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Rotary encoder HBN/S3 SIL2 - Manual
Rotary encoder HBN/S3 SIL2 - Manual
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 and non-safety CANopen interfaces.
Safety Instructions
The encoders are intended for use in systems requiring precise angular or linear position registration. They must be connected to downstream electronics and operated within specified limits. Only qualified electricians should handle commissioning and operation.
Device Versions
- Switching Cam Encoder: Designed for applications requiring precise switching points.
- Rotary Encoder: Provides high-resolution position feedback.
- Rotary Encoder with Slewing Ring Functionality: Offers additional mechanical flexibility.
Electrical Specifications
The encoders feature a robust measuring system, cam unit, and overall system design. They provide velocity signals and require specific electrical connections as detailed in the accompanying data sheets.
Environmental Data
The devices are designed to withstand dust, moisture, vibration, and electromagnetic interference (EMC), ensuring reliable operation in various industrial environments.
CANopen Functionality
The encoders support CANopen communication, including redundant position registration and error handling. They can send emergency messages and have defined error codes for sensor, cam, supply voltage, and device errors.
CANopen Profile Definition
The document outlines the CANopen profile, including safety-relevant data objects (SRDOs), process data objects (PDOs), and communication service data objects. It provides detailed descriptions of each object, including their parameters and functions.
First Use and Commissioning
Initial setup may require modification of node-ID and baud-rate to match the customer's controller. The device must be set to preoperational mode for modifications and operational mode after power-on.
Conclusion
This document serves as a comprehensive guide for the installation, operation, and maintenance of TWK-ELEKTRONIK GmbH's rotary encoders with CANopen interfaces, ensuring safe and efficient use in industrial applications.
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 ensures safe switching through redundant relays, and the absolute encoder module handles data calibration and transmission.
Device Versions
1. Switching Cam Encoder: Includes switching outputs and uses all CANopen objects described.
2. Rotary Encoder: Lacks switching outputs and uses high-resolution encoders. It does not utilize CANopen objects related to switching outputs.
3. Rotary Encoder with Slewing Ring Functionality: Special software for slewing ring applications, using specific CANopen objects for gear parameters.
Specifications and Parameters
The document details various objects and parameters for configuration, including cam settings, diagnosis objects, and parameterization examples. It provides guidelines for setting parameters like code sequence, number of teeth for slewing rings, and measuring range.
Recommendations and Examples
Recommendations for parameterization and examples are provided, illustrating how to set safety configurations, cam limits, and communication parameters. The document also includes troubleshooting steps for error messages related to slewing ring functionality.
The document outlines the specifications for NOCN, HBN, and TBN/TRN systems, focusing on the encoder's integration with a slewing ring. Key specifications include a resolution of 4096 steps, accuracy of ±0.2%, and a measuring range of 4096 revolutions. The document also details the temperature drift and internal system position monitoring.
Standards and Compliance
The document references several standards and directives, including the Machinery Directive 2006/42/EC, EN 61508 for functional safety, and various EN standards for EMC requirements. It also lists available test reports and certificates, such as TÜV SIL2 certificates and various environmental and hardware tests.
Electrical Specifications
The electrical specifications for NOCN include a supply voltage range of 9 V to 36 VDC, power consumption of less than 2.5 W, and a temperature range of -40°C to +70°C. The communication profile is Full CAN Part A (11-bit) CANopen CiA 301 V 4.2, with a resolution of 4096 steps per revolution and accuracy of ±0.25%.
Environmental Data
The permissible relative humidity is 100%, with protection types IP 67 and optionally IP 69K. The document specifies resistance to vibration and shock, with detailed standards for interference immunity and emission.
Mechanical System
Mechanical dimensions are specified in related data sheets and drawings, tailored to special mechanical designs.
CANopen Functionality
The document details the CANopen functionality, including baud rates and the secure operation of the switching cam encoder. It emphasizes the importance of parameter validation and the secure state of the system.
Error Behaviour
Errors are categorized and stored hierarchically, with specific error codes for sensor and communication errors. Fatal errors lead to a secure state, and emergency messages are structured with detailed error codes.
Conclusion
The document provides comprehensive technical specifications and standards compliance for the NOCN, HBN, and TBN/TRN systems, focusing on safety, reliability, and detailed error management.
- Channel Number and Error Codes: 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 (0x00), error in channel 1 (0x01), error in channel 2 (0x02), and no channel error (0x03). Byte 6 specifies the error type, including no error (0x00), communication error (0x01), sensor error (0x02), speed overflow (0x03), and synchronism error (0x04). Byte 7 provides specific error codes for communication and sensor errors.
- Cam Error and Supply Voltage: Cam errors are indicated by setting bit 4 in the alarm object 6503. Supply voltage errors are indicated by bit 6, with codes for too high (00 00 01) and too low voltage (00 00 02).
- Device Error: Device errors are indicated by bit 3 in object 6503, with runtime errors and hard errors specified by different byte sequences.
- Overview: The document provides a table of objects in the encoder profile, detailing data types, designations, data lengths, and memory types. It includes communication profile areas, safety CAN objects, and encoder objects.
- Safety-Relevant Data Objects: SRDO1 and SRDO2 are described for position and speed data, respectively, with details on data format and transmission.
- Process Data Objects (PDOs): These objects output measured position and speed values, with specific byte structures for data representation.
- Communication Service Data Objects: Guidelines for modifying the encoder via SDO communication are provided, including preoperational settings and response waiting times.
- Device Type and Error Register: Object 1000 defines encoder types, while object 1001 outlines the error register, summarizing errors and their bit designations.
- Pre-Defined Error Field: Object 1003 stores alarm messages transmitted via emergency messages, with a maximum of 20 entries.
- COB-ID-SYNC and Manufacturer Information: Object 1005 identifies sync messages, while objects 1008 to 100A provide manufacturer device name, hardware version, and software version.
- Parameter Storage and Restoration: Objects 1010 and 1011 describe storing and restoring parameters, including specific sub-index actions and password requirements.
This document outlines the technical specifications and procedures for configuring and operating a CANopen encoder system. It includes detailed descriptions of various objects and parameters essential for system setup and operation.
To load default parameters from ROM, the correct password (load=6C 6F 61 64) must be input. For a complete load, including COB IDs, subindex 1 and 4 must be executed. Node IDs exceeding 32 require manual entry of COB IDs in specific objects to avoid SRDOs being disabled.
Object 1014 defines the COB-ID-EMCY for emergency messages. After loading defaults, the identifier is COB-ID-EMCY + node ID. Changes to the COB ID remove the node address addition. 29-bit identifiers are unsupported.
Object 1015 sets the inhibit time for EMCY messages, with a resolution of 100 µs per digit. Object 1017 configures the producer heartbeat time, transmitting messages at specified intervals.
Object 1018 contains encoder identity data, including manufacturer ID and serial number. Object 1029 outlines error behavior, with settings for communication, CRC, supply, sensor, cam, and redundancy errors.
SRDOs are active when configuration_valid (object 13FE) is set to 0xA5. The document details the structure and configuration of SRDO communication and speed parameters, emphasizing manual entry for node IDs exceeding 32.
Objects 1800 and 1801 manage asynchronous and synchronous PDOs, respectively. They define transmission types, inhibit times, and event timers, with specific configurations for disabling PDOs.
Objects 1381 and 1382 define SRDO mapping parameters, while 1A00 and 1A01 cover PDO mapping. Each mapping object is coded with index, sub-index, and length in hex format.
Object 13FE, configuration_valid, is crucial for safety parameter validation. It must be set to 0xA5 to activate configuration, with automatic resets upon accessing safety-relevant parameters.
1. Safety Configuration Checksum (Object 13FF)
This section describes the checksum for safety CAN parameters. The checksum is crucial for setting the configuration_valid flag. If the checksum does not match, the configuration_valid flag remains zero, blocking the configuration. The checksum can be calculated using the TWK program available on their website.
2. Node ID (Object 2000)
The node ID is the address of the encoder, effective after saving and a reset. For node IDs exceeding 32, manual entry of COB IDs is required.
3. Bit Rate (Object 2001)
This parameter sets the baud rate of the CAN bus. Changes take effect after saving and a reset. The default bit rate varies depending on the device.
4. Manufacturer-specific Objects
4.1 Cam Valid Flag (Object 30FE)
This flag is reset with each write access to cam parameters. It is set to valid (0xA5) when prerequisites are met.
4.2 Cam CRC Checksum (Object 30FF)
Contains the checksum for cam parameters, which must be rewritten upon changes.
4.3 Gear Valid Flag (Object 31FE)
Similar to the cam valid flag, this is reset with each write access to gear parameters.
4.4 Gear CRC Checksum (Object 31FF)
Contains the checksum for gear parameters, requiring updates upon changes.
5. Position Overflow-Free Configuration Parameters (Object 3100)
Applicable for NOCN versions with slewing ring function. Adjustments require recalculating and transmitting a new CRC checksum.
6. Profile Definition Objects
6.1 Operating Parameters (Object 6000)
Defines the operating mode of the sensor, mirrored from the safety area.
6.2 Measuring Units Per Revolution (Object 6001)
Sets the number of steps per revolution, which is fixed.
6.3 Total Measuring Range (Object 6002)
Defines the total measuring range, which is also fixed.
6.4 Preset Value (Object 6003)
Sets the encoder to a specified value.
6.5 Position Value (Object 6004)
Provides the measured position value, updated cyclically.
6.6 Speed Value (Object 6030)
Provides the speed value, updated cyclically.
6.7 Speed Parameter (Object 6031)
Mirrored from the safety area, defines speed-related parameters.
7. Safety Objects
7.1 Safety Position Configuration Parameters (Object 6100)
Defines the behavior of the position registration system in the safety area. Changes require recalculating and transmitting a new CRC checksum.
This document outlines the specifications for NOCN, HBN, and TBN/TRN devices, focusing on safety configuration parameters, position values, speed values, and cam settings. It includes detailed descriptions of various objects and their parameters, which are crucial for device configuration and operation.
This section defines the behavior of speed measurement in safety areas. Modifications require setting 61FE to 'A5' and recalculating the CRC checksum (61FF/02). Changes can only be made in the PRE-OPERATIONAL state. The object interacts with other parameters, and specific conditions must be met for writing changes.
These objects contain the current position and its bit-inverted counterpart, used in the SRDO mapping structure. Consistency of measured values is not guaranteed during individual object access.
These objects hold the current measured speed and its bit-inverted value, also used in the SRDO mapping structure. Consistency issues are similar to position values.
This object confirms the validity of the configuration, necessary for activating other processes. It requires a correct CRC checksum and can only be changed in the PRE-OPERATIONAL state.
This object contains the checksum for safety encoder parameters. It must be updated with any parameter changes and is checked when setting the configuration valid flag. A special TWK program is recommended for CRC calculation.
The document details cam functionality, including state, enable, polarity, and limit settings. These parameters are only writable under specific conditions, such as the PRE-OPERATIONAL state and deactivation of the cam function.
The document provides a method for calculating the checksum using a specific polynomial and starting value, processing objects in ascending order.
Other objects like the Cyclic Timer (Object 6200) are described, which control cyclic transmission of position values.
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 Specifications
Each cam (Cam1 to Cam4) has a hysteresis setting with a specified number of available channels and channel values. The document provides hexadecimal and decimal values for these settings.
Operating Parameters
Key operating parameters include single-turn resolution, number of distinguishable revolutions, supported alarms and warnings, and profile and software version. The document specifies values in both decimal and hexadecimal formats.
Device Configuration
Details on device capabilities, node ID, bit rate, and safety configurations are provided. The document includes instructions for setting cam and gear safety configurations, including CRC checksum calculations.
Parameterization Recommendations
The document provides detailed steps for parameterizing safety encoders, including setting position parameters, cam parameters, and SRDO parameters. It emphasizes the importance of CRC checksum calculations and saving parameters via specific objects.
Examples and Screenshots
Examples for parameterization are provided, including object settings and CRC checksum calculations. Screenshots illustrate default settings and checksum calculations for various objects.
Additional Notes
The document includes recommendations for setting gear parameters for devices with slewing ring functionality and provides links to CRC calculation tools and additional resources.
- Configuration Validity: Steps to activate and deactivate configuration validity using specific command specifiers and byte sequences.
- Safety Speed Configuration: Instructions for setting safety speed integration time and calculating CRC checksums.
- Cam Settings: Procedures for setting cam low and high limits, hysteresis, enable register, and polarity register, including CRC checksum calculations.
- SRDO Communication Parameters: Steps for setting refresh times and calculating safety configuration checksums.
- LMT Objects: Instructions for setting node ID and bit rate, including saving procedures and CRC checksum calculations.
- Bytes 0 & 1: Indicate a sensor system error with values FF FF.
- Byte 2: Indicates a manufacturer-specific error (81) or a CAN communication error (11).
- Bytes 3 & 4: Display the error category, with B3 always being 00 and B4 indicating specific malfunctions.
- Bytes 5, 6, & 7: Provide detailed information about the error based on the category indicated by B4.
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
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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...
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Specifications NOCN, HBN and TBN/TRN Date: 12.06.2019 Page 3 of 86 Document no. NOC 13100 UE
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Specifications NOCN, HBN and TBN/TRN Date: 12.06.2019 Page 4 of 86 Document no. NOC 13100 UE
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Specifications NOCN, HBN and TBN/TRN Only valid for NOCN with cams. Only valid for NOCN with slewing ring functionality
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Date: 12.06.2019 Page 6 of 86 Document no. NOC 13100 UE
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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...
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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...
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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...
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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...
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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...
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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
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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...
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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
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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...
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