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Rotary encoder TRT manual

Rotary encoder TRT manual

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Rotary encoder TRT manual

Product catalog summary

Safety Instructions

Scope: Applicable to specific absolute encoders with PROFINET interface.
Documentation: Includes system-specific instructions, this manual, data sheet TRT 12887, connection assignment, and assembly instructions.
Proper Use: Designed for registering angular or linear positions, to be connected to downstream electronics.
Commissioning: Must be performed by a specialist electrician, ensuring protection against mechanical damage and adherence to specified limit values.

General Information

The TRT encoders are designed for direct connection to PROFINET, supporting a 16-bit velocity signal and slew ring functionality for converting sensor shaft position into slewing ring position.

Installation

General Information: Follow PROFINET assembly guidelines, use certified cables, and ensure cable length does not exceed 100m.
Electrical Connection: Separate connectors for supply and PROFINET system, with integrated switch allowing flexible port use.
Status LEDs: Indicate operating voltage, network connection, data exchange, and errors through specific flashing codes.
Project Planning: GSD file and bitmap available online for integration into project planning tools.

Project Planning with Simatic Step7

Details the integration of the TWK TRT encoder into a Siemens S7 control system using Step7 version 5.5.

Data Format

Includes position data, velocity, and reference value settings with various coding formats.

Parameterisation

Describes standard and slew ring encoder parameters.

Diagnosis

Overview of PROFINET alarms and diagnostic data for Encoder Class 2 Profile.

Scope of Delivery

Includes terms related to absolute encoders.

Installation of the GSD File

Download the GSD file and encoder symbol from www.twk.de. Different files are available for single- and multiturn encoders and various code types.
In the hardware configuration, select 'Install GSD files' under Extras, set the directory, and install the file. The encoder symbol installs automatically.
After installation, the hardware catalogue updates, and the TRT absolute encoder appears under PROFINET, Further FIELD DEVICES, Encoders, TWK T series, TRT.

Installing the Absolute Encoder

Drag the TRT encoder onto your PROFINET system. The encoder's PROFINET interface installs with default values, and the corresponding module must be installed.

Installing the Module

Modules with different resolutions and data formats are available, defined by the encoder type. The network data and I/O address can be set by double-clicking the encoder symbol and 'Slot 1'.

Setting the Network Data

Assign a unique name to the device for network identification. The controller can automatically assign an IP address if 'IP address assignment by IO controller' is checked.

Setting the Absolute Encoder

Set the I/O address for position, velocity, and preset values. Parameters can be adjusted in the 'Parameters' tab.

Real-Time Mode and Updating Time

Set the transmission cycle and updating time via the PROFINET system's context menu. The default updating time is 2 ms, with a minimum of 250 µs.

Device Exchange and Automatic Commissioning

For device exchange without a programming device, ensure the controller and devices support this function. Use the topology editor to define PROFINET connections.

Assignment of the Device Name

If automatic commissioning prerequisites are unmet, assign the encoder name manually. The device logs onto the controller with its name and receives an IP address.

Resetting to Default Settings

Reset the encoder to delivery condition using the 'Reset' button. This clears the device name and IP parameters.

TIA-Portal Integration

Integrate the TWK TRT absolute encoder into a Siemens S7 control system using Step 7 Professional V13 in the TIA portal. Follow similar steps for GSD file installation and encoder setup.

Device Exchange and Commissioning
The document outlines the process for assigning a new device name or IP address when replacing an absolute encoder. It emphasizes the importance of planning for this during project setup. Automatic commissioning can avoid manual device name assignment if certain prerequisites are met, such as support for 'Device exchange without interchangeable medium' by the controller and devices, and devices being in delivery condition without a device name.

Manual Device Name Assignment
If automatic commissioning prerequisites are not met, the device name must be assigned manually using the PROFINET system's context menu. The absolute encoder must be connected, and the correct online connection selected to display accessible devices.

Resetting to Factory Settings
The document describes how to reset encoder data to factory settings, which includes clearing the device name and IP parameters. After resetting, the connection to the PROFINET controller is closed and must be re-established.

Application Program
Examples of program modules for reading position values, setting presets, and reading diagnostic data are provided. The document notes that TWK-ELEKTRONIK GmbH does not guarantee the correct functioning of these examples.

Data Format
The document details the data format for position and velocity values, including coding for different encoder types (R, W, S). Position data is output as a 32-bit unsigned integer, and velocity as a 16-bit signed integer. The document also explains how to set reference values and the importance of ensuring the encoder shaft is stationary during this process.

Parameterisation
Parameterisation is carried out using PROFINET services and should not be changed during system operation. The document provides details on standard encoder parameters, including operating mode, scaling function, resolution, and gate time. It also describes parameters specific to slew ring encoders.

Specifications
The document outlines the specifications for an encoder pinion that gears into a slew ring. The resolution position can range from 1 to 8192 steps multiplied by the gear ratio, with a maximum resolution of 32768 steps for a 1:4 gear ratio. The gate time for speed measurement is adjustable between 10 to 1000 ms. The resolution for speed calculation is also adjustable, independent of the resolution position.

Procedures
To achieve a desired resolution in degrees, parameters can be set to specific step values (e.g., 360 steps for 1° resolution). The speed can be calculated using the formula u = v x 60000 / t, where v is the encoder output, t is the gate time, and r is the resolution for speed calculation.

Diagnosis
The encoder provides diagnostic information through LEDs, PROFINET alarms, and diagnosis records. Common errors include sensor errors, preset errors, velocity range exceeded, and parameter errors. Each error has a specific LED indication and suggested remedies.

Diagnosis Data
Diagnosis data is available in various records, including operating status, encoder type, maximum resolution, and software version. Manufacturer-specific diagnostic data includes flash memory errors and parameter errors.

Scope of Delivery
The delivery includes an absolute encoder with a PROFINET interface and connection assignment. Additional resources such as datasheets, user manuals, and example programs are available for download.

Annex A - Absolute Encoder Terms
This section explains key terms such as resolution, measuring range, total number of steps, code path, and reference value/preset.

Catalog excerpts

Absolute encoder TRT with PROFINET interface Data sheet no.: TRT 12887 GE Date: 11.02.2020 Relevant data sheet TRT 12886 User manual TWK-ELEKTRONIK GmbH TWK-ELEKTRONIK GmbH Bismarckstraße 108 Bismarckstraße 108 [email protected] [email protected] visit us | twk.de visit us atat | twk.d

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SUPREME SENSORING COPYRIGHT: The TRT 12887 operating instructions are owned by TWK-ELEKTRONIK GMBH and are protected by copyright laws and international treaty provisions. © 2020 by TWK-ELEKTRONIK GMBH POB 10 50 63 ■ 40041 Dusseldorf ■ Germany Tel. +49/211/96117-0 ■ Fax +49/211/637705 [email protected] ■ www.twk.de Date: 11.02.2020 Page 2 of 40 Document no. TRT 12887 GE

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Safety instructions 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 TRT 12887 - 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...

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General information 2. General information The TRT optoelectronic absolute encoders are designed for direct connection to the industrial Ethernet system PROFINET. The profinet interface according to IEC 61158 / 61784 or PNO specifications Order Nos. 2.712 and 2.722 version 2.3 is integrated. The specifications can be obtained from the profibus user organisation (www.profibus.com). The TRT PROFINET absolute encoder offers the class 2 encoder profile familiar from the CRD profibus absolute encoder. In terms of setting the reference value, parameterisation and diagnosis, handling is therefore identical...

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SUPREME SENSORING 3. Installation 3.1 General information • During installation, observe the profinet assembly guideline PNO order No.: 8.071 • Use only certified profinet cables, connectors and switches (see "PROFINET Cabling and Interconnection Technology" PNO order No.: 2.252 and "Installation Guideline PROFINET Part 2: Network Components" PNO order No.: 2.252 p2) • Hubs are not permissible. • The cable length between two subscribers may be max. 100 m. • The TWK TRT absolute encoder possesses an integrated switch. This not only enables tree and star topologies but also the linear topology....

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3.3 Status LEDs Four LEDs are housed in the absolute encoder's connecting cap. These have the following meaning: 3.4 Project planning A device description file (GSD file) in the XML format GSDML and an image (bitmap) to integrate the absolute encoder into a project planning tool are available in the internet under www.twk.de File name of the GSD file: GSDML-V2.3-TWK-TRT-20200207.xml (The version and date may vary depending on the status of the GSD file.) File name of the bitmap: GSDML-0159-6300-TWK_TRTC4.bmp Project planning using the example of Step7 is explained in the following chapter. Date:...

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SUPREME SENSORING Project planning with Simatic Step7 4.1 Simatic Manager This chapter explains the procedure for integrating the TWK TRT absolute encoder into the PROFINET network of a Siemens S7 control system. The documentation is based on Step7 version 5.5. 4.1.1 Prerequisites You have created a hardware configuration in accordance with your control system structure and a PROFINET sub-network. This is shown here using the example of a CPU314C: 4.1.2 Installation of the GSD file • Please download the GSD file and the encoder symbol from www.twk.de. Different GSD files for single- and multiturn...

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SUPREME SENSORING Project planning with Simatic Step7 After installing the GSD file, the hardware catalogue is automatically updated. The TRT absolute encoder is located under PROFINET, Further FIELD DEVICES, Encoders, TWK T series, TRT. bQ Additional Field Devices I BQ Encoders | $~jfii TWK C-Series : i S-jSi'.TWKT-Series @~CI TRT 4.1.3 Installing the absolute encoder Now drag the TRT encoder onto your PROFINET system using the mouse. The absolute encoder's PROFINET interface is then installed together with its default values. The module corresponding to the absolute encoder then has to be installed....

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Project planning with Simatic Step7 4.1.4 Installing the module For the enoder TRT there are modules with differend resolutions and data formats available. The resolution and the data format is defined by the encoder type. Date: 11.02.2020 Page 11 of 40 Document no. TRT 12887 GE

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SUPREME SENSORING Now drag the module corresponding to your absolute encoder to slot one in the module list using the mouse. Profile: PROFIBUS DP PROFIBUS-PA PROFINETIO O Additional Field Devices B •• O Encoders El €3 POSITAL MCS I Safety ® D TR Rotative Safety S D TWK C-Series B M TWKT-Series i-Q TRT l TRT Coding R 3 TRTx-xx4096R4096C4xTx TRTx-xxA 096 RC4xTx TRTx-xx65536R4096C4xTx TRTx-xx6 5536 RC4xTx TRTx-xx8192R4096C4xTx TRTx-xx8192RC4xTx El 3 TRT Coding S El 3 TRT Coding W El O TRT/S O I/O El O Sensors Cj Drives O Gateway -Si HMI ■m i/o O Ident Systems Q Network Components ■C~l Qc Fig.: 8...

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Project planning with Simatic Step7 4.1.5 Setting the network data (TRT properties) The following dialogue appears by double-clicking onto the absolute encoder symbol (or via the absolute encoder's context menu). Enter a name which is unique throughout the network to identify the device here. The controller expects this name when the device logs in. The default name is TRT. If only one TWK absolute encoder is contained in the network, this name can be retained. The name assigned here must either be manually allocated to the absolute encoder (see Chapter 4.1.9) or it can be assigned automatically...

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Project planning with Simatic Step7 4.1.6 Setting the absolute encoder (properties of the module) 4.1.6.1 Setting the I/O address The dialogues for setting the I/O address and for setting the absolute encoder parameters can be accessed by double-clicking the installed module (slot 1 line) or via the module's context menu. Set the input address for the position and velocity value and the output address for the preset value in the "Addresses" tab. (See Chapter 5 for the data format) The following figure shows the addresses tab for the module "TRTxx-xxx4096R4096C4xTx". 4.1.6.2 Parameterising the...

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