General Overview

This document provides the specifications for the absolute rotary encoders TBN and TRN, designed for use with CANopen and CANopen Safety (SIL2) interfaces, compliant with IEC 61508 standards. These encoders measure angular positions and output data as electrical signals.

Scope and Documentation

The specification applies exclusively to TBN and TRN encoders. Essential documents include system-specific operating instructions, the specification manual TXN 15469, data sheet TBN/TRN 14271, connection assignments, EDS files, CRC calculation programs, and wiring notes.

Proper Use and Commissioning

The encoders must be integrated into a system and connected to downstream electronics. Installation and operation should be performed by qualified electricians, ensuring protection against mechanical damage and adherence to specified limit values.

Electrical Specifications

The document details electrical specifications, including generic information, measuring systems, overall system, velocity signal, and connection requirements.

Environmental Data

Specifications cover resistance to dust, moisture, vibration, shock, and electromagnetic compatibility (EMC).

Mechanical System

Details on the mechanical aspects of the encoders are provided, although specifics are not included in the summary.

CANopen Functionality

The document outlines CANopen functionality, including process data objects (PDOs), safety-relevant data objects (SRDOs), and the CANopen profile definition. It covers communication service data objects, safety process data objects, mapping objects, and safety CAN objects.

Profile Definition and Compatibility

Objects according to profile definition are detailed, including operating parameters, measuring units, preset values, position values, and speed parameters. Safety objects and diagnosis objects are also covered.

Error Behaviour

The document provides guidance on error behaviour, including fatal errors and CANopen emergency messages.

Appendix

The appendix includes additional tables and examples of parameterization for the encoder TBN/TRN with CANopen Safety.

Specifications: The document outlines the specifications for CANopen Safety (IEC 61508) and CANopen for absolute encoder TBN/TRN. It includes details on communication service data objects, process data objects, and mapping objects.

Communication Service Data Objects:

• Object 1010 - Store Parameters: Allows saving of parameters to memory using a specific password. Different sub-indices define which parameters are stored.
• Object 1011 - Restore Default Parameters: Loads default parameters into objects using a password. The device must be set to "preoperational" state first.
• Object 1014 - COB-ID-EMCY: Identifier for emergency messages transmitted by the encoder.
• Object 1015 - Inhibit Time EMCY: Sets blocking time to limit bus load during quick succession of EMCY messages.
• Object 1017 - Producer Heartbeat Time: Transmits heartbeat messages at specified intervals.
• Object 1018 - Identity Object: Contains data assigned to the encoder, including manufacturer ID, product code, revision number, and serial number.
• Object 1029 - Error Behaviour Object: Defines behavior in the event of errors, with various settings for different error types.

CANopen Safety Process Data Objects:

• Object 1301 - SRDO1 Communication Parameters: Writeable in pre-operational state, requires setting a configuration valid flag after modification.
• Object 1302 - SRDO2 Speed Parameters: Similar to SRDO1, requires configuration valid flag and manual entry of COB IDs for node IDs exceeding 32.

CANopen Process Data Objects:

• Object 1800 - Transmit PDO Asynchronous: Processes asynchronous and cyclical events with specified transmission types.
• Object 1801 - Transmit PDO Synchronous: Processes synchronous events without inhibit timer or event timer.

Mapping Objects:

• Object 1381 - SRDO1 Mapping Parameters: Contains coding for each mapping object with specified length.
• Object 1382 - SRDO2 Mapping Parameters: Similar to SRDO1, details not fully provided in the document.

Safety CAN Objects:

• Objects like 13FE (configuration_valid) and 13FF (safety_configuration_checksum) are crucial for ensuring the safety and validity of configurations. The configuration_valid parameter is reset each time a safety-relevant parameter is accessed, and the checksum is used to verify the integrity of safety CAN parameters.

LMT Objects:

• Objects such as 2000 (node ID) and 2001 (bit_rate) define the node address and baud rate of the CAN bus. These parameters require specific procedures for saving and resetting.

Objects According to Profile Definition:

• This section includes objects like 6000 (operating_parameters), 6001 (measuring_units_per_revolution), and 6002 (total_measuring_range_in_measuring_units), which define the operating parameters and measuring units for the encoder.

Safety Objects According to Profile Definition:

• Objects such as 6100 (safety_position_configuration_parameters) and 6101 (safety_speed_configuration_parameters) define the behavior of position and speed measurement in the safety area. Changes to these parameters require recalculating and transmitting a new CRC checksum.

Key Parameters and Actions:

The document emphasizes the importance of correct parameter settings and checksum calculations to ensure system safety and functionality. It provides detailed instructions on how to handle various parameters and the consequences of incorrect settings.

Parameterisation of Encoder TBN/TRN with CANopen Safety

Parameter Setting:

This section outlines the steps for setting parameters for the encoder TBN/TRN using CANopen Safety. It includes setting the preoperational state, deactivating configuration validity, setting node IDs, saving parameters, and calculating CRC checksums. The process involves specific CANopen messages and object indices.

Error Behaviour of the Encoder:

The document describes how errors are managed within the encoder system. Errors are displayed and stored hierarchically, with specific objects (1001, 1003, 6503) coding the error types. Fatal errors lead to a secure state, while CANopen emergency messages are sent for other errors. The document details the structure of these messages and the types of errors, including sensor and communication errors.

Appendix:

The appendix provides additional technical details, including command specifiers for SDO messages, configuration validity of the safety node, NMT state transitions, and CANopen features of the encoder. It also includes contact information for CAN in Automation Organisation and TWK-ELEKTRONIK GmbH.

Key Features:

• The encoder supports CANopen Safety (IEC 61508) and is compliant with CiA DS 406 Version 4.0.2.
• It includes features like emergency messages, heartbeat, and two SRDOs for position and velocity.
• The document provides detailed instructions for parameter setting and error management, ensuring safe and reliable operation.