turck TBEN-LL-4RMC-4DIP-4DXP Instructions For Use Manual
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turck TBEN-LL-4RMC-4DIP-4DXP Instructions For Use Manual

turck TBEN-LL-4RMC-4DIP-4DXP Instructions For Use Manual

Motor roller controller
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Your Global Automation Partner
TBEN-LL-4RMC-4DIP-4DXP
Motor Roller Controller
Instructions for Use

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Summary of Contents for turck TBEN-LL-4RMC-4DIP-4DXP

  • Page 1 Your Global Automation Partner TBEN-LL-4RMC-4DIP-4DXP Motor Roller Controller Instructions for Use...
  • Page 2 Hans Turck GmbH & Co. KG | T +49 208 4952-0 | F +49 208 4952-264 | more@turck.com | www.turck.com...

  • Page 3: Table Of Contents

    Motor channels – motor mode .................... 13 4.4.3 Motor channels – digital mode.................... 14 4.4.4 Universal digital channels – functions ................... 14 4.4.5 Turck Field Logic Controller (FLC) .................... 14 Technical accessories.................... 14 Installing............................. 15 Mounting onto a mounting plate ................ 15 Mounting the device outdoors................... 15 Grounding the device.................... 16 5.3.1...
  • Page 4 Configuring the digital mode ..................  100 Operating ............................ 102 Process input data......................  102 Process output data .................... 105 LED displays.........................  108 Hans Turck GmbH & Co. KG | T +49 208 4952-0 | F +49 208 4952-264 | more@turck.com | www.turck.com...
  • Page 5 Reducing emitted interferences from motors (HW-Rev. 1)........  113 11 Maintenance............................ 114 12 Repair.............................. 114 12.1 Returning devices.......................  114 13 Disposal ............................ 114 14 Technical data .......................... 115 15 Appendix: approvals and markings.................... 118 15.1 Conditions of Acceptability.................. 118 16 Turck subsidiaries — contact information ................ 119 V02.00 | 2022/05...
  • Page 6 Table of Contents Hans Turck GmbH & Co. KG | T +49 208 4952-0 | F +49 208 4952-264 | more@turck.com | www.turck.com...

  • Page 7: About These Instructions

    We make every effort to ensure that these instructions are as informative and as clear as pos- sible. If you have any suggestions for improving the design or if some information is missing in the document, please send your suggestions to techdoc@turck.com. V02.00 | 2022/05...

  • Page 8: Notes On The Product

    CAD files in numerous export formats. The contact details of Turck subsidiaries worldwide can be found on p. [} 119]. Hans Turck GmbH & Co. KG | T +49 208 4952-0 | F +49 208 4952-264 | more@turck.com | www.turck.com...

  • Page 9: For Your Safety

    The product is designed according to state-of-the-art technology. However, residual risks still exist. Observe the following warnings and safety notices to prevent damage to persons and property. Turck accepts no liability for damage caused by failure to observe these warning and safety notices.

  • Page 10: Product Description

    The device has the following operating elements: Rotary coding switches for adjusting the network settings Reset button for executing a device restart Hans Turck GmbH & Co. KG | T +49 208 4952-0 | F +49 208 4952-264 | more@turck.com | www.turck.com...

  • Page 11: Properties And Features

    Properties and features Fibre-glass reinforced housing Shock and vibration tested Fully potted module electronics Protection class IP65/IP67/IP69K UV-resistant according to DIN EN ISO 4892-2 Metal connectors Separated power groups for safety shutdown 4 universal digital DXP channels (PNP) 4 digital input channels (PNP) 4 channels for controlling motor rollers (24 VDC and 48 VDC) with CANopen interface Functional principle The motor controller modules provide a multiprotocol Ethernet interface for Modbus TCP, Eth-...

  • Page 12: Functions And Operating Modes

    The device supports the following Ethernet profile-specific functions: PROFINET Topology detection Address allocation with LLDP Media redundancy protocol (MRP) EtherNet/IP QC (QuickConnect) Device Level Ring (DLR) Hans Turck GmbH & Co. KG | T +49 208 4952-0 | F +49 208 4952-264 | more@turck.com | www.turck.com...

  • Page 13: Motor Channels - Motor Mode

    CANopen Drives profile (object 0x6060, sub index 0x00 "Modes of operation"). The motor mode of the connected motor is activated in EtherNet/IP and Modbus TCP via the parameter ”Motor mode” on the TBEN-LL-4RMC-4DIP-4DXP [} 87]. In PROFINET, a distinction is made between universal operation (including positioning mode and homing mode) and velocity operation (velocity mode only) [} 30].

  • Page 14: Motor Channels - Digital Mode

    Accessories for mounting, connecting and parameterizing can be found in product database under www.turck.com. The accessories are not part of the scope of delivery. Hans Turck GmbH & Co. KG | T +49 208 4952-0 | F +49 208 4952-264 | more@turck.com | www.turck.com...

  • Page 15: Installing

    Installing Mounting onto a mounting plate NOTICE Mounting on uneven surfaces Device damage due to stresses in the housing „ Fix the device on a flat mounting surface. „ Use two M6 screws to mount the device. The device can be screwed onto a flat mounting plate. „...

  • Page 16: Grounding The Device

    Hans Turck GmbH & Co. KG | T +49 208 4952-0 | F +49 208 4952-264 | more@turck.com | www.turck.com...

  • Page 17: Disconnecting The Direct Grounding Of The Fieldbus Level: Removing The Grounding Clip

    Fieldbus level shielding The grounding of the fieldbus level can either be connected directly via the grounding clip (1) or connected and routed indirectly via an RC element to the module grounding. If the ground- ing is to be routed via an RC element, the grounding clip must be removed. In the delivery state, the grounding clip is mounted.

  • Page 18: Connecting

    Do not use crossover cables in QuickConnect and Fast StartUp applications. „ Connect incoming Ethernet cables to XF1. „ Connect outgoing Ethernet cables to XF2. Hans Turck GmbH & Co. KG | T +49 208 4952-0 | F +49 208 4952-264 | more@turck.com | www.turck.com...

  • Page 19: Connecting The Power Supply

    Connecting the power supply For the connection to the power supply, the device has two 5-pin, L coded M12 connectors. V1 and V2 are galvanically isolated. The maximum tightening torque is 0.8 Nm. „ Connect the device to the power supply according to the pin assignment shown below. NOTE The pin assignment of the supply voltage terminals differs from the standard pin assignment.

  • Page 20: Supply Concept

    V1 = supply of the module electronics and the respective slots V2 = supply of module electronics and the respective connectors (separately detachable) Fig. 10: Power supply TBEN-LL-4RMC-4DXP-4DIP Hans Turck GmbH & Co. KG | T +49 208 4952-0 | F +49 208 4952-264 | more@turck.com | www.turck.com...

  • Page 21: Connecting Digital Sensors And Actuators

    Connecting digital sensors and actuators The device has four 5-pin, A coded M12 connectors for connecting digital sensors and actuators. The maximum tightening torque is 0.8 Nm. Fig. 11: M12 connectors for connecting digital sensors and actuators X0…X1: Digital input channels (DIP) for connecting digital sensors X2…X3: universal, digital channels (DXP) for connecting digital sensors and actuators „...

  • Page 22: Connecting Motors

    Fig. 15: Pin assignment of the connectors for motor roller control, X4…X7 Signal Vaux2 CAN High GND V2 CAN Low GND V2 Hans Turck GmbH & Co. KG | T +49 208 4952-0 | F +49 208 4952-264 | more@turck.com | www.turck.com...

  • Page 23: Commissioning

    Commissioning Adjusting network settings The network settings can be adjusted via three decimal rotary coding switches on the device, via the web server or via the Turck Service Tool. 7.1.1 Adjusting network settings via rotary coding switches The rotary coding switches are located together with the reset button under a service window.
  • Page 24 The factory reset resets all settings to the default values: Network setting (IP address, subnet mask, gateway) PROFINET device name Device parameters Hans Turck GmbH & Co. KG | T +49 208 4952-0 | F +49 208 4952-264 | more@turck.com | www.turck.com...

  • Page 25: Adjusting Network Setting Via Turck Service Tool

    7.1.2 Adjusting network setting via Turck Service Tool „ Connect the device to the PC via the Ethernet interface. „ Open the Turck Service Tool. „ Click Search or press [F5]. Fig. 17: Turck Service Tool – start dialog Turck Service Tool shows the devices found.
  • Page 26 Fig. 19: Turck Service Tool – select the device to be addressed NOTE Clicking the device's IP address opens the web server. Hans Turck GmbH & Co. KG | T +49 208 4952-0 | F +49 208 4952-264 | more@turck.com | www.turck.com...
  • Page 27 „ Change the IP address and the network mask if necessary. „ Accept the changes with Set in device. Fig. 20: Turck Service Tool – Change device configuration V02.00 | 2022/05...

  • Page 28: Adjusting Network Settings Via The Web Server

    Adjust the network settings. „ Write the changes into the device via Submit. Fig. 21: Adjusting network settings via the web server Hans Turck GmbH & Co. KG | T +49 208 4952-0 | F +49 208 4952-264 | more@turck.com | www.turck.com...

  • Page 29: Commissioning The Device In Profinet

    Commissioning the device in PROFINET 7.2.1 PROFINET IO device model The technical properties of PROFINET IO devices are defined via their device description file, the GSDML file. A PROFINET IO device consists of 1…n slots, which can also contain 1…n sub slots. Sub slots are placeholders for sub modules and establish the interface to the process.

  • Page 30: Tben-Ll-4Rmc-4Dip-4Dxp - Slots And Sub Slots

    Diagnostics [} 34] map diagnostic data. Module status This slot is used to cyclically Device status [} 34] map device status data. Hans Turck GmbH & Co. KG | T +49 208 4952-0 | F +49 208 4952-264 | more@turck.com | www.turck.com...
  • Page 31 Sub module ”Velocity” The sub module ”Velocity” can be plugged into slots 2…5. Parameters, [} 87] Parameters Value Description Operation Mode Velocity Operation mode of the motor channel, pre-set Lock Motor Mode Motor mode locked, pre-set Lock Ramp Ramp acceleration/ramp decel- eration locked, pre-set Lock Position Position locked, pre-set...
  • Page 32 BOOL Temperature error %IX1.3 BOOL Communication error %IX1.4 BOOL Device profile specific error %IX1.5 BOOL Manufacturer specific error %IX1.7 BOOL Hans Turck GmbH & Co. KG | T +49 208 4952-0 | F +49 208 4952-264 | more@turck.com | www.turck.com...
  • Page 33 Process value Offset Data type %IW1 Status %IB2 USINT Missing device %IX2.0 BOOL Velocity out of valid range %IX2.1 BOOL Digital mode %IX2.2 BOOL Connected %IX2.4 BOOL Enabled %IX2.5 BOOL Fault %IX2.6 BOOL Fault is pending %IX2.7 BOOL Reserved %IB3 Velocity %IW2 Process output data, [} 105]...
  • Page 34 BOOL Module state – byte 1 %IB1 USINT Module diagnostics available %IX1.0 BOOL ARGEE %IX1.1 BOOL Undervoltage V2 %IX1.7 BOOL Hans Turck GmbH & Co. KG | T +49 208 4952-0 | F +49 208 4952-264 | more@turck.com | www.turck.com...

  • Page 35: Address Setting In Profinet

    7.2.3 Address setting in PROFINET In IP-based communication, the field devices are addressed by means of an IP address. PROFINET uses the Discovery and Configuration Protocol (DCP) for IP assignment. When delivered, each field device has, among other things, a MAC address. This information is sufficient to give the respective field device a unique name.

  • Page 36: Mrp (Media Redundancy Protocol)

    For PROFINET, the response monitoring time must be selected accordingly > 200 ms. It is not possible to use Fast Start-Up in an MRP network. Hans Turck GmbH & Co. KG | T +49 208 4952-0 | F +49 208 4952-264 | more@turck.com | www.turck.com...

  • Page 37: Services For Acyclic Data

    7.2.5 Services for acyclic data The device provides the following acyclic services in PROFINET per motor channel for mapping the CANopen objects according to the CANopen Drives profile (CiA 402 - Drives and motion control device profile, Part 2). Index CANopen Ob- Description according to CAN- Access...

  • Page 38: Connecting The Device To A Siemens Plc In Profinet

    Installing the GSDML-file: Define the source path for the GSDML-file and click Install. The device is added to the Hardware catalog of the programming software. Fig. 23: TIA-Portal – Installing the GSDML-file Hans Turck GmbH & Co. KG | T +49 208 4952-0 | F +49 208 4952-264 | more@turck.com | www.turck.com...

  • Page 39: Connecting The Devices To The Plc

    7.3.2 Connecting the devices to the PLC „ Select the device from the Hardware catalog and drag it into the Device & networks editor. „ Connect the devices to the PLC in the Devices & networks editor. Fig. 24: TIA-Portal – Connecting the device to the PLC V02.00 | 2022/05...

  • Page 40: Assigning The Profinet Device Name

    Assign PROFINET device name. „ Assign the desired PROFINET device name with Assign name. Fig. 25: TIA-Portal – assigning the PROFINET device name Hans Turck GmbH & Co. KG | T +49 208 4952-0 | F +49 208 4952-264 | more@turck.com | www.turck.com...

  • Page 41: Setting The Ip Address In Tia Portal

    7.3.4 Setting the IP address in TIA Portal Ò Ò „ Select Device Properties tab Ethernet addresses. „ Assign the desired IP address. Fig. 26: TIA-Portal – Assigning the IP address V02.00 | 2022/05...

  • Page 42: Configuring Device Functions

    Define the function of the four motor controller (Motor 1… Motor 4) and define the other slots by assigning the suitable sub modules. Fig. 27: TIA-Portal – Configuring device slots Hans Turck GmbH & Co. KG | T +49 208 4952-0 | F +49 208 4952-264 | more@turck.com | www.turck.com...

  • Page 43: Connecting The Device Online With The Controller

    7.3.6 Connecting the device online with the controller „ Start the online mode (Go online). The device has been successfully connected to the PLC. Fig. 28: TIA-Portal – Online mode V02.00 | 2022/05...

  • Page 44: Acyclic Reading (Rdrec) And Writing (Wrrec) Data

    Error code of the function block Length of the read data IN/OUT RECORD Destination memory area for the read data (here in the example DB10) Hans Turck GmbH & Co. KG | T +49 208 4952-0 | F +49 208 4952-264 | more@turck.com | www.turck.com...
  • Page 45 Acyclically reading data (example) Index 0x1802 (Motor Manufacturer) of motor at slot Motor 3 is read. The hardware identifier for the channel is 270. Fig. 30: TIA-Portal – Hardware identifier of the channel V02.00 | 2022/05...
  • Page 46 Force the variables ID, Index and MLEN as follows: Fig. 31: TIA-Portal – Forcing variables RDREC „ Set variable REQ to TRUE. Fig. 32: TIA-Portal – Start read operation Hans Turck GmbH & Co. KG | T +49 208 4952-0 | F +49 208 4952-264 | more@turck.com | www.turck.com...
  • Page 47 The manufacturer name is read out. Fig. 33: TIA-Portal – Manufacturer name of motor at X6 (Motor 3) V02.00 | 2022/05...
  • Page 48 Error code of the function block Length of the written data IN/OUT RECORD Destination memory area for the written data (here in the example DB10) Hans Turck GmbH & Co. KG | T +49 208 4952-0 | F +49 208 4952-264 | more@turck.com | www.turck.com...

  • Page 49: Commissioning The Evice In Modbus Tcp

    Commissioning the evice in Modbus TCP 7.4.1 Implemented Modbus functions The devices support the following functions for accessing process data, parameters, dia- gnostics and other services. Function Code Read Coils – reading multiple output bits Read Discrete Inputs – reading multiple input bits Read Holding Registers –...
  • Page 50 0xB000, 0xB001 45056, 45057 445057, 445058 Register 0x1130: Modbus connection mode This register defines the behavior of the Modbus connections. Hans Turck GmbH & Co. KG | T +49 208 4952-0 | F +49 208 4952-264 | more@turck.com | www.turck.com...
  • Page 51 Designation Value Meaning MB_OnlyOneWrite All Modbus connections receive the write authoriza- Permission tion Only one Modbus connection can receive the write permission. A write permission is opened until a Disconnect. After the Disconnect the next connection which requests a write access receives the write authorization.

  • Page 52: Data Width

    The parameters are saved. 7.4.3 Data width Module Process input data Process output data Alignment TBEN-LL-4RMC-4DXP-4DIP 44 byte 48 byte Word by word Hans Turck GmbH & Co. KG | T +49 208 4952-0 | F +49 208 4952-264 | more@turck.com | www.turck.com...

  • Page 53: Register Mapping

    7.4.4 Register mapping Input registers Process input data [} 102] Register Byte Bit no. Digital channels (connector X0…X3) 0x0000 DXP7 DXP6 DXP5 DXP4 Reserved Motor control – motor 1 (connector X4) 0x0001 Status position Motor mode F_ER BUSY 0x0002 Error register MSERR res.
  • Page 54 Assignment similar to motor 1 (0x0801…0x0806) … 0x0812 Motor control – motor 4 (connector X7) 0x0813 0…11 Assignment similar to motor 1 (0x0801…0x0806) … 0x0818 Hans Turck GmbH & Co. KG | T +49 208 4952-0 | F +49 208 4952-264 | more@turck.com | www.turck.com...
  • Page 55 Diagnostic registers Diagnostic messages [} 110] Register Byte Bit no. Sensor supply and digital channels 0xA000 Reserved VAUX1 VAUX1 VAUX1 VAUX1 pin1 X3 pin1 X2 pin1 X1 pin1 X0 (Ch6/7) (Ch4/5) (Ch2/3) (Ch0/1) Reserved 0xA001 ERR_DXP7 ERR_DXP6 ERR_DXP5 ERR_DXP4 Reserved Reserved Motor control –...
  • Page 56 Assignment similar to motor 1 (0xB000…0xB00D) … 0xB023 Motor control – motor 4 (connector X7) 0xB024 Assignment similar to motor 1 (0xB000…0xB00D) … 0xB02E Hans Turck GmbH & Co. KG | T +49 208 4952-0 | F +49 208 4952-264 | more@turck.com | www.turck.com...

  • Page 57: Error Behavior (Watchdog)

    7.4.5 Error behavior (watchdog) Behavior of outputs In case of a failure of the Modbus communication, the outputs’ behavior is as follows, depend- ing on the defined time for the Watchdog (register 0x1120): Watchdog Behavior of outputs 0 ms All outputs maintain the actual value in case of an error >...

  • Page 58: Commissioning The Device In Ethernet/Ip

    Additionally, the device's status word contains the module diagnostics: Byte 1 (MSB) Byte 0 (LSB) FCE - ARGEE DIAG WARN Hans Turck GmbH & Co. KG | T +49 208 4952-0 | F +49 208 4952-264 | more@turck.com | www.turck.com...

  • Page 59: Ethernet/Ip Standard Classes

    The following description of the Ethernet Link Object is taken from the CIP specification, Vol. 2, Rev. 2.1 by ODVA & ControlNet International Ltd. and adapted to the Turck products. Instance attributes Attr.
  • Page 60 Velocity (for digital mode) 0x1D 0x1E Ramp acceleration 0x1F 0x20 Ramp deceleration 0x21 0x22 Reserved CIC0 0x23 Reserved CIC1 0x24 Reserved CIC2 Hans Turck GmbH & Co. KG | T +49 208 4952-0 | F +49 208 4952-264 | more@turck.com | www.turck.com...
  • Page 61 Byte no. Bit no. Dec. Hex. 0x25 Reserved CIC3 0x26 Reserved CIC4 0x27 Reserved CIC5 0x28 Reserved CIC6 0x29 Reserved CIC7 0x2A Reserved ILL0 0x2B Reserved ILL1 0x2C Reserved ILL2 0x2D Reserved ILL3 0x2E Reserved ILL4 0x2F Reserved ILL5 0x30 Reserved ILL6 0x31...
  • Page 62 Sensor supply and digital channels (diagnostics) 0x16 22 Reserved VAUX1 VAUX1 VAUX1 pin1 pin1 pin1 (Ch6/7) (Ch4/5) (Ch2/3) 0x17 23 Reserved Hans Turck GmbH & Co. KG | T +49 208 4952-0 | F +49 208 4952-264 | more@turck.com | www.turck.com...
  • Page 63 This object is used for connection and connectionless communications, including establishing connections across multiple subnets. The following description of the Ethernet Link Object is taken from the CIP specification, Vol. 2, Rev. 2.1 by ODVA & ControlNet International Ltd. and adapted to the Turck products. Common services Service code...
  • Page 64 Force mode of DTM active Diagnostics at I/O channel active 9…10 Reserved Diag Common error bit 12…15 Reserved Default = 0 Hans Turck GmbH & Co. KG | T +49 208 4952-0 | F +49 208 4952-264 | more@turck.com | www.turck.com...
  • Page 65 Modifies a single attribute TCP/IP Interface Object (0xF5) The following description of the Ethernet Link Object is taken from the CIP specification, Vol. 2, Rev. 1.1 by ODVA & ControlNet International Ltd. and adapted to the Turck products. Class attributes Attr. no.
  • Page 66 1 = activate Common services Service code Class Instance Meaning Dec. Hex. 0x01 Get_Attribute_All 0x02 Set_Attribute_All 0x0E Get_Attribute_Single 0x10 Set_Attribute_Single Hans Turck GmbH & Co. KG | T +49 208 4952-0 | F +49 208 4952-264 | more@turck.com | www.turck.com...
  • Page 67 Interface Status The Status attribute indicates the status of the TCP/IP network interface. Designation Meaning 0…3 Interface Indicates the status of the Interface Configuration attrib- configuration status ute: 0 = The Interface Configuration attribute has not been configured 1 = The Interface Configuration attribute contains valid configuration.
  • Page 68 The mechanism allows the DHCP client to transmit its host name to the DHCP server. The DHCP server then updates the DNS records on behalf of the client. Hans Turck GmbH & Co. KG | T +49 208 4952-0 | F +49 208 4952-264 | more@turck.com | www.turck.com...

  • Page 69: Vsc-Vendor Specific Classes

    7.5.5 VSC-Vendor Specific Classes Gateway Class (VSC 100) This class contains all information concerning the whole device. Object Instance 2, Gateway Instance Attr. no. Designation Get/Set Type Meaning Dec. Hex. 0x6D Device Status STRUCT Contains the device status. 0x73 On IO connection ENUM Reaction when the time limit for timeout...
  • Page 70 0: low level 1: high level 0x12 Motor 1 - Input logic level Ch1 USINT 0: low level 1: high level Hans Turck GmbH & Co. KG | T +49 208 4952-0 | F +49 208 4952-264 | more@turck.com | www.turck.com...
  • Page 71 Attr. Meaning Get/set Type Description Dec. Hex. 0x13 Motor 1 - Input logic level Ch2 USINT 0: low level 1: high level 0x14 Motor 1 - Input logic level Ch3 USINT 0: low level 1: high level 0x15 Motor 1 - Input logic level Ch4 USINT 0: low level 1: high level...
  • Page 72 0x37 Motor 1 - Fault is pending USINT 0: not active 1: active 0x38 Motor 1 - Velocity [mm/s] UINT Hans Turck GmbH & Co. KG | T +49 208 4952-0 | F +49 208 4952-264 | more@turck.com | www.turck.com...
  • Page 73 Attr. Meaning Get/set Type Description Dec. Hex. 0x39 Motor 1 - Position [mm] UDINT 0x3A Motor 1 - Motor mode USINT 0: no change 1: position mode 2: reserved 3: velocity 4: reserved 5: reserved 6: homing 0x3B Motor 1 - Enable USINT 0: no 1: yes...
  • Page 74 DXP 5 - Overcurrent output USINT 0: - 1: active 0x13 DXP 6 - Overcurrent output USINT 0: - 1: active Hans Turck GmbH & Co. KG | T +49 208 4952-0 | F +49 208 4952-264 | more@turck.com | www.turck.com...
  • Page 75 Attr. no. Designation Get/set Type Meaning Dec. Hex. 0x14 DXP 7 - Overcurrent output USINT 0: - 1: active 0x15 DXP - input value 0 BYTE Bit 0: input value DI0 Bit 1: input value DI1 Bit 2: input value DI2 Bit 3: input value Ch4 0x16 DXP - input value 4...

  • Page 76: Connecting The Device To A Rockwell Plc With Ethernet/Ip

    Ò „ Open the EDS Wizard via Tools Hardware Installation Tool. Fig. 35: Studio 5000 – Opening the Hardware Installation Tool Hans Turck GmbH & Co. KG | T +49 208 4952-0 | F +49 208 4952-264 | more@turck.com | www.turck.com...
  • Page 77 „ Follow the instructions in the wizard to install the EDS file. Fig. 36: Studio 5000 – EDS Wizard The device is registered as a Communications Adapter and can be added to the project later as a slave. Fig. 37: Studio 5000 – Registering the device as Communications Adapter V02.00 | 2022/05...

  • Page 78: Adding The Device To The Project

    In the project tree open the context menu by right-clicking on the entry of the scanner and click New Module. Fig. 38: Studio 5000 – Adding the device to the project Hans Turck GmbH & Co. KG | T +49 208 4952-0 | F +49 208 4952-264 | more@turck.com | www.turck.com...
  • Page 79 „ Select TBEN-LL-4RMC-4DIP-4DXP and add it to the project. Fig. 39: Studio 5000 – Selecting the device V02.00 | 2022/05...
  • Page 80 Fig. 40: Studio 5000 – New Module, setting name and IP address „ Optional: Set the connection parameters. Fig. 41: Studio 5000 – New Module, connection parameters Hans Turck GmbH & Co. KG | T +49 208 4952-0 | F +49 208 4952-264 | more@turck.com | www.turck.com...
  • Page 81 The device appears as Ethernet slave in the project tree. Fig. 42: Studio 5000 – Device in the project tree V02.00 | 2022/05...

  • Page 82: Parameterizing The Device

    TBEN_LL_4RMC_4DIP_4DXP:O for process output data. The chapter "Para- meterizing and configuring" contains examples for configuring the device [} 91]. Fig. 43: Studio 5000 – Controller Tags (parameters) Hans Turck GmbH & Co. KG | T +49 208 4952-0 | F +49 208 4952-264 | more@turck.com | www.turck.com...
  • Page 83 Fig. 44: Studio 5000 – Controller Tags (outputs) V02.00 | 2022/05...

  • Page 84: Going Online With The Plc

    Set the communication path via Set Project Path. The communication path is set Fig. 45: Studio 5000 – Setting the communication path Hans Turck GmbH & Co. KG | T +49 208 4952-0 | F +49 208 4952-264 | more@turck.com | www.turck.com...
  • Page 85 „ Select the PLC. „ Click Go online. Fig. 46: Studio 5000 – Going online with the device „ Click Download In the following dialog (Connect To Go Online) „ Confirm all following messages. The project is loaded down to the controller. The connection is established. V02.00 | 2022/05...

  • Page 86: Reading Process Data

    The access to the input data (TBEN_LL_4RMC_4DIP_4DXP_…:I) and output data (TBEN_LL_4RMC_4DIP_4DXP_…:O) is possible. Fig. 47: Studio 5000 – Controller Tags (inputs) Hans Turck GmbH & Co. KG | T +49 208 4952-0 | F +49 208 4952-264 | more@turck.com | www.turck.com...

  • Page 87: Parameterizing And Configuring

    Parameterizing and configuring Parameters The device has two bytes of general module parameters, six bytes of parameters for the digital channels and 22 bytes of parameters for each motor channel. Word no. Byte no. Bit no. Dec. Hex. Dec. Hex. DXP channels 0x00 0x00...
  • Page 88 Output data for setting the motor mode locked. The configured motor mode cannot be changed dur- ing operation via the process output data. Hans Turck GmbH & Co. KG | T +49 208 4952-0 | F +49 208 4952-264 | more@turck.com | www.turck.com...
  • Page 89 Parameter name Value Meaning Description Dec. Hex. Lock ramp 0x00 Output data for setting the ramp acceleration or (LOCK_RAMP) ramp deceleration not locked. The ramp acceleration or ramp deceleration can be changed during operation via the process output data [} 105]. 0x01 Output data for setting the ramp acceleration or ramp deceleration locked.

  • Page 90: Profinet Parameters

    Deactivate module- PROFINET alarms are shown. specific PROFINET PROFINET alarms of the slots ≥ 1 are deactiv- alarms exclusively ated. Hans Turck GmbH & Co. KG | T +49 208 4952-0 | F +49 208 4952-264 | more@turck.com | www.turck.com...

  • Page 91: Configuring The Motor Mode

    Configuring the motor mode The following sample configurations describe the handling of the different motor modes with the TBEN-LL-4RMC-4DIP-4DXP with a connected motor (Interroll RollerDrive EC5000 BI) at slot X5 (motor 2). The configurations are shown using the integrated web server as an example and are transfer- able for the Industrial Ethernet protocols PROFINET, EtherNet/IP and Modbus TCP.
  • Page 92 Optional: Set Ramp Acceleration and Ramp Deceleration to the desired value, here 200 mm/s „ Accept values via Submit. Fig. 49: Web server – process output data for velocity mode Hans Turck GmbH & Co. KG | T +49 208 4952-0 | F +49 208 4952-264 | more@turck.com | www.turck.com...
  • Page 93 The motor runs at the defined speed. In addition to the velocity, the process input data also show the current position of the motor, as well as status and error messages. Fig. 50: Web server – process input data for velocity mode V02.00 | 2022/05...

  • Page 94: Position Mode

    „ Set Lock Position to no (0). „ Accept values via Submit. Fig. 51: Web server – Parameters for position mode Hans Turck GmbH & Co. KG | T +49 208 4952-0 | F +49 208 4952-264 | more@turck.com | www.turck.com...
  • Page 95 Setting process output data „ Set Enable to yes (1) to start the motor. „ Set Velocity to the desired value, here 1000 mm/s. „ Set Position to the desired value, here 50000 mm. „ Optional: Set Ramp Acceleration and Ramp Deceleration to the desired value, here 200 mm/s „...
  • Page 96 Set New Setpoint to active (0 1) to apply the new position. Fig. 53: Web server – Accept setpoint for position mode Hans Turck GmbH & Co. KG | T +49 208 4952-0 | F +49 208 4952-264 | more@turck.com | www.turck.com...
  • Page 97 The motor stops at the defined position. Process input data: Bits BUSY = 1, TR (Target Reached) = 1, positioning is not yet com- pleted. Fig. 54: Web server – Position in process input data Ò „ Set New Setpoint to inactive (1 0) to complete the positioning.

  • Page 98: Homing Mode

    Set New Setpoint to active to define the actual position as the new zero position. Fig. 56: Web server – Accept setpoint for homing mode Hans Turck GmbH & Co. KG | T +49 208 4952-0 | F +49 208 4952-264 | more@turck.com | www.turck.com...
  • Page 99 The actual position is set as new zero position. Fig. 57: Web server – Process input data with new zero position V02.00 | 2022/05...

  • Page 100: Configuring The Digital Mode

    Optional: Define Motor Fault Output which is switched in case of a motor fault (here: output channel 4). „ Accept values via Submit. Fig. 58: Web server – Parameters for digital mode Hans Turck GmbH & Co. KG | T +49 208 4952-0 | F +49 208 4952-264 | more@turck.com | www.turck.com...
  • Page 101 A high level at one of the control inputs 4 or 5 starts the digital mode, i.e. the motor starts immediately with the specified speed and the defined acceleration and deceleration. In case of a motor error, the output at channel 4 is set. NOTE To switch from digital mode back to one of the three motor modes (speed, position- ing mode and homing mode), the digital mode [} 14] must be completely deactiv-...

  • Page 102: Operating

    Module status (device status) 0x17 0x00 res. res. CAN COM res. res. 0x01 res. CAN COM res. ARGEE DIAG WARN Hans Turck GmbH & Co. KG | T +49 208 4952-0 | F +49 208 4952-264 | more@turck.com | www.turck.com...
  • Page 103 Meaning of process data bits Name Value Meaning Digital input x Kein Signal an DI (Pin 4, SIO) Signal at DI (pin 4, SIO) DXPx Configurable digital channel (DXP channel) No input signal at DXP channel (pin 2) Input signal at DXP channel (pin 2) Motor mode Currently parameterized and active motor mode [} 87]: No change...
  • Page 104 The cause of the error has not yet been eliminated. The error cannot be reset. Status word Status- and control word Module status Hans Turck GmbH & Co. KG | T +49 208 4952-0 | F +49 208 4952-264 | more@turck.com | www.turck.com...

  • Page 105: Process Output Data

    Process output data Word no. Byte no. Bit no. Dec. Hex. Dec. Hex. Digital channels (connector X0…X3) 0x00 0x00 DXP7 DXP6 DXP5 DXP4 Reserved 0x01 Reserved Motor control – motor 1 (connector X4) 0x01 0x00 Motor control Motor mode Q_STOP HALT FAULT_ ENABLE 0x01...
  • Page 106 0 = reserved, the previously saved setting is deceleration used The meaning of the entered values depends on the connected motor. Hans Turck GmbH & Co. KG | T +49 208 4952-0 | F +49 208 4952-264 | more@turck.com | www.turck.com...
  • Page 107 Name Data Value Meaning Comment type Motor control ENABLE BOOL The motor roller controller attempts to set Prerequisites: the connected motor to the Operational Motor connected, input bit CON Enabled state (according to the CANopen (Connected) = 1 Drives profile). No error at the connected The bit should always be set during motor, input bit FAULT = 0...

  • Page 108: Led Displays

    Actuator overload Red flashing (1 Hz) Short-circuit at the supply voltage for the respective connector. Both connector LEDs are flashing. Hans Turck GmbH & Co. KG | T +49 208 4952-0 | F +49 208 4952-264 | more@turck.com | www.turck.com...
  • Page 109 RM channel LEDs Meaning (input) LED 8, 10, 12, 14 No motor connected Green Motor connected, CANopen PDO transfer running Green flashing Motor parameterized but not connected or ready Motor reports an error Red flashing (1 Hz) Overload motor LED 9, 11, 13, 15 Motor at standstill Green Motor ready, CANopen communication acc.

  • Page 110: Software Diagnostic Messages

    VAUX1 pin1 Xx Ch (y/z) Overcurrent VAUX1 (pin1) at connector (channel group) ERR_DXPx Overcurrent at output DXP channel used as output Hans Turck GmbH & Co. KG | T +49 208 4952-0 | F +49 208 4952-264 | more@turck.com | www.turck.com...

  • Page 111: Profinet Diagnostics

    9.4.2 PROFINET diagnostics Module diagnostics PROFINET diagnostics (slot 0, according to configuration tool) Connector Error code Channel Undervoltage V1 0x0002 Undervoltage V2 0x0002 DXP diagnostics PROFINET diagnostics Channel Connector Error code Channel Overcurrent output DXP4 0x0001 DXP5 0x0001 DXP6 0x0001 DXP7 0x0001 VAUX1 diagnostics...
  • Page 112 Motor 2 Similar to motor channel 1 Motor 3 Similar to motor channel 1 Motor 4 Similar to motor channel 1 Hans Turck GmbH & Co. KG | T +49 208 4952-0 | F +49 208 4952-264 | more@turck.com | www.turck.com...

  • Page 113: Troubleshooting

    10.1 Fixing motor channel errors If a connected motor cannot be switched on: „ Check the power supply. The TBEN-LL-4RMC-4DIP-4DXP must be supplied with both V1 and V2 [} 19]. „ Check the configuration of the motor channel. The parameter Motor attached (MOT_ATT) [} 87] has to be set at the motor channel.

  • Page 114: Maintenance

    Disposal The devices must be disposed of correctly and must not be included in general household garbage. Hans Turck GmbH & Co. KG | T +49 208 4952-0 | F +49 208 4952-264 | more@turck.com | www.turck.com...

  • Page 115: Technical Data

    Technical data Technical data Supply Supply voltage V1: 24 VDC V2: 24 VDC/48 VDC Permissible range V1: 18…30 VDC V2: 18…56 VDC Power consumption Operating current < 120 mA (outputs inactive) (at 24 VDC nominal voltage) Operating current At 20 °C (operating temperature) V1: 24 VDC, 80 mA V2: 48 VDC, 20 mA V2: 24 VDC, 40 mA...
  • Page 116 Signal voltage high level > 11 V Signal current low level < 1.5 mA Signal current high level > 2 mA Hans Turck GmbH & Co. KG | T +49 208 4952-0 | F +49 208 4952-264 | more@turck.com | www.turck.com...
  • Page 117 Technical data Input delay 0.05 ms Potential isolation Galvanic isolation to P1/P2, voltage proof up to 500 VAC Digital outputs Number of channels Output type Type of output diagnostics Channel diagnostics Output voltage 24 VDC from potential group Output current per channel 2 A, short-circuit proof, max.

  • Page 118: Appendix: Approvals And Markings

    This device does not provide internal over temperature and overload protection for the motor. This device is not evaluated for functional safety. Hans Turck GmbH & Co. KG | T +49 208 4952-0 | F +49 208 4952-264 | more@turck.com | www.turck.com...

  • Page 119: Turck Subsidiaries - Contact Information

    Turck subsidiaries — contact information Germany Hans Turck GmbH & Co. KG Witzlebenstraße 7, 45472 Mülheim an der Ruhr www.turck.de Turck Australia Pty Ltd Australia Building 4, 19-25 Duerdin Street, Notting Hill, 3168 Victoria www.turck.com.au Belgium TURCK MULTIPROX Lion d'Orweg 12, B-9300 Aalst www.multiprox.be...
  • Page 120 Árpád fejedelem útja 26-28., Óbuda Gate, 2. em., H-1023 Budapest www.turck.hu Turck Inc. 3000 Campus Drive, USA-MN 55441 Minneapolis www.turck.us Hans Turck GmbH & Co. KG | T +49 208 4952-0 | F +49 208 4952-264 | more@turck.com | www.turck.com...
  • Page 121 Over 30 subsidiaries and over 60 representations worldwide! 100029248 | 2022/05 100029248 www.turck.com...

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