TR-Electronic 36 Series Manual
  1. Manuals
  2. Brands
  3. TR-Electronic Manuals
  4. Media Converter
  5. 36 Series
  6. Manual

TR-Electronic 36 Series Manual

Rotary encoder
Hide thumbs
Table of Contents

Advertisement

Quick Links

Download this manual
Gesamtbedienungsanleitung
Für
CMV36M*4096/4096 CO 6GL/10,8
Material Nr.
CMV36M-00032
Generiert am
12.07.2023
Enthält Originalbedienungsanleitung
Dokumentationsabschnitte
Montageanleitung de/en 36er Montageanleitung
Betriebsanleitung
de/en CMx-36 S/M CANopen Schnittstelle (LSS)
Konformitätserklärung de/en EU-Konformitätserklärung ECE (EMV+RoHS)
Konformitätserklärung de/en UKCA, Konformitätserkl. ECE (EMV+RoHS)
Technische Daten
Seite 1/1
TR-ECE-BA-DGB-0108-02.pdf
TR-ECE-BA-DGB-0128-01.pdf
TR-ECE-KE-DGB-0374-05.pdf
TR-ECE-KE-GB-0375-05.pdf
Änderungen vorbehalten.
TR-Electronic GmbH
Eglishalde 6
78647 Trossingen
Tel. +49 (0) 7425 228-0
info@tr-electronic.de
www.tr-electronic.de

Advertisement

Chapters

Table of Contents
loading
Need help?

Need help?

Do you have a question about the 36 Series and is the answer not in the manual?

Questions and answers

Related Manuals for TR-Electronic 36 Series

Summary of Contents for TR-Electronic 36 Series

  • Page 1 Betriebsanleitung de/en CMx-36 S/M CANopen Schnittstelle (LSS) TR-ECE-BA-DGB-0128-01.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 - 18 Page 19 - 35 Rotary Encoder Series 36 _Grundlegende Sicherheitshinweise _Verwendungszweck _Allgemeine Funktionsbeschreibung _Montagehinweise _Basic safety instructions _Intended use _General functional description _Instructions for mounting Montageanleitung Assembly Instructions...
  • Page 3 Menüauswahlen von Software.  < >  weist auf Tasten der Tastatur Ihres Computers hin (wie etwa <RETURN>).  TR-Electronic GmbH 2015, All Rights Reserved Printed in the Federal Republic of Germany Page 2 of 35 TR - ECE - BA - DGB - 0108 - 02...
  • Page 4 4.1 Vollwelle ..........................15 4.2 Sackloch ..........................15 4.3 Fremdgelagert......................... 16 5 Zubehör ............................17  TR-Electronic GmbH 2015, All Rights Reserved Printed in the Federal Republic of Germany 08/25/2016 TR - ECE - BA - DGB - 0108 - 02...
  • Page 5 - Mechanische Kenndaten entfernt -> Verweis auf Produktdatenblätter 25.08.16 - Mitgeltende Dokumente  TR-Electronic GmbH 2015, All Rights Reserved Printed in the Federal Republic of Germany Page 4 of 35 TR - ECE - BA - DGB - 0108 - 02...
  • Page 6 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.  TR-Electronic GmbH 2015, All Rights Reserved...
  • Page 7 Internationale Elektrotechnische Kommission National Electrical Code Verband der Elektrotechnik, Elektronik und Informationstechnik  TR-Electronic GmbH 2015, All Rights Reserved Printed in the Federal Republic of Germany Page 6 of 35 TR - ECE - BA - DGB - 0108 - 02...
  • Page 8 Schnittstelle über verschiedene Interface-Module ausgegeben. Prinzip: Codescheibe mit Opto-Elektronik zur Erfassung der Schritte pro Umdrehung.  TR-Electronic GmbH 2015, All Rights Reserved Printed in the Federal Republic of Germany 08/25/2016 TR - ECE - BA - DGB - 0108 - 02...
  • Page 9 Allgemeines Prinzip: Magnet-Quelle zur Erfassung der Schritte pro Umdrehung.  TR-Electronic GmbH 2015, All Rights Reserved Printed in the Federal Republic of Germany Page 8 of 35 TR - ECE - BA - DGB - 0108 - 02 08/25/2016...
  • Page 10 Durch eine entsprechende Zählerauswertung in der Folgeelektronik kann die Mess- System – Auflösung elektronisch verdoppelt oder vervierfacht werden: Referenz-Signale nicht dargestellt!  TR-Electronic GmbH 2015, All Rights Reserved Printed in the Federal Republic of Germany 08/25/2016 TR - ECE - BA - DGB - 0108 - 02...
  • Page 11 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 2015, All Rights Reserved Printed in the Federal Republic of Germany Page 10 of 35...
  • Page 12  Insbesondere ist folgende Verwendung untersagt: In Umgebungen mit explosiver Atmosphäre zu medizinischen Zwecken  TR-Electronic GmbH 2015, All Rights Reserved Printed in the Federal Republic of Germany 08/25/2016 TR - ECE - BA - DGB - 0108 - 02...
  • Page 13  Reparaturen dürfen nur vom Hersteller, oder einer vom Hersteller autorisierten Stelle bzw. Person vorgenommen werden.  TR-Electronic GmbH 2015, All Rights Reserved Printed in the Federal Republic of Germany Page 12 of 35 TR - ECE - BA - DGB - 0108 - 02...
  • Page 14 Muss nach der Lebensdauer des Gerätes eine Entsorgung vorgenommen werden, sind die jeweils geltenden landesspezifischen Vorschriften zu beachten.  TR-Electronic GmbH 2015, All Rights Reserved Printed in the Federal Republic of Germany 08/25/2016 TR - ECE - BA - DGB - 0108 - 02...
  • Page 15 Unsachgemäßes Verpackungsmaterial kann beim Transport Schäden am Gerät verursachen. Lagerung Lagertemperatur : siehe Produktdatenblatt Trocken lagern  TR-Electronic GmbH 2015, All Rights Reserved Printed in the Federal Republic of Germany Page 14 of 35 TR - ECE - BA - DGB - 0108 - 02 08/25/2016...
  • Page 16 Richtung zwischen Mess-System und Antriebswelle aufgenommen. große Lagerbelastungen werden dadurch vermieden. 4.2 Sackloch  TR-Electronic GmbH 2015, All Rights Reserved Printed in the Federal Republic of Germany 08/25/2016 TR - ECE - BA - DGB - 0108 - 02 Page 15 of 35...
  • Page 17 Best.-Nr.: 49-150-092 Nicht im Lieferumfang enthalten, bitte separat bestellen. Magnethalter in anderen Dimensionen werden nach Kundenspezifikation konstruiert und geliefert.  TR-Electronic GmbH 2015, All Rights Reserved Printed in the Federal Republic of Germany Page 16 of 35 TR - ECE - BA - DGB - 0108 - 02...
  • Page 18 5 Zubehör http://www.tr-electronic.de/produkte/drehgeber/zubehoer.html  TR-Electronic GmbH 2015, All Rights Reserved Printed in the Federal Republic of Germany 08/25/2016 TR - ECE - BA - DGB - 0108 - 02 Page 17 of 35...
  • Page 19 Zubehör  TR-Electronic GmbH 2015, All Rights Reserved Printed in the Federal Republic of Germany Page 18 of 35 TR - ECE - BA - DGB - 0108 - 02 08/25/2016...
  • Page 20 Assembly Instructions Rotary encoder Series 36  TR-Electronic GmbH 2015, All Rights Reserved Printed in the Federal Republic of Germany 08/25/2016 TR - ECE - BA - DGB - 0108 - 02 Page 19 of 35...
  • Page 21  < >  indicates keys on your computer keyboard (such as <RETURN>).  TR-Electronic GmbH 2015, All Rights Reserved Printed in the Federal Republic of Germany Page 20 of 35 TR - ECE - BA - DGB - 0108 - 02...
  • Page 22 4.2 Blind shaft ..........................33 4.3 Bearing free ..........................34 5 Accessories ............................. 35  TR-Electronic GmbH 2015, All Rights Reserved Printed in the Federal Republic of Germany 08/25/2016 TR - ECE - BA - DGB - 0108 - 02...
  • Page 23 -> reference to the product data sheets 08/25/16 - Other applicable documents  TR-Electronic GmbH 2015, All Rights Reserved Printed in the Federal Republic of Germany Page 22 of 35 TR - ECE - BA - DGB - 0108 - 02...
  • Page 24 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 25 International Electrotechnical Commission National Electrical Code Association for Electrical, Electronic & Information Technologies  TR-Electronic GmbH 2015, All Rights Reserved Printed in the Federal Republic of Germany Page 24 of 35 TR - ECE - BA - DGB - 0108 - 02...
  • Page 26 Principle: Code disk and opto-electronic scanning unit to identify the steps per revolution.  TR-Electronic GmbH 2015, All Rights Reserved Printed in the Federal Republic of Germany 08/25/2016 TR - ECE - BA - DGB - 0108 - 02...
  • Page 27 General information Principle: Magnet source to identify the steps per revolutions.  TR-Electronic GmbH 2015, All Rights Reserved Printed in the Federal Republic of Germany Page 26 of 35 TR - ECE - BA - DGB - 0108 - 02...
  • Page 28 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 2015, All Rights Reserved Printed in the Federal Republic of Germany 08/25/2016 TR - ECE - BA - DGB - 0108 - 02...
  • Page 29 EU EMC Directive, the harmonized standards, European standards or the corresponding national standards.  TR-Electronic GmbH 2015, All Rights Reserved Printed in the Federal Republic of Germany Page 28 of 35...
  • Page 30 The following area of use is especially forbidden: In environments where there is an explosive atmosphere for medical purposes  TR-Electronic GmbH 2015, All Rights Reserved Printed in the Federal Republic of Germany 08/25/2016 TR - ECE - BA - DGB - 0108 - 02...
  • Page 31  Repairs may only be undertaken by the manufacturer or a facility or person authorized by the manufacturer.  TR-Electronic GmbH 2015, All Rights Reserved Printed in the Federal Republic of Germany Page 30 of 35...
  • Page 32 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 2015, All Rights Reserved Printed in the Federal Republic of Germany 08/25/2016 TR - ECE - BA - DGB - 0108 - 02...
  • Page 33 Storage Storage temperature: see product data sheet Store in a dry place  TR-Electronic GmbH 2015, All Rights Reserved Printed in the Federal Republic of Germany Page 32 of 35 TR - ECE - BA - DGB - 0108 - 02...
  • Page 34 This avoids excessive strain on the bearings. 4.2 Blind shaft  TR-Electronic GmbH 2015, All Rights Reserved Printed in the Federal Republic of Germany 08/25/2016 TR - ECE - BA - DGB - 0108 - 02...
  • Page 35 This magnet holder is fitting for a bore 6h7, 7 mm deep in the front side of the shaft. Order no.: 49-150-092 Magnet holder must be ordered separately. Magnet holders in other dimensions are designed and supplied customized.  TR-Electronic GmbH 2015, All Rights Reserved Printed in the Federal Republic of Germany Page 34 of 35...
  • Page 36 5 Accessories http://www.tr-electronic.com/products/rotary-encoders/accessories.html  TR-Electronic GmbH 2015, All Rights Reserved Printed in the Federal Republic of Germany 08/25/2016 TR - ECE - BA - DGB - 0108 - 02 Page 35 of 35...
  • Page 37 Seite 2 - 64 Page 65 - 127 Absolute Encoder CM_-36 CMS-36 CMV-36 _Zusätzliche Sicherheitshinweise _Installation _Inbetriebnahme _Parametrierung _Fehlerursachen und Abhilfen _Additional safety instructions _Installation _Commissioning _Parameterization _Cause of faults and remedies Benutzerhandbuch User Manual 437A16_101...
  • Page 38 CANopen und CiA sind eingetragene Gemeinschaftsmarken der CAN in Automation e.V.  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany Page 2 of 127 TR - ECE - BA - DGB - 0128 - 01...
  • Page 39 3.7.5.3 Inquire identity Revision-Number Protokoll ................31 3.7.5.4 Inquire identity Serial-Number Protokoll ..................31 3.7.6 Inquire Node-ID Protokoll..................32  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany 11/20/2018 TR - ECE - BA - DGB - 0128 - 01...

  • Page 40: Table Of Contents

    7.14 Objekt 1017h: Producer Heartbeat Time ................49 7.15 Objekt 1018h: Identity Objekt ....................49 7.16 Objekt 1021h: EDS abspeichern ..................50  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany Page 4 of 127...
  • Page 41 11.2.1 Objekt 1001h: Fehlerregister ................62 11.2.2 Objekt 1003h: Vordefiniertes Fehlerfeld, Bits 0 – 15 ..........63 11.3 Sonstige Störungen ......................63  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany 11/20/2018 TR - ECE - BA - DGB - 0128 - 01...
  • Page 42 Erstausgabe 15.11.16 Hinweis auf Node-ID und Baudrate über TRWinProg 20.11.18  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany Page 6 of 127 TR - ECE - BA - DGB - 0128 - 01 11/20/2018...
  • Page 43 Benutzerhandbuch  Steckerbelegung  Montageanleitung: www.tr-electronic.de/f/TR-ECE-BA-DGB-0108  Produktdatenblatt: www.tr-electronic.de/s/S011882  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany 11/20/2018 TR - ECE - BA - DGB - 0128 - 01 Page 7 of 127...
  • Page 44 Januar 2006 CiA DS-406 V2.0, CANopen Profil für Encoder, Mai 1998  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany Page 8 of 127 TR - ECE - BA - DGB - 0128 - 01...
  • Page 45 Geräten. Service Data Object. Punkt zu Punkt Kommunikation mit Zugriff auf die Objekt-Datenliste eines Gerätes.  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany 11/20/2018 TR - ECE - BA - DGB - 0128 - 01...
  • Page 46 Beachten der Montageanleitung, insbesondere das dort enthaltene Kapitel "Grundlegende Sicherheitshinweise" muss vor Arbeitsbeginn gelesen und verstanden worden sein  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany Page 10 of 127 TR - ECE - BA - DGB - 0128 - 01...
  • Page 47 Dies gilt in besonderem Maße für nur gelegentlich, z.B. bei der Parametrierung des Mess-Systems, tätig werdendes Personal.  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany 11/20/2018 TR - ECE - BA - DGB - 0128 - 01...
  • Page 48 Geräteprofile entwickelt, in der mit der Struktur des Objektverzeichnisses und den allgemeinen Kodierungsregeln der gemeinsame Nenner aller Geräteprofile definiert ist.  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany Page 12 of 127 TR - ECE - BA - DGB - 0128 - 01...
  • Page 49 Network Management Object (NMO) z.B. Life / Node-Guarding Boot-Up,… Error Control Protokoll  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany 11/20/2018 TR - ECE - BA - DGB - 0128 - 01 Page 13 of 127...
  • Page 50 Bestätigung  bestätigende Dienste Abbildung 3: Gegenüberstellung von PDO/SDO-Eigenschaften  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany Page 14 of 127 TR - ECE - BA - DGB - 0128 - 01 11/20/2018...
  • Page 51 SYNC 0001bin 1005 181h – 1FFh PDO1 (tx) 0011bin 1800h  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany 11/20/2018 TR - ECE - BA - DGB - 0128 - 01 Page 15 of 127...
  • Page 52 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: SDO-Fehlercodes, Seite 61 zu entnehmen.  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany Page 16 of 127...
  • Page 53 Kein weiteres Datensegment vorhanden. 0x01 SDO Response Die Bytes 1 bis 7 beinhalten die angeforderten Daten.  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany 11/20/2018 TR - ECE - BA - DGB - 0128 - 01...
  • Page 54 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 2016, All Rights Reserved Printed in the Federal Republic of Germany Page 18 of 127...
  • Page 55 High Byte Ist Byte 0 = 80h, wird die Übertragung abgebrochen.  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany 11/20/2018 TR - ECE - BA - DGB - 0128 - 01 Page 19 of 127...
  • Page 56 (9),(10),(11) Reset_Node --> Reset Knoten (12),(13),(14) Reset_Communication --> Reset Kommunikation  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany Page 20 of 127 TR - ECE - BA - DGB - 0128 - 01 11/20/2018...
  • Page 57 Danach Übergang in den Zustand INITIALIZATION, (14) erster Zustand nach dem Einschalten. Tabelle 4: NMT-Dienste zur Gerätekontrolle  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany 11/20/2018 TR - ECE - BA - DGB - 0128 - 01...
  • Page 58 Ist die Life Time = 0, ist das Life Guarding abgeschaltet. Tabelle 5: Parameter für NMT-Dienste  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany Page 22 of 127 TR - ECE - BA - DGB - 0128 - 01...
  • Page 59 ● LSS identify non-configured slave  Rückmeldung der LSS-Slaves auf das vorherige Kommando  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany 11/20/2018 TR - ECE - BA - DGB - 0128 - 01 Page 23 of 127...
  • Page 60 LSS identify slave LSS identify non-configured remote slave LSS identify non-configured slave  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany Page 24 of 127 TR - ECE - BA - DGB - 0128 - 01...
  • Page 61 Byte 7 Tabelle 7: LSS-Nachricht Byte 0 enthält die Command-Specifier (CS), danach folgen 7 Byte für die Daten.  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany 11/20/2018 TR - ECE - BA - DGB - 0128 - 01...
  • Page 62 0x43 LSS-Slave --> LSS-Master COB-ID Reserved by CiA 0x7E4 0x44  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany Page 26 of 127 TR - ECE - BA - DGB - 0128 - 01 11/20/2018...
  • Page 63 Specific Error Wenn Error Code = 255 --> applikationsspezifischer Fehler aufgetreten, sonst reserviert durch die CiA  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany 11/20/2018 TR - ECE - BA - DGB - 0128 - 01...
  • Page 64 Specific Error Wenn Error Code = 255 --> applikationsspezifischer Fehler aufgetreten, sonst reserviert durch die CiA  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany Page 28 of 127 TR - ECE - BA - DGB - 0128 - 01...
  • Page 65 Specific Error Wenn Error Code = 255 --> applikationsspezifischer Fehler aufgetreten, sonst reserviert durch die CiA  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany 11/20/2018 TR - ECE - BA - DGB - 0128 - 01...
  • Page 66 LSS-Slave --> LSS-Master Product-Code (≙Index 1018h:02) COB-ID Reserved by CiA 0x7E4 0x5B  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany Page 30 of 127 TR - ECE - BA - DGB - 0128 - 01 11/20/2018...
  • Page 67 LSS-Slave --> LSS-Master Serial-No. (≙Index 1018h:04) COB-ID Reserved by CiA 0x7E5 0x5D  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany 11/20/2018 TR - ECE - BA - DGB - 0128 - 01 Page 31 of 127...
  • Page 68 Node-ID zurückgemeldet. Erst nach Ausführung des NMT-Dienstes Reset Communication (0x82) wird die aktuelle Node-ID zurückgemeldet.  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany Page 32 of 127 TR - ECE - BA - DGB - 0128 - 01...

  • Page 69: Identification Protokolle

    LSS-Adress-Attributen entsprechen, antworten mit diesem Protokoll. LSS-Slave --> LSS-Master COB-ID Reserved by CiA 0x7E4 0x4F  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany 11/20/2018 TR - ECE - BA - DGB - 0128 - 01 Page 33 of 127...

  • Page 70: Lss Identify Non-Configured Remote Slave Protokoll

    Protokoll. LSS-Slave --> LSS-Master COB-ID Reserved by CiA 0x7E4 0x50  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany Page 34 of 127 TR - ECE - BA - DGB - 0128 - 01 11/20/2018...

  • Page 71: 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 2016, All Rights Reserved Printed in the Federal Republic of Germany 11/20/2018 TR - ECE - BA - DGB - 0128 - 01 Page 35 of 127...

  • Page 72: 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 2016, All Rights Reserved Printed in the Federal Republic of Germany Page 36 of 127...

  • Page 73: Anschluss

    Mess-System Auslieferungszustand die Node-ID 10 (0x0A) und eine Baudrate von 1 MBaud.  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany 11/20/2018 TR - ECE - BA - DGB - 0128 - 01...

  • Page 74: 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 2016, All Rights Reserved Printed in the Federal Republic of Germany Page 38 of 127 TR - ECE - BA - DGB - 0128 - 01...

  • Page 75: Inbetriebnahme

    Mess-System ordnungsgemäß konfigurieren bzw. in Betrieb nehmen zu können. Die EDS-Datei hat den Dateinamen "CMV36M_CANopen.eds". Download:  www.tr-electronic.de/f/TR-ECE-ID-MUL-0054  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany 11/20/2018 TR - ECE - BA - DGB - 0128 - 01 Page 39 of 127...

  • Page 76: 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 2016, All Rights Reserved Printed in the Federal Republic of Germany Page 40 of 127...

  • Page 77: Aufbau Der Parameter, 1A00H-1A01H

    Inhalt des PDOS durch dessen Index, Subindex und der Länge in Bit: Index Subindex Länge in Bit  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany 11/20/2018 TR - ECE - BA - DGB - 0128 - 01...

  • Page 78: Übertragungsarten

    1A01h größter unterstützter Subindex 1, max 8 Positionswert 6004 0020h  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany Page 42 of 127 TR - ECE - BA - DGB - 0128 - 01 11/20/2018...

  • Page 79: Kommunikationsspezifische Standard-Objekte (Cia Ds-301)

    1F80 NMT Autostart Unsigned32 Tabelle 8: Kommunikationsspezifische Standard-Objekte segmentiertes Lesen  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany 11/20/2018 TR - ECE - BA - DGB - 0128 - 01 Page 43 of 127...

  • Page 80: Objekt 1000H: Gerätetyp

    7.3 Objekt 1002h: Hersteller-Status-Register Dieses Objekt wird durch das Mess-System nicht verwendet, bei Lesezugriff ist der Wert immer "0".  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany Page 44 of 127 TR - ECE - BA - DGB - 0128 - 01...

  • Page 81: Objekt 1003H: Vordefiniertes Fehlerfeld

    Positionswert des Mess-Systems einmalig durch das zweite Sende-Prozessdaten- Objekt (Objekt 1801h) übertragen. Objekt Funktions-Code COB-ID SYNC 0001  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany 11/20/2018 TR - ECE - BA - DGB - 0128 - 01 Page 45 of 127...

  • Page 82: Objekt 1008H: Hersteller Gerätenamen

    Node-Guarding-Protokoll. Standardwert = 0. Unsigned8 Life-Time-Faktor Byte 0 bis 2  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany Page 46 of 127 TR - ECE - BA - DGB - 0128 - 01 11/20/2018...

  • Page 83: Objekt 1010H: Parameter Abspeichern

    0606 0000 h. Wurde eine falsche Signatur geschrieben, verweigert das Gerät die Speicherung und antwortet mit Abbruch der Übertragung: Fehlercode 0800 0020 h.  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany 11/20/2018 TR - ECE - BA - DGB - 0128 - 01...

  • Page 84: Objekt 1014H: Cob-Id Emcy

    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 2016, All Rights Reserved Printed in the Federal Republic of Germany Page 48 of 127...

  • Page 85: Objekt 1017H: Producer Heartbeat Time

    0x00010001, bzw. aktuelle Revisions-Nr. Subindex4: Bei Lesezugriff liefert das Gerät Informationen über die Serien-Nr.: aktuelle Serien-Nr.  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany 11/20/2018 TR - ECE - BA - DGB - 0128 - 01...

  • Page 86: Objekt 1021H: Eds Abspeichern

    Domain Schlug das Firmware-Update fehl, antwortet das Gerät mit Abbruch der Übertragung: Fehlercode 0606 0000h.  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany Page 50 of 127 TR - ECE - BA - DGB - 0128 - 01...

  • Page 87: Objekt 1F51H: Programmsteuerung

    Attribut 1F56h größter unterstützter Subindex Unsigned8 Programm Nummer 1 Unsigned32  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany 11/20/2018 TR - ECE - BA - DGB - 0128 - 01 Page 51 of 127...

  • Page 88: Objekt 1F57H: Programm Status

    Start Der Versuch ein Bit zu ändern das nicht im Mess-System vorhanden ist, veranlasst eine Abort-Nachricht (0609 0030h).  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany Page 52 of 127 TR - ECE - BA - DGB - 0128 - 01...

  • Page 89: Parametrierung

    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.  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany 11/20/2018...

  • Page 90: Objekt 2000H: Mode-Umschaltung Tr / Cia Ds-406

    CiA DS-406 - Mode TR - Mode 6000h, Zählrichtung 2001h, Zählrichtung  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany Page 54 of 127 TR - ECE - BA - DGB - 0128 - 01...

  • Page 91: Tr - Mode

    TPDO2 Senden bei Node-Start AUS (standard) 2 - 7 reserviert  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany 11/20/2018 TR - ECE - BA - DGB - 0128 - 01 Page 55 of 127...

  • Page 92: Cia Ds-406 - Mode

    Byte 3 bis 2 bis 2 bis 2 bis 2  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany Page 56 of 127 TR - ECE - BA - DGB - 0128 - 01 11/20/2018...

  • Page 93: Objekt 6200H: Cyclic-Timer

    8.3.5.4 Objekt 6505h: Warnungen Dieses Objekt wird nicht unterstützt. Bei Lesezugriff ist der Wert immer "0".  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany 11/20/2018 TR - ECE - BA - DGB - 0128 - 01...

  • Page 94: Objekt 6506H: Unterstützte Warnungen

    8.3.5.10 Objekt 650Bh: Serien-Nummer Dieses Objekt enthält die aktuelle Serien-Nr. des Gerätes und entspricht dem Identity- Objekt 1018h, Subindex 4.  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany Page 58 of 127 TR - ECE - BA - DGB - 0128 - 01...

  • Page 95: 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 2016, All Rights Reserved Printed in the Federal Republic of Germany 11/20/2018...

  • Page 96: Übertragung Des Mess-System-Positionswertes

    COB-ID übertragen den Positionswert. Objekt Funktions-Code COB-ID Index Kommunikations-Parameter SYNC 0001bin 1005h  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany Page 60 of 127 TR - ECE - BA - DGB - 0128 - 01 11/20/2018...

  • Page 97: Fehlerursachen Und Abhilfen

    Lesezugriff auf Objekt 1003h Subindex 01, siehe Seite Fehler! Textmarke nicht definiert.. Tabelle 10: SDO-Fehlercodes  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany 11/20/2018 TR - ECE - BA - DGB - 0128 - 01...

  • Page 98: Emergency-Fehlercodes

    Fehlers wird das Fehlerregister zurückgesetzt und eine EMCY-Nachricht mit Fehlercode „0x000“ übertragen. Bedeutung generischer Fehler Kommunikationsfehler (Überlauf, Fehlerstatus)  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany Page 62 of 127 TR - ECE - BA - DGB - 0128 - 01 11/20/2018...

  • Page 99: Objekt 1003H: Vordefiniertes Fehlerfeld, Bits 0 - 15

    Welle. Wenn der Fehler trotz dieser Maßnahme weiterhin der Welle oder einen auftritt, muss das Mess-System getauscht werden. Defekt der Abtastung.  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany 11/20/2018 TR - ECE - BA - DGB - 0128 - 01...
  • Page 100 Fehlerursachen und Abhilfen  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany Page 64 of 127 TR - ECE - BA - DGB - 0128 - 01 11/20/2018...
  • Page 101 User Manual CM_ -36 CANopen  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany 11/20/2018 TR - ECE - BA - DGB - 0128 - 01 Page 65 of 127...
  • Page 102 CANopen and CiA are registered community trademarks of CAN in Automation e.V.  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany Page 66 of 127 TR - ECE - BA - DGB - 0128 - 01...

  • Page 103: Contents

    3.7.5.3 Inquire identity Revision-Number protocol ................95 3.7.5.4 Inquire identity Serial-Number protocol ..................95 3.7.6 Inquire Node-ID protocol ..................96  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany 11/20/2018 TR - ECE - BA - DGB - 0128 - 01...
  • Page 104 7.14 Object 1017h: Producer heartbeat time ................113 7.15 Object 1018h: Identity Object ....................113 7.16 Object 1021h: Store EDS ..................... 114  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany Page 68 of 127...
  • Page 105 11.2.1 Object 1001h: Error register ................. 126 11.2.2 Object 1003h: Pre-defined Error field, bits 0 – 15 ..........127 11.3 Other faults ........................... 127  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany 11/20/2018 TR - ECE - BA - DGB - 0128 - 01...

  • Page 106: Revision Index

    First release 11/15/16 Note on Node-ID and Baud rate via TRWinProg 11/20/18  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany Page 70 of 127 TR - ECE - BA - DGB - 0128 - 01...

  • Page 107: General Information

    Pin assignment  Assembly Instructions: www.tr-electronic.com/f/TR-ECE-BA-DGB-0108  Product data sheet: www.tr-electronic.com/s/S011886  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany 11/20/2018 TR - ECE - BA - DGB - 0128 - 01 Page 71 of 127...

  • Page 108: References

    January 2006 CiA DS-406 V2.0, CANopen Profile for Encoder, May 1998  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany Page 72 of 127 TR - ECE - BA - DGB - 0128 - 01...

  • Page 109: Abbreviations And Definitions

    Service Data Object. Peer to peer communication with access to the Object Dictionary of a device.  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany 11/20/2018 TR - ECE - BA - DGB - 0128 - 01...

  • Page 110: 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 2016, All Rights Reserved Printed in the Federal Republic of Germany Page 74 of 127 TR - ECE - BA - DGB - 0128 - 01...

  • Page 111: Organizational Measures

    This particularly applies for personnel who are only deployed occasionally, e.g. at the parameterization of the measurement system.  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany 11/20/2018 TR - ECE - BA - DGB - 0128 - 01...

  • Page 112: Canopen Information

     TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany...

  • Page 113: Canopen - Communication Profile

    Network Management Object (NMO) e.g. Life / Node-Guarding Boot-Up,… Error Control Protocol  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany 11/20/2018 TR - ECE - BA - DGB - 0128 - 01 Page 77 of 127...

  • Page 114: Process- And Service-Data-Objects

     no Acknowledgement Figure 3: Comparison of PDO/SDO characteristics  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany Page 78 of 127 TR - ECE - BA - DGB - 0128 - 01...

  • Page 115: Object Dictionary

    SYNC 0001bin 1005 181h – 1FFh PDO1 (tx) 0011bin 1800h  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany 11/20/2018 TR - ECE - BA - DGB - 0128 - 01 Page 79 of 127...

  • Page 116: Transmission Of Sdo Messages

    Meaning of the error codes see Table 10: SDO Error codes on page 125.  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany Page 80 of 127...
  • Page 117 No further data segment available. 0x01 SDO Response The bytes 1 to 7 contain the requested data.  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany 11/20/2018 TR - ECE - BA - DGB - 0128 - 01...

  • Page 118: 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 2016, All Rights Reserved Printed in the Federal Republic of Germany...

  • Page 119: Write Sdo

    Index High Byte If byte 0 = 80h the transfer has been aborted.  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany 11/20/2018 TR - ECE - BA - DGB - 0128 - 01 Page 83 of 127...

  • Page 120: 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 2016, All Rights Reserved Printed in the Federal Republic of Germany Page 84 of 127 TR - ECE - BA - DGB - 0128 - 01 11/20/2018...

  • Page 121: Network Management Services

    Afterwards transition into the INITIALIZATION state, first state (14) after Power on. Table 4: NMT device control services  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany 11/20/2018 TR - ECE - BA - DGB - 0128 - 01...

  • Page 122: 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 2016, All Rights Reserved Printed in the Federal Republic of Germany Page 86 of 127 TR - ECE - BA - DGB - 0128 - 01...

  • Page 123: Layer Setting Services (Lss) And Protocols

    ● LSS identify non-configured remote slave ● LSS identify non-configured slave  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany 11/20/2018 TR - ECE - BA - DGB - 0128 - 01 Page 87 of 127...

  • Page 124: Finite State Automaton, Fsa

    LSS identify slave LSS identify non-configured remote slave LSS identify non-configured slave  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany Page 88 of 127 TR - ECE - BA - DGB - 0128 - 01...

  • Page 125: 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 2016, All Rights Reserved Printed in the Federal Republic of Germany 11/20/2018 TR - ECE - BA - DGB - 0128 - 01...

  • Page 126: Switch Mode Protocols

    0x43 LSS-Slave --> LSS-Master COB-ID Reserved by CiA 0x7E4 0x44  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany Page 90 of 127 TR - ECE - BA - DGB - 0128 - 01 11/20/2018...

  • Page 127: Configuration Protocols

    Specific Error if Error Code = 255 --> application specific error occurred, otherwise reserved by CiA  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany 11/20/2018 TR - ECE - BA - DGB - 0128 - 01...

  • Page 128: Configure Bit Timing Parameters Protocol

    Specific Error if Error Code = 255 --> application specific error occurred, otherwise reserved by CiA  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany Page 92 of 127 TR - ECE - BA - DGB - 0128 - 01...

  • Page 129: Activate Bit Timing Parameters Protocol

    Specific Error if Error Code = 255 --> application specific error occurred, otherwise reserved by CiA  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany 11/20/2018 TR - ECE - BA - DGB - 0128 - 01...

  • Page 130: Inquire Lss Address Protocols

    LSS-Slave --> LSS-Master Product-Code (≙Index 1018h:02) COB-ID Reserved by CiA 0x7E4 0x5B  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany Page 94 of 127 TR - ECE - BA - DGB - 0128 - 01 11/20/2018...

  • Page 131: Inquire Identity Revision-Number Protocol

    LSS-Slave --> LSS-Master Serial-No. (≙Index 1018h:04) COB-ID Reserved by CiA 0x7E5 0x5D  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany 11/20/2018 TR - ECE - BA - DGB - 0128 - 01 Page 95 of 127...

  • Page 132: 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 2016, All Rights Reserved Printed in the Federal Republic of Germany Page 96 of 127...

  • Page 133: Identification Protocols

    LSS-Slave --> LSS-Master Reserved by CiA COB-ID 0x7E4 0x4F  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany 11/20/2018 TR - ECE - BA - DGB - 0128 - 01 Page 97 of 127...

  • Page 134: Lss Identify Non-Configured Remote Slave Protocol

    LSS-Slave --> LSS-Master COB-ID Reserved by CiA 0x7E4 0x50  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany Page 98 of 127 TR - ECE - BA - DGB - 0128 - 01 11/20/2018...

  • Page 135: 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 2016, All Rights Reserved Printed in the Federal Republic of Germany 11/20/2018 TR - ECE - BA - DGB - 0128 - 01 Page 99 of 127...

  • Page 136: Installation / Preparation For Start-Up

    In particular, the applicable EMC directive and the shielding and grounding guidelines must be observed!  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany Page 100 of 127 TR - ECE - BA - DGB - 0128 - 01...

  • Page 137: Connection

    If the option "LSS use" is active, the measuring system in the delivery state has the Node-ID 10 (0x0A) and a Baud rate of 1 MBaud.  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany...

  • Page 138: 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 2016, All Rights Reserved Printed in the Federal Republic of Germany Page 102 of 127 TR - ECE - BA - DGB - 0128 - 01...

  • Page 139: Commissioning

    The EDS file has the file name "CMx36M_CANopen.eds". Download:  www.tr-electronic.com/f/TR-ECE-ID-MUL-0054  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany 11/20/2018 TR - ECE - BA - DGB - 0128 - 01 Page 103 of 127...

  • Page 140: The 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 2016, All Rights Reserved Printed in the Federal Republic of Germany Page 104 of 127...

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

    Index Sub-index Length in bit  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany 11/20/2018 TR - ECE - BA - DGB - 0128 - 01 Page 105 of 127...

  • Page 142: Transmission Types

    Sub-Index 1, max 8 Position value 6004 0020h  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany Page 106 of 127 TR - ECE - BA - DGB - 0128 - 01 11/20/2018...

  • Page 143: Communication Specific Standard Objects (Cia Ds-301)

    NMT startup Unsigned32 Table 8: Communication specific standard objects segmented reading  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany 11/20/2018 TR - ECE - BA - DGB - 0128 - 01 Page 107 of 127...

  • Page 144: Object 1000H: Device Type

    7.3 Object 1002h: Manufacturer status register This object is not used by the measuring system, by read access the value is always "0".  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany Page 108 of 127...

  • Page 145: Object 1003H: Pre-Defined Error Field

    2nd Transmit PDO (object 1801h), non- recurrent triggering. Object Function Code COB-ID SYNC 0001  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany 11/20/2018 TR - ECE - BA - DGB - 0128 - 01 Page 109 of 127...

  • Page 146: Object 1008H: Device Name

    Default value = 0. Unsigned8 Life Time Factor Byte 0 to 2  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany Page 110 of 127 TR - ECE - BA - DGB - 0128 - 01 11/20/2018...

  • Page 147: Object 1010H: Store Parameters

    Error code 0606 0000h. If a wrong signature is written, the device refuses to save and responds with abort domain transfer: Error code 0800 0020h.  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany 11/20/2018...

  • Page 148: Object 1014H: Cob-Id 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 2016, All Rights Reserved Printed in the Federal Republic of Germany Page 112 of 127...

  • Page 149: Object 1017H: Producer Heartbeat Time

    Sub-index3: Provides information about the Revision-No.: 0x00010001, or current Revision-No. Sub-index4: Provides information about the Serial-No.: current Serial-No.  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany 11/20/2018 TR - ECE - BA - DGB - 0128 - 01...

  • Page 150: Object 1021H: Store Eds

    Domain If the firmware update fails for any reason, the device responds with abort domain transfer: Error code 0606 0000h.  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany Page 114 of 127 TR - ECE - BA - DGB - 0128 - 01...

  • Page 151: Object 1F51H: Program Control

    Attribute 1F56h largest supported Sub-Index Unsigned8 Program number 1 Unsigned32  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany 11/20/2018 TR - ECE - BA - DGB - 0128 - 01 Page 115 of 127...

  • Page 152: Object 1F57H: Flash Status Identification

    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 2016, All Rights Reserved Printed in the Federal Republic of Germany...

  • Page 153: Parameterization

    Is immediately active after a write command and is durably stored in the EEPROM after execute the object "Object 1010h: Store parameters". Is immediately active and durably stored in the EEPROM after a write command.  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany 11/20/2018...

  • Page 154: Object 2000H: Mode Selection Tr / Cia Ds-406

    CiA DS-406 mode TR mode 6000h, Counting direction 2001h, Counting direction  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany Page 118 of 127 TR - ECE - BA - DGB - 0128 - 01...

  • Page 155: Tr - Mode

    Send TPDO2 at Node-Start off (default) 2 - 7 Reserved for further use  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany 11/20/2018 TR - ECE - BA - DGB - 0128 - 01 Page 119 of 127...

  • Page 156: Cia Ds-406 - Mode

    Byte 3 to 2 to 2 to 2 to 2  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany Page 120 of 127 TR - ECE - BA - DGB - 0128 - 01 11/20/2018...

  • Page 157: Object 6200H: Cyclic Timer

    8.3.5.4 Object 6505h: Warnings This object is not supported. By read access the value is always "0".  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany 11/20/2018 TR - ECE - BA - DGB - 0128 - 01...

  • Page 158: Object 6506H: Supported Warnings

    8.3.5.10 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 2016, All Rights Reserved Printed in the Federal Republic of Germany Page 122 of 127...

  • Page 159: Emergency Message

    1001h: Error register”. 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 2016, All Rights Reserved Printed in the Federal Republic of Germany 11/20/2018...

  • Page 160: Transmission Of The Measuring System Position Value

    Object Function Code COB-ID Index Communication Parameter SYNC 0001bin 1005h  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany Page 124 of 127 TR - ECE - BA - DGB - 0128 - 01 11/20/2018...

  • Page 161: Causes Of Faults And Remedies

    No data available access on object 1003h sub-index 1, see page 109. Table 10: SDO Error codes  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany 11/20/2018 TR - ECE - BA - DGB - 0128 - 01...

  • Page 162: Emergency Error Codes

    "0x000" is transferred. Meaning generic error communication error (overrun, error state)  TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany Page 126 of 127 TR - ECE - BA - DGB - 0128 - 01...

  • Page 163: Object 1003H: Pre-Defined Error Field, Bits 0 - 15

     TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany 11/20/2018 TR - ECE - BA - DGB - 0128 - 01...
  • Page 164 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 165 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 166 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 167 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 168 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 169 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 170 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 171 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 172 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 173 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 174 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 175 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 176 NEIN KABELLAENGE 2,000 m WELLENVARIANTE VOLLWELLE WELLENAUSFUEHRUNG 6GL/10,8 ARBEITSTEMPERATUR -40+70°C SCHUTZART IP54WE/IP67GEH. OPTION ENC 250KBAUD ABSCHLUSSWIDERSTAND NEIN ADRESSE 1 LSS-EINSTELLUNGEN BENUTZEN STECKERBELEGUNGSNR 10426 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 177 20, 250, 500, 1000 kbit/s - Einstellbarkeit über LSS-Service Parameter/Funktionen, änderbar Auflösung Download, EDS-Datei Firmware-Update Node-ID Preset-Parameter Übertragungsrate Zählrichtung Parametrisierungsart programmierbar Programmier - Tool Fieldbus-Device 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 178 - Auf Anfrage -40…+85 °C auf Anfrage Lagertemperatur, trocken -20…+85 °C Relative Luftfeuchte 98 % Schutzart - Standard IP54 wellenseitig - Standard IP67 gehäuseseitig 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...

This manual is also suitable for:

Cmv36m-4096/4096 co 6gl/10,8

Table of Contents