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TR-Electronic CANopen+Multi-Sensor LP-46-K Benutzerhandbuch

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+Multi-Sensor
Absolute linear Encoders
magnetostrictive
LP-46-K /
LMPI-46
_Zusätzliche Sicherheitshinweise
_Installation
_Inbetriebnahme
_Konfiguration / Parametrierung
_Fehlerursachen und Abhilfen
_Additional safety instructions
_Installation
_Commissioning
_Configuration / Parameterization
_Cause of faults and remedies
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Seite 2 - 92
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Page 93 - 183
LA-46-K /
LMRI-46
LMP-30
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Verwandte Anleitungen für TR-Electronic CANopen+Multi-Sensor LP-46-K

Inhaltszusammenfassung für TR-Electronic CANopen+Multi-Sensor LP-46-K

  • Seite 1 Seite 2 - 92 Page 93 - 183 +Multi-Sensor Absolute linear Encoders magnetostrictive LA-46-K / LMRI-46 LP-46-K / LMPI-46 _Zusätzliche Sicherheitshinweise _Installation _Inbetriebnahme LMP-30 _Konfiguration / Parametrierung _Fehlerursachen und Abhilfen _Additional safety instructions _Installation _Commissioning _Configuration / Parameterization _Cause of faults and remedies Benutzerhandbuch User Manual 5721...
  • Seite 2 CANopen und CiA sind eingetragene Gemeinschaftsmarken der CAN in Automation e.V.  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany Page 2 of 183 TR - ELA - BA - DGB - 0016 - 04...

  • Seite 3: Inhaltsverzeichnis

    3.8.6 Identification Protokolle ................... 34 3.8.6.1 LMT identify remote slave Protokoll ..................34 3.8.6.2 LMT identify slave Protokoll ...................... 34  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany 01/20/2017 TR - ELA - BA - DGB - 0016 - 04...
  • Seite 4 6.3 Erstes Sende-Prozessdaten-Objekt (asynchron) ..............58 6.4 Zweites Sende-Prozessdaten-Objekt (synchron) ..............58 6.5 Drittes Sende-Prozessdaten-Objekt (synchron) ..............58  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany Page 4 of 183 TR - ELA - BA - DGB - 0016 - 04...
  • Seite 5 8.2.10.9 Objekt 650Ah – Hersteller-Offsetwert ..................84 8.2.10.10 Objekt 650Bh – Serien-Nummer ................... 84 8.2.10.11 Objekt 650Ch – Offsetwerte für Mehrmagnetgeräte ............. 84  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany 01/20/2017 TR - ELA - BA - DGB - 0016 - 04...
  • Seite 6 11.5 Sonstige Störungen ......................91 Anhang Steckerbelegungen www.tr-electronic.de/f/TR-ELA-TI-DGB-0086 www.tr-electronic.de/f/TR-ELA-TI-DGB-0087 www.tr-electronic.de/f/TR-ELA-TI-DGB-0088 www.tr-electronic.de/f/TR-ELA-TI-DGB-0089  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany Page 6 of 183 TR - ELA - BA - DGB - 0016 - 04 01/20/2017...

  • Seite 7: Änderungs-Index

    05.02.16 - LMRI-46 / LMPI-46 ergänzt 20.01.17 - Technische Daten entfernt  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany 01/20/2017 TR - ELA - BA - DGB - 0016 - 04 Page 7 of 183...

  • Seite 8: Allgemeines

    Es gelten somit zusammen folgende Dokumentationen:  siehe Kapitel „Mitgeltende Dokumente“ in der Montageanleitung www.tr-electronic.de/f/TR-ELA-BA-DGB-0004  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany Page 8 of 183 TR - ELA - BA - DGB - 0016 - 04...

  • Seite 9: Referenzen

    V2.0, Layer Setting Services (LSS) und Protokolle, Januar 2006 18. CiA DS-406 V2.0, CANopen Profil für Encoder, Mai 1998  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany 01/20/2017 TR - ELA - BA - DGB - 0016 - 04...

  • Seite 10: Verwendete Abkürzungen / Begriffe

    Überwachung. Die Nachricht wird periodisch übertragen.   TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany Page 10 of 183 TR - ELA - BA - DGB - 0016 - 04...
  • Seite 11 Teilnehmer einen anderen auffordern, seine Daten zu senden. Service Data Object. Punkt zu Punkt Kommunikation mit Zugriff auf die Objekt-Datenliste eines Gerätes.  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany 01/20/2017 TR - ELA - BA - DGB - 0016 - 04...

  • Seite 12: Zusätzliche Sicherheitshinweise

    Beachten der Montageanleitung, insbesondere das dort enthaltene Kapitel "Grundlegende Sicherheitshinweise" muss vor Arbeitsbeginn gelesen und verstanden worden sein  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany Page 12 of 183 TR - ELA - BA - DGB - 0016 - 04...

  • Seite 13: Organisatorische Maßnahmen

    Dies gilt in besonderem Maße für nur gelegentlich, z.B. bei der Parametrierung des Mess-Systems, tätig werdendes Personal.  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany 01/20/2017 TR - ELA - BA - DGB - 0016 - 04...

  • Seite 14: Canopen Informationen

    Geräteprofile entwickelt, in der mit der Struktur des Objektverzeichnisses und den allgemeinen Kodierungsregeln der gemeinsame Nenner aller Geräteprofile definiert ist.  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany Page 14 of 183 TR - ELA - BA - DGB - 0016 - 04...

  • Seite 15: Canopen - Kommunikationsprofil

    Network Management Object (NMO) z.B. Life / Node-Guarding Boot-Up,… Error Control Protokoll  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany 01/20/2017 TR - ELA - BA - DGB - 0016 - 04 Page 15 of 183...

  • Seite 16: Prozess- Und Service-Daten-Objekte

    Bestätigung  bestätigende Dienste Abbildung 3: Gegenüberstellung von PDO/SDO-Eigenschaften  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany Page 16 of 183 TR - ELA - BA - DGB - 0016 - 04 01/20/2017...

  • Seite 17: Objektverzeichnis (Object Dictionary)

    SYNC 0001bin 1005h 181h – 1FFh PDO1 (tx) 0011bin 1800h  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany 01/20/2017 TR - ELA - BA - DGB - 0016 - 04 Page 17 of 183...

  • Seite 18: Übertragung Von Sdo Nachrichten

    Im Fall eines Fehlers (SDO Response CCS = 0x80) enthält der Datenbereich einen 4-Byte-Fehlercode, der über die Fehlerursache Auskunft gibt. Die Bedeutung der Fehlercodes ist aus der Tabelle 16, Seite 88 zu entnehmen.  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany Page 18 of 183...
  • Seite 19 Kein weiteres Datensegment vorhanden. 0x01 SDO Response Die Bytes 1 bis 7 beinhalten die angeforderten Daten.  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany 01/20/2017 TR - ELA - BA - DGB - 0016 - 04...

  • Seite 20: Lese Sdo

    Wenn nur 1 Datenbyte (Daten 0) Daten enthält, ist der Wert von Byte 0 = „4Fh“. Ist Byte 0 = 80h, wird die Übertragung abgebrochen.  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany Page 20 of 183...

  • Seite 21: Schreibe Sdo

    High Byte Ist Byte 0 = 80h, wird die Übertragung abgebrochen.  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany 01/20/2017 TR - ELA - BA - DGB - 0016 - 04 Page 21 of 183...

  • Seite 22: Netzwerkmanagement, Nmt

    Reset_Node  Reset Knoten (9),(10),(11) Reset_Communication  Reset Kommunikation (12),(13),(14)  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany Page 22 of 183 TR - ELA - BA - DGB - 0016 - 04 01/20/2017...

  • Seite 23: Netzwerkmanagement-Dienste

    Danach Übergang in den Zustand INITIALIZATION, (14) erster Zustand nach dem Einschalten. Tabelle 4: NMT-Dienste zur Gerätekontrolle  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany 01/20/2017 TR - ELA - BA - DGB - 0016 - 04...

  • Seite 24: Nmt-Dienste Zur Verbindungsüberwachung

    (Subindex 0) steht die Anzahl der gemappten Objekte, die im Anschluss aufgelistet sind. Die Tabellen befinden sich im Objektverzeichnis bei Index 0x1600 ff. für die RxPDOs bzw. 0x1A00ff für die TxPDOs.  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany Page 24 of 183...

  • Seite 25: Layer Management Services (Lmt) Und Protokolle

    ● LMT identify slave  Rückmeldung der LMT-Slaves auf das vorherige Kommando  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany 01/20/2017 TR - ELA - BA - DGB - 0016 - 04 Page 25 of 183...

  • Seite 26: Lmt-Modes Und Dienste

    Inquire LMT-address Nein LMT identify remote slave LMT identify slave  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany Page 26 of 183 TR - ELA - BA - DGB - 0016 - 04 01/20/2017...

  • Seite 27: Übertragung Von Lmt-Diensten

    Byte 7 Tabelle 7: LMT-Nachricht Byte 0 enthält die Command-Specifier (CS), danach folgen 7 Byte für die Daten.  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany 01/20/2017 TR - ELA - BA - DGB - 0016 - 04...

  • Seite 28: Switch Mode Protokolle

    LMT-Master  LMT-Slave COB-ID Manufacturer-Name 0x7E5 COB-ID Product-Name 0x7E5 COB-ID Serial-No. 0x7E5  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany Page 28 of 183 TR - ELA - BA - DGB - 0016 - 04 01/20/2017...

  • Seite 29: Configuration Protokolle

    Specific Error Wenn Error Code = 255  applikationsspezifischer Fehler aufgetreten, sonst reserviert durch die CiA  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany 01/20/2017 TR - ELA - BA - DGB - 0016 - 04...

  • Seite 30: Configure Bit Timing Parameters Protokoll

    Specific Error Wenn Error Code = 255  applikationsspezifischer Fehler aufgetreten, sonst reserviert durch die CiA  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany Page 30 of 183 TR - ELA - BA - DGB - 0016 - 04...

  • Seite 31: Activate Bit Timing Parameters Protokoll

    Specific Error Wenn Error Code = 255  applikationsspezifischer Fehler aufgetreten, sonst reserviert durch die CiA  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany 01/20/2017 TR - ELA - BA - DGB - 0016 - 04...

  • Seite 32: Inquire Lmt-Address Protokolle

    0x4C, 0x41, 0x34, 0x36, 0x00, 0x00, 0x00 LP46 = 0x4C, 0x50, 0x34, 0x36, 0x00, 0x00, 0x00  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany Page 32 of 183 TR - ELA - BA - DGB - 0016 - 04...

  • Seite 33: Inquire Serial-Number Protokoll

    Serial-No. (BCD) 0x7E4 z.B. „02“ Serial-No. = S1…S7 = BCD kodiert  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany 01/20/2017 TR - ELA - BA - DGB - 0016 - 04 Page 33 of 183...

  • Seite 34: Identification Protokolle

    LMT-Adress-Attributen entsprechen, antworten mit diesem Protokoll. LMT-Slave  LMT-Master COB-ID Reserved by CiA 0x7E4  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany Page 34 of 183 TR - ELA - BA - DGB - 0016 - 04 01/20/2017...

  • Seite 35: Layer Setting Services (Lss) Und Protokolle

    ● LSS identify non-configured slave  Rückmeldung der LSS-Slaves auf das vorherige Kommando  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany 01/20/2017 TR - ELA - BA - DGB - 0016 - 04 Page 35 of 183...

  • Seite 36: Finite State Automaton, Fsa

    LSS identify slave LSS identify non-configured remote slave LSS identify non-configured slave  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany Page 36 of 183 TR - ELA - BA - DGB - 0016 - 04...

  • Seite 37: Übertragung Von Lss-Diensten

    Byte 7 Tabelle 9: LSS-Nachricht Byte 0 enthält die Command-Specifier (CS), danach folgen 7 Byte für die Daten.  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany 01/20/2017 TR - ELA - BA - DGB - 0016 - 04...

  • Seite 38: Switch Mode Protokolle

    Reserved by CiA 0x7E5 LSS-Slave  LSS-Master COB-ID Reserved by CiA 0x7E4  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany Page 38 of 183 TR - ELA - BA - DGB - 0016 - 04 01/20/2017...

  • Seite 39: Configuration Protokolle

    Specific Error Wenn Error Code = 255  applikationsspezifischer Fehler aufgetreten, sonst reserviert durch die CiA  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany 01/20/2017 TR - ELA - BA - DGB - 0016 - 04...

  • Seite 40: Configure Bit Timing Parameters Protokoll

    Specific Error Wenn Error Code = 255  applikationsspezifischer Fehler aufgetreten, sonst reserviert durch die CiA  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany Page 40 of 183 TR - ELA - BA - DGB - 0016 - 04...

  • Seite 41: Activate Bit Timing Parameters Protokoll

    Specific Error Wenn Error Code = 255  applikationsspezifischer Fehler aufgetreten, sonst reserviert durch die CiA  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany 01/20/2017 TR - ELA - BA - DGB - 0016 - 04...

  • Seite 42: Inquire Lss-Address Protokolle

    LSS-Slave  LSS-Master Product-Code (≙Index 1018h:02) COB-ID Reserved by CiA 0x7E4  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany Page 42 of 183 TR - ELA - BA - DGB - 0016 - 04 01/20/2017...

  • Seite 43: Inquire Identity Revision-Number Protokoll

    LSS-Slave  LSS-Master Serial-No. (≙Index 1018h:04) COB-ID Reserved by CiA 0x7E5  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany 01/20/2017 TR - ELA - BA - DGB - 0016 - 04 Page 43 of 183...

  • Seite 44: Inquire Node-Id Protokoll

    Reserved by CiA 1…127 0x7E4 Node-ID Entspricht der Node-ID des selektierten Gerätes.  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany Page 44 of 183 TR - ELA - BA - DGB - 0016 - 04 01/20/2017...

  • Seite 45: Identification Protokolle

    LSS-Adress-Attributen entsprechen, antworten mit diesem Protokoll. LSS-Slave  LSS-Master COB-ID Reserved by CiA 0x7E4  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany 01/20/2017 TR - ELA - BA - DGB - 0016 - 04 Page 45 of 183...

  • Seite 46: Lss Identify Non-Configured Remote Slave Protokoll

    Protokoll. LSS-Slave  LSS-Master COB-ID Reserved by CiA 0x7E4  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany Page 46 of 183 TR - ELA - BA - DGB - 0016 - 04 01/20/2017...

  • Seite 47: Geräteprofil

    DE-91058 Erlangen Tel. +49-9131-69086-0 Fax +49-9131-69086-79 Website: www.can-cia.org e-mail: headquarters@can-cia.org  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany 01/20/2017 TR - ELA - BA - DGB - 0016 - 04 Page 47 of 183...

  • Seite 48: Installation / Inbetriebnahmevorbereitung

    Der Anschluss kann mit Hilfe der beigelegten Geräte-spezifischen Steckerbelegung durchgeführt werden. Für die Versorgung sind paarweise verdrillte und geschirmte Kabel zu verwenden !  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany Page 48 of 183...

  • Seite 49: Schalter - Einstellungen

    Ist das Mess-System der letzte Teilnehmer im CAN-Segment, ist der Bus durch einen externen Abschlusswiderstand von 121 Ohm zwischen CAN_H und CAN_L abzuschließen. Der Bus-Abschluss kann auch von TR-Electronic bezogen werden, Art.-Nr.: 62-000-1366 (M12-Stecker, A-kodiert, 120 Ω).  TR-Electronic GmbH 2010, All Rights Reserved...

  • Seite 50: Einschalten Der Versorgungsspannung

    Daten-Objekte möglich. Es ist aber möglich, PDOs unter Nutzung von SDOs zu konfigurieren. Ist das Mess-System in den Zustand OPERATIONAL überführt worden, ist auch eine Übertragung von PDOs möglich.  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany Page 50 of 183...

  • Seite 51: Einstellen Der Node-Id Und Baudrate Mittels Lmt-Dienste

    --> Error Code = 0. --> LMT-Slave wird zurückgesetzt und befindet sich im Zustand PRE-OPERATIONAL.  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany 01/20/2017 TR - ELA - BA - DGB - 0016 - 04...

  • Seite 52: Einstellen Der Node-Id Und Baudrate Mittels Lss-Diensten

    --> Error Code = 0. --> LSS-Slave wird zurückgesetzt und befindet sich im Zustand PRE-OPERATIONAL.  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany Page 52 of 183 TR - ELA - BA - DGB - 0016 - 04...

  • Seite 53: Inbetriebnahme

    Die EDS-Datei hat den Dateinamen – “LA_CO02.EDS” Download:  www.tr-electronic.de/f/TR-ELA-ID-MUL-0011  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany 01/20/2017 TR - ELA - BA - DGB - 0016 - 04 Page 53 of 183...

  • Seite 54: Bus-Statusanzeige

    Mess-System befindet sich im Configuration Mode Entsprechende Maßnahmen im Fehlerfall siehe Kapitel „Optische Anzeigen“, Seite 87.  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany Page 54 of 183 TR - ELA - BA - DGB - 0016 - 04...

  • Seite 55: Kommunikations-Profil

    Istwert kann nur über einen Remote-Frame übertragen werden Istwert wird asynchron mit dem Timerwert aus Objekt 6200h übertragen (Objekt 1800h) bzw. Subindex 5 (Objekte 1801h, 1802h)  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany 01/20/2017...
  • Seite 56 Event-Timers sich auch im Cyclic Timer auswirkt und umgekehrt. Die Kommunikationsparameter 1801h und 1802h benutzen ausschließlich ihren eigenen Timer, Zugriff über Subindex 5.  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany Page 56 of 183...

  • Seite 57: Aufbau Der Mappingparameter, 1A00H-1A02H

    Objekt 6004h – Positionswert, Ein-Magnet-Betrieb, siehe Seite 76 Objekt 6020h – Positionswerte für Mehrmagnetgeräte, siehe Seite 79 Objekt 6030h – Geschwindigkeitswerte, siehe Seite 80  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany 01/20/2017 TR - ELA - BA - DGB - 0016 - 04...

  • Seite 58: Erstes Sende-Prozessdaten-Objekt (Asynchron)

    32 Bit Positionswert Magnet 3 60200320h 2 bzw. 3 2. bzw. 3. Applikationsobjekt  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany Page 58 of 183 TR - ELA - BA - DGB - 0016 - 04...

  • Seite 59: Kommunikationsspezifischer Profilbereich (Cia Ds-301)

    Tabelle 10: Kommunikationsspezifische Standard-Objekte Alle schreibbaren Indizes müssen explizit über den Index 1010h gespeichert werden. segmentiertes Lesen  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany 01/20/2017 TR - ELA - BA - DGB - 0016 - 04...

  • Seite 60: Objekt 1000H: Gerätetyp

    Magnet erkannt worden ist, siehe auch Emergency-Fehlercodes ab Seite 89. Unsigned8 Bedeutung generischer Fehler geräteprofilspezifisch  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany Page 60 of 183 TR - ELA - BA - DGB - 0016 - 04 01/20/2017...

  • Seite 61: Objekt 1002H: Hersteller-Status-Register

    Byte 0 Byte 1 Byte 2 Byte 3 Fehlercode nicht unterstützt  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany 01/20/2017 TR - ELA - BA - DGB - 0016 - 04 Page 61 of 183...

  • Seite 62: Objekt 1005H: Cob-Id Sync Nachricht

    7.8 Objekt 100Ah: Hersteller Softwareversion Enthält die Hersteller Softwareversion (visible string), Übertragung per „Segment Protokoll“.  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany Page 62 of 183 TR - ELA - BA - DGB - 0016 - 04...

  • Seite 63: Objekt 100Ch: Guard-Time (Überwachungszeit)

    Node-Guarding-Protokoll. Standardwert = 0. Unsigned8 Life-Time-Faktor Byte 0 bis 2  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany 01/20/2017 TR - ELA - BA - DGB - 0016 - 04 Page 63 of 183...

  • Seite 64: Objekt 1010H: Parameter Abspeichern

    0606 0000h. Wurde eine falsche Signatur geschrieben, verweigert das Gerät die Speicherung und antwortet mit Abbruch der Übertragung: Fehlercode 0800 0020h.  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany Page 64 of 183 TR - ELA - BA - DGB - 0016 - 04...

  • Seite 65: Objekt 1011H: Parameter Wieder Herstellen

    Wert Bit 0 = 1 bedeutet, dass das Gerät die Wiederherstellung der Standardwerte unterstützt.  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany 01/20/2017 TR - ELA - BA - DGB - 0016 - 04...

  • Seite 66: Objekt 1014H: Cob-Id Emergency (Emcy)

    Objekteintrag ignoriert und der Fehlercode 0609 0030h ausgegeben. Die Heartbeat time ist als Vielfaches von 1 ms anzugeben. Der Eintrag für die Node-ID entspricht der Node-ID des zu überwachenden Knotens.  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany Page 66 of 183...

  • Seite 67: Objekt 1017H: Producer Heartbeat Time

    Subindex2: Bei Lesezugriff liefert das Gerät Informationen über den Produktcode Subindex3: Bei Lesezugriff liefert das Gerät Informationen über die Revision. Subindex4: Bei Lesezugriff liefert das Gerät Informationen über die Seriennummer.  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany 01/20/2017...

  • Seite 68: Objekt 1F80H: Nmt Autostart

    Aufschlüsselung des Konfigurationsbytes Start Node, NMT Master fest auf 1 Start  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany Page 68 of 183 TR - ELA - BA - DGB - 0016 - 04 01/20/2017...

  • Seite 69: Parametrierung Und Konfiguration

    Filtermode Unsigned8 Tabelle 11: Herstellerprofilbereich Alle Indizes werden mit Schreibzugriff automatisch dauerhaft gespeichert.  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany 01/20/2017 TR - ELA - BA - DGB - 0016 - 04 Page 69 of 183...

  • Seite 70: Objekt 2000H - Cob-Id Für Boot-Up Nachricht

    Automatische Speicherung aller geänderten Parameter. Unsigned8 Auto-Speicherung Byte 0 bis 2  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany Page 70 of 183 TR - ELA - BA - DGB - 0016 - 04 01/20/2017...

  • Seite 71: Objekt 2002H - Anzahl Der Freigeschalteten Magnete

    Alle Positionen werden auf den letzten gültigen Wert gesetzt Unsigned8 Positionswert im Fehlerfall Byte 0 bis 2  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany 01/20/2017 TR - ELA - BA - DGB - 0016 - 04 Page 71 of 183...

  • Seite 72: Objekt 2004H - Filtermode, Ab Firmware 5721.02

    Dynamic level 7: geringe Mess-Dynamic Unsigned8 Filtermode Byte 0 bis 2  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany Page 72 of 183 TR - ELA - BA - DGB - 0016 - 04 01/20/2017...

  • Seite 73: Standardisierter Encoder-Profilbereich (Cia Ds-406)

    Aufruf wirksam und wird im EEPROM dauerhaft abgespeichert wird erst wirksam und dauerhaft im EEPROM abgespeichert nach Aufruf von „Objekt 1010h: Parameter abspeichern“  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany...

  • Seite 74: Objekt 6000H - Betriebsparameter

    Auflösung von 0,001 mm. Messlänge Gesamtmesslänge in Schritten = Auflösung in mm  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany Page 74 of 183 TR - ELA - BA - DGB - 0016 - 04...

  • Seite 75: Objekt 6003H - Presetwert, Ein-Magnet-Betrieb

    Mehrmagnetgeräte zu verwenden. Aus diesem Grund ist dieses Objekt fest verknüpft mit dem Subindex 1 von Objekt 6010h. Dies bedeutet, dass eine Änderung dieses Objektes sich auch im Objekt 6010h Subindex 1 auswirkt und umgekehrt.  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany 01/20/2017...

  • Seite 76: Objekt 6004H - Positionswert, Ein-Magnet-Betrieb

    Subindex 1 von Objekt 6020h. Dies bedeutet, dass eine Änderung dieses Objektes sich auch im Objekt 6020h Subindex 1 auswirkt und umgekehrt.  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany Page 76 of 183...

  • Seite 77: Objekt 6005H - Mess-Schritt Einstellungen

    0x01… 0x186A0; 0.01 mm/s bis 1 m/s Wertebereich ab Firmware 5721.02: 0.01 mm/s möglich  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany 01/20/2017 TR - ELA - BA - DGB - 0016 - 04...

  • Seite 78: Objekt 6010H - Presetwerte Für Mehrmagnetgeräte

    Standardwert -2 147 483 648…+2 147 483 647 (0x80000000…0x7FFFFFFF) Wertebereich  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany Page 78 of 183 TR - ELA - BA - DGB - 0016 - 04...

  • Seite 79: Objekt 6020H - Positionswerte Für Mehrmagnetgeräte

    PDO Mapping Standardwert -2 147 483 648…+2 147 483 647; Magnet 3: aktuelle Ist-Position Wertebereich  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany 01/20/2017 TR - ELA - BA - DGB - 0016 - 04...

  • Seite 80: Objekt 6030H - Geschwindigkeitswerte

    Zugriff PDO Mapping Standardwert Wertebereich -32768…+32767; Magnet 3: aktuelle Geschwindigkeit  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany Page 80 of 183 TR - ELA - BA - DGB - 0016 - 04 01/20/2017...

  • Seite 81: Objekt 6200H - Cyclic-Timer

    Timers sich auch im Cyclic Timer auswirkt und umgekehrt. Die Kommunikationsparameter 1801h und 1802h benutzen ausschließlich ihren eigenen Timer, Zugriff über Subindex 5.  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany 01/20/2017 TR - ELA - BA - DGB - 0016 - 04...

  • Seite 82: Mess-System Diagnose

    Reserviert für weitere Verwendung Positionsfehler Das Bit wird gesetzt, wenn das Mess-System keinen Magneten erkennen konnte.  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany Page 82 of 183 TR - ELA - BA - DGB - 0016 - 04...

  • Seite 83: Objekt 6504H - Unterstützte Alarme

    Byte 3 bis 2 bis 2 bis 2 bis 2  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany 01/20/2017 TR - ELA - BA - DGB - 0016 - 04 Page 83 of 183...

  • Seite 84: Objekt 6509H - Offsetwert, Ein-Magnet-Betrieb

    Offsetwert Kanal 1 Integer32 Offsetwert Kanal 2 Integer32 Offsetwert Kanal 3 Integer32  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany Page 84 of 183 TR - ELA - BA - DGB - 0016 - 04 01/20/2017...

  • Seite 85: Emergency-Meldung

    Wenn der Fehler nicht mehr vorhanden ist, überträgt das Mess-System eine Emergency-Meldung mit dem Fehlercode „0“ (Reset Fehler / kein Fehler) und Fehler- Register „0“.  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany 01/20/2017...

  • Seite 86: Übertragung Des Mess-System-Positionswertes

    ID und Übertragungsart „Synchron“ übertragen den Positionswert. Objekt Funktions-Code COB-ID Index Kommunikations-Parameter SYNC 0001bin 1005  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany Page 86 of 183 TR - ELA - BA - DGB - 0016 - 04 01/20/2017...

  • Seite 87: Fehlerursachen Und Abhilfen

    Mode PRE-OPERATIONAL Mode überführt Tabelle 15: Anzeigezustände Status-LED / Error-LED  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany 01/20/2017 TR - ELA - BA - DGB - 0016 - 04 Page 87 of 183...

  • Seite 88: Sdo-Fehlercodes

    Lesezugriff auf Objekt 1003h Subindex 01, siehe Seite 61. Tabelle 16: SDO-Fehlercodes  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany Page 88 of 183 TR - ELA - BA - DGB - 0016 - 04...

  • Seite 89: Emergency-Fehlercodes

    Fehlerregister zurückgesetzt und eine EMCY-Nachricht mit Fehlercode „0x000“ übertragen. Bedeutung generischer Fehler geräteprofilspezifisch  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany 01/20/2017 TR - ELA - BA - DGB - 0016 - 04 Page 89 of 183...

  • Seite 90: Objekt 1003H: Vordefiniertes Fehlerfeld, Bits 0 - 15

    Anzahl abgleichen. Positionsfehler Magnet erkannt. Mindestabstand zwischen den Magneten einhalten  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany Page 90 of 183 TR - ELA - BA - DGB - 0016 - 04 01/20/2017...

  • Seite 91: Sonstige Störungen

    Versorgung. Schirmung Leitungsführung müssen nach den Aufbaurichtlinien für das jeweilige Feldbus-System ausgeführt sein.  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany 01/20/2017 TR - ELA - BA - DGB - 0016 - 04 Page 91 of 183...
  • Seite 92 Fehlerursachen und Abhilfen  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany Page 92 of 183 TR - ELA - BA - DGB - 0016 - 04 01/20/2017...
  • Seite 93 User Manual L_-46-K, LM_I-46, LMP-30 CANopen  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany 01/20/2017 TR - ELA - BA - DGB - 0016 - 04 Page 93 of 183...
  • Seite 94 CANopen and CiA are registered community trademarks of CAN in Automation e.V.  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany Page 94 of 183 TR - ELA - BA - DGB - 0016 - 04...

  • Seite 95: Contents

    3.8.6 Identification protocols .................... 126 3.8.6.1 LMT identify remote slave protocol ................... 126 3.8.6.2 LMT identify slave protocol ....................... 126  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany 01/20/2017 TR - ELA - BA - DGB - 0016 - 04...
  • Seite 96 6.3 1st Transmit Process-Data-Object (asynchronous) ..............150 6.4 2nd Transmit Process-Data-Object (cyclic) ................150 6.5 3rd Transmit Process-Data-Object (cyclic) ................150  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany Page 96 of 183 TR - ELA - BA - DGB - 0016 - 04...
  • Seite 97 8.2.10.9 Object 650Ah – Manufacturer offset value ................176 8.2.10.10 Object 650Bh – Serial number ....................176 8.2.10.11 Object 650Ch – Offset values for multi-sensor devices ............176  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany 01/20/2017...
  • Seite 98 11.5 Other faults ........................... 183 Appendix Pin assignments www.tr-electronic.de/f/TR-ELA-TI-DGB-0086 www.tr-electronic.de/f/TR-ELA-TI-DGB-0087 www.tr-electronic.de/f/TR-ELA-TI-DGB-0088 www.tr-electronic.de/f/TR-ELA-TI-DGB-0089  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany Page 98 of 183 TR - ELA - BA - DGB - 0016 - 04 01/20/2017...

  • Seite 99: Revision Index

    02/05/16 - LMRI-46 / LMPI-46 added 01/20/17 - Technical data removed  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany 01/20/2017 TR - ELA - BA - DGB - 0016 - 04 Page 99 of 183...

  • Seite 100: General Information

     see chapter “Other applicable documents” in the Assembly Instructions www.tr-electronic.com/f/TR-ELA-BA-DGB-0004  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany Page 100 of 183 TR - ELA - BA - DGB - 0016 - 04...

  • Seite 101: References

    V2.0, Layer Setting Services (LSS) and Protocols, January 2006 18. CiA DS-406 V2.0, CANopen Profile for Encoder, May 1998  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany 01/20/2017 TR - ELA - BA - DGB - 0016 - 04...

  • Seite 102: Abbreviations And Definitions

    Heartbeat and for guarding purposes. The message is transmitted periodically.   TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany Page 102 of 183 TR - ELA - BA - DGB - 0016 - 04...
  • Seite 103 Service Data Object. Peer to peer communication with access to the Object Dictionary of a device.  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany 01/20/2017 TR - ELA - BA - DGB - 0016 - 04...

  • Seite 104: Additional Safety Instructions

     observing the assembly instructions. The “Basic safety instructions” in particular must be read and understood prior to commencing work.  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany Page 104 of 183 TR - ELA - BA - DGB - 0016 - 04...

  • Seite 105: Organizational Measures

    This particularly applies for personnel who are only deployed occasionally, e.g. at the parameterization of the measurement system.  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany 01/20/2017 TR - ELA - BA - DGB - 0016 - 04...

  • Seite 106: Canopen Information

     TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany...

  • Seite 107: Canopen - Communication Profile

    Network Management Object (NMO) e.g. Life / Node-Guarding Boot-Up,… Error Control Protocol  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany 01/20/2017 TR - ELA - BA - DGB - 0016 - 04 Page 107 of 183...

  • Seite 108: Process- And Service-Data-Objects

     no Acknowledgement Figure 3: Comparison of PDO/SDO characteristics  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany Page 108 of 183 TR - ELA - BA - DGB - 0016 - 04...

  • Seite 109: Object Dictionary

    SYNC 0001bin 1005h 181h – 1FFh PDO1 (tx) 0011bin 1800h  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany 01/20/2017 TR - ELA - BA - DGB - 0016 - 04 Page 109 of 183...

  • Seite 110: Transmission Of Sdo Messages

    In the case of an error (SDO response CCS = 0x80) the data field contains a 4-byte error code, which gives information about the error cause. Meaning of the error codes see table Table 16 on page 180.  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany Page 110 of 183...
  • Seite 111 No further data segment available. 0x01 SDO Response The bytes 1 to 7 contain the requested data.  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany 01/20/2017 TR - ELA - BA - DGB - 0016 - 04...

  • Seite 112: Read Sdo

    If only 1 data byte (Data 0) contains data the value of byte 0 is "4FH". If byte 0 = 80h the transfer has been aborted.  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany...

  • Seite 113: Write Sdo

    Index High Byte If byte 0 = 80h the transfer has been aborted.  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany 01/20/2017 TR - ELA - BA - DGB - 0016 - 04 Page 113 of 183...

  • Seite 114: Network Management, Nmt

    (4),(7) Enter_PRE-OPERATIONAL_State --> Pre-Operational (5),(8) Stop_Remote_Node (9),(10),(11) Reset_Node (12),(13),(14) Reset_Communication  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany Page 114 of 183 TR - ELA - BA - DGB - 0016 - 04 01/20/2017...

  • Seite 115: Network Management Services

    Afterwards transition into the INITIALIZATION state, first state (14) after Power on. Table 4: NMT device control services  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany 01/20/2017 TR - ELA - BA - DGB - 0016 - 04...

  • Seite 116: Nmt Node / Life Guarding Services

    (subindex 0). The tables are located in the object dictionary at index 0x1600 ff. for the RxPDOs and 0x1A00ff for the TxPDOs.  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany Page 116 of 183...

  • Seite 117: Layer Management Services (Lmt) And Protocols

    Identification services ● LMT identify remote slave ● LMT identify slave  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany 01/20/2017 TR - ELA - BA - DGB - 0016 - 04 Page 117 of 183...

  • Seite 118: Lmt Modes And Services

    Store configured parameters Inquire LMT-address LMT identify remote slave LMT identify slave  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany Page 118 of 183 TR - ELA - BA - DGB - 0016 - 04...

  • Seite 119: Transmission Of Lmt Services

    Byte 7 Table 7: LMT message Byte 0 contains the Command-Specifier (CS), afterwards 7 byte data are following.  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany 01/20/2017 TR - ELA - BA - DGB - 0016 - 04...

  • Seite 120: Switch Mode Protocols

    LMT-Master --> LMT-Slave COB-ID Manufacturer-Name 0x7E5 COB-ID Product-Name 0x7E5 COB-ID Serial-No. 0x7E5  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany Page 120 of 183 TR - ELA - BA - DGB - 0016 - 04 01/20/2017...

  • Seite 121: Configuration Protocols

    Specific Error if Error Code = 255 --> application specific error occurred, otherwise reserved by CiA  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany 01/20/2017 TR - ELA - BA - DGB - 0016 - 04...

  • Seite 122: Configure Bit Timing Parameters Protocol

    Specific Error if Error Code = 255 --> application specific error occurred, otherwise reserved by CiA  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany Page 122 of 183 TR - ELA - BA - DGB - 0016 - 04...

  • Seite 123: Activate Bit Timing Parameters Protocol

    Specific Error if Error Code = 255 --> application specific error occurred, otherwise reserved by CiA  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany 01/20/2017 TR - ELA - BA - DGB - 0016 - 04...

  • Seite 124: Inquire Lmt Address Protocols

    0x4C, 0x41, 0x34, 0x36, 0x00, 0x00, 0x00 LP46 = 0x4C, 0x50, 0x34, 0x36, 0x00, 0x00, 0x00  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany Page 124 of 183 TR - ELA - BA - DGB - 0016 - 04...

  • Seite 125: Inquire Serial-Number Protocol

    Serial-No. (BCD) 0x7E4 e.g. “02” Serial-No. = S1…S7 = BCD coded  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany 01/20/2017 TR - ELA - BA - DGB - 0016 - 04 Page 125 of 183...

  • Seite 126: Identification Protocols

    LMT-Slave --> LMT-Master COB-ID Reserved by CiA 0x7E4  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany Page 126 of 183 TR - ELA - BA - DGB - 0016 - 04 01/20/2017...

  • Seite 127: Layer Setting Services (Lss) And Protocols

    ● LSS identify non-configured remote slave ● LSS identify non-configured slave  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany 01/20/2017 TR - ELA - BA - DGB - 0016 - 04 Page 127 of 183...

  • Seite 128: Finite State Automaton, Fsa

    LSS identify slave LSS identify non-configured remote slave LSS identify non-configured slave  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany Page 128 of 183 TR - ELA - BA - DGB - 0016 - 04...

  • Seite 129: Transmission Of Lss Services

    Byte 7 Table 9: LSS message Byte 0 contains the Command-Specifier (CS), afterwards 7 byte data are following.  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany 01/20/2017 TR - ELA - BA - DGB - 0016 - 04...

  • Seite 130: Switch Mode Protocols

    Reserved by CiA 0x7E5 LSS-Slave --> LSS-Master COB-ID Reserved by CiA 0x7E4  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany Page 130 of 183 TR - ELA - BA - DGB - 0016 - 04 01/20/2017...

  • Seite 131: Configuration Protocols

    Specific Error if Error Code = 255 --> application specific error occurred, otherwise reserved by CiA  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany 01/20/2017 TR - ELA - BA - DGB - 0016 - 04...

  • Seite 132: Configure Bit Timing Parameters Protocol

    Specific Error if Error Code = 255 --> application specific error occurred, otherwise reserved by CiA  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany Page 132 of 183 TR - ELA - BA - DGB - 0016 - 04...

  • Seite 133: Activate Bit Timing Parameters Protocol

    Specific Error if Error Code = 255 --> application specific error occurred, otherwise reserved by CiA  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany 01/20/2017 TR - ELA - BA - DGB - 0016 - 04...

  • Seite 134: Inquire Lss Address Protocols

    LSS-Slave --> LSS-Master Product-Code (≙Index 1018h:02) COB-ID Reserved by CiA 0x7E4  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany Page 134 of 183 TR - ELA - BA - DGB - 0016 - 04 01/20/2017...

  • Seite 135: Inquire Identity Revision-Number Protocol

    LSS-Slave --> LSS-Master Serial-No. (≙Index 1018h:04) COB-ID Reserved by CiA 0x7E5  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany 01/20/2017 TR - ELA - BA - DGB - 0016 - 04 Page 135 of 183...

  • Seite 136: Inquire Node-Id Protocol

    1…127 0x7E4 Node-ID Corresponds the Node-ID of the selected device.  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany Page 136 of 183 TR - ELA - BA - DGB - 0016 - 04 01/20/2017...

  • Seite 137: Identification Protocols

    LSS-Slave --> LSS-Master Reserved by CiA COB-ID 0x7E4  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany 01/20/2017 TR - ELA - BA - DGB - 0016 - 04 Page 137 of 183...

  • Seite 138: Lss Identify Non-Configured Remote Slave Protocol

    LSS-Slave --> LSS-Master COB-ID Reserved by CiA 0x7E4  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany Page 138 of 183 TR - ELA - BA - DGB - 0016 - 04 01/20/2017...

  • Seite 139: Device Profile

    DE-91058 Erlangen Tel. +49-9131-69086-0 Fax +49-9131-69086-79 Website: www.can-cia.org e-mail: headquarters@can-cia.org  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany 01/20/2017 TR - ELA - BA - DGB - 0016 - 04 Page 139 of 183...

  • Seite 140: Installation / Preparation For Start-Up

    The connection can be made with device specific pin assignment which is enclosed when the device is delivered. For the supply shielded cables with twisted core pairs have to be used !  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany Page 140 of 183...

  • Seite 141: Switch - Settings

    121 ohms between CAN_H and CAN_L. The bus termination can be requested also from TR-Electronic, Order-No.: 62-000-1366 (M12 male socket, A-coded, 120 Ω).  TR-Electronic GmbH 2010, All Rights Reserved...

  • Seite 142: Switching On The Supply Voltage

    Objects is possible. But it is possible to configure PDOs with the help of SDOs. If the measuring system was transferred into the OPERATIONAL state, also a transmission of PDOs is possible.  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany Page 142 of 183...

  • Seite 143: Setting The Node-Id And Baud Rate By Means Of Lmt Services

    --> Wait for acknowledgement and check successfully execution, --> Error Code = 0. --> LMT slave is reset and is in condition PRE-OPERATIONAL.  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany 01/20/2017 TR - ELA - BA - DGB - 0016 - 04...

  • Seite 144: Setting The Node-Id And Baud Rate By Means Of Lss Services

    --> Wait for acknowledgement and check successfully execution, --> Error Code = 0. --> LSS slave is reset and is in condition PRE-OPERATIONAL.  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany Page 144 of 183...

  • Seite 145: Commissioning

    The EDS file has the file name – "LA_CO02.EDS" Download:  www.tr-electronic.de/f/TR-ELA-ID-MUL-0011  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany 01/20/2017 TR - ELA - BA - DGB - 0016 - 04 Page 145 of 183...

  • Seite 146: Bus Status

    Measuring system is in Configuration Mode Corresponding measures in case of an error see chapter “Optical displays”, page 179.  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany Page 146 of 183 TR - ELA - BA - DGB - 0016 - 04...

  • Seite 147: Communication Profile

    Actual value can be transferred only over a remote frame Actual value is transferred asynchronously with the timer value from object 6200h (object 1800h) or sub-index 5 (objects 1801h, 1802h)  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany 01/20/2017...
  • Seite 148 The communication parameters 1801h and 1802h exclusively use its own timer, access over sub-index 5.  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany Page 148 of 183...

  • Seite 149: Structure Of The Mapping Parameter, 1A00H-1A02H

    Object 6004h – Position value, single-sensor-operation, see page 168 Object 6020h – Position values for multi-sensor devices, see page 171 Object 6030h – Speed values, see page 172  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany 01/20/2017...

  • Seite 150: 1St Transmit Process-Data-Object (Asynchronous)

    32 bit Position value magnet 3 60200320h 2 / 3 2. / 3. application object  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany Page 150 of 183 TR - ELA - BA - DGB - 0016 - 04...

  • Seite 151: Communication Specific Standard Objects (Cia Ds-301)

    Table 10: Communication specific standard objects All writable indices must be stored explicitly by means of index 1010h. segmented reading  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany 01/20/2017 TR - ELA - BA - DGB - 0016 - 04...

  • Seite 152: Object 1000H: Device Type

    Unsigned8 Meaning generic error, rotative measuring systems only device profile specific  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany Page 152 of 183 TR - ELA - BA - DGB - 0016 - 04...

  • Seite 153: Object 1002H: Manufacturer Status Register

    Byte 1 Byte 2 Byte 3 Error code not supported  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany 01/20/2017 TR - ELA - BA - DGB - 0016 - 04 Page 153 of 183...

  • Seite 154: Object 1005H: Cob-Id Sync Message

    7.8 Object 100Ah: Manufacturer software version Contains the manufacturer software version (visible string), transmission via “Segment Protocol”.  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany Page 154 of 183 TR - ELA - BA - DGB - 0016 - 04...

  • Seite 155: Object 100Ch: Guard Time

    Guarding Protocol. Default value = 0. Unsigned8 Life Time Factor Byte 0 to 2  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany 01/20/2017 TR - ELA - BA - DGB - 0016 - 04 Page 155 of 183...

  • Seite 156: Object 1010H: Store Parameters

    Error code 0606 0000h. If a wrong signature is written, the device refuses to store and responds with abort domain transfer: 0800 0020h.  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany Page 156 of 183...

  • Seite 157: Object 1011H: Restore Default Parameters

    Bits 31-1 Value Bit 0 = 1: Device supports restoring of default parameters.  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany 01/20/2017 TR - ELA - BA - DGB - 0016 - 04 Page 157 of 183...

  • Seite 158: Object 1014H: Cob-Id Emergency (Emcy)

    0609 0030h is transmitted. The heartbeat time is given in multiples of 1ms. The entry for the Node-ID corresponds to the Node-ID of the node to be guarded.  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany Page 158 of 183...

  • Seite 159: Object 1017H: Producer Heartbeat Time

    Sub-index2: Provides information about the product code Sub-index3: Provides information about the revision. Sub-index4: Provides information about the serial number.  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany 01/20/2017 TR - ELA - BA - DGB - 0016 - 04...

  • Seite 160: Object 1F80H: Nmt Auto Start

    Bit structure of the configuration byte Start node, NMT master constant 1 start  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany Page 160 of 183 TR - ELA - BA - DGB - 0016 - 04 01/20/2017...

  • Seite 161: Parameterization And Configuration

    Unsigned8 Table 11: Manufacturer profile area With write access all indices are stored permanently automatically.  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany 01/20/2017 TR - ELA - BA - DGB - 0016 - 04...

  • Seite 162: Object 2000H - Cob-Id For Boot-Up Message

    Automatic storing of all changed parameters. Unsigned8 Auto store Byte 0 to 2  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany Page 162 of 183 TR - ELA - BA - DGB - 0016 - 04 01/20/2017...

  • Seite 163: Object 2002H - Number Of Enabled Sensors

    Unsigned8 Position value at lost magnet Byte 0 to 2  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany 01/20/2017 TR - ELA - BA - DGB - 0016 - 04 Page 163 of 183...

  • Seite 164: Object 2004H - Filtermode, As From Firmware 5721.02

    Dynamic level 7: low measuring dynamics Unsigned8 Filtermode Byte 0 to 2  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany Page 164 of 183 TR - ELA - BA - DGB - 0016 - 04 01/20/2017...

  • Seite 165: Standardized Encoder Profile Area (Cia Ds-406)

    EEPROM durably is only actively and stored durably, if the object "1010, Store parameters" is executed  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany...

  • Seite 166: Object 6000H - Operating Parameters

    Measuring length Total measuring range in measuring units = Resolution in mm  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany Page 166 of 183 TR - ELA - BA - DGB - 0016 - 04...

  • Seite 167: Object 6003H - Preset Value, Single-Sensor-Operation

    For this reason this object is hard-wired with sub-index 1 of object 6010h. That means that a change in this object causes a change in object 6010h sub-index 1 and vice versa.  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany 01/20/2017...

  • Seite 168: Object 6004H - Position Value, Single-Sensor-Operation

    For this reason this object is hard-wired with sub-index 1 of object 6020h. That means that a change in this object causes a change in object 6020h sub-index 1 and vice versa.  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany Page 168 of 183...

  • Seite 169: Object 6005H - Linear Encoder Measuring Step Settings

    0x01…0x186A0; 0.01 mm/s to 1 m/s Value range as from firmware 5721.02: 0.01 mm/s possible  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany 01/20/2017 TR - ELA - BA - DGB - 0016 - 04...

  • Seite 170: Object 6010H - Preset Values For Multi-Sensor Devices

    Default value -2 147 483 648…+2 147 483 647 (0x80000000…0x7FFFFFFF) Value range  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany Page 170 of 183 TR - ELA - BA - DGB - 0016 - 04...

  • Seite 171: Object 6020H - Position Values For Multi-Sensor Devices

    Default value -2 147 483 648…+2 147 483 647; Magnet 3: current actual position Value range  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany 01/20/2017 TR - ELA - BA - DGB - 0016 - 04...

  • Seite 172: Object 6030H - Speed Values

    PDO mapping Default value Value range -32768…+32767; Magnet 3: current speed  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany Page 172 of 183 TR - ELA - BA - DGB - 0016 - 04...

  • Seite 173: Object 6200H - Cyclic Timer

    The communication parameters 1801h and 1802h exclusively use its own timer, access over sub-index 5.  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany 01/20/2017 TR - ELA - BA - DGB - 0016 - 04...

  • Seite 174: Measuring System Diagnostics

    Reserved for further use Position error The bit is set, if the measuring system could not detected a magnet.  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany Page 174 of 183 TR - ELA - BA - DGB - 0016 - 04...

  • Seite 175: Object 6504H - Supported Alarms

    Byte 3 to 2 to 2 to 2 to 2  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany 01/20/2017 TR - ELA - BA - DGB - 0016 - 04 Page 175 of 183...

  • Seite 176: Object 6509H - Offset Value, Single-Sensor-Operation

    Offset value channel 2 Integer32 Offset value channel 3 Integer32  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany Page 176 of 183 TR - ELA - BA - DGB - 0016 - 04 01/20/2017...

  • Seite 177: Emergency Message

    Alarm object 6503h is set. If the error disappears, the measuring system transmits an emergency message with error code "0" (reset error / no error) and error register "0".  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany 01/20/2017...

  • Seite 178: Transmission Of The Measuring System Position Value

    Object Function Code COB-ID Index Communication Parameter SYNC 0001bin 1005  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany Page 178 of 183 TR - ELA - BA - DGB - 0016 - 04 01/20/2017...

  • Seite 179: Causes Of Faults And Remedies

    CONFIGURATION mode into PRE-OPERATIONAL mode Table 15: Display states of the status LED / error LED  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany 01/20/2017 TR - ELA - BA - DGB - 0016 - 04...

  • Seite 180: Sdo Error Codes

    No data available access to object 1003h sub-index 01, see page 153. Table 16: SDO Error codes  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany Page 180 of 183 TR - ELA - BA - DGB - 0016 - 04...

  • Seite 181: Emergency Error Codes

    "0x000" is transferred. Meaning generic error device profile specific  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany 01/20/2017 TR - ELA - BA - DGB - 0016 - 04 Page 181 of 183...

  • Seite 182: Object 1003H: Pre-Defined Error Field, Bits 0 - 15

    Keep minimum distance between the magnets  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany Page 182 of 183 TR - ELA - BA - DGB - 0016 - 04...

  • Seite 183: Other Faults

    Electrical faults Shielding and wire routing must be performed according to the respective field-bus system construction guidelines.  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany 01/20/2017 TR - ELA - BA - DGB - 0016 - 04...

Diese Anleitung auch für:

Canopen+multi-sensor lmpi-46Canopen+multi-sensor la-46-kCanopen+multi-sensor lmri-46Canopen+multi-sensor lmp-30

Inhaltsverzeichnis