Absolute multiturn encoder TRK/S3 with Safety over EtherCAT® interface Relevant data sheet TRK 13348 User manual Translation of the original instructions TWK-ELEKTRONIK GmbH Heinrichstrasse 85 [email protected] www.twk.de

COPYRIGHT: The Operating Instructions TRK13349 is owned by TWK-ELEKTRONIK GMBH and is protected by copyright laws and international treaty provisions. © 2017 by TWK-ELEKTRONIK GMBH POB 10 50 63 ■ 40041 Dusseldorf ■ Germany Tel. +49/211/96117-0 ■ Fax +49/211/63 77 05 [email protected] ■ www.twk.de Safety over EtherCAT® is registered trademark and patented technology, licensed by Beckhoff Automation GmbH, Germany Date: 20.11.2018 Page 2 of 30 Document no. TRK 13349 FE

1. Safety instructions 1.1 Scope This user manual is valid exclusively for the following absolute encoders with PROFINET interface: 1.2 Documentation The following documents must be observed: • The owner's system-specific operating instructions • This user manual • Data sheet number TRK 13348 • The connection assignment enclosed with the device • Assembly instructions TZY10206 enclosed with the device 1.3 Proper use The TWK-ELEKTRONIK GmbH absolute encoders and linear transducers are used to register angular or linear positions and make their measured value available in the form of an electrical...

2. General The TRK/S3 model is an absolute electromagnetic rotary encoder with Failsafe over EtherCAT (FSoE) interface. Thanks to additional internal monitoring measures, it is suitable for use in safety-related applications up to SIL2 or PLd. In addition to a safe position signal, the TRK/S3 also supplies a safe vehicle speed signal. Use of the CANopen over EtherCAT message (CoE) enables parameter and diagnostic data handling as familiar from CANopen. The EtherCAT interface according to IEC 61158-2 to 6 and the encoder profile CiA DSP406 plus the FSoE protocol as per Safety over EtherCAT Specification...

3. Installation 3.1 General The physical characteristics of the interface are based on the 100BASE-TX Ethernet standard in accordance with ISO/ I EC 8802-3. As a result of this: - The EtherCAT cable must at least meet the requirements according to CAT5. - The max. cable length between two subscribers may be 100 m. - Setting the baud rate is not possible/necessary. In the case of EtherCAT, the network topology normally has a linear structure. However, tree structures or branch-off lines may also be implemented by means of bus modules with an integrated switch port. In contrast to the EDP networks...

3.3 Addressing Manually setting the subscriber address is not necessary. It is assigned automatically by the EtherCAT master in accordance with the physical sequence in the bus. 3.4 Status LEDs Four LEDs are housed in the absolute encoder‘s connecting cap. These have the following meanings: 3.5 XML file An XML file (ESI file) to integrate the absolute encoder into a project planning tool is available for download on our website www.twk.de (under documentation). This describes the features of the EtherCAT subscriber in the standardised XML format. After integrating the XML file into the project...

4.1 Overview Input data: Controler ^ Encoder The speed value is output as a 16-bit signed integer value in Motorola format (Big Endian). The following applies to the prefix: positive for increasing position negative for decreasing position The refresh rate of the velocity signal is independent from the selected gating time always 1 ms.. The speed measurement resolution is independent of the resolution of the encoder. It is always based on a resolution of 4096 steps per revolution. Date: 20.11.2018 Page 9 of 30 Document no. TRK 13349 FE

The steps/gating time unit can be converted to rpm as follows: v = encoder output for speed value t = gating time in ms u = speed in rpm 4.2.3 Status data format In the status word, the rotary encoder supplies error and status information. An entry in the status word is displayed through 0x81 in the error register. The status LED also flashes red in addition to the current green status (see also chapter 3.4). Date: 20.11.2018 Page 10 of 30 Document no. TRK 13349 FE

4.3 Output data 4.3.1 Preset value data format Date: 20.11.2018 Page 11 of 30 Document no. TRK 13349 FE

5. Programming and diagnosis (CANopen over EtherCAT) n the case of CANopen over EtherCAT, all parameters and diagnostic information are located in what is called the object directory. By specifying their index and sub-index, they can be modified or read there with the SDO (Service Data Object) message. The object directory is sub-divided into the following areas: Communication parameters Index 1000h - 1FFFh Manufacturer-specific parameters Index 2000h - 5FFFh Standardised device parameters Index 6000h - 9FFFh FSoE Communication parameters Index E000h- EFFFh FSoE Device parameters Index F000h-...

5.2 Communication parameters 5.2.1 Objekt 1000h - Device type By writing “load” (hex: 0x64616F6C) in sub-index 1, the parameters’ default values are loaded into the EEPROM and become active after power off/on. Following execution, the value is reset to “1”. Date: 20.11.2018 Page 13 of 30 Document no. TRK 13349 FE

5.2.8 Objekt 1018h - Identity Object Date: 20.11.2018 Page 14 of 30 Document no. TRK 13349 FE

5.2.11 Objekt 1C00h - Sync Manager Communication Type The object 2100h is used to set the FSoE address of the TRK/S3. After entering the FSoE address under subindex 01, the serial number of the device concerned must be entered under sub-index 02. If the serial number specified here matches the device's serial number, the set FSoE address is taken over and displayed in objects E901h and F980h. The modification of the parameters is only possible in the pre-operiational status. The new FSoE address is only taken over after restarting the device (voltage off/on). Date: 20.11.2018 Page 15 of 30 Document...

5.4 Standardised device parameters Those parameters marked with “rw” in this chapter can be set by the user. To store the parameters in a failsafe manner in the encoder’s EEPROM, the “save” command must then be executed under the object 1010h (see chapter 5.2.6) .The modification of the parameters is only possible in the pre-operiational status. 5.4.1 Objekt 6100h - Safety position configuration parameters After changing a safety parameter and writing the new checksum (object 61FFh), the parameterisation must be Date: 20.11.2018 Page 16 of 30 Document no. TRK 13349 FE