Page 1 Montageanleitung de/en Baureihe 58 Montageanleitung TR-ECE-BA-DGB-0035-14.pdf Betriebsanleitung de/en CM_-58 CANopen Schnittstelle TR-ECE-BA-DGB-0066-11.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 - 66 Page 67 - 132 Absolute Encoder CM_-58 Explosion Protection Enclosure Explosionsschutzgehäuse / _A**70* CMS-58 CMV-58 _Zusätzliche Sicherheitshinweise _Installation _Inbetriebnahme _Parametrierung _Fehlerursachen und Abhilfen _Additional safety instructions _Installation _Commissioning _Parameterization _Cause of faults and remedies Benutzerhandbuch User Manual 437711 V2.53 / 437787 / 437763...
Page 67 CANopen und CiA sind eingetragene Gemeinschaftsmarken der CAN in Automation e.V.  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 2 of 132 TR - ECE - BA - DGB - 0066 - 11...
Page 68 3.7.5.2 Inquire identity Product-Code Protokoll ..................30 3.7.5.3 Inquire identity Revision-Number Protokoll ................31 3.7.5.4 Inquire identity Serial-Number Protokoll ..................31  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 06/27/2017 TR - ECE - BA - DGB - 0066 - 11...
Page 69: Table Of Contents
7.12 Objekt 1010h: Parameter abspeichern ................. 49 7.13 Objekt 1014h: COB-ID EMCY ....................50 7.14 Objekt 1018h: Identity Objekt ....................50  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 4 of 132 TR - ECE - BA - DGB - 0066 - 11...
Page 70 11.3.2 Objekt 1003h: Vordefiniertes Fehlerfeld, Bits 0 – 15 ..........66 11.4 Alarm-Meldungen ......................... 66 11.5 Sonstige Störungen ......................66  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 06/27/2017 TR - ECE - BA - DGB - 0066 - 11...
Page 71 Technische Daten entfernt 22.06.17 Schaltereinstellungen für die Baudrate entfernt 27.06.17  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 6 of 132 TR - ECE - BA - DGB - 0066 - 11 06/27/2017...
Page 72 Kapitel „Mitgeltende Dokumente“ in der Montageanleitung www.tr-electronic.de/f/TR-ECE-BA-DGB-0035 • optional: -Benutzerhandbuch mit Montageanleitung  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 06/27/2017 TR - ECE - BA - DGB - 0066 - 11 Page 7 of 132...
Page 73 Januar 2006 CiA DS-406 V2.0, CANopen Profil für Encoder, Mai 1998  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 8 of 132 TR - ECE - BA - DGB - 0066 - 11...
Page 74 Geräten. Service Data Object. Punkt zu Punkt Kommunikation mit Zugriff auf die Objekt-Datenliste eines Gerätes.  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 06/27/2017 TR - ECE - BA - DGB - 0066 - 11...
Page 75 Beachten der Montageanleitung, insbesondere das dort enthaltene Kapitel "Grundlegende Sicherheitshinweise" muss vor Arbeitsbeginn gelesen und verstanden worden sein  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 10 of 132 TR - ECE - BA - DGB - 0066 - 11...
Page 76 Der gefahrlose Einsatz erfordert zusätzliche Maßnahmen bzw. Anforderungen. Diese sind vor der Erstinbetriebnahme zu erfassen und müssen entsprechend umgesetzt werden.  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 06/27/2017 TR - ECE - BA - DGB - 0066 - 11...
Page 77 Geräteprofile entwickelt, in der mit der Struktur des Objektverzeichnisses und den allgemeinen Kodierungsregeln der gemeinsame Nenner aller Geräteprofile definiert ist.  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 12 of 132 TR - ECE - BA - DGB - 0066 - 11...
Page 78 Network Management Object (NMO) z.B. Life / Node-Guarding Boot-Up,… Error Control Protokoll  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 06/27/2017 TR - ECE - BA - DGB - 0066 - 11 Page 13 of 132...
Page 79 Bestätigung  bestätigende Dienste Abbildung 3: Gegenüberstellung von PDO/SDO-Eigenschaften  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 14 of 132 TR - ECE - BA - DGB - 0066 - 11 06/27/2017...
Page 80 SYNC 0001bin 1005 PDO1 (tx) 0011bin 181h – 1FFh 1800h  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 06/27/2017 TR - ECE - BA - DGB - 0066 - 11 Page 15 of 132...
Page 81 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 64 zu entnehmen.  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 16 of 132...
Page 82 Kein weiteres Datensegment vorhanden. 0x01 SDO Response Die Bytes 1 bis 7 beinhalten die angeforderten Daten.  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 06/27/2017 TR - ECE - BA - DGB - 0066 - 11...
Page 83 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 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 18 of 132...
Page 84 High Byte Ist Byte 0 = 80h, wird die Übertragung abgebrochen.  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 06/27/2017 TR - ECE - BA - DGB - 0066 - 11 Page 19 of 132...
Page 85 (9),(10),(11) Reset_Node --> Reset Knoten (12),(13),(14) Reset_Communication --> Reset Kommunikation  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 20 of 132 TR - ECE - BA - DGB - 0066 - 11 06/27/2017...
Page 86 Danach Übergang in den Zustand INITIALIZATION, (14) erster Zustand nach dem Einschalten. Tabelle 4: NMT-Dienste zur Gerätekontrolle  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 06/27/2017 TR - ECE - BA - DGB - 0066 - 11...
Page 87 Ist die Life Time = 0, ist das Life Guarding abgeschaltet. Tabelle 5: Parameter für NMT-Dienste  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 22 of 132 TR - ECE - BA - DGB - 0066 - 11...
Page 88 ● LSS identify non-configured slave  Rückmeldung der LSS-Slaves auf das vorherige Kommando  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 06/27/2017 TR - ECE - BA - DGB - 0066 - 11 Page 23 of 132...
Page 89 LSS identify slave LSS identify non-configured remote slave LSS identify non-configured slave  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 24 of 132 TR - ECE - BA - DGB - 0066 - 11...
Page 90 Byte 7 Tabelle 7: LSS-Nachricht Byte 0 enthält die Command-Specifier (CS), danach folgen 7 Byte für die Daten.  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 06/27/2017 TR - ECE - BA - DGB - 0066 - 11...
Page 91 COB-ID 0x7E5 LSS-Slave --> LSS-Master COB-ID Reserved by CiA 0x7E4  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 26 of 132 TR - ECE - BA - DGB - 0066 - 11 06/27/2017...
Page 92 Specific Error Wenn Error Code = 255 --> applikationsspezifischer Fehler aufgetreten, sonst reserviert durch die CiA  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 06/27/2017 TR - ECE - BA - DGB - 0066 - 11...
Page 93 Specific Error Wenn Error Code = 255 --> applikationsspezifischer Fehler aufgetreten, sonst reserviert durch die CiA  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 28 of 132 TR - ECE - BA - DGB - 0066 - 11...
Page 94 Specific Error Wenn Error Code = 255 --> applikationsspezifischer Fehler aufgetreten, sonst reserviert durch die CiA  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 06/27/2017 TR - ECE - BA - DGB - 0066 - 11...
Page 95 LSS-Slave --> LSS-Master Product-Code (≙Index 1018h:02) COB-ID Reserved by CiA 0x7E4  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 30 of 132 TR - ECE - BA - DGB - 0066 - 11 06/27/2017...
Page 96 LSS-Slave --> LSS-Master Serial-No. (≙Index 1018h:04) COB-ID Reserved by CiA 0x7E5  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 06/27/2017 TR - ECE - BA - DGB - 0066 - 11 Page 31 of 132...
Page 97: Inquire Node-Id Protokoll
Node-ID ursprüngliche Node-ID zurückgemeldet. Erst nach Ausführung des NMT-Dienstes Reset Communication (0x82) wird die aktuelle Node-ID zurückgemeldet.  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 32 of 132 TR - ECE - BA - DGB - 0066 - 11...
Page 98: Identification Protokolle
LSS-Adress-Attributen entsprechen, antworten mit diesem Protokoll. LSS-Slave --> LSS-Master COB-ID Reserved by CiA 0x7E4  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 06/27/2017 TR - ECE - BA - DGB - 0066 - 11 Page 33 of 132...
Page 99: Lss Identify Non-Configured Remote Slave Protokoll
Protokoll. LSS-Slave --> LSS-Master COB-ID Reserved by CiA 0x7E4  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 34 of 132 TR - ECE - BA - DGB - 0066 - 11 06/27/2017...
Page 100: Geräteprofil
DE-91058 Erlangen Tel. +49-9131-69086-0 Fax +49-9131-69086-79 Website: www.can-cia.org e-mail: headquarters@can-cia.org  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 06/27/2017 TR - ECE - BA - DGB - 0066 - 11 Page 35 of 132...
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 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 36 of 132...
Page 102: Anschluss
Teilnehmers verwendet werden. Für die Versorgung sind paarweise verdrillte und geschirmte Kabel zu verwenden !  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 06/27/2017 TR - ECE - BA - DGB - 0066 - 11...
Page 103: Dip-Schalter - Einstellungen
20 kbit/s / 125 kbit/s 125 kbit/s / 250 kbit/s 500 kbit/s 1000 kbit/s  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 38 of 132 TR - ECE - BA - DGB - 0066 - 11...
Page 104: Einschalten Der Versorgungsspannung
(LED 1 = ON). Mit der Programmierung der Node-ID = 255 (FFh) werden die DIP-Schalter wieder aktiv geschaltet. Abbildung 7: Zustandsmeldung, DIP-Schalter inaktiv  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 06/27/2017 TR - ECE - BA - DGB - 0066 - 11...
Page 105: Konfiguration Der Node-Id, Ablauf
 LSS-Slave mit dem Dienst 04 Switch state global protocol, Mode = 0 in den Zustand Waiting state bringen.  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 40 of 132 TR - ECE - BA - DGB - 0066 - 11...
Page 106: Inbetriebnahme
Mess-System ordnungsgemäß konfigurieren bzw. in Betrieb nehmen zu können. Die EDS-Datei hat den Dateinamen "CMx58M_CANopen.eds". Download: • www.tr-electronic.de/f/TR-ECE-ID-MUL-0028  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 06/27/2017 TR - ECE - BA - DGB - 0066 - 11 Page 41 of 132...
Page 107: Bus-Statusanzeige
Zuordnung zu einem Master Entsprechende Maßnahmen im Fehlerfall siehe Kapitel „Optische Anzeigen“, Seite 63.  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 42 of 132 TR - ECE - BA - DGB - 0066 - 11...
Page 108: Kommunikations-Profil
280 + Node-ID Übertragungsart Sperrzeit 1A01h Anz. abgebildeter Objekte Positionswert 60040020h  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 06/27/2017 TR - ECE - BA - DGB - 0066 - 11 Page 43 of 132...
Page 109: Kommunikationsspezifische Standard-Objekte (Cia Ds-301)
RECORD Identity Objekt Identity (23h) Tabelle 8: Kommunikationsspezifische Standard-Objekte segmentiertes Lesen  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 44 of 132 TR - ECE - BA - DGB - 0066 - 11...
Page 110: 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 2007, All Rights Reserved Printed in the Federal Republic of Germany 06/27/2017 TR - ECE - BA - DGB - 0066 - 11 Page 45 of 132...
Page 111: Objekt 1002H: Hersteller-Status-Register
Byte 1 Byte 2 Byte 3 Fehlercode Zusatz-Fehlerinformation, wird nicht unterstützt  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 46 of 132 TR - ECE - BA - DGB - 0066 - 11 06/27/2017...
Page 112: Objekt 1005H: Cob-Id Sync Nachricht
7.8 Objekt 100Ah: Hersteller Softwareversion Enthält die Hersteller Softwareversion (visible string), Übertragung per „Segment Protokoll“.  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 06/27/2017 TR - ECE - BA - DGB - 0066 - 11...
Page 113: Objekt 100Ch: Guard-Time (Überwachungszeit)
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 11 Bit Identifier Bit 10 - 0 = 11 Bit Identifier, Wert = 700h + Node-ID  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 48 of 132...
Page 114: Objekt 1010H: Parameter Abspeichern
Speicherung fehl, antwortet das Gerät mit entsprechender Abbruch-Meldung. Wurde eine falsche Signatur geschrieben, verweigert das Gerät die Speicherung und antwortet mit Abbruch der Übertragung, Fehlerklasse 8, Fehlerkennung 0.  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 06/27/2017...
Page 115: Objekt 1014H: Cob-Id Emcy
0x00010001, bzw. aktuelle Revisions-Nr. Subindex4: Bei Lesezugriff liefert das Gerät Informationen über die Serien-Nr.: aktuelle Serien-Nr.  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 50 of 132 TR - ECE - BA - DGB - 0066 - 11...
Page 116: Parametrierung
Aufruf wirksam und wird im EEPROM dauerhaft abgespeichert wird erst wirksam und dauerhaft im EEPROM abgespeichert nach Aufruf von "Objekt 1010h: Parameter abspeichern"  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany...
Page 117: Objekt 6000H - Betriebsparameter
Obergrenze 2048 Schritte pro Umdrehung (Max.-Wert siehe Typenschild) Default 2048  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 52 of 132 TR - ECE - BA - DGB - 0066 - 11 06/27/2017...
Page 118: Objekt 6002H - Gesamtmesslänge In Schritten
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 2007, All Rights Reserved Printed in the Federal Republic of Germany 06/27/2017...
Page 119: Objekt 6003H - Presetwert
Wenn das Mess-System mit dem Kommando NODE-START gestartet wird und der Wert des Cyclic-Timers > 0 ist, überträgt das erste Sende-Prozessdaten-Objekt (Objekt 1800h) die Mess-System-Position.  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 54 of 132...
Page 120: Mess-System Diagnose
2 Standardwert: 2048 = 800h Schritte pro Umdrehung (abhängig von der Kapazität, siehe Typenschild).  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 06/27/2017 TR - ECE - BA - DGB - 0066 - 11...
Page 121: Objekt 6502H - Anzahl Der Umdrehungen
EE-PROM-Fehler Fehler Reserviert für weitere Verwendung herstellerspezifische Funktionen herstellerspezifische Funktionen  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 56 of 132 TR - ECE - BA - DGB - 0066 - 11 06/27/2017...
Page 122: Objekt 6504H - Unterstützte Alarme
EE-PROM-Fehler Nein Reserviert für weitere Verwendung herstellerspezifische Funktionen herstellerspezifische Funktionen  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 06/27/2017 TR - ECE - BA - DGB - 0066 - 11 Page 57 of 132...
Page 123: Objekt 6505H - Warnungen
8.1.6.10 Objekt 6509h - Offsetwert Dieses Objekt enthält den Offsetwert, der durch die Preset-Funktion berechnet wird. Der Offsetwert wird gespeichert und kann vom Mess-System gelesen werden.  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 58 of 132...
Page 124: Objekt 650Ah - Hersteller-Offsetwert
8.1.6.12 Objekt 650Bh - Serien-Nummer Dieses Objekt enthält die aktuelle Serien-Nr. des Gerätes und entspricht dem Identity- Objekt 1018h, Subindex 4.  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 06/27/2017 TR - ECE - BA - DGB - 0066 - 11...
Page 125: 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 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 60 of 132...
Page 126: Übertragung Des Mess-System-Positionswertes
1800h Um die Übertragung der Mess-System-Position kurzzeitig zu stoppen, kann die Ausgabe durch Timerwert = 0 im Objekt 6200h unterbrochen werden.  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 06/27/2017 TR - ECE - BA - DGB - 0066 - 11...
Page 127 COB-ID übertragen den Positionswert. Objekt Funktions-Code COB-ID Index Kommunikations-Parameter SYNC 0001bin 1005  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 62 of 132 TR - ECE - BA - DGB - 0066 - 11 06/27/2017...
Page 128: Fehlerursachen Und Abhilfen
- doppelte NODE-ID im Netzwerk vorhanden ist Netzwerk Mess-System betriebsbereit  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 06/27/2017 TR - ECE - BA - DGB - 0066 - 11 Page 63 of 132...
Page 129: Sdo-Fehlercodes
Objekt 1010h: Parameter abspeichern, Seite 49. Tabelle 10: SDO-Fehlercodes  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 64 of 132 TR - ECE - BA - DGB - 0066 - 11 06/27/2017...
Page 130: Emergency-Fehlercodes
Fehlers wird das Fehlerregister zurückgesetzt und eine EMCY-Nachricht mit Fehlercode „0x000“ übertragen. Bedeutung generischer Fehler Kommunikationsfehler (Überlauf, Fehlerstatus)  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 06/27/2017 TR - ECE - BA - DGB - 0066 - 11 Page 65 of 132...
Page 131: Objekt 1003H: Vordefiniertes Fehlerfeld, Bits 0 - 15
Welle oder einen auftritt, muss das Mess-System getauscht werden. Defekt der Abtastung.  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 66 of 132 TR - ECE - BA - DGB - 0066 - 11...
Page 133 CANopen and CiA are registered community trademarks of CAN in Automation e.V.  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 68 of 132 TR - ECE - BA - DGB - 0066 - 11...
Page 134: Contents
3.7.5.2 Inquire identity Product-Code protocol ..................96 3.7.5.3 Inquire identity Revision-Number protocol ................97 3.7.5.4 Inquire identity Serial-Number protocol ..................97  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 06/27/2017 TR - ECE - BA - DGB - 0066 - 11...
Page 135 7.12 Object 1010h: Store parameters................... 115 7.13 Object 1014h: COB-ID EMCY ....................116 7.14 Object 1018h: Identity Object ....................116  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 70 of 132 TR - ECE - BA - DGB - 0066 - 11...
Page 136 11.3.2 Object 1003h: Pre-defined Error field, bits 0 – 15 ..........132 11.4 Alarm messages ........................132 11.5 Other faults ........................... 132  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 06/27/2017 TR - ECE - BA - DGB - 0066 - 11...
Page 137: Revision Index
Technical data removed 06/22/17 Switch adjustments for the baud rate removed 06/27/17  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 72 of 132 TR - ECE - BA - DGB - 0066 - 11...
Page 138: General Information
“Other applicable documents” in the Assembly Instructions www.tr-electronic.de/f/TR-ECE-BA-DGB-0035 • optional: -User Manual with assembly instructions  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 06/27/2017 TR - ECE - BA - DGB - 0066 - 11 Page 73 of 132...
Page 139: References
January 2006 CiA DS-406 V2.0, CANopen Profile for Encoder, May 1998  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 74 of 132 TR - ECE - BA - DGB - 0066 - 11...
Page 140: Abbreviations And Definitions
Service Data Object. Peer to peer communication with access to the Object Dictionary of a device.  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 06/27/2017 TR - ECE - BA - DGB - 0066 - 11...
Page 141: Additional Safety Instructions
• observing the assembly instructions. The "Basic safety instructions" in particular must be read and understood prior to commencing work.  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 76 of 132 TR - ECE - BA - DGB - 0066 - 11...
Page 142: Organizational Measures
Fail-safe usage requires additional measures and requirements. Such measures and requirements must be determined prior to initial commissioning and must be taken and met accordingly.  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 06/27/2017...
Page 144: Canopen - Communication Profile
Network Management Object (NMO) e.g. Life / Node-Guarding Boot-Up,… Error Control Protocol  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 06/27/2017 TR - ECE - BA - DGB - 0066 - 11 Page 79 of 132...
Page 145: Process- And Service-Data-Objects
 no Acknowledgement Figure 3: Comparison of PDO/SDO characteristics  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 80 of 132 TR - ECE - BA - DGB - 0066 - 11...
Page 146: Object Dictionary
SYNC 0001bin 1005 PDO1 (tx) 0011bin 181h – 1FFh 1800h  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 06/27/2017 TR - ECE - BA - DGB - 0066 - 11 Page 81 of 132...
Page 147: 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 Table 10 on page 130.  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 82 of 132...
Page 148 No further data segment available. 0x01 SDO Response The bytes 1 to 7 contain the requested data.  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 06/27/2017 TR - ECE - BA - DGB - 0066 - 11...
Page 149: 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 2007, All Rights Reserved Printed in the Federal Republic of Germany...
Page 150: Write Sdo
Index High Byte If byte 0 = 80h the transfer has been aborted.  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 06/27/2017 TR - ECE - BA - DGB - 0066 - 11 Page 85 of 132...
Page 151: Network Management, Nmt
(4),(7) Enter_PRE-OPERATIONAL_State --> Pre-Operational (5),(8) Stop_Remote_Node (9),(10),(11) Reset_Node (12),(13),(14) Reset_Communication  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 86 of 132 TR - ECE - BA - DGB - 0066 - 11 06/27/2017...
Page 152: Network Management Services
Afterwards transition into the INITIALIZATION state, first state (14) after Power on. Table 4: NMT device control services  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 06/27/2017 TR - ECE - BA - DGB - 0066 - 11...
Page 153: 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 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 88 of 132 TR - ECE - BA - DGB - 0066 - 11...
Page 154: Layer Setting Services (Lss) And Protocols
● LSS identify non-configured remote slave ● LSS identify non-configured slave  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 06/27/2017 TR - ECE - BA - DGB - 0066 - 11 Page 89 of 132...
Page 155: Finite State Automaton, Fsa
LSS identify slave LSS identify non-configured remote slave LSS identify non-configured slave  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 90 of 132 TR - ECE - BA - DGB - 0066 - 11...
Page 156: Transmission Of Lss Services
Byte 7 Table 7: LSS message Byte 0 contains the Command-Specifier (CS), afterwards 7 byte data are following.  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 06/27/2017 TR - ECE - BA - DGB - 0066 - 11...
Page 157: Switch Mode Protocols
COB-ID 0x7E5 LSS-Slave --> LSS-Master COB-ID Reserved by CiA 0x7E4  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 92 of 132 TR - ECE - BA - DGB - 0066 - 11 06/27/2017...
Page 158: Configuration Protocols
Specific Error if Error Code = 255 --> application specific error occurred, otherwise reserved by CiA  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 06/27/2017 TR - ECE - BA - DGB - 0066 - 11...
Page 159: Configure Bit Timing Parameters Protocol
Specific Error if Error Code = 255 --> application specific error occurred, otherwise reserved by CiA  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 94 of 132 TR - ECE - BA - DGB - 0066 - 11...
Page 160: Activate Bit Timing Parameters Protocol
Specific Error if Error Code = 255 --> application specific error occurred, otherwise reserved by CiA  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 06/27/2017 TR - ECE - BA - DGB - 0066 - 11...
Page 161: Inquire Lss Address Protocols
LSS-Slave --> LSS-Master Product-Code (≙Index 1018h:02) COB-ID Reserved by CiA 0x7E4  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 96 of 132 TR - ECE - BA - DGB - 0066 - 11 06/27/2017...
Page 162: Inquire Identity Revision-Number Protocol
LSS-Slave --> LSS-Master Serial-No. (≙Index 1018h:04) COB-ID Reserved by CiA 0x7E5  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 06/27/2017 TR - ECE - BA - DGB - 0066 - 11 Page 97 of 132...
Page 163: 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 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 98 of 132...
Page 164: Identification Protocols
LSS-Slave --> LSS-Master COB-ID Reserved by CiA 0x7E4  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 06/27/2017 TR - ECE - BA - DGB - 0066 - 11 Page 99 of 132...
Page 165: Lss Identify Non-Configured Remote Slave Protocol
LSS-Slave --> LSS-Master COB-ID Reserved by CiA 0x7E4  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 100 of 132 TR - ECE - BA - DGB - 0066 - 11 06/27/2017...
Page 166: Device Profile
DE-91058 Erlangen Tel. +49-9131-69086-0 Fax +49-9131-69086-79 Website: www.can-cia.org e-mail: headquarters@can-cia.org  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 06/27/2017 TR - ECE - BA - DGB - 0066 - 11 Page 101 of 132...
Page 167: Installation / Preparation For Start-Up
In particular, the applicable EMC directive and the shielding and grounding guidelines must be observed!  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 102 of 132 TR - ECE - BA - DGB - 0066 - 11...
Page 169: Dip-Switch - Settings
20 kbit/s / 125 kbit/s 125 kbit/s / 250 kbit/s 500 kbit/s 1000 kbit/s  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 104 of 132 TR - ECE - BA - DGB - 0066 - 11...
Page 170: Switching On The Supply Voltage
(LED 1 = ON). If the Node-ID = 255 (FFh) is programmed the DIP-switches will be switched into the enabled state. Figure 7: State report, DIP-switches disabled  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 06/27/2017...
Page 171: Configuration Of The Node-Id, Sequence
 Perform service 04 Switch state global protocol, Mode = 0, to switch the LSS slave into Waiting state.  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 106 of 132 TR - ECE - BA - DGB - 0066 - 11...
Page 172: Commissioning
The EDS file has the file name "CMx58M_CANopen.eds". Download: • www.tr-electronic.de/f/TR-ECE-ID-MUL-0028  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 06/27/2017 TR - ECE - BA - DGB - 0066 - 11 Page 107 of 132...
Page 173: Bus Status
No allocation to a master Corresponding measures in case of an error see chapter “Optical displays”, page 129.  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 108 of 132 TR - ECE - BA - DGB - 0066 - 11...
Page 174: The Communication Profile
1A01h number of mapped objects Position value 60040020h  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 06/27/2017 TR - ECE - BA - DGB - 0066 - 11 Page 109 of 132...
Page 175: Communication Specific Standard Objects (Cia Ds-301)
RECORD Identity Object Identity (23h) Table 8: Communication specific standard objects segmented reading  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 110 of 132 TR - ECE - BA - DGB - 0066 - 11...
Page 176: Object 1000H: Device Type
EMCY message. Unsigned8 Meaning generic error communication error (overrun, error state)  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 06/27/2017 TR - ECE - BA - DGB - 0066 - 11 Page 111 of 132...
Page 177: Object 1002H: Manufacturer Status Register
Byte 2 Byte 3 Error code Additional Information, not supported  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 112 of 132 TR - ECE - BA - DGB - 0066 - 11 06/27/2017...
Page 178: Object 1005H: Cob-Id Sync Message
7.8 Object 100Ah: Software version Contains the manufacturer software version (visible string), transmission via “Segment Protocol”.  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 06/27/2017 TR - ECE - BA - DGB - 0066 - 11...
Page 179: Object 100Ch: Guard Time
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 11 bit Identifier Bit 10 - 0 = 11 bit identifier, value = 700h + Node-ID  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 114 of 132...
Page 180: Object 1010H: Store Parameters
If a wrong signature is written, the device refuses to store and responds with abort domain transfer, error class 8, error code 0.  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 06/27/2017...
Page 181: Object 1014H: Cob-Id Emcy
0x00010001, or current Revision-No. Sub-index4: Provides information about the Serial-No.: current Serial-No.  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 116 of 132 TR - ECE - BA - DGB - 0066 - 11...
Page 182: Parameterization
EEPROM durably is only actively and stored durably, if the object "1010, Store parameters" is executed  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany...
Page 183: Object 6000H - Operating Parameters
2048 steps per revolution (max. value see nameplate) default 2048  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 118 of 132 TR - ECE - BA - DGB - 0066 - 11...
Page 184: Object 6002H - Total Measuring Range In Measuring Units
It may therefore occur that the total number of steps actually required is not achieved and the measuring system generates a zero transition before it reaches the maximum mechanical distance.  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 06/27/2017...
Page 185: Object 6003H - Preset Value
When the measuring system is started with the NODE START Command and the value of the cyclic timer is > 0, the 1st transmit PDO (object 1800h) transmit the measuring system position.  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 120 of 132...
Page 186: Measuring System Diagnostics
Standard value: 2048 = 800h steps per revolution (depending on capacity- marked on nameplate).  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 06/27/2017 TR - ECE - BA - DGB - 0066 - 11...
Page 187: Object 6502H - Number Of Distinguishable Revolutions
Error Reserved for further use Manufacturer specific functions Manufacturer specific functions  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 122 of 132 TR - ECE - BA - DGB - 0066 - 11...
Page 188: Object 6504H - Supported Alarms
EE-PROM Error Reserved for further use Manufacturer specific functions Manufacturer specific functions  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 06/27/2017 TR - ECE - BA - DGB - 0066 - 11 Page 123 of 132...
Page 189: Object 6505H - Warnings
This object contains the offset value calculated by the preset function. The offset value is stored and can be read from the measuring system.  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 124 of 132...
Page 190: Object 650Ah - Manufacturer Offset Value
8.1.6.12 Object 650Bh - Serial number This object contains the current Serial-No. of the device and corresponds to the Identity-Object 1018h, Sub-index 4.  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 06/27/2017 TR - ECE - BA - DGB - 0066 - 11...
Page 191: 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 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 126 of 132...
Page 192: Transmission Of The Measuring System Position Value
In order to stop the transmission of the measuring system position temporarily, the output can be interrupted by timer value = 0, in object 6200h.  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 06/27/2017...
Page 193 Object Function Code COB-ID Index Communication Parameter SYNC 0001bin 1005  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 128 of 132 TR - ECE - BA - DGB - 0066 - 11 06/27/2017...
Page 194: Causes Of Faults And Remedies
Measuring system ready for operation  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 06/27/2017 TR - ECE - BA - DGB - 0066 - 11 Page 129 of 132...
Page 195: Sdo Error Codes
Object 1010h: Store parameters, measuring system. page 115. Table 10: SDO Error codes  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 130 of 132 TR - ECE - BA - DGB - 0066 - 11...
Page 196: Emergency Error Codes
"0x000" is transferred. Meaning generic error communication error (overrun, error state)  TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 06/27/2017 TR - ECE - BA - DGB - 0066 - 11 Page 131 of 132...
Page 197: Object 1003H: Pre-Defined Error Field, Bits 0 - 15
 TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 132 of 132 TR - ECE - BA - DGB - 0066 - 11...
Page 198 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 199 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 200 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 201 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 202 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 203 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 204 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 205 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 206 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 207 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 208 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 209 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 210 FLANSCHART ZB36 WELLENAUSFUEHRUNG 10FL/19,5 ARBEITSTEMPERATUR 0-60°C SCHUTZART IP65 OPTION ENC 500 KBAUD ABSCHLUSSWIDERSTAND "ON" PROFIL DS406 ZYKL SENDEN 2MS STECKERBELEGUNGSNR TR-ECE-TI-DGB-0164 ZEICHNUNGSNR 04-CMV58M-M0022 Änderungen vorbehalten. TR-Electronic GmbH Eglishalde 6 78647 Trossingen Tel. +49 (0) 7425 228-0 Seite 1/3 info@tr-electronic.de www.tr-electronic.de...
Page 211 Preset-Parameter Übertragungsrate Zählrichtung Parametrisierungsart programmierbar Programmier - Tool Fieldbus-Device Maximal Drehzahl, mechanisch <= 12000 1/min Wellenbelastung, axial/radial <= 50 N, <= 100 N Änderungen vorbehalten. TR-Electronic GmbH Eglishalde 6 78647 Trossingen Tel. +49 (0) 7425 228-0 Seite 2/3 info@tr-electronic.de www.tr-electronic.de...
Page 212 Arbeitstemperatur - Standard 0…+60 °C - Optional -20…+70 °C; Lagertemperatur, trocken -30…+85 °C Relative Luftfeuchte 98 %, keine Betauung Schutzart - Standard IP65 Änderungen vorbehalten. TR-Electronic GmbH Eglishalde 6 78647 Trossingen Tel. +49 (0) 7425 228-0 Seite 3/3 info@tr-electronic.de www.tr-electronic.de...
Page 214 Steckerbelegung / Pin assignment Cxx-58 CANopen (1x M12 Stecker) 500kBaud/Terminierung=ON Allgemeine Hinweise: Wenn das Mess-System die letzte Station im CANopen-Segment ist, muss der DIP-Schalter SW2 für CAN-Bus-Terminator (Zuschaltung Abschlusswiderstandes) eingeschaltet werden (SW2=ON=Default). Sonst muss er ausgeschaltet sein (SW2=OFF). Für den Betrieb sind nur paarweise verdrillte und geschirmte Bus- bzw. Anschlusskabel zu verwenden.
Page 215 Steckerbelegung / Pin assignment Cxx-58 CANopen (1x M12 male) 500kbps/Termination=ON General note: If the measuring system is the last station in the CANopen-segment, the DIP switch SW2 for the CAN-bus terminator (switching-on terminal resistance) must switched (SW2=ON=Default). Otherwise the terminator must be switched off (SW2=OFF). For the operation shielded twisted-pair bus- or connection-cables must be used.

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