*mydirectindustry

Manual TRN50/C3

Product catalog summary

Specifications Overview
This document provides detailed specifications for the NOCN, HBN, and TBN/TRN series of absolute rotary encoders and switching cam encoders with a CANopen interface. These devices are designed for high-resolution position measurement and are equipped with safety features compliant with SIL2 standards.

Safety Instructions
The encoders are intended for use in systems requiring precise angular or linear position registration. They must be installed and operated according to the provided documentation, including system-specific operating instructions and data sheets. Only qualified electricians should handle commissioning and operation.

Device Specifications
The document outlines various device versions, including switching cam encoders, rotary encoders, and those with slewing ring functionality. It details the electrical specifications, environmental data, and mechanical system requirements.

CANopen Functionality
The encoders support CANopen communication, with features for error handling and redundant position registration. The document specifies error codes and emergency message protocols.

CANopen Profile Definition
This section provides an extensive overview of the CANopen profile, including safety-relevant data objects, process data objects, and communication service data objects. It includes detailed descriptions of various objects such as device type, error register, and manufacturer-specific parameters.

Environmental and Mechanical Considerations
The encoders are designed to withstand dust, moisture, vibration, and electromagnetic interference, ensuring reliable operation in industrial environments.

Commissioning and First Use
Initial setup may require modification of node-ID and baud-rate to align with the customer's controller. The document provides guidance on setting the encoder to preoperational mode and configuring it for operational use.

Conclusion
This comprehensive specification document is essential for the proper installation, configuration, and operation of TWK-ELEKTRONIK's rotary encoders in systems requiring precise position measurement and safety compliance.

Intended Use
The document outlines the use of rotary and switching cam encoders in safety-relevant systems. These encoders are designed for harsh environments and provide position data via CAN interfaces. They are intended for integration with control systems to prevent hazardous states by reacting to error messages.

Design
The encoders consist of a position registration module, evaluation unit, switching cam encoder module, and an absolute encoder module. The position registration is fully redundant, and the evaluation module processes and verifies the data for safety. The switching cam encoder module provides secure switching states, and the absolute encoder module handles data calibration and transmission.

Device Versions
Three main versions are described:

Switching cam encoder with CANopen objects and programming examples.
Rotary encoder without switching outputs, available in singleturn or multiturn versions.
Rotary encoder with slewing ring functionality, which includes special software for slewing ring applications.

Each version has specific valid and invalid CANopen objects and parameters.

Specifications and Parameters
The document details various objects and parameters for configuration, including safety configurations, cam settings, and diagnostic objects. It also provides recommendations for parameterization and examples for setting parameters.

Key Recommendations
Recommendations include ensuring correct parameter settings for safety and functionality, especially for slewing ring applications. The document advises on handling error messages and adjusting parameters to maintain accurate position data.

Channel Error Specifications:
The document outlines the error codes for a redundant sensor system, distinguishing between two channels. Byte 5 indicates the channel number with codes for no error, error in channel 1, error in channel 2, and no channel error. Byte 6 specifies the error type, including communication, sensor, speed overflow, and synchronism errors. Byte 7 provides specific error codes for communication and sensor errors, such as time out, CRC errors, and gear detection errors.

Specifications NOCN, HBN, and TBN/TRN:
The document, dated 12.06.2019, includes specifications for various error types and codes, including cam errors, supply voltage errors, and device errors. It details the alarm settings and error codes for high and low voltage, runtime errors, and fatal errors.

CANopen Profile Definition:
This section provides an overview of the encoder profile objects, including communication profile areas, safety CAN objects, and encoder objects. It lists data types, designations, data lengths, and memory types for each object, specifying whether they are mandatory or optional.

Safety-Relevant Data Objects:
The document describes SRDO1 and SRDO2, which supply significant data bits for position and speed measurements, respectively. It explains the cyclic transmission of these values and their format.

Process Data Objects (PDOs):
PDOs output measured position and speed values. The document details the byte structure for these data objects.

Communication Service Data Objects:
The document advises setting the device to preoperational before modifying the encoder via SDO communication. It recommends waiting for response messages before sending additional SDO messages and provides guidelines for saving and restoring parameters.

Device Type and Error Register:
The document defines encoder types and the structure of the device_type object. It also explains the error_register object, which summarizes all errors and supports generic, communication, and manufacturer-specific errors.

Pre-Defined Error Field:
This object stores alarm messages transmitted via emergency messages, with a maximum of 20 entries. It includes a structure for the pre-defined error field and references error codes listed in the document.

COB-ID-SYNC and Manufacturer Information:
The document specifies the identifier for sync messages and provides manufacturer details, including device name, hardware version, and software version.

Parameter Storage and Restoration:
Instructions are provided for storing parameters in E²PROM or flash memory and restoring default parameters. The document outlines the process for saving and loading parameters, including necessary conditions and sub-index specifications.

Checksum and Configuration Validity
The document outlines the process for managing safety configurations and checksums in a CAN-based system. The safety_configuration_checksum (Object 13FF) is crucial for ensuring the integrity of safety parameters. The checksum is calculated using a specific TWK program and must match the stored value to set the configuration as valid. If mismatched, the configuration_valid flag remains zero, blocking further actions.

Node ID and Bit Rate Configuration
Object 2000 defines the node ID, which becomes effective after saving and resetting. Node IDs above 32 require manual entry of COB IDs. Object 2001 sets the CAN bus baud rate, with changes effective post-reset. Both parameters have specific saving and resetting procedures.

Manufacturer-Specific Objects
Objects like cam_valid_flag (30FE) and gear_valid_flag (31FE) manage the validity of cam and gear parameters. These flags must be set to 0xA5 to validate configurations, contingent on correct checksums. The cam_CRC_checksum (30FF) and gear_CRC_checksum (31FF) ensure parameter integrity, requiring recalculation upon changes.

Position and Speed Parameters
Object 3100 handles position overflow configurations for slewing ring functions, with parameters like slew_gear and measuring_gear. The operating_parameters (6000) define sensor modes, while measuring_units_per_revolution (6001) and total_measuring_range_in_measuring_units (6002) are fixed. The preset_value (6003) and position_value (6004) manage encoder settings.

Safety Objects
Object 6100 outlines safety position configurations, requiring the cam_data_valid flag to be deactivated for changes. Modifications necessitate recalculating and transmitting a new CRC checksum to ensure system integrity.

Specifications and Procedures:

Error Handling: To avoid error FF FF 81 00 80 04 02 00, set 61FE to ‘A5’. Reset by setting 31FE = ‘A5’.
Object 6101 - Safety Speed Configuration Parameters: Defines speed measurement behavior in safety areas. Changes require recalculating CRC Checksum 61FF/02. Modifications are only allowed in PRE-OPERATIONAL state and require deactivation of the cam function.
Object 6120 - Safety Standard Position Value: Contains current position used in SRDO mapping. Consistency of measured value is not ensured during access.
Object 6121 - Safety Inverted Position Value: Contains bit-inverted position value used in SRDO mapping. Consistency is not ensured during access.
Object 6124 - Safety Speed Value: Contains current measured speed value used in SRDO mapping. Consistency is not ensured during access.
Object 6125 - Safety Inverted Speed Value: Contains bit-inverted speed value used in SRDO mapping. Consistency is not ensured during access.
Object 61FE - Safety Configuration Valid: Confirmation flag for valid configuration. Requires correct CRC checksum for activation.
Object 61FF - Safety Configuration Signature: Contains checksum for safety encoder parameters. Must be rewritten upon changes. Uses TWK program for CRC calculation.

Cam Settings:

General Information: Cam parameters are writable only in PRE-OPERATIONAL state and require deactivation of cam function.
Object 6300 - Cam State Register: Indicates active range of cams.
Object 6301 - Cam Enable Register: Allows switching cams on/off. Inactive cams are not updated during position evaluation.
Object 6302 - Cam Polarity Register: Changes cam polarity. Active flag drops relay when cam state is active.
Object 6310 - Cam 1 Low Limit: Activates cam state when position is reached.
Object 6320 - Cam 1 High Limit: Deactivates cam state when position is exceeded.
Object 6330 - Cam 1 Hysteresis: Prevents constant state changes due to minor position changes.

Specifications: The document outlines specifications for various objects related to cam hysteresis and sensor diagnostics. Objects 6332 and 6333 are specified for cam 3 and cam 4 hysteresis respectively, under the same boundary conditions.

Diagnosis Objects: The document details several diagnostic objects, including:

Object 6500 - Operating Status: Represents the current sensor status, linked to object 6000, with specific codes indicating active or inactive states.
Object 6501 - Single Turn Resolution: Specifies the maximum single turn resolution, set at 4096.
Object 6502 - Number of Distinguishable Revolutions: Indicates a fixed parameter of 4096 revolutions.
Object 6503 - Alarms: Describes error types such as device error, cam error, CRC parameter error, and sensor error, with emergency messages transmitted upon alarm occurrence.
Object 6504 - Supported Alarms: Lists possible error displays corresponding to object 6503.
Object 6506 - Supported Warnings: No warnings are supported, hence object 6505 is omitted.
Object 6507 - Profile and Software Version: Provides BCD-coded versions of the encoder profile and software.
Object 6508 - Operating Time: Not supported.
Object 6509 - Offset Value: Describes the output offset, used internally by the sensor.
Object 650A - Module Identification: Details the manufacturer offset for synchronizing position data.
Object 650B - Serial Number: Written during factory programming.
Object 650E - Device Capability: Defines encoder capabilities, including safety support and manufacturer-specific capabilities.

Object Listing: A comprehensive listing of objects for NOCN with cams, detailing default values and specific parameters for various encoder functionalities.

Key Parameters and Values: The document includes detailed tables with index, sub-index, length, and value information for each object, providing hexadecimal and decimal representations where applicable.

Specifications Overview:
This document outlines the specifications for NOCN, HBN, and TBN/TRN systems, focusing on various parameters and configurations for safety encoders. Key parameters include hysteresis settings for multiple cams, operating status, resolution, alarms, and device capabilities.

Cam Hysteresis Settings:
Each cam (Cam1 to Cam4) has specific hysteresis settings, with a number of available channels set to 1 and a hysteresis channel value of 10 (0x000A).

Operating Parameters:
- Singleturn resolution: 4096 (0x1000)
- Number of distinguishable revolutions: 4096 (0x1000)
- Supported alarms and warnings are specified with their respective hexadecimal values.

Device Identification:
Includes module identification, serial number, and node-ID settings. The largest supported sub-index and manufacturer offset values are also detailed.

Safety Configuration:
Details on cam and gear safety configurations, including validity flags and CRC checksum calculations, are provided. The document emphasizes the importance of setting and validating these configurations for operational safety.

Parameterization Recommendations:
The document provides a step-by-step guide for parameterizing safety encoders, including setting position parameters, cam parameters, and SRDO parameters. It highlights the importance of deactivating and activating data valid flags and saving all parameters via object 1010, sub 01.

CRC Checksum Calculations:
Instructions for calculating CRC checksums using the TWK program are included, with links to the CRC calculator tool.

Examples and Screenshots:
Examples for parameterization and screenshots of CRC checksum calculations are provided to assist in understanding the configuration process.

Additional Notes:
The document includes specific instructions for encoders with slewing ring functionality and provides guidance on setting gear parameters and adjusting speed values.

Overview: This document provides detailed technical specifications and procedures for configuring and operating a device with node ID 13dez. It includes instructions for setting various parameters, deactivating and activating configurations, and saving settings. The document also covers safety configurations, cam settings, and error handling for redundant encoders.

Specifications: The document outlines specifications for NOCN, HBN, and TBN/TRN, dated 12.06.2019, with document number NOC 13100 UE. It includes figures and references to chapters for detailed explanations of speed multipliers, speed dividers, and encoder functionalities.

Procedures:

Configuration Activation: Steps to activate and deactivate configuration flags (e.g., cam_valid_flag, configuration_valid) using specific command specifiers and byte sequences.
Parameter Setting: Instructions for setting safety speed integration time, cam limits, hysteresis, enable and polarity registers, and SRDO communication and speed parameters.
Checksum Calculation: Procedures for calculating CRC checksums using the TWK program and setting safety configuration signatures.
Operational Settings: Steps to set devices to preoperational and operational states, including saving all parameters.

Norms and Recommendations: The document emphasizes the importance of correct mapping parameters and COB-IDs for CRC checksum calculations. It also provides guidelines for setting node IDs and bit rates, with specific instructions for node IDs over 32 dez.

Error Handling:

Redundant Encoder Behavior: Describes the behavior of full redundant encoders in case of errors, including bootup messages, error resets, and NMT start sequences.
Error Message Recognition: Provides a recognition aid for error/emergency messages, detailing the appearance of messages in traces and object 1003.

Figures and Data: The document includes several figures (e.g., Fig 3 to Fig 12) illustrating configurations and settings, with references to specific chapters for additional details.

Overview: The document provides technical specifications and error handling procedures for devices using CAN communication, specifically focusing on error messages and their interpretation. It includes details on byte configurations and error categories for devices like NOCN, HBN, and TBN/TRN.

Error Message Structure:

Bytes 0-1: Indicate sensor system errors with a default value of FF FF.
Byte 2: Correlates with bytes 0 and 1, indicating manufacturer-specific errors (81) or CAN communication errors (11).
Bytes 3-4: Represent the error category from object 6503, with byte 3 always being 00 and byte 4 indicating specific malfunctions.
Bytes 5-7: Provide detailed error information based on the error category indicated by byte 4.

Error Categories and Details:

Device Internal Errors: Include CRC parameter errors, power supply failures, and encoder malfunctions.
Object 1003: Stores a history of recognized errors, with a maximum of 20 errors before overwriting occurs. The sequence of bytes B4 to B7 is reversed in this object compared to the emergency message.

Specific Device Error Examples:

NOCN with Cams:
- Byte 4 (B4) = 10 indicates a cam error.
- Byte 5 (B5) = 02 indicates an error at the output contact ON/OFF.
- Byte 6 (B6) = 0D shows the real state of the relays.
- Byte 7 (B7) = 0F shows the intended state of the relays.
General Error Codes: Tables provide specific error codes for different scenarios, such as communication errors, sensor errors, and power supply issues.

Tables and Error Codes:

Table 1: Lists general errors and specific error codes for NOCN with cams and NVA115.
Table 2: Details sensor errors for NOCN, including channel-specific errors and error types.
Table 3: Provides error codes for NVA115 sensor errors, with specific byte configurations.

Conclusion: The document outlines the structure and interpretation of error messages for devices using CAN communication, providing detailed tables and examples for specific devices and error scenarios.

Catalog excerpts

SUPREME SENSORING TWK Document no: NOC 13100 UE Date: 12.06.2019 Specifications - NOCN, HBN and TBN/TRN for absolute rotary encoders and switching cam encoders with CANopen interface Specifications Rotary encoders Switching cam rotary encoders Slewing ring rotary encoders High resolution rotary encoders Type NOCN, HBN and TBN/TRN with CANopen safety / non-safety interface Profile (S0, S1, S2), S3, S4, C2, C3 CANopen EN50325-5 (Formerly CiA DS304) TWK-ELEKTRONIK GmbH BismarckstraBe 108 [email protected] visit us at | twk.de

Open the catalog to page 1

Specifications NOCN, HBN and TBN/TRN Safety instructions Scope This specification is valid exclusively for the following absolute encoders / switching cam encoders with CANopen (safety) interface: - NOCN, HBN and TBN/TRN with safety architecture (SIL2) Documentation The following documents must be observed: - The owner's system-specific operating instructions - This specification NOC13100 - Data sheet numbers NOC13099 NOC13292 HBN13218 TBN/TRN14271 (and other ones) - The connection assignment enclosed with every device Proper use The TWK-ELEKTRONIK GmbH absolute encoders and linear transducers...

Open the catalog to page 2

Specifications NOCN, HBN and TBN/TRN Date: 12.06.2019 Page 3 of 86 Document no. NOC 13100 UE

Open the catalog to page 3

Specifications NOCN, HBN and TBN/TRN Date: 12.06.2019 Page 4 of 86 Document no. NOC 13100 UE

Open the catalog to page 4

Specifications NOCN, HBN and TBN/TRN Only valid for NOCN with cams. Only valid for NOCN with slewing ring functionality

Open the catalog to page 5

Date: 12.06.2019 Page 6 of 86 Document no. NOC 13100 UE

Open the catalog to page 6

Specifications NOCN, HBN and TBN/TRN 1 Intended use The rotary encoder resp. switching cam encoder is intended for use in safety-relevant systems. The version without cams provides a safety rotary encoder in singleturn or multiturn design with a huge number of different flange an shaft designs (See datasheets NOC13099, NOC13292, HBN13218 and TBN/TRN14271, etc.). Thanks to its robust design, the switching cam encoder can be used in applications with harsh environmental conditions. Thanks to the combination of two relays per cam and the use of corresponding monitoring functions, the device offers...

Open the catalog to page 7

Specifications NOCN, HBN and TBN/TRN 3 Device versions The device designation nomenclature is defined in the NOC13099, NOC13292, HBN13218 and TBN/TRN14271 data sheet. Rotary encoder NOCN including switching outputs. All of the CANopen objects described in these specifications are used including all valid flags (13FE, 30FE and 61FE). All programming examples in chapter 11 and 12 are used. Rotary encoder Rotary encoder NOCN without switching outputs and high resolution encoder HBN, TBN/TRN. None of the CANopen objects described in these specifications concerning the switching outputs (Cams) are...

Open the catalog to page 8

Specifications NOCN, HBN and TBN/TRN But when the slewing ring position is not correct any more this is detected by NOCN or TRN. Regularily an error message will be transmitted by the encoder (FF FF 81 00 80 04 02 00) when power supply is switched on again (Exception: Shaft was turned n * 4096 rev.). To delete this error message, do the following: 1. Set valid flag 31FE active (A5). 2. Set valid flag 61FE active (A5). 3. Set valid flag 13FE active (A5). 4. Set encoder operational. If this may not work please do: 1. Load default values by object 1011, sub 01.2. Power off/on reset again. 3. Set...

Open the catalog to page 9

Specifications NOCN, HBN and TBN/TRN SUPREME SENSORING 4 Documents Machinery Directive 2006/42/EC Functional safety of electronic systems Safety of machinery - Safety-related parts of control systems CAN Interface. Application Layer and Communication Profile Version 4.2.0 Safety-relevant Communication. Layer Setting Service. Framework for Safety-relevant Communication Version 1.01. Device Profile for Encoders, Version 4.0.1 / Version 4.0.2 Electrical equipment for measurement, control and laboratory use - EMC requirements Electrical equipment for measurement, control and laboratory use - EMC...

Open the catalog to page 10

Specifications NOCN, HBN and TBN/TRN SUPREME SENSORING 5 Electrical specifications NOCN 5.1 General Refer to the NOC13099, NOC13292, HBN13218 and/or TBN/TRN14271 data sheet and the variant specifications for the precise electrical specifications. 1. Supply voltage 2. Power consumption 3. Temperature range 4. Communication profile 5.2 Measuring system 1. Measuring range 2. Resolution 3. Accuracy 4. Temperature drift 5. Sensor unit cycle time 9 V ... 36 VDC < 2.5 W - 40° C to + 70° C Full CAN Part A (11-bit) CANopen CiA 301 V 4.2 Encoder profile CANopen CiA 406 V 4.0.1 / V 4.0.2 CANopen Safety...

Open the catalog to page 11

Specifications NOCN, HBN and TBN/TRN Communication profile Full CAN Part A (11-bit) CANopen 301 V 4.1 Encoder CANopen DS 406 V 4.0.1 and V 4.0.2 resp. CANopen Safety EN 50325-5 With galvanic bus separation CAN connection assignment: 5-pin M12 male/female, coding A See datasheet NOC13099, NOC13292, HBN13218 and TBN/TRN14271 for further possibilities of galvanic separation / non separation due to customer requirements. Date: 12.06.2019 Page 12 of 86 Document no. NOC 13100 UE

Open the catalog to page 12

Specifications NOCN, HBN and TBN/TRN SUPREME SENSORING Recommended type of CANopen/power supply connecting cable: 6 Environmental data 6.1 Dust, moisture Permissible relative humidity Protection type: 6.2 Vibration shock EN 60068-2-6 EN 60068-2-27 Resistance to shock Resistance to vibration 6.3 EMC EN 61000-6-2 EN 61000-6-4 Vibration sinus Mechanical shock 25 g 6 ms each 100x on 3 axes (1 g = 9.81 m/s2) Amplitude of excursion 5 mm (peak value) or 10 g from 5 to 2000 Hz each 1 h on 3 axes Interference immunity for industrial environments Interference emission for industrial environments See as...

Open the catalog to page 13

Specifications NOCN, HBN and TBN/TRN 7 Mechanical system The mechanical dimensions are specified in data sheet NOC13099, NOC13292, HBN13218 and/or TBN/TRN14271 or in related drawings due to special mechanical designs. Date: 12.06.2019 Page 14 of 86 Document no. NOC 13100 UE

Open the catalog to page 14

Specifications NOCN, HBN and TBN/TRN 8 CANopen functionality The baud rates are implemented according to the following table. The baud rate 125 kBit/s is defined as the default setting. Baud rate table 8.1 Rotary encoder / Switching cam encoder and CANopen The switching cam encoder is always regarded as a secure system. The CANopen interface enables both secure operation via CANopen Safety and insecure operation via CANopen Standard. Due to the fact that the position data are relevant to the switching cam encoder and the switching cam encoder parameters are set via the CANopen interface, validation...

Open the catalog to page 15

Manual TRN50/C3

Manual TRN50/C3

Catalog excerpts

All TWK-ELEKTRONIK GmbH catalogs and technical brochures