Kommunikationsprofil

    „Download SDO Segment” Request / „Upload SDO Segment” Response kann mehr als 7 Byte Daten beinhalten Download und Upload aller Sub-Indices auf einmal  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 16 of 135...

  • Page 17: Übertragung Von Sdo Nachrichten

    Über diese Dienste können jeweils bis zu vier Byte geschrieben, bzw. bis zu vier Byte gelesen werden. Für die meisten Objekte ist dies ausreichend.  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 06/06/2019...
  • Page 18 übertragen, welche nicht mit der Initiate SDO Upload Dienstantwort übertragen werden konnten. Der Server startet so viele Upload SDO Segment Dienste, bis alle Daten vom Server übertragen worden sind.  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 18 of 135...

  • Page 19: Canopen Over Ethercat Protokoll

    2 Byte schreiben SDO Request 0x2F 1 Byte schreiben SDO Request  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 06/06/2019 TR - ELA - BA - DGB - 0007 - 13 Page 19 of 135...

  • Page 20: Initiate Sdo Download Expedited Response

    Datenbereich einen 4-Byte-Fehlercode, der über die Fehlerursache Auskunft gibt, siehe Kapitel SDO Abort Codes, Seite 64.  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 20 of 135 TR - ELA - BA - DGB - 0007 - 13...

  • Page 21: Initiate Sdo Upload Expedited Request

    Aus dem obigen Protokoll lässt sich folgendes SDO-Lesetelegramm ableiten: Bedeutung Gültig für 0x40 Leseanforderung SDO Request  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 06/06/2019 TR - ELA - BA - DGB - 0007 - 13 Page 21 of 135...

  • Page 22: Initiate Sdo Upload Expedited Response

    Datenbereich einen 4-Byte-Fehlercode, der über die Fehlerursache Auskunft gibt, siehe Kapitel SDO Abort Codes, Seite 64.  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 22 of 135 TR - ELA - BA - DGB - 0007 - 13...

  • Page 23: Pdo-Mapping

    Stop Output Update, Stop Input Update Stop Input Update, Stop Mailbox Communication Stop Output Update, Stop Input Update, Stop Mailbox Communication  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 06/06/2019 TR - ELA - BA - DGB - 0007 - 13...

  • Page 24: Weitere Informationen

    + 49 (0) 9 11 / 5 40 5629 Email: info@ethercat.org Internet: www.ethercat.org  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 24 of 135 TR - ELA - BA - DGB - 0007 - 13 06/06/2019...

  • Page 25: Installation / Inbetriebnahmevorbereitung

    Normen und Richtlinien zu beachten! Insbesondere sind die EMV-Richtlinie sowie die Schirmungs- und Erdungsrichtlinien in den jeweils gültigen Fassungen zu beachten!  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 06/06/2019 TR - ELA - BA - DGB - 0007 - 13...

  • Page 26: Anschluss

    21 03 281 1405 HARAX M12-L Für Servicezwecke, z.B. Softwareupdate  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 26 of 135 TR - ELA - BA - DGB - 0007 - 13 06/06/2019...

  • Page 27: Einschalten Der Versorgungsspannung

    Zustände SAFE-OPERATIONAL OPERATIONAL. In der Regel werden die Mailbox-Zugriffe über SDO-Anforderungen ausgelöst.  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 06/06/2019 TR - ELA - BA - DGB - 0007 - 13 Page 27 of 135...

  • Page 28: Inbetriebnahme

    Triple flash gefolgt von einer langen AUS-Zeit, 1000 ms. Tabelle 5: LED Anzeigezustände  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 28 of 135 TR - ELA - BA - DGB - 0007 - 13...

  • Page 29: Link / Data Activity Led, In/Out

    Gerät befindet sich im SAFE-OPERATIONAL Zustand Single Flash Gerät befindet sich im OPERATIONAL Zustand  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 06/06/2019 TR - ELA - BA - DGB - 0007 - 13...

  • Page 30: Betriebsarten

    EtherCAT-Master den Betriebsmodus „Free Run“ zur Verfügung. In diesem Betriebsmodus gibt das Mess-System keine plausiblen Geschwindigkeits- und Beschleunigungswerte aus.  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 30 of 135 TR - ELA - BA - DGB - 0007 - 13...

  • Page 31: Kommunikationsspezifische Standard-Objekte (Cia Ds-301)

    Sync Manager 3 1C33 ARRAY Unsigned16 Parameter (Input) Tabelle 6: Kommunikationsspezifische Standard-Objekte  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 06/06/2019 TR - ELA - BA - DGB - 0007 - 13 Page 31 of 135...

  • Page 32: Objekt 1000H: Gerätetyp

    PDO Mapping nein Wert " ", abhängig von der Geräteausführung  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 32 of 135 TR - ELA - BA - DGB - 0007 - 13 06/06/2019...

  • Page 33: Objekt 1009H: Hersteller Hardwareversion

    PDO Mapping nein Wert "Vxxx", abhängig von der aktuellen Version  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 06/06/2019 TR - ELA - BA - DGB - 0007 - 13 Page 33 of 135...

  • Page 34: Objekt 1018H: Identity Objekt

    Datentyp UNSIGNED32 Kategorie Mandatory Zugriff PDO Mapping nein Wert 1289  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 34 of 135 TR - ELA - BA - DGB - 0007 - 13 06/06/2019...
  • Page 35 Serial Number Datentyp UNSIGNED32 Kategorie Mandatory Zugriff PDO Mapping nein Wert  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 06/06/2019 TR - ELA - BA - DGB - 0007 - 13 Page 35 of 135...

  • Page 36: Objekt 1A00H: 1 St Transmit Pdo Mapping

    Bit 8-15: Sub-Index des gemappten Objekts = 0 Bit 16-31: Index des gemappten Objekts = 3000  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 36 of 135 TR - ELA - BA - DGB - 0007 - 13...
  • Page 37 Bit 8-15: Sub-Index des gemappten Objekts = 1 Bit 16-31: Index des gemappten Objekts = 6030  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 06/06/2019 TR - ELA - BA - DGB - 0007 - 13...

  • Page 38: Nd Transmit Pdo Mapping

    3. Magnet 0x6020 03 20 Geschwindigkeit 3. Magnet 0x6030 03 10  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 38 of 135 TR - ELA - BA - DGB - 0007 - 13 06/06/2019...

  • Page 39: Th Transmit Pdo Mapping

    2. Magnet 0x6030 02 10 Beschleunigung 2. Magnet 0x6040 02 10  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 06/06/2019 TR - ELA - BA - DGB - 0007 - 13 Page 39 of 135...
  • Page 40 3. Magnet 0x6030 03 10 Beschleunigung 3. Magnet 0x6040 03 10  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 40 of 135 TR - ELA - BA - DGB - 0007 - 13 06/06/2019...

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

    PDO Mapping nein Wert 2: Mailbox senden (Slave --> Master)  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 06/06/2019 TR - ELA - BA - DGB - 0007 - 13 Page 41 of 135...
  • Page 42 Zugriff PDO Mapping nein Wert 4: Prozessdaten-Eingang (Slave --> Master)  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 42 of 135 TR - ELA - BA - DGB - 0007 - 13 06/06/2019...

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

    0x1A04: TxPDO 5 oder 0x1A05: TxPDO 6 Default 0x1A00: TxPDO 1  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 06/06/2019 TR - ELA - BA - DGB - 0007 - 13 Page 43 of 135...

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

    PDO Mapping nein Wert Min. Zeit zwischen zwei SM2/3 Ereignissen in ns.  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 44 of 135 TR - ELA - BA - DGB - 0007 - 13...
  • Page 45 Wert vom lokalen Speicher zum Sync Manager benötigt, bevor die Daten für den EtherCAT verfügbar sind.  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 06/06/2019 TR - ELA - BA - DGB - 0007 - 13...
  • Page 46 Nur relevant für Synchronisations-Typ = 2 und Wert untergeordneten lokalem Zyklus.  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 46 of 135 TR - ELA - BA - DGB - 0007 - 13...

  • Page 47: Hersteller- Und Profilspezifische Objekte (Cia Ds-406)

    Unsigned32 6030 Geschwindigkeitswerte Integer16 6040 Beschleunigungswerte Integer16 Tabelle 7: Encoder-Profilbereich  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 06/06/2019 TR - ELA - BA - DGB - 0007 - 13 Page 47 of 135...

  • Page 48: Objekt 2000H: Parameter Übernehmen

    Bit 0 = 1: Interpolation eingeschaltet Default Bit 0 = 1: Interpolation eingeschaltet  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 48 of 135 TR - ELA - BA - DGB - 0007 - 13...

  • Page 49: Objekt 2002H: Beobachter

    Wert 4 = Mittelung von 4 Werten 8 = Mittelung von 8 Werten Default  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 06/06/2019 TR - ELA - BA - DGB - 0007 - 13...

  • Page 50: Objekt 3000H: Status

    Kategorie Optional Zugriff PDO Mapping nein Wert Wert in µs  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 50 of 135 TR - ELA - BA - DGB - 0007 - 13 06/06/2019...

  • Page 51: Objekt 6000H: Betriebsparameter

    Auflösung in Objekt 6005, Sub-Index 1 „Positions-Schritt“. Messlänge  Messlänge Schritten Auflösung  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 06/06/2019 TR - ELA - BA - DGB - 0007 - 13 Page 51 of 135...

  • Page 52: Objekt 6005H: Linear-Encoder, Mess-Schritt

    Anzahl der Einträge Datentyp UNSIGNED8 Kategorie Mandatory Zugriff PDO Mapping nein Wert  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 52 of 135 TR - ELA - BA - DGB - 0007 - 13 06/06/2019...
  • Page 53 Ausgabe in 1 m/s : Eingabewert = 1000 Default 100 = 0,1 ms  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 06/06/2019 TR - ELA - BA - DGB - 0007 - 13 Page 53 of 135...

  • Page 54: Objekt 6010H: Presetwerte

    Anzahl der verfügbaren Kanäle Datentyp UNSIGNED8 Kategorie Mandatory Zugriff PDO Mapping nein Wert  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 54 of 135 TR - ELA - BA - DGB - 0007 - 13 06/06/2019...
  • Page 55 Wert innerhalb des Bereiches von 0 bis Messlänge in Wert Schritten. Bei erfolgreicher Übernahme wird „1“ zurückgemeldet.  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 06/06/2019 TR - ELA - BA - DGB - 0007 - 13...

  • Page 56: Objekt 6020H: Positionswerte

    Kategorie Mandatory Zugriff PDO Mapping Wert Magnet 1: aktuelle Ist-Position  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 56 of 135 TR - ELA - BA - DGB - 0007 - 13 06/06/2019...
  • Page 57 Kategorie Mandatory Zugriff PDO Mapping Wert Magnet 3: aktuelle Ist-Position  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 06/06/2019 TR - ELA - BA - DGB - 0007 - 13 Page 57 of 135...

  • Page 58: Objekt 6030H: Geschwindigkeitswerte

    Mandatory Zugriff PDO Mapping Magnet 1: -32768…32767, 2er-Komplement Darstellung Wertebereich  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 58 of 135 TR - ELA - BA - DGB - 0007 - 13 06/06/2019...
  • Page 59 Optional Zugriff PDO Mapping Magnet 3: -32768…32767, 2er-Komplement Darstellung Wertebereich  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 06/06/2019 TR - ELA - BA - DGB - 0007 - 13 Page 59 of 135...

  • Page 60: Objekt 6040H: Beschleunigungswerte

    Mandatory Zugriff PDO Mapping Magnet 1: -32768…32767, 2er-Komplement Darstellung Wertebereich  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 60 of 135 TR - ELA - BA - DGB - 0007 - 13 06/06/2019...
  • Page 61 Optional Zugriff PDO Mapping Magnet 3: -32768…32767, 2er-Komplement Darstellung Wertebereich  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 06/06/2019 TR - ELA - BA - DGB - 0007 - 13 Page 61 of 135...

  • Page 62: Fehlerursachen Und Abhilfen

    Mess-System betriebsbereit, Verbindung zum Master hergestellt, es werden momentan keine Daten übermittelt.  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 62 of 135 TR - ELA - BA - DGB - 0007 - 13...

  • Page 63: Abort Sdo Transfer Request Protocol

    Abort Code DWORD Abort Code Tabelle 8: Abort SDO Transfer Request  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 06/06/2019 TR - ELA - BA - DGB - 0007 - 13 Page 63 of 135...

  • Page 64: Sdo Abort Codes

    0x08 00 00 23 Dynamischer Erstellungsfehler des Objektverzeichnisses, oder kein Objektverzeichnis vorhanden Tabelle 9: SDO Abort Codes  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 64 of 135 TR - ELA - BA - DGB - 0007 - 13...

  • Page 65: Emergency Request Protocol

    Error Code F000-FFFF: Herstellerspezifisches Fehlerfeld reserviert BYTE[n-10] noch nicht spezifiziert Tabelle 10: Emergency Request  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 06/06/2019 TR - ELA - BA - DGB - 0007 - 13 Page 65 of 135...

  • Page 66: Emergency Error Codes

    Geräteprofil-spezifisch reserviert, immer 0 Hersteller-spezifisch Tabelle 12: Aufbau des Error Registers  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 66 of 135 TR - ELA - BA - DGB - 0007 - 13...

  • Page 67: Sonstige Störungen

    Versorgung. Die Schirmung und die Leitungsführung müssen nach den Aufbaurichtlinien für das jeweilige Feldbus-System ausgeführt sein.  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 06/06/2019 TR - ELA - BA - DGB - 0007 - 13...
  • Page 68 Fehlerursachen und Abhilfen  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 68 of 135 TR - ELA - BA - DGB - 0007 - 13 06/06/2019...
  • Page 69 User Manual _Configuration / Parameterization Interface _Cause of faults and remedies  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 06/06/2019 TR - ELA - BA - DGB - 0007 - 13 Page 69 of 135...
  • Page 70 All other specified products, names and logos serve exclusively for information purposes and may be trademarks of their respective owners, without any special marking to indicate this.  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 70 of 135...

  • Page 71: Contents

    5.2.2 Link / Data Activity LED, IN/OUT ................97 5.2.3 Net Run LED ......................97 6 Operating Modes ..........................98  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 06/06/2019 TR - ELA - BA - DGB - 0007 - 13...
  • Page 72 9.3.1 Emergency Error Codes ..................134 9.3.2 Error Register ......................134 9.4 Miscellaneous faults ....................... 135  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 72 of 135 TR - ELA - BA - DGB - 0007 - 13...

  • Page 73: Revision Index

    - LMRI-46 / LMPI-46 added 01/20/17 - Technical data removed LMRB-27 added 06/06/19  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 06/06/2019 TR - ELA - BA - DGB - 0007 - 13 Page 73 of 135...

  • Page 74: General Information

     see chapter “Other applicable documents” in the Assembly Instructions www.tr-electronic.com/f/TR-ELA-BA-DGB-0004  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 74 of 135 TR - ELA - BA - DGB - 0007 - 13...

  • Page 75: References

    IEEE 1588-2002 IEEE Standard for a Precision Clock Synchronization Protocol for Networked Measurement and Control Systems  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 06/06/2019 TR - ELA - BA - DGB - 0007 - 13...

  • Page 76: Abbreviations Used / Terminology

    Extensible Markup Language, description file for commissioning the measuring system.  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 76 of 135 TR - ELA - BA - DGB - 0007 - 13...

  • Page 77: Additional Safety Instructions

    Assembly Instructions, particularly the chapter "Basic Safety Instructions" contained therein, must have been read and understood prior to commencement of work  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 06/06/2019 TR - ELA - BA - DGB - 0007 - 13...

  • Page 78: Organizational Measures

    User Manual, particularly the chapter "Additional Safety Instructions". This particularly applies for personnel who are only deployed occasionally, e.g. in the parameterization of the measurement system.  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 78 of 135...

  • Page 79: Ethercat Information

    Slave Slave Slave Master Ethernet Figure 1: EtherCAT functional principle  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 06/06/2019 TR - ELA - BA - DGB - 0007 - 13 Page 79 of 135...

  • Page 80: Protocol

    Through the system, the accuracy of a speed calculation no longer depends on the jitter of the communication system.  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 80 of 135...

  • Page 81: Device Profile

    "Device Profile for Encoder", CiA DS-406, known from CANopen. Figure 3: CANopen over EtherCAT communication mechanism  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 06/06/2019 TR - ELA - BA - DGB - 0007 - 13...

  • Page 82: Canopen Over Ethercat (Coe)

    Figure 5: EtherCAT organized in the ISO/OSI layer model EN 50325-4: Industrial Communication Systems, based on ISO 11898 (CAN) for Controller Device Interfaces. Part 4: CANopen.  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 82 of 135...

  • Page 83: Object Dictionary

    Important features of SDO and PDO Figure 7: Comparison of PDO/SDO characteristics  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 06/06/2019 TR - ELA - BA - DGB - 0007 - 13...

  • Page 84: Compatibility With The Cia Ds-301 Communication Profile

    "Download SDO Segment" Request / "Upload SDO Segment" Response can contain more than 7 bytes of data Download and upload of all sub-indices at once  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 84 of 135...

  • Page 85: Transmission Of Sdo Messages

    Initiate SDO Upload Expedited are dealt with in more detail below. Up to four bytes can be written and up to four bytes read via these services. This is sufficient for most objects.  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 06/06/2019...
  • Page 86 Initiate SDO Upload service response. The server starts as many Upload SDO Segment services as are required to transfer all data from the server.  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 86 of 135...

  • Page 87: Canopen Over Ethercat Protocol

    Write 2 byte SDO Request 0x2F Write 1 byte SDO Request  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 06/06/2019 TR - ELA - BA - DGB - 0007 - 13 Page 87 of 135...

  • Page 88: Initiate Sdo Download Expedited Response

    In the case of an error (SDO response CCD = 0x80), the data range contains a 4-byte-error code, which provides information on the cause of the error, see chapter SDO Abort Codes, page 132.  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany...

  • Page 89: Initiate Sdo Upload Expedited Request

    The following SDO read frame can be derived from the above protocol: Meaning Valid for 0x40 Read request SDO Request  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 06/06/2019 TR - ELA - BA - DGB - 0007 - 13 Page 89 of 135...

  • Page 90: Initiate Sdo Upload Expedited Response

    In the case of an error (SDO response CCD = 0x80), the data range contains a 4-byte-error code, which provides information on the cause of the error, see chapter SDO Abort Codes, page 132.  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany...

  • Page 91: Pdo Mapping

    Stop Output Update, Stop Input Update Stop Input Update, Stop Mailbox Communication Stop Output Update, Stop Input Update, Stop Mailbox Communication  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 06/06/2019 TR - ELA - BA - DGB - 0007 - 13...

  • Page 92: Further Information

    + 49 (0) 9 11 / 5 40 5629 Email: info@ethercat.org Internet: www.ethercat.org  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 92 of 135 TR - ELA - BA - DGB - 0007 - 13 06/06/2019...

  • Page 93: Installation / Preparation For Commissioning

    In particular, the applicable EMC directive and the shielding and grounding directives must be observed!  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 06/06/2019...

  • Page 94: Connection

    21 03 281 1405 HARAX M12-L for service purposes, e.g. software update  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 94 of 135 TR - ELA - BA - DGB - 0007 - 13...

  • Page 95: Switching On The Supply Voltage

    This applies for the SAFE-OPERATIONAL and OPERATIONAL states. Mailbox access is generally triggered by SDO requests.  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 06/06/2019...

  • Page 96: Commissioning

    Triple flash followed by a long OFF phase, 1000 ms. Table 5: LED indicator states  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 96 of 135 TR - ELA - BA - DGB - 0007 - 13...

  • Page 97: Link / Data Activity Led, In/Out

    The device is in state SAFE-OPERATIONAL Single Flash The device is in state OPERATIONAL  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 06/06/2019 TR - ELA - BA - DGB - 0007 - 13...

  • Page 98: Operating Modes

    “Free Run” operating mode. In this operating mode, the measuring system does not output any plausible speed and acceleration values.  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 98 of 135...

  • Page 99: Communication-Specific Standard Objects (Cia Ds-301)

    1C33 ARRAY Unsigned16 Parameter (Input) Table 6: Communication-specific standard objects  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 06/06/2019 TR - ELA - BA - DGB - 0007 - 13 Page 99 of 135...

  • Page 100: Object 1000H: Device Type

    Access PDO mapping “ “, depending on the device type Value  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 100 of 135 TR - ELA - BA - DGB - 0007 - 13...

  • Page 101: Object 1009H: Manufacturer Hardware Version

    Access PDO mapping “Vxxx”, depending on the current version Value  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 06/06/2019 TR - ELA - BA - DGB - 0007 - 13 Page 101 of 135...

  • Page 102: Object 1018H: Identity Object

    Data type UNSIGNED32 Category Mandatory Access PDO mapping Value 1289  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 102 of 135 TR - ELA - BA - DGB - 0007 - 13 06/06/2019...
  • Page 103 Serial Number Data type UNSIGNED32 Category Mandatory Access PDO mapping Value  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 06/06/2019 TR - ELA - BA - DGB - 0007 - 13 Page 103 of 135...

  • Page 104: Object 1A00H: 1 St Transmit Pdo Mapping

    Bit 8-15: Sub-index of the mapped object = 0 bit 16-31: Index of the mapped object = 3000  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 104 of 135 TR - ELA - BA - DGB - 0007 - 13...
  • Page 105 Bit 8-15: Sub-index of the mapped object = 1 Bit 16-31: Index of the mapped object = 6030  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 06/06/2019 TR - ELA - BA - DGB - 0007 - 13...

  • Page 106: Object 1A01H: 2 Nd Transmit Pdo Mapping

    3. Magnet 0x6020 03 20 Speed 3. Magnet 0x6030 03 10  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 106 of 135 TR - ELA - BA - DGB - 0007 - 13 06/06/2019...

  • Page 107: Object 1A03H: 4 Th Transmit Pdo Mapping

    2. Magnet 0x6030 02 10 Acceleration 2. Magnet 0x6040 02 10  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 06/06/2019 TR - ELA - BA - DGB - 0007 - 13 Page 107 of 135...

  • Page 108: Object 1A05H: 6 Th Transmit Pdo Mapping

    3. Magnet 0x6030 03 10 Acceleration 3. Magnet 0x6040 03 10  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 108 of 135 TR - ELA - BA - DGB - 0007 - 13 06/06/2019...

  • Page 109: Object 1C00H: Sync Manager Communication Type

    Access PDO mapping Value 2: Send mailbox (Slave --> Master)  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 06/06/2019 TR - ELA - BA - DGB - 0007 - 13 Page 109 of 135...
  • Page 110 Access PDO mapping Value 4: Process data input (Slave --> Master)  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 110 of 135 TR - ELA - BA - DGB - 0007 - 13...

  • Page 111: Object 1C13H: Sync Manager Channel 3 (Process Data Input)

    0x1A04: TxPDO 5 or 0x1A05: TxPDO 6 Default 0x1A00: TxPDO 1  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 06/06/2019 TR - ELA - BA - DGB - 0007 - 13 Page 111 of 135...

  • Page 112: Object 1C33H: Sync Manager 3, Parameter

    PDO mapping Value Min. time between two SM2/3 events in ns.  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 112 of 135 TR - ELA - BA - DGB - 0007 - 13...
  • Page 113 Value process data from the local memory to the Sync Manager before the data is available for EtherCAT.  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 06/06/2019 TR - ELA - BA - DGB - 0007 - 13...
  • Page 114 Only important for synchronization type = 2 and Value subordinated local cycles.  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 114 of 135 TR - ELA - BA - DGB - 0007 - 13...

  • Page 115: Manufacturer And Profile Specific Objects (Cia Ds-406)

    Integer16 6040 Acceleration values Integer16 Table 7: Encoder profile range  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 06/06/2019 TR - ELA - BA - DGB - 0007 - 13 Page 115 of 135...

  • Page 116: Object 2000H: Accept Parameters

    Bit 0 = 1: Interpolation switched on Default Bit 0 = 1: Interpolation switched on  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 116 of 135 TR - ELA - BA - DGB - 0007 - 13...

  • Page 117: Object 2002H: Observer

    Value 4 = averaging of 4 values 8 = averaging of 8 values Default  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 06/06/2019 TR - ELA - BA - DGB - 0007 - 13...

  • Page 118: Object 3000H: Status

    UNSIGNED32 Category Optional Access PDO mapping Value Value in µs  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 118 of 135 TR - ELA - BA - DGB - 0007 - 13 06/06/2019...

  • Page 119: Object 6000H: Operating Parameters

    Object 6005, Sub-index 1 "Position step". Measuring length  Measuring length steps resolution  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 06/06/2019 TR - ELA - BA - DGB - 0007 - 13 Page 119 of 135...

  • Page 120: Object 6005H: Linear Encoder, Measuring Step

    Number of entries Data type UNSIGNED8 Category Mandatory Access PDO mapping Value  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 120 of 135 TR - ELA - BA - DGB - 0007 - 13 06/06/2019...
  • Page 121 Output in 1 m/s : Input value = 1000 Default 100 = 0.1 ms  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 06/06/2019 TR - ELA - BA - DGB - 0007 - 13...

  • Page 122: Object 6010H: Preset Values

    Number of available channels Data type UNSIGNED8 Category Mandatory Access PDO mapping Value  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 122 of 135 TR - ELA - BA - DGB - 0007 - 13 06/06/2019...
  • Page 123 Value Value within the range of 0 to measuring length in steps. At a successful execution "1" is reported back.  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 06/06/2019 TR - ELA - BA - DGB - 0007 - 13...

  • Page 124: Object 6020H: Position Values

    Category Mandatory Access PDO mapping Value Magnet 1: current position  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 124 of 135 TR - ELA - BA - DGB - 0007 - 13 06/06/2019...
  • Page 125 Category Mandatory Access PDO mapping Value Magnet 3: current position  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 06/06/2019 TR - ELA - BA - DGB - 0007 - 13 Page 125 of 135...

  • Page 126: Object 6030H: Speed Values

    Access PDO mapping Range of values Magnet 1: -32768…32767, 2-complement representation  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 126 of 135 TR - ELA - BA - DGB - 0007 - 13...
  • Page 127 Access PDO mapping Magnet 3: -32768…32767, 2-complement representation Range of values  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 06/06/2019 TR - ELA - BA - DGB - 0007 - 13 Page 127 of 135...

  • Page 128: Object 6040H: Acceleration Values

    Access PDO mapping Range of values Magnet 1: -32768…32767, 2-complement representation  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 128 of 135 TR - ELA - BA - DGB - 0007 - 13...
  • Page 129 Access PDO mapping Range of values Magnet 3: -32768…32767, 2-complement representation  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 06/06/2019 TR - ELA - BA - DGB - 0007 - 13 Page 129 of 135...

  • Page 130: Error Causes And Remedies

    Measuring system ready for operation, connection to master established, no data transfer.  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 130 of 135 TR - ELA - BA - DGB - 0007 - 13...

  • Page 131: Abort Sdo Transfer Request Protocol

    Abort code DWORD Abort code Table 8: Abort SDO Transfer Request  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 06/06/2019 TR - ELA - BA - DGB - 0007 - 13 Page 131 of 135...

  • Page 132: Sdo Abort Codes

    0x08 00 00 23 Dynamic creation error in the object dictionary, or no object dictionary present Table 9: SDO Abort Codes  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 132 of 135 TR - ELA - BA - DGB - 0007 - 13...

  • Page 133: Emergency Request Protocol

    Error Code F000-FFFF: Manufacturer-specific error field reserved BYTE[n-10] not yet specified Table 10: Emergency Request  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 06/06/2019 TR - ELA - BA - DGB - 0007 - 13 Page 133 of 135...

  • Page 134: Emergency Error Codes

    0 Manufacturer-specific Table 12: Structure of the error register  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 134 of 135 TR - ELA - BA - DGB - 0007 - 13...

  • Page 135: Miscellaneous Faults

    The shielding and line routing must be executed in accordance with the Equipment Mounting Directives for the respective field bus system.  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 06/06/2019...

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