Page 1 Montageanleitung de/en Baureihe 58 Montageanleitung TR-ECE-BA-DGB-0035-14.pdf Betriebsanleitung de/en CR_582 CANopen (redundant) TR-ECE-BA-DGB-0165-03.pdf Konformitätserklärung de/en EU-Konformitätserklärung ECE (EMV+RoHS) TR-ECE-KE-DGB-0374-05.pdf Konformitätserklärung de/en UKCA, Konformitätserkl. ECE (EMV+RoHS) TR-ECE-KE-GB-0375-05.pdf Technische Daten Änderungen vorbehalten. TR-Electronic GmbH Eglishalde 6 78647 Trossingen Tel. +49 (0) 7425 228-0 Seite 1/1 info@tr-electronic.de www.tr-electronic.de...
Page 2 Seite 2 - 32 Page 33 - 63 Drehgeber Baugröße 58 _Grundlegende Sicherheitshinweise _Verwendungszweck _Allgemeine Funktionsbeschreibung _Montagehinweise Montageanleitung...
Page 3 Menüauswahlen von Software.  < >  weist auf Tasten der Tastatur Ihres Computers hin (wie etwa <RETURN>).  TR-Electronic GmbH 2005, All Rights Reserved Printed in the Federal Republic of Germany Page 2 of 64 TR - ECE - BA - DGB - 0035 - 14...
Page 4 4.2 Sacklochwelle ......................... 19 4.3 Hohlwelle ..........................25 4.4 Kupplung ..........................29 5 Zubehör ............................31  TR-Electronic GmbH 2005, All Rights Reserved Printed in the Federal Republic of Germany 02/14/2018 TR - ECE - BA - DGB - 0035 - 14...
Page 5 - Mitgeltende Dokumente Magnetische-Abtastung aufgenommen 23.05.17 Verallgemeinerung auf Baugröße 58 14.02.18  TR-Electronic GmbH 2005, All Rights Reserved Printed in the Federal Republic of Germany Page 4 of 64 TR - ECE - BA - DGB - 0035 - 14 02/14/2018...
Page 6 Dokumentationen z.B. Produktdatenblätter, Maßzeichnungen, Prospekte und schnittstellenspezifische Benutzerhandbücher etc. dar.  TR-Electronic GmbH 2005, All Rights Reserved Printed in the Federal Republic of Germany 02/14/2018 TR - ECE - BA - DGB - 0035 - 14 Page 5 of 64...
Page 7 5-stellige fortlaufende Nr. Die Produkte sind durch aufgeklebte Typenschilder gekennzeichnet und sind Bestandteil einer Anlage.  TR-Electronic GmbH 2005, All Rights Reserved Printed in the Federal Republic of Germany Page 6 of 64 TR - ECE - BA - DGB - 0035 - 14...
Page 8 Normen und Richtlinien entwickelt, konstruiert und gefertigt. Eine entsprechende Konformitätserklärung kann bei der Firma TR-Electronic GmbH angefordert werden. Der Hersteller der Produkte, die TR-Electronic GmbH in D-78647 Trossingen, besitzt ein zertifiziertes Qualitätssicherungssystem gemäß ISO 9001. 1.4 Verwendete Abkürzungen und Begriffe Europäische Gemeinschaft...
Page 9 Schnittstelle über verschiedene Interface-Module ausgegeben. Prinzip: Codescheibe mit Opto-Elektronik zur Erfassung der Schritte pro Umdrehung.  TR-Electronic GmbH 2005, All Rights Reserved Printed in the Federal Republic of Germany Page 8 of 64 TR - ECE - BA - DGB - 0035 - 14...
Page 10 Prinzip: Magnet-Quelle zur Erfassung der Schritte pro Umdrehung.  TR-Electronic GmbH 2005, All Rights Reserved Printed in the Federal Republic of Germany 02/14/2018 TR - ECE - BA - DGB - 0035 - 14 Page 9 of 64...
Page 11 Durch eine entsprechende Zählerauswertung in der Folgeelektronik kann die Mess- System – Auflösung elektronisch verdoppelt oder vervierfacht werden: Referenz-Signale nicht dargestellt!  TR-Electronic GmbH 2005, All Rights Reserved Printed in the Federal Republic of Germany Page 10 of 64 TR - ECE - BA - DGB - 0035 - 14...
Page 12 Anlage/Maschine in die das Mess-System eingebaut werden soll, den Bestimmungen der EU-EMV-Richtlinie, den harmonisierten Normen, Europanormen oder den entsprechenden nationalen Normen entspricht.  TR-Electronic GmbH 2005, All Rights Reserved Printed in the Federal Republic of Germany 02/14/2018...
Page 13 Beachtung der Mitgeltenden Dokumente verwenden! Insbesondere Störungen, die die Sicherheit beeinträchtigen können, umgehend beseitigen (lassen)!  TR-Electronic GmbH 2005, All Rights Reserved Printed in the Federal Republic of Germany Page 12 of 64 TR - ECE - BA - DGB - 0035 - 14...
Page 14  Eigenmächtige vorgenommene mechanische oder elektrische Veränderungen am Mess-System.  Eigenmächtige durchgeführte Reparaturen.  Katastrophenfälle durch Fremdeinwirkung und höhere Gewalt.  TR-Electronic GmbH 2005, All Rights Reserved Printed in the Federal Republic of Germany 02/14/2018 TR - ECE - BA - DGB - 0035 - 14...
Page 15 Installation, Inbetriebnahme und Bedienung festlegen. Beaufsichtigungspflicht bei zu schulendem oder anzulernendem Personal !  TR-Electronic GmbH 2005, All Rights Reserved Printed in the Federal Republic of Germany Page 14 of 64 TR - ECE - BA - DGB - 0035 - 14...
Page 16 Muss nach der Lebensdauer des Gerätes eine Entsorgung vorgenommen werden, sind die jeweils geltenden landesspezifischen Vorschriften zu beachten.  TR-Electronic GmbH 2005, All Rights Reserved Printed in the Federal Republic of Germany 02/14/2018 TR - ECE - BA - DGB - 0035 - 14...
Page 17 Unsachgemäßes Verpackungsmaterial kann beim Transport Schäden am Gerät verursachen. Lagerung Lagertemperatur: siehe Produktdatenblatt Trocken lagern  TR-Electronic GmbH 2005, All Rights Reserved Printed in the Federal Republic of Germany Page 16 of 64 TR - ECE - BA - DGB - 0035 - 14 02/14/2018...
Page 18 4 Montagehinweise / Schema 4.1 Vollwelle Flansch-Montage Klemmflansch-Montage  TR-Electronic GmbH 2005, All Rights Reserved Printed in the Federal Republic of Germany 02/14/2018 TR - ECE - BA - DGB - 0035 - 14 Page 17 of 64...
Page 19 Montagehinweise / Schema Spannpratzen-Montage Servoklammern-Montage  TR-Electronic GmbH 2005, All Rights Reserved Printed in the Federal Republic of Germany Page 18 of 64 TR - ECE - BA - DGB - 0035 - 14 02/14/2018...
Page 20 4.2 Sacklochwelle Stift-Nut axial mit Klemmring Stift-Nut radial mit Klemmring  TR-Electronic GmbH 2005, All Rights Reserved Printed in the Federal Republic of Germany 02/14/2018 TR - ECE - BA - DGB - 0035 - 14 Page 19 of 64...
Page 21 Montagehinweise / Schema Stift-Nut axial mit Klemmring, Stift kundenseitig Stift-Nut axial mit axialer Schraube  TR-Electronic GmbH 2005, All Rights Reserved Printed in the Federal Republic of Germany Page 20 of 64 TR - ECE - BA - DGB - 0035 - 14...
Page 22 Stift-Nut radial mit axialer Schraube Stift-Nut axial mit axialer Schraube, Stift kundenseitig  TR-Electronic GmbH 2005, All Rights Reserved Printed in the Federal Republic of Germany 02/14/2018 TR - ECE - BA - DGB - 0035 - 14 Page 21 of 64...
Page 23 Montagehinweise / Schema Stift-Nut axial mit Kerbnut und axialer Schraube Stift-Nut radial mit Kerbnut und axialer Schraube  TR-Electronic GmbH 2005, All Rights Reserved Printed in the Federal Republic of Germany Page 22 of 64 TR - ECE - BA - DGB - 0035 - 14...
Page 24 Stift-Nut axial mit Kerbnut und axialer Schraube, Stift kundenseitig Drehmomentstütze mit Klemmring  TR-Electronic GmbH 2005, All Rights Reserved Printed in the Federal Republic of Germany 02/14/2018 TR - ECE - BA - DGB - 0035 - 14 Page 23 of 64...
Page 25 Montagehinweise / Schema Drehmomentstütze mit Kerbnut und axialer Schraube Drehmomentstütze mit axialer Schraube  TR-Electronic GmbH 2005, All Rights Reserved Printed in the Federal Republic of Germany Page 24 of 64 TR - ECE - BA - DGB - 0035 - 14...
Page 26 4.3 Hohlwelle Stift-Nut axial mit Klemmring flanschseitig Stift-Nut radial mit Klemmring flanschseitig  TR-Electronic GmbH 2005, All Rights Reserved Printed in the Federal Republic of Germany 02/14/2018 TR - ECE - BA - DGB - 0035 - 14 Page 25 of 64...
Page 27 Montagehinweise / Schema Stift-Nut axial mit Klemmring flanschseitig, Stift kundenseitig Stift-Nut axial mit Klemmring haubenseitig  TR-Electronic GmbH 2005, All Rights Reserved Printed in the Federal Republic of Germany Page 26 of 64 TR - ECE - BA - DGB - 0035 - 14...
Page 28 Stift-Nut radial mit Klemmring haubenseitig Stift-Nut axial mit Klemmring haubenseitig, Stift kundenseitig  TR-Electronic GmbH 2005, All Rights Reserved Printed in the Federal Republic of Germany 02/14/2018 TR - ECE - BA - DGB - 0035 - 14 Page 27 of 64...
Page 29 Montagehinweise / Schema Drehmomentstütze mit Klemmring flanschseitig Drehmomentstütze mit Klemmring haubenseitig  TR-Electronic GmbH 2005, All Rights Reserved Printed in the Federal Republic of Germany Page 28 of 64 TR - ECE - BA - DGB - 0035 - 14...
Page 30  Radiale und axiale Toleranz zur Kundenwelle  Weniger Montageteile notwendig  TR-Electronic GmbH 2005, All Rights Reserved Printed in the Federal Republic of Germany 02/14/2018 TR - ECE - BA - DGB - 0035 - 14 Page 29 of 64...
Page 31 (Sicherheit von Maschinen siehe DIN EN ISO 12100). 92Sh A - GS [Shore]  TR-Electronic GmbH 2005, All Rights Reserved Printed in the Federal Republic of Germany Page 30 of 64 TR - ECE - BA - DGB - 0035 - 14...
Page 32 5 Zubehör www.tr-electronic.de/produkte/drehgeber/zubehoer.html  TR-Electronic GmbH 2005, All Rights Reserved Printed in the Federal Republic of Germany 02/14/2018 TR - ECE - BA - DGB - 0035 - 14 Page 31 of 64...
Page 34 _Intended use Assembly Instructions _General functional description _Instructions for mounting  TR-Electronic GmbH 2005, All Rights Reserved Printed in the Federal Republic of Germany 02/14/2018 TR - ECE - BA - DGB - 0035 - 14 Page 33 of 64...
Page 35  < >  indicates keys on your computer keyboard (such as <RETURN>).  TR-Electronic GmbH 2005, All Rights Reserved Printed in the Federal Republic of Germany Page 34 of 64 TR - ECE - BA - DGB - 0035 - 14...
Page 36 4.3 Hollow through shaft ....................... 57 4.4 Integrated claw coupling ......................61 5 Accessories ............................. 63  TR-Electronic GmbH 2005, All Rights Reserved Printed in the Federal Republic of Germany 02/14/2018 TR - ECE - BA - DGB - 0035 - 14...
Page 37 Magnetic scanning unit added 05/23/17 Generalization to construction size 58 02/14/18  TR-Electronic GmbH 2005, All Rights Reserved Printed in the Federal Republic of Germany Page 36 of 64 TR - ECE - BA - DGB - 0035 - 14...
Page 38 As the documentation is arranged in a modular structure, this Assembly Instruction is supplementary to other documentation, such as product datasheets, dimensional drawings, leaflets and interface-specific User Manuals etc.  TR-Electronic GmbH 2005, All Rights Reserved Printed in the Federal Republic of Germany 02/14/2018...
Page 39 Consecutive number, 5-digit The products are labeled with affixed nameplates and are components of a system.  TR-Electronic GmbH 2005, All Rights Reserved Printed in the Federal Republic of Germany Page 38 of 64 TR - ECE - BA - DGB - 0035 - 14...
Page 40 The measuring systems have been developed, designed and manufactured under observation of the applicable international and European standards and directives. A corresponding declaration of conformity can be requested from TR-Electronic GmbH. The manufacturer of the product, TR-Electronic GmbH in D-78647 Trossingen, operates a certified quality assurance system in accordance with ISO 9001.
Page 41 Principle: Code disk and opto-electronic scanning unit to identify the steps per revolution.  TR-Electronic GmbH 2005, All Rights Reserved Printed in the Federal Republic of Germany Page 40 of 64 TR - ECE - BA - DGB - 0035 - 14...
Page 42 Principle: Magnet source to identify the steps per revolutions.  TR-Electronic GmbH 2005, All Rights Reserved Printed in the Federal Republic of Germany 02/14/2018 TR - ECE - BA - DGB - 0035 - 14 Page 41 of 64...
Page 43 By a corresponding counter evaluation in the user electronics the measuring system resolution can be doubled or quadrupled electronically: Reference signals not represented!  TR-Electronic GmbH 2005, All Rights Reserved Printed in the Federal Republic of Germany Page 42 of 64...
Page 44 EU EMC Directive, the harmonized standards, European standards or the corresponding national standards.  TR-Electronic GmbH 2005, All Rights Reserved Printed in the Federal Republic of Germany 02/14/2018...
Page 45 Other applicable documents! Faults which could threaten safety should be eliminated without delay!  TR-Electronic GmbH 2005, All Rights Reserved Printed in the Federal Republic of Germany Page 44 of 64...
Page 46  Repairs carried out autonomously.  Third party interference and Acts of God.  TR-Electronic GmbH 2005, All Rights Reserved Printed in the Federal Republic of Germany 02/14/2018 TR - ECE - BA - DGB - 0035 - 14...
Page 47  Define clear rules of responsibilities for the assembly, installation, start-up and operation. The obligation exists to provide supervision for trainee personnel !  TR-Electronic GmbH 2005, All Rights Reserved Printed in the Federal Republic of Germany Page 46 of 64...
Page 48 Disposal If disposal has to be undertaken after the life span of the device, the respective applicable country-specific regulations are to be observed.  TR-Electronic GmbH 2005, All Rights Reserved Printed in the Federal Republic of Germany 02/14/2018 TR - ECE - BA - DGB - 0035 - 14...
Page 49 Storage Storage temperature: see product data sheet Store in a dry place  TR-Electronic GmbH 2005, All Rights Reserved Printed in the Federal Republic of Germany Page 48 of 64 TR - ECE - BA - DGB - 0035 - 14...
Page 50 4 Instructions for mounting / schematic 4.1 Solid shaft Flange mounting Clamping flange  TR-Electronic GmbH 2005, All Rights Reserved Printed in the Federal Republic of Germany 02/14/2018 TR - ECE - BA - DGB - 0035 - 14 Page 49 of 64...
Page 51 Instructions for mounting / schematic Clamping brackets Servo clamps  TR-Electronic GmbH 2005, All Rights Reserved Printed in the Federal Republic of Germany Page 50 of 64 TR - ECE - BA - DGB - 0035 - 14 02/14/2018...
Page 52 4.2 Blind shaft Pin-Groove axial with clamping ring Pin-Groove radial with clamping ring  TR-Electronic GmbH 2005, All Rights Reserved Printed in the Federal Republic of Germany 02/14/2018 TR - ECE - BA - DGB - 0035 - 14 Page 51 of 64...
Page 53 Instructions for mounting / schematic Pin-Groove axial with clamping ring, pin customer side Pin-Groove axial with axial screw  TR-Electronic GmbH 2005, All Rights Reserved Printed in the Federal Republic of Germany Page 52 of 64 TR - ECE - BA - DGB - 0035 - 14...
Page 54 Pin-Groove radial with axial screw Pin-Groove axial with axial screw, pin customer side  TR-Electronic GmbH 2005, All Rights Reserved Printed in the Federal Republic of Germany 02/14/2018 TR - ECE - BA - DGB - 0035 - 14 Page 53 of 64...
Page 55 Instructions for mounting / schematic Pin-Groove axial with V-groove and axial screw Pin-Groove radial with V-groove and axial screw  TR-Electronic GmbH 2005, All Rights Reserved Printed in the Federal Republic of Germany Page 54 of 64 TR - ECE - BA - DGB - 0035 - 14...
Page 56 Pin-Groove axial with V-groove and axial screw, pin customer side Torque holder with clamping ring  TR-Electronic GmbH 2005, All Rights Reserved Printed in the Federal Republic of Germany 02/14/2018 TR - ECE - BA - DGB - 0035 - 14...
Page 57 Instructions for mounting / schematic Torque holder with V-groove and axial screw Torque holder with axial screw  TR-Electronic GmbH 2005, All Rights Reserved Printed in the Federal Republic of Germany Page 56 of 64 TR - ECE - BA - DGB - 0035 - 14...
Page 58 4.3 Hollow through shaft Pin-Groove axial with clamping ring front Pin-Groove radial with clamping ring front  TR-Electronic GmbH 2005, All Rights Reserved Printed in the Federal Republic of Germany 02/14/2018 TR - ECE - BA - DGB - 0035 - 14...
Page 59 Instructions for mounting / schematic Pin-Groove axial with clamping ring front, pin customer side Pin-Groove axial with clamping ring back  TR-Electronic GmbH 2005, All Rights Reserved Printed in the Federal Republic of Germany Page 58 of 64 TR - ECE - BA - DGB - 0035 - 14...
Page 60 Pin-Groove radial with clamping ring back Pin-Groove axial with clamping ring back, pin customer side  TR-Electronic GmbH 2005, All Rights Reserved Printed in the Federal Republic of Germany 02/14/2018 TR - ECE - BA - DGB - 0035 - 14...
Page 61 Instructions for mounting / schematic Torque holder with clamping ring front Torque holder with clamping ring back  TR-Electronic GmbH 2005, All Rights Reserved Printed in the Federal Republic of Germany Page 60 of 64 TR - ECE - BA - DGB - 0035 - 14...
Page 62  Simple and fast mounting / dismounting  Radial and axial tolerance to the customer shaft  Only few components necessary  TR-Electronic GmbH 2005, All Rights Reserved Printed in the Federal Republic of Germany 02/14/2018 TR - ECE - BA - DGB - 0035 - 14...
Page 63 (Safety of machines see DIN EN ISO 12100). 92Sh A - GS [Shore]  TR-Electronic GmbH 2005, All Rights Reserved Printed in the Federal Republic of Germany Page 62 of 64 TR - ECE - BA - DGB - 0035 - 14...
Page 64 5 Accessories www.tr-electronic.com/products/rotary-encoders/accessories.html  TR-Electronic GmbH 2005, All Rights Reserved Printed in the Federal Republic of Germany 02/14/2018 TR - ECE - BA - DGB - 0035 - 14 Page 63 of 64...
Page 66 Seite 2 - 92 Page 93 - 183 Redundant Drehgeber: CR_-582 _Zusätzliche Sicherheitshinweise _Installation _Inbetriebnahme _Parametrierung _Fehlerursachen und Abhilfen Benutzerhandbuch...
Page 67 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 2021, All Rights Reserved Printed in the Federal Republic of Germany Page 2 of 183 TR-ECE-BA-DGB-0165 v03 06/20/2023...
Page 68: Table Of Contents
4.8 Geräteprofil ..........................35 5 Installation / Inbetriebnahmevorbereitung ..................36 5.1 Anschluss – Hinweise ......................37 5.2 Bus-Terminierung ........................37  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany 06/20/2023 TR-ECE-BA-DGB-0165 v03 Page 3 of 183...
Page 69 8.20.3 Objekt 1F56h: Programm Software Identifikation ..........57 8.20.4 Objekt 1F57h: Programm Status ................57 8.21 Objekt 1F80h: NMT Autostart ....................58  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany Page 4 of 183...
Page 70 11.3.1 Objekt 1001h: Fehlerregister ................89 11.3.2 Objekt 1003h: Vordefiniertes Fehlerfeld, Bits 0 – 15 ..........90 11.4 Alarm-Meldungen ......................... 90 11.5 Sonstige Störungen ......................91  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany 06/20/2023 TR-ECE-BA-DGB-0165 v03...
Page 71: Änderungs-Index
28.01.2022 Blockschaltbild „Funktionsprinzip“ in Kap.: 3 angepasst 01.12.2022 Abbildung 1: „Kabelabgang / Gerätestecker“ durch einen 20.06.2023 einzigen Block ersetzt.  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany Page 6 of 183 TR-ECE-BA-DGB-0165 v03 06/20/2023...
Page 72: Allgemeines
Anlage. Es gelten somit zusammen folgende Dokumentationen:  siehe Kapitel „Mitgeltende Dokumente“ in der Montageanleitung www.tr-electronic.de/f/TR-ECE-BA-DGB-0035  Produktdatenblatt www.tr-electronic.de/s/S023359  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany 06/20/2023 TR-ECE-BA-DGB-0165 v03 Page 7 of 183...
Page 73: Referenzen
CiA DS-305 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 2021, All Rights Reserved Printed in the Federal Republic of Germany Page 8 of 183 TR-ECE-BA-DGB-0165 v03 06/20/2023...
Page 74: Verwendete Abkürzungen / Begriffe
Process Data Object. Objekt für den Datenaustausch zwischen mehreren Geräten. Service Data Object. Punkt zu Punkt Kommunikation mit Zugriff auf die Objekt-Datenliste eines Gerätes. Synchron-Serielles-Interface  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany 06/20/2023 TR-ECE-BA-DGB-0165 v03 Page 9 of 183...
Page 75: 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 2021, All Rights Reserved Printed in the Federal Republic of Germany Page 10 of 183...
Page 76: Redundante Doppelabtastungen
Werte explizit für nur eine Abtastung betrachtet werden müssen. CR_582 CO/CO Channel 1 Channel 2 Getriebe 1 Getriebe 2 Abbildung 1: Funktionsprinzip der redundanten Doppelabtastung  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany 06/20/2023 TR-ECE-BA-DGB-0165 v03 Page 11 of 183...
Page 77: 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 2021, All Rights Reserved Printed in the Federal Republic of Germany Page 12 of 183 TR-ECE-BA-DGB-0165 v03...
Page 78: 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 2021, All Rights Reserved Printed in the Federal Republic of Germany 06/20/2023 TR-ECE-BA-DGB-0165 v03 Page 13 of 183...
Page 79: Prozess- Und Service-Daten-Objekte
Telegramme verteilt Format vorher vereinbart Daten durch Index CAN pur adressiert keine Bestätigung bestätigende Dienste Abbildung 4: Gegenüberstellung von PDO/SDO-Eigenschaften  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany Page 14 of 183 TR-ECE-BA-DGB-0165 v03 06/20/2023...
Page 80: Objektverzeichnis (Object Dictionary)
Node-ID = Adressschalter-Einstellung + 1 Beispiele Objekt Funktions-Code COB-ID Index Kommunikations-Parameter – 0000bin SYNC 0001bin 1005 181h – 1FFh PDO1 (tx) 0011bin 1800h  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany 06/20/2023 TR-ECE-BA-DGB-0165 v03 Page 15 of 183...
Page 81: 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 88 zu entnehmen.  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany Page 16 of 183...
Page 82 Leseanforderung SDO Request Kein weiteres Datensegment vorhanden. 0x01 SDO Response Die Bytes 1 bis 7 beinhalten die angeforderten Daten.  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany 06/20/2023 TR-ECE-BA-DGB-0165 v03 Page 17 of 183...
Page 83: 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 2021, All Rights Reserved Printed in the Federal Republic of Germany Page 18 of 183...
Page 84: Schreibe Sdo
Daten Daten Daten Daten Inhalt Code Index index High Byte Ist Byte 0 = 80h, wird die Übertragung abgebrochen.  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany 06/20/2023 TR-ECE-BA-DGB-0165 v03 Page 19 of 183...
Page 85: Netzwerkmanagement, Nmt
Start_Remote_Node --> Betriebszustand (4),(7) Enter_PRE-OPERATIONAL_State --> Vor-Betriebszustand (5),(8) Stop_Remote_Node --> Stop (9),(10),(11) Reset_Node --> Reset Knoten (12),(13),(14) Reset_Communication --> Reset Kommunikation  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany Page 20 of 183 TR-ECE-BA-DGB-0165 v03 06/20/2023...
Page 86: 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 2021, All Rights Reserved Printed in the Federal Republic of Germany 06/20/2023 TR-ECE-BA-DGB-0165 v03 Page 21 of 183...
Page 87: Nmt-Dienste Zur Verbindungsüberwachung
Slave nicht vom Master überwacht. Ist die Life Time = 0, ist das Life Guarding abgeschaltet. Tabelle 5: Parameter für NMT-Dienste  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany Page 22 of 183 TR-ECE-BA-DGB-0165 v03...
Page 88: 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 2021, All Rights Reserved Printed in the Federal Republic of Germany 06/20/2023 TR-ECE-BA-DGB-0165 v03 Page 23 of 183...
Page 89: 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 2021, All Rights Reserved Printed in the Federal Republic of Germany Page 24 of 183 TR-ECE-BA-DGB-0165 v03 06/20/2023...
Page 90: Übertragung Von Lss-Diensten
Byte 6 Byte 7 Tabelle 7: LSS-Nachricht Byte 0 enthält die Command-Specifier (CS), danach folgen 7 Byte für die Daten.  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany 06/20/2023 TR-ECE-BA-DGB-0165 v03 Page 25 of 183...
Page 91: Switch Mode Protokolle
* Zum Adressieren der zweiten Abtastung ist für ENC2 an dieser Stelle zusätzlich das Bit 0x8000 0000 zu setzen. LSS-Slave --> LSS-Master COB-ID Reserved by CiA 0x7E4 0x44  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany Page 26 of 183 TR-ECE-BA-DGB-0165 v03 06/20/2023...
Page 92: Configuration Protokolle
SDO geändert werden. Siehe hierzu auch Kap. 5.4 „Einstellen der Node-ID und Baudrate“ auf Seite 37 und Kap. 9.2.10 „Objekt 2110h: LSS Node-ID“ auf Seite 70.  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany...
Page 93: Configure Bit Timing Parameters Protokoll
SDO geändert werden. Siehe hierzu auch Kap. 5.4 „Einstellen der Node-ID und Baudrate“ auf Seite 37 und Kap. 9.2.11 „Objekt 2111h: LSS-BitTiming“ auf Seite 71.  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany Page 28 of 183...
Page 94: Activate Bit Timing Parameters Protokoll
Fehler aufgetreten Specific Error Wenn Error Code = 255 --> applikationsspezifischer Fehler aufgetreten, sonst reserviert durch die CiA  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany 06/20/2023 TR-ECE-BA-DGB-0165 v03 Page 29 of 183...
Page 95: Inquire Lss-Address Protokolle
LSS-Master --> LSS-Slave COB-ID Reserved by CiA 0x7E5 0x5B LSS-Slave --> LSS-Master COB-ID Product-Code (≙Index 1018h:02) Reserved by CiA 0x7E4 0x5B  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany Page 30 of 183 TR-ECE-BA-DGB-0165 v03 06/20/2023...
Page 96: Inquire Identity Revision-Number Protokoll
0x7E5 0x5D * Zur Identifikation der zweiten Abtastung eines Mess-Systems ist bei ENC2 an dieser Stelle das Bit 0x8000 0000 gesetzt.  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany 06/20/2023 TR-ECE-BA-DGB-0165 v03 Page 31 of 183...
Page 97: 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 2021, All Rights Reserved Printed in the Federal Republic of Germany Page 32 of 183 TR-ECE-BA-DGB-0165 v03...
Page 98: Identification Protokolle
LSS-Adress-Attributen entsprechen, antworten mit diesem Protokoll. LSS-Slave --> LSS-Master COB-ID Reserved by CiA 0x7E4 0x4F  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany 06/20/2023 TR-ECE-BA-DGB-0165 v03 Page 33 of 183...
Page 99: Lss Identify Non-Configured Remote Slave Protokoll
Ausführung des LSS identify non-configured remote slave protocol mit diesem Protokoll. LSS-Slave --> LSS-Master Reserved by CiA COB-ID 0x7E4 0x50  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany Page 34 of 183 TR-ECE-BA-DGB-0165 v03 06/20/2023...
Page 100: 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 2021, All Rights Reserved Printed in the Federal Republic of Germany 06/20/2023 TR-ECE-BA-DGB-0165 v03 Page 35 of 183...
Page 101: 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 2021, All Rights Reserved Printed in the Federal Republic of Germany Page 36 of 183...
Page 102: Anschluss - Hinweise
Eine Node-ID darf nur einmal im CAN-Bus vergeben werden. Sind die LSS-Dienste aktiv, werden Änderungen der Node-ID und Baudrate über die Hex-Schalter erst nach einem Neustart des Mess-Systems wirksam.  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany 06/20/2023...
Page 103: Einstellung Mittels Hex-Schalter
Mode = 0 in den Zustand Waiting state bringen. NMT-Dienst Reset Communication (0x82) aufrufen, damit die neue Node-ID  für ENC1 aktiv wird.  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany Page 38 of 183 TR-ECE-BA-DGB-0165 v03...
Page 104: Konfiguration Der Node-Id Für Abtastung 2 (Enc2)
--> Error Code = 0. Beide Abtastungen mit dem Dienst 04 Switch state global protocol,  Mode = 0 in den Zustand Waiting state versetzen.  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany 06/20/2023 TR-ECE-BA-DGB-0165 v03...
Page 105: Konfiguration Der Baudrate Für Eine Abtastungen
über „Objekt 2111h: LSS-BitTiming“ Kap.: 9.2.11 eingestellt. Die über SDOs eingestellte Node-ID und Baudrate entsprechen den über LSS- Dienste eingestellten Werten und überschreiben sich gegenseitig.  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany Page 40 of 183...
Page 106: Inbetriebnahme
Die Steckerbelegungsnummer oder ein QR-Code ist auf dem Typenschild des Mess-Systems vermerkt. Entsprechende Maßnahmen im Fehlerfall siehe Kapitel „Optische Anzeigen“, Seite 87.  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany 06/20/2023 TR-ECE-BA-DGB-0165 v03...
Page 107: 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 2021, All Rights Reserved Printed in the Federal Republic of Germany Page 42 of 183...
Page 108: Aufbau Der Mappingparameter, 1A00H-1A01H
Applikationsobjekte. Das Objekt beschreibt den Inhalt des PDOS durch ihren Index, Subindex und der Länge in Bit: Index Subindex Länge in Bit  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany 06/20/2023 TR-ECE-BA-DGB-0165 v03 Page 43 of 183...
Page 109: Ändern Der Mappingeinstellung
über das "Objekt 2101h: Senden von PDO bei Node-Start" verhindert werden, siehe Seite 70. In der Standardeinstellung kann jetzt der Positionswert auf verschiedene Arten übertragen werden:  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany Page 44 of 183 TR-ECE-BA-DGB-0165 v03...
Page 110: Erstes Sende-Prozessdaten-Objekt
5. gemapptes Objekt 0000 0000h 6. gemapptes Objekt 0000 0000h 7. gemapptes Objekt 0000 0000h 8. gemapptes Objekt 0000 0000h  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany 06/20/2023 TR-ECE-BA-DGB-0165 v03 Page 45 of 183...
Page 111: Kommunikationsspezifische Standard-Objekte (Cia Ds-301)
ARRAY Programm Software Identifikation Unsigned32 1F57 ARRAY Programmstatus Unsigned32 1F80 NMT Autostart Unsigned32 Tabelle 8: Kommunikationsspezifische Standard-Objekte segmentiertes Lesen  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany Page 46 of 183 TR-ECE-BA-DGB-0165 v03 06/20/2023...
Page 112: 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 2021, All Rights Reserved Printed in the Federal Republic of Germany 06/20/2023 TR-ECE-BA-DGB-0165 v03 Page 47 of 183...
Page 113: Objekt 1002H: Hersteller-Status-Register
16 Bit Zusatz-Fehlerinformation zusammen. Unsigned32 Standard Fehlerfeld Byte 0 Byte 1 Byte 2 Byte 3 Fehlercode Zusatz-Fehlerinformation, wird nicht unterstützt  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany Page 48 of 183 TR-ECE-BA-DGB-0165 v03 06/20/2023...
Page 114: Objekt 1005H: Cob-Id Sync Nachricht
Enthält die Hersteller Hardwareversion (visible string), Übertragung per „Segment Protokoll“. 8.8 Objekt 100Ah: Hersteller Softwareversion Enthält die Firmware-Nr. (visible string) Übertragung per „Segment Protokoll“.  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany 06/20/2023 TR-ECE-BA-DGB-0165 v03 Page 49 of 183...
Page 115: Objekt 100Ch: Guard-Time (Überwachungszeit)
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 2021, All Rights Reserved Printed in the Federal Republic of Germany Page 50 of 183 TR-ECE-BA-DGB-0165 v03 06/20/2023...
Page 116: Objekt 1010H: Parameter Abspeichern
Fehlercode 0606 0000 h. Wurde eine falsche Signatur geschrieben, verweigert die Abtastung die Speicherung und antwortet mit Abbruch der Übertragung: Fehlercode 0800 0020 h.  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany 06/20/2023 TR-ECE-BA-DGB-0165 v03...
Page 117: Objekt 1011H: Wiederherstellung Der Parameter-Standardwerte
Abbruch der Übertragung: Fehlercode 0606 0000 h. Wurde eine falsche Signatur geschrieben, verweigert Abtastung Wiederherstellung und antwortet mit Abbruch der Übertragung: Fehlercode 0800 0020  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany Page 52 of 183 TR-ECE-BA-DGB-0165 v03 06/20/2023...
Page 118: 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 2021, All Rights Reserved Printed in the Federal Republic of Germany 06/20/2023...
Page 119: Objekt 1017H: Producer Heartbeat Time
Abtastung Informationen über Revisions-Nr.: aktuelle Revisions-Nr. Subindex4: Bei Lesezugriff liefert die Abtastung Informationen über die Serien-Nr.: aktuelle Serien-Nr.  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany Page 54 of 183 TR-ECE-BA-DGB-0165 v03 06/20/2023...
Page 120: Objekt 1021H: Eds Abspeichern
NMT in PRE-OPERATIONAL-Mode versetzen (nur wenn sich die Abtastung im OPERATIONAL-Mode befindet) keine Änderung des NMT-Status NMT in STOPPED-Mode versetzen  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany 06/20/2023 TR-ECE-BA-DGB-0165 v03 Page 55 of 183...
Page 121: 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 2021, All Rights Reserved Printed in the Federal Republic of Germany Page 56 of 183...
Page 122: Objekt 1F56H: Programm Software Identifikation
Bearbeitung, andere Bits ungültig, Programmstatus ungültig Kein Fehler aufgetreten, Firmware gültig ungültige Firmware 2…7 Nicht unterstützt 8…15 Reserviert (immer 0) 16…31 Nicht unterstützt  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany 06/20/2023 TR-ECE-BA-DGB-0165 v03 Page 57 of 183...
Page 123: Objekt 1F80H: Nmt Autostart
1 Start Der Versuch ein Bit zu ändern das nicht in der Abtastung vorhanden ist, veranlasst eine Abort-Nachricht (0609 0030h).  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany Page 58 of 183 TR-ECE-BA-DGB-0165 v03...
Page 124: Parametrierung
2751 TR-Produktion VisibleString 2752 TR-Produktion VisibleString 2753 TR-Produktion VisibleString 2754 TR-Produktion VisibleString 2755 TR-Produktion VisibleString 2756 TR-Produktion VisibleString …  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany 06/20/2023 TR-ECE-BA-DGB-0165 v03 Page 59 of 183...
Page 125 Ist sofort nach Aufruf wirksam und wird erst nach Ausführen von "Objekt 1010h: Parameter abspeichern" dauerhaft im EEPROM abgespeichert. Ist sofort nach Aufruf wirksam und wird dauerhaft im EEPROM abgespeichert. Segmentiertes Lesen  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany Page 60 of 183 TR-ECE-BA-DGB-0165 v03...
Page 126: Objekt 2000H: Mode-Umschaltung Tr / Cia Ds-406
0x6001, Mess-Schritte pro Umdrehung 0x2002, Gesamtmesslänge in Schritten 0x6002, Gesamtmesslänge in Schritten 0x2003, Anzahl Umdrehungen - Zähler 0x2004, Anzahl Umdrehungen - Nenner  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany 06/20/2023 TR-ECE-BA-DGB-0165 v03 Page 61 of 183...
Page 127: Tr - Mode
Menge 2 oder… ● Sicherstellen, dass sich Positionierungen im stromlosen Zustand bei einem Multi-Turn Mess-System innerhalb von 512 Umdrehungen befinden.  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany Page 62 of 183 TR-ECE-BA-DGB-0165 v03 06/20/2023...
Page 128: 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 und gelten für beide Abtastungen.  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany 06/20/2023 TR-ECE-BA-DGB-0165 v03...
Page 129: Objekt 2003H - 2004H: Tr-Umdrehungen Zähler / Nenner
Untergrenze Nenner Obergrenze Nenner 16384 Default Anzahl der Umdrehungen: Anzahl Umdrehungen Zähler Anzahl der Umdrehungen = Anzahl Umdrehungen Nenner  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany Page 64 of 183 TR-ECE-BA-DGB-0165 v03 06/20/2023...
Page 130 Abtastung bei einer geringfügigen Überschreitung des Verfahrweges keinen Istwertsprung (Nullübergang) erzeugt. Der Einfachheit halber kann auch der volle Umdrehungsbereich der jeweiligen Abtastung programmiert werden.  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany 06/20/2023 TR-ECE-BA-DGB-0165 v03...
Page 131 Anzahl Umdrehungen Nenner 4096 Umdrehungen Zähler = 1348,073499 Schritte / Umdr. * 1 Umdrehung Nenner = 5521709 Schritte (abgerundet)  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany Page 66 of 183 TR-ECE-BA-DGB-0165 v03 06/20/2023...
Page 132: Objekt 2005H: Geschwindigkeitsauflösung
Siehe Objekt 2000h: Mode-Umschaltung TR / CiA DS-406. 9.2.4 Objekt 2006h: Zusätzliche Parameter/Kommandos (gerätespezifisch) Über dieses Objekt können gerätespezifische Parameter/Kommandos ausgetauscht werden.  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany 06/20/2023 TR-ECE-BA-DGB-0165 v03 Page 67 of 183...
Page 133: Objekt 2007H: Geschwindigkeitsfaktor
655360 Schritte Anzahl Schritte / t * 0,05 s 32768 Schritte (Schritte/Integrationszeit) * Faktor = 32768 Schritte / 50 ms  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany Page 68 of 183 TR-ECE-BA-DGB-0165 v03 06/20/2023...
Page 134: Objekt 200Ah: Geschwindigkeit (Int32)
COB-ID für Boot-Up Nachricht Byte 0 Byte 1 bis 2 bis 2 bis 2 00h – FFh 0h – 7h  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany 06/20/2023 TR-ECE-BA-DGB-0165 v03 Page 69 of 183...
Page 135: Objekt 2101H: Senden Von Pdo Bei Node-Start
LSS NodeID Datentyp UNSIGNED8 Objektcode VARIABLE Zugriff nein PDO Mapping Untergrenze 0x01 = Node-ID 1 Obergrenze 0x7F = Node-ID 127  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany Page 70 of 183 TR-ECE-BA-DGB-0165 v03 06/20/2023...
Page 136: Objekt 2111H: Lss-Bittiming
VARIABLE Objektcode Zugriff PDO Mapping Untergrenze 0x8000 Obergrenze 0x7FFF 9.2.14 TR-Produktion Die Objekte „TR-Produktion“ sind für herstellerspezifische Funktionen reserviert.  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany 06/20/2023 TR-ECE-BA-DGB-0165 v03 Page 71 of 183...
Page 137: Tr-Mapping Dummy
Beschreibung TR-Mapping-Dummy u32 Datentyp UNSIGNED32 Objektcode VARIABLE Zugriff PDO Mapping 0x0000 0000 Untergrenze Obergrenze 0xFFFF FFFF Default 0x0000 0000  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany Page 72 of 183 TR-ECE-BA-DGB-0165 v03 06/20/2023...
Page 138: Cia Ds-406 - Mode
(1, 2, 4…4096) ist. oder  Sicherstellen, dass sich Positionierungen im stromlosen Zustand bei einem Multi-Turn Mess-System innerhalb von 512 Umdrehungen befinden.  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany 06/20/2023 TR-ECE-BA-DGB-0165 v03 Page 73 of 183...
Page 139: 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 2021, All Rights Reserved Printed in the Federal Republic of Germany Page 74 of 183...
Page 140 6002h ausgelesen werden und ist immer kleiner als die vorgegebene Messlänge. Es kann daher vorkommen, dass die tatsächlich benötigte Gesamtschrittzahl unterschritten wird und das Mess-System vor Erreichen des maximalen mechanischen Verfahrweges einen Nullübergang generiert.  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany 06/20/2023 TR-ECE-BA-DGB-0165 v03...
Page 141: Objekt 6003H: Presetwert
PDO Mapping Positionswert Byte 0 Byte 1 Byte 2 Byte 3 bis 2 bis 2 bis 2 bis 2  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany Page 76 of 183 TR-ECE-BA-DGB-0165 v03 06/20/2023...
Page 142: Objekt 6030H: Geschwindigkeit
Cyclic-Timer. Dies bedeutet, dass eine Änderung des Event- Timers sich auch im Cyclic Timer auswirkt und umgekehrt. Die Kommunikationsparameter 1801h benutzt ausschließlich seinen eigenen Timer, Zugriff über Subindex 5.  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany 06/20/2023 TR-ECE-BA-DGB-0165 v03...
Page 143: Mess-System Diagnose
Byte 2 Byte 3 bis 2 bis 2 bis 2 bis 2 Standardwert: abhängig von der Kapazität, siehe Typenschild  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany Page 78 of 183 TR-ECE-BA-DGB-0165 v03 06/20/2023...
Page 144: 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 2021, All Rights Reserved Printed in the Federal Republic of Germany 06/20/2023 TR-ECE-BA-DGB-0165 v03...
Page 145: Objekt 6503H: Alarme
EE-PROM-Fehler Die Abtastung hat eine falsche Checksumme im EEPROM-Bereich erkannt, oder ein Schreibvorgang in das EEPROM konnte nicht erfolgreich abgeschlossen werden.  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany Page 80 of 183 TR-ECE-BA-DGB-0165 v03...
Page 146: Objekt 6504H: Unterstützte Alarme
Reserviert für weitere Verwendung Reserviert für weitere Verwendung Reserviert für weitere Verwendung EE-PROM-Fehler Nein Reserviert für weitere Verwendung herstellerspezifische Funktionen herstellerspezifische Funktionen  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany 06/20/2023 TR-ECE-BA-DGB-0165 v03 Page 81 of 183...
Page 147: 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 2021, All Rights Reserved Printed in the Federal Republic of Germany Page 82 of 183 TR-ECE-BA-DGB-0165 v03...
Page 148: Objekt 6506H: Unterstützte Warnungen
Reserviert für weitere Verwendung Reserviert für weitere Verwendung Reserviert für weitere Verwendung Temperaturwarnung Nein herstellerspezifische Funktionen herstellerspezifische Funktionen herstellerspezifische Funktionen  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany 06/20/2023 TR-ECE-BA-DGB-0165 v03 Page 83 of 183...
Page 149: Objekt 6507H: Profil- Und Softwareversion
Die Betriebsdauer wird in 0,1 Std. pro Digit erfasst. Index 0x6508 Beschreibung Operating time UNSIGNED32 Datentyp Objektcode VARIABLE Zugriff PDO Mapping nein  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany Page 84 of 183 TR-ECE-BA-DGB-0165 v03 06/20/2023...
Page 150: Objekt 6509H: Offsetwert
PDO Mapping nein Zur Identifikation der zweiten Abtastung eines Mess-Systems ist bei der Seriennummer für ENC2 immer zusätzlich das Bit 0x8000 0000 gesetzt.  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany 06/20/2023 TR-ECE-BA-DGB-0165 v03...
Page 151: Emergency-Meldung
Wenn der Fehler nicht mehr vorhanden ist, überträgt die betreffende Abtastung eine Emergency-Meldung mit dem Fehlercode "0" (Reset Fehler / kein Fehler) und Fehler- Register "0".  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany Page 86 of 183...
Page 152: Fehlerursachen Und Abhilfen
OPERATIONAL in den 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 89.  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany 06/20/2023...
Page 153: Sdo-Fehlercodes
Hinweis, dass keine Fehler mehr vorhanden sind, 0x0800 0024 Keine Daten verfügbar bei Lesezugriff auf Objekt 1003h Subindex 01, siehe Seite 48. Tabelle 10: SDO-Fehlercodes  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany Page 88 of 183 TR-ECE-BA-DGB-0165 v03 06/20/2023...
Page 154: Emergency-Fehlercodes
Mit Löschen des letzten Fehlers wird das Fehlerregister zurückgesetzt und eine EMCY-Nachricht mit Fehlercode „0x000“ übertragen. Bedeutung generischer Fehler Kommunikationsfehler (Überlauf, Fehlerstatus)  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany 06/20/2023 TR-ECE-BA-DGB-0165 v03 Page 89 of 183...
Page 155: Objekt 1003H: Vordefiniertes Fehlerfeld, Bits 0 - 15
Maßnahme wiederholt auftritt, muss das Mess- Bit 12 = 1, Speicherbereich im internen System getauscht werden. EE-PROM-Fehler EEPROM defekt Tabelle 12: Alarm-Meldungen  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany Page 90 of 183 TR-ECE-BA-DGB-0165 v03 06/20/2023...
Page 156: Sonstige Störungen
Welle. Wenn der Fehler trotz dieser Maßnahme weiterhin der Welle oder einen auftritt, muss das Mess-System getauscht werden. Defekt der Abtastung. Tabelle 13: Sonstige Störungen  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany 06/20/2023 TR-ECE-BA-DGB-0165 v03 Page 91 of 183...
Page 158 Redundant Encoder: CR_-582 _Additional safety instructions _Installation User Manual _Commissioning Interface _Parameterization _Cause of faults and remedies  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany 06/20/2023 TR-ECE-BA-DGB-0165 v03 Page 93 of 183...
Page 159 >  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 2021, All Rights Reserved Printed in the Federal Republic of Germany Page 94 of 183 TR-ECE-BA-DGB-0165 v03 06/20/2023...
Page 160 4.8 Device profile .......................... 127 5 Installation / Preparation for start-up .................... 128 5.1 Connection – notes ......................... 129 5.2 Bus termination ........................129  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany 06/20/2023 TR-ECE-BA-DGB-0165 v03...
Page 161 8.20.3 Object 1F56h: Program software identification ............. 149 8.20.4 Object 1F57h: Flash status identification .............. 149 8.21 Object 1F80h: NMT Autostart ....................150  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany Page 96 of 183...
Page 162 11.3.1 Object 1001h: Error register ................. 181 11.3.2 Object 1003h: Pre-defined Error field, bits 0 – 15 ..........182 11.4 Alarm messages ........................182 11.5 Other faults ........................... 183  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany 06/20/2023 TR-ECE-BA-DGB-0165 v03...
Page 163: Revision Index
Block diagram "Functional principle" in chapter: 3 edited 12/01/2022 Figure 1: “Cable outlet / Device connector” replaced by a single block 06/20/2023  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany Page 98 of 183 TR-ECE-BA-DGB-0165 v03...
Page 164: General Information
The following documentation therefore also applies:  see chapter “Other applicable documents” in the Assembly Instructions www.tr-electronic.com/f/TR-ECE-BA-DGB-0035  Product data sheets www.tr-electronic.com/s/S023360  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany 06/20/2023 TR-ECE-BA-DGB-0165 v03 Page 99 of 183...
Page 165: References
CiA DS-305 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 2021, All Rights Reserved Printed in the Federal Republic of Germany Page 100 of 183 TR-ECE-BA-DGB-0165 v03 06/20/2023...
Page 166: Abbreviations And Definitions
Process Data Object. Object for data exchange between several devices. Service Data Object. Peer to peer communication with access to the Object Dictionary of a device. Synchronous-Serial-Interface  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany 06/20/2023 TR-ECE-BA-DGB-0165 v03 Page 101 of 183...
Page 167: 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 2021, All Rights Reserved Printed in the Federal Republic of Germany...
Page 168: Redundant Double Scanning Unit
CR_582 CO/CO Channel 1 Channel 2 Gearbox 1 Gearbox 2 Figure 1: Functional principle of redundant double scanning unit  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany 06/20/2023 TR-ECE-BA-DGB-0165 v03 Page 103 of 183...
Page 170: 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 2021, All Rights Reserved Printed in the Federal Republic of Germany 06/20/2023 TR-ECE-BA-DGB-0165 v03 Page 105 of 183...
Page 171: Process- And Service-Data-Objects
Format defined before Data addressed via Index CAN pure acknowledged services no Acknowledgement Figure 4: Comparison of PDO/SDO characteristics  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany Page 106 of 183 TR-ECE-BA-DGB-0165 v03 06/20/2023...
Page 172: Object Dictionary
Object Function Code COB-ID Index Communication Parameter – 0000bin SYNC 0001bin 1005 181h – 1FFh PDO1 (tx) 0011bin 1800h  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany 06/20/2023 TR-ECE-BA-DGB-0165 v03 Page 107 of 183...
Page 173: 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 180.  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany Page 108 of 183...
Page 174 SDO Request No further data segment available. 0x01 SDO Response The bytes 1 to 7 contain the requested data.  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany 06/20/2023 TR-ECE-BA-DGB-0165 v03 Page 109 of 183...
Page 175: 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 2021, All Rights Reserved Printed in the Federal Republic of Germany...
Page 176: 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 2021, All Rights Reserved Printed in the Federal Republic of Germany 06/20/2023 TR-ECE-BA-DGB-0165 v03 Page 111 of 183...
Page 177: 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 2021, All Rights Reserved Printed in the Federal Republic of Germany Page 112 of 183 TR-ECE-BA-DGB-0165 v03 06/20/2023...
Page 178: 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 2021, All Rights Reserved Printed in the Federal Republic of Germany 06/20/2023 TR-ECE-BA-DGB-0165 v03 Page 113 of 183...
Page 179: 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 2021, All Rights Reserved Printed in the Federal Republic of Germany Page 114 of 183 TR-ECE-BA-DGB-0165 v03...
Page 180: 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 2021, All Rights Reserved Printed in the Federal Republic of Germany 06/20/2023 TR-ECE-BA-DGB-0165 v03 Page 115 of 183...
Page 181: 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 2021, All Rights Reserved Printed in the Federal Republic of Germany Page 116 of 183 TR-ECE-BA-DGB-0165 v03 06/20/2023...
Page 182: Transmission Of Lss Services
Byte 6 Byte 7 Table 7: LSS message Byte 0 contains the Command-Specifier (CS), afterwards 7 byte data are following.  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany 06/20/2023 TR-ECE-BA-DGB-0165 v03 Page 117 of 183...
Page 183: Switch Mode Protocols
* For addressing the second scanning unit the bit 0x8000 0000 has to be set additionally for ENC2 at this position. LSS-Slave --> LSS-Master COB-ID Reserved by CiA 0x7E4 0x44  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany Page 118 of 183 TR-ECE-BA-DGB-0165 v03 06/20/2023...
Page 184: Configuration Protocols
SDO. See also chapter 5.4 "Setting the Node-ID and Baud rate" on page 129 and chap. 9.2.10 "Object 2110h: LSS Node-ID" on page 162.  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany 06/20/2023...
Page 185: Configure Bit Timing Parameters Protocol
BitTiming" using SDO. See also chapter 5.4 "Setting the Node-ID and Baud rate" on page 129 and chap. 9.2.11 "Object 2111h: LSS BitTiming" on page 163.  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany...
Page 186: Activate Bit Timing Parameters Protocol
Specific Error if Error Code = 255 --> application specific error occurred, otherwise reserved by CiA  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany 06/20/2023 TR-ECE-BA-DGB-0165 v03 Page 121 of 183...
Page 187: Inquire Lss Address Protocols
LSS-Master --> LSS-Slave COB-ID Reserved by CiA 0x7E5 0x5B LSS-Slave --> LSS-Master COB-ID Product-Code (≙Index 1018h:02) Reserved by CiA 0x7E4 0x5B  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany Page 122 of 183 TR-ECE-BA-DGB-0165 v03 06/20/2023...
Page 188: Inquire Identity Revision-Number Protocol
0x5D * For identification of the second scanning unit of a measuring system the bit 0x8000 0000 is set at ENC2 at this position.  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany 06/20/2023 TR-ECE-BA-DGB-0165 v03...
Page 189: 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 2021, All Rights Reserved Printed in the Federal Republic of Germany Page 124 of 183...
Page 190: 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 0x4F  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany 06/20/2023 TR-ECE-BA-DGB-0165 v03 Page 125 of 183...
Page 191: 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 0x50  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany Page 126 of 183 TR-ECE-BA-DGB-0165 v03 06/20/2023...
Page 192: 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 2021, All Rights Reserved Printed in the Federal Republic of Germany 06/20/2023 TR-ECE-BA-DGB-0165 v03 Page 127 of 183...
Page 193: Installation / Preparation For Start-Up
In particular, the applicable EMC directive and the shielding and grounding guidelines must be observed!  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany Page 128 of 183 TR-ECE-BA-DGB-0165 v03...
Page 194: Connection - Notes
If the LSS services are active, changes to the Node-ID and Baud rate via the hex switches only take effect after a restart of the measuring system.  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany...
Page 195: Setting By Means Of Hex Switches
Mode = 0, to switch the LSS slave into Waiting state. Perform NMT service Reset Communication (0x82), to switch the new  Node-ID active for ENC1.  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany Page 130 of 183 TR-ECE-BA-DGB-0165 v03...
Page 196: Configuration Of The Node-Id For Scanning Unit 1 (Enc2)
--> Error Code = 0. Perform service 04 Switch state global protocol,  Mode = 0, to switch the LSS slave into Waiting state.  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany 06/20/2023 TR-ECE-BA-DGB-0165 v03...
Page 197: Configuration Of The Baud Rate For One Scanning Unit
"Object 2111h: LSS BitTiming" chapter 9.2.11. The Node-ID and Baud rate set via SDOs correspond to the values set via LSS services and overwrite each other.  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany Page 132 of 183...
Page 198: Commissioning
QR code is noted on the nameplate of the measuring system. Corresponding measures in case of an error see chapter “Optical displays”, page 179.  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany 06/20/2023...
Page 199: 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 2021, All Rights Reserved Printed in the Federal Republic of Germany Page 134 of 183...
Page 200: 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 2021, All Rights Reserved Printed in the Federal Republic of Germany 06/20/2023 TR-ECE-BA-DGB-0165 v03 Page 135 of 183...
Page 201: Procedure For Re-Mapping
"Object 2101h: Send PDO at Node-Start" on page 162. In the default setting the position value can be transmitted in different ways:  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany Page 136 of 183...
Page 202: 1St Transmit Process-Data-Object
5. mapped object 0000 0000h 6. mapped object 0000 0000h 7. mapped object 0000 0000h 8. mapped object 0000 0000h  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany 06/20/2023 TR-ECE-BA-DGB-0165 v03 Page 137 of 183...
Page 203: Communication Specific Standard Objects (Cia Ds-301)
Unsigned32 1F57 ARRAY Flash status identification Unsigned32 1F80 NMT startup Unsigned32 Table 8: Communication specific standard objects segmented reading  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany Page 138 of 183 TR-ECE-BA-DGB-0165 v03 06/20/2023...
Page 204: Object 1000H: Device Type
0-15 of the object 0x1003. An error is signaled at the moment of the occurrence by an EMCY message. Unsigned8 Meaning generic error communication error (overrun, error state)  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany 06/20/2023 TR-ECE-BA-DGB-0165 v03 Page 139 of 183...
Page 205: Object 1002H: Manufacturer Status Register
Unsigned32 Standard Error Field Byte 0 Byte 1 Byte 2 Byte 3 Error code Additional Information, not supported  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany Page 140 of 183 TR-ECE-BA-DGB-0165 v03 06/20/2023...
Page 206: Object 1005H: Cob-Id Sync Message
“Segment Protocol”. 8.8 Object 100Ah: Software version Contains the manufacturer software version (visible string), transmission via “Segment Protocol”.  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany 06/20/2023 TR-ECE-BA-DGB-0165 v03 Page 141 of 183...
Page 207: Object 100Ch: Guard Time
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 2021, All Rights Reserved Printed in the Federal Republic of Germany Page 142 of 183 TR-ECE-BA-DGB-0165 v03 06/20/2023...
Page 208: Object 1010H: Store Parameters
0606 0000h. If a wrong signature is written, the scanning unit refuses to save and responds with abort domain transfer: Error code 0800 0020h.  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany 06/20/2023 TR-ECE-BA-DGB-0165 v03...
Page 209: Object 1011H: Restore Default Parameter Values
If a wrong signature is written, the scanning unit refuses to restore the defaults and responds with abort domain transfer: Error code 0800 0020h.  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany Page 144 of 183...
Page 210: 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 2021, All Rights Reserved Printed in the Federal Republic of Germany 06/20/2023...
Page 211: Object 1017H: Producer Heartbeat Time
Sub-index2: Provides information about the Product-Code: device specific 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 2021, All Rights Reserved Printed in the Federal Republic of Germany Page 146 of 183 TR-ECE-BA-DGB-0165 v03 06/20/2023...
Page 212: Object 1021H: Store Eds
Change to NMT state PRE-OPERATIONAL (only if currently in NMT state OPERATIONAL) No change of the NMT state Change to NMT state STOPPED  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany 06/20/2023 TR-ECE-BA-DGB-0165 v03...
Page 213: Firmware Update
The SDO abort code 0800 0022h shall indicate that a requested action can currently not be performed.  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany Page 148 of 183...
Page 214: Object 1F56H: Program Software Identification
No error occurred, program valid Program not valid 2..7 Not supported 8…15 Reserved (always 0) 16…31 Not supported  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany 06/20/2023 TR-ECE-BA-DGB-0165 v03 Page 149 of 183...
Page 215: 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 2021, All Rights Reserved Printed in the Federal Republic of Germany...
Page 216: Parameterization
2751 TR-Production VisibleString 2752 TR-Production VisibleString 2753 TR-Production VisibleString 2754 TR-Production VisibleString 2755 TR-Production VisibleString 2756 TR-Production VisibleString …  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany 06/20/2023 TR-ECE-BA-DGB-0165 v03 Page 151 of 183...
Page 217 Is immediately active after a write command and is durably stored in the EEPROM after execute the object "1010, Store parameters". Is immediately active and durably stored in the EEPROM after a write command. segmented reading  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany Page 152 of 183 TR-ECE-BA-DGB-0165 v03...
Page 218: 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 2021, All Rights Reserved Printed in the Federal Republic of Germany 06/20/2023 TR-ECE-BA-DGB-0165 v03...
Page 219: 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 2021, All Rights Reserved Printed in the Federal Republic of Germany Page 154 of 183...
Page 220: 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 and apply to both scanning units.  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany 06/20/2023...
Page 221: Object 2003H - 2004H: Tr-Number Of Revolutions, Numerator / Denominator
Upper limit 16384 Default Number of revolutions: Number of revolutions numerator Number of revolutions = Number of revolutions denominator  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany Page 156 of 183 TR-ECE-BA-DGB-0165 v03 06/20/2023...
Page 222 (zero transition) if the distance travelled is exceeded. To simplify matters the complete revolution range of the respective scanning unit can also be programmed.  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany 06/20/2023...
Page 223 Number of revolutions denominator 4096 revolutions numerator = 1348.073499 steps / rev. * 1 revolution denominator = 5521709 steps (rounded off)  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany Page 158 of 183 TR-ECE-BA-DGB-0165 v03 06/20/2023...
Page 224: 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 2021, All Rights Reserved Printed in the Federal Republic of Germany 06/20/2023...
Page 225: Object 2007H: Speed Factor
Number of steps / t * 0.05 s = 32768 steps (Steps/integration time) * factor = 32768 steps / 50 ms  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany Page 160 of 183 TR-ECE-BA-DGB-0165 v03...
Page 226: Object 200Ah: Speed Value Int32
COB-ID for Boot-Up Message Byte 0 Byte 1 to 2 to 2 to 2 00h – FFh 0h – 7h  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany 06/20/2023 TR-ECE-BA-DGB-0165 v03 Page 161 of 183...
Page 227: Object 2101H: Send Pdo At Node-Start
Data type Object code VARIABLE Access PDO mapping Lower limit 0x01 = Node-ID 1 Upper limit 0x7F = Node-ID 127  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany Page 162 of 183 TR-ECE-BA-DGB-0165 v03 06/20/2023...
Page 228: Object 2111H: Lss Bittiming
Access PDO mapping Lower limit 0x8000 Upper limit 0x7FFF 9.2.14 TR-Production The objects "TR-Produktion" are reserved for manufacturer-specific functions.  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany 06/20/2023 TR-ECE-BA-DGB-0165 v03 Page 163 of 183...
Page 229: Tr-Mapping Dummy
Data type UNSIGNED32 Object code VARIABLE Access PDO mapping 0x0000 0000 Lower limit Upper limit 0xFFFF FFFF Default 0x0000 0000  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany Page 164 of 183 TR-ECE-BA-DGB-0165 v03 06/20/2023...
Page 230: Cia Ds-406 - Mode
2 of the group 2 or…  Ensure that every positioning in the de-energized state for a multi-turn measuring system is within 512 revolutions.  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany 06/20/2023 TR-ECE-BA-DGB-0165 v03...
Page 231: 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 2021, All Rights Reserved Printed in the Federal Republic of Germany Page 166 of 183...
Page 233: Object 6003H: Preset Value
PDO mapping Position value Byte 0 Byte 1 Byte 2 Byte 3 to 2 to 2 to 2 to 2  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany Page 168 of 183 TR-ECE-BA-DGB-0165 v03 06/20/2023...
Page 234: 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 2021, All Rights Reserved Printed in the Federal Republic of Germany 06/20/2023...
Page 235: Measuring System Diagnostics
Byte 2 Byte 3 to 2 to 2 to 2 to 2 Standard value: depending on capacity marked on nameplate  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany Page 170 of 183 TR-ECE-BA-DGB-0165 v03 06/20/2023...
Page 236: 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 2021, All Rights Reserved Printed in the Federal Republic of Germany 06/20/2023...
Page 237: Object 6503H: Alarms
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 2021, All Rights Reserved Printed in the Federal Republic of Germany Page 172 of 183...
Page 238: Object 6504H: Supported Alarms
Reserved for further use Reserved for further use EE-PROM error Manufacturer specific functions Manufacturer specific functions Manufacturer specific functions  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany 06/20/2023 TR-ECE-BA-DGB-0165 v03 Page 173 of 183...
Page 239: Object 6505H: Warnings
The limit values can be seen on the device specific data sheet. All warnings are cleared if the tolerances are again within normal parameters.  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany Page 174 of 183...
Page 240: Object 6506H: Supported Warnings
Reserved for further use Reserved for further use Temperature warning Manufacturer specific functions Manufacturer specific functions Manufacturer specific functions  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany 06/20/2023 TR-ECE-BA-DGB-0165 v03 Page 175 of 183...
Page 241: Object 6507H: Profile And Software Version
The value is given in 0.1 hours per digit. Index 0x6508 Description Operating time Data type UNSIGNED32 VARIABLE Object code Access PDO mapping  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany Page 176 of 183 TR-ECE-BA-DGB-0165 v03 06/20/2023...
Page 242: Object 6509H: Offset Value
For the identification of the second scanning unit of a measuring system the bit 0x8000 0000 is always additionally set at the serial number for ENC2.  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany...
Page 243: Emergency Message
If the error disappears, the relevant scanning unit transmits an emergency message with error code "0" (reset error / no error) and error register "0".  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany Page 178 of 183...
Page 244: Causes Of Faults And Remedies
OPERATIONAL in the PRE- OPERATIONAL or in the STOPPED-Mode, see page 147. In this case the emergency massage should be evaluated, see "Emergency Error codes" on page 181.  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany 06/20/2023...
Page 245: Sdo Error Codes
0x0800 0024 No data available access on object 1003h sub-index 1, see page 140. Table 10: SDO Error codes  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany Page 180 of 183 TR-ECE-BA-DGB-0165 v03 06/20/2023...
Page 246: Emergency Error Codes
EMCY-message with error code "0x000" is transferred. Meaning generic error communication error (overrun, error state)  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany 06/20/2023 TR-ECE-BA-DGB-0165 v03 Page 181 of 183...
Page 247: Object 1003H: Pre-Defined Error Field, Bits 0 - 15
Bit 12 = 1, Memory area internal measure, the measuring system must be replaced. EE-PROM error EE-PROM defective Table 12: Alarm messages  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany Page 182 of 183 TR-ECE-BA-DGB-0165 v03 06/20/2023...
Page 249 Elektro- und Elektronikgeräten (RoHS) 2011/65/EU (L 174/88) Restriction of the use of certain hazardous substances in electrical and electronic equipment (RoHS) in alleiniger Verantwortung von / under the sole responsibility of: TR-Electronic GmbH Eglishalde 6 D - 78647 Trossingen Tel.: 07425/228-0...
Page 250 Gültigkeitsliste / List of validity Baugröße / Size: 20 Order No.: 240-xxxxx Type: IH20 Baugröße / Size: 22 Order No.: CMV22x-xxxxx, CMV22x-xxxxx, 0000-xxxxx, 0002-xxxxx Type: CMV22, CMW22 Baugröße / Size: 24 Order No.: 209-xxxxx Type: IEV24, IES24 Baugröße / Size: 36 Order No.: Cxx36x-xxxxx, 0000-xxxxx Type: CEV36, CES36, COV36, COS36, CDV36, CDF36, CMV36, CMS36, CMF36...
Page 251 Baugröße / Size: 58 Order No.: Cxx58x-xxxxx, 0042-xxxxx, 0062-xxxxx, 0000-xxxxx, 0002-xxxxx Type: CEV58, CES58, CEH58, CEK58, CEW58, CDV58, CDS58, CDH58, CDK58, CDW58, CMV58, CMS58, CMH58, CMK58, CMW58, COV58, COS58, COH58, COK58, COW58, CPV58, CPS58, CPH58, CPK58, CPW58 Order No.: Cxx582x-xxxxx, 0062-xxxxx, 0000-xxxxx, 0002-xxxxx Type: CMV582, CMS582, CMK582, CMW582, CEV582, CES582, CEH582, CEK582, CEW582, COV582, COS582, COH582, COK582, COW582,...
Page 252 Baugröße / Size: 62 Order No.: IEV62-xxxxx Type: IEV62 Baugröße / Size: 65 Order No.: 110-xxxxx, 111-xxxxx, 113-xxxxx, 114-xxxxx, 121-xxxxx, 122-xxxxx, 0062-xxxxx, 0002-xxxxx, 0022-xxxxx Type: CE65, CK65, CS65 Order No.: Cxx65x-xxxxx, 0062-xxxxx, 0000-xxxxx, 0002-xxxxx Type: CEV65, CES65, CEH65, CEK65, CEW65, CDV65, CDS65, CDH65, CDK65, CDW65, CMV65, CMS65, CMH65, CMK65, CMW65, COV65, COS65, COH65, COK65, COW65, CXV65, CXS65, CXH65, CXK65, CXW65 Order No.: 6500-xxxxx, 6502-xxxxx, 6520-xxxxx, 6522-xxxxx, 6540-xxxxx, 6542-xxxxx,...
Page 253 Baugröße / Size: 80, 81 Order No.: CEH80x-xxxxx, COH80x-xxxxx Type: CEH80, COH80 Order No.: CES80x-xxxxx, COS80x-xxxxx Type: CES80, COS80 Order No.: CEH802x-xxxxx, COH802x-xxxxx Type: CEH802, COH802 Order No.: CES802x-xxxxx, COS802x-xxxxx Type: CES802, COS802 Order No.: IEH80-xxxxx Type: IEH80 Order No.: 260-xxxxx, 261-xxxxx Type: ZH80, ZH81 Order No.: Qxx8xx-xxxxx...
Page 254 Order No.: CEx100x-xxxxx Type: CEV100, CES100, CEH100 Order No.: 201-xxxxx, 202-xxxxx Type: HE100 Order No.: HEx100x-xxxxx Type: HEV100, HES100, HEH100 Order No.: 172-xxxxx, 173-xxxxx Type: ZE100, ZE115 Order No.: 235-xxxxx Type: IE100, IE101 Order No.: IEx100-xxxxx Type: IEV100, IES100, IEH100 Baugröße / Size: 110 Order No.: CEH110x-xxxxx, COH110x-xxxxx Type:...
Page 255 The Restriction of the Use of Certain Hazardous Substances in S.I. 2012 No. 3032 Electrical and Electronic Equipment Regulations 2012 under the sole responsibility of the manufacturer: Name and address of authorised representative: TR-Electronic GmbH TR-Electronic Ltd. Eglishalde 6 4 William House D - 78647 Trossingen Old St.
Page 256 List of validity Size: 20 Order No.: 240-xxxxx Type: IH20 Size: 22 Order No.: CMV22x-xxxxx, CMV22x-xxxxx, 0000-xxxxx, 0002-xxxxx Type: CMV22, CMW22 Size: 24 Order No.: 209-xxxxx Type: IEV24, IES24 Size: 36 Order No.: Cxx36x-xxxxx, 0000-xxxxx Type: CEV36, CES36, COV36, COS36, CDV36, CDF36, CMV36, CMS36, CMF36 Order No.: Ixx36x-xxxxx Type: IMV36, IMS36, IMF36...
Page 257 Size: 58 Order No.: Cxx58x-xxxxx, 0042-xxxxx, 0062-xxxxx, 0000-xxxxx, 0002-xxxxx Type: CEV58, CES58, CEH58, CEK58, CEW58, CDV58, CDS58, CDH58, CDK58, CDW58, CMV58, CMS58, CMH58, CMK58, CMW58, COV58, COS58, COH58, COK58, COW58, CPV58, CPS58, CPH58, CPK58, CPW58 Order No.: Cxx582x-xxxxx, 0062-xxxxx, 0000-xxxxx, 0002-xxxxx Type: CMV582, CMS582, CMK582, CMW582, CEV582, CES582, CEH582, CEK582, CEW582, COV582, COS582, COH582, COK582, COW582,...
Page 258 Size: 62 Order No.: IEV62-xxxxx Type: IEV62 Size: 65 Order No.: 110-xxxxx, 111-xxxxx, 113-xxxxx, 114-xxxxx, 121-xxxxx, 122-xxxxx 0062-xxxxx, 0002-xxxxx, 0022-xxxxx Type: CE65, CK65, CS65 Order No.: Cxx65x-xxxxx, 0062-xxxxx, 0000-xxxxx, 0002-xxxxx Type: CEV65, CES65, CEH65, CEK65, CEW65, CDV65, CDS65, CDH65, CDK65, CDW65, CMV65, CMS65, CMH65, CMK65, CMW65, COV65, COS65, COH65, COK65, COW65, CXV65, CXS65, CXH65, CXK65, CXW65 Order No.: 6500-xxxxx, 6502-xxxxx, 6520-xxxxx, 6522-xxxxx, 6540-xxxxx, 6542-xxxxx,...
Page 259 Size: 80, 81 Order No.: CEH80x-xxxxx, COH80x-xxxxx Type: CEH80, COH80 Order No.: CES80x-xxxxx, COS80x-xxxxx Type: CES80, COS80 Order No.: CEH802x-xxxxx, COH802x-xxxxx Type: CEH802, COH802 Order No.: CES802x-xxxxx, COS802x-xxxxx Type: CES802, COS802 Order No.: IEH80-xxxxx Type: IEH80 Order No.: 260-xxxxx, 261-xxxxx Type: ZH80, ZH81 Order No.: Qxx8xx-xxxxx...
Page 260 Order No.: CEx100x-xxxxx Type: CEV100, CES100, CEH100 Order No.: 201-xxxxx, 202-xxxxx Type: HE100 Order No.: HEx100x-xxxxx Type: HEV100, HES100, HEH100 Order No.: 172-xxxxx, 173-xxxxx Type: ZE100, ZE115 Order No.: 235-xxxxx Type: IE100, IE101 Order No.: IEx100-xxxxx Type: IEV100, IES100, IEH100 Size: 110 Order No.: CEH110x-xxxxx, COH110x-xxxxx Type:...
Page 261 4.096,000 VERSORGUNGSSPG_ENC1 10-30V SCHNITTSTELLE_ENC1 CAN/OPEN SCHRITTZAHL_ENC2 8.192,000 UMDREHUNGEN_ENC2 4.096,000 VERSORGUNGSSPG_ENC2 10-30V SCHNITTSTELLE_ENC2 CAN/OPEN FLANSCHART ZB36 3xM3+3xM4 WELLENVARIANTE VOLLWELLE WELLENAUSFUEHRUNG D10 L19,5 GLATT NUT Änderungen vorbehalten. TR-Electronic GmbH Eglishalde 6 78647 Trossingen Tel. +49 (0) 7425 228-0 Seite 1/4 info@tr-electronic.de www.tr-electronic.de...
Page 262 - Geräte-Profil für Encoder CiA DS406 - Layer Setting Services, LSS CiA DS305 - Ausstattung Redundante Ausführung Parameter/Funktionen, änderbar Auflösung Betriebsbereich Download, EDS-Datei Endschalter Änderungen vorbehalten. TR-Electronic GmbH Eglishalde 6 78647 Trossingen Tel. +49 (0) 7425 228-0 Seite 2/4 info@tr-electronic.de www.tr-electronic.de...
Page 263 DIN EN 60068-2-27 - Kennwert <= 1000 m/s² - Halbsinus 11 ms Störfestigkeit DIN EN 61000-6-2 Störaussendung DIN EN 61000-6-3 Arbeitstemperatur - Standard -20…+75 °C Änderungen vorbehalten. TR-Electronic GmbH Eglishalde 6 78647 Trossingen Tel. +49 (0) 7425 228-0 Seite 3/4 info@tr-electronic.de www.tr-electronic.de...
Page 264 98 %, keine Betauung Schutzart - Standard IP65 Beständigkeit - gegen Salz (Seewasser) DIN EN IEC 60068-2-52 - Prüfverfahren Prüfverfahren 1 - ausgenommen sind Anbauteile Änderungen vorbehalten. TR-Electronic GmbH Eglishalde 6 78647 Trossingen Tel. +49 (0) 7425 228-0 Seite 4/4 info@tr-electronic.de www.tr-electronic.de...
Page 265 Maße in mm Maßstab 1 : 1 DIN A3 [Tolerancing] [all dimensions in mm] [Scale] Artikel-Nr. und Steckerbelegung: siehe Datenblatt E-Mail: info@tr-electronic.de CAD: STEP Support: http://tr-e.info/01 [Article-No. and pin assignment: see data sheet] Bezeichnung Datum Name [Designation] CRV-582-M, 36er Zentr.
Page 266 Steckerbelegung / Pin assignment CR_-582 CANopen Allgemeine Hinweise: Für den Betrieb sind nur paarweise verdrillte und geschirmte Bus- bzw. Anschlusskabel zu verwenden. Der Schirm ist jeweils auf die Kabelverschraubung des Gegensteckers aufzulegen. General note: operation shielded twisted-pair bus- or connection-cables must be used. shield connected cable screw gland of the mating connector.
Page 267 Steckerbelegung / Pin assignment Adressierung und Baudrate / Addressing and Baud rate Wert / NodeID NodeID Baudrate, Beschreibung / Description Value ENC1 ENC2 LSS-Einstellungen aktiv / LSS settings active 0x00 0x01 0x02 50 kBaud … … … … … 0x3F Nicht zulässig, wartet auf korrekte Einstellung / 0x40 Not permitted, waiting for correct setting...

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