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

turck TBEN-LL-4RMC Instructions For Use Manual

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TBEN-LL(H)-4RMC
Motor Controller
Instructions for Use

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Summary of Contents for turck TBEN-LL-4RMC

  • Page 1 TBEN-LL(H)-4RMC Motor Controller Instructions for Use...
  • Page 2 Connecting the supply voltage (TBEN-LLH-4RMC) .......... 18 Connecting the supply voltage (TBEN-LL-4RMC) ...........  19 Supply concept...................... 20 Connecting sensors and actuators ................ 21 Connecting motors.......................  22 V02.00 | 2025/02 | 2 Hans Turck GmbH & Co. KG | T +49 208 4952-0 | more@turck.com | www.turck.com...
  • Page 3 Process output data .................... 109 LED displays .........................  112 Software diagnostic messages.................  114 9.4.1 Status- and control word...................... 114 9.4.2 Diagnostic telegram........................ 115 9.4.3 PROFINET diagnostics........................ 116 V02.00 | 2025/02 | 3 Hans Turck GmbH & Co. KG | T +49 208 4952-0 | more@turck.com | www.turck.com...
  • Page 4 12.1 Returning devices .......................  123 13 Disposal............................ 123 14 Technical data.......................... 124 15 Turck branches — contact data .................... 128 V02.00 | 2025/02 | 4 Hans Turck GmbH & Co. KG | T +49 208 4952-0 | more@turck.com | www.turck.com...
  • Page 5 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 | 2025/02 | 5 Hans Turck GmbH & Co. KG | T +49 208 4952-0 | more@turck.com | www.turck.com...
  • Page 6 IP67 sealing caps for the I/O connectors Labelling clips Turck service Turck supports you in your projects – from the initial analysis right through to the commission- ing of your application. The Turck product database at www.turck.com offers you several soft- ware tools for programming, configuring or commissioning, as well as data sheets and CAD files in many export formats.
  • Page 7 The product is designed according to state of the art technology. Residual hazards, however, still exist. Observe the following safety instructions and warnings in order to prevent danger to persons and property. Turck accepts no liability for damage caused by failure to observe these safety instructions.
  • Page 8 The device has the following operating elements: Rotary coding switches for adjusting the network settings Reset button for executing a device restart V02.00 | 2025/02 | 8 Hans Turck GmbH & Co. KG | T +49 208 4952-0 | more@turck.com | www.turck.com...
  • Page 9 The integrated FLC function allows running a control logic, such as decentralized accumulating conveyor logic, to be executed directly on the device. The programming is done via the web- based engineering ARGEE. V02.00 | 2025/02 | 9 Hans Turck GmbH & Co. KG | T +49 208 4952-0 | more@turck.com | www.turck.com...
  • Page 10 Port Protocol 00022 SFTP 00053 DNS TCP 00067 DHCP 00080 HTTP 00093 PROFINET DCP 00502 Modbus TCP 58554 Turck Services V02.00 | 2025/02 | 10 Hans Turck GmbH & Co. KG | T +49 208 4952-0 | more@turck.com | www.turck.com...
  • Page 11 (configuration exapmle, s. ”Configuring the homing mode” [} 96]. Application example (e.g. in position mode): Aligning the start position on the system during operation. V02.00 | 2025/02 | 11 Hans Turck GmbH & Co. KG | T +49 208 4952-0 | more@turck.com | www.turck.com...
  • Page 12 Which digital output switches in the event of a motor fault is determined via the parameter motor status output [} 80]. V02.00 | 2025/02 | 12 Hans Turck GmbH & Co. KG | T +49 208 4952-0 | more@turck.com | www.turck.com...
  • Page 13 The ARGEE programming software can be downloaded free of charge from www.turck.com. The “SW_ARGEE_Environment_Vx.x.zip” file also contains the documentation for the program- ming environment as well as the software. V02.00 | 2025/02 | 13 Hans Turck GmbH & Co. KG | T +49 208 4952-0 | more@turck.com | www.turck.com...
  • Page 14 The mechanical and electrical properties of the device are not impaired. „ To prevent material wear and color changes: Protect the device from direct sunlight with protective panels. V02.00 | 2025/02 | 14 Hans Turck GmbH & Co. KG | T +49 208 4952-0 | more@turck.com | www.turck.com...
  • Page 15 V02.00 | 2025/02 | 15 Hans Turck GmbH & Co. KG | T +49 208 4952-0 | more@turck.com | www.turck.com...
  • Page 16 With mounted grounding clip: The shielding of the fieldbus and the module grounding are connected to the reference potential of the installation. V02.00 | 2025/02 | 16 Hans Turck GmbH & Co. KG | T +49 208 4952-0 | more@turck.com | www.turck.com...
  • Page 17 Do not use crossover cables in applications with QuickConnect (QC) and and Fast Start Up (FSU) applications. „ Connect incoming Ethernet cables to XF1. „ Connect outgoing Ethernet cables to XF2. V02.00 | 2025/02 | 17 Hans Turck GmbH & Co. KG | T +49 208 4952-0 | more@turck.com | www.turck.com...
  • Page 18 LED PWR changes from green to red. In case of an undervoltage at V1, the LED PWR is turned off. V02.00 | 2025/02 | 18 Hans Turck GmbH & Co. KG | T +49 208 4952-0 | more@turck.com | www.turck.com...
  • Page 19 PWR LED changes from green to green flashing or red (depending on the configuration). If V1 goes below the permissible minimum, the PWR LED goes out. V02.00 | 2025/02 | 19 Hans Turck GmbH & Co. KG | T +49 208 4952-0 | more@turck.com | www.turck.com...
  • Page 20 V1 = supply of the module electronics and the respective connectors V2 = supply of the respective connectors (can be switched-off separately) Fig. 13: Power supply TBEN-LL(H)-4RMC V02.00 | 2025/02 | 20 Hans Turck GmbH & Co. KG | T +49 208 4952-0 | more@turck.com | www.turck.com...
  • Page 21 4 = Signal In/Out 5 = FE X2…X3 Fig. 16: : Connectors for digital sensors and actuators at X2…X3 – pin assignment V02.00 | 2025/02 | 21 Hans Turck GmbH & Co. KG | T +49 208 4952-0 | more@turck.com | www.turck.com...
  • Page 22 4 = CAN Low 5 = GND V2 X4…X7 Fig. 18: Pin assignment of the connectors for motor roller control, X4…X7 V02.00 | 2025/02 | 22 Hans Turck GmbH & Co. KG | T +49 208 4952-0 | more@turck.com | www.turck.com...
  • Page 23 Device damage through penetrating foreign objects or liquids is possible. Tightly close the service window. V02.00 | 2025/02 | 23 Hans Turck GmbH & Co. KG | T +49 208 4952-0 | more@turck.com | www.turck.com...
  • Page 24 IP address. The DHCP client is automatically deactivated as soon as the device has received an IP address via TAS (Turck Automation Suite), the DTM or the web server. The data are stored non-volatile in the device.
  • Page 25 By clicking on the IP address of the device, the configuration view of the device can be opened either in TAS or on the device website. V02.00 | 2025/02 | 25 Hans Turck GmbH & Co. KG | T +49 208 4952-0 | more@turck.com | www.turck.com...
  • Page 26 Change the device name, the IP address and the network mask if necessary. „ Save changes by clicking on APPLY . Fig. 23: Changing network settings in TAS V02.00 | 2025/02 | 26 Hans Turck GmbH & Co. KG | T +49 208 4952-0 | more@turck.com | www.turck.com...
  • Page 27 Adjust the network settings. „ Write the changes into the device via SET NETWORK CONFIGURATION. Fig. 24: Web server – adjusting network settings V02.00 | 2025/02 | 27 Hans Turck GmbH & Co. KG | T +49 208 4952-0 | more@turck.com | www.turck.com...
  • Page 28 This slot is used to cyclically map Diagnostics diagnostic data. Module status This slot is used to cyclically map Device status device status data. V02.00 | 2025/02 | 28 Hans Turck GmbH & Co. KG | T +49 208 4952-0 | more@turck.com | www.turck.com...
  • Page 29 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 V02.00 | 2025/02 | 29 Hans Turck GmbH & Co. KG | T +49 208 4952-0 | more@turck.com | www.turck.com...
  • Page 30 BOOL Communication error %IX1.4 BOOL Device profile specific error %IX1.5 BOOL Manufacturer specific error %IX1.7 BOOL %IW1 Status %IB2 USINT V02.00 | 2025/02 | 30 Hans Turck GmbH & Co. KG | T +49 208 4952-0 | more@turck.com | www.turck.com...
  • Page 31 New setpoint %QX1.0 BOOL Position mode %QX1.1 BOOL Change set immediately %QX1.2 BOOL Change on setpoint %QX1.3 BOOL Velocity %QW1 V02.00 | 2025/02 | 31 Hans Turck GmbH & Co. KG | T +49 208 4952-0 | more@turck.com | www.turck.com...
  • Page 32 Generic error %IX1.0 BOOL Current error %IX1.1 BOOL Voltage error %IX1.2 BOOL Temperature error %IX1.3 BOOL Communication error %IX1.4 BOOL V02.00 | 2025/02 | 32 Hans Turck GmbH & Co. KG | T +49 208 4952-0 | more@turck.com | www.turck.com...
  • Page 33 BOOL Change on setpoint %QX1.3 BOOL Velocity %QW1.0 Position %QD1 DINT %QD2 Ramp acceleration %QW4 UINT Ramp deceleration %QW5 UINT V02.00 | 2025/02 | 33 Hans Turck GmbH & Co. KG | T +49 208 4952-0 | more@turck.com | www.turck.com...
  • Page 34 Module state – byte 1 %IB1 USINT Module diagnostics pending %IX1.0 BOOL ARGEE program active %IX1.1 BOOL Undervoltage V2 %IX1.7 BOOL V02.00 | 2025/02 | 34 Hans Turck GmbH & Co. KG | T +49 208 4952-0 | more@turck.com | www.turck.com...
  • Page 35 The name must not have the form of an IP address (n.n.n.n, n = 0…999). Do not use special characters. Do not use capital letters. V02.00 | 2025/02 | 35 Hans Turck GmbH & Co. KG | T +49 208 4952-0 | more@turck.com | www.turck.com...
  • Page 36 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. V02.00 | 2025/02 | 36 Hans Turck GmbH & Co. KG | T +49 208 4952-0 | more@turck.com | www.turck.com...
  • Page 37 Feed Constant Shaft Revolutions UINT32 0x1807 0x607F Maximum Profile Velocity INT32 0x1808 0x60C5 Maximum Profile Acceleration UINT32 0x1809 0x60C6 Maximum Profile Deceleration UINT32 V02.00 | 2025/02 | 37 Hans Turck GmbH & Co. KG | T +49 208 4952-0 | more@turck.com | www.turck.com...
  • Page 38 Installing the GSDML file: Define the source path for the GSDML-file and click Install. The device is added to the hardware catalog. Fig. 26: TIA portal Installing the GSDML-file V02.00 | 2025/02 | 38 Hans Turck GmbH & Co. KG | T +49 208 4952-0 | more@turck.com | www.turck.com...
  • Page 39 Connect the devices to the PLC in the Devices & networks editor. Fig. 27: TIA-Portal – Connecting the device to the PLC V02.00 | 2025/02 | 39 Hans Turck GmbH & Co. KG | T +49 208 4952-0 | more@turck.com | www.turck.com...
  • Page 40 Functions Ò Assign PROFINET device name. „ Assign the desired PROFINET device name with Assign name. Fig. 28: TIA-Portal: Assigning the PROFINET device name V02.00 | 2025/02 | 40 Hans Turck GmbH & Co. KG | T +49 208 4952-0 | more@turck.com | www.turck.com...
  • Page 41 Select Device view Ò register Properties Ò Ethernet addresses . „ Assign the desired IP address. Fig. 29: TIA-Portal: Assigning the IP address V02.00 | 2025/02 | 41 Hans Turck GmbH & Co. KG | T +49 208 4952-0 | more@turck.com | www.turck.com...
  • Page 42 Define the function of the four motor controller (Motor 1… Motor 4) and define the other slots by assigning the suitable sub modules. Fig. 30: Configuring the device slots in TIA Portal V02.00 | 2025/02 | 42 Hans Turck GmbH & Co. KG | T +49 208 4952-0 | more@turck.com | www.turck.com...
  • Page 43 „ Start the online mode (Go online). The device has been successfully connected to the PLC. Fig. 31: TIA-Portal: Online mode V02.00 | 2025/02 | 43 Hans Turck GmbH & Co. KG | T +49 208 4952-0 | more@turck.com | www.turck.com...
  • Page 44 LED behavior (PWR) at V2 undervoltage Bit 0: 0 = red 1 = green flashing 0x2400 read only V1 in mV: 0 at undervoltage V02.00 | 2025/02 | 44 Hans Turck GmbH & Co. KG | T +49 208 4952-0 | more@turck.com | www.turck.com...
  • Page 45 0x9000, 0x9001 36864, 36865 436865, 436866 Diagnostics 0xA000, 0xA001 40960, 40961 440961, 440962 Parameters 0xB000, 0xB001 45056, 45057 445057, 445058 V02.00 | 2025/02 | 45 Hans Turck GmbH & Co. KG | T +49 208 4952-0 | more@turck.com | www.turck.com...
  • Page 46 If Modbus is the active protocol in case of a connection timeout and no further Modbus con- nections exist, the BUS LED behaves as follows: Connection timeout BUS LED Timeout Green flashing V02.00 | 2025/02 | 46 Hans Turck GmbH & Co. KG | T +49 208 4952-0 | more@turck.com | www.turck.com...
  • Page 47 The parameters are saved. 7.4.3 Data width Module Process input data Process output data Alignment TBEN-LL(H)-4RMC 44 byte 48 byte Word by word V02.00 | 2025/02 | 47 Hans Turck GmbH & Co. KG | T +49 208 4952-0 | more@turck.com | www.turck.com...
  • Page 48 X2 pin1 X1 pin1 X0 (Ch6/7) (Ch4/5) (Ch2/3) (Ch0/1) 0x0016 ERR_DXP7 ERR_DXP6 ERR_DXP5 ERR_DXP4 - Device status 0x0017 ARGEE DIAG V02.00 | 2025/02 | 48 Hans Turck GmbH & Co. KG | T +49 208 4952-0 | more@turck.com | www.turck.com...
  • Page 49 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 V02.00 | 2025/02 | 49 Hans Turck GmbH & Co. KG | T +49 208 4952-0 | more@turck.com | www.turck.com...
  • Page 50 Assignment similar to motor 1 (0xA002) Motor control – motor 4 (connector X7) 0xA005 0…1 Assignment similar to motor 1 (0xA002) V02.00 | 2025/02 | 50 Hans Turck GmbH & Co. KG | T +49 208 4952-0 | more@turck.com | www.turck.com...
  • Page 51 Velocity fire mode 0xB00B Input fire mode 0xB00C Ramp acceleration fire mode 0xB00D … … 0xB010 0xB011 Ramp acceleration 0xB012 Ramp deceleration V02.00 | 2025/02 | 51 Hans Turck GmbH & Co. KG | T +49 208 4952-0 | more@turck.com | www.turck.com...
  • Page 52 "0" after the watchdog time has expired, unless another protocol (PROFINET, Eth- erNet/IP) has been activated in the meantime. V02.00 | 2025/02 | 52 Hans Turck GmbH & Co. KG | T +49 208 4952-0 | more@turck.com | www.turck.com...
  • Page 53 256 or variable Common services Service code Class Instance Service name Dec. Hex. 0x0E Get_Attribute_Single Returns the content of a specified attribute. V02.00 | 2025/02 | 53 Hans Turck GmbH & Co. KG | T +49 208 4952-0 | more@turck.com | www.turck.com...
  • Page 54 0x2E Ramp acceleration fire mode 0x2F 0x30 Input reference sensor 0x31 Input positive limit switch 0x32 Input negative limit switch V02.00 | 2025/02 | 54 Hans Turck GmbH & Co. KG | T +49 208 4952-0 | more@turck.com | www.turck.com...
  • Page 55 The port is set to autonegotiation. 100BT/FD Fix setting of the communication parameters for the Ethernet port to: 100BaseT full duplex V02.00 | 2025/02 | 55 Hans Turck GmbH & Co. KG | T +49 208 4952-0 | more@turck.com | www.turck.com...
  • Page 56 Sensor supply and digital channels (diagnostics) 0x16 22 Reserved VAUX1 VAUX1 VAUX1 VAUX1 pin1 pin1 pin1 pin1 (Ch6/7) (Ch4/5) (Ch2/3) (Ch0/1) 0x17 23 Reserved V02.00 | 2025/02 | 56 Hans Turck GmbH & Co. KG | T +49 208 4952-0 | more@turck.com | www.turck.com...
  • Page 57 Common services Service code Class Instance Meaning Dec. Hex. 0x54 FWD_OPEN_CMD (opens a connection) 0x4E FWD_CLOSE_CMD (closes a connection) 0x52 UNCONNECTED_SEND_CMD V02.00 | 2025/02 | 57 Hans Turck GmbH & Co. KG | T +49 208 4952-0 | more@turck.com | www.turck.com...
  • Page 58 Force mode of DTM active Diagnostics at I/O channel active 9…10 Reserved DIAG Common error bit 12…15 Reserved default = 0 V02.00 | 2025/02 | 58 Hans Turck GmbH & Co. KG | T +49 208 4952-0 | more@turck.com | www.turck.com...
  • Page 59 Physical STRUCT link object Path size UINT Number of 16 bit words: 0x02 Path Padded 0x20, 0xF6, 0x24, 0x01 EPATH V02.00 | 2025/02 | 59 Hans Turck GmbH & Co. KG | T +49 208 4952-0 | more@turck.com | www.turck.com...
  • Page 60 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 V02.00 | 2025/02 | 60 Hans Turck GmbH & Co. KG | T +49 208 4952-0 | more@turck.com | www.turck.com...
  • Page 61 (for example, in non-volatile memory or via hardware switches, etc). 1…3 = reserved DNS Enable Always 0 5…31 Reserved Set to 0 V02.00 | 2025/02 | 61 Hans Turck GmbH & Co. KG | T +49 208 4952-0 | more@turck.com | www.turck.com...
  • Page 62 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. V02.00 | 2025/02 | 62 Hans Turck GmbH & Co. KG | T +49 208 4952-0 | more@turck.com | www.turck.com...
  • Page 63 (cannot be deactivated via the EtherNet/IP interface). Bit 1: Deactivates Modbus TCP Bit 2: Deactivates PROFINET Bit 15: Deactivates the web server V02.00 | 2025/02 | 63 Hans Turck GmbH & Co. KG | T +49 208 4952-0 | more@turck.com | www.turck.com...
  • Page 64 13: Active low - channel 4 14: Active low - channel 5 15: Active low - channel 6 16: Active low - channel 7 V02.00 | 2025/02 | 64 Hans Turck GmbH & Co. KG | T +49 208 4952-0 | more@turck.com | www.turck.com...
  • Page 65 15: Active low - channel 6 16: Active low - channel 7 0x0F Velocity 1 mode [mm/s] 0x10 Ramp accelera- tion mode[mm/s²] V02.00 | 2025/02 | 65 Hans Turck GmbH & Co. KG | T +49 208 4952-0 | more@turck.com | www.turck.com...
  • Page 66 2: Channel 1 3: Channel 2 4: Channel 3 5: Channel 4 6: Channel 5 7: Channel 6 8: Channel 7 V02.00 | 2025/02 | 66 Hans Turck GmbH & Co. KG | T +49 208 4952-0 | more@turck.com | www.turck.com...
  • Page 67 USINT 0: not active error 1: active 0x21 Reference posi- tion valid 0x22 Generic error USINT 0: - 1: active V02.00 | 2025/02 | 67 Hans Turck GmbH & Co. KG | T +49 208 4952-0 | more@turck.com | www.turck.com...
  • Page 68 4: reserved 5: reserved 6: Homing 0x34 Enable USINT 0: no 1: yes 0x35 Fault reset USINT 0: no 1: yes V02.00 | 2025/02 | 68 Hans Turck GmbH & Co. KG | T +49 208 4952-0 | more@turck.com | www.turck.com...
  • Page 69 DXP 6 - Activate output USINT 0: No 1: Yes 0x08 DXP 7 - Activate output USINT 0: No 1: Yes V02.00 | 2025/02 | 69 Hans Turck GmbH & Co. KG | T +49 208 4952-0 | more@turck.com | www.turck.com...
  • Page 70 Bit 0: Output value DXP4 Bit 1: Output value DXP5 Bit 2: Output value DXP6 Bit 3: Output value Ch7 V02.00 | 2025/02 | 70 Hans Turck GmbH & Co. KG | T +49 208 4952-0 | more@turck.com | www.turck.com...
  • Page 71 Installing the EDS file „ Open the EDS Wizard via Tools Ò Hardware Installation Tool. Fig. 32: Opening the Hardware Installation Tool V02.00 | 2025/02 | 71 Hans Turck GmbH & Co. KG | T +49 208 4952-0 | more@turck.com | www.turck.com...
  • Page 72 Connecting the Devices to a Rockwell PLC with EtherNet/IP „ Follow the instructions in the wizard to install the EDS file. Fig. 33: EDS Wizard V02.00 | 2025/02 | 72 Hans Turck GmbH & Co. KG | T +49 208 4952-0 | more@turck.com | www.turck.com...
  • Page 73 The device is registered as a Communications Adapter and can be added to the project later as a device. Fig. 34: Registering the device as Communications Adapter V02.00 | 2025/02 | 73 Hans Turck GmbH & Co. KG | T +49 208 4952-0 | more@turck.com | www.turck.com...
  • Page 74 Open the context menu by right-clicking the entry of the scanner In the project tree and select New Module . Fig. 35: Adding the device to the project V02.00 | 2025/02 | 74 Hans Turck GmbH & Co. KG | T +49 208 4952-0 | more@turck.com | www.turck.com...
  • Page 75 Connecting the Devices to a Rockwell PLC with EtherNet/IP „ Select TBEN-LLH-4RMC and add it to the project. Fig. 36: Selecting the device V02.00 | 2025/02 | 75 Hans Turck GmbH & Co. KG | T +49 208 4952-0 | more@turck.com | www.turck.com...
  • Page 76 Enter the device name and IP address of the deviceuUnder New Module Ò General. Fig. 37: New Module, setting name and IP address „ Optional: Set the connection parameters. Fig. 38: New Module, connection parameters V02.00 | 2025/02 | 76 Hans Turck GmbH & Co. KG | T +49 208 4952-0 | more@turck.com | www.turck.com...
  • Page 77 Connecting the Devices to a Rockwell PLC with EtherNet/IP The device appears as Ethernet slave in the project tree. Fig. 39: Device in the project tree V02.00 | 2025/02 | 77 Hans Turck GmbH & Co. KG | T +49 208 4952-0 | more@turck.com | www.turck.com...
  • Page 78 TBEN_LLH_4RMC:O. The chapter "Parameterizing and config- uring" contains examples for configuring the device [} 89]. Fig. 40: Controller Tags (parameters) V02.00 | 2025/02 | 78 Hans Turck GmbH & Co. KG | T +49 208 4952-0 | more@turck.com | www.turck.com...
  • Page 79 Commissioning Connecting the Devices to a Rockwell PLC with EtherNet/IP Fig. 41: Controller Tags (outputs) V02.00 | 2025/02 | 79 Hans Turck GmbH & Co. KG | T +49 208 4952-0 | more@turck.com | www.turck.com...
  • Page 80 Ramp acceleration fire mode 0x0C 0x0D 0x14 Input reference sensor 0x15 Reserved 0x0E 0x16 Input positive limit switch 0x17 Input negative limit switch V02.00 | 2025/02 | 80 Hans Turck GmbH & Co. KG | T +49 208 4952-0 | more@turck.com | www.turck.com...
  • Page 81 Process data no longer have any influence on the output. Use case: Permanent supply of stations that are connected to digital output. V02.00 | 2025/02 | 81 Hans Turck GmbH & Co. KG | T +49 208 4952-0 | more@turck.com | www.turck.com...
  • Page 82 Output data for ramp acceleration or ramp deceleration locked. Ramp acceleration and ramp deceleration cannot be changed dynamically via the process output data V02.00 | 2025/02 | 82 Hans Turck GmbH & Co. KG | T +49 208 4952-0 | more@turck.com | www.turck.com...
  • Page 83 (LOCK_RAMP) parameter. V02.00 | 2025/02 | 83 Hans Turck GmbH & Co. KG | T +49 208 4952-0 | more@turck.com | www.turck.com...
  • Page 84 (reference point). V02.00 | 2025/02 | 84 Hans Turck GmbH & Co. KG | T +49 208 4952-0 | more@turck.com | www.turck.com...
  • Page 85 (input reference … … sensor parameter = 2 = neg. to pos. edge - pos. limit Channel 7 switch). V02.00 | 2025/02 | 85 Hans Turck GmbH & Co. KG | T +49 208 4952-0 | more@turck.com | www.turck.com...
  • Page 86 Bit 13: Active low channel 4 Bit 14: Active low channel 5 Bit 15: Active low channel 6 Bit 16: Active low channel 7 V02.00 | 2025/02 | 86 Hans Turck GmbH & Co. KG | T +49 208 4952-0 | more@turck.com | www.turck.com...
  • Page 87 Bit 13: Active low channel 4 Bit 14: Active low channel 5 Bit 15: Active low channel 6 Bit 16: Active low channel 7 V02.00 | 2025/02 | 87 Hans Turck GmbH & Co. KG | T +49 208 4952-0 | more@turck.com | www.turck.com...
  • Page 88 Deactivate web server 0 Deactivate module- PROFINET alarms are shown. specific PROFINET PROFINET alarms of the slots ≥ 1 are alarms exclusively deactivated. V02.00 | 2025/02 | 88 Hans Turck GmbH & Co. KG | T +49 208 4952-0 | more@turck.com | www.turck.com...
  • Page 89 „ Write the values to the device using the Write button. Fig. 42: Parameters for velocity mode V02.00 | 2025/02 | 89 Hans Turck GmbH & Co. KG | T +49 208 4952-0 | more@turck.com | www.turck.com...
  • Page 90 Set enable to yes (1) to start the motor. „ The values are applied immediately. Fig. 43: Process output data for velocity mode V02.00 | 2025/02 | 90 Hans Turck GmbH & Co. KG | T +49 208 4952-0 | more@turck.com | www.turck.com...
  • Page 91 Fig. 44: Process input data data for velocity mode V02.00 | 2025/02 | 91 Hans Turck GmbH & Co. KG | T +49 208 4952-0 | more@turck.com | www.turck.com...
  • Page 92 „ Write the values to the device using the Write button. Fig. 45: Parameters for position mode V02.00 | 2025/02 | 92 Hans Turck GmbH & Co. KG | T +49 208 4952-0 | more@turck.com | www.turck.com...
  • Page 93 Set New setpoint to active (0 Ò 1) to accept the new position. „ Set New setpoint (1 Ò 0) . V02.00 | 2025/02 | 93 Hans Turck GmbH & Co. KG | T +49 208 4952-0 | more@turck.com | www.turck.com...
  • Page 94 The motor stops at the defined position. Process input data: Bit Target reached (R) = 0, the positioning is not yet complete. V02.00 | 2025/02 | 94 Hans Turck GmbH & Co. KG | T +49 208 4952-0 | more@turck.com | www.turck.com...
  • Page 95 Fig. 48: Position in process input data Process input data: Bit Target reached (TR) = 1, a new positioning can be activated. V02.00 | 2025/02 | 95 Hans Turck GmbH & Co. KG | T +49 208 4952-0 | more@turck.com | www.turck.com...
  • Page 96 Set Lock motor mode to no. „ Write the values to the device using the Write button. Fig. 49: Parameters for homing mode V02.00 | 2025/02 | 96 Hans Turck GmbH & Co. KG | T +49 208 4952-0 | more@turck.com | www.turck.com...
  • Page 97 Set New setpoint to active to define the actual position as the new zero position. Fig. 50: Process output data in homing mode The actual position is set as new zero position. V02.00 | 2025/02 | 97 Hans Turck GmbH & Co. KG | T +49 208 4952-0 | more@turck.com | www.turck.com...
  • Page 98 Process input data: Bit Target reached (TR)= 1 Ò the zero position has been set. Fig. 51: Process input data with new zero position V02.00 | 2025/02 | 98 Hans Turck GmbH & Co. KG | T +49 208 4952-0 | more@turck.com | www.turck.com...
  • Page 99 Velocity 2 channel 5 channel 6 Velocity 3 Velocity 1 The following parameters [} 80] must be set for the digital mode. V02.00 | 2025/02 | 99 Hans Turck GmbH & Co. KG | T +49 208 4952-0 | more@turck.com | www.turck.com...
  • Page 100 5 and runs at the speed Velocity 1 digital mode (600 mm/s). „ Write the values to the device using the Write button. Fig. 52: Parameters for velocity mode V02.00 | 2025/02 | 100 Hans Turck GmbH & Co. KG | T +49 208 4952-0 | more@turck.com | www.turck.com...
  • Page 101 With a positive signal on channel 5, the motor starts immediately with the speed Velocity 1 digital mode (600 mm/s). Fig. 53: Active high signal at channel 5 Fig. 54: Process input data for digital mode V02.00 | 2025/02 | 101 Hans Turck GmbH & Co. KG | T +49 208 4952-0 | more@turck.com | www.turck.com...
  • Page 102 Optional: Specify the channels to which the limit switches are connected under Input positive/negative limit switch. „ Write the values to the device using the Write button. Fig. 55: Parameters for referencing V02.00 | 2025/02 | 102 Hans Turck GmbH & Co. KG | T +49 208 4952-0 | more@turck.com | www.turck.com...
  • Page 103 The motor then moves on to the defined absolute Position, in this case: 200. When this position is reached, the position is reset to 0 and immediately serves as the new reference position. V02.00 | 2025/02 | 103 Hans Turck GmbH & Co. KG | T +49 208 4952-0 | more@turck.com | www.turck.com...
  • Page 104 5) under Input fire mode. „ Write the values to the device using the Write button. Fig. 57: Parameters for fire mode V02.00 | 2025/02 | 104 Hans Turck GmbH & Co. KG | T +49 208 4952-0 | more@turck.com | www.turck.com...
  • Page 105 Input fire mode must be deactivated (not execute) or the Velocity fire mode must be 0. V02.00 | 2025/02 | 105 Hans Turck GmbH & Co. KG | T +49 208 4952-0 | more@turck.com | www.turck.com...
  • Page 106 0x16 0x00 ERR DXP5 ERR Reserved DXP7 DXP6 DXP4 0x01 Reserved Module status (device status) 0x17 0x00 0x01 ARGEE DIAG V02.00 | 2025/02 | 106 Hans Turck GmbH & Co. KG | T +49 208 4952-0 | more@turck.com | www.turck.com...
  • Page 107 Temperature error (TERR) Communication error (COMERR) Device profile specific error (DPSERR) Manufacturer specific error (MSERR) V02.00 | 2025/02 | 107 Hans Turck GmbH & Co. KG | T +49 208 4952-0 | more@turck.com | www.turck.com...
  • Page 108 Current speed Position Current position Sensor supply and digital channels (dia- [} 114] gnostics) Module status Status word Status and control word V02.00 | 2025/02 | 108 Hans Turck GmbH & Co. KG | T +49 208 4952-0 | more@turck.com | www.turck.com...
  • Page 109 No change Mode change only at standstill, bits Position mode HALT bit must be set. Velocity Homing Digital mode Referencing V02.00 | 2025/02 | 109 Hans Turck GmbH & Co. KG | T +49 208 4952-0 | more@turck.com | www.turck.com...
  • Page 110 The bit corresponds to the FR bit (bit 7) in the CANopen control word (object 0x6040) of the device profile. V02.00 | 2025/02 | 110 Hans Turck GmbH & Co. KG | T +49 208 4952-0 | more@turck.com | www.turck.com...
  • Page 111 The units and the maximum values for speed, position, ramp acceleration and ramp deceleration depend on the connected motor. „ Observe the documentation of the connected motor. V02.00 | 2025/02 | 111 Hans Turck GmbH & Co. KG | T +49 208 4952-0 | more@turck.com | www.turck.com...
  • Page 112 Actuator overload Red flashing (1 Hz) Short-circuit at the supply voltage for the respective connector. Both connector LEDs are flashing. V02.00 | 2025/02 | 112 Hans Turck GmbH & Co. KG | T +49 208 4952-0 | more@turck.com | www.turck.com...
  • Page 113 Motor ready, CANopen communication acc. To CANopen Device Profile Green blinking Motor in motion LED WINK Meaning (without designation on the device) White flashing Wink command active V02.00 | 2025/02 | 113 Hans Turck GmbH & Co. KG | T +49 208 4952-0 | more@turck.com | www.turck.com...
  • Page 114 Control Word The control word has no function. V02.00 | 2025/02 | 114 Hans Turck GmbH & Co. KG | T +49 208 4952-0 | more@turck.com | www.turck.com...
  • Page 115 Overcurrent VAUX1 (pin1) at connector (channel group) ERR_DXP… Overcurrent at output DXP channel used as output Error register See Process input data [} 106] V02.00 | 2025/02 | 115 Hans Turck GmbH & Co. KG | T +49 208 4952-0 | more@turck.com | www.turck.com...
  • Page 116 0x0603 (pin 1) at X3, ch 6/7 Motor channel diagnostics PROFINET diagnostics Error description, s. [} 115] Connector Error code Channel V02.00 | 2025/02 | 116 Hans Turck GmbH & Co. KG | T +49 208 4952-0 | more@turck.com | www.turck.com...
  • Page 117 (MISDEV) connected. Motor 2 similar to port 1 Motor 3 similar to port 1 Motor 4 similar to port 1 V02.00 | 2025/02 | 117 Hans Turck GmbH & Co. KG | T +49 208 4952-0 | more@turck.com | www.turck.com...
  • Page 118 Provide motor cables with folding ferrites at one cable end. Tested and recommended folding ferrites: Würth STAR-TEC Snap-on 74271132 KEMET ESD-SR-H/HL Snap-on ESD-SR-S12 V02.00 | 2025/02 | 118 Hans Turck GmbH & Co. KG | T +49 208 4952-0 | more@turck.com | www.turck.com...
  • Page 119 TCP network. This enables a firmware update to be performed for multiple devices at once. V02.00 | 2025/02 | 119 Hans Turck GmbH & Co. KG | T +49 208 4952-0 | more@turck.com | www.turck.com...
  • Page 120 „ Click START to start the firmware update. Fig. 61: Firmware update progress The progress of the firmware update is displayed. V02.00 | 2025/02 | 120 Hans Turck GmbH & Co. KG | T +49 208 4952-0 | more@turck.com | www.turck.com...
  • Page 121 Click Firmware Ò SELECT FIRMWARE FILE. „ Select the new firmware file and load it via Open. Fig. 62: Webserver – Selecting the firmware file V02.00 | 2025/02 | 121 Hans Turck GmbH & Co. KG | T +49 208 4952-0 | more@turck.com | www.turck.com...
  • Page 122 The progress of the firmware update is displayed. Fig. 64: Webserver – Firmware update running „ Restart the device after the update process has been completed. V02.00 | 2025/02 | 122 Hans Turck GmbH & Co. KG | T +49 208 4952-0 | more@turck.com | www.turck.com...
  • Page 123 Disposal The devices must be disposed of properly and do not belong in the domestic waste. V02.00 | 2025/02 | 123 Hans Turck GmbH & Co. KG | T +49 208 4952-0 | more@turck.com | www.turck.com...
  • Page 124 Ethernet 0.6 Nm 0.8 Nm I/O channels/supply 1.5 Nm Mounting (M6 screws) Max. line length Ethernet 100 m (per segment) V02.00 | 2025/02 | 124 Hans Turck GmbH & Co. KG | T +49 208 4952-0 | more@turck.com | www.turck.com...
  • Page 125 Network load class Motor channels Number of channels Interface Interroll RollerDrive EC5000 BI (from firmware version V1.00.8) Profile CANopen Drives Profile V02.00 | 2025/02 | 125 Hans Turck GmbH & Co. KG | T +49 208 4952-0 | more@turck.com | www.turck.com...
  • Page 126 According to EN 60068-2-27 Drop and topple According to IEC 60068-2-31/IEC 60068-2-32 Electromagnetic compatibility According to EN 61131-2 Approvals and certificates CE, FCC V02.00 | 2025/02 | 126 Hans Turck GmbH & Co. KG | T +49 208 4952-0 | more@turck.com | www.turck.com...
  • Page 127 Part 15 of the FCC regulations. Operation of this device in a residential area may cause harmful interference. In this case users must rectify the interference at their own cost. V02.00 | 2025/02 | 127 Hans Turck GmbH & Co. KG | T +49 208 4952-0 | more@turck.com | www.turck.com...
  • Page 128 Via San Domenico 5, IT-20008 Bareggio (MI) www.turckbanner.it Japan TURCK Japan Corporation ISM Akihabara 1F, 1-24-2, Taito, Taito-ku, 110-0016 Tokyo www.turck.jp V02.00 | 2025/02 | 128 Hans Turck GmbH & Co. KG | T +49 208 4952-0 | more@turck.com | www.turck.com...
  • Page 129 United Kingdom TURCK BANNER LIMITED Blenheim House, Hurricane Way, GB-SS11 8YT Wickford, Essex www.turckbanner.co.uk Turck Inc. 3000 Campus Drive, USA-MN 55441 Minneapolis www.turck.us V02.00 | 2025/02 | 129 Hans Turck GmbH & Co. KG | T +49 208 4952-0 | more@turck.com | www.turck.com...
  • Page 130 Over 30 subsidiaries and 60 representations worldwide! 100029248 | 2025/02 100029248 www.turck.com...

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Tben-llh-4rmc