Specification - CANopen Safety (IEC61508) and CANopen for absolute rotary encoder TBN/TRN CANopea safetyl Specification rotary encoder TBN/TRN according to CANopen Safety - SIL2 acc. IEC 61508 and CANopen Standard TWK-ELEKTRONIK GmbH BismarckstraBe 108 [email protected] visit us at | twk.de

Specification CANopen Safety (IEC 61508) and CANopen for absolute encoder TBN/TRN General Scope This specification is valid exclusively for the following absolute encoders TBN and TRN with CANopen and CANopen Safety (SIL2) interface. Documentation The following documents must be observed (depending on device): - The owner's system-specific operating instructions - Data sheet TBN/TRN 14271 - The connection assignment enclosed with every device - TYxxxxx - EDS-File TYxxxxx_xx_xx.eds - CRC Calculation Program and additional xml-Files for special versions - TWK_CAN Error description - Notes on the...

SUPREME SENSORING Specification CANopen Safety (IEC 61508) and 7WK CANopen for absolute encoder TBN/TRN Date: 25.03.2020 Page 3 of 50 Document no. TXN 15469BE

Specification CANopen Safety (IEC 61508) and CANopen for absolute encoder TBN/TRN 1 Intended use The rotary encoder TBN and TRN are intended for use in CANopen and in CANopen safety-relevant systems. The version TBN is a singleturn and the TRN is a multiturn absolute encoder. Thanks to its robust design, the encoder can be used in applications with harsh environmental conditions. Both encoders are designed for connection to a control system (PLC) which evaluates the measured values transmitted via the CAN bus and, in the event of error messages or the absence of process data, reacts according...

Specification CANopen Safety (IEC 61508) and CANopen for absolute encoder TBN/TRN 4 Electrical specifications Refer to the TBN/TRN 14271 data sheet and the variant specifications for the precise electrical specifications. Supply voltage Power consumption Temperature range Communication profile 9 V ... 36 VDC < 2.5 W (inrush current < 500 mA) -40 °C to +85 °C Full CAN Part A (11-bit) CANopen CiA 301 V 4.2 Encoder profile CANopen CiA 406 V 4.0.2 CANopen Safety EN 50325-5 4.2 Measuring system Measuring range Resolution Accuracy Reproducibility Temperature drift Sensor unit cycle time 4.3 Overall...

Specification CANopen Safety (IEC 61508) and CANopen for absolute encoder TBN/TRN 4 Electrical specifications Recommended type of CANopen/power supply connecting cable: 5 Environmental data 5.1 Dust, moisture Permissible relative humidity Protection type 5.2 Vibration shock EN 60068-2-6 EN 60068-2-27 Resistance to shock Resistance to vibration 5.3 EMC EN 61000-6-2 EN 61000-6-4 max. 100 % (e.g. Protection grade: IP 69K) IP 67, optionally IP 69K Vibration sinus Mechanical shock 25 g 6 ms each 100x on 3 axes (1 g = 9.81 m/s2) other values on request Amplitude of excursion 5 mm (peak value) or 10...

Specification CANopen Safety (IEC 61508) and CANopen for absolute encoder TBN/TRN 7 CANopen functionality 7 CANopen functionality The CANopen interface enables operation via CANopen Standard and secure operation via CANopen Safety. The CANopen profile definition for the encoder is executed once according to CiA 301 application layer and according to EN 50325-5 framework for safety-relevant communication. The sensor system (position registration) is designed in redundant form. The sensor system's measured values are supplied to the self-monitoring controller on separate interfaces (SPI). This...

Specification CANopen Safety (IEC 61508) and CANopen for absolute encoder TBN/TRN 8 CANopen profile definition 8.1 CANopen profile overview Table 1 of all objects contained in the encoder profile Date: 25.03.2020 Page 9 of 50 Document no. TXN 15469BE

Specification CANopen Safety (IEC 61508) and CANopen for absolute encoder TBN/TRN 8 CANopen proflile definition Date: 25.03.2020 Page 10 of 50 Document no. TXN 15469BE

Specification CANopen Safety (IEC 61508) and CANopen for absolute encoder TBN/TRN 8.2 Communication service data objects (SDO) 8.2 Communication service data objects For every modification of the encoder via SDO communication the device must be set preoperational first. It is recommended to wait for the response message of the encoder before sending another SDO message. Then you can be sure that the SDO message (e.g. parameterization) is worked out properly, save procedure (1010) as well. Or implement a time constant between the SDO commands which is long enough (e.g. 50 ms). Please don’t make...

Specification CANopen Safety (IEC 61508) and CANopen for absolute encoder TBN/TRN 8.2 Communication service data objects Date: 25.03.2020 Page 12 of 50 Document no. TXN 15469BE

Specification CANopen Safety (IEC 61508) and CANopen for absolute encoder TBN/TRN 8.2 Communication service data objects 8.2.4 Object 1005 COB-ID-SYNC Identifier of the sync message transmitted by the master. No range or plausibility check takes place. COB-ID-SYNC Date: 25.03.2020 Page 13 of 50 Document no. TXN 15469BE

Specification CANopen Safety (IEC 61508) and CANopen for absolute encoder TBN/TRN 8.2 Communication service data objects 8.2.8 Object 1010 store_parameters By inputting "save" (0x65766173hex resp. 1702257011dez) as a password in the relevant sub-index, the writeable objects are saved to the memory. The object cannot be changed on writing. Reading the object is possible. 1 (saving through command) is returned. Which parameters are stored is defined by specifying the sub-index. Sub-index 01 Sub-index 02 Sub-index 03 Sub-index 04 Sub-index 05 Storage of all parameters except the 0x2000 to 0x2FFF...

Specification CANopen Safety (IEC 61508) and CANopen for absolute encoder TBN/TRN 8.2 Communication service data objects Date: 25.03.2020 Page 15 of 50 Document no. TXN 15469BE

Specification CANopen Safety (IEC 61508) and CANopen for absolute encoder TBN/TRN 8.2 Communication service data objects 8.2.12 Object 1017 producer_heartbeat_time If a value greater than zero is entered here, the heartbeat message is transmitted on the identifier GUARD COB ID + node ID in the producer_heartbeat_time interval in ms. (GUARD COB-ID = 0x700) producer_heartbeat_time * depends on device, ** Written in factory programming state (wp). Date: 25.03.2020 Page 16 of 50 Document no. TXN 15469BE