User Manual - TR
Contents
1. Electronic GmbH 1998 All Rights Reserved Printed in the Federal Republic of Germany Page 22 of 31 TR ECE BA GB 0014 03 03 09 2010 electronic Parameterization and configuration 7 2 2 GET DATA CHECK command Instance 17 r w If the parameters are programmed via the Parameter Class for taking over and test the data a Data Check must be performed subsequently The result 2 bytes of the SET DATA CHECK can be read with GET DATA CHECK Are all bits of the returned UINT value 0 no error is available The possible errors are indicated in following table GET DATA CHECK Bit7 Bite Bits Bit4 Bits Bit2 Biti Bito Low Byte Error Receive Buffer Master Write Read error error High Byte Error Receive Buffer Master Steps Rev TNOS Rev upper upper OL lower lower exceeded 0 out of out Ps out we a range range range An error bit can only then be reset when the data is corrected and a DATA CHECK command is executed D sL Safety Limit 2 oL Operating Limit 3 TNOS Total Number of Steps 7 3 Parameters Range of values 7 3 1 Direction Instance Service Value Description Default 0 Position increasing clockwise x view onto the shaft 1 r w 40 Position decreasing clockwise view onto the shaft 7 3 2 Output Code Instance Service Rete Description Default o Bayne 0 Gray code Printed in the Federal Republic of Germany TR El2. a registered trademark of ODVA Open DeviceNet Vendor Association TR Electronic GmbH 1998 All Rights Reserved Printed in the Federal Republic of Germany Page 2 of 31 TR ECE BA GB 0014 03 03 09 2010 Relectronic Contents GONG a ATE TETE TTET TET REVISION INGOX 55 cisisscesdecicsasscdandecdiseavdcedavivis eddendasasaeeedhansscasdecuey ad eeeseanies 1 General information cccccceseesseenee cece eeeeeeseeeeeeeeeseeeeeeneeeeeeeeeneeees 1 1 Applicability c cc ceceececsece cece ee eececeaeeeeeeeeeeeecenaeeeeeeeeeteeea 1 2 Abbreviations used Terminology ccceeeeeeteeeeeteeeeeeees 2 Additional safety iNStructions ccceccecesseneeeseeeseseseenseeeseeeneeeeseens 2 1 Definition of symbols and instructions 0 eect 2 2 Additional instructions for proper USE ccceeeeeeees 2 3 Organizational MEASULES eee eeeeeeeeeeeeeeettteeeeeeteeeeeeaaes 3 Technical Gat aizicssceciccsces cess siveceesavesceeed een vvsdevadegns ceseaseneaeeeis wieneaas 3 1 Electrical characteristics 0 0 0cccccccccccceeeeeccsseeeeeessaeeeeeeeaeaes 4 CAN DeviceNet information 0 cccccccsssssseseccsseesecneeseeeanseseaeneeeans 5 Installation Preparation for start up cccsseeeeeceeeeeeeeseeeneeeeeeees 5 1 CONNMESCHON anaa lets stead iadeae ste esate neonates 5 2 BUS TEPMIN ALON secas a aa 5 3 Identifier MAC ID ccccesseceesesteeeeessseeesesse
3. core pairs and min 0 5 mm have to be used 5 2 Bus termination If the measuring system is the last slave in the CAN segment the bus is to be terminated with the termination switch ON In this state the subsequent CAN bus is decoupled 5 3 Identifier MAC ID The identifier measuring system address 0 63 is adjusted via 6 DIP switches The adjusted address may be assigned only once in the CAN bus 5 4 Baud rate The baud rate is adjusted via 2 DIP switches Following baud rates are possible e 125 kbit s e 250 kbit s e 500 kbit s TR Electronic GmbH 1998 All Rights Reserved Printed in the Federal Republic of Germany Page 14 of 31 TR ECE BA GB 0014 03 03 09 2010 electronic Installation Preparation for start up 5 5 Shield cover The shield cover is connected with a special EMC cable gland whereby the cable shielding is fitted on the inside Cable gland assembly variant A i s Ea o Pos 1 Nut Pos 2 Seal Pos 3 Contact bush Pos 5 Screw socket Cut shield braid shield foil back to dimension X Slide the nut 1 and seal contact bush 2 3 over the cable Bend the shield braining shield foil to 90 4 Slide seal contact bush 2 3 up to the shield braining shield foil Assemble screw socket 5 on the housing Push seal contact bush 2 3 flush into the screw socket 5 Screw the nut 1 to the screw socket 5 NO
4. specific User Manual includes the following topics e Safety instructions in additional to the basic safety instructions defined in the Assembly Instructions e Electrical characteristics e Installation e Commissioning e Configuration parameterization e Causes of faults and remedies As the documentation is arranged in a modular structure this User Manual is supplementary to other documentation such as product datasheets dimensional drawings leaflets and the assembly instructions etc The User Manual may be included in the customer s specific delivery package or it may be requested separately 1 1 Applicability This User Manual applies exclusively to the following measuring system models with CAN DeviceNet interface e CE 65 e CS 65 e CK 65 The products are labelled with affixed nameplates and are components of a system The following documentation therefore also applies e the operator s operating instructions specific to the system e this User Manual e and the assembly instructions TR ECE BA DGB 0046 which is enclosed when the device is delivered TR Electronic GmbH 1998 All Rights Reserved Printed in the Federal Republic of Germany Page 6 of 31 TR ECE BA GB 0014 03 03 09 2010 Relectronic General information 1 2 Abbreviations used Terminology Controller Area Network RAN manufacturer independent open field bus standard CiA CAN in Automation CAN User Organiz
5. when the adjustment function is performed e The adjustment function should only be performed when the measuring system is at rest otherwise the resulting actual value jump must be permitted in the program and application Instance 18 r w With the adjustment function the measuring system is set to the desired absolute position value Is the adjustment performed via the Parameter Class the required position value is set with the SET service and can read as position value with the GET service After adjustment no DATA CHECK is necessary 0 lt Adjustment lt Total Number of Steps 7 3 5 Auxiliary Outputs 1 7 Function Programming value logical 0 0 error 1 error Output is always 0 Output in the case of an error 0 Output in the case of an error 1 see chap 7 3 5 1 page 28 w o 2 gel fe S 0 below the operating range 1 below the operating range 0 in the operating range 1 in the operating range 0 above the operating range 1 above the operating range 0 below the safety range 1 below the safety range 0 in the safety range 1 in the safety range 0 above the safety range 1 above the safety range Auxiliary Output 1 7 Instance 10 16 r w lower limit 0 upper limit 14 default 0 Printed in the Federal Republic of Germany TR Electronic GmbH 1998 All Rights Reserved 03 09 2010 TR
6. ECE BA GB 0014 03 Page 27 of 31 Parameterization and configuration 7 3 5 1 Definition of the operating and safety range 0 below the operating range 1 below the operating range 0 in the operating range 1 in the operating range 0 above the operating range 1 above the operating range 0 below the safety range 1 below the safety range 0 in the safety range 1 in the safety range 0 above the safety range 1 above the safety range EDS file 8192 Operating limits Safety limits TRelectronic Total capacity Safety range Operating range lower upper Final value Operating limit upper Safety limit eo EDS file 4096 lower limit 1 1 upper limit 33554430 16777214 default 1 1 TR Electronic GmbH 1998 All Rights Reserved Printed in the Federal Republic of Germany Page 28 of 31 TR ECE BA GB 0014 03 03 09 2010 TRelectronic Causes of faults and remedies 8 Causes of faults and remedies 8 1 Error and over range messages I O communication port In order that messages can be transmitted via the I O communication port to the master the auxiliary outputs 1 7 reserved there must be see Input Data Format byte 3 page 19 preconfigured with the appropriate functions see Auxiliary Outputs 1 7 page 27 To obtain the full range of messages it is therefore advisable to distribute all the possible functions on an auxiliary out
7. Rotary Linear Encoders Motion Encoders DeviceNet e Software Support CD 490 01001 Soft No 490 00407 UHL00008 UHL00005 User Manual Multi Turn Absolute rotary encoder series Cx 65 with CAN DeviceNet interface TR ECE BA GB 0014 03 03 09 2010 TRelectronic TR Electronic GmbH D 78647 Trossingen Eglishalde 6 Tel 0049 07425 228 0 Fax 0049 07425 228 33 E mail info tr electronic de http www tr electronic de Copyright protection This Manual including the illustrations contained therein is subject to copyright protection Use of this Manual by third parties in contravention of copyright regulations is forbidden Reproduction translation as well as electronic and photographic archiving and modification require the written content of the manufacturer Offenders will be liable for damages Subject to amendments Any technical changes that serve the purpose of technical progress reserved Document information Release date Rev date 03 09 2010 Document rev no TR ECE BA GB 0014 03 File name TR ECE BA GB 0014 03 DOC Author MUJ Font styles Italic or bold font styles are used for the title of a document or are used for highlighting Courier font displays text which is visible on the display or screen and software menu selections lt gt indicates keys on your computer keyboard such as lt RETURN gt Trademarks DeviceNet is
8. a in the If the error occurs during further command execution the rror reading data EEPROM is defective measuring system must be replaced 1 A Memory area in the If the error occurs during further command execution the Error writing data EEPROM is defective measuring system must be replaced Carry out new programming While programming the Lower safety limit out Switching point the of range permissible range was Permissible range 1 lt lower safety limit lt lower operating limit lt upper operating limit lt upper safety limit lt Total Number of Steps 2 exceeded Carry out new programmin While programming the Y Peg 9 Lower operating limit switching point the out of range permissible range was Permissible range 1 lt lower safety limit lt lower operating limit lt upper operating limit lt upper safety limit lt Total Number of Steps 2 exceeded Carry out new programmin While programming the bs is oe Permissible range Upper operating limit switching point the 1 lt lower safety limit lt lower operating limit lt upper out of range permissible range was operating limit lt upper safety limit lt Total Number of Steps 2 exceeded Carry out new programmin While programming the 1 Bee Upper safety limit out Switching point the of range permissible range was High Byte Permissible range 1 lt lower safety limit lt lower operating limit lt upper operating li
9. aR WN gt Printed in the Federal Republic of Germany TR Electronic GmbH 1998 All Rights Reserved 03 09 2010 TR ECE BA GB 0014 03 Page 15 of 31 Installation Preparation for start up electronic Cable gland assembly variant B Pos 1 Pos 2 Clamping ring Pos 3 Inner O ring Pos 4 Screw socket Cut shield braid shield foil back to dimension X 2mm Slide the nut 1 and clamping ring 2 over the cable Bend the shield braining shield foil to approx 90 A OU N gt a Push clamping ring 2 up to the shield braid shield foil and wrap the braiding back around the clamping ring 2 such that the braiding goes around the inner O ring 3 and is not above the cylindrical part or the torque supports 5 Assemble screw socket 4 on the housing Insert the clamping ring 2 in the screw socket 4 such that the torque supports fit in the slots in the screw socket 4 7 Screw the nut 1 to the screw socket 4 TR Electronic GmbH 1998 All Rights Reserved Printed in the Federal Republic of Germany Page 16 of 31 TR ECE BA GB 0014 03 03 09 2010 TRelectronic Commissioning 6 1 CAN DeviceNet interface The CAN field bus interface separated via optoelectronics with CAN BUS Driver PCA82C250T in the measuring system is determined according to the international standard ISO DIS 11898 and covers the two lower layers of the ISO OSI ref
10. alue Total Number of Steps 1 Total Number of Steps Measuring units per revolution Number of revolutions To calculate the parameters Measuring units per revolution and the Number of revolutions can be read on the measuring system nameplate eT ee UE MMACAA Ee eee Instance 4 and 5 r w Together these two parameters define the Number of revolutions before the measuring system restarts at zero As decimal numbers are not always finite as is e g 3 4 but they may have an infinite number of digits after the decimal point e g 3 43535355358774 the number of revolutions is entered as a fraction numerator lower limit 1 numerator upper limit 256 000 default numerator 4096 denominator lower limit 1 denominator upper limit 99 default denominator 1 TR Electronic GmbH 1998 All Rights Reserved Printed in the Federal Republic of Germany Page 24 of 31 TR ECE BA GB 0014 03 03 09 2010 lelectronic Parameterization and configuration Formula for gearbox calculation Number of Revolutions Numerator Total Number of Steps Measuring units per revolution Number of Revolutions Denominator If it is not possible to enter parameter data in the permitted ranges of numerator and denominator the attempt must be made to reduce these accordingly If this is not possible it may only be possible to represent the decimal number affected approximately The resulting mi
11. ation Holding organization CE Absolute Encoder with optical scanning unit Solid Shaft Absolute Encoder with optical scanning unit CK Integrated Claw Coupling cs Absolute Encoder with optical scanning unit Blind Shaft DeviceNet CAN protocol defined in the Application Layer layer 7 DUPLICATE MAC ID Test Dur Checking the master for duplicates of slave MAC IDs Each MAC ID Test address of the connected slaves may occur only once EMC Electro Magnetic Compatibility EDS Electronic Data Sheet MAC ID Media Access Control Identifier node address ODVA Open DeviceNet Vendor Association Printed in the Federal Republic of Germany 03 09 2010 CAN User Organization especially for DeviceNet TR Electronic GmbH 1998 All Rights Reserved TR ECE BA GB 0014 03 Page 7 of 31 Additional safety instructions Relectronic 2 Additional safety instructions 2 1 Definition of symbols and instructions A means that death serious injury or major damage to property could occur if the stated precautions are not met WARNING A means that minor injuries or damage to property can occur if the stated precautions are not met CAUTION li indicates important information s or features and application tips for the product used 2 2 Additional instructions for proper use The measurement system is designed for operation with CAN DeviceNet networks accordin
12. ectronic GmbH 1998 All Rights Reserved 03 09 2010 TR ECE BA GB 0014 03 Page 23 of 31 Parameterization and configuration lRelectronic 7 3 3 Scaling parameters The scaling parameters can be used to change the physical resolution of the measuring system The measuring system supports the gearbox function for round axes This means that the Measuring units per revolution and the quotient of Revolutions Numerator Revolutions Denominator can be a decimal number In order that the measuring system can process this number the measuring system must include the option gearbox 1 100 see nameplate Measuring systems without this option may only have a decimal in the Measuring units per revolution The quotient of Revolutions Numerator Revolutions Denominator must be an exponent of 2 The position value output is calculated with a zero point correction the count direction set and the gearbox parameter entered Olea ee Instance 3 r w Defines the total number of steps of the measuring system before the measuring system restarts at zero EDS file 8192 EDS file 4096 lower limit 16 steps 16 steps upper limit 33554432 steps 25 bit 16777216 steps 24 bit default 33554432 16777216 The actual upper limit for the Tota Number of Steps to be entered is dependent on the measuring system version and can be calculated with the formula below As the value 0 is already counted as a step the end v
13. eees 27 7 3 5 Auxiliary Outputs T 7 oo eee eee eee eeeee ieee etna a a 27 7 3 5 1 Definition of the operating and safety range cceceeeeeeeeeetees 28 8 Causes of faults and remedies ccccceeseneeeeeeseneeeeeeeneeeeseeneeeeseaneeeeeseeneeeeseaeeeeaseeneesaseeneeeeeessneeess 29 8 1 Error and over range messages I O communication port cceeeceeeeeeeseeeeeneetees 29 8 2 Parameterization errors cceccecceceeeeeeeceeeaeceeeeeeeeecacaeeeeeeeeeseneqeaeeeeeeeeesecsucaeeseseeeeneees 30 SiS OMEN TAUNS sssini dandnensvesyedincsspacthcasyeden carbaaeduacanaedesostadwadasakectaastedennesedaes 31 Appendix Pin Assignment Version Vissi epee he ceceies oh eavecsidencededicevaatendeetepeuesbtae EEEa as TR ECE TI GB 0022 MONSION 2c ses cp secctsced inspan ENEA kebab seeaes eae TR ECE TI GB 0030 Version 3 nerina of aio iieeadesi eraa ea dees ek dala VEE as TR ECE TI GB 0036 TR Electronic GmbH 1998 All Rights Reserved Printed in the Federal Republic of Germany Page 4 of 31 TR ECE BA GB 0014 03 03 09 2010 TRelectronic Revision index Revision index Documentation organized again and Pin Assignment Version 3 12 04 1998 02 complemented General modifications 03 09 2010 03 Printed in the Federal Republic of Germany TR Electronic GmbH 1998 All Rights Reserved 03 09 2010 TR ECE BA GB 0014 03 Page 5 of 31 General information TRelectronic 1 General information This interface
14. eesessteeeseaes 5 4 Baud rate 0 0 cccceceeeceecee cece eee eeeeeceaeceeeeeeesesenaeeeeeeeeeseesnaeees 5D Shield COVEN aerieni naaa a 6 COMM ISS ON NG s ssssssnesennnerenunnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnn nn nnnn nenne 6 1 CAN DeviceNet interface seseseseseneeeenunnnennrnrerernesesesesrseo 6 1 1 BUS StatUS eee 6 12 EDS fileco edessiseaeerncieen 613 MeSSago So nssrirerniaii ranie EEEE 0 1 4 ClASSES iiiaae r A a 6 1 5 I O Instance polled 1O ccceeeceeeeeeeesteeeeeees 7 Parameterization and configuration ccceseeeceseeeeneneeeeeneenneseenens 7 1 Configuration Assembly Data Attribute Format 7 1 1 Assembly Object 041 eeeeeeeeeenteeeeeenaes 7 2 Parameter Object Instances 2 0 0 0 eceneeeeeneeeeeeeeeneeeeeeaes 7 2 1 Parameter Object OFH sssenineirrenrsrsnreerneirsneniisnnea 7 2 2 GET DATA CHECK command eeeeceeeees 7 3 Parameters Range of values 0 cccecscceeeeeeeesteeeeneteees 7 3 1 DIPOCtiOn 0 eee cence eeeeeeeeeeeneeeeeeaeeeeeenaeeeeeeaes C32 Output Code ssia n Printed in the Federal Republic of Germany 03 09 2010 TR ECE BA GB 0014 03 Contents TR Electronic GmbH 1998 All Rights Reserved Page 3 of 31 Contents TRelectronic 1 3 3 SCALING paramet S veese csssestfevceerebeeensieneeeie deere atuaeen vient ieneeebiernben 24 7 3 4 Adjust Absolute Value cececeeeeeeeeeeeeeeeeeeeeeeeeteeeeeeeseneaeeeteneaeeetenaeeeeeeea
15. erence module The transformation of measuring system information into the CAN protocol occurs by the protocol chip PCA82C200 The function of the protocol chip is monitored by a watchdog The PREDEFINED MASTER SLAVE CONNECTION SET is used for the measuring system who only works as a slave It will be used only the Group 2 Messages with the exception of the Group 1 Message For Slave I O Poll Response Establishing or breakdown of a connection must occur via Group 2 Only Unconnected Explicit Request Message The measuring system contains an I O Communication Port and an Explicit Message Communication Port The I O communication port is used for polling the measuring system position and must be made accessible by setting the watchdog after the I O connection master slave was set up before Is the I O port not retriggered polled punctually the connection is interrupted and the red LED flashes The connection for the I O port must be installed again During programming data is exchanged between the measuring system and the master in binary form 6 1 1 Bus status ON O OFF FLASHING Measuring system is not online O no DUP MAC ID test Device may not be powered Online with connections in the established state green Device is allocated to a master DUP MAC ID test successful green No allocation to a master Recoverable faults red 29 I O connections are in the time out s
16. et up can be used for transmitting explicit messages or for setting up additional I O links As soon as an I O link has been set up I O data can be exchanged between the DeviceNet users The 11 bit identifier is used exclusively for coding I O data The 8 byte wide CAN data field is fully available for user data DeviceNet Application Layer CIP Protocol The CIP Common Industrial Protocol forms the application layer for DeviceNet The CIP defines the exchange of I O data in realtime via I O messages I O messaging or implicit messaging as well as the exchange of data required for configuration diagnosis and management via explicit messages explicit messaging The communication between two devices always takes place according to a connection oriented communication model either via a point to point or a multicast V1 connection This allows both master slave and multi master systems to be realized Data are known as objects and are logged in the object directory of each device Printed in the Federal Republic of Germany TR Electronic GmbH 1998 All Rights Reserved 03 09 2010 TR ECE BA GB 0014 03 Page 11 of 31 CAN DeviceNet information TRelectronic Predefined Master Slave Connection Set The so called Predefined Master Slave Connection Set is used for the DeviceNet measuring system This subset of the DeviceNet protocol simplifies the transmission of I O data between an automation system PLC and t
17. g to the International Standard ISO DIS 11898 and 11519 1 up to max 500 kbit s The technical guidelines for the structure of the CAN DeviceNet network from the CAN User Organization ODVA are always to be observed in order to ensure safe operation Proper use also includes li e observing all instructions in this User Manual e observing the assembly instructions The Basic safety instructions in particular must be read and understood prior to commencing work TR Electronic GmbH 1998 All Rights Reserved Printed in the Federal Republic of Germany Page 8 of 31 TR ECE BA GB 0014 03 03 09 2010 Relect ronic Additional safety instructions 2 3 Organizational measures e This User Manual must always kept accessible at the site of operation of the measurement system e Prior to commencing work personnel working with the measurement system must have read and understood the assembly instructions in particular the chapter Basic safety instructions and this User Manual in particular the chapter Additional safety instructions This particularly applies for personnel who are only deployed occasionally e g at the parameterization of the measurement system Printed in the Federal Republic of Germany TR Electronic GmbH 1998 All Rights Reserved 03 09 2010 TR ECE BA GB 0014 03 Page 9 of 31 Technical data TRelectronic 3 Technical data 3 1 Electrical characteristics Supply volta
18. ge cccceeeceeeceeeeeeeeeeeeees 11 27 V DC twisted in pairs and shielded Current load o oo eee eeen lt 200 mA at 11 V DC lt 110 mA at 27 V DC unloaded Total resolution 0 0 0 cece ee aneen lt 24 bit optional 25 bit Number of steps revolution lt 8 192 Measurement range Stand fd eisirean lt 4 096 revolutions 12 bit Expanded oessa lt 256 000 revolutions Baud rate adjustable 00000 eee 125 kbit s line length up to 500 m 250 kbit s line length up to 250 m 500 kbit s line length up to 100 m Station addresses 0 63 adjustable via DIP switches Transmission cccccceeeseeeeeeeeteeeeeees twisted in pairs and shielded copper cable CAN DeviceNet interface CAN field bus interface opto isolated Data transMisSiOn ceceeeeeeeeeeeeeeees CAN bus driver ISO DIS 11898 Terminating resistor 0 ceeeeeeeeeeeeees 121 ohm selectable via DIP switches Special features cccceeeeeeeeeeeeeees Programming of the following parameters via the CAN BUS Direction of rotation Output code binary gray Measuring length in steps Measuring length in revolutions Adjustment 7 special outputs EMC Immunity to disturbance eee DIN EN 61000 6 2 2006 Transient emissions DIN EN 61000 6 3 2007 TR Electronic GmbH 1998 All Rights Reserved Printed in the Federal Rep
19. guration Assembly Data Attribute Format Instance Byte Bit7 Bite Bits Bita Bits Bit2 Bit1 Bito Serice Auxiliary Output 1 Auxiliary Output 2 Auxiliary Output 3 Auxiliary Output 4 Auxiliary Output 5 Auxiliary Output 6 r w Auxiliary ES E TEE Tee error error 0 Steps Rev TNOS Rev UPPer SL upper Ea OL lower E lower SL A 0 out of out of out of out of langg range range range While programming the parameters via the Assembly Class the measuring system returns as response at reading the programmed values with an error status in byte 34 and 35 to the master In this case altogether 36 bytes are transferred to the master The Data Check is performed automatically A set error bit in byte 34 or 35 is reset as soon as a parameter programming could be executed successfully The ranges of values of the individual parameters are defined in chapter Parameters Range of values starting from page 23 D sL Safety Limit 2 oL Operating Limit 3 TNOS Total Number of Steps Printed in the Federal Republic of Germany TR Electronic GmbH 1998 All Rights Reserved 03 09 2010 TR ECE BA GB 0014 03 Page 21 of 31 Parameterization and configuration electronic 7 2 Parameter Object Instances 7 2 1 Parameter Object OFh Instance Name Data Type Service Attribute Lower Operating Limit r w Read Position Write Adjustment UDINT rw 1 19 Software version UDINT ro 1 TR
20. he decentralized peripheral devices slaves Only Group2 Messages are supported with the exception of Group1 Message for Slave I O Poll Response DeviceNet Device Profiles Beyond the specification of the pure communication functions DeviceNet also includes the definition of device profiles These profiles define the respective device types for minimally available objects and communication functions The device type number O8hex was defined for the DeviceNet measuring system Vendor ID The vendor IDs manufacturer s identifiers are assigned and administrated by the ODVA The TR Electronic vendor ID for DeviceNet is 134 dec You can obtain further information on DeviceNet from the Open DeviceNet Vendor Association ODVA or the following Internet addresses http Awww odva org e mail mailto odva odva org TR Electronic GmbH 1998 All Rights Reserved Printed in the Federal Republic of Germany Page 12 of 31 TR ECE BA GB 0014 03 03 09 2010 Relectronic Installation Preparation for start up 5 Installation Preparation for start up Up to 64 bus users can communicate with each other in a DeviceNet network with Baud rates of 125 250 or 500 kbit s The DeviceNet cable provides both signals for CAN L and CAN H data transmission as well as two lines for the 24 Volt operating voltage supply of the DeviceNet bus users The maximum length of the DeviceNet cable is depe
21. les with twisted pair wires for data and supply Shielding and wire routing must be performed according to the DeviceNet specification Couplings prevent mechanical stress on the shaft If the error still occurs despite these measures the measuring system must be replaced TR Electronic GmbH 1998 All Rights Reserved 03 09 2010 TR ECE BA GB 0014 03 Page 31 of 31
22. mit lt upper safety limit lt Total Number of Steps 2 exceeded Valid range While programming the i measuring length in Revolutions oe 1 lt Measuring length in revolutions numerator lt 256 000 Numerator 0 revolutions numerator a 0 Measuring length in revolutions numerator was programmed Measuring length in revolutions denominator 1 lt Measuring length in revolutions denominator lt 100 Valid range The max resolution of the Steps per revolution measuring system was Total Number of Steps lt Hardware steps per out of range exceeded see rating plate Number of revolutions revolution rating plate TR Electronic GmbH 1998 All Rights Reserved Printed in the Federal Republic of Germany Page 30 of 31 TR ECE BA GB 0014 03 03 09 2010 TRelectronic 8 3 Other faults Fault Loose contacts in the wiring Strong vibrations Position skips of the measuring Electrical faults EMC system Extreme axial and radial load on the shaft may result in a scanning defect Printed in the Federal Republic of Germany Causes of faults and remedies Check all the cabling and wiring used for connecting the encoder Vibrations impacts and shocks e g on presses are dampened with shock modules If the error recurs despite these measures the measuring system must be replaced Perhaps isolated flanges and couplings made of plastic help against electrical faults as well as cab
23. ndent on the type of cable selected and the Baud rate Installation takes place in a bus topology with or without taps and terminators at both ends The terminators have a resistance value of 120 Ohm Terminator Tap Terminator Trunk Line Zero Drop Short Drops Bus lines The bus lines for the DeviceNet system are laid down in the DeviceNet specification According to this specification the maximum extent of a DeviceNet system is dependent on the Baud rate Cable length 125 kbit s 250 kbit s 500 kbit s Total length with thick cable 500 m 250 m 100 m Total length with thin cable 100 m 100 m 100 m Max drop line length 6m 6m 6m Max length of all drop lines 156 m 78 m 39 m The DeviceNet specification and other applicable standards and guidelines li are to be observed to insure safe and stable operation In particular the applicable EMC directive and the shielding and grounding guidelines must be observed Printed in the Federal Republic of Germany 03 09 2010 TR ECE BA GB 0014 03 TR Electronic GmbH 1998 All Rights Reserved Page 13 of 31 Installation Preparation for start up electronic 5 1 Connection The connection hood must first be removed from the measuring system to undertake connection The pin assignments with view on the switches etc are attached in the rear part of this document li For the supply shielded cables with twisted
24. nor inaccuracy accumulates for real round axis applications infinite applications with motion in one direction A solution is e g to perform adjustment after each revolution or to adapt the mechanics or gearbox accordingly The parameter Measuring units per revolution may also be decimal number however the Total Number of Steps may not The result of the above formula must be rounded up or down The resulting error is distributed over the total number of revolutions programmed and is therefore negligible Preferably for linear axes forward and backward motions The parameter Revolutions Denominator can be programmed as a fixed value of 1 The parameter Revolutions Numerator is programmed slightly higher than the required number of revolutions This ensures that the measuring system does not generate a jump in the actual value zero transition if the distance travelled is exceeded To simplify matters the complete revolution range of the measuring system can also be programmed The following example serves to illustrate the approach Given Measuring system with 4096 steps rev and max 4096 revolutions Resolution 1 100 mm Ensure the measuring system is programmed in its full resolution and total measuring length 4096x4096 Total Number of Steps 16777216 Revolutions Numerator 4096 Revolutions Denominator 1 Set the mechanics to be measured to the left stop position Set measuring system to 0
25. oning in the de energized state by shifting of the zero point WARNING If the number of revolutions is not an exponent of 2 it can occur if more than 512 revolutions are made in the de energized state that the zero point of the multi turn measuring system is lost e Ensure that the quotient of Revolutions Numerator Revolutions Denominator for a multi turn measuring system is an exponent of 2 of the group 22 22 1 2 4 4096 or e Ensure that every positioning in the de energized state for a multi turn measuring system is within 512 revolutions 7 1 Configuration Assembly Data Attribute Format 7 1 1 Assembly Object 04h Instance Byte ala ola O a Continuation see following page TR Electronic GmbH 1998 All Rights Reserved Page 20 of 31 Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Direction Output Code Low Byte Total Number of Steps High Byte Total Number of Steps Low Byte Revolutions Numerator High Byte Revolutions Numerator Revolutions Denominator Low Byte Lower Safety Limit High Byte Lower Safety Limit Low Byte Lower Operating Limit High Byte Lower Operating Limit Low Byte Upper Operating Limit High Byte Upper Operating Limit Low Byte Upper Safety Limit High Byte Upper Safety Limit TR ECE BA GB 0014 03 Bt1 Bito r w Printed in the Federal Republic of Germany 03 09 2010 electronic Parameterization and configuration Continuation Confi
26. oup 2 Only Unconnected Explicit Request Message Group 2 Only Unconnected Explicit Request Message serves for the establishing or breakdown of connections for the Predefined Master Slave Connection Set Duplicate MAC ID Check Message After switch on the measuring system it reports Duplicate MAC ID Messages The communication objects are divided into classes The measuring system supports the following classes Number of instances Object Class 01h Identity 02h Message Router 03h DeviceNet 05h Connection 04h Assembly OFh Parameter 23h Position Sensor TR Electronic GmbH 1998 All Rights Reserved Printed in the Federal Republic of Germany Page 18 of 31 TR ECE BA GB 0014 03 03 09 2010 Relectronic Commissioning 6 1 5 I O Instance polled IO Input Instance Number Name Input Data Format Instance Byte Bit7 Bite Bits Bit4 Bits Bit2 Bit1 Bito o Dor Low Byte Position value EJ EAr ee a a High Byte Position value 7 AO 6 AO 5 AO 4 AO 3 AO 2 AO AO Auxiliary Output Printed in the Federal Republic of Germany TR Electronic GmbH 1998 All Rights Reserved 03 09 2010 TR ECE BA GB 0014 03 Page 19 of 31 Parameterization and configuration TRelectronic 7 Parameterization and configuration Danger of personal injury and damage to property exists if the measuring system is restarted after positi
27. put Pa ini Possibly shut off measuring system voltage then Memory area in internal y g sy g Auxiliary output set N switch on again If the error recurs despite this for Error function EEPROM defective measure the measuring system must be replaced Auxiliary outputs set The switching points These messages are not error messages but simply for the functions programmed for the over range messages The use of these functions and Operating range operating and safety the associated responses to violation of the set limits and Safety range range were exceeded are regulated by the operator TR Electronic GmbH 1998 All Rights Reserved Printed in the Federal Republic of Germany 03 09 2010 TR ECE BA GB 0014 03 Page 29 of 31 Causes of faults and remedies TRelectronic 8 2 Parameterization errors If an error occurs during parameter programming or in the READ WRITE processes of the internal EEPROM an error occurring can be read in two ways e In Assembly Class programming the measuring system automatically returns an error status the last two bytes as well as the programmed values to the master see page 20 onwards e f programming is undertaken with the Parameter Class an error status of 2 bytes is sent to the master see page 22 onwards through the GET DATA CHECK command The possible errors and their avoidance are described as follows Description Cause Remedy tle drga Memory are
28. tate Turn off system gt turn on system red Replace measuring system device Printed in the Federal Republic of Germany TR Electronic GmbH 1998 All Rights Reserved 03 09 2010 TR ECE BA GB 0014 03 Page 17 of 31 Commissioning 6 1 2 EDS file TRelectronic The EDS electronic datasheet contains all information on the measuring system specific parameters and the measuring system s operating modes The EDS file is integrated using the DeviceNet network configuration tool to correctly configure or operate the measuring system The EDS file has the file name 1 EDS The files are on the Software Support CD Order number 490 01001 Soft No 490 00407 3 COD for multi turn measuring systems with max 4096 steps revolution 2 COD for multi turn measuring systems with max 8192 steps revolution 6 1 3 Messages Following messages are supported by the measuring system I O Poll Command Respond Message This message is sent directly by the master to the desired slave point to point For every slave which is polled the master must sent an own poll command message As response on a Poll Command the slave sends back to the master the Poll Response I O Message Explicit Response Request Message 6 1 4 Classes Explicit Request Messages are used for processing of WRITE READ attribute s Explicit Response Messages contains the result of an Explicit Request Message Service Gr
29. ublic of Germany Page 10 of 31 TR ECE BA GB 0014 03 03 09 2010 TRelectronic CAN DeviceNet information 4 CAN DeviceNet information DeviceNet was developed by Rockwell Automation and the ODVA as an open field bus standard based on the CAN protocol and is standardized in the European standard EN 50325 Specification and maintenance of the DeviceNet standard is regulated by the ODVA DeviceNet along with ControlNet and EtherNet IP belongs to the family of CIP based networks The CIP Common Industrial Protocol forms a common application layer for these 3 industrial networks DeviceNet ControlNet and Ethernet IP are therefore well matched to one another and present the user with a graduated communication system for the physical layer Ethernet IP cell layer ControlNet and field layer DeviceNet DeviceNet is an object oriented bus system and works according to the producer consumer model DeviceNet Protocol The DeviceNet protocol is an object oriented protocol It is typically used for networking sensors and actuators with the superordinate automation devices PLC IPC DeviceNet Data Link Layer Layer 2 Data Link Layer is based on the Controller Area Network CAN which was originally designed for use in motor vehicles DeviceNet Network and Data Transport Layer The link is set up with the Group 2 Unconnected Port Selected CAN identifiers are used for the link set up A link once s
30. using the adjustment Set the mechanics to be measured to the end position Measure the mechanical distance covered in mm Read off the actual value of the measuring system from the controller connected Printed in the Federal Republic of Germany TR Electronic GmbH 1998 All Rights Reserved 03 09 2010 TR ECE BA GB 0014 03 Page 25 of 31 Parameterization and configuration electronic Assumed Distance covered 2000 mm Measuring system actual position after 2000 mm 607682 steps Number of revolutions covered 607682 steps 4096 steps rev 148 3598633 revolutions Number of mm revolution 2000 mm 148 3598633 revs 13 48073499mm rev For 1 100mm resolution this equates to a Measuring units per revolution of 1348 073499 Required programming Number of Revolutions Numerator 4096 Number of Revolutions Denominator 1 Number of Revolutions Numerator Total Number of Steps Measuring units per revolution WY Number of Revolutions Denominator 4096 Revolutions Numerator 1348 073499 steps rev x i 1 Revolutions Denominator 5521709 steps rounded off TR Electronic GmbH 1998 All Rights Reserved Printed in the Federal Republic of Germany Page 26 of 31 TR ECE BA GB 0014 03 03 09 2010 electronic Parameterization and configuration 7 3 4 Adjust Absolute Value WARNING Risk of injury and damage to property by an actual value jump
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