TR-Electronic CDV582 Betriebsanleitung

TR - ECE - BA - GB - 0139 - 02 / 11

21/2019

User Manual

Interface

_Safety instructions

_Installation

_Commissioning

_Configuration / Parameterization

_Troubleshooting / Diagnostic options

DIN EN 61508: SIL CL2 / SIL CL3

DIN EN ISO 13849: PL d / PL e

Absolute Encoder CD_582

PROFINET/PROFIsafe

- TR Encoder Profile

- OPTION: PNO Encoder Profile V4.2, Class S1/S2

- PNO Encoder Profile V4.2, Class 3/4

- PROFIsafe V2.4 / V2.6.1

Original manual

CDV582 CDS582 / CDH582

Pictures show similar items

Contents

Page 2 of 154 TR - ECE - BA - GB - 0139 - 02 11/21/2019

TR-Electronic GmbH

D-78647 Trossingen

Eglishalde 6

Tel.: (0049) 07425/228-0

Fax: (0049) 07425/228-33

E-mail: [email protected]

http://www.tr-electronic.de

This Manual, including the illustrations contained therein, is subject to copyright protection. Use of

this Manual by third parties in contravention of copyright regulations is not permitted. Reproduction,

translation as well as electronic and photographic archiving and modification require the written

content 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: 11/21/2019

Document rev. no.: TR - ECE - BA - GB - 0139 - 02

File name: TR-ECE-BA-GB-0139-02.doc

Author: MÜJ

Font styles

Italic or bold font styles are used for the title of a document or are used for highlighting.

Courier font displays text, which is visible on the display or screen and software menu selections.

< > indicates keys on your computer keyboard (such as <RETURN>).

Brand names

PROFIBUS™, PROFINET™ and PROFIsafe™, as well as the associated logos, are registered

trademarks of PROFIBUS Nutzerorganisation e.V. (PNO)

SIMATIC is a registered trademark of SIEMENS AG

11/21/2019 TR - ECE - BA - GB - 0139 - 02 Page 3 of 154

Contents

Contents............................................................................................................................................3

Revision index ..................................................................................................................................8

1 General information ......................................................................................................................9

1.1 Applicability......................................................................................................................9

1.2 References ......................................................................................................................10

1.3 Abbreviations used / Terminology...................................................................................11

1.4 Main features...................................................................................................................13

1.5 Principle of the safety function.........................................................................................14

2 Safety instructions ........................................................................................................................15

2.1 Definition of symbols and notes ......................................................................................15

2.2 Safety functions of the fail-safe processing unit..............................................................16

2.2.1 Mandatory safety checks / measures..............................................................16

3 Installation / Preparation for Commissioning ............................................................................17

3.1 Basic rules.......................................................................................................................17

3.2 PROFINET IO transmission technology, cable specification..........................................18

3.3 Connection instructions...................................................................................................19

3.3.1 Supply voltage.................................................................................................19

3.3.2 Optional additional interfaces (Incremental, SSI)............................................19

3.4 PROFIsafe destination address “F_Dest_Add”...............................................................20

3.5 Incremental interface / SIN/COS interface (optional)......................................................21

3.5.1 Signal characteristics.......................................................................................22

3.5.2 HTL/TTL Level (optional).................................................................................23

3.6 SSI interface (optional)....................................................................................................25

3.6.1 Signal characteristics.......................................................................................25

4 Commissioning..............................................................................................................................27

4.1 PROFINET IO..................................................................................................................27

4.1.1 Device classes.................................................................................................27

4.1.2 Device description file (XML)...........................................................................27

4.1.3 Device identification.........................................................................................28

4.1.4 PROFINET IO data exchange.........................................................................28

4.1.5 Address assignment........................................................................................29

4.2 Bus status display............................................................................................................30

4.3 Commissioning via SIEMENS SIMATIC S7....................................................................30

5 Resetting the device parameters.................................................................................................31

6 Parameterization and configuration............................................................................................32

6.1 Modular structure.............................................................................................................32

6.2 PNO Encoder Profile, not safety instrumented (Channel 1/2 (PNO)).............................35

6.2.1 Structure of the cyclic process data.................................................................35

6.2.1.1 Standard Telegram 81.....................................................................36

6.2.1.2 Standard Telegram 82.....................................................................36

6.2.1.3 Standard Telegram 83.....................................................................36

Contents

Page 4 of 154 TR - ECE - BA - GB - 0139 - 02 11/21/2019

6.2.1.4 Standard Telegram 84.....................................................................36

6.2.1.5 Format Signal 6 / 8: Actual speed value A / B (NIST_A / B)............37

6.2.1.6 Format Signal 9: Control word, Sensor 1 (G1_STW)......................37

6.2.1.7 Format Signal 10: Status word, Sensor 1 (G1_ZSW) .....................38

6.2.1.8 Format Signal 11: Position value 1, Sensor 1 (G1_XIST1).............39

6.2.1.9 Format Signal 12: Position value 2, Sensor 1 (G1_XIST2).............39

6.2.1.10 Format Signal 39: Position value 3, Sensor 1 (G1_XIST3)...........39

6.2.1.11 Format Signal 80: Control word 2, Encoder (STW2_ENC)...........40

6.2.1.12 Format Signal 81: Status word 2, Encoder (ZSW2_ENC).............40

6.2.2 Parameter access and initialization.................................................................42

6.2.3 Configurable module-related parameters........................................................43

6.2.3.1 Parameter initialization (PNU 65005_0-1).......................................45

6.2.3.2 Parameter Write protection (PNU 65005_2-4) ................................45

6.2.3.3 Write protection PNU 65005_5 (control) / PNU 971 (save).............45

6.2.3.4 Write protection (PNU 65005_6), Param. Reset (PNU 972)...........45

6.2.3.5 Code sequence................................................................................46

6.2.3.6 Encoder Class 4 functionality ..........................................................46

6.2.3.7 Preset affects XIST1........................................................................47

6.2.3.8 Scaling function control....................................................................47

6.2.3.9 Alarm channel control (V3.1)...........................................................47

6.2.3.10 Compatibility mode V3.1................................................................48

6.2.3.11 Scaling parameter..........................................................................48

6.2.3.11.1 Scaling: Measuring units per revolution.........................48

6.2.3.11.2 Scaling: Total measuring range.....................................49

6.2.3.12 Tolerated sign-of-life faults (V3.1)..................................................49

6.2.3.13 Velocity value normalization (PNU 60001)....................................50

6.2.3.14 Velocity filter intensity ....................................................................50

6.2.3.15 Velocity filter type...........................................................................51

6.2.3.16 Velocity reference value N2/N4 (PNU 60000)...............................51

6.2.3.17 Preset value (PNU 65000).............................................................52

6.2.4 Acyclic parameter access (Base Mode Parameter Access - Local) ...............53

6.2.4.1 Preset value 32-bit (PNU 65000).....................................................57

6.2.4.2 Operating status (PNU 65001) ........................................................57

6.2.4.2.1 Block Header (PNU 65001.00) ........................................58

6.2.4.2.2 Operating status (PNU 65001.01) ...................................58

6.2.4.2.3 Error (PNU 65001.02)......................................................59

6.2.4.2.4 Supported errors (PNU 65001.03)...................................59

6.2.4.2.5 Warnings (PNU 65001.04)...............................................59

6.2.4.2.6 Supported warnings (PNU 65001.05)..............................60

6.2.4.2.7 Encoder Profile Version (PNU 65001.06)........................60

6.2.4.2.8 Offset value 32-bit (PNU 65001.08).................................60

6.2.4.2.9 Measuring units per revolution (PNU 65001.09) .............60

6.2.4.2.10 Total measuring range (PNU 65001.10)........................60

6.2.4.2.11 Velocity value normalization (PNU 65001.11)...............61

6.2.4.2.12 Velocity ref value N2/N4 (PNU 65001.12).....................61

6.2.4.3 Function control (PNU 65004).........................................................61

6.2.4.4 Parameter control (PNU 65005)......................................................62

6.2.4.5 Scaling: Measuring units per revolution (PNU 65006) ....................63

6.2.4.6 Scaling: Total measuring range (PNU 65007).................................63

6.2.4.7 PROFIdrive-related parameters (PNU 600xx, 9xx).........................64

6.2.4.7.1 Velocity reference value N2/N4 (PNU 60000).................64

6.2.4.7.2 Velocity value normalization (PNU 60001)......................64

6.2.4.7.3 Telegram selection (PNU 922) ........................................65

6.2.4.7.4 Tolerated master sign-of-life faults (PNU 925) ................65

6.2.4.7.5 Device identification (PNU 964).......................................65

6.2.4.7.6 Profile identification (PNU 965)........................................66

6.2.4.7.7 Parameter storage (permanent) (PNU 971) ....................66

6.2.4.7.8 Device RESET / parameter activation (PNU 972)...........66

6.2.4.7.9 B M P Access –Identification (PNU 974)........................67

6.2.4.7.10 Encoder object identification (PNU 975)........................68

6.2.4.7.11 Sensor Format (PNU 979).............................................68

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6.2.4.7.12 Parameter list (PNU 980)...............................................69

6.2.5 Preset function.................................................................................................70

6.2.6 Warnings, errors, diagnosis.............................................................................70

6.2.6.1 Error codes in signal G1_XIST2......................................................71

6.2.6.2 Diagnostic alarm..............................................................................71

6.3 OPTION: PNO Encoder Profile, safety instrumented (Safety BP/XP (PNO)).................72

6.3.1 Structure of the cyclic process data.................................................................72

6.3.1.1 Standard Telegram 36 (BP/XP).......................................................73

6.3.1.2 Standard Telegram 37 (BP/XP).......................................................73

6.3.1.3 Format Signal 96: F actual position value (S_XIST32)....................74

6.3.1.4 Format Signal 97: F actual speed value (S_NIST16)......................74

6.3.1.5 Format Signal 98: Encoder F control word 1 (S_STW1_ENC) .......74

6.3.1.6 Format Signal 99: Encoder F status word 1 (S_ZSW1_ENC).........75

6.3.1.7 Format Signal PNU 62000: F Preset value (S_PRESET32)...........75

6.3.2 Parameter access and initialization (safety-related) .......................................76

6.3.3 Configurable module-related iParameters (F_iPar) ........................................78

6.3.3.1 Code sequence................................................................................79

6.3.3.2 Preset affects XIST32......................................................................79

6.3.3.3 Scaling function control....................................................................79

6.3.3.4 Scaling parameter............................................................................79

6.3.3.4.1 Scaling: Measuring units per revolution...........................80

6.3.3.4.2 Scaling: Total measuring range.......................................80

6.3.3.5 Velocity value normalization............................................................81

6.3.3.6 Window increments (internal, not visible)........................................81

6.3.4 Configurable submodule-related F-parameters (F_Par).................................82

6.3.5 Acyclic parameter access (Base Mode Parameter Access - Local) ...............83

6.3.5.1 Safety telegram no. (PNU 60022)....................................................83

6.3.5.2 Safety velocity value normalization (PNU 60023) ...........................83

6.3.5.3 Safety setpoint telegram (PNU 60024)............................................84

6.3.5.4 Safety setpoint telegram (PNU 60025)............................................84

6.3.5.5 Safety preset value S_PRESET32 (PNU 62000)............................84

6.3.5.6 Safety operating status (PNU 65100)..............................................85

6.3.5.6.1 Block Header (PNU 65100.00) ........................................85

6.3.5.6.2 Operating status (PNU 65100.01) ...................................86

6.3.5.6.3 Offset value 32-bit (PNU 65100.08).................................86

6.3.6 Preset adjustment function..............................................................................87

6.3.6.1 Procedure ........................................................................................87

6.3.6.2 Preset finite state machine / control cycle.......................................88

6.3.7 Diagnosis.........................................................................................................89

6.4 TR Encoder Profile, non-safety instrumented (Channel 1/2 (TR))..................................90

6.4.1 Configurable module-related parameters........................................................90

6.4.1.1 Coupled channel..............................................................................90

6.4.2 Submodule Position.........................................................................................91

6.4.2.1 Structure of the cyclic process data.................................................91

6.4.2.2 Configurable submodule-related parameters..................................91

6.4.2.2.1 Rotational direction..........................................................91

6.4.2.2.2 Scaling parameter............................................................92

6.4.3 Submodule velocity..........................................................................................95

6.4.3.1 Structure of the cyclic process data.................................................95

6.4.3.2 Configurable submodule-related parameters..................................95

6.4.3.2.1 Velocity format .................................................................96

6.4.3.2.2 Velocity filter intensity ......................................................96

6.4.3.2.3 Velocity filter type.............................................................97

6.4.3.2.4 Velocity factor...................................................................97

6.4.3.2.5 Velocity integration time...................................................97

6.4.4 Submodule Preset (adjustment function) ........................................................98

6.4.4.1 Structure of the cyclic process data.................................................98

Contents

Page 6 of 154 TR - ECE - BA - GB - 0139 - 02 11/21/2019

6.4.5 Submodule status............................................................................................99

6.4.5.1 Structure of the cyclic process data.................................................99

6.4.5.2 Configurable submodule-related parameters..................................99

6.5 TR Encoder Profile, safety instrumented (Safety (TR))...................................................100

6.5.1 Submodule position (BP/XP)...........................................................................100

6.5.1.1 Structure of the cyclic process data.................................................100

6.5.1.2 Configurable submodule-related IParameters (F_iPar)...................101

6.5.1.3 Configurable submodule-related F-parameters (F_Par) .................102

6.5.2 Submodule Velocity (BP/XP)...........................................................................103

6.5.2.1 Structure of the cyclic process data.................................................103

6.5.2.2 Configurable submodule-related IParameters (F_iPar)...................104

6.5.2.3 Configurable submodule-related F-parameters (F_Par) .................105

6.5.3 Submodule Position + Velocity (BP/XP)..........................................................106

6.5.3.1 Structure of the cyclic process data.................................................106

6.5.3.1.1 Input TR Status1 (Stat. 1)................................................107

6.5.3.1.2 Input TR Status2 (Stat. 2)................................................108

6.5.3.1.3 Input Position ...................................................................108

6.5.3.1.4 Input Velocity....................................................................108

6.5.3.1.5 Output TR-Control1 (Cont. 1)...........................................108

6.5.3.1.6 Output TR-Control2 (Cont. 2)...........................................109

6.5.3.1.7 Output Preset...................................................................109

6.5.3.2 Configurable submodule-related iParameters (F_iPar)...................110

6.5.3.2.1 Rotational direction..........................................................111

6.5.3.2.2 Scaling parameter............................................................111

6.5.3.2.3 Velocity format .................................................................114

6.5.3.2.4 Velocity filter intensity ......................................................114

6.5.3.2.5 Velocity filter type.............................................................115

6.5.3.2.6 Velocity factor...................................................................115

6.5.3.2.7 Velocity integration time...................................................115

6.5.3.2.8 Window increments..........................................................116

6.5.3.3 Configurable submodule-related F-parameters (F_Par) .................117

6.5.4 Preset adjustment function..............................................................................118

6.5.4.1 Procedure ........................................................................................118

6.5.4.2 Timing –diagram.............................................................................119

6.5.4.3 Calculating the delay for a moving axis...........................................120

6.6 Legacy (TR) Profile..........................................................................................................121

6.6.1 Safety (Legacy), safety-related........................................................................121

6.6.1.1 Structure of the cyclic process data.................................................121

6.6.1.1.1 Input Cams.......................................................................121

6.6.1.1.2 Input TR status.................................................................122

6.6.1.1.3 Input Velocity....................................................................122

6.6.1.1.4 Input Multi-Turn / Single-Turn..........................................123

6.6.1.1.5 Output TR-Control1..........................................................123

6.6.1.1.6 Output Preset Multi-Turn / Preset Single-Turn ................124

6.6.1.2 Configurable module-related iParameters (F_iPar).........................125

6.6.1.2.1 Integration time safety......................................................125

6.6.1.2.2 Integration time standard.................................................125

6.6.1.2.3 Window increments..........................................................126

6.6.1.2.4 Idleness tolerance preset.................................................126

6.6.1.2.5 Rotational direction..........................................................126

6.6.1.3 Configurable module-related F-parameters (F_Par) .......................127

6.6.2 Channel 1 (Legacy), non-safety instrumented ................................................128

6.6.2.1 Structure of the cyclic process data.................................................128

6.6.2.1.1 Input Cams.......................................................................128

6.6.2.1.2 Input Velocity....................................................................128

6.6.2.1.3 Input Multi-Turn / Single-Turn..........................................129

6.6.3 Preset adjustment function..............................................................................130

6.6.3.1 Procedure ........................................................................................130

6.6.3.2 Timing diagram................................................................................131

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6.7 Safe Status / Safe Control (F_MessageTrailer) ..............................................................132

6.7.1 Safe Status (BP/XP)........................................................................................132

6.7.2 Safe Control (BP/XP).......................................................................................133

6.7.3 Access mechanism..........................................................................................134

6.7.4 Output of passivated data (substitute values) in case of an error...................134

6.8 F-parameter (F_Par) –description..................................................................................135

6.8.1 F_Check_iPar..................................................................................................135

6.8.2 F_SIL ...............................................................................................................135

6.8.3 F_CRC_Length................................................................................................135

6.8.4 F_CRC_Seed / F_Passivation.........................................................................135

6.8.5 F_Block_ID ......................................................................................................135

6.8.6 F_Par_Version.................................................................................................135

6.8.7 F_Source_Add / F_Dest_Add..........................................................................135

6.8.8 F_WD_Time.....................................................................................................136

6.8.9 F_iPar_CRC ....................................................................................................136

6.8.10 F_Par_CRC...................................................................................................136

6.8.11 iPar_CRC checksums –calculation..............................................................136

7 Media Redundancy (MRP) / Fast Start-Up (FSU)........................................................................137

7.1 MRP.................................................................................................................................137

7.2 FSU..................................................................................................................................137

8 Shared Device applications..........................................................................................................138

9 Troubleshooting and diagnostic options ...................................................................................140

9.1 Optical displays ...............................................................................................................140

9.1.1 Device status, Bicolor LED..............................................................................140

9.1.2 Net-Status, Bicolor LED...................................................................................142

9.2 PROFINET Diagnose-Alarm............................................................................................143

9.3 Return of Submodul Alarm..............................................................................................147

9.4 Integration of organization blocks (OBs).........................................................................147

9.4.1 Diagnostic alarm OB (OB 82)..........................................................................147

9.5 Data status.......................................................................................................................148

9.6 Information & Maintenance..............................................................................................149

9.6.1 I&M0 –I&M4....................................................................................................149

9.7 Behavior of the measuring system process data outputs ...............................................151

10 Checklist, Part 2 of 2...................................................................................................................152

11 Appendix......................................................................................................................................154

11.1 TÜV certificate...............................................................................................................154

11.2 PROFINET IO certificate...............................................................................................154

11.3 PROFIsafe certificate ....................................................................................................154

11.4 EU Declaration of Conformity........................................................................................154

Revision index

Page 8 of 154 TR - ECE - BA - GB - 0139 - 02 11/21/2019

Revision index

Modification

Date

Index

First release

05/28/19

Implementation of the Encoder Profile 4.2, not safety instrumented

08/14/19

- Description of bit “0” chapter 6.5.3.1.2 edited

- Diagnostic message/Meaning chapter 9.2 edited

11/21/19

11/21/2019 TR - ECE - BA - GB - 0139 - 02 Page 9 of 154

1 General information

This interface-specific user manual contains the following topics:

●Safety instructions

●Installation

●Commissioning

●Configuration / Parameterization

●Troubleshooting and diagnostic options

Since it has a modular structure, this User Manual is supplementary to other documentations, such as

product data sheets, dimensional drawings, brochures, the Safety Manual, etc.

The User Manual may be included in the customer’s specific delivery package or it may be requested

separately.

1.1 Applicability

This User Manual applies exclusively to measuring system series according to the following keys for

article numbers and types with PROFINET IO interface and PROFIsafe profile:

Article number

* 1

* 2

* 3

* 4

* 5

* 6

Position

Designation

Description

* 1

Explosion protection enclosure (ATEX);

Absolute encoder, programmable

* 2

Redundant dual scanning unit

* 3

Solid shaft

Hollow shaft

Blind shaft

* 4

582

Outer diameter 58 mm, Generation 2

* 5

Multi-turn

Singleturn

* 6

Consecutive number

* = placeholder

Type key

See Revision Lists:

CD_582M +FS02: www.tr-electronic.de/f/TR-ECE-TI-D-0343

CD_582M +FS03: www.tr-electronic.de/f/TR-ECE-TI-D-0349

The products are labeled with affixed nameplates and are components of a system.

The following documentation therefore also applies:

●See the Chapter “Other Applicable Documents” in the Safety Manual

www.tr-electronic.de/f/TR-ECE-BA-GB-0142

●Product data sheets https://www.tr-electronic.com/s/S020955

General information

Page 10 of 154 TR - ECE - BA - GB - 0139 - 02 11/21/2019

1.2 References

IEC/PAS 62411 Real-time Ethernet PROFINET IO

International Electrotechnical Commission

IEC 61158 Digital data communications for measurement and control

- Fieldbus for use in industrial control systems

IEC 61784 Digital data communications for measurement and control

- Fieldbus for use in industrial control systems

- Profile sets for continuous and discrete manufacturing

relative to fieldbus use in industrial control systems

ISO/IEC 8802-3 Carrier Sense Multiple Access with Collision Detection

(CSMA/CD)

Access Method and Physical Layer Specifications

IEEE 802.1Q IEEE Standard for Priority Tagging

IEEE 1588-2002 IEEE Standard for a Precision Clock Synchronization

Protocol for Networked Measurement and Control Systems

PROFIBUS Profile Guidelines Part 1:

Guideline Identification & Maintenance Functions. Order no. 3.502

PROFINET PROFIsafe –Environmental Requirements

Guideline Order no.: 2.232

PROFINET Design Guidelines,

Guideline Order no.: 8.062

10.

PROFINET Installation Guidelines

Guideline Order no.: 8.072

11.

PROFINET Commissioning Guidelines

Guideline Order no.: 8.082

12.

PNO Encoder Profile, Version 4.2

Specification Order no.: 3.162

13.

PNO PROFIdrive Profile, Version 4.2

Specification Order no.: 3.172

14.

PNO Application Layer protocol for decentralized periphery and

Specification distributed automation

Order no. 2.722

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