TR-Electronic CDV582 Operation instructions

TR - ECE - BA - GB - 0139 - 02 / 11
/
21/2019
User Manual
Interface
_Safety instructions
_Installation
_Commissioning
_Configuration / Parameterization
_Troubleshooting / Diagnostic options
DIN EN 61508: SIL CL2 / SIL CL3
DIN EN ISO 13849: PL d / PL e
Absolute Encoder CD_582
PROFINET/PROFIsafe
- TR Encoder Profile
- OPTION: PNO Encoder Profile V4.2, Class S1/S2
- PNO Encoder Profile V4.2, Class 3/4
- PROFIsafe V2.4 / V2.6.1
Original manual
CDV582 CDS582 / CDH582
Pictures show similar items

Contents
TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany
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TR-Electronic GmbH
D-78647 Trossingen
Eglishalde 6
Tel.: [phone]
Fax: [phone]
E-mail: [email protected]
http://www.tr-electronic.de
Copyright protection
This Manual, including the illustrations contained therein, is subject to copyright protection. Use of
this Manual by third parties in contravention of copyright regulations is not permitted. Reproduction,
translation as well as electronic and photographic archiving and modification require the written
content of the manufacturer. Violations shall be subject to claims for damages.
Subject to modifications
The right to make any changes in the interest of technical progress is reserved.
Document information
Release date / Rev. date: 11/21/2019
Document rev. no.: TR - ECE - BA - GB - 0139 - 02
File name: TR-ECE-BA-GB-0139-02.doc
Author: MÜJ
Font styles
Italic or bold font styles are used for the title of a document or are used for highlighting.
Courier font displays text, which is visible on the display or screen and software menu selections.
< > indicates keys on your computer keyboard (such as <RETURN>).
Brand names
PROFIBUS™, PROFINET™ and PROFIsafe™, as well as the associated logos, are registered
trademarks of PROFIBUS Nutzerorganisation e.V. (PNO)
SIMATIC is a registered trademark of SIEMENS AG

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Contents
Contents............................................................................................................................................3
Revision index ..................................................................................................................................8
1 General information ......................................................................................................................9
1.1 Applicability......................................................................................................................9
1.2 References ......................................................................................................................10
1.3 Abbreviations used / Terminology...................................................................................11
1.4 Main features...................................................................................................................13
1.5 Principle of the safety function.........................................................................................14
2 Safety instructions ........................................................................................................................15
2.1 Definition of symbols and notes ......................................................................................15
2.2 Safety functions of the fail-safe processing unit..............................................................16
2.2.1 Mandatory safety checks / measures..............................................................16
3 Installation / Preparation for Commissioning ............................................................................17
3.1 Basic rules.......................................................................................................................17
3.2 PROFINET IO transmission technology, cable specification..........................................18
3.3 Connection instructions...................................................................................................19
3.3.1 Supply voltage.................................................................................................19
3.3.2 Optional additional interfaces (Incremental, SSI)............................................19
3.4 PROFIsafe destination address “F_Dest_Add”...............................................................20
3.5 Incremental interface / SIN/COS interface (optional)......................................................21
3.5.1 Signal characteristics.......................................................................................22
3.5.2 HTL/TTL Level (optional).................................................................................23
3.6 SSI interface (optional)....................................................................................................25
3.6.1 Signal characteristics.......................................................................................25
4 Commissioning..............................................................................................................................27
4.1 PROFINET IO..................................................................................................................27
4.1.1 Device classes.................................................................................................27
4.1.2 Device description file (XML)...........................................................................27
4.1.3 Device identification.........................................................................................28
4.1.4 PROFINET IO data exchange.........................................................................28
4.1.5 Address assignment........................................................................................29
4.2 Bus status display............................................................................................................30
4.3 Commissioning via SIEMENS SIMATIC S7....................................................................30
5 Resetting the device parameters.................................................................................................31
6 Parameterization and configuration............................................................................................32
6.1 Modular structure.............................................................................................................32
6.2 PNO Encoder Profile, not safety instrumented (Channel 1/2 (PNO)).............................35
6.2.1 Structure of the cyclic process data.................................................................35
6.2.1.1 Standard Telegram 81.....................................................................36
6.2.1.2 Standard Telegram 82.....................................................................36
6.2.1.3 Standard Telegram 83.....................................................................36

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6.2.1.4 Standard Telegram 84.....................................................................36
6.2.1.5 Format Signal 6 / 8: Actual speed value A / B (NIST_A / B)............37
6.2.1.6 Format Signal 9: Control word, Sensor 1 (G1_STW)......................37
6.2.1.7 Format Signal 10: Status word, Sensor 1 (G1_ZSW) .....................38
6.2.1.8 Format Signal 11: Position value 1, Sensor 1 (G1_XIST1).............39
6.2.1.9 Format Signal 12: Position value 2, Sensor 1 (G1_XIST2).............39
6.2.1.10 Format Signal 39: Position value 3, Sensor 1 (G1_XIST3)...........39
6.2.1.11 Format Signal 80: Control word 2, Encoder (STW2_ENC)...........40
6.2.1.12 Format Signal 81: Status word 2, Encoder (ZSW2_ENC).............40
6.2.2 Parameter access and initialization.................................................................42
6.2.3 Configurable module-related parameters........................................................43
6.2.3.1 Parameter initialization (PNU 65005_0-1).......................................45
6.2.3.2 Parameter Write protection (PNU 65005_2-4) ................................45
6.2.3.3 Write protection PNU 65005_5 (control) / PNU 971 (save).............45
6.2.3.4 Write protection (PNU 65005_6), Param. Reset (PNU 972)...........45
6.2.3.5 Code sequence................................................................................46
6.2.3.6 Encoder Class 4 functionality ..........................................................46
6.2.3.7 Preset affects XIST1........................................................................47
6.2.3.8 Scaling function control....................................................................47
6.2.3.9 Alarm channel control (V3.1)...........................................................47
6.2.3.10 Compatibility mode V3.1................................................................48
6.2.3.11 Scaling parameter..........................................................................48
6.2.3.11.1 Scaling: Measuring units per revolution.........................48
6.2.3.11.2 Scaling: Total measuring range.....................................49
6.2.3.12 Tolerated sign-of-life faults (V3.1)..................................................49
6.2.3.13 Velocity value normalization (PNU 60001)....................................50
6.2.3.14 Velocity filter intensity ....................................................................50
6.2.3.15 Velocity filter type...........................................................................51
6.2.3.16 Velocity reference value N2/N4 (PNU 60000)...............................51
6.2.3.17 Preset value (PNU 65000).............................................................52
6.2.4 Acyclic parameter access (Base Mode Parameter Access - Local) ...............53
6.2.4.1 Preset value 32-bit (PNU 65000).....................................................57
6.2.4.2 Operating status (PNU 65001) ........................................................57
6.2.4.2.1 Block Header (PNU 65001.00) ........................................58
6.2.4.2.2 Operating status (PNU 65001.01) ...................................58
6.2.4.2.3 Error (PNU 65001.02)......................................................59
6.2.4.2.4 Supported errors (PNU 65001.03)...................................59
6.2.4.2.5 Warnings (PNU 65001.04)...............................................59
6.2.4.2.6 Supported warnings (PNU 65001.05)..............................60
6.2.4.2.7 Encoder Profile Version (PNU 65001.06)........................60
6.2.4.2.8 Offset value 32-bit (PNU 65001.08).................................60
6.2.4.2.9 Measuring units per revolution (PNU 65001.09) .............60
6.2.4.2.10 Total measuring range (PNU 65001.10)........................60
6.2.4.2.11 Velocity value normalization (PNU 65001.11)...............61
6.2.4.2.12 Velocity ref value N2/N4 (PNU 65001.12).....................61
6.2.4.3 Function control (PNU 65004).........................................................61
6.2.4.4 Parameter control (PNU 65005)......................................................62
6.2.4.5 Scaling: Measuring units per revolution (PNU 65006) ....................63
6.2.4.6 Scaling: Total measuring range (PNU 65007).................................63
6.2.4.7 PROFIdrive-related parameters (PNU 600xx, 9xx).........................64
6.2.4.7.1 Velocity reference value N2/N4 (PNU 60000).................64
6.2.4.7.2 Velocity value normalization (PNU 60001)......................64
6.2.4.7.3 Telegram selection (PNU 922) ........................................65
6.2.4.7.4 Tolerated master sign-of-life faults (PNU 925) ................65
6.2.4.7.5 Device identification (PNU 964).......................................65
6.2.4.7.6 Profile identification (PNU 965)........................................66
6.2.4.7.7 Parameter storage (permanent) (PNU 971) ....................66
6.2.4.7.8 Device RESET / parameter activation (PNU 972)...........66
6.2.4.7.9 B M P Access –Identification (PNU 974)........................67
6.2.4.7.10 Encoder object identification (PNU 975)........................68
6.2.4.7.11 Sensor Format (PNU 979).............................................68

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6.2.4.7.12 Parameter list (PNU 980)...............................................69
6.2.5 Preset function.................................................................................................70
6.2.6 Warnings, errors, diagnosis.............................................................................70
6.2.6.1 Error codes in signal G1_XIST2......................................................71
6.2.6.2 Diagnostic alarm..............................................................................71
6.3 OPTION: PNO Encoder Profile, safety instrumented (Safety BP/XP (PNO)).................72
6.3.1 Structure of the cyclic process data.................................................................72
6.3.1.1 Standard Telegram 36 (BP/XP).......................................................73
6.3.1.2 Standard Telegram 37 (BP/XP).......................................................73
6.3.1.3 Format Signal 96: F actual position value (S_XIST32)....................74
6.3.1.4 Format Signal 97: F actual speed value (S_NIST16)......................74
6.3.1.5 Format Signal 98: Encoder F control word 1 (S_STW1_ENC) .......74
6.3.1.6 Format Signal 99: Encoder F status word 1 (S_ZSW1_ENC).........75
6.3.1.7 Format Signal PNU 62000: F Preset value (S_PRESET32)...........75
6.3.2 Parameter access and initialization (safety-related) .......................................76
6.3.3 Configurable module-related iParameters (F_iPar) ........................................78
6.3.3.1 Code sequence................................................................................79
6.3.3.2 Preset affects XIST32......................................................................79
6.3.3.3 Scaling function control....................................................................79
6.3.3.4 Scaling parameter............................................................................79
6.3.3.4.1 Scaling: Measuring units per revolution...........................80
6.3.3.4.2 Scaling: Total measuring range.......................................80
6.3.3.5 Velocity value normalization............................................................81
6.3.3.6 Window increments (internal, not visible)........................................81
6.3.4 Configurable submodule-related F-parameters (F_Par).................................82
6.3.5 Acyclic parameter access (Base Mode Parameter Access - Local) ...............83
6.3.5.1 Safety telegram no. (PNU 60022)....................................................83
6.3.5.2 Safety velocity value normalization (PNU 60023) ...........................83
6.3.5.3 Safety setpoint telegram (PNU 60024)............................................84
6.3.5.4 Safety setpoint telegram (PNU 60025)............................................84
6.3.5.5 Safety preset value S_PRESET32 (PNU 62000)............................84
6.3.5.6 Safety operating status (PNU 65100)..............................................85
6.3.5.6.1 Block Header (PNU 65100.00) ........................................85
6.3.5.6.2 Operating status (PNU 65100.01) ...................................86
6.3.5.6.3 Offset value 32-bit (PNU 65100.08).................................86
6.3.6 Preset adjustment function..............................................................................87
6.3.6.1 Procedure ........................................................................................87
6.3.6.2 Preset finite state machine / control cycle.......................................88
6.3.7 Diagnosis.........................................................................................................89
6.4 TR Encoder Profile, non-safety instrumented (Channel 1/2 (TR))..................................90
6.4.1 Configurable module-related parameters........................................................90
6.4.1.1 Coupled channel..............................................................................90
6.4.2 Submodule Position.........................................................................................91
6.4.2.1 Structure of the cyclic process data.................................................91
6.4.2.2 Configurable submodule-related parameters..................................91
6.4.2.2.1 Rotational direction..........................................................91
6.4.2.2.2 Scaling parameter............................................................92
6.4.3 Submodule velocity..........................................................................................95
6.4.3.1 Structure of the cyclic process data.................................................95
6.4.3.2 Configurable submodule-related parameters..................................95
6.4.3.2.1 Velocity format .................................................................96
6.4.3.2.2 Velocity filter intensity ......................................................96
6.4.3.2.3 Velocity filter type.............................................................97
6.4.3.2.4 Velocity factor...................................................................97
6.4.3.2.5 Velocity integration time...................................................97
6.4.4 Submodule Preset (adjustment function) ........................................................98
6.4.4.1 Structure of the cyclic process data.................................................98

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6.4.5 Submodule status............................................................................................99
6.4.5.1 Structure of the cyclic process data.................................................99
6.4.5.2 Configurable submodule-related parameters..................................99
6.5 TR Encoder Profile, safety instrumented (Safety (TR))...................................................100
6.5.1 Submodule position (BP/XP)...........................................................................100
6.5.1.1 Structure of the cyclic process data.................................................100
6.5.1.2 Configurable submodule-related IParameters (F_iPar)...................101
6.5.1.3 Configurable submodule-related F-parameters (F_Par) .................102
6.5.2 Submodule Velocity (BP/XP)...........................................................................103
6.5.2.1 Structure of the cyclic process data.................................................103
6.5.2.2 Configurable submodule-related IParameters (F_iPar)...................104
6.5.2.3 Configurable submodule-related F-parameters (F_Par) .................105
6.5.3 Submodule Position + Velocity (BP/XP)..........................................................106
6.5.3.1 Structure of the cyclic process data.................................................106
6.5.3.1.1 Input TR Status1 (Stat. 1)................................................107
6.5.3.1.2 Input TR Status2 (Stat. 2)................................................108
6.5.3.1.3 Input Position ...................................................................108
6.5.3.1.4 Input Velocity....................................................................108
6.5.3.1.5 Output TR-Control1 (Cont. 1)...........................................108
6.5.3.1.6 Output TR-Control2 (Cont. 2)...........................................109
6.5.3.1.7 Output Preset...................................................................109
6.5.3.2 Configurable submodule-related iParameters (F_iPar)...................110
6.5.3.2.1 Rotational direction..........................................................111
6.5.3.2.2 Scaling parameter............................................................111
6.5.3.2.3 Velocity format .................................................................114
6.5.3.2.4 Velocity filter intensity ......................................................114
6.5.3.2.5 Velocity filter type.............................................................115
6.5.3.2.6 Velocity factor...................................................................115
6.5.3.2.7 Velocity integration time...................................................115
6.5.3.2.8 Window increments..........................................................116
6.5.3.3 Configurable submodule-related F-parameters (F_Par) .................117
6.5.4 Preset adjustment function..............................................................................118
6.5.4.1 Procedure ........................................................................................118
6.5.4.2 Timing –diagram.............................................................................119
6.5.4.3 Calculating the delay for a moving axis...........................................120
6.6 Legacy (TR) Profile..........................................................................................................121
6.6.1 Safety (Legacy), safety-related........................................................................121
6.6.1.1 Structure of the cyclic process data.................................................121
6.6.1.1.1 Input Cams.......................................................................121
6.6.1.1.2 Input TR status.................................................................122
6.6.1.1.3 Input Velocity....................................................................122
6.6.1.1.4 Input Multi-Turn / Single-Turn..........................................123
6.6.1.1.5 Output TR-Control1..........................................................123
6.6.1.1.6 Output Preset Multi-Turn / Preset Single-Turn ................124
6.6.1.2 Configurable module-related iParameters (F_iPar).........................125
6.6.1.2.1 Integration time safety......................................................125
6.6.1.2.2 Integration time standard.................................................125
6.6.1.2.3 Window increments..........................................................126
6.6.1.2.4 Idleness tolerance preset.................................................126
6.6.1.2.5 Rotational direction..........................................................126
6.6.1.3 Configurable module-related F-parameters (F_Par) .......................127
6.6.2 Channel 1 (Legacy), non-safety instrumented ................................................128
6.6.2.1 Structure of the cyclic process data.................................................128
6.6.2.1.1 Input Cams.......................................................................128
6.6.2.1.2 Input Velocity....................................................................128
6.6.2.1.3 Input Multi-Turn / Single-Turn..........................................129
6.6.3 Preset adjustment function..............................................................................130
6.6.3.1 Procedure ........................................................................................130
6.6.3.2 Timing diagram................................................................................131

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6.7 Safe Status / Safe Control (F_MessageTrailer) ..............................................................132
6.7.1 Safe Status (BP/XP)........................................................................................132
6.7.2 Safe Control (BP/XP).......................................................................................133
6.7.3 Access mechanism..........................................................................................134
6.7.4 Output of passivated data (substitute values) in case of an error...................134
6.8 F-parameter (F_Par) –description..................................................................................135
6.8.1 F_Check_iPar..................................................................................................135
6.8.2 F_SIL ...............................................................................................................135
6.8.3 F_CRC_Length................................................................................................135
6.8.4 F_CRC_Seed / F_Passivation.........................................................................135
6.8.5 F_Block_ID ......................................................................................................135
6.8.6 F_Par_Version.................................................................................................135
6.8.7 F_Source_Add / F_Dest_Add..........................................................................135
6.8.8 F_WD_Time.....................................................................................................136
6.8.9 F_iPar_CRC ....................................................................................................136
6.8.10 F_Par_CRC...................................................................................................136
6.8.11 iPar_CRC checksums –calculation..............................................................136
7 Media Redundancy (MRP) / Fast Start-Up (FSU)........................................................................137
7.1 MRP.................................................................................................................................137
7.2 FSU..................................................................................................................................137
8 Shared Device applications..........................................................................................................138
9 Troubleshooting and diagnostic options ...................................................................................140
9.1 Optical displays ...............................................................................................................140
9.1.1 Device status, Bicolor LED..............................................................................140
9.1.2 Net-Status, Bicolor LED...................................................................................142
9.2 PROFINET Diagnose-Alarm............................................................................................143
9.3 Return of Submodul Alarm..............................................................................................147
9.4 Integration of organization blocks (OBs).........................................................................147
9.4.1 Diagnostic alarm OB (OB 82)..........................................................................147
9.5 Data status.......................................................................................................................148
9.6 Information & Maintenance..............................................................................................149
9.6.1 I&M0 –I&M4....................................................................................................149
9.7 Behavior of the measuring system process data outputs ...............................................151
10 Checklist, Part 2 of 2...................................................................................................................152
11 Appendix......................................................................................................................................154
11.1 TÜV certificate...............................................................................................................154
11.2 PROFINET IO certificate...............................................................................................154
11.3 PROFIsafe certificate ....................................................................................................154
11.4 EU Declaration of Conformity........................................................................................154

Revision index
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Revision index
Modification
Date
Index
First release
05/28/19
00
Implementation of the Encoder Profile 4.2, not safety instrumented
08/14/19
01
- Description of bit “0” chapter 6.5.3.1.2 edited
- Diagnostic message/Meaning chapter 9.2 edited
11/21/19
02

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1 General information
This interface-specific user manual contains the following topics:
●Safety instructions
●Installation
●Commissioning
●Configuration / Parameterization
●Troubleshooting and diagnostic options
Since it has a modular structure, this User Manual is supplementary to other documentations, such as
product data sheets, dimensional drawings, brochures, the Safety Manual, etc.
The User Manual may be included in the customer’s specific delivery package or it may be requested
separately.
1.1 Applicability
This User Manual applies exclusively to measuring system series according to the following keys for
article numbers and types with PROFINET IO interface and PROFIsafe profile:
Article number
* 1
* 2
* 3
* 4
* 5
-
* 6
* 6
* 6
* 6
* 6
Position
Designation
Description
* 1
A
Explosion protection enclosure (ATEX);
C
Absolute encoder, programmable
* 2
D
Redundant dual scanning unit
* 3
V
Solid shaft
H
Hollow shaft
S
Blind shaft
* 4
582
Outer diameter 58 mm, Generation 2
* 5
M
Multi-turn
S
Singleturn
* 6
-
Consecutive number
* = placeholder
Type key
See Revision Lists:
CD_582M +FS02: www.tr-electronic.de/f/TR-ECE-TI-D-0343
CD_582M +FS03: www.tr-electronic.de/f/TR-ECE-TI-D-0349
The products are labeled with affixed nameplates and are components of a system.
The following documentation therefore also applies:
●See the Chapter “Other Applicable Documents” in the Safety Manual
www.tr-electronic.de/f/TR-ECE-BA-GB-0142
●Product data sheets https://www.tr-electronic.com/s/S020955

General information
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1.2 References
1.
IEC/PAS 62411 Real-time Ethernet PROFINET IO
International Electrotechnical Commission
2.
IEC 61158 Digital data communications for measurement and control
- Fieldbus for use in industrial control systems
3.
IEC 61784 Digital data communications for measurement and control
- Fieldbus for use in industrial control systems
- Profile sets for continuous and discrete manufacturing
relative to fieldbus use in industrial control systems
4.
ISO/IEC 8802-3 Carrier Sense Multiple Access with Collision Detection
(CSMA/CD)
Access Method and Physical Layer Specifications
5.
IEEE 802.1Q IEEE Standard for Priority Tagging
6.
IEEE 1588-2002 IEEE Standard for a Precision Clock Synchronization
Protocol for Networked Measurement and Control Systems
7.
PROFIBUS Profile Guidelines Part 1:
Guideline Identification & Maintenance Functions. Order no. 3.502
8.
PROFINET PROFIsafe –Environmental Requirements
Guideline Order no.: 2.232
9.
PROFINET Design Guidelines,
Guideline Order no.: 8.062
10.
PROFINET Installation Guidelines
Guideline Order no.: 8.072
11.
PROFINET Commissioning Guidelines
Guideline Order no.: 8.082
12.
PNO Encoder Profile, Version 4.2
Specification Order no.: 3.162
13.
PNO PROFIdrive Profile, Version 4.2
Specification Order no.: 3.172
14.
PNO Application Layer protocol for decentralized periphery and
Specification distributed automation
Order no. 2.722

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1.3 Abbreviations used / Terminology
0x
Hexadecimal representation
API
Application Process Identifier
BMP
Base-Mode-Parameter
CAT
Category:
Cable classification also used for Ethernet
CL3, CL4
Denotes Encoder Profile Class 3 or 4
CRC
Cylic Redundancy Check (redundancy check)
DAP
Device Access Point
DCavg
Diagnostic Coverage
Average diagnostic coverage
EU
Europäische Union
EMC
ElectroMagnetic Compatibility
Engineering Tool
Planning, commissioning tool
F
generally means the Safety or Fail-safe
F-Device
Safety device for safety applications
Fault exclusion
Compromise between technical safety requirements and the theoretical possibility
that an error occurs
F Host
Safety controller for security applications
FMEA
Failure Mode and Effects Analysis, methods used in reliability engineering to
detect potential weaknesses
Functional safety
Part of the overall system safety, which depends on the correct functioning of
safety instrumented systems for risk reduction. Functional safety is ensured when
each safety function is executed as specified.
GSD
Generic Station Description (GSD file)
GSDML
Generic Station Description (Markup Language)
I&M
Identification & Maintenance
IEC
International Electrotechnical Commission
IEEE
Institute of Electrical and Electronics Engineers
IOCS
IO Consumer Status: status indication by the Consumer of an IO data element
(good, bad with fault location)
IOPS
IO Provider Status: status indication by the Provider of an IO data element (good,
bad with fault location)
IP
Internet Protocol
IRT
Isochronous Real-Time Communication
ISO
International Standard Organisation
MAC
Media Access Control, Ethernet ID
MRP
Media Redundancy Protocol
MTTFd
Mean Time ToFailure (dangerous)
NRT
Non-Real-Time Communication
Re-Integration
(User Acknowl-
edgment)
Switching from substitute values to process values
PAS
Publicly Available Specification

General information
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Passivation
In a fail-safe I/O with outputs, the F-system does not transmit the output values
provided by the safety program in the process image to the fail-safe outputs in the
event of a passivation but sends substitute values (e.g., 0) instead.
PFDav
Average Probability of Failure on Demand
Average probability of failure of a safety function with low demand
PFH
Probability of Failure per Hour
Operating mode with high requirement rate or continuous demand. Probability of
dangerous failure per hour.
PNO
PROFIBUS Nutzer Organisation e.V.
PNU
Parameter Number
PROFIBUS
manufacturer independent, open field bus standard
PROFINET
PROFINET is the open Industrial Ethernet Standard of the PROFIBUS User
Organization for automation.
RT
Real-Time Communication
SCS
Safety Integrity Level: Four discrete levels (SIL1 to SIL4). The higher the SIL of a
safety instrumented system, the lower the probability that the system cannot
execute the required safety functions.
SIS
Safety Instrumented System: is used to safeguard a dangerous process and
reduce the risk of an accident. Process instruments are part of a Safety
Instrumented System. They consist of the essential components of an entire
safety-relevant process I/O unit:
Sensor, fail-safe processing unit (controller) and actuator
Slot
Addressing a physical slot
Subslot
Addressing the data
SNMP
Simple Network Management Protocol
SRS
Sound Retrieval System with control function with respect to
PROFIsafe also referred to as F Host
STP
Shielded Twisted Pair
TCP
Transmission Control Protocol
UDP
User Datagram Protocol
VDE
Verband der Elektrotechnik, Elektronik und Informationstechnik (Association for
Electrical, Electronic and Information Technologies e.V.)
Proof test
Recurrent test for detecting hidden dangerous failures in a safety instrumented
system.
XML
EXtensible Markup Language

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1.4 Main features
●PROFINET IO interface with PROFIsafe protocol, for transfer of a safe position and velocity
●Fast process data channel via PROFINET IO, not safety instrumented
●Variant 1 only:
Additional incremental or SIN/COS or SSI interface, not safety instrumented
●Two-channel scanning system, for generation of safe measured data through internal channel
comparison
–Variant 1:
Channel 1, Master system:
Optical single-turn scanning via code disc with transmitted light and magnetic multi-turn
scanning
Channel 2, Test system:
Magnetic single- and multi-turn scanning
–Variant 2:
Channel 1, Master system:
Magnetic single- and multi-turn scanning
Channel 2, Test system:
Magnetic single- and multi-turn scanning
●One common drive shaft
Channel 1 Master System data and Channel 2 Test System data are separately provided in the non
safety instrumented process data channel with normal PROFINET IO protocol (untested) and short
cycle time.
In “legacy mode”, controllers with 16-bit registers transfer safety-oriented data using the PROFIsafe
V2.4 Basic Protocol (BP). Other operating modes also use 32-bit position data and the safety-related
data can be transmitted either with the PROFIsafe V2.4 Basic Protocol (BP) or with the PROFIsafe
V2.6.1 Expanded Protocol (XP).
The inspection system is used for the internal safety check. “Safe data” obtained through two-channel
data comparison are packed into the PROFIsafe protocol and transmitted to the controller via the
PROFINET IO.
The optional incremental interface in Variant 1, or its alternative SIN/COS interface, are derived from
the master system and are not evaluated with respect to safety.
Instead of the incremental interface, a synchronous-serial absolute-value interface (SSI) is available,
which is also not evaluated with respect to safety.

General information
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1.5 Principle of the safety function
System safety is established as follows:
–Each of the two scanning channels is largely fail-safe thanks to individual diagnostic
measures.
–The measuring system internally compares the positions detected by both channels in two
channels, also determines the velocity in two channels and transfers the safe data in the
PROFIsafe protocol via PROFINET IO.
–In the event of a failed channel comparison or other error detected through internal diagnostic
mechanisms, the measuring system switches the PROFIsafe channel to error state.
–Initialization of the measuring system and execution of the preset adjustment function are
appropriately safeguarded.
–The control additionally checks whether the obtained position data are within the position
window expected by the control. Unexpected position data are, e.g., position jumps, tracking
error deviations and incorrect direction of travel.
–In case errors are detected, the control introduces appropriate safety measures defined by the
system manufacturer
–The system manufacturer ensures, through correct attachment of the measuring system, that
the measuring system is always driven by the axis to be measured and is not overloaded.
–The system manufacturer performs a safeguarded test during commissioning and whenever a
parameter has been changed.

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2 Safety instructions
2.1 Definition of symbols and notes
means that death or serious injury will occur if the user fails to take the
respective precautionary measures.
means that death or serious injury can occur if the required precautions
are not met.
means that minor injuries can occur if the required precautions are not
met.
means that damage to property can occur if the required precautions are
not met.
indicates important information or features and application tips for the
product used.

Safety instructions
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2.2 Safety functions of the fail-safe processing unit
The F Host, to which the measuring system is connected, must perform the following safety checks.
To ensure the appropriate measures can be taken in the event of an error, the
following applies:
If the measuring system detects an error and a safe position cannot be output, the
PROFIsafe channel is automatically put into the fail-safe state. In this state, so-
called “passivated data” are output via PROFIsafe. Also see Chapter 6.7.4 on
Page 134.
Passivated data as seen by the measuring system:
PROFIsafe data channel: All outputs are set to 0
PROFIsafe status: Error bit 21Device_Fault is set
PROFIsafe-CRC: valid
TR Status1: Safe State Bit 24= 0
Upon receipt of passivated data, the F Host must put the system into a safe
state. This error state can be terminated only by elimination of the error and
subsequent re-integration!
This does not necessarily affect the process data channel that can be addressed via
PROFINET IO. If the internal diagnosis in the master channel does not detect an
error, the process data are still output. However, these data are not safe in terms of
a safety standard.
2.2.1 Mandatory safety checks / measures
Measures for commissioning, changes
Error response F Host
Application-dependent parameterization or definition of the necessary
iParameters.
–
In the event of parameter changes, check whether the measure is taken as
desired.
STOP
Check by F Host
Error response F Host
Cyclic check of the current safety-oriented data for consistency with the
previous data.
STOP
Monitoring of non-safety-related and safety-related cyclic data.
Receipt of passivated
data -> STOP
Timeout: Monitoring of the measuring system –response time. To check,
e.g., for cable breakage, power failure, etc.
STOP

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3 Installation / Preparation for Commissioning
3.1 Basic rules
The safety function may be deactivated by wire-based disturbance
sources!
All safety-related communication devices must be certified to
IEC 61010 or have a corresponding declaration of conformity.
All PROFIsafe devices used on the bus must have a PROFINET
certificate and a PROFIsafe certificate.
All safety devices must also have a certificate from a “Notified Body”
(e.g., TÜV, BIA, HSE, INRS, UL, etc.).
The 24 V power supplies used must comply with the requirements of
IEC 60364-4-41 SELV/PELV and be NEC Class 2 compliant for UL
applications.
Only use cables and connectors for which the manufacturer has
issued a PROFINET manufacturer’s declaration.
The shielding effect of cables must also be ensured after installation
(bending radii/tensile strength!) and after connector changes. In cases
of doubt, use more flexible cables with a higher current carrying
capacity.
Only use M12 connectors for connecting the measuring system, which
ensure good contact between the cable shield and the connector
housing. Connect the cable shield to the connector housing over a
large area.
Compensating currents caused by differences in potential across the
shield to the measuring system must be prevented.
A shielded and stranded data cable must be used to ensure high
electromagnetic interference stability of the system. The shield should
be connected to protective ground in a well-conducting manner using
large-scale shield clips, if possible on either end. The shielding should
be grounded in the switch cabinet on one end only if the machine
ground is heavily contaminated with interference towards the switch
cabinet ground.
Equipotential bonding measures must be provided for the complete
processing chain of the system.
Power and signal cables must be laid separately. During installation,
observe the applicable national safety and installation regulations for
data and power cables.
Observe the manufacturer's instructions for the installation of
converters and for shielding power cables between frequency
converter and motor.
Ensure adequate dimensioning of the energy supply.
Recommendation: Check the PROFINET network for sufficient
bandwidth reserves (determination of network load) before starting
serial operation.

Installation / Preparation for Commissioning
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Upon completion of installation, a visual inspection with report should be carried out. Whenever
possible, the quality of the network should be verified using a suitable bus analysis tool: no duplicate
IP addresses, no reflections, no frame repetitions, etc.
To ensure safe and fault-free operation, the
- PROFINET Design Guidelines, PNO order no.: 8.062
- PROFINET Installation Guidelines, PNO order no.: 8.072
- PROFINET Commissioning Guidelines, PNO order no.: 8.082
- PROFIsafe “Environmental Requirements”, PNO order no.: 2.232
- and the standards and PNO documents referenced therein
must be observed!
In particular the EMC directive in its valid version must be observed!
3.2 PROFINET IO transmission technology, cable specification
The safety-related PROFIsafe communication and the PROFINETcommunication are transmitted over
the shared network.
PROFINET supports linear, tree or star structures. The bus or linear structure used in the field buses
is thus also available for Ethernet. This is particularly useful in plant wiring, as a combination of linear
and branch lines is possible. The line topology is easily implemented as the measuring systems
already have an integrated switch.
Only use cables and connectors for which the manufacturer has issued a PROFINET manufacturer’s
declaration. The conduction type A/B/C, the mechanical and chemical properties, as well as the
configuration of the PROFINET cable, are to be defined according to the automation task. The cables
are designed for bit rates of up to 100 Mbit/s. Both cross-over and straight cables can be used as the
measuring system supports the “auto crossover function”. The transmission velocity is automatically
detected by the measuring system and does not have to be set by switches.
Bus addressing via switches as with PROFIBUS-DP is also not necessary as this is done
automatically by the addressing options of the PROFINET controller, however, the PROFIsafe
destination address “F_Dest_Add” must be set, see Page 20.
The cable length including the patch cable for copper cabling between two subscribers is designed for
a distance of up to max. 100 m. This transmission link is defined as a PROFINET end-to-end link.
Within an end-to-end link, the number of detachable connections is limited to six (male/female)
connector pairs. If more than six connector pairs are required, the maximum permissible connection
loss index (Channel Class-D values) must be maintained for the entire transmission link.
The IRT communication topology is configured in a connection table. Correct
connection of ports 1 and 2 must be ensured.
This is not the case for RT communication, which can be freely wired.

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3.3 Connection instructions
The pin assignment depends on the device version and is therefore noted on every connector as a pin
assignment number. When the measuring system is delivered, a printed device-specific pin
assignment form is enclosed.
Download
https://www.tr-electronic.com/service/downloads/pin-assignments.html
The measuring system may be destroyed or damaged or its function be
impaired by ingress of moisture!
Connector plugs of the measuring system that are unused during
storage and/or operation of the system have to be provided either with
a mating connector or a protective cap. The IP degree of protection is
to be selected according to requirements.
Protective cap with O-ring:
When re-closing, check that the O-ring is present and seated properly.
For suitable protective caps, see the Chapter on Accessories in the
Safety Manual.
3.3.1 Supply voltage
The internal electronics may be damaged by impermissible overvoltages
and this damage go unnoticed!
The power supply used must meet the requirements of
–SELV/PELV (IEC 60364-4-41:2005)
–and be designed according to NEC Class 2,
see also Chapter “UL/CSA Approval” in the safety manual
Cable specification: min. 0.34 mm2(recommended 0.5 mm2) and shielded.
Generally, the cable cross-section must be harmonized with the cable length.
3.3.2 Optional additional interfaces (Incremental, SSI)
Cable specification: min. 0.25 mm2and shielded.
To guarantee the signal quality and minimization of possible environmental influences, we urgently
recommend to use a shielded twisted pair cable.

Installation / Preparation for Commissioning
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3.4 PROFIsafe destination address “F_Dest_Add”
The measuring system may be destroyed or damaged or its function be
impaired by penetration of foreign bodies and ingress of moisture!
Firmly close the access to the address switches with the screw plug
after the settings have been made.
Use the PROFIsafe destination address for the address assignment of the F-parameter F_Dest_Add.
Valid addresses: 1…65534, see also Chapter “F_Source_Add / F_Dest_Add“ on Page 135.
The PROFIsafe destination address is set via two HEX rotary switches. See pin assignment for
location and switch assignment.