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TR-Electronic CRW582M 8192 CO+CO SLG ME 5M Series Assembly Instructions Manual

Rotary encoder construction size 58
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Gesamtbedienungsanleitung
Für
CRW582M*8192/4096 CO+CO SLG ME 5M
ULR
Material Nr.
CRW582M-00010
Generiert am
12.07.2023
Enthält Originalbedienungsanleitung
Dokumentationsabschnitte
Montageanleitung de/en Baureihe 58 Montageanleitung
Montageanleitung de/en Seillängengeber, Montageanleitung
Betriebsanleitung
de/en CR_582 CANopen (redundant)
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-0035-14.pdf
TR-ECE-BA-DGB-0170-00.pdf
TR-ECE-BA-DGB-0165-03.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

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Summary of Contents for TR-Electronic CRW582M 8192 CO+CO SLG ME 5M Series

  • Page 1 Montageanleitung de/en Seillängengeber, Montageanleitung TR-ECE-BA-DGB-0170-00.pdf Betriebsanleitung de/en CR_582 CANopen (redundant) TR-ECE-BA-DGB-0165-03.pdf Konformitätserklärung de/en EU-Konformitätserklärung ECE (EMV+RoHS) TR-ECE-KE-DGB-0374-05.pdf Konformitätserklärung de/en UKCA, Konformitätserkl. ECE (EMV+RoHS) TR-ECE-KE-GB-0375-05.pdf Technische Daten Änderungen vorbehalten. TR-Electronic GmbH Eglishalde 6 78647 Trossingen Tel. +49 (0) 7425 228-0 Seite 1/1 info@tr-electronic.de www.tr-electronic.de...
  • Page 2 Seite 2 - 32 Page 33 - 63 Drehgeber Baugröße 58 _Grundlegende Sicherheitshinweise _Verwendungszweck _Allgemeine Funktionsbeschreibung _Montagehinweise Montageanleitung...
  • Page 3 Menüauswahlen von Software.  < >  weist auf Tasten der Tastatur Ihres Computers hin (wie etwa <RETURN>).  TR-Electronic GmbH 2005, All Rights Reserved Printed in the Federal Republic of Germany Page 2 of 64 TR - ECE - BA - DGB - 0035 - 14...

  • Page 4: Table Of Contents

    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: Änderungs-Index

    - 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: Allgemeines

    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: Geltungsbereich / Typenschlüssel

    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: Mitgeltende Dokumente

    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: Allgemeine Funktionsbeschreibung

    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: Inkremental Encoder

    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: Grundlegende Sicherheitshinweise

    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: Ul / Csa - Zulassung

    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: Bestimmungsgemäße Verwendung

     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: Organisatorische Maßnahmen

    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: Sicherheitstechnische Hinweise

    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: Transport / Lagerung

    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: Montagehinweise / Schema

    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: Sacklochwelle

    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: Hohlwelle

    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: Kupplung

     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: Zubehör

    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 33 Zubehör  TR-Electronic GmbH 2005, All Rights Reserved Printed in the Federal Republic of Germany Page 32 of 64 TR - ECE - BA - DGB - 0035 - 14 02/14/2018...
  • 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: Revision Index

    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: General Information

    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: Applicability / Type Designation Code

    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: Other Applicable Documents

    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: General Functional Description

    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: Incremental Encoder

    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: Basic Safety Instructions

    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: Ul / Csa Approval

    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: Intended Use

     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: Organizational Measures

     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: Safety Information's

    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: Transportation / Storage

    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: Instructions For Mounting / Schematic

    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: Blind Shaft

    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: Hollow Through Shaft

    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: Integrated Claw Coupling

     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: Accessories

    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 65 Accessories  TR-Electronic GmbH 2005, All Rights Reserved Printed in the Federal Republic of Germany Page 64 of 64 TR - ECE - BA - DGB - 0035 - 14 02/14/2018...
  • Page 66 Seite 2 - 20 Page 21 - 40 Seillängengeber _Grundlegende Sicherheitshinweise _Verwendungszweck _Allgemeine Funktionsbeschreibung _Montagehinweise Montage- und Betriebsanleitung...
  • Page 67 Courier-Schrift zeigt Text an, der auf dem Display bzw. Bildschirm sichtbar ist und Menüauswahlen von Software.  < >  weist auf Tasten der Tastatur Ihres Computers hin (wie etwa <RETURN>).  TR-Electronic GmbH 2022, All Rights Reserved Printed in the Federal Republic of Germany Page 2 of 40 TR-ECE-BA-DGB-0170 v00...
  • Page 68 5.3 WDS… ............................ 18 5.4 WPS… ............................ 19 6 Zubehör ............................20 6.1 SL30… ............................ 20 6.2 WDS… ............................ 20  TR-Electronic GmbH 2022, All Rights Reserved Printed in the Federal Republic of Germany 04/04/2022 TR-ECE-BA-DGB-0170 v00 Page 3 of 40...

  • Page 69: Änderungs-Index

    Änderungs-Index Änderungs-Index Änderung Datum Index Erstausgabe 04.04.2022  TR-Electronic GmbH 2022, All Rights Reserved Printed in the Federal Republic of Germany Page 4 of 40 TR-ECE-BA-DGB-0170 v00 04/04/2022...

  • Page 70: Allgemeines

    1.2 Mitgeltende Dokumente  anlagenspezifische Betriebsanleitungen des Betreibers  diese Montageanleitung  Steckerbelegung  schnittstellenspezifisches Benutzerhandbuch  Produktdatenblatt: www.tr-electronic.de/s/S024333  TR-Electronic GmbH 2022, All Rights Reserved Printed in the Federal Republic of Germany 04/04/2022 TR-ECE-BA-DGB-0170 v00 Page 5 of 40...

  • Page 71: Eu-Konformitätserklärung

    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 72: Prinzipaufbau

    Ein Mess-Seil aus hochflexiblen rostfreien Stahladern wird auf eine Trommel mit Hilfe eines langlebigen Federmotors aufgewickelt. Die Wickeltrommel ist axial mit einem Encoder (Drehgeber) gekoppelt.  TR-Electronic GmbH 2022, All Rights Reserved Printed in the Federal Republic of Germany 04/04/2022...

  • Page 73: Grundlegende Sicherheitshinweise

    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 2022, All Rights Reserved Printed in the Federal Republic of Germany Page 8 of 40...

  • Page 74: Ul / Csa - Zulassung

    Mess-System nur in technisch einwandfreiem Zustand sowie bestimmungsgemäß, sicherheits- und gefahrenbewusst unter Beachtung der Mitgeltenden Dokumente verwenden! Insbesondere Störungen, die die Sicherheit beeinträchtigen können, umgehend beseitigen (lassen)!  TR-Electronic GmbH 2022, All Rights Reserved Printed in the Federal Republic of Germany 04/04/2022 TR-ECE-BA-DGB-0170 v00...

  • Page 75: Bestimmungsgemäße Verwendung

     Eigenmächtige vorgenommene mechanische oder elektrische Veränderungen am Mess-System.  Eigenmächtige durchgeführte Reparaturen.  Katastrophenfälle durch Fremdeinwirkung und höhere Gewalt.  TR-Electronic GmbH 2022, All Rights Reserved Printed in the Federal Republic of Germany Page 10 of 40 TR-ECE-BA-DGB-0170 v00...

  • Page 76: Organisatorische Maßnahmen

     Klare Regelung Verantwortlichkeiten für Montage, Installation, Inbetriebnahme und Bedienung festlegen. Beaufsichtigungspflicht bei zu schulendem oder anzulernendem Personal !  TR-Electronic GmbH 2022, All Rights Reserved Printed in the Federal Republic of Germany 04/04/2022 TR-ECE-BA-DGB-0170 v00 Page 11 of 40...

  • Page 77: Sicherheitstechnische Hinweise

    Entsorgung Muss nach der Lebensdauer des Gerätes eine Entsorgung vorgenommen werden, sind die jeweils geltenden landesspezifischen Vorschriften zu beachten.  TR-Electronic GmbH 2022, All Rights Reserved Printed in the Federal Republic of Germany Page 12 of 40 TR-ECE-BA-DGB-0170 v00 04/04/2022...

  • Page 78: Transport / Lagerung

    Nehmen Sie die Mess-Systeme nicht am Seil oder dem Seilendring aus der Verpackung. Lagerung Lagertemperatur: siehe Produktdatenblatt Trocken lagern  TR-Electronic GmbH 2022, All Rights Reserved Printed in the Federal Republic of Germany 04/04/2022 TR-ECE-BA-DGB-0170 v00 Page 13 of 40...

  • Page 79: Montagevorschriften

     Für eine optimale Seilführung muss der Seilendring am Ende des Mess-Seils frei beweglich sein. Klemmen Sie deshalb den Seilendring nicht fest, z. B. durch eine Schraub- oder Nietverbindung.  TR-Electronic GmbH 2022, All Rights Reserved Printed in the Federal Republic of Germany Page 14 of 40...

  • Page 80: Anwendungshinweise

    Eises, zu verwenden. Um das Eintreten von Feuchtigkeit und Staub zu vermeiden, ist der Seilaustritt bevorzugt nach Unten zu positionieren.  TR-Electronic GmbH 2022, All Rights Reserved Printed in the Federal Republic of Germany 04/04/2022 TR-ECE-BA-DGB-0170 v00 Page 15 of 40...

  • Page 81: Seilabzug

    Kanten geführt werden! Die Einzeldrähte des Mess-Seils können beschädigt werden. Mess-Seil vor herabfallenden Gegenständen schützen. Gegebenenfalls ist eine Abdeckung vorzusehen.  TR-Electronic GmbH 2022, All Rights Reserved Printed in the Federal Republic of Germany Page 16 of 40 TR-ECE-BA-DGB-0170 v00 04/04/2022...

  • Page 82: Montagehinweise / Schema

    (Kap.: 4) sind zwingend zu berücksichtigen. Um einen Potentialausgleich zu gewährleisten ist das Gehäuse der Seilzugmechanik über einen Schutzleiteranschluss zu erden. 5.1.1 Seilendring mit Kugelgelenk Um das Abknicken des Mess-Seils zu verhindern sind bei TR-Electronic GmbH die SL30…-Seilzügen Seilendringe standardmäßig...

  • Page 83: Sl00

    (Kap.: 4) sind zwingend zu berücksichtigen. Um einen Potentialausgleich zu gewährleisten ist das Gehäuse der Seilzugmechanik über einen Schutzleiteranschluss zu erden.  TR-Electronic GmbH 2022, All Rights Reserved Printed in the Federal Republic of Germany Page 18 of 40 TR-ECE-BA-DGB-0170 v00...

  • Page 84: Wps

    Einhängung auszurichten ist. Erst wenn das Mess-System befestigt ist, kann der Seilendring an dem beweglichen Objekt befestigt werden. Die „Montagevorschriften“ (Kap.: 4) sind zwingend zu berücksichtigen.  TR-Electronic GmbH 2022, All Rights Reserved Printed in the Federal Republic of Germany 04/04/2022...

  • Page 85: Zubehör

    Zubehör 6 Zubehör Das verfügbare Zubehör ist von der jeweiligen Ausführung des Seilzugs abhängig und ist bei der Firma TR-Electronic GmbH anzufragen. 6.1 SL30… Seilführungsrolle: Für geradlinigen Seilabzug zur Seileinhängung. Bürstenvorsatz: Für extrem staubige und verzunderte Umweltverhältnisse. Druckluftvorsatz: Zur Vermeidung von Staub- und Schmutzeintrag.
  • Page 86 Wire Draw Encoder _Basic safety instructions Mounting and _Intended use Assembly Instructions _General functional description _Instructions for mounting  TR-Electronic GmbH 2022, All Rights Reserved Printed in the Federal Republic of Germany 04/04/2022 TR-ECE-BA-DGB-0170 v00 Page 21 of 40...
  • Page 87 Courier font displays text, which is visible on the display or screen and software menu selections.  < >  indicates keys on your computer keyboard (such as <RETURN>).  TR-Electronic GmbH 2022, All Rights Reserved Printed in the Federal Republic of Germany Page 22 of 40 TR-ECE-BA-DGB-0170 v00...
  • Page 88 5.3 WDS… ............................ 38 5.4 WPS… ............................ 39 6 Accessories ............................. 40 6.1 SL30… ............................ 40 6.2 WDS… ............................ 40  TR-Electronic GmbH 2022, All Rights Reserved Printed in the Federal Republic of Germany 04/04/2022 TR-ECE-BA-DGB-0170 v00 Page 23 of 40...

  • Page 89: Revision Index

    Revision index Revision index Revision Date Index First release 04/04/2022  TR-Electronic GmbH 2022, All Rights Reserved Printed in the Federal Republic of Germany Page 24 of 40 TR-ECE-BA-DGB-0170 v00 04/04/2022...

  • Page 90: General Information

     these Assembly Instructions  Pin assignment  interface-specific User Manual  Product data sheet: www.tr-electronic.com/s/S024334  TR-Electronic GmbH 2022, All Rights Reserved Printed in the Federal Republic of Germany 04/04/2022 TR-ECE-BA-DGB-0170 v00 Page 25 of 40...

  • Page 91: Eu Declaration Of Conformity

    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 92: Principle Structure

    The winding cylinder is axially coupled with an encoder (rotary encoder).  TR-Electronic GmbH 2022, All Rights Reserved Printed in the Federal Republic of Germany 04/04/2022...

  • Page 93: Basic Safety Instructions

    EU EMC Directive, the harmonized standards, European standards or the corresponding national standards.  TR-Electronic GmbH 2022, All Rights Reserved Printed in the Federal Republic of Germany Page 28 of 40...

  • Page 94: Ul / Csa Approval

    Other applicable documents! Faults which could threaten safety should be eliminated without delay!  TR-Electronic GmbH 2022, All Rights Reserved Printed in the Federal Republic of Germany 04/04/2022...

  • Page 95: Intended Use

     Mechanical or electrical modifications to the measuring systems undertaken autonomously.  Repairs carried out autonomously.  Third party interference and Acts of God.  TR-Electronic GmbH 2022, All Rights Reserved Printed in the Federal Republic of Germany Page 30 of 40 TR-ECE-BA-DGB-0170 v00...

  • Page 96: Organizational Measures

    Verlag GmbH).  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 2022, All Rights Reserved Printed in the Federal Republic of Germany 04/04/2022...

  • Page 97: Safety Information's

    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 2022, All Rights Reserved Printed in the Federal Republic of Germany Page 32 of 40...

  • Page 98: Transportation / Storage

    Do not remove the measuring systems from the packaging by the rope or the wire end ring. Storage Storage temperature: see product data sheet Store in a dry place  TR-Electronic GmbH 2022, All Rights Reserved Printed in the Federal Republic of Germany 04/04/2022 TR-ECE-BA-DGB-0170 v00 Page 33 of 40...

  • Page 99: Mounting Rules

     For optimum rope guidance, the ring at the end of the measuring wire must be freely movable. Therefore, do not clamp the rope end ring tightly, e.g. by means of a screw or riveted connection.  TR-Electronic GmbH 2022, All Rights Reserved Printed in the Federal Republic of Germany Page 34 of 40...

  • Page 100: Application Notes

    To prevent moisture and dust from entering, the wire entry should preferably be positioned downwards.  TR-Electronic GmbH 2022, All Rights Reserved Printed in the Federal Republic of Germany 04/04/2022 TR-ECE-BA-DGB-0170 v00 Page 35 of 40...

  • Page 101: Wire Pull-Off

    Protect the measuring wire from falling objects. If necessary, a cover must be provided.  TR-Electronic GmbH 2022, All Rights Reserved Printed in the Federal Republic of Germany Page 36 of 40 TR-ECE-BA-DGB-0170 v00 04/04/2022...

  • Page 102: Instructions For Mounting / Schematic

    In order to prevent the measuring wire from kinking, the wire end rings at TR- Electronic GmbH for SL30... wire draws are equipped with a ball joint as standard. Inserting / removing the ball joint:  TR-Electronic GmbH 2022, All Rights Reserved Printed in the Federal Republic of Germany 04/04/2022...

  • Page 103: Sl00

    To ensure equipotential bonding, the housing of the wire draw mechanism must be grounded via a protective conductor connection.  TR-Electronic GmbH 2022, All Rights Reserved Printed in the Federal Republic of Germany Page 38 of 40 TR-ECE-BA-DGB-0170 v00...

  • Page 104: Wps

    The wire end ring can only be attached to the moving object once the measuring system has been fastened. The "Mounting rules" (chapter: 4) must be observed.  TR-Electronic GmbH 2022, All Rights Reserved Printed in the Federal Republic of Germany 04/04/2022...

  • Page 105: Accessories

    To prevent dust and dirt from entering the device. 6.2 WDS… Various guide pulleys are available for measuring systems with WDS... wire draw box. See: www.tr-electronic.de/f/TR-ECE-TI-DGB-0254  TR-Electronic GmbH 2022, All Rights Reserved Printed in the Federal Republic of Germany Page 40 of 40 TR-ECE-BA-DGB-0170 v00 04/04/2022...
  • Page 106 Seite 2 - 92 Page 93 - 183 Redundant Drehgeber: CR_-582 _Zusätzliche Sicherheitshinweise _Installation _Inbetriebnahme _Parametrierung _Fehlerursachen und Abhilfen Benutzerhandbuch...
  • Page 107 Tasten der Tastatur Ihres Computers hin (wie etwa <RETURN>). Marken   CANopen und CiA sind eingetragene Gemeinschaftsmarken der CAN in Automation e.V.  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany Page 2 of 183 TR-ECE-BA-DGB-0165 v03 06/20/2023...
  • Page 108 4.8 Geräteprofil ..........................35 5 Installation / Inbetriebnahmevorbereitung ..................36 5.1 Anschluss – Hinweise ......................37 5.2 Bus-Terminierung ........................37  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany 06/20/2023 TR-ECE-BA-DGB-0165 v03 Page 3 of 183...
  • Page 109 8.20.3 Objekt 1F56h: Programm Software Identifikation ..........57 8.20.4 Objekt 1F57h: Programm Status ................57 8.21 Objekt 1F80h: NMT Autostart ....................58  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany Page 4 of 183...
  • Page 110 11.3.1 Objekt 1001h: Fehlerregister ................89 11.3.2 Objekt 1003h: Vordefiniertes Fehlerfeld, Bits 0 – 15 ..........90 11.4 Alarm-Meldungen ......................... 90 11.5 Sonstige Störungen ......................91  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany 06/20/2023 TR-ECE-BA-DGB-0165 v03...

  • Page 111: Änderungs-Index

    28.01.2022 Blockschaltbild „Funktionsprinzip“ in Kap.: 3 angepasst 01.12.2022 Abbildung 1: „Kabelabgang / Gerätestecker“ durch einen 20.06.2023 einzigen Block ersetzt.  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany Page 6 of 183 TR-ECE-BA-DGB-0165 v03 06/20/2023...

  • Page 112: Allgemeines

    Anlage. Es gelten somit zusammen folgende Dokumentationen:  siehe Kapitel „Mitgeltende Dokumente“ in der Montageanleitung www.tr-electronic.de/f/TR-ECE-BA-DGB-0035  Produktdatenblatt www.tr-electronic.de/s/S023359  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany 06/20/2023 TR-ECE-BA-DGB-0165 v03 Page 7 of 183...

  • Page 113: Referenzen

    CiA DS-305 V2.2.5, Layer Setting Services (LSS) und Protokolle, November 2010 CiA DS-406 V3.2, CANopen Profil für Encoder, Dezember 2006  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany Page 8 of 183 TR-ECE-BA-DGB-0165 v03 06/20/2023...

  • Page 114: Verwendete Abkürzungen / Begriffe

    Process Data Object. Objekt für den Datenaustausch zwischen mehreren Geräten. Service Data Object. Punkt zu Punkt Kommunikation mit Zugriff auf die Objekt-Datenliste eines Gerätes. Synchron-Serielles-Interface  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany 06/20/2023 TR-ECE-BA-DGB-0165 v03 Page 9 of 183...

  • Page 115: Zusätzliche Sicherheitshinweise

    "CANopen Device Profile für Encoder CiA DS-406 V2.0A". Die technischen Richtlinien zum Aufbau des CANopen Netzwerks der CAN- Nutzerorganisation CiA sind für einen sicheren Betrieb zwingend einzuhalten.  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany Page 10 of 183...

  • Page 116: Redundante Doppelabtastungen

    Werte explizit für nur eine Abtastung betrachtet werden müssen. CR_582 CO/CO Channel 1 Channel 2 Getriebe 1 Getriebe 2 Abbildung 1: Funktionsprinzip der redundanten Doppelabtastung  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany 06/20/2023 TR-ECE-BA-DGB-0165 v03 Page 11 of 183...

  • Page 117: Canopen Informationen

    Geräteprofile entwickelt, in der mit der Struktur des Objektverzeichnisses und den allgemeinen Kodierungsregeln der gemeinsame Nenner aller Geräteprofile definiert ist.  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany Page 12 of 183 TR-ECE-BA-DGB-0165 v03...

  • Page 118: Canopen - Kommunikationsprofil

    Special Function Object (SFO) Synchronization (SYNC) Emergency (EMCY) Protokoll Network Management Object (NMO) z.B. Life / Node-Guarding Boot-Up,… Error Control Protokoll  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany 06/20/2023 TR-ECE-BA-DGB-0165 v03 Page 13 of 183...

  • Page 119: Prozess- Und Service-Daten-Objekte

    Telegramme verteilt Format vorher vereinbart Daten durch Index CAN pur adressiert keine Bestätigung bestätigende Dienste Abbildung 4: Gegenüberstellung von PDO/SDO-Eigenschaften  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany Page 14 of 183 TR-ECE-BA-DGB-0165 v03 06/20/2023...

  • Page 120: Objektverzeichnis (Object Dictionary)

    Node-ID = Adressschalter-Einstellung + 1 Beispiele Objekt Funktions-Code COB-ID Index Kommunikations-Parameter – 0000bin SYNC 0001bin 1005 181h – 1FFh PDO1 (tx) 0011bin 1800h  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany 06/20/2023 TR-ECE-BA-DGB-0165 v03 Page 15 of 183...

  • Page 121: Übertragung Von Sdo Nachrichten

    Im Fall eines Fehlers (SDO Response CCD = 0x80) enthält der Datenbereich einen 4-Byte-Fehlercode, der über die Fehlerursache Auskunft gibt. Die Bedeutung der Fehlercodes ist aus der Tabelle 10, Seite 88 zu entnehmen.  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany Page 16 of 183...
  • Page 122 Leseanforderung SDO Request Kein weiteres Datensegment vorhanden. 0x01 SDO Response Die Bytes 1 bis 7 beinhalten die angeforderten Daten.  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany 06/20/2023 TR-ECE-BA-DGB-0165 v03 Page 17 of 183...

  • Page 123: Lese Sdo

    Wenn nur 1 Datenbyte (Daten 0) Daten enthält, ist der Wert von Byte 0 = "4Fh". Ist Byte 0 = 80h, wird die Übertragung abgebrochen.  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany Page 18 of 183...

  • Page 124: Schreibe Sdo

    Daten Daten Daten Daten Inhalt Code Index index High Byte Ist Byte 0 = 80h, wird die Übertragung abgebrochen.  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany 06/20/2023 TR-ECE-BA-DGB-0165 v03 Page 19 of 183...

  • Page 125: Netzwerkmanagement, Nmt

    Start_Remote_Node --> Betriebszustand (4),(7) Enter_PRE-OPERATIONAL_State --> Vor-Betriebszustand (5),(8) Stop_Remote_Node --> Stop (9),(10),(11) Reset_Node --> Reset Knoten (12),(13),(14) Reset_Communication --> Reset Kommunikation  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany Page 20 of 183 TR-ECE-BA-DGB-0165 v03 06/20/2023...

  • Page 126: Netzwerkmanagement-Dienste

    0x82 gehen. Danach Übergang in den Zustand INITIALIZATION, (14) erster Zustand nach dem Einschalten. Tabelle 4: NMT-Dienste zur Gerätekontrolle  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany 06/20/2023 TR-ECE-BA-DGB-0165 v03 Page 21 of 183...

  • Page 127: Nmt-Dienste Zur Verbindungsüberwachung

    Slave nicht vom Master überwacht. Ist die Life Time = 0, ist das Life Guarding abgeschaltet. Tabelle 5: Parameter für NMT-Dienste  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany Page 22 of 183 TR-ECE-BA-DGB-0165 v03...

  • Page 128: Layer Setting Services (Lss) Und Protokolle

    Identifizierung von nicht-konfigurierten LSS-Slaves, Node-ID = FFh ● LSS identify non-configured slave  Rückmeldung der LSS-Slaves auf das vorherige Kommando  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany 06/20/2023 TR-ECE-BA-DGB-0165 v03 Page 23 of 183...

  • Page 129: Finite State Automaton, Fsa

    Inquire Node-ID Nein LSS identify remote slave LSS identify slave LSS identify non-configured remote slave LSS identify non-configured slave  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany Page 24 of 183 TR-ECE-BA-DGB-0165 v03 06/20/2023...

  • Page 130: Übertragung Von Lss-Diensten

    Byte 6 Byte 7 Tabelle 7: LSS-Nachricht Byte 0 enthält die Command-Specifier (CS), danach folgen 7 Byte für die Daten.  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany 06/20/2023 TR-ECE-BA-DGB-0165 v03 Page 25 of 183...

  • Page 131: Switch Mode Protokolle

    * Zum Adressieren der zweiten Abtastung ist für ENC2 an dieser Stelle zusätzlich das Bit 0x8000 0000 zu setzen. LSS-Slave --> LSS-Master COB-ID Reserved by CiA 0x7E4 0x44  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany Page 26 of 183 TR-ECE-BA-DGB-0165 v03 06/20/2023...

  • Page 132: Configuration Protokolle

    SDO geändert werden. Siehe hierzu auch Kap. 5.4 „Einstellen der Node-ID und Baudrate“ auf Seite 37 und Kap. 9.2.10 „Objekt 2110h: LSS Node-ID“ auf Seite 70.  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany...

  • Page 133: Configure Bit Timing Parameters Protokoll

    SDO geändert werden. Siehe hierzu auch Kap. 5.4 „Einstellen der Node-ID und Baudrate“ auf Seite 37 und Kap. 9.2.11 „Objekt 2111h: LSS-BitTiming“ auf Seite 71.  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany Page 28 of 183...

  • Page 134: Activate Bit Timing Parameters Protokoll

    Fehler aufgetreten Specific Error Wenn Error Code = 255 --> applikationsspezifischer Fehler aufgetreten, sonst reserviert durch die CiA  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany 06/20/2023 TR-ECE-BA-DGB-0165 v03 Page 29 of 183...

  • Page 135: Inquire Lss-Address Protokolle

    LSS-Master --> LSS-Slave COB-ID Reserved by CiA 0x7E5 0x5B LSS-Slave --> LSS-Master COB-ID Product-Code (≙Index 1018h:02) Reserved by CiA 0x7E4 0x5B  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany Page 30 of 183 TR-ECE-BA-DGB-0165 v03 06/20/2023...

  • Page 136: Inquire Identity Revision-Number Protokoll

    0x7E5 0x5D * Zur Identifikation der zweiten Abtastung eines Mess-Systems ist bei ENC2 an dieser Stelle das Bit 0x8000 0000 gesetzt.  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany 06/20/2023 TR-ECE-BA-DGB-0165 v03 Page 31 of 183...

  • Page 137: Inquire Node-Id Protokoll

    Node-ID zurückgemeldet. Erst nach Ausführung des NMT-Dienstes Reset Communication (0x82) wird die aktuelle Node-ID zurückgemeldet.  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany Page 32 of 183 TR-ECE-BA-DGB-0165 v03...

  • Page 138: Identification Protokolle

    LSS-Adress-Attributen entsprechen, antworten mit diesem Protokoll. LSS-Slave --> LSS-Master COB-ID Reserved by CiA 0x7E4 0x4F  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany 06/20/2023 TR-ECE-BA-DGB-0165 v03 Page 33 of 183...

  • Page 139: Lss Identify Non-Configured Remote Slave Protokoll

    Ausführung des LSS identify non-configured remote slave protocol mit diesem Protokoll. LSS-Slave --> LSS-Master Reserved by CiA COB-ID 0x7E4 0x50  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany Page 34 of 183 TR-ECE-BA-DGB-0165 v03 06/20/2023...

  • Page 140: Geräteprofil

    CAN in Automation Nutzer- und Herstellervereinigung (CiA) unter nachstehender Adresse: CAN in Automation Am Weichselgarten 26 DE-91058 Erlangen Tel. +49-9131-69086-0 Fax +49-9131-69086-79 Website: www.can-cia.org E-Mail: headquarters@can-cia.org  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany 06/20/2023 TR-ECE-BA-DGB-0165 v03 Page 35 of 183...

  • Page 141: Installation / Inbetriebnahmevorbereitung

    Normen und Richtlinien zu beachten! Insbesondere sind die EMV-Richtlinie sowie die Schirmungs- und Erdungsrichtlinien in den jeweils gültigen Fassungen zu beachten!  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany Page 36 of 183...

  • Page 142: Anschluss - Hinweise

    Eine Node-ID darf nur einmal im CAN-Bus vergeben werden. Sind die LSS-Dienste aktiv, werden Änderungen der Node-ID und Baudrate über die Hex-Schalter erst nach einem Neustart des Mess-Systems wirksam.  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany 06/20/2023...

  • Page 143: Einstellung Mittels Hex-Schalter

    Mode = 0 in den Zustand Waiting state bringen. NMT-Dienst Reset Communication (0x82) aufrufen, damit die neue Node-ID  für ENC1 aktiv wird.  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany Page 38 of 183 TR-ECE-BA-DGB-0165 v03...

  • Page 144: Konfiguration Der Node-Id Für Abtastung 2 (Enc2)

    --> Error Code = 0. Beide Abtastungen mit dem Dienst 04 Switch state global protocol,  Mode = 0 in den Zustand Waiting state versetzen.  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany 06/20/2023 TR-ECE-BA-DGB-0165 v03...

  • Page 145: Konfiguration Der Baudrate Für Eine Abtastungen

    über „Objekt 2111h: LSS-BitTiming“ Kap.: 9.2.11 eingestellt. Die über SDOs eingestellte Node-ID und Baudrate entsprechen den über LSS- Dienste eingestellten Werten und überschreiben sich gegenseitig.  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany Page 40 of 183...

  • Page 146: Inbetriebnahme

    Die Steckerbelegungsnummer oder ein QR-Code ist auf dem Typenschild des Mess-Systems vermerkt. Entsprechende Maßnahmen im Fehlerfall siehe Kapitel „Optische Anzeigen“, Seite 87.  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany 06/20/2023 TR-ECE-BA-DGB-0165 v03...

  • Page 147: Kommunikations-Profil

    Istwert kann nur über einen Remote-Frame übertragen werden Istwert wird asynchron mit dem Timerwert aus den Objekten 1800h und 1801h übertragen (Subindex 5)  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany Page 42 of 183...

  • Page 148: Aufbau Der Mappingparameter, 1A00H-1A01H

    Applikationsobjekte. Das Objekt beschreibt den Inhalt des PDOS durch ihren Index, Subindex und der Länge in Bit: Index Subindex Länge in Bit  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany 06/20/2023 TR-ECE-BA-DGB-0165 v03 Page 43 of 183...

  • Page 149: Ändern Der Mappingeinstellung

    über das "Objekt 2101h: Senden von PDO bei Node-Start" verhindert werden, siehe Seite 70. In der Standardeinstellung kann jetzt der Positionswert auf verschiedene Arten übertragen werden:  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany Page 44 of 183 TR-ECE-BA-DGB-0165 v03...

  • Page 150: Erstes Sende-Prozessdaten-Objekt

    5. gemapptes Objekt 0000 0000h 6. gemapptes Objekt 0000 0000h 7. gemapptes Objekt 0000 0000h 8. gemapptes Objekt 0000 0000h  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany 06/20/2023 TR-ECE-BA-DGB-0165 v03 Page 45 of 183...

  • Page 151: Kommunikationsspezifische Standard-Objekte (Cia Ds-301)

    ARRAY Programm Software Identifikation Unsigned32 1F57 ARRAY Programmstatus Unsigned32 1F80 NMT Autostart Unsigned32 Tabelle 8: Kommunikationsspezifische Standard-Objekte segmentiertes Lesen  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany Page 46 of 183 TR-ECE-BA-DGB-0165 v03 06/20/2023...

  • Page 152: Objekt 1000H: Gerätetyp

    Im Moment des Auftretens wird ein Fehler durch eine EMCY-Nachricht signalisiert. Unsigned8 Bedeutung generischer Fehler Kommunikationsfehler (Überlauf, Fehlerstatus)  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany 06/20/2023 TR-ECE-BA-DGB-0165 v03 Page 47 of 183...

  • Page 153: Objekt 1002H: Hersteller-Status-Register

    16 Bit Zusatz-Fehlerinformation zusammen. Unsigned32 Standard Fehlerfeld Byte 0 Byte 1 Byte 2 Byte 3 Fehlercode Zusatz-Fehlerinformation, wird nicht unterstützt  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany Page 48 of 183 TR-ECE-BA-DGB-0165 v03 06/20/2023...

  • Page 154: Objekt 1005H: Cob-Id Sync Nachricht

    Enthält die Hersteller Hardwareversion (visible string), Übertragung per „Segment Protokoll“. 8.8 Objekt 100Ah: Hersteller Softwareversion Enthält die Firmware-Nr. (visible string) Übertragung per „Segment Protokoll“.  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany 06/20/2023 TR-ECE-BA-DGB-0165 v03 Page 49 of 183...

  • Page 155: Objekt 100Ch: Guard-Time (Überwachungszeit)

    Der Live-Time-Faktor multipliziert mit der Guard-Time ergibt die Zeitdauer für das Node-Guarding-Protokoll. Standardwert = 0. Unsigned8 Life-Time-Faktor Byte 0 bis 2  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany Page 50 of 183 TR-ECE-BA-DGB-0165 v03 06/20/2023...

  • Page 156: Objekt 1010H: Parameter Abspeichern

    Fehlercode 0606 0000 h. Wurde eine falsche Signatur geschrieben, verweigert die Abtastung die Speicherung und antwortet mit Abbruch der Übertragung: Fehlercode 0800 0020 h.  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany 06/20/2023 TR-ECE-BA-DGB-0165 v03...

  • Page 157: Objekt 1011H: Wiederherstellung Der Parameter-Standardwerte

    Abbruch der Übertragung: Fehlercode 0606 0000 h. Wurde eine falsche Signatur geschrieben, verweigert Abtastung Wiederherstellung und antwortet mit Abbruch der Übertragung: Fehlercode 0800 0020  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany Page 52 of 183 TR-ECE-BA-DGB-0165 v03 06/20/2023...

  • Page 158: Objekt 1014H: Cob-Id Emergency (Emcy)

    Heartbeat time [ms], Default = 0 Die Heartbeat time ist als Vielfaches von 1 ms anzugeben. Der Eintrag für die Node- ID entspricht der Node-ID des zu überwachenden Knotens.  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany 06/20/2023...

  • Page 159: Objekt 1017H: Producer Heartbeat Time

    Abtastung Informationen über Revisions-Nr.: aktuelle Revisions-Nr. Subindex4: Bei Lesezugriff liefert die Abtastung Informationen über die Serien-Nr.: aktuelle Serien-Nr.  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany Page 54 of 183 TR-ECE-BA-DGB-0165 v03 06/20/2023...

  • Page 160: Objekt 1021H: Eds Abspeichern

    NMT in PRE-OPERATIONAL-Mode versetzen (nur wenn sich die Abtastung im OPERATIONAL-Mode befindet) keine Änderung des NMT-Status NMT in STOPPED-Mode versetzen  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany 06/20/2023 TR-ECE-BA-DGB-0165 v03 Page 55 of 183...

  • Page 161: Firmware-Update

    SDO Abort-Nachricht ausgegeben. Die Abort-Nachricht 0609 0030h zeigt an, dass die Aktion nicht unterstützt wird. Die Abort-Nachricht 0800 0022h zeigt an, dass die Aktion im Moment nicht ausgeführt werden kann.  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany Page 56 of 183...

  • Page 162: Objekt 1F56H: Programm Software Identifikation

    Bearbeitung, andere Bits ungültig, Programmstatus ungültig Kein Fehler aufgetreten, Firmware gültig ungültige Firmware 2…7 Nicht unterstützt 8…15 Reserviert (immer 0) 16…31 Nicht unterstützt  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany 06/20/2023 TR-ECE-BA-DGB-0165 v03 Page 57 of 183...

  • Page 163: Objekt 1F80H: Nmt Autostart

    1 Start Der Versuch ein Bit zu ändern das nicht in der Abtastung vorhanden ist, veranlasst eine Abort-Nachricht (0609 0030h).  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany Page 58 of 183 TR-ECE-BA-DGB-0165 v03...
  • Page 164 2751 TR-Produktion VisibleString 2752 TR-Produktion VisibleString 2753 TR-Produktion VisibleString 2754 TR-Produktion VisibleString 2755 TR-Produktion VisibleString 2756 TR-Produktion VisibleString …  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany 06/20/2023 TR-ECE-BA-DGB-0165 v03 Page 59 of 183...
  • Page 165 Ist sofort nach Aufruf wirksam und wird erst nach Ausführen von "Objekt 1010h: Parameter abspeichern" dauerhaft im EEPROM abgespeichert. Ist sofort nach Aufruf wirksam und wird dauerhaft im EEPROM abgespeichert. Segmentiertes Lesen  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany Page 60 of 183 TR-ECE-BA-DGB-0165 v03...
  • Page 166 0x6001, Mess-Schritte pro Umdrehung 0x2002, Gesamtmesslänge in Schritten 0x6002, Gesamtmesslänge in Schritten 0x2003, Anzahl Umdrehungen - Zähler 0x2004, Anzahl Umdrehungen - Nenner  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany 06/20/2023 TR-ECE-BA-DGB-0165 v03 Page 61 of 183...

  • Page 167: Parametrierung

    Menge 2 oder… ● Sicherstellen, dass sich Positionierungen im stromlosen Zustand bei einem Multi-Turn Mess-System innerhalb von 512 Umdrehungen befinden.  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany Page 62 of 183 TR-ECE-BA-DGB-0165 v03 06/20/2023...
  • Page 168 Gesamtmesslänge in Schritten = Anzahl Schritte pro Umdrehung * Anzahl Umdrehungen Zur Berechnung können die Parameter Schritte/Umdr. und Anzahl Umdrehungen vom Typenschild des Mess-Systems abgelesen werden und gelten für beide Abtastungen.  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany 06/20/2023 TR-ECE-BA-DGB-0165 v03...

  • Page 169: Objekt 2003H - 2004H: Tr-Umdrehungen Zähler / Nenner

    Untergrenze Nenner Obergrenze Nenner 16384 Default Anzahl der Umdrehungen: Anzahl Umdrehungen Zähler Anzahl der Umdrehungen = Anzahl Umdrehungen Nenner  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany Page 64 of 183 TR-ECE-BA-DGB-0165 v03 06/20/2023...
  • Page 170 Abtastung bei einer geringfügigen Überschreitung des Verfahrweges keinen Istwertsprung (Nullübergang) erzeugt. Der Einfachheit halber kann auch der volle Umdrehungsbereich der jeweiligen Abtastung programmiert werden.  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany 06/20/2023 TR-ECE-BA-DGB-0165 v03...
  • Page 171 Anzahl Umdrehungen Nenner 4096 Umdrehungen Zähler = 1348,073499 Schritte / Umdr. * 1 Umdrehung Nenner = 5521709 Schritte (abgerundet)  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany Page 66 of 183 TR-ECE-BA-DGB-0165 v03 06/20/2023...

  • Page 172: Objekt 2005H: Geschwindigkeitsauflösung

    Siehe Objekt 2000h: Mode-Umschaltung TR / CiA DS-406. 9.2.4 Objekt 2006h: Zusätzliche Parameter/Kommandos (gerätespezifisch) Über dieses Objekt können gerätespezifische Parameter/Kommandos ausgetauscht werden.  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany 06/20/2023 TR-ECE-BA-DGB-0165 v03 Page 67 of 183...

  • Page 173: Objekt 2007H: Geschwindigkeitsfaktor

    655360 Schritte Anzahl Schritte / t * 0,05 s 32768 Schritte (Schritte/Integrationszeit) * Faktor = 32768 Schritte / 50 ms  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany Page 68 of 183 TR-ECE-BA-DGB-0165 v03 06/20/2023...
  • Page 174 COB-ID für Boot-Up Nachricht Byte 0 Byte 1 bis 2 bis 2 bis 2 00h – FFh 0h – 7h  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany 06/20/2023 TR-ECE-BA-DGB-0165 v03 Page 69 of 183...

  • Page 175: Objekt 2101H: Senden Von Pdo Bei Node-Start

    LSS NodeID Datentyp UNSIGNED8 Objektcode VARIABLE Zugriff nein PDO Mapping Untergrenze 0x01 = Node-ID 1 Obergrenze 0x7F = Node-ID 127  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany Page 70 of 183 TR-ECE-BA-DGB-0165 v03 06/20/2023...

  • Page 176: Objekt 2111H: Lss-Bittiming

    VARIABLE Objektcode Zugriff PDO Mapping Untergrenze 0x8000 Obergrenze 0x7FFF 9.2.14 TR-Produktion Die Objekte „TR-Produktion“ sind für herstellerspezifische Funktionen reserviert.  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany 06/20/2023 TR-ECE-BA-DGB-0165 v03 Page 71 of 183...

  • Page 177: Tr-Mapping Dummy

    Beschreibung TR-Mapping-Dummy u32 Datentyp UNSIGNED32 Objektcode VARIABLE Zugriff PDO Mapping 0x0000 0000 Untergrenze Obergrenze 0xFFFF FFFF Default 0x0000 0000  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany Page 72 of 183 TR-ECE-BA-DGB-0165 v03 06/20/2023...

  • Page 178: Cia Ds-406 - Mode

    (1, 2, 4…4096) ist. oder  Sicherstellen, dass sich Positionierungen im stromlosen Zustand bei einem Multi-Turn Mess-System innerhalb von 512 Umdrehungen befinden.  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany 06/20/2023 TR-ECE-BA-DGB-0165 v03 Page 73 of 183...
  • Page 179 Da der Wert "0" bereits als Schritt gezählt wird, ist der Endwert = Messlänge in Schritten – 1. Gesamtmesslänge in Schritten = Mess-Schritte pro Umdrehung * Anzahl der Umdrehungen  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany Page 74 of 183...
  • Page 180 6002h ausgelesen werden und ist immer kleiner als die vorgegebene Messlänge. Es kann daher vorkommen, dass die tatsächlich benötigte Gesamtschrittzahl unterschritten wird und das Mess-System vor Erreichen des maximalen mechanischen Verfahrweges einen Nullübergang generiert.  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany 06/20/2023 TR-ECE-BA-DGB-0165 v03...

  • Page 181: Objekt 6003H: Presetwert

    PDO Mapping Positionswert Byte 0 Byte 1 Byte 2 Byte 3 bis 2 bis 2 bis 2 bis 2  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany Page 76 of 183 TR-ECE-BA-DGB-0165 v03 06/20/2023...

  • Page 182: Objekt 6030H: Geschwindigkeit

    Cyclic-Timer. Dies bedeutet, dass eine Änderung des Event- Timers sich auch im Cyclic Timer auswirkt und umgekehrt. Die Kommunikationsparameter 1801h benutzt ausschließlich seinen eigenen Timer, Zugriff über Subindex 5.  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany 06/20/2023 TR-ECE-BA-DGB-0165 v03...
  • Page 183 Byte 2 Byte 3 bis 2 bis 2 bis 2 bis 2 Standardwert: abhängig von der Kapazität, siehe Typenschild  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany Page 78 of 183 TR-ECE-BA-DGB-0165 v03 06/20/2023...

  • Page 184: Objekt 6502H: Anzahl Der Umdrehungen

    59392 = E800h Umdrehungen. Da dieses Objekt nur einen 16 Bit-Wert speichern kann, wird der höherwertige Anteil der Zahl 3E800h (256.000) nicht dargestellt.  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany 06/20/2023 TR-ECE-BA-DGB-0165 v03...

  • Page 185: Objekt 6503H: Alarme

    EE-PROM-Fehler Die Abtastung hat eine falsche Checksumme im EEPROM-Bereich erkannt, oder ein Schreibvorgang in das EEPROM konnte nicht erfolgreich abgeschlossen werden.  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany Page 80 of 183 TR-ECE-BA-DGB-0165 v03...

  • Page 186: Objekt 6504H: Unterstützte Alarme

    Reserviert für weitere Verwendung Reserviert für weitere Verwendung Reserviert für weitere Verwendung EE-PROM-Fehler Nein Reserviert für weitere Verwendung herstellerspezifische Funktionen herstellerspezifische Funktionen  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany 06/20/2023 TR-ECE-BA-DGB-0165 v03 Page 81 of 183...

  • Page 187: Objekt 6505H: Warnungen

    Die Grenzwerte können dem gerätespezifischen Datenblatt entnommen werden. Alle Warnungen werden automatisch gelöscht, sobald sich die Betriebsparameter wieder im Normalbereich befinden.  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany Page 82 of 183 TR-ECE-BA-DGB-0165 v03...

  • Page 188: Objekt 6506H: Unterstützte Warnungen

    Reserviert für weitere Verwendung Reserviert für weitere Verwendung Reserviert für weitere Verwendung Temperaturwarnung Nein herstellerspezifische Funktionen herstellerspezifische Funktionen herstellerspezifische Funktionen  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany 06/20/2023 TR-ECE-BA-DGB-0165 v03 Page 83 of 183...

  • Page 189: Objekt 6507H: Profil- Und Softwareversion

    Die Betriebsdauer wird in 0,1 Std. pro Digit erfasst. Index 0x6508 Beschreibung Operating time UNSIGNED32 Datentyp Objektcode VARIABLE Zugriff PDO Mapping nein  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany Page 84 of 183 TR-ECE-BA-DGB-0165 v03 06/20/2023...

  • Page 190: Objekt 6509H: Offsetwert

    PDO Mapping nein Zur Identifikation der zweiten Abtastung eines Mess-Systems ist bei der Seriennummer für ENC2 immer zusätzlich das Bit 0x8000 0000 gesetzt.  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany 06/20/2023 TR-ECE-BA-DGB-0165 v03...

  • Page 191: Emergency-Meldung

    Wenn der Fehler nicht mehr vorhanden ist, überträgt die betreffende Abtastung eine Emergency-Meldung mit dem Fehlercode "0" (Reset Fehler / kein Fehler) und Fehler- Register "0".  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany Page 86 of 183...

  • Page 192: Fehlerursachen Und Abhilfen

    OPERATIONAL in den PRE-OPERATIONAL- oder den STOPPED-Mode überführt werden soll, siehe Seite 55. In diesem Fall ist die abgesetzte Emergency-Meldung auszuwerten, siehe Emergency-Fehlercodes ab Seite 89.  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany 06/20/2023...

  • Page 193: Sdo-Fehlercodes

    Hinweis, dass keine Fehler mehr vorhanden sind, 0x0800 0024 Keine Daten verfügbar bei Lesezugriff auf Objekt 1003h Subindex 01, siehe Seite 48. Tabelle 10: SDO-Fehlercodes  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany Page 88 of 183 TR-ECE-BA-DGB-0165 v03 06/20/2023...

  • Page 194: Emergency-Fehlercodes

    Mit Löschen des letzten Fehlers wird das Fehlerregister zurückgesetzt und eine EMCY-Nachricht mit Fehlercode „0x000“ übertragen. Bedeutung generischer Fehler Kommunikationsfehler (Überlauf, Fehlerstatus)  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany 06/20/2023 TR-ECE-BA-DGB-0165 v03 Page 89 of 183...

  • Page 195: Objekt 1003H: Vordefiniertes Fehlerfeld, Bits 0 - 15

    Maßnahme wiederholt auftritt, muss das Mess- Bit 12 = 1, Speicherbereich im internen System getauscht werden. EE-PROM-Fehler EEPROM defekt Tabelle 12: Alarm-Meldungen  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany Page 90 of 183 TR-ECE-BA-DGB-0165 v03 06/20/2023...

  • Page 196: Sonstige Störungen

    Welle. Wenn der Fehler trotz dieser Maßnahme weiterhin der Welle oder einen auftritt, muss das Mess-System getauscht werden. Defekt der Abtastung. Tabelle 13: Sonstige Störungen  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany 06/20/2023 TR-ECE-BA-DGB-0165 v03 Page 91 of 183...
  • Page 197 Fehlerursachen und Abhilfen  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany Page 92 of 183 TR-ECE-BA-DGB-0165 v03 06/20/2023...
  • Page 198 Redundant Encoder: CR_-582 _Additional safety instructions _Installation User Manual _Commissioning Interface _Parameterization _Cause of faults and remedies  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany 06/20/2023 TR-ECE-BA-DGB-0165 v03 Page 93 of 183...
  • Page 199 >  indicates keys on your computer keyboard (such as <RETURN>). Brand names   CANopen and CiA are registered community trademarks of CAN in Automation e.V.  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany Page 94 of 183 TR-ECE-BA-DGB-0165 v03 06/20/2023...
  • Page 200 4.8 Device profile .......................... 127 5 Installation / Preparation for start-up .................... 128 5.1 Connection – notes ......................... 129 5.2 Bus termination ........................129  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany 06/20/2023 TR-ECE-BA-DGB-0165 v03...
  • Page 201 8.20.3 Object 1F56h: Program software identification ............. 149 8.20.4 Object 1F57h: Flash status identification .............. 149 8.21 Object 1F80h: NMT Autostart ....................150  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany Page 96 of 183...
  • Page 202 11.3.1 Object 1001h: Error register ................. 181 11.3.2 Object 1003h: Pre-defined Error field, bits 0 – 15 ..........182 11.4 Alarm messages ........................182 11.5 Other faults ........................... 183  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany 06/20/2023 TR-ECE-BA-DGB-0165 v03...

  • Page 203: Revision Index

    Block diagram "Functional principle" in chapter: 3 edited 12/01/2022 Figure 1: “Cable outlet / Device connector” replaced by a single block 06/20/2023  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany Page 98 of 183 TR-ECE-BA-DGB-0165 v03...

  • Page 204: General Information

    The following documentation therefore also applies:  see chapter “Other applicable documents” in the Assembly Instructions www.tr-electronic.com/f/TR-ECE-BA-DGB-0035  Product data sheets www.tr-electronic.com/s/S023360  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany 06/20/2023 TR-ECE-BA-DGB-0165 v03 Page 99 of 183...

  • Page 205: References

    CiA DS-305 V2.2.5, Layer Setting Services (LSS) and Protocols, November 2010 CiA DS-406 V3.2, CANopen Profile for Encoder, December 2006  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany Page 100 of 183 TR-ECE-BA-DGB-0165 v03 06/20/2023...

  • Page 206: Abbreviations And Definitions

    Process Data Object. Object for data exchange between several devices. Service Data Object. Peer to peer communication with access to the Object Dictionary of a device. Synchronous-Serial-Interface  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany 06/20/2023 TR-ECE-BA-DGB-0165 v03 Page 101 of 183...

  • Page 207: Additional Safety Instructions

    The technical guidelines for the structure of the CANopen network from the CAN User Organization CiA are always to be observed in order to ensure safe operation.  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany...

  • Page 208: Redundant Double Scanning Unit

    CR_582 CO/CO Channel 1 Channel 2 Gearbox 1 Gearbox 2 Figure 1: Functional principle of redundant double scanning unit  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany 06/20/2023 TR-ECE-BA-DGB-0165 v03 Page 103 of 183...

  • Page 209: Canopen Information

     TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany...

  • Page 210: Canopen - Communication Profile

    Special Function Object (SFO) Synchronization (SYNC) Emergency (EMCY) Protocol Network Management Object (NMO) e.g. Life / Node-Guarding Boot-Up,… Error Control Protocol  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany 06/20/2023 TR-ECE-BA-DGB-0165 v03 Page 105 of 183...

  • Page 211: Process- And Service-Data-Objects

    Format defined before Data addressed via Index CAN pure acknowledged services no Acknowledgement Figure 4: Comparison of PDO/SDO characteristics  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany Page 106 of 183 TR-ECE-BA-DGB-0165 v03 06/20/2023...

  • Page 212: Object Dictionary

    Object Function Code COB-ID Index Communication Parameter – 0000bin SYNC 0001bin 1005 181h – 1FFh PDO1 (tx) 0011bin 1800h  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany 06/20/2023 TR-ECE-BA-DGB-0165 v03 Page 107 of 183...

  • Page 213: Transmission Of Sdo Messages

    In the case of an error (SDO response CCD = 0x80) the data field contains a 4-byte error code, which gives information about the error cause. Meaning of the error codes, see Table 10 on page 180.  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany Page 108 of 183...
  • Page 214 SDO Request No further data segment available. 0x01 SDO Response The bytes 1 to 7 contain the requested data.  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany 06/20/2023 TR-ECE-BA-DGB-0165 v03 Page 109 of 183...

  • Page 215: Read Sdo

    If only 1 data byte (Data 0) contains data the value of byte 0 is "4FH". If byte 0 = 80h the transfer has been aborted.  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany...

  • Page 216: Write Sdo

    Data 0 Data 1 Data 2 Data 3 Index High Byte If byte 0 = 80h the transfer has been aborted.  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany 06/20/2023 TR-ECE-BA-DGB-0165 v03 Page 111 of 183...

  • Page 217: Network Management, Nmt

    Initialization finished - enter PRE-OPERATIONAL automatically (3),(6) Start_Remote_Node --> Operational (4),(7) Enter_PRE-OPERATIONAL_State --> Pre-Operational (5),(8) Stop_Remote_Node (9),(10),(11) Reset_Node (12),(13),(14) Reset_Communication  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany Page 112 of 183 TR-ECE-BA-DGB-0165 v03 06/20/2023...

  • Page 218: Network Management Services

    0x82 Afterwards transition into the INITIALIZATION state, first state (14) after Power on. Table 4: NMT device control services  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany 06/20/2023 TR-ECE-BA-DGB-0165 v03 Page 113 of 183...

  • Page 219: Nmt Node / Life Guarding Services

    Guard Time = 0: No monitoring active Life Time = 0: Life guarding disabled Table 5: Parameter for NMT services  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany Page 114 of 183 TR-ECE-BA-DGB-0165 v03...

  • Page 220: Layer Setting Services (Lss) And Protocols

    LSS identify remote slave ● LSS identify slave ● LSS identify non-configured remote slave ● LSS identify non-configured slave  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany 06/20/2023 TR-ECE-BA-DGB-0165 v03 Page 115 of 183...

  • Page 221: Finite State Automaton, Fsa

    Inquire LSS address Inquire Node-ID LSS identify remote slave LSS identify slave LSS identify non-configured remote slave LSS identify non-configured slave  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany Page 116 of 183 TR-ECE-BA-DGB-0165 v03 06/20/2023...

  • Page 222: Transmission Of Lss Services

    Byte 6 Byte 7 Table 7: LSS message Byte 0 contains the Command-Specifier (CS), afterwards 7 byte data are following.  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany 06/20/2023 TR-ECE-BA-DGB-0165 v03 Page 117 of 183...

  • Page 223: Switch Mode Protocols

    * For addressing the second scanning unit the bit 0x8000 0000 has to be set additionally for ENC2 at this position. LSS-Slave --> LSS-Master COB-ID Reserved by CiA 0x7E4 0x44  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany Page 118 of 183 TR-ECE-BA-DGB-0165 v03 06/20/2023...

  • Page 224: Configuration Protocols

    SDO. See also chapter 5.4 "Setting the Node-ID and Baud rate" on page 129 and chap. 9.2.10 "Object 2110h: LSS Node-ID" on page 162.  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany 06/20/2023...

  • Page 225: Configure Bit Timing Parameters Protocol

    BitTiming" using SDO. See also chapter 5.4 "Setting the Node-ID and Baud rate" on page 129 and chap. 9.2.11 "Object 2111h: LSS BitTiming" on page 163.  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany...

  • Page 226: Activate Bit Timing Parameters Protocol

    Specific Error if Error Code = 255 --> application specific error occurred, otherwise reserved by CiA  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany 06/20/2023 TR-ECE-BA-DGB-0165 v03 Page 121 of 183...

  • Page 227: Inquire Lss Address Protocols

    LSS-Master --> LSS-Slave COB-ID Reserved by CiA 0x7E5 0x5B LSS-Slave --> LSS-Master COB-ID Product-Code (≙Index 1018h:02) Reserved by CiA 0x7E4 0x5B  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany Page 122 of 183 TR-ECE-BA-DGB-0165 v03 06/20/2023...

  • Page 228: Inquire Identity Revision-Number Protocol

    0x5D * For identification of the second scanning unit of a measuring system the bit 0x8000 0000 is set at ENC2 at this position.  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany 06/20/2023 TR-ECE-BA-DGB-0165 v03...

  • Page 229: Inquire Node-Id Protocol

    Configure Node-ID service, the original Node-ID is reported. Only after execution of the NMT service Reset Communication (0x82) the actual Node-ID is reported.  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany Page 124 of 183...

  • Page 230: Identification Protocols

    LSS attributes given in the LSS identify remote slave protocol, response with this protocol. LSS-Slave --> LSS-Master COB-ID Reserved by CiA 0x7E4 0x4F  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany 06/20/2023 TR-ECE-BA-DGB-0165 v03 Page 125 of 183...

  • Page 231: Lss Identify Non-Configured Remote Slave Protocol

    LSS slaves with Node-ID FFh response with this protocol. LSS-Slave --> LSS-Master COB-ID Reserved by CiA 0x7E4 0x50  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany Page 126 of 183 TR-ECE-BA-DGB-0165 v03 06/20/2023...

  • Page 232: Device Profile

    Manufacturer Association: CAN in Automation Am Weichselgarten 26 DE-91058 Erlangen Tel. +49-9131-69086-0 Fax +49-9131-69086-79 Website: www.can-cia.org e-mail: headquarters@can-cia.org  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany 06/20/2023 TR-ECE-BA-DGB-0165 v03 Page 127 of 183...

  • Page 233: Installation / Preparation For Start-Up

    In particular, the applicable EMC directive and the shielding and grounding guidelines must be observed!  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany Page 128 of 183 TR-ECE-BA-DGB-0165 v03...

  • Page 234: Connection - Notes

    If the LSS services are active, changes to the Node-ID and Baud rate via the hex switches only take effect after a restart of the measuring system.  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany...

  • Page 235: Setting By Means Of Hex Switches

    Mode = 0, to switch the LSS slave into Waiting state. Perform NMT service Reset Communication (0x82), to switch the new  Node-ID active for ENC1.  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany Page 130 of 183 TR-ECE-BA-DGB-0165 v03...

  • Page 236: Configuration Of The Node-Id For Scanning Unit 1 (Enc2)

    --> Error Code = 0. Perform service 04 Switch state global protocol,  Mode = 0, to switch the LSS slave into Waiting state.  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany 06/20/2023 TR-ECE-BA-DGB-0165 v03...

  • Page 237: Configuration Of The Baud Rate For One Scanning Unit

    "Object 2111h: LSS BitTiming" chapter 9.2.11. The Node-ID and Baud rate set via SDOs correspond to the values set via LSS services and overwrite each other.  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany Page 132 of 183...

  • Page 238: Commissioning

    QR code is noted on the nameplate of the measuring system. Corresponding measures in case of an error see chapter “Optical displays”, page 179.  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany 06/20/2023...

  • Page 239: Communication Profile

    Actual value can be transferred only over a remote frame Actual value is transferred asynchronously with the timer value from object 1800h and 1801h (sub-index 5)  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany Page 134 of 183...

  • Page 240: Structure Of The Mapping Parameter, 1A00H-1A01H

    PDO by their index, sub-index and length in bit: Index Sub-index Length in bit  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany 06/20/2023 TR-ECE-BA-DGB-0165 v03 Page 135 of 183...

  • Page 241: Procedure For Re-Mapping

    "Object 2101h: Send PDO at Node-Start" on page 162. In the default setting the position value can be transmitted in different ways:  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany Page 136 of 183...

  • Page 242: 1St Transmit Process-Data-Object

    5. mapped object 0000 0000h 6. mapped object 0000 0000h 7. mapped object 0000 0000h 8. mapped object 0000 0000h  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany 06/20/2023 TR-ECE-BA-DGB-0165 v03 Page 137 of 183...

  • Page 243: Communication Specific Standard Objects (Cia Ds-301)

    Unsigned32 1F57 ARRAY Flash status identification Unsigned32 1F80 NMT startup Unsigned32 Table 8: Communication specific standard objects segmented reading  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany Page 138 of 183 TR-ECE-BA-DGB-0165 v03 06/20/2023...

  • Page 244: Object 1000H: Device Type

    0-15 of the object 0x1003. An error is signaled at the moment of the occurrence by an EMCY message. Unsigned8 Meaning generic error communication error (overrun, error state)  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany 06/20/2023 TR-ECE-BA-DGB-0165 v03 Page 139 of 183...

  • Page 245: Object 1002H: Manufacturer Status Register

    Unsigned32 Standard Error Field Byte 0 Byte 1 Byte 2 Byte 3 Error code Additional Information, not supported  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany Page 140 of 183 TR-ECE-BA-DGB-0165 v03 06/20/2023...

  • Page 246: Object 1005H: Cob-Id Sync Message

    “Segment Protocol”. 8.8 Object 100Ah: Software version Contains the manufacturer software version (visible string), transmission via “Segment Protocol”.  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany 06/20/2023 TR-ECE-BA-DGB-0165 v03 Page 141 of 183...

  • Page 247: Object 100Ch: Guard Time

    The life time factor multiplied with the guard time gives the life time for the node guarding protocol. Default value = 0. Unsigned8 Life Time Factor Byte 0 to 2  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany Page 142 of 183 TR-ECE-BA-DGB-0165 v03 06/20/2023...

  • Page 248: Object 1010H: Store Parameters

    0606 0000h. If a wrong signature is written, the scanning unit refuses to save and responds with abort domain transfer: Error code 0800 0020h.  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany 06/20/2023 TR-ECE-BA-DGB-0165 v03...

  • Page 249: Object 1011H: Restore Default Parameter Values

    If a wrong signature is written, the scanning unit refuses to restore the defaults and responds with abort domain transfer: Error code 0800 0020h.  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany Page 144 of 183...

  • Page 250: Object 1014H: Cob-Id Emergency (Emcy)

    The heartbeat time is given in multiples of 1 ms. The entry for the Node-ID corresponds to the Node-ID of the node to be guarded.  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany 06/20/2023...

  • Page 251: Object 1017H: Producer Heartbeat Time

    Sub-index2: Provides information about the Product-Code: device specific Sub-index3: Provides information about the Revision-No.: current Revision-No. Sub-index4: Provides information about the Serial-No.: current Serial-No.  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany Page 146 of 183 TR-ECE-BA-DGB-0165 v03 06/20/2023...

  • Page 252: Object 1021H: Store Eds

    Change to NMT state PRE-OPERATIONAL (only if currently in NMT state OPERATIONAL) No change of the NMT state Change to NMT state STOPPED  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany 06/20/2023 TR-ECE-BA-DGB-0165 v03...

  • Page 253: Firmware Update

    The SDO abort code 0800 0022h shall indicate that a requested action can currently not be performed.  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany Page 148 of 183...

  • Page 254: Object 1F56H: Program Software Identification

    No error occurred, program valid Program not valid 2..7 Not supported 8…15 Reserved (always 0) 16…31 Not supported  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany 06/20/2023 TR-ECE-BA-DGB-0165 v03 Page 149 of 183...

  • Page 255: Object 1F80H: Nmt Autostart

    An attempt to change a bit of a functionality that is not supported by the CANopen device shall be responded with the abort message 0609 0030h.  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany...

  • Page 256: Parameterization

    2751 TR-Production VisibleString 2752 TR-Production VisibleString 2753 TR-Production VisibleString 2754 TR-Production VisibleString 2755 TR-Production VisibleString 2756 TR-Production VisibleString …  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany 06/20/2023 TR-ECE-BA-DGB-0165 v03 Page 151 of 183...
  • Page 257 Is immediately active after a write command and is durably stored in the EEPROM after execute the object "1010, Store parameters". Is immediately active and durably stored in the EEPROM after a write command. segmented reading  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany Page 152 of 183 TR-ECE-BA-DGB-0165 v03...
  • Page 258 0x2002, Total measuring range in steps 0x6002, Total measuring range in steps 0x2003, Number of revolution - numerator 0x2004, Number of revolution - denominator  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany 06/20/2023 TR-ECE-BA-DGB-0165 v03...

  • Page 259: Tr - Mode

    2  Ensure that every positioning in the de-energized state for a multi-turn measuring system is within 512 revolutions.  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany Page 154 of 183...

  • Page 260: Object 2002H: Tr-Total Measuring Range In Steps

    Total measuring range = Steps per revolution * Number of revolutions To calculate, the parameters steps/rev. and the number of revolutions can be read on the measuring system nameplate and apply to both scanning units.  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany 06/20/2023...

  • Page 261: Object 2003H - 2004H: Tr-Number Of Revolutions, Numerator / Denominator

    Upper limit 16384 Default Number of revolutions: Number of revolutions numerator Number of revolutions = Number of revolutions denominator  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany Page 156 of 183 TR-ECE-BA-DGB-0165 v03 06/20/2023...
  • Page 262 (zero transition) if the distance travelled is exceeded. To simplify matters the complete revolution range of the respective scanning unit can also be programmed.  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany 06/20/2023...
  • Page 263 Number of revolutions denominator 4096 revolutions numerator = 1348.073499 steps / rev. * 1 revolution denominator = 5521709 steps (rounded off)  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany Page 158 of 183 TR-ECE-BA-DGB-0165 v03 06/20/2023...

  • Page 264: Object 2005H: Speed Unit

    See Object 2000h: Mode selection TR / CiA DS-406. 9.2.4 Object 2006h: Additional Parameter/Commands (device specific) About this object device specific parameters and commands can be exchanged.  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany 06/20/2023...

  • Page 265: Object 2007H: Speed Factor

    Number of steps / t * 0.05 s = 32768 steps (Steps/integration time) * factor = 32768 steps / 50 ms  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany Page 160 of 183 TR-ECE-BA-DGB-0165 v03...

  • Page 266: Object 200Ah: Speed Value Int32

    COB-ID for Boot-Up Message Byte 0 Byte 1 to 2 to 2 to 2 00h – FFh 0h – 7h  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany 06/20/2023 TR-ECE-BA-DGB-0165 v03 Page 161 of 183...

  • Page 267: Object 2101H: Send Pdo At Node-Start

    Data type Object code VARIABLE Access PDO mapping Lower limit 0x01 = Node-ID 1 Upper limit 0x7F = Node-ID 127  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany Page 162 of 183 TR-ECE-BA-DGB-0165 v03 06/20/2023...

  • Page 268: Object 2111H: Lss Bittiming

    Access PDO mapping Lower limit 0x8000 Upper limit 0x7FFF 9.2.14 TR-Production The objects "TR-Produktion" are reserved for manufacturer-specific functions.  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany 06/20/2023 TR-ECE-BA-DGB-0165 v03 Page 163 of 183...

  • Page 269: Tr-Mapping Dummy

    Data type UNSIGNED32 Object code VARIABLE Access PDO mapping 0x0000 0000 Lower limit Upper limit 0xFFFF FFFF Default 0x0000 0000  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany Page 164 of 183 TR-ECE-BA-DGB-0165 v03 06/20/2023...

  • Page 270: Cia Ds-406 - Mode

    2 of the group 2 or…  Ensure that every positioning in the de-energized state for a multi-turn measuring system is within 512 revolutions.  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany 06/20/2023 TR-ECE-BA-DGB-0165 v03...
  • Page 271 "0" is already counted as a step, the end value = measurement length in steps - 1. Total measuring range = Steps per revolution * Number of revolutions  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany Page 166 of 183...
  • Page 272  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany 06/20/2023...

  • Page 273: Object 6003H: Preset Value

    PDO mapping Position value Byte 0 Byte 1 Byte 2 Byte 3 to 2 to 2 to 2 to 2  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany Page 168 of 183 TR-ECE-BA-DGB-0165 v03 06/20/2023...

  • Page 274: Object 6030H: Speed Value

    That means that a change in the event timer causes a change in the cyclic timer and vice versa. The communication parameter 1801h exclusively uses its own timer, access over sub-index 5.  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany 06/20/2023...
  • Page 275 Byte 2 Byte 3 to 2 to 2 to 2 to 2 Standard value: depending on capacity marked on nameplate  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany Page 170 of 183 TR-ECE-BA-DGB-0165 v03 06/20/2023...

  • Page 276: Object 6502H: Number Of Distinguishable Revolutions

    Standard value: 59392 = E800h revolutions. Since this object only can store a 16-bit value, the high-order word with the number 3E800h (256.000) is not represented.  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany 06/20/2023...

  • Page 277: Object 6503H: Alarms

    The measuring system detects a wrong checksum in the EEPROM area or a write process into the EEPROM could not be finished successfully.  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany Page 172 of 183...

  • Page 278: Object 6504H: Supported Alarms

    Reserved for further use Reserved for further use EE-PROM error Manufacturer specific functions Manufacturer specific functions Manufacturer specific functions  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany 06/20/2023 TR-ECE-BA-DGB-0165 v03 Page 173 of 183...

  • Page 279: Object 6505H: Warnings

    The limit values can be seen on the device specific data sheet. All warnings are cleared if the tolerances are again within normal parameters.  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany Page 174 of 183...

  • Page 280: Object 6506H: Supported Warnings

    Reserved for further use Reserved for further use Temperature warning Manufacturer specific functions Manufacturer specific functions Manufacturer specific functions  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany 06/20/2023 TR-ECE-BA-DGB-0165 v03 Page 175 of 183...

  • Page 281: Object 6507H: Profile And Software Version

    The value is given in 0.1 hours per digit. Index 0x6508 Description Operating time Data type UNSIGNED32 VARIABLE Object code Access PDO mapping  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany Page 176 of 183 TR-ECE-BA-DGB-0165 v03 06/20/2023...

  • Page 282: Object 6509H: Offset Value

    For the identification of the second scanning unit of a measuring system the bit 0x8000 0000 is always additionally set at the serial number for ENC2.  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany...

  • Page 283: Emergency Message

    If the error disappears, the relevant scanning unit transmits an emergency message with error code "0" (reset error / no error) and error register "0".  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany Page 178 of 183...

  • Page 284: Causes Of Faults And Remedies

    OPERATIONAL in the PRE- OPERATIONAL or in the STOPPED-Mode, see page 147. In this case the emergency massage should be evaluated, see "Emergency Error codes" on page 181.  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany 06/20/2023...

  • Page 285: Sdo Error Codes

    0x0800 0024 No data available access on object 1003h sub-index 1, see page 140. Table 10: SDO Error codes  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany Page 180 of 183 TR-ECE-BA-DGB-0165 v03 06/20/2023...

  • Page 286: Emergency Error Codes

    EMCY-message with error code "0x000" is transferred. Meaning generic error communication error (overrun, error state)  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany 06/20/2023 TR-ECE-BA-DGB-0165 v03 Page 181 of 183...

  • Page 287: Object 1003H: Pre-Defined Error Field, Bits 0 - 15

    Bit 12 = 1, Memory area internal measure, the measuring system must be replaced. EE-PROM error EE-PROM defective Table 12: Alarm messages  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany Page 182 of 183 TR-ECE-BA-DGB-0165 v03 06/20/2023...

  • Page 288: Other Faults

    Table 13: Other faults  TR-Electronic GmbH 2021, All Rights Reserved Printed in the Federal Republic of Germany 06/20/2023 TR-ECE-BA-DGB-0165 v03 Page 183 of 183...
  • Page 289 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 290 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 291 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 292 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 293 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 294 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 295 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 296 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 297 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 298 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 299 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 300 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 301 8.192,000 UMDREHUNGEN_ENC1 4.096,000 VERSORGUNGSSPG_ENC1 10-30V SCHNITTSTELLE_ENC1 CAN/OPEN SCHRITTZAHL_ENC2 8.192,000 UMDREHUNGEN_ENC2 4.096,000 VERSORGUNGSSPG_ENC2 10-30V SCHNITTSTELLE_ENC2 CAN/OPEN WELLENVARIANTE SEILLÄNGENGEBER (SLG) WELLENAUSFUEHRUNG KUPPLUNGSSTÜCK ARBEITSTEMPERATUR -20°C… +75°C Änderungen vorbehalten. TR-Electronic GmbH Eglishalde 6 78647 Trossingen Tel. +49 (0) 7425 228-0 Seite 1/4 info@tr-electronic.de www.tr-electronic.de...
  • Page 302 Multi-Turn - Redundantes Abtastsystem ja, zweifach Gesamtauflösung <= 36 Bit Schrittzahl pro Umdrehung <= 262144 Anzahl Umdrehungen <= 256000 Ausgabekapazität <= 32 Bit Änderungen vorbehalten. TR-Electronic GmbH Eglishalde 6 78647 Trossingen Tel. +49 (0) 7425 228-0 Seite 2/4 info@tr-electronic.de www.tr-electronic.de...
  • Page 303 30,00 m 40,00 m Winkelbeschleunigung <= 10E+4 rad/s² Trägheitsmoment, typisch 1,3E-6 kg m² Anlaufdrehmoment, 20 °C 2 Ncm Masse, typisch 0,3 kg (Encoder) Änderungen vorbehalten. TR-Electronic GmbH Eglishalde 6 78647 Trossingen Tel. +49 (0) 7425 228-0 Seite 3/4 info@tr-electronic.de www.tr-electronic.de...
  • Page 304 98 %, keine Betauung Schutzart - Standard gemäß Seilzug Beständigkeit - gegen Salz (Seewasser) DIN EN IEC 60068-2-52 - Prüfverfahren Prüfverfahren 1 - ausgenommen sind Anbauteile Änderungen vorbehalten. TR-Electronic GmbH Eglishalde 6 78647 Trossingen Tel. +49 (0) 7425 228-0 Seite 4/4 info@tr-electronic.de www.tr-electronic.de...
  • Page 305 Maße in mm Maßstab 1 : 2 DIN A3 [Tolerancing] [all dimensions in mm] [Scale] Artikel-Nr. und Steckerbelegung: siehe Datenblatt E-Mail: info@tr-electronic.de CAD: STEP Support: http://tr-e.info/01 [Article-No. and pin assignment: see data sheet] Bezeichnung Datum Name [Designation] CRW-582-M, pull of rope encoder Erst.
  • Page 306 Steckerbelegung / Pin assignment CR_-582 CANopen Allgemeine Hinweise: Für den Betrieb sind nur paarweise verdrillte und geschirmte Bus- bzw. Anschlusskabel zu verwenden. Der Schirm ist jeweils auf die Kabelverschraubung des Gegensteckers aufzulegen. General note: operation shielded twisted-pair bus- or connection-cables must be used. shield connected cable screw gland of the mating connector.
  • Page 307 Steckerbelegung / Pin assignment Adressierung und Baudrate / Addressing and Baud rate Wert / NodeID NodeID Baudrate, Beschreibung / Description Value ENC1 ENC2 LSS-Einstellungen aktiv / LSS settings active 0x00 0x01 0x02 50 kBaud … … … … … 0x3F Nicht zulässig, wartet auf korrekte Einstellung / 0x40 Not permitted, waiting for correct setting...

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Crw582m 4096 co+co slg me 5m seriesCrw582m-00010

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