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TR-Electronic CDH582, User Manual

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TR-Electronic CDH582 User Manual Download Page 63

 

 

 

Printed in the Federal Republic of Germany 

 TR-Electronic GmbH 2020, All Rights Reserved 

10/07/2020 

TR-ECE-BA-GB-0163 v03 

Page 63 of 91 

9.1.13 TR Grey – Velocity Integration Time 

 

The Attribute specifies the integration time in [ms] for the parameter 

TR Grey –  Velocity 

Format

, see Page 62. 

 

The parameter serves  to calculate the velocity, which is output via the cyclic process data. The 

velocity is specified in [ (steps/integration time) * factor ]. Long integration times allow high-resolution 

measurements at low speeds. Low integration times show velocity changes more quickly and are 

suitable for high velocities and high dynamics. 

 

UINT 

Lower limit 

1 ms 

Upper limit

 

1000 ms 

Default 

100 ms

 

 

 

 Example  

Given: 

- Programmed resolution = 8192 steps per revolution 

- Speed = 4800 revolutions per minute 

- Integration time t

i

 = 50 ms = 0.05 s 

- Factor = 1 

Determine: 

- Output value in (steps/integration time) * factor 

 
Number of steps / s = 

8192 steps * 4800 rev. 

= 

655360 steps 

Rev. * 60 s 

1 s 

 
Number of steps/t = 

655360 steps 

* 0.05 s  =  32768 steps 

1 s 

 
(Steps/integration time) * factor = 32768 steps / 50 ms 
 

 

 

9.1.14 TR Grey – Channel coupled 

 

BYTE, BOOL 

Value  Allocation 

Description 

Default 

0 

Off 

Function switched off 

X 

1 

On 

Use the setting 

Channel coupled

  = 

on

  to specify whether the 

non-safety-related channel 

TR Grey

 should be linked to the safety-

related 

TR Safety

 channel. The position and velocity settings are 

used by the safety-related channel 

TR Safety

  and the current 

settings in the channel 

TR Grey

 are ignored. 

The preset function can only be performed in the safety-related 

TR Safety

  channel, but the preset function in the 

non-safety-related 

TR Grey

 channel is disabled. 

 

 

 

 

Summary of Contents for CDH582

Page 1: ...edies Absolute Encoder CD_582 EtherNet IP CIP Safety OPTION Optional interface Original manual DIN EN 61508 DIN EN 62061 SIL2 SIL CL 2 SIL3 SIL CL 3 DIN EN ISO 13849 PL d PL e CDV582 CDS582 CDH582 Pictures are similar Notice This PDF is not subject to an updating service Get the most recent version https www tr electronic de f TR ECE BA GB 0163 ...

Page 2: ...ographic archiving and modification require the written consent of the manufacturer Violations shall be subject to claims for damages Subject to modifications The right to make any changes in the interest of technical progress is reserved Document information Release date Rev date 10 07 2020 Document Rev no TR ECE BA GB 0163 v03 File name TR ECE BA GB 0163 03 docx Author MÜJ Font styles Italic or ...

Page 3: ...ation 20 3 3 Connection Notes 21 3 3 1 Supply voltage 21 3 3 2 Optional additional interfaces Incremental SSI 21 3 4 Additional interfaces Hardware description 22 3 4 1 Incremental interface SIN COS interface optional 22 3 4 1 1 Signal characteristics 23 3 4 1 2 HTL TTL Level optional 24 3 4 2 SSI interface optional 26 3 4 2 1 Signal characteristics 26 3 4 2 2 Cable lengths 28 3 5 Defining the Tar...

Page 4: ...Output TR Safety Controlword 48 7 5 2 Output TR Safety Presetout 48 8 Connection Types Connection Points 49 9 Parameter description 51 9 1 Object 0x23 Instance 1 Position Sensor 52 9 1 1 Attribute 1 Number of Attributes 55 9 1 2 Position Value Unsigned 55 9 1 3 Attribute 11 Position Sensor Type 55 9 1 4 Attribute12 Direction Counting Toggle 55 9 1 5 Preset Value 56 9 1 6 TR Grey Preset Control 56 ...

Page 5: ...btain IP parameters via Flash or DHCP 77 11 1 Object 0xF5 Instance 1 77 11 1 1 Attribute 3 Configuration Control 77 11 1 2 Attribute 5 Interface Configuration 78 11 1 2 1 Obtaining IP Parameters 78 11 1 2 2 Setting and saving IP parameters 79 11 2 Example obtaining IP parameters via DHCP server 80 11 2 1 Requirements 80 11 2 2 Procedure 80 12 Error causes and remedies 83 12 1 Optical displays 83 1...

Page 6: ...ved Printed in the Federal Republic of Germany Page 6 of 91 TR ECE BA GB 0163 v03 10 07 2020 Revision index Modification Datum Index First release 10 06 20 02 Adaptation of the procedure in chapter Resetting the safety related device parameters 10 07 20 03 ...

Page 7: ... series according to the following keys for article numbers and types with EtherNet IP interface and CIP Safety profile Article number 1 2 3 4 5 6 6 6 6 6 Position Designation Description 1 A Explosion protection enclosure ATEX C Absolute encoder programmable 2 D Redundant dual scanning unit 3 V Solid shaft H Hollow shaft S Blind shaft 4 582 Outer diameter 58 mm Generation 2 5 M Multi turn S Singl...

Page 8: ...ion CSMA CD Access Method and Physical Layer Specifications 4 RFC768 Defines the User Datagram Protocol UDP 5 RFC791 Defines the Internet Protocol IP 6 RFC792 Defines the Internet Control Message Protocol ICMP 7 RFC793 Defines the Transmission Control Protocol TCP 8 RFC826 Defines the Ethernet Address Resolution Protocol ARP 9 RFC894 IP datagram transmission standard for Ethernet networks 10 RFC11...

Page 9: ...tor Originator control system Type 1 A device capable of configuring target devices targets and simultaneously connect to the targets Type 2 A device not capable of configuring target devices targets Safety related parameters SNN and SCID are configured using an SNCT tool Passivation In a safety related peripheral equipment with outputs the safety controller does not transmit the output values pro...

Page 10: ...tem SSI Synchronous Serial Interface Switch Network component used to connect several computers or network segments in a local network prevents collisions Target Target device measuring system TCP IP Transmission Control Protocol Internet Protocol TUNID Target Unique Network Identifier see UNID UDP User Datagram Protocol UNID Unique Network Identifier Combination of SNN and device node ID used to ...

Page 11: ...anning Variant 2 Channel 1 Master system Magnetic single and multi turn scanning Channel 2 Test system Magnetic single and multi turn scanning One common drive shaft The untested Channel 1 Master System data and the Channel 2 Test System data are separately provided in the non safety related process data channel with normal EtherNet IP protocol and short cycle time The inspection system is used fo...

Page 12: ...agnostic mechanisms the measuring system switches the CIP Safety channel to error status Initialization of the measuring system and execution of the preset adjustment function are appropriately safeguarded The control additionally checks whether the obtained position data are within the position window expected by the control Unexpected position data are e g position jumps tracking error deviation...

Page 13: ...1 Definition of symbols and notes means that death or serious injury can occur if the required precautions are not met means that minor injuries can occur if the required precautions are not met means that damage to property can occur if the required precautions are not met indicates important information or features and application tips for the product used ...

Page 14: ...6 A user test is required to ensure a signature is verified and the configuration locked See Chapter 4 5 from Page 36 Connection data and measuring system configuration data must be downloaded to the measuring system first for an originator configuration to be tested and verified with such data This is the only way to confirm the measuring system SCID See Chapter 4 5 from Page 36 The lock attribut...

Page 15: ... on Page 30 The measuring system must always be locked after the configuration data have been verified See Chapter 4 5 from Page 36 As part of the final verification process users must verify that the measuring system has received its ownership assignment from the relevant originator if the measurement system has been configured via a Type 1 SafetyOpen Visually verify that all configuration data h...

Page 16: ...it is set to Idle CIP Safety CRC valid TR Safety status Safe State Bit 24 0 Upon receipt of passivated data the Originator must put the system into a safe state The error state can be terminated only by eliminating the error and exiting the ABORT state 2 The CIP Safety stack is stopped if a safe position cannot be output due to a critical error memory error recognized by the measuring system This ...

Page 17: ...he necessary safety related parameters In the event of parameter changes check whether the measure is taken as desired STOP Verification by originator Error response by originator Cyclic check of the current safety related data for consistency with the previous data STOP Monitoring of non safety related and safety related cyclic data Receipt of passivated data STOP Timeout Monitoring of the measur...

Page 18: ...ood contact between the cable shield and the connector housing Connect the cable shield to the connector housing over a large area Compensating currents caused by differences in potential across the shield to the measuring system must be prevented A shielded and stranded data cable must be used to ensure high electromagnetic interference stability of the system The shield should be connected to pr...

Page 19: ...P Network Infrastructure Guide Pub 35 and the publications referenced therein In particular do observe the EMC directive 2014 30 EU as amended For further technical ODVA guidelines see https www odva org technology standards document library Further information on EtherNet IP and CIP Safety are available on request from the Open DeviceNet Vendor Association ODVA at the following address ODVA Inc 4...

Page 20: ...or transmissions using the 100Base TX Fast Ethernet standard The cables are designed for bit rates of up to 100 Mbit s The transmission velocity is automatically detected by the measuring system The shield needs to be earthed on one side only Transmit in full duplex mode We recommend using switches with the following properties when setting up the EtherNet IP network for the I O communication full...

Page 21: ... have to be provided either with a mating connector or a protective cap The IP degree of protection is to be selected according to requirements Protective cap with O ring When re closing check that the O ring is present and seated properly For suitable protective caps see the Chapter on Accessories in the Safety Manual 3 3 1 Supply voltage The internal electronics may be damaged by impermissible o...

Page 22: ...itional interface is not evaluated in relation to safety and may not be used for safety related purposes In motor control applications the interface is generally used as position feedback In the event of overvoltage caused by a missing ground reference point there is a danger of damage to the downstream electronic devices If the ground reference point is completely missing e g 0 V of the power sup...

Page 23: ...1 Signal characteristics 1 Edge evaluation 2 Measuring system with 1024 pulses rev 3 Counter evaluation 1x 1024 counter pulses rev 2x 2048 counter pulses rev 4x 4096 counter pulses rev Figure 1 Counter evaluation incremental interface Measurement of signals tending to 0 V Differential measurement Figure 2 Level definition SIN COS interface ...

Page 24: ...able capacitance the supply voltage and the ambient temperature Therefore the use of this interface is reasonable only if the interface characteristics meet the technical requirements From the view of the measuring system the transmission cable represents a capacitive load which must be reloaded with each impulse The load quantity required varies strongly depending on the cable capacitance It is t...

Page 25: ...f frequencies HTL version Other cable parameters frequencies and ambient temperatures as well as bearing heat and temperature increase via the shaft and flange can yield a considerably poorer result in practice Therefore the fault free function of the incremental interface with the application dependent parameters has to be checked prior to productive operation ...

Page 26: ... active state of the monoflop is extended by the time tM this happens last at point 4 Setting the monoflop 1 causes the bit parallel data pending at the internal parallel to serial converter to be stored by an internally generated signal in an input latch of the shift register This ensures that the data does not change during the transmission of an actual position value When the clock signal chang...

Page 27: ...ghts Reserved 10 07 2020 TR ECE BA GB 0163 v03 Page 27 of 91 Data Clock tp Monoflop time Figure 5 Typical SSI transmission sequences Figure 6 SSI transmission format tM LSB MSB Clock Data internal Monoflop can be retriggered 1 2 4 T tD 1 2 n n 1 3 High Low High Low High Low ...

Page 28: ...he measurements SSI clock frequency kHz 1000 500 250 125 125 125 Cable length m ca 25 ca 50 ca 100 ca 150 ca 200 ca 250 Table 1 SSI clock frequency cable lengths Figure 7 SSI clock frequency cable lengths Other cable parameters frequencies and ambient temperatures as well as bearing heat and temperature increase via the shaft and flange can yield a considerably poorer result in practice Therefore ...

Page 29: ...rerequisite for the measuring system to be installed in a safety network 3 5 1 Setting the Node ID or IP address The measuring system may be destroyed or damaged or its function be impaired by penetration of foreign bodies and ingress of moisture Firmly close the access to the address switches with the screw plug after the settings have been made Every EtherNet IP node in an EtherNet IP segment is...

Page 30: ...he measuring system according to the SNCT to Originator and SNCT to Target scheme and to configure firmware updates and diagnostic options Download program description www tr electronic de f TR ECE TI DGB 0364 Download TR SNCT Device Applet www tr electronic de f zip TR ECE SW MUL 0016 See the program description for program installation system requirements device connection and possible use cases...

Page 31: ...he relevant measuring system to flash which makes assignments simple and easy Execute the function Apply after verifying that the correct measuring system has being addressed The measuring system immediately applies these settings Several devices can be integrated into the LAN network via a switch if several devices have to be programmed Select the devices by entering the corresponding IP address ...

Page 32: ... switch see Chapter 5 on Page 39 This sets the factory settings for TUNID SCID the Safety configuration and the password The measuring system is then reset to the as delivered status and remains in the WAITING FOR TUNID state after the supply voltage was turned OFF ON see Chapter 3 5 on Page 29 The measuring system supports both SafetyOpen connection frames of Type 1 and Type 2 Originators that su...

Page 33: ... regarded as completed 4 1 Device identification The following attributes are used to identify the correct device when establishing a connection or replacing a device Controllers connection originators use the so called Electronic Keying function to verify the attributes defined in the control project with the attributes of the connected or installed device If the verification fails an appropriate...

Page 34: ...re 9 Measuring system diagnostic LEDs LED1 Module status Mod Stat green Description Off Voltage supply missing or too low Hardware error measuring system defective On Measuring system ready for operation no error 1 Hz The measuring system is in Idle state red Description On a critical error has occurred 1 Hz The measuring system is in Abort state red green Description red green 1 Hz The measuring ...

Page 35: ...o verify that the correct device has been selected LED3 4 PORT1 2 Link Data Activity Port 1 L A Port 2 L A green Description Off no Ethernet connection established On Ethernet connection established yellow Description Off No data exchange On flashing Data exchange active For appropriate measures in case of error see Chapter Error causes and remedies on Page 83 4 4 MAC address TR Electronic assigns...

Page 36: ...on determination of the Safety Configuration CRC SCCRC and Safety Configuration Time Stamp SCTS are set performed by the SNCT Safety configuration function The combination of SCCRC and SCTS serves as a clear ID of the set configuration and makes up the Safety Configuration Identifier SCID Once the settings have been made as required press the button Calculate to calculate this configuration The re...

Page 37: ...ment the measuring system must be reconnected to the TR SNCT tool Ensure that no controller is connected to the measuring system that there is no EtherNet IP communication and that the correct configuration has been selected for the verification Activate the SNCT function SNCT Download Upload for the upload The Upload button transfers the SCCRC and SCTS determined or saved by the measuring system ...

Page 38: ...ard password no entry The Lock button locks the current configuration The configuration cannot be changed in this state Now the configuration can only be changed with the correct password if assigned and by unlocking it via the Unlock button or by resetting the measuring system to the factory settings The signature can only be considered verified after a user test and a completed configuration Now...

Page 39: ...t both switches to 0 wait for feedback under point 3 3 Wait 3 s the green NET and green MODULE status LEDs flash alternately with 2 Hz 4 Set switch SW2 to 5 and switch SW1 to 2 corresponds to 0x52 R RESET 5 Wait 3 s the green NET and green MODULE status LEDs flash alternately with 2 Hz 6 Set both switches to 0 7 Now the safety related configuration is reset the TUNID and SCID are deleted and the o...

Page 40: ...served 6 2 Instance 104 Grey Config Channel All TR Grey attributes from the position sensor object 0x23 are combined in the non safety related TR Electronic related configuration assembly Instance 104 Attribute 3 and transferred to the measuring system during startup after a connection has been established The attributes are described with their default values All parameters must be written as 0 v...

Page 41: ...for downloading the safety related configuration see also Chapter 4 5 on Page 36 Instance Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Page 123 0 TR Safety SIL PL 71 1 2 TR Safety Rotational Direction 65 3 TR Safety Measuring Range 66 4 5 6 7 TR Safety Revolutions Numerator 8 9 10 11 TR Safety Revolutions Denominator 12 13 14 15 TR Safety Velocity Format 69 16 TR Safety Velocity Factor 69 ...

Page 42: ... bit signed velocity value 102 3 Output Grey Output Channel 1 TR Grey Preset Control Preset Value NON safety related 16 bit preset control Set 32 bit preset value 121 3 Input Safety Input TR Safety Status TR Safety Position TR Safety Velocity Safety related 16 bit status information 32 bit unsigned position value 32 bit signed velocity value 122 3 Output Safety Output TR Safety Controlword TR Safe...

Page 43: ...nt non safety related measuring system status is output via the Member TR Grey Encoder Status Input word IW 0 WORD Byte 0 1 Bit 7 0 15 8 Data 27 20 215 28 Bit Function 0 Adjustment execution positive feedback 0 Normal operation no error 1 Adjustment was carried out For the execution of the adjustment function see Chapter 7 3 on Page 45 1 Output of the original position 0 Position incorrect channel...

Page 44: ...signed 32 bit binary value via Member Position Value Unsigned Input words IW 1 to IW 2 UDINT Byte 2 3 4 5 Bit 23 16 31 24 39 32 47 40 Data 27 20 215 28 223 216 231 224 7 2 3 Input TR Grey Velocity The current scaled non safety related velocity of the measuring system is output as a signed 32 bit two s complement value via the Member TR Grey Velocity Default setting RPM see Attribute TR Grey Veloci...

Page 45: ...value is set with a rising edge 0 1 of bit 2 0 0x0001 in the control word Execution of the adjustment is acknowledged in the status word TR Grey Encoder Status by setting bit 20 0x0001 Cancelling bit 20 0x0000 in the control word automatically resets bit 20 0x0000 in the status word TR Grey Encoder Status Source data structure originator measuring system WORD DINT Byte 0 1 2 3 4 5 Bit 7 0 15 8 23 ...

Page 46: ...set Preparation control bit if the measuring system is in Safe state Bit 1 if initialization was completed successfully if the preset control bits Preset Request and Preset Preparation were reset 5 Preset Active Bit 1 if execution of the preset function is triggered via the Preset Request control bit After the preset function has been executed the bit is reset automatically see also page 74 6 rese...

Page 47: ...a the Member TR Safety Position Input words IW 1 to IW 2 UDINT Byte 2 3 4 5 Bit 23 16 31 24 39 32 47 40 Data 27 20 215 28 223 216 231 224 7 4 3 Input TR Safety Velocity The current scaled safety related velocity of the measuring system is output as a signed 32 bit two s complement value via the Member TR Safety Velocity Default setting RPM see Attribute TR Safety Velocity Format on Page 69 Input w...

Page 48: ...tual preset function can only be set using the Preset Request control bit if this bit is set This function can only be executed when the corresponding sequence is exactly followed see Chapter TR Safety Preset Adjustment Function on Page 74 1 Preset Request This bit serves to control the preset adjustment function When this function is executed the measuring system is set to the position value set ...

Page 49: ...ice receives inputs from the target device and sends configuration data to the network An Input Only connection does not send any outputs only inputs can be received But several Input Only connections can be defined from various senders to the target device NON safety related connections Grey Channel 1 Exclusive Owner Client O T Connection Point Class Attribute Data size Description 103 instance 0...

Page 50: ... 122 0x04 6 bytes TR Safety Controlword 16 bit TR Safety Presetout 32 bit Safety Input Input Only Client O T Connection Point Class Attribute Data size Description 123 instance 0x04 3 24 bytes Safety configuration data T O SINGLE CAST MULTICAST Connection Point Class Attribute Data size Description 121 0x04 10 bytes TR Safety Status 16 Bit TR Safety Position 32 Bit TR Safety Velocity 32 Bit Safety...

Page 51: ...vice and corresponds to a writing service Note All Set Attributes can also be addressed via the Get_Attribute services Get The attribute can be accessed via the Get_Attribute service and corresponds to a reading service NV nonvolatile V volatile Saving the attributes parameters NV The attribute is permanently saved in the non volatile memory V The attribute is temporarily saved in the volatile mem...

Page 52: ...s Get Position Value Unsigned UDINT Current unsigned position value 55 0x0B Get Position Sensor Type UINT Defines the device type 0x00 02 Multi turn absolute encoder 55 0x0C Set Direction Counting Toggle BOOL Counting direction of the position value profile parameter 0 Counting direction increasing 55 Set Preset Value DINT Preset value 32 bit 0 56 Set TR Grey Preset Control WORD Adjustment functio...

Page 53: ...lter type 0 static 64 Safety related attributes Set TR Safety Rotational Direction BOOL Counting direction of the position value 1 Counting direction increasing 65 Set TR Safety Measuring Range UDINT Total measuring range in steps 536870912 66 Set TR Safety Revolutions Numerator UDINT Number of numerator revolutions 65536 66 Set TR Safety Revolutions Denominator UDINT Number of denominator revolut...

Page 54: ...t Page Set TR Safety SIL PL UINT SIL PL Level 2 SIL 2 71 Get TR Safety Position UDINT Current unsigned position value 72 Get TR Safety Velocity DINT Current signed velocity 72 Get TR Safety Status UINT Measuring system status preset position 0 72 Set TR Safety Controlword UINT Adjustment function 0 72 Set TR Safety Presetout UDINT Preset value 32 bit 0 73 Table 7 Overview of measuring system param...

Page 55: ...5 8 23 16 31 24 Data 27 20 215 28 223 216 231 224 9 1 3 Attribute 11 Position Sensor Type Position Sensor Type returns the device type UINT read only Value Definition 02 Absolute multi turn encoder Link path Packed EPATH with 8 bit class 0x20 0x23 0x24 0x01 0x30 0x0B Logical Type Class Class 23 Logical Type Instance Instance 1 Logical Type Attribute ID Attribute ID 11 9 1 4 Attribute12 Direction C...

Page 56: ...ue The Attribute Preset Value contains the adjustment value which is set as the new position value if the adjustment function is triggered via the Attribute TR Grey Preset Control The attribute is integrated into the cyclic data traffic via the IO Assembly Instance 102 Grey Output Channel 1 adjustment function see Chapter 7 3 on Page 45 DINT Default 0 Byte 0 1 2 3 Bit 7 0 15 8 23 16 31 24 Data 27 ...

Page 57: ...tput of the original position 0 Position incorrect channel in error status 1 Output of the original position 2 Output of the substitute position 0 no substitute position output 1 Output of the substitute position The substitute position Position substitution On must be set accordingly see Chapter 9 1 15 Page 64 3 6 unused 7 Adjustment execution Negative feedback 1 Adjustment was not carried out Fo...

Page 58: ...nction The internal calculation algorithm results in different absolute positions for the counting direction settings ascending and descending Verify the correct function by a test run in safe mode after changing the counting direction Under certain circumstances the output position must be adjusted via the preset function BYTE BOOL Value Description Default 0 Measuring system position descending ...

Page 59: ...Range TR Grey Revolutions Numerator TR Grey Revolutions Denominator The measuring system supports the gear function for rotary axes This means that the number of steps per revolution and the quotient of Revolutions numerator Revolutions denominator can be a decimal number The output actual position value is offset by a zero point correction the set counting direction and the entered gearbox parame...

Page 60: ... be made to reduce these accordingly If this is not possible it may only be possible to represent the relevant decimal number approximately The resulting minor 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 gear ratio accordingly The parameter Numbe...

Page 61: ...asured to the end position Measure the mechanical distance covered in mm Read off the actual position of the measuring system on the connected control Assumption Distance covered 2000 mm Measuring system actual position after 2000 mm 607682 steps Consequently Number of revolutions covered 607682 steps 4096 steps rev 148 3598633 revolutions Number of mm revolution 2000 mm 148 3598633 revs 13 480734...

Page 62: ...y value range 2147483648 2147483647 has been exceeded or not reached USINT Value Allocation Description Default 0 RPS Factor Output in rev second multiplied by the factor set under the TR Grey Velocity Factor parameter see Page 62 1 U min Factor Output in rev min multiplied by the factor set under the TR Grey Velocity Factor parameter see Page 62 X 2 Rev hour factor Output in rev hour multiplied b...

Page 63: ...solution 8192 steps per revolution Speed 4800 revolutions per minute Integration time ti 50 ms 0 05 s Factor 1 Determine Output value in steps integration time factor Number of steps s 8192 steps 4800 rev 655360 steps Rev 60 s 1 s Number of steps t 655360 steps 0 05 s 32768 steps 1 s Steps integration time factor 32768 steps 50 ms 9 1 14 TR Grey Channel coupled BYTE BOOL Value Allocation Descripti...

Page 64: ...e the Attribute TR Grey Velocity Filter Type described below Thus the velocity signal can quickly follow the actual course in the event of changes and is stable in the stationary range USINT Lower limit 0 Upper limit 10 Default 0 0 no filtering 1 weak filtering high cutoff frequency 10 strong filtering low cutoff frequency 9 1 17 TR Grey Velocity Filter Type See also Attribute TR Grey Velocity Fil...

Page 65: ...e internal calculation algorithm results in different absolute positions for the counting direction settings ascending and descending Verify the correct function by a test run in safe mode after changing the counting direction Under certain circumstances the output position must be adjusted via the preset function BYTE BOOL Value Description Default 0 Measuring system position descending clockwise...

Page 66: ...c process input data in TR Safety Status Bit 7 Scaling Error 1 when the measuring system is restarted in case the actual revolutions exceed the permissible revolutions After positive verification the Scaling Error bit can be cleared by executing the preset adjustment function see Chapter 10 on Page 74 The physical resolution of the measuring system can be changed by using the scaling parameters TR...

Page 67: ...ter 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 relevant decimal number approximately The resulting minor inaccuracy accumulates for real round axis applications infinite applications with motion in one direction A solution is e g to perform adjustment after...

Page 68: ...cs to be measured to the end position Measure the mechanical distance covered in mm Read off the actual position of the measuring system on the connected control Assumption Distance covered 2000 mm Measuring system actual position after 2000 mm 607682 steps Consequently Number of revolutions covered 607682 steps 4096 steps rev 148 3598633 revolutions Number of mm revolution 2000 mm 148 3598633 rev...

Page 69: ...47483648 2147483647 has been exceeded or not reached USINT Value Allocation Description Default 0 RPS Factor Output in rev second multiplied by the factor set under the TR Safety Velocity Factor parameter see Page 69 1 U min Factor Output in rev min multiplied by the factor set under the TR Safety Velocity Factor parameter see Page 69 X 2 Rev hour factor Output in rev hour multiplied by the factor...

Page 70: ...n 8192 steps per revolution Speed 4800 revolutions per minute Integration time ti 50 ms 0 05 s Factor 1 Determine Output value in steps integration time factor Number of steps s 8192 steps 4800 rev 655360 steps Rev 60 s 1 s Number of steps t 655360 steps 0 05 s 32768 steps 1 s Steps integration time factor 32768 steps 50 ms 9 1 23 TR Safety Velocity Filter Intensity Use the Attribute TR Safety Vel...

Page 71: ...sition deviation in increments of the master slave scanning systems integrated in the measuring system The permissible tolerance window is basically dependent on the maximum speed occurring in the system and must first be determined by the system operator Higher speeds require a larger tolerance window UINT Lower limit 50 Upper limit 4000 Default 1000 The larger the window increments the larger th...

Page 72: ...ee Attribute TR Safety Velocity Format on Page 69 DINT read only Byte 0 1 2 3 Bit 7 0 15 8 23 16 31 24 Data 27 20 215 28 223 216 231 224 9 1 29 TR Safety Status The Attribute TR Safety Status status word contains the status bits for the adjustment function position output etc and is integrated into the cyclic data traffic via the IO assembly Instance 121 Safety Input see Chapter 7 4 from Page 45 U...

Page 73: ... Presetout contains the adjustment value which is set as the new position value if the Preset Adjustment function is triggered via the Attribute TR Safety Controlword The attribute is integrated into the cyclic data traffic via the IO Assembly Instance 122 Safety Input see Chapter 7 5 from Page 48 DINT Default 0 Byte 0 1 2 3 Bit 7 0 15 8 23 16 31 24 Data 27 20 215 28 223 216 231 224 ...

Page 74: ...cal Data Exchange mode Set the Preset register in the source data of the safety related submodule to the desired preset value Set the control bits Preset Preparation and Preset Request to 0 Set the Preset Preparation control bit to 1 In response the Safe State status bit is set to 0 whereupon the Originator must transfer the system to the safe state The output actual position value is no longer sa...

Page 75: ... Electronic GmbH 2020 All Rights Reserved 10 07 2020 TR ECE BA GB 0163 v03 Page 75 of 91 10 2 Timing Diagram Blue area Output signals Originator Measuring system Orange area Input signals measuring system Originator Figure 10 Preset Timing Diagram ...

Page 76: ...ution The following example explains these facts in more detail Given Programmed resolution 8192 steps per revolution Speed n 3000 revolutions per minute Processing time in the controller tControl 100 ms application specific Transmission time via EtherNet IP network tEtherNet IP 10 ms application specific Processing time in the measuring system tmeasuring system 10 ms Wanted Delay in revolutions a...

Page 77: ...nterface 78 IP Address UDINT configures the device IP address FLASH content 78 Network Mask UDINT configures the device subnet mask FLASH content 78 Gateway Address UDINT configures the device gateway address FLASH content 78 Name Server UDINT not implemented 0x0000 0000 Name Server UDINT not implemented 0x0000 0000 Domain Name STRING configures the domain name 0 78 6 Set Get Host Name STRING conf...

Page 78: ...k Gateway address Sets the IP address for the default gateway Name server 0 is not supported Name server 2 0 is not supported Domain name Sets the domain name max 48 characters 11 1 2 1 Obtaining IP Parameters During the start up phase of the measuring system the saved configuration is read from Attribute 5 Interface Configuration Page 78 the saved value is read from Attribute 3 Configuration Cont...

Page 79: ...ngle service on Attribute 5 Interface Configuration causes the values transferred as parameters to be set The configuration is also permanently stored in the FLASH if the value of Attribute 3 Configuration Control 0x00 during executing of the action 2 The current configuration is permanently saved in the FLASH if the measuring system has received a configuration via DHCP the current value of Attri...

Page 80: ...ntrol system Logix is used The program can be installed on a PC running under a WINDOWS operating system The PC acting as DHCP server must be in the same network as the measuring system to be parameterized 11 2 2 Procedure 1 Connect the measuring system with the DHCP server Ensure the measuring system functions as a DHCP client Hardware switch 0x00 0xFF if Configuration Control state unknown Insta...

Page 81: ...e supply voltage The measuring system starts cyclical DHCP requests which are entered into the Request History 5 Double click on one of the entries The New Entry Dialog box allows the following entries to be made Ethernet Address MAC is automatically applied IP address desired IP address Hostname is not supported Description description is optional ...

Page 82: ...ystem with the next DHCP request The result of this assignment is written to the Request History 6 Use the Disable BOOTP DHCP button to save the IP parameters to the FLASH The successful execution is confirmed with the status report Disable DHCP Command successful which completes the configuration Disable BOOTP DHCP sets the Instance Attribute 3 Configuration Control to 0x0000 0000 the measuring s...

Page 83: ...d 1 Hz Device status ABORT A recoverable error has occurred CIP Safety channel in error state passivated data are output Try to execute a Safety Reset Service 0x54 Type 0 on Object 0x39 Safety Supervisor to put the measurement system in the IDLE state red green Cause Solution 1 Hz Device status SELF TESTING The measuring system is still self testing after the supply is ON Read out the device statu...

Page 84: ...ateway settings between the controller and the measuring system Incorrect connection parameters prevented the controller from establishing a connection see Chapter Connection Types Connection Points on Page 49 red Cause Solution ON The Address Conflict Detection ACD function determined that the same IP address was assigned several times in the network Ensure an IP address is only assigned once wit...

Page 85: ...ansferred 0x07 Connection lost The communication link has been lost 0x08 Service not supported The service requested for this object class or instance was not implemented or not defined 0x09 Invalid attribute value Invalid attribute data detected 0x0A Attribute list error An attribute in the feedback of the Get_Attribute_List or Set_Attribute_List reported a Status 0 0x0B Already in requested mode...

Page 86: ... Routing failure response packet too large The service response packet in the path from the target was too large for transmission on the network 0x1C Missing attribute list entry data An attribute in the attribute list is not supported by the service but is required by the service to perform the requested behavior 0x1D Invalid attribute value list The service returns an attribute list with invalid...

Page 87: ...Member ID The Member ID specified in the request does not exist in the specified class instance attribute 0x29 Member not settable An attempt was made to write to a read only member 12 3 Miscellaneous faults Fault Cause Solution Position jumps of the measuring system strong vibrations So called shock modules dampen vibrations impacts and shocks e g on presses The measuring system must be replaced ...

Page 88: ...Bit Integer LINT 0xC5 Signed 64 Bit Integer USINT 0xC6 Unsigned 8 Bit Integer UINT 0xC7 Unsigned 16 Bit Integer UDINT 0xC8 Unsigned 32 Bit Integer ULINT 0xC9 Unsigned 64 Bit Integer REAL 0xCA 32 Bit Floating Point LREAL 0xCB 64 Bit Floating Point STRING 0xD0 Character string 1 byte character BYTE 0xD1 Bit string 8 bit WORD 0xD2 Bit string 16 bit DWORD 0xD3 Bit string 32 bit LWORD 0xD4 Bit string 6...

Page 89: ...pply voltage The power supply unit used must meet the requirements of Chapter Supply voltage Page 21 Proper EtherNet IP installation Compliance with valid international standards or ODVA guidelines specified for EtherNet IP Chapter Installation Preparation for Commissioning from Page 18 Compliance with the safety related requirements when using CIP Safety devices according to ODVA EtherNet IP Spec...

Page 90: ...7 2020 Sub item Note Reference yes Preset adjustment function Ensured the preset adjustment function can not be triggered unintentionally Ensure the settings are made for the correct axis After execution of the preset adjustment function check the new position at the relevant axis before restarting Chapter TR Safety Preset Adjustment Function Page74 ...

Page 91: ...lectronic de f TR ECE TI DGB 0344 CD_582M FS03 www tr electronic de f TR ECE TI DGB 0350 15 2 EtherNet IP certificate Download www tr electronic de f TR ECE TI GB 0371 15 3 CIP Safety certificate Download www tr electronic de f TR ECE TI GB 0372 15 4 EU Declaration of Conformity Download CD_582M FS02 www tr electronic de f TR ECE KE DGB 0354 CD_582M FS03 www tr electronic de f TR ECE KE DGB 0358 ...

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