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Related Manuals for TR-Electronic CANopener LM 48 Series
Summary of Contents for TR-Electronic CANopener LM 48 Series
- Page 1 Seite 2 - 78 Page 79 - 155 Linear Encoder magnetostriktiv: LM_-48 _Zusätzliche Sicherheitshinweise _Installation _Inbetriebnahme _Konfiguration / Parametrierung _Fehlerursachen und Abhilfen Benutzerhandbuch Schnittstelle 5735...
- Page 2 > weist auf Tasten der Tastatur Ihres Computers hin (wie etwa <RETURN>). Marken ® ® CANopen und CiA sind eingetragene Gemeinschaftsmarken der CAN in Automation e.V. TR-Electronic GmbH 2015, All Rights Reserved Printed in the Federal Republic of Germany Page 2 of 155 TR-ELA-BA-DGB-0024 v06 02/23/2022...
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Page 3: Table Of Contents
3.8.6.2 LMT identify slave Protokoll ............... 31 3.9 Layer setting services (LSS) und Protokolle ................32 3.9.1 Finite state automaton, FSA ................... 33 TR-Electronic GmbH 2015, All Rights Reserved Printed in the Federal Republic of Germany 02/23/2022 TR-ELA-BA-DGB-0024 v06... - Page 4 6.4 Zweites Sende-Prozessdaten-Objekt (synchron) ..............53 7 Kommunikationsspezifischer Profilbereich (CiA DS-301) ............54 7.1 Objekt 1000h: Gerätetyp ......................55 7.2 Objekt 1001h: Fehlerregister ....................55 TR-Electronic GmbH 2015, All Rights Reserved Printed in the Federal Republic of Germany Page 4 of 155 TR-ELA-BA-DGB-0024 v06...
- Page 5 10.2.1 Objekt 1001h: Fehlerregister ................75 10.2.2 Objekt 1003h: Vordefiniertes Fehlerfeld, Bits 0 – 15 ..........76 10.3 Alarm-Meldungen ......................... 76 10.4 Sonstige Störungen ......................77 TR-Electronic GmbH 2015, All Rights Reserved Printed in the Federal Republic of Germany 02/23/2022 TR-ELA-BA-DGB-0024 v06...
- Page 6 Objekt 6005h – Mess-Schritt Einstellungen angepasst. LM_S-34 ergänzt 10.04.2019 LM_S-34 Unterstützung für 3-Magnet-Betrieb ergänzt 27.02.2020 LM_S-34 entfernt (separates Handbuch TR-ELA-BA-DGB-0041) 23.02.2022 TR-Electronic GmbH 2015, All Rights Reserved Printed in the Federal Republic of Germany Page 6 of 155 TR-ELA-BA-DGB-0024 v06 02/23/2022...
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Page 7: Allgemeines
Die Produkte sind durch aufgeklebte Typenschilder gekennzeichnet und sind Bestandteil einer Anlage. 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 2015, All Rights Reserved Printed in the Federal Republic of Germany 02/23/2022 TR-ELA-BA-DGB-0024 v06 Page 7 of 155... -
Page 8: Referenzen
Linear-Absolutes-Mess-System, Ausführung mit Rohr-Gehäuse Europäische Gemeinschaft Elektro-Magnetische-Verträglichkeit Elektrostatische Entladung (Electro Static Discharge) Internationale Elektrotechnische Kommission Verband der Elektrotechnik, Elektronik und Informationstechnik TR-Electronic GmbH 2015, All Rights Reserved Printed in the Federal Republic of Germany Page 8 of 155 TR-ELA-BA-DGB-0024 v06 02/23/2022... - Page 9 Remote transmission request. Mit Hilfe eines Remoteframes kann ein Teilnehmer einen anderen auffordern, seine Daten zu senden. Service Data Object. Punkt zu Punkt Kommunikation mit Zugriff auf die Objekt-Datenliste eines Gerätes. TR-Electronic GmbH 2015, All Rights Reserved Printed in the Federal Republic of Germany 02/23/2022 TR-ELA-BA-DGB-0024 v06...
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Page 10: 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 2015, All Rights Reserved Printed in the Federal Republic of Germany Page 10 of 155... -
Page 11: Canopen Informationen
Bei CANopen wurde zunächst das Kommunikationsprofil sowie eine „Bauanleitung“ für Geräteprofile entwickelt, in der mit der Struktur des Objektverzeichnisses und den allgemeinen Kodierungsregeln der gemeinsame Nenner aller Geräteprofile definiert ist. TR-Electronic GmbH 2015, All Rights Reserved Printed in the Federal Republic of Germany 02/23/2022 TR-ELA-BA-DGB-0024 v06... -
Page 12: Canopen - Kommunikationsprofil
Special Function Object (SFO) Synchronization (SYNC) Emergency (EMCY) Protokoll Network Management Object (NMO) z.B. Life / Node-Guarding Boot-Up,… Error Control Protokoll TR-Electronic GmbH 2015, All Rights Reserved Printed in the Federal Republic of Germany Page 12 of 155 TR-ELA-BA-DGB-0024 v06 02/23/2022... -
Page 13: Prozess- Und Service-Daten-Objekte
Daten durch Index CAN pur adressiert keine Bestätigung bestätigende Dienste Abbildung 3: Gegenüberstellung von PDO/SDO-Eigenschaften TR-Electronic GmbH 2015, All Rights Reserved Printed in the Federal Republic of Germany 02/23/2022 TR-ELA-BA-DGB-0024 v06 Page 13 of 155... -
Page 14: Objektverzeichnis (Object Dictionary)
Node-ID Beispiele Objekt Funktions-Code COB-ID Index Kommunikations-Parameter – 0000bin SYNC 0001bin 1005h 181h – 1FFh PDO1 (tx) 0011bin 1800h TR-Electronic GmbH 2015, All Rights Reserved Printed in the Federal Republic of Germany Page 14 of 155 TR-ELA-BA-DGB-0024 v06 02/23/2022... -
Page 15: Übertragung Von Sdo Nachrichten
Im Fall eines Fehlers (SDO Response CCS = 0x80) enthält der Datenbereich einen 4-Byte-Fehlercode, der über die Fehlerursache Auskunft gibt. Die Bedeutung der Fehlercodes ist aus der Tabelle 13, Seite 74 zu entnehmen. TR-Electronic GmbH 2015, All Rights Reserved Printed in the Federal Republic of Germany 02/23/2022... - Page 16 Leseanforderung SDO Request Kein weiteres Datensegment vorhanden. 0x01 SDO Response Die Bytes 1 bis 7 beinhalten die angeforderten Daten. TR-Electronic GmbH 2015, All Rights Reserved Printed in the Federal Republic of Germany Page 16 of 155 TR-ELA-BA-DGB-0024 v06 02/23/2022...
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Page 17: 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 2015, All Rights Reserved Printed in the Federal Republic of Germany 02/23/2022... -
Page 18: Schreibe Sdo
Daten Daten Daten Daten Inhalt Code Index index High Byte Ist Byte 0 = 80h, wird die Übertragung abgebrochen. TR-Electronic GmbH 2015, All Rights Reserved Printed in the Federal Republic of Germany Page 18 of 155 TR-ELA-BA-DGB-0024 v06 02/23/2022... -
Page 19: Netzwerkmanagement, Nmt
(3),(6) Enter_PRE-OPERATIONAL_State Vor-Betriebszustand (4),(7) Stop_Remote_Node Stop (5),(8) Reset_Node Reset Knoten (9),(10),(11) Reset_Communication Reset Kommunikation (12),(13),(14) TR-Electronic GmbH 2015, All Rights Reserved Printed in the Federal Republic of Germany 02/23/2022 TR-ELA-BA-DGB-0024 v06 Page 19 of 155... -
Page 20: Netzwerkmanagement-Dienste
0x82 gehen. Danach Übergang in den Zustand INITIALIZATION, (14) erster Zustand nach dem Einschalten. Tabelle 4: NMT-Dienste zur Gerätekontrolle TR-Electronic GmbH 2015, All Rights Reserved Printed in the Federal Republic of Germany Page 20 of 155 TR-ELA-BA-DGB-0024 v06 02/23/2022... -
Page 21: Nmt-Dienste Zur Verbindungsüberwachung
(Subindex 0) steht die Anzahl der gemappten Objekte, die im Anschluss aufgelistet sind. Die Tabellen befinden sich im Objektverzeichnis bei Index 0x1600 ff. für die RxPDOs bzw. 0x1A00 ff für die TxPDOs. TR-Electronic GmbH 2015, All Rights Reserved Printed in the Federal Republic of Germany 02/23/2022... -
Page 22: Layer Management Services (Lmt) Und Protokolle
Identifizierung von LMT-Slaves innerhalb eines bestimmten Bereichs ● LMT identify slave Rückmeldung der LMT-Slaves auf das vorherige Kommando TR-Electronic GmbH 2015, All Rights Reserved Printed in the Federal Republic of Germany Page 22 of 155 TR-ELA-BA-DGB-0024 v06 02/23/2022... -
Page 23: Lmt-Modes Und Dienste
Configure bit timing parameters Nein Configure NMT-address Nein Store configured parameters Nein Inquire LMT-address Nein LMT identify remote slave LMT identify slave TR-Electronic GmbH 2015, All Rights Reserved Printed in the Federal Republic of Germany 02/23/2022 TR-ELA-BA-DGB-0024 v06 Page 23 of 155... -
Page 24: Übertragung Von Lmt-Diensten
Byte 6 Byte 7 Tabelle 7: LMT-Nachricht Byte 0 enthält die Command-Specifier (CS), danach folgen 7 Byte für die Daten. TR-Electronic GmbH 2015, All Rights Reserved Printed in the Federal Republic of Germany Page 24 of 155 TR-ELA-BA-DGB-0024 v06... -
Page 25: Switch Mode Protokolle
LMT- Adressattribute der LMT-Adresse entsprechen. LMT-Master LMT-Slave COB-ID Manufacturer-Name 0x7E5 COB-ID Product-Name 0x7E5 COB-ID Serial-No. 0x7E5 TR-Electronic GmbH 2015, All Rights Reserved Printed in the Federal Republic of Germany 02/23/2022 TR-ELA-BA-DGB-0024 v06 Page 25 of 155... -
Page 26: Configuration Protokolle
Fehler aufgetreten Specific Error Wenn Error Code = 255 applikationsspezifischer Fehler aufgetreten, sonst reserviert durch die CiA TR-Electronic GmbH 2015, All Rights Reserved Printed in the Federal Republic of Germany Page 26 of 155 TR-ELA-BA-DGB-0024 v06 02/23/2022... -
Page 27: Configure Bit Timing Parameters Protokoll
Fehler aufgetreten Specific Error Wenn Error Code = 255 applikationsspezifischer Fehler aufgetreten, sonst reserviert durch die CiA TR-Electronic GmbH 2015, All Rights Reserved Printed in the Federal Republic of Germany 02/23/2022 TR-ELA-BA-DGB-0024 v06 Page 27 of 155... -
Page 28: Activate Bit Timing Parameters Protokoll
Fehler aufgetreten Specific Error Wenn Error Code = 255 applikationsspezifischer Fehler aufgetreten, sonst reserviert durch die CiA TR-Electronic GmbH 2015, All Rights Reserved Printed in the Federal Republic of Germany Page 28 of 155 TR-ELA-BA-DGB-0024 v06 02/23/2022... -
Page 29: Inquire Lmt-Address Protokolle
LMT-Slave LMT-Master COB-ID Product-Name (ASCII) 0x7E4 Product-Name = TR-LMR P1…P7 = 0x54, 0x52, 0x2D, 0x4C, 0c4D, 0x52, 0x00 TR-Electronic GmbH 2015, All Rights Reserved Printed in the Federal Republic of Germany 02/23/2022 TR-ELA-BA-DGB-0024 v06 Page 29 of 155... -
Page 30: Inquire Serial-Number Protokoll
Reserved by CiA 0x7E5 LMT-Slave LMT-Master COB-ID Serial-No. (BCD) 0x7E4 z.B. „02“ Serial-No. = S1…S7 = BCD kodiert TR-Electronic GmbH 2015, All Rights Reserved Printed in the Federal Republic of Germany Page 30 of 155 TR-ELA-BA-DGB-0024 v06 02/23/2022... -
Page 31: Identification Protokolle
LMT-Adress-Attributen entsprechen, antworten mit diesem Protokoll. LMT-Slave LMT-Master COB-ID Reserved by CiA 0x7E4 TR-Electronic GmbH 2015, All Rights Reserved Printed in the Federal Republic of Germany 02/23/2022 TR-ELA-BA-DGB-0024 v06 Page 31 of 155... -
Page 32: Layer Setting Services (Lss) Und Protokolle
Identifizierung von nicht-konfigurierten LSS-Slaves, Node-ID = FFh ● LSS identify non-configured slave Rückmeldung der LSS-Slaves auf das vorherige Kommando TR-Electronic GmbH 2015, All Rights Reserved Printed in the Federal Republic of Germany Page 32 of 155 TR-ELA-BA-DGB-0024 v06 02/23/2022... -
Page 33: Finite State Automaton, Fsa
Inquire Node-ID Nein LSS identify remote slave LSS identify slave LSS identify non-configured remote slave LSS identify non-configured slave TR-Electronic GmbH 2015, All Rights Reserved Printed in the Federal Republic of Germany 02/23/2022 TR-ELA-BA-DGB-0024 v06 Page 33 of 155... -
Page 34: Übertragung Von Lss-Diensten
Byte 6 Byte 7 Tabelle 9: LSS-Nachricht Byte 0 enthält die Command-Specifier (CS), danach folgen 7 Byte für die Daten. TR-Electronic GmbH 2015, All Rights Reserved Printed in the Federal Republic of Germany Page 34 of 155 TR-ELA-BA-DGB-0024 v06... -
Page 35: Switch Mode Protokolle
Reserved by CiA 0x7E5 Serial-No. (≙Index 1018h:04) COB-ID Reserved by CiA 0x7E5 LSS-Slave LSS-Master COB-ID Reserved by CiA 0x7E4 TR-Electronic GmbH 2015, All Rights Reserved Printed in the Federal Republic of Germany 02/23/2022 TR-ELA-BA-DGB-0024 v06 Page 35 of 155... -
Page 36: Configuration Protokolle
Fehler aufgetreten Specific Error Wenn Error Code = 255 applikationsspezifischer Fehler aufgetreten, sonst reserviert durch die CiA TR-Electronic GmbH 2015, All Rights Reserved Printed in the Federal Republic of Germany Page 36 of 155 TR-ELA-BA-DGB-0024 v06 02/23/2022... -
Page 37: Configure Bit Timing Parameters Protokoll
Fehler aufgetreten Specific Error Wenn Error Code = 255 applikationsspezifischer Fehler aufgetreten, sonst reserviert durch die CiA TR-Electronic GmbH 2015, All Rights Reserved Printed in the Federal Republic of Germany 02/23/2022 TR-ELA-BA-DGB-0024 v06 Page 37 of 155... -
Page 38: Activate Bit Timing Parameters Protokoll
Fehler aufgetreten Specific Error Wenn Error Code = 255 applikationsspezifischer Fehler aufgetreten, sonst reserviert durch die CiA TR-Electronic GmbH 2015, All Rights Reserved Printed in the Federal Republic of Germany Page 38 of 155 TR-ELA-BA-DGB-0024 v06 02/23/2022... -
Page 39: Inquire Lss-Address Protokolle
LSS-Master LSS-Slave COB-ID Reserved by CiA 0x7E5 LSS-Slave LSS-Master Product-Code (≙Index 1018h:02) COB-ID Reserved by CiA 0x7E4 TR-Electronic GmbH 2015, All Rights Reserved Printed in the Federal Republic of Germany 02/23/2022 TR-ELA-BA-DGB-0024 v06 Page 39 of 155... -
Page 40: Inquire Identity Revision-Number Protokoll
LSS-Master LSS-Slave COB-ID Reserved by CiA 0x7E5 LSS-Slave LSS-Master Serial-No. (≙Index 1018h:04) COB-ID Reserved by CiA 0x7E5 TR-Electronic GmbH 2015, All Rights Reserved Printed in the Federal Republic of Germany Page 40 of 155 TR-ELA-BA-DGB-0024 v06 02/23/2022... -
Page 41: Inquire Node-Id Protokoll
Reserved by CiA 0x7E5 LSS-Slave LSS-Master COB-ID Node-ID Reserved by CiA 1…127 0x7E4 Node-ID Entspricht der Node-ID des selektierten Gerätes. TR-Electronic GmbH 2015, All Rights Reserved Printed in the Federal Republic of Germany 02/23/2022 TR-ELA-BA-DGB-0024 v06 Page 41 of 155... -
Page 42: Identification Protokolle
LSS-Adress-Attributen entsprechen, antworten mit diesem Protokoll. LSS-Slave LSS-Master COB-ID Reserved by CiA 0x7E4 TR-Electronic GmbH 2015, All Rights Reserved Printed in the Federal Republic of Germany Page 42 of 155 TR-ELA-BA-DGB-0024 v06 02/23/2022... -
Page 43: Lss Identify Non-Configured Remote Slave Protokoll
Ausführung des LSS identify non-configured remote slave protocol mit diesem Protokoll. LSS-Slave LSS-Master COB-ID Reserved by CiA 0x7E4 TR-Electronic GmbH 2015, All Rights Reserved Printed in the Federal Republic of Germany 02/23/2022 TR-ELA-BA-DGB-0024 v06 Page 43 of 155... -
Page 44: Geräteprofil
CAN in Automation Nutzer- und Herstellervereinigung (CiA) unter nachstehender Adresse: CAN in Automation Am Weichselgarten 26 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 2015, All Rights Reserved Printed in the Federal Republic of Germany Page 44 of 155 TR-ELA-BA-DGB-0024 v06 02/23/2022... -
Page 45: 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 2015, All Rights Reserved Printed in the Federal Republic of Germany 02/23/2022 TR-ELA-BA-DGB-0024 v06... -
Page 46: Anschluss - Hinweise
Ist das Mess-System der letzte Teilnehmer im CAN-Segment, ist der Bus durch einen externen Abschlusswiderstand von 121 Ohm zwischen CAN_H und CAN_L abzuschließen. Der Bus-Abschluss kann auch von TR-Electronic bezogen werden, Art.-Nr.: 62-000-1366 (M12-Stecker, A-kodiert, 120 Ω). 4.3 Einschalten der Versorgungsspannung Nachdem der Anschluss und alle Einstellungen vorgenommen worden sind, kann die Versorgungsspannung eingeschaltet werden. -
Page 47: Einstellen Der Node-Id Und Baudrate Mittels Lmt-Dienste
Rückmeldung abwarten und erfolgreiche Ausführung überprüfen, Error Code = 0. LMT-Slave wird zurückgesetzt und befindet sich im Zustand PRE-OPERATIONAL. TR-Electronic GmbH 2015, All Rights Reserved Printed in the Federal Republic of Germany 02/23/2022 TR-ELA-BA-DGB-0024 v06 Page 47 of 155... -
Page 48: Einstellen Der Node-Id Und Baudrate Mittels Lss-Diensten
Rückmeldung abwarten und erfolgreiche Ausführung überprüfen, Error Code = 0. LSS-Slave wird zurückgesetzt und befindet sich im Zustand PRE-OPERATIONAL. TR-Electronic GmbH 2015, All Rights Reserved Printed in the Federal Republic of Germany Page 48 of 155 TR-ELA-BA-DGB-0024 v06... -
Page 49: Inbetriebnahme
Datei wird durch das CANopen-Netzwerkkonfigurationswerkzeug eingebunden, um das Mess-System ordnungsgemäß konfigurieren bzw. in Betrieb nehmen zu können. EDS-Datei Download LM_-48 (TR_Linear_CO03): www.tr-electronic.de/f/TR-ELA-ID-MUL-0025 TR-Electronic GmbH 2015, All Rights Reserved Printed in the Federal Republic of Germany 02/23/2022 TR-ELA-BA-DGB-0024 v06 Page 49 of 155... -
Page 50: Kommunikations-Profil
Istwert kann nur über einen Remote-Frame übertragen werden Istwert wird asynchron mit dem Timerwert aus Objekt 6200h übertragen (Objekt 1800h) bzw. Subindex 5 (Objekt 1801h) TR-Electronic GmbH 2015, All Rights Reserved Printed in the Federal Republic of Germany Page 50 of 155... - Page 51 Objekt 6200h – Cyclic-Timer. Dies bedeutet, dass eine Änderung des Event-Timers sich auch im Cyclic Timer auswirkt und umgekehrt. Der Kommunikationsparameter 1801h benutzt ausschließlich seinen eigenen Timer, Zugriff über Subindex 5. TR-Electronic GmbH 2015, All Rights Reserved Printed in the Federal Republic of Germany 02/23/2022 TR-ELA-BA-DGB-0024 v06...
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Page 52: Aufbau Der Mappingparameter, 1A00H-1A01H
Für das Mapping vorgesehene Objekte: Objekt 6020h – Positionswert, siehe Seite 67 Objekt 6030h – Geschwindigkeitswert, siehe Seite 67 TR-Electronic GmbH 2015, All Rights Reserved Printed in the Federal Republic of Germany Page 52 of 155 TR-ELA-BA-DGB-0024 v06... -
Page 53: Erstes Sende-Prozessdaten-Objekt (Asynchron)
COB-ID benützt durch TPDO 2 280h + Node-ID Übertragungsart Sperrzeit Event Timer 1A01h Anz. abgebildeter Objekte max. 2 1. Applikationsobjekt 60200120h 2. Applikationsobjekt TR-Electronic GmbH 2015, All Rights Reserved Printed in the Federal Republic of Germany 02/23/2022 TR-ELA-BA-DGB-0024 v06 Page 53 of 155... -
Page 54: Kommunikationsspezifischer Profilbereich (Cia Ds-301)
NMT Autostart Unsigned32 Tabelle 10: Kommunikationsspezifische Standard-Objekte Alle schreibbaren Indizes müssen explizit über den Index 1010h gespeichert werden. segmentiertes Lesen TR-Electronic GmbH 2015, All Rights Reserved Printed in the Federal Republic of Germany Page 54 of 155 TR-ELA-BA-DGB-0024 v06 02/23/2022... -
Page 55: Objekt 1000H: Gerätetyp
5 gesetzt. Bit 0 und Bit 5 sind fest miteinander verknüpft und melden, dass kein Magnet erkannt worden ist, siehe auch Emergency-Fehlercodes ab Seite 75. Unsigned8 Bedeutung generischer Fehler geräteprofilspezifisch TR-Electronic GmbH 2015, All Rights Reserved Printed in the Federal Republic of Germany 02/23/2022 TR-ELA-BA-DGB-0024 v06 Page 55 of 155... -
Page 56: Objekt 1003H: Vordefiniertes Fehlerfeld
Datenlänge = 0 vom Gerät empfangen worden ist, wird der Positionswert des Mess- Systems in der Standardeinstellung einmalig durch das zweite Sende-Prozessdaten- Objekt (Objekt 1801h) übertragen. Objekt Funktions-Code COB-ID SYNC 0001 TR-Electronic GmbH 2015, All Rights Reserved Printed in the Federal Republic of Germany Page 56 of 155 TR-ELA-BA-DGB-0024 v06 02/23/2022... -
Page 57: Objekt 1008H: Hersteller Gerätenamen
Der Live-Time-Faktor multipliziert mit der Guard-Time ergibt die Zeitdauer für das Node-Guarding-Protokoll. Standardwert = 0. Unsigned8 Life-Time-Faktor Byte 0 bis 2 TR-Electronic GmbH 2015, All Rights Reserved Printed in the Federal Republic of Germany 02/23/2022 TR-ELA-BA-DGB-0024 v06 Page 57 of 155... -
Page 58: Objekt 1010H: Parameter Abspeichern
0606 0000h. Wurde eine falsche Signatur geschrieben, verweigert das Gerät die Speicherung und antwortet mit Abbruch der Übertragung: Fehlercode 0800 0020h. TR-Electronic GmbH 2015, All Rights Reserved Printed in the Federal Republic of Germany Page 58 of 155 TR-ELA-BA-DGB-0024 v06... -
Page 59: Objekt 1011H: Parameter Wieder Herstellen
Möglichkeiten die Standardwerte wieder herzustellen: Bits 31-1 Wert Bit 0 = 1 bedeutet, dass das Gerät die Wiederherstellung der Standardwerte unterstützt. TR-Electronic GmbH 2015, All Rights Reserved Printed in the Federal Republic of Germany 02/23/2022 TR-ELA-BA-DGB-0024 v06 Page 59 of 155... -
Page 60: Objekt 1014H: Cob-Id Emergency (Emcy)
„Heartbeat-Protokoll“, bei einem Knoten zur selben Zeit zu benutzen. Wenn die Heartbeat Producer Time ungleich 0 ist, wird deshalb das Heartbeat Protokoll benutzt. TR-Electronic GmbH 2015, All Rights Reserved Printed in the Federal Republic of Germany Page 60 of 155... -
Page 61: Objekt 1018H: Identity Objekt
Keine automatische Überführung in den Zustand OPERATIONAL Bitzuordnung: reserviert, 0000 00h Konfiguration Aufschlüsselung des Konfigurationsbytes Start Node, NMT Master fest auf 1 Start TR-Electronic GmbH 2015, All Rights Reserved Printed in the Federal Republic of Germany 02/23/2022 TR-ELA-BA-DGB-0024 v06 Page 61 of 155... -
Page 62: Parametrierung Und Konfiguration
COB-ID für Boot-Up Nachricht Byte 0 Byte 1 bis 2 bis 2 bis 2 00h – FFh 0h – 7h TR-Electronic GmbH 2015, All Rights Reserved Printed in the Federal Republic of Germany Page 62 of 155 TR-ELA-BA-DGB-0024 v06 02/23/2022... -
Page 63: Objekt 2100H - Positionswert Bei Magnetverlust
Wert = 03h: Alle Positionen werden auf den letzten gültigen Wert gesetzt Unsigned8 Positionswert im Fehlerfall Byte 0 bis 2 TR-Electronic GmbH 2015, All Rights Reserved Printed in the Federal Republic of Germany 02/23/2022 TR-ELA-BA-DGB-0024 v06 Page 63 of 155... -
Page 64: Standardisierter Encoder-Profilbereich (Cia Ds-406)
Unsigned32 650C ARRAY Offsetwert Integer32 Tabelle 12: Encoder-Profilbereich Alle schreibbaren Indizes müssen explizit über den Index 1010h gespeichert werden. TR-Electronic GmbH 2015, All Rights Reserved Printed in the Federal Republic of Germany Page 64 of 155 TR-ELA-BA-DGB-0024 v06 02/23/2022... -
Page 65: Objekt 6000H - Betriebsparameter
Kategorie Mandatory Datentyp UNSIGNED32 Zugriff PDO Mapping nein Standardwert 0xC350; 50 µm Wertebereich 0xC350…0xF4240; 50 µm bis 1 mm TR-Electronic GmbH 2015, All Rights Reserved Printed in the Federal Republic of Germany 02/23/2022 TR-ELA-BA-DGB-0024 v06 Page 65 of 155... -
Page 66: Objekt 6010H - Presetwert
Preset value position 1, Presetwert - Magnet 1 Kategorie Mandatory Datentyp INTEGER32 Zugriff PDO Mapping nein Standardwert -2 147 483 648…+2 147 483 647 (0x80000000…0x7FFFFFFF) Wertebereich TR-Electronic GmbH 2015, All Rights Reserved Printed in the Federal Republic of Germany Page 66 of 155 TR-ELA-BA-DGB-0024 v06 02/23/2022... -
Page 67: Objekt 6020H - Positionswert
Byte 1 bis 2 bis 2 Sub-Index Beschreibung Anzahl der verfügbaren Kanäle Zugriff PDO Mapping nein Wert 1 (0x01) TR-Electronic GmbH 2015, All Rights Reserved Printed in the Federal Republic of Germany 02/23/2022 TR-ELA-BA-DGB-0024 v06 Page 67 of 155... -
Page 68: Objekt 6200H - Cyclic-Timer
Timers sich auch im Cyclic Timer auswirkt und umgekehrt. Der Kommunikationsparameter 1801h benutzt ausschließlich seinen eigenen Timer, Zugriff über Subindex 5. TR-Electronic GmbH 2015, All Rights Reserved Printed in the Federal Republic of Germany Page 68 of 155 TR-ELA-BA-DGB-0024 v06... -
Page 69: Mess-System Diagnose
Positionsfehler Nein 1-15 Reserviert für weitere Verwendung Positionsfehler Das Bit wird gesetzt, wenn das Mess-System keinen Magneten erkennen konnte. TR-Electronic GmbH 2015, All Rights Reserved Printed in the Federal Republic of Germany 02/23/2022 TR-ELA-BA-DGB-0024 v06 Page 69 of 155... -
Page 70: Objekt 6504H - Unterstützte Alarme
Unsigned32 Profilversion Softwareversion Byte 0 Byte 1 Byte 2 Byte 3 bis 2 bis 2 bis 2 bis 2 TR-Electronic GmbH 2015, All Rights Reserved Printed in the Federal Republic of Germany Page 70 of 155 TR-ELA-BA-DGB-0024 v06 02/23/2022... -
Page 71: Objekt 650Ah - Hersteller-Offsetwert
Presetwertes und der Lage des physikalischen Nullpunkts des Mess-Systems. Index Subindex Kommentar Attribut 650Ch größter unterstützte Subindex = 1 Unsigned8 Offsetwert Integer32 TR-Electronic GmbH 2015, All Rights Reserved Printed in the Federal Republic of Germany 02/23/2022 TR-ELA-BA-DGB-0024 v06 Page 71 of 155... -
Page 72: 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 2015, All Rights Reserved Printed in the Federal Republic of Germany Page 72 of 155... -
Page 73: Übertragung Des Mess-System-Positionswertes
(Standardwert 080h), definiert in Objekt 1005h. Alle Slaves mit dieser SYNC-COB- ID und Übertragungsart „Synchron“ übertragen den Positionswert. Objekt Funktions-Code COB-ID Index Kommunikations-Parameter SYNC 0001bin 1005 TR-Electronic GmbH 2015, All Rights Reserved Printed in the Federal Republic of Germany 02/23/2022 TR-ELA-BA-DGB-0024 v06 Page 73 of 155... -
Page 74: Sdo-Fehlercodes
Hinweis, dass keine Fehler mehr vorhanden sind, bei 0x0800 0024 Keine Daten verfügbar Lesezugriff auf Objekt 1003h Subindex 01, siehe Seite 56. Tabelle 13: SDO-Fehlercodes TR-Electronic GmbH 2015, All Rights Reserved Printed in the Federal Republic of Germany Page 74 of 155 TR-ELA-BA-DGB-0024 v06 02/23/2022... -
Page 75: Emergency-Fehlercodes
Fehler durch eine EMCY-Nachricht signalisiert. Sind alle Fehler gelöscht, wird das Fehlerregister zurückgesetzt und eine EMCY-Nachricht mit Fehlercode „0x000“ übertragen. Bedeutung generischer Fehler geräteprofilspezifisch TR-Electronic GmbH 2015, All Rights Reserved Printed in the Federal Republic of Germany 02/23/2022 TR-ELA-BA-DGB-0024 v06 Page 75 of 155... -
Page 76: Objekt 1003H: Vordefiniertes Fehlerfeld, Bits 0 - 15
Konfigurierte Anzahl Magnete mit der Bit 0 = 1, Mess-System keinen verwendeten Anzahl abgleichen. Positionsfehler Magnet erkannt. Mindestabstand zwischen den Magneten einhalten TR-Electronic GmbH 2015, All Rights Reserved Printed in the Federal Republic of Germany Page 76 of 155 TR-ELA-BA-DGB-0024 v06 02/23/2022... -
Page 77: Sonstige Störungen
Kabel verwenden mit paarweise verdrillten Adern für elektrische Störungen Daten Versorgung. Schirmung Leitungsführung müssen nach den Aufbaurichtlinien für das jeweilige Feldbus-System ausgeführt sein. TR-Electronic GmbH 2015, All Rights Reserved Printed in the Federal Republic of Germany 02/23/2022 TR-ELA-BA-DGB-0024 v06 Page 77 of 155... - Page 78 Übertragung des Mess-System-Positionswertes TR-Electronic GmbH 2015, All Rights Reserved Printed in the Federal Republic of Germany Page 78 of 155 TR-ELA-BA-DGB-0024 v06 02/23/2022...
- Page 79 Linear Encoder magnetostrictive: LM_-48 _Additional safety instructions _Installation _Commissioning User Manual _Parameterization _Cause of faults and remedies Interface TR-Electronic GmbH 2015, All Rights Reserved Printed in the Federal Republic of Germany 02/23/2022 TR-ELA-BA-DGB-0024 v06 Page 79 of 155...
- Page 80 > indicates keys on your computer keyboard (such as <RETURN>). Brand names ® ® CANopen and CiA are registered community trademarks of CAN in Automation e.V. TR-Electronic GmbH 2015, All Rights Reserved Printed in the Federal Republic of Germany Page 80 of 155 TR-ELA-BA-DGB-0024 v06 02/23/2022...
- Page 81 3.8.6.2 LMT identify slave protocol ................ 109 3.9 Layer setting services (LSS) and protocols ................110 3.9.1 Finite state automaton, FSA ................... 111 TR-Electronic GmbH 2015, All Rights Reserved Printed in the Federal Republic of Germany 02/23/2022 TR-ELA-BA-DGB-0024 v06...
- Page 82 7 Communication specific standard objects (CiA DS-301) ............132 7.1 Object 1000h: Device type ...................... 133 7.2 Object 1001h: Error register ....................133 TR-Electronic GmbH 2015, All Rights Reserved Printed in the Federal Republic of Germany Page 82 of 155...
- Page 83 10.2.1 Object 1001h: Error register.................. 153 10.2.2 Object 1003h: Pre-defined Error field, bits 0 – 15 ..........154 10.3 Alarm messages ........................154 10.4 Other faults ........................... 155 TR-Electronic GmbH 2015, All Rights Reserved Printed in the Federal Republic of Germany 02/23/2022 TR-ELA-BA-DGB-0024 v06...
- Page 84 LM_S-34 added 04/10/2019 LM_S-34 Support for 3-magnet operation added 02/27/2020 LM_S-34 removed (separate manual TR-ELA-BA-DGB-0041) 02/23/2022 TR-Electronic GmbH 2015, All Rights Reserved Printed in the Federal Republic of Germany Page 84 of 155 TR-ELA-BA-DGB-0024 v06 02/23/2022...
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Page 85: General Information
The products are labeled with affixed nameplates and are components of a system. The following documentation therefore also applies: see chapter “Other applicable documents” in the Assembly Instructions www.tr-electronic.de/f/TR-ELA-BA-DGB-0004 TR-Electronic GmbH 2015, All Rights Reserved Printed in the Federal Republic of Germany 02/23/2022 TR-ELA-BA-DGB-0024 v06 Page 85 of 155... -
Page 86: References
Linear-Absolute Measuring System, type with tube-housing European Community Electro Magnetic Compatibility Electro Static Discharge International Electrotechnical Commission Association for Electrical, Electronic & Information Technologies TR-Electronic GmbH 2015, All Rights Reserved Printed in the Federal Republic of Germany Page 86 of 155 TR-ELA-BA-DGB-0024 v06 02/23/2022... - Page 87 Service Data Object. Peer to peer communication with access to the Object Dictionary of a device. TR-Electronic GmbH 2015, All Rights Reserved Printed in the Federal Republic of Germany 02/23/2022 TR-ELA-BA-DGB-0024 v06...
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Page 88: 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 2015, All Rights Reserved Printed in the Federal Republic of Germany... -
Page 89: Canopen Information
TR-Electronic GmbH 2015, All Rights Reserved Printed in the Federal Republic of Germany... -
Page 90: Canopen - Communication Profile
Special Function Object (SFO) Synchronization (SYNC) Emergency (EMCY) Protocol Network Management Object (NMO) e.g. Life / Node-Guarding Boot-Up,… Error Control Protocol TR-Electronic GmbH 2015, All Rights Reserved Printed in the Federal Republic of Germany Page 90 of 155 TR-ELA-BA-DGB-0024 v06 02/23/2022... -
Page 91: Process- And Service-Data-Objects
Data addressed via Index CAN pure acknowledged services no Acknowledgement Figure 3: Comparison of PDO/SDO characteristics TR-Electronic GmbH 2015, All Rights Reserved Printed in the Federal Republic of Germany 02/23/2022 TR-ELA-BA-DGB-0024 v06 Page 91 of 155... -
Page 92: Object Dictionary
Object Function Code COB-ID Index Communication Parameter – 0000bin SYNC 0001bin 1005h 181h – 1FFh PDO1 (tx) 0011bin 1800h TR-Electronic GmbH 2015, All Rights Reserved Printed in the Federal Republic of Germany Page 92 of 155 TR-ELA-BA-DGB-0024 v06 02/23/2022... -
Page 93: Transmission Of Sdo Messages
In the case of an error (SDO response CCS = 0x80) the data field contains a 4-byte error code, which gives information about the error cause. Meaning of the error codes see table Table 13 on page 152. TR-Electronic GmbH 2015, All Rights Reserved Printed in the Federal Republic of Germany 02/23/2022... - Page 94 SDO Request No further data segment available. 0x01 SDO Response The bytes 1 to 7 contain the requested data. TR-Electronic GmbH 2015, All Rights Reserved Printed in the Federal Republic of Germany Page 94 of 155 TR-ELA-BA-DGB-0024 v06 02/23/2022...
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Page 95: 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 2015, All Rights Reserved Printed in the Federal Republic of Germany... -
Page 96: Write Sdo
Data 0 Data 1 Data 2 Data 3 Index High Byte If byte 0 = 80h the transfer has been aborted. TR-Electronic GmbH 2015, All Rights Reserved Printed in the Federal Republic of Germany Page 96 of 155 TR-ELA-BA-DGB-0024 v06 02/23/2022... -
Page 97: Network Management, Nmt
Initialization finished - enter PRE-OPERATIONAL automatically (3),(6) Start_Remote_Node --> Operational (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 2015, All Rights Reserved Printed in the Federal Republic of Germany 02/23/2022 TR-ELA-BA-DGB-0024 v06 Page 97 of 155... -
Page 98: Network Management Services
0x82 Afterwards transition into the INITIALIZATION state, first state (14) after Power on. Table 4: NMT device control services TR-Electronic GmbH 2015, All Rights Reserved Printed in the Federal Republic of Germany Page 98 of 155 TR-ELA-BA-DGB-0024 v06 02/23/2022... -
Page 99: Nmt Node / Life Guarding Services
(subindex 0). The tables are located in the object dictionary at index 0x1600 ff. for the RxPDOs and 0x1A00ff for the TxPDOs. TR-Electronic GmbH 2015, All Rights Reserved Printed in the Federal Republic of Germany 02/23/2022... -
Page 100: Layer Management Services (Lmt) And Protocols
Store configured parameters Inquiry services ● Inquire LMT-address Identification services ● LMT identify remote slave ● LMT identify slave TR-Electronic GmbH 2015, All Rights Reserved Printed in the Federal Republic of Germany Page 100 of 155 TR-ELA-BA-DGB-0024 v06 02/23/2022... -
Page 101: Lmt Modes And Services
Activate bit timing parameters Configure bit timing parameters Configure NMT-address Store configured parameters Inquire LMT-address LMT identify remote slave LMT identify slave TR-Electronic GmbH 2015, All Rights Reserved Printed in the Federal Republic of Germany 02/23/2022 TR-ELA-BA-DGB-0024 v06 Page 101 of 155... -
Page 102: Transmission Of Lmt Services
Byte 6 Byte 7 Table 7: LMT message Byte 0 contains the Command-Specifier (CS), afterwards 7 byte data are following. TR-Electronic GmbH 2015, All Rights Reserved Printed in the Federal Republic of Germany Page 102 of 155 TR-ELA-BA-DGB-0024 v06... -
Page 103: Switch Mode Protocols
Configuration Mode, whose LMT address attributes equals the LMT address. LMT-Master --> LMT-Slave COB-ID Manufacturer-Name 0x7E5 COB-ID Product-Name 0x7E5 COB-ID Serial-No. 0x7E5 TR-Electronic GmbH 2015, All Rights Reserved Printed in the Federal Republic of Germany 02/23/2022 TR-ELA-BA-DGB-0024 v06 Page 103 of 155... -
Page 104: Configuration Protocols
Specific Error if Error Code = 255 --> application specific error occurred, otherwise reserved by CiA TR-Electronic GmbH 2015, All Rights Reserved Printed in the Federal Republic of Germany Page 104 of 155 TR-ELA-BA-DGB-0024 v06... -
Page 105: Configure Bit Timing Parameters Protocol
Specific Error if Error Code = 255 --> application specific error occurred, otherwise reserved by CiA TR-Electronic GmbH 2015, All Rights Reserved Printed in the Federal Republic of Germany 02/23/2022 TR-ELA-BA-DGB-0024 v06 Page 105 of 155... -
Page 106: Activate Bit Timing Parameters Protocol
Specific Error if Error Code = 255 --> application specific error occurred, otherwise reserved by CiA TR-Electronic GmbH 2015, All Rights Reserved Printed in the Federal Republic of Germany Page 106 of 155 TR-ELA-BA-DGB-0024 v06... -
Page 107: Inquire Lmt Address Protocols
LMT-Slave --> LMT-Master COB-ID Product-Name (ASCII) 0x7E4 Product-Name = TR-LMR P1…P7 = 0x54, 0x52, 0x2D, 0x4C, 0c4D, 0x52, 0x00 TR-Electronic GmbH 2015, All Rights Reserved Printed in the Federal Republic of Germany 02/23/2022 TR-ELA-BA-DGB-0024 v06 Page 107 of 155... -
Page 108: Inquire Serial-Number Protocol
Reserved by CiA 0x7E5 LMT-Slave --> LMT-Master COB-ID Serial-No. (BCD) 0x7E4 e.g. “02” Serial-No. = S1…S7 = BCD coded TR-Electronic GmbH 2015, All Rights Reserved Printed in the Federal Republic of Germany Page 108 of 155 TR-ELA-BA-DGB-0024 v06 02/23/2022... -
Page 109: Identification Protocols
LMT attributes given in the LMT identify remote slaves protocol, response with this protocol. LMT-Slave --> LMT-Master COB-ID Reserved by CiA 0x7E4 TR-Electronic GmbH 2015, All Rights Reserved Printed in the Federal Republic of Germany 02/23/2022 TR-ELA-BA-DGB-0024 v06 Page 109 of 155... -
Page 110: Layer Setting Services (Lss) And Protocols
LSS identify remote slave ● LSS identify slave ● LSS identify non-configured remote slave ● LSS identify non-configured slave TR-Electronic GmbH 2015, All Rights Reserved Printed in the Federal Republic of Germany Page 110 of 155 TR-ELA-BA-DGB-0024 v06 02/23/2022... -
Page 111: Finite State Automaton, Fsa
Inquire LSS address Inquire Node-ID LSS identify remote slave LSS identify slave LSS identify non-configured remote slave LSS identify non-configured slave TR-Electronic GmbH 2015, All Rights Reserved Printed in the Federal Republic of Germany 02/23/2022 TR-ELA-BA-DGB-0024 v06 Page 111 of 155... -
Page 112: Transmission Of Lss Services
Byte 6 Byte 7 Table 9: LSS message Byte 0 contains the Command-Specifier (CS), afterwards 7 byte data are following. TR-Electronic GmbH 2015, All Rights Reserved Printed in the Federal Republic of Germany Page 112 of 155 TR-ELA-BA-DGB-0024 v06... -
Page 113: Switch Mode Protocols
Reserved by CiA 0x7E5 Serial-No. (≙Index 1018h:04) COB-ID Reserved by CiA 0x7E5 LSS-Slave --> LSS-Master COB-ID Reserved by CiA 0x7E4 TR-Electronic GmbH 2015, All Rights Reserved Printed in the Federal Republic of Germany 02/23/2022 TR-ELA-BA-DGB-0024 v06 Page 113 of 155... -
Page 114: Configuration Protocols
Specific Error if Error Code = 255 --> application specific error occurred, otherwise reserved by CiA TR-Electronic GmbH 2015, All Rights Reserved Printed in the Federal Republic of Germany Page 114 of 155 TR-ELA-BA-DGB-0024 v06... -
Page 115: Configure Bit Timing Parameters Protocol
Specific Error if Error Code = 255 --> application specific error occurred, otherwise reserved by CiA TR-Electronic GmbH 2015, All Rights Reserved Printed in the Federal Republic of Germany 02/23/2022 TR-ELA-BA-DGB-0024 v06 Page 115 of 155... -
Page 116: Activate Bit Timing Parameters Protocol
Specific Error if Error Code = 255 --> application specific error occurred, otherwise reserved by CiA TR-Electronic GmbH 2015, All Rights Reserved Printed in the Federal Republic of Germany Page 116 of 155 TR-ELA-BA-DGB-0024 v06... -
Page 117: Inquire Lss Address Protocols
LSS-Master --> LSS-Slave COB-ID Reserved by CiA 0x7E5 LSS-Slave --> LSS-Master Product-Code (≙Index 1018h:02) COB-ID Reserved by CiA 0x7E4 TR-Electronic GmbH 2015, All Rights Reserved Printed in the Federal Republic of Germany 02/23/2022 TR-ELA-BA-DGB-0024 v06 Page 117 of 155... -
Page 118: Inquire Identity Revision-Number Protocol
LSS-Master --> LSS-Slave COB-ID Reserved by CiA 0x7E5 LSS-Slave --> LSS-Master Serial-No. (≙Index 1018h:04) COB-ID Reserved by CiA 0x7E5 TR-Electronic GmbH 2015, All Rights Reserved Printed in the Federal Republic of Germany Page 118 of 155 TR-ELA-BA-DGB-0024 v06 02/23/2022... -
Page 119: Inquire Node-Id Protocol
0x7E5 LSS-Slave --> LSS-Master COB-ID Node-ID Reserved by CiA 1…127 0x7E4 Node-ID Corresponds the Node-ID of the selected device. TR-Electronic GmbH 2015, All Rights Reserved Printed in the Federal Republic of Germany 02/23/2022 TR-ELA-BA-DGB-0024 v06 Page 119 of 155... -
Page 120: Identification Protocols
LSS attributes given in the LSS identify remote slave protocol, response with this protocol. LSS-Slave --> LSS-Master COB-ID Reserved by CiA 0x7E4 TR-Electronic GmbH 2015, All Rights Reserved Printed in the Federal Republic of Germany Page 120 of 155 TR-ELA-BA-DGB-0024 v06 02/23/2022... -
Page 121: Lss Identify Non-Configured Remote Slave Protocol
LSS slaves with Node-ID FFh response with this protocol. LSS-Slave --> LSS-Master COB-ID Reserved by CiA 0x7E4 TR-Electronic GmbH 2015, All Rights Reserved Printed in the Federal Republic of Germany 02/23/2022 TR-ELA-BA-DGB-0024 v06 Page 121 of 155... -
Page 122: Device Profile
Manufacturer Association: CAN in Automation Am Weichselgarten 26 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 2015, All Rights Reserved Printed in the Federal Republic of Germany Page 122 of 155 TR-ELA-BA-DGB-0024 v06 02/23/2022... -
Page 123: Installation / Preparation For Start-Up
In particular, the applicable EMC directive and the shielding and grounding guidelines must be observed! TR-Electronic GmbH 2015, All Rights Reserved Printed in the Federal Republic of Germany 02/23/2022 TR-ELA-BA-DGB-0024 v06... -
Page 124: Connection - Notes
121 ohms between CAN_H and CAN_L. The bus termination can be requested also from TR-Electronic, Order-No.: 62-000-1366 (M12 male socket, A-coded, 120 Ω). 4.3 Switching on the supply voltage After the connection and all settings have been carried out, the supply voltage can be switched on. -
Page 125: Setting The Node-Id And Baud Rate By Means Of Lmt Services
--> Wait for acknowledgement and check successfully execution, --> Error Code = 0. --> LMT slave is reset and is in condition PRE-OPERATIONAL. TR-Electronic GmbH 2015, All Rights Reserved Printed in the Federal Republic of Germany 02/23/2022 TR-ELA-BA-DGB-0024 v06... -
Page 126: Setting The Node-Id And Baud Rate By Means Of Lss Services
--> Wait for acknowledgement and check successfully execution, --> Error Code = 0. --> LSS slave is reset and is in condition PRE-OPERATIONAL. TR-Electronic GmbH 2015, All Rights Reserved Printed in the Federal Republic of Germany Page 126 of 155... -
Page 127: Commissioning
CANopen network configuration tool to correctly configure or operate the measuring system. EDS file download LM_-48 (TR_Linear_CO03): www.tr-electronic.de/f/TR-ELA-ID-MUL-0025 TR-Electronic GmbH 2015, All Rights Reserved Printed in the Federal Republic of Germany 02/23/2022 TR-ELA-BA-DGB-0024 v06 Page 127 of 155... -
Page 128: Communication Profile
Actual value can be transferred only over a remote frame Actual value is transferred asynchronously with the timer value from object 6200h (object 1800h) or sub-index 5 (object 1801h) TR-Electronic GmbH 2015, All Rights Reserved Printed in the Federal Republic of Germany Page 128 of 155... - Page 129 Object 6200h – Cyclic timer. 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 2015, All Rights Reserved Printed in the Federal Republic of Germany 02/23/2022 TR-ELA-BA-DGB-0024 v06...
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Page 130: Structure Of The Mapping Parameter, 1A00H-1A01H
Provided mapping objects: Object 6020h – Position value, see page 145 Object 6030h – Speed value, see page 145 TR-Electronic GmbH 2015, All Rights Reserved Printed in the Federal Republic of Germany Page 130 of 155 TR-ELA-BA-DGB-0024 v06... -
Page 131: St Transmit Process-Data-Object (Asynchronous)
280 + Node-ID transmission type inhibit time event timer 1A01h number of mapped objects 1. application object 60200120h 2. application object TR-Electronic GmbH 2015, All Rights Reserved Printed in the Federal Republic of Germany 02/23/2022 TR-ELA-BA-DGB-0024 v06 Page 131 of 155... -
Page 132: Communication Specific Standard Objects (Cia Ds-301)
Table 10: Communication specific standard objects All writable indices must be stored explicitly by means of index 1010h. segmented reading TR-Electronic GmbH 2015, All Rights Reserved Printed in the Federal Republic of Germany Page 132 of 155 TR-ELA-BA-DGB-0024 v06... -
Page 133: Object 1000H: Device Type
Emergency Error codes from page 153. Unsigned8 Meaning generic error, rotative measuring systems only device profile specific TR-Electronic GmbH 2015, All Rights Reserved Printed in the Federal Republic of Germany 02/23/2022 TR-ELA-BA-DGB-0024 v06 Page 133 of 155... -
Page 134: Object 1003H: Pre-Defined Error Field
2 Transmit PDO (object 1801h), non- recurrent triggering. Object Function Code COB-ID SYNC 0001 TR-Electronic GmbH 2015, All Rights Reserved Printed in the Federal Republic of Germany Page 134 of 155 TR-ELA-BA-DGB-0024 v06 02/23/2022... -
Page 135: Object 1008H: Manufacturer Device Name
The life time factor multiplied with the guard time gives the life time for the Node Guarding Protocol. Default value = 0. Unsigned8 Life Time Factor Byte 0 to 2 TR-Electronic GmbH 2015, All Rights Reserved Printed in the Federal Republic of Germany 02/23/2022 TR-ELA-BA-DGB-0024 v06 Page 135 of 155... -
Page 136: Object 1010H: Store Parameters
Error code 0606 0000h. If a wrong signature is written, the device refuses to store and responds with abort domain transfer: 0800 0020h. TR-Electronic GmbH 2015, All Rights Reserved Printed in the Federal Republic of Germany Page 136 of 155... -
Page 137: Object 1011H: Restore Default Parameters
On read access to the appropriate sub-index the device provides information about its default parameter restoring capability: Bits 31-1 Value Bit 0 = 1: Device supports restoring of default parameters. TR-Electronic GmbH 2015, All Rights Reserved Printed in the Federal Republic of Germany 02/23/2022 TR-ELA-BA-DGB-0024 v06 Page 137 of 155... -
Page 138: Object 1014H: Cob-Id Emergency (Emcy)
“Heartbeat protocol” on one NMT slave at the same time. Thus, if the heartbeat producer time is unequal 0 the heartbeat protocol is used. TR-Electronic GmbH 2015, All Rights Reserved Printed in the Federal Republic of Germany Page 138 of 155... -
Page 139: Object 1018H: Identity Object
Bit structure of the value: reserved, 0000 00h Configuration Bit structure of the configuration byte Start node, NMT master constant 1 start TR-Electronic GmbH 2015, All Rights Reserved Printed in the Federal Republic of Germany 02/23/2022 TR-ELA-BA-DGB-0024 v06 Page 139 of 155... -
Page 140: Parameterization And Configuration
COB-ID for Boot-Up Message Byte 0 Byte 1 to 2 to 2 to 2 00h – FFh 0h – 7h TR-Electronic GmbH 2015, All Rights Reserved Printed in the Federal Republic of Germany Page 140 of 155 TR-ELA-BA-DGB-0024 v06 02/23/2022... -
Page 141: Object 2100H - Position Value At Lost Magnet
All positions are set to the last valid value Unsigned8 Position value at lost magnet Byte 0 to 2 TR-Electronic GmbH 2015, All Rights Reserved Printed in the Federal Republic of Germany 02/23/2022 TR-ELA-BA-DGB-0024 v06 Page 141 of 155... -
Page 142: Standardized Encoder Profile Area (Cia Ds-406)
ARRAY Offset value Integer32 Table 12: Encoder profile area All writable indices must be stored explicitly by means of index 1010h. TR-Electronic GmbH 2015, All Rights Reserved Printed in the Federal Republic of Germany Page 142 of 155 TR-ELA-BA-DGB-0024 v06... -
Page 143: Object 6000H - Operating Parameters
Data type UNSIGNED32 Access PDO mapping Default value 0xC350; 50 µm Value range 0xC350…0xF4240; 50 µm to 1 mm TR-Electronic GmbH 2015, All Rights Reserved Printed in the Federal Republic of Germany 02/23/2022 TR-ELA-BA-DGB-0024 v06 Page 143 of 155... -
Page 144: Object 6010H - Preset Value
Mandatory Data type INTEGER32 Access PDO mapping Default value -2 147 483 648…+2 147 483 647 (0x80000000…0x7FFFFFFF) Value range TR-Electronic GmbH 2015, All Rights Reserved Printed in the Federal Republic of Germany Page 144 of 155 TR-ELA-BA-DGB-0024 v06 02/23/2022... -
Page 145: Object 6020H - Position Value
Byte 0 Byte 1 to 2 to 2 Sub-Index Description Number of available channels Access PDO mapping Value 1 (0x01) TR-Electronic GmbH 2015, All Rights Reserved Printed in the Federal Republic of Germany 02/23/2022 TR-ELA-BA-DGB-0024 v06 Page 145 of 155... -
Page 146: Object 6200H - Cyclic Timer
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 2015, All Rights Reserved Printed in the Federal Republic of Germany Page 146 of 155 TR-ELA-BA-DGB-0024 v06... -
Page 147: Measuring System Diagnostics
1-15 Reserved for further use Position error The bit is set, if the measuring system could not detected a magnet. TR-Electronic GmbH 2015, All Rights Reserved Printed in the Federal Republic of Germany 02/23/2022 TR-ELA-BA-DGB-0024 v06 Page 147 of 155... -
Page 148: Object 6504H - Supported Alarms
Profile version Software version Byte 0 Byte 1 Byte 2 Byte 3 to 2 to 2 to 2 to 2 TR-Electronic GmbH 2015, All Rights Reserved Printed in the Federal Republic of Germany Page 148 of 155 TR-ELA-BA-DGB-0024 v06 02/23/2022... -
Page 149: Object 650Ah - Manufacturer Offset Value
Index Sub-Index Comment Type Attribute 650Ch largest supported Sub-Index = 1 Unsigned8 Offset value Integer32 TR-Electronic GmbH 2015, All Rights Reserved Printed in the Federal Republic of Germany 02/23/2022 TR-ELA-BA-DGB-0024 v06 Page 149 of 155... -
Page 150: Emergency Message
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 2015, All Rights Reserved Printed in the Federal Republic of Germany Page 150 of 155... -
Page 151: Transmission Of The Measuring System Position Value
“Synchronous” will transmit the position value. Object Function Code COB-ID Index Communication Parameter SYNC 0001bin 1005 TR-Electronic GmbH 2015, All Rights Reserved Printed in the Federal Republic of Germany 02/23/2022 TR-ELA-BA-DGB-0024 v06 Page 151 of 155... -
Page 152: Sdo Error Codes
0x0800 0024 No data available access to object 1003h sub-index 01, see page 134. Table 13: SDO Error codes TR-Electronic GmbH 2015, All Rights Reserved Printed in the Federal Republic of Germany Page 152 of 155 TR-ELA-BA-DGB-0024 v06 02/23/2022... -
Page 153: Emergency Error Codes
With clearing of all errors the error register is reset and an EMCY-message with error code "0x000" is transferred. Meaning generic error device profile specific TR-Electronic GmbH 2015, All Rights Reserved Printed in the Federal Republic of Germany 02/23/2022 TR-ELA-BA-DGB-0024 v06 Page 153 of 155... -
Page 154: Object 1003H: Pre-Defined Error Field, Bits 0 - 15
Verify the configured number of magnets with the Position error detected no magnet operated number Keep minimum distance between the magnets TR-Electronic GmbH 2015, All Rights Reserved Printed in the Federal Republic of Germany Page 154 of 155 TR-ELA-BA-DGB-0024 v06 02/23/2022... -
Page 155: Other Faults
Use cables with twisted pair wires for data and supply. Electrical faults Shielding and wire routing must be performed according to the respective field-bus system construction guidelines. TR-Electronic GmbH 2015, All Rights Reserved Printed in the Federal Republic of Germany 02/23/2022 TR-ELA-BA-DGB-0024 v06...
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