TR-Electronic CDV582 User manual

TR-ECE-BA-GB-0169 v01 / 06/19/2023
Interface
User Manual
_Safety information
_Device-specific characteristics
_Installation/Commissioning
_Parameterization
_Error causes and solutions
Original
Absolute Encoder CD_582-EPL
POWERLINK/openSAFETY
CDH582
M
CDV582
M
DIN EN 61508: SIL CL2 / SIL CL3
DIN EN ISO 13849: PL d / PL e
Illustrations similar

Contents
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TR-Electronic GmbH
D-78647 Trossingen
Eglishalde 6
Tel.: [phone]
Fax: [phone]
Email: [email protected]
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
consent of the manufacturer. Violations shall be subject to claims for damages.
Subject to amendments
The right to make any changes in the interest of technical progress is reserved.
Document information
Release date / Rev. date: 06/19/2023
Document / Rev. no.: TR-ECE-BA-GB-0169 v01
File Name: TR-ECE-BA-GB-0169-01.doc
Author: MÜJ, DIR
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 screen and software/software menu selections.
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Brand names
Specified products, names and logos serve exclusively for information purposes and may be
trademarks of their respective owners, without any special marking to indicate this.

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Contents
Contents............................................................................................................................................3
Revision index ..................................................................................................................................6
1 General information ......................................................................................................................7
1.1 Applicability......................................................................................................................7
1.2 References ......................................................................................................................8
1.3 Abbreviations and terms used.........................................................................................9
1.4 Main features...................................................................................................................11
1.5 Principle of the safety function.........................................................................................12
2 Safety information.........................................................................................................................13
2.1 Definition of symbols and notes ......................................................................................13
2.2 Safety functions of the fail-safe processing unit..............................................................14
2.2.1 Mandatory safety checks / measures..............................................................14
3 Installation / Preparation for Commissioning ............................................................................15
3.1 Basic rules.......................................................................................................................15
3.2 POWERLINK transfer technology, cable specification....................................................16
3.3 Connection information....................................................................................................17
3.3.1 Supply voltage.................................................................................................17
3.3.2 Optional additional interfaces (Incremental, SSI)............................................17
3.4 EPL Node ID....................................................................................................................18
3.4.1 Adjustment via hardware switches..................................................................18
3.5 Measuring system - POWERLINK synchronization........................................................18
3.6 Incremental interface / SIN/COS interface (optional)......................................................19
3.6.1 Signal characteristics.......................................................................................20
3.6.2 HTL / TTL levels (optional)..............................................................................21
3.7 SSI interface (optional)....................................................................................................23
3.7.1 Signal characteristics.......................................................................................23
3.7.2 Cable lengths...................................................................................................25
4 Commissioning..............................................................................................................................26
4.1 POWERLINK / openSAFETY..........................................................................................26
4.2 Device description file......................................................................................................27
4.3 Bus status display............................................................................................................28
4.3.1 Display states and flashing frequency.............................................................28
4.3.2 Link / Data Activity LEDs .................................................................................28
4.3.3 POWERLINK Status LED................................................................................29
4.3.4 openSAFETY Status LED................................................................................29
4.4 IP addressing...................................................................................................................30
4.5 Commissioning via B&R X20 CPU..................................................................................30
5 Structure of Process Data............................................................................................................31
5.1 Legacy profile ..................................................................................................................31
5.1.1 Safety-related process data.............................................................................31
5.1.1.1 Input data.........................................................................................32
5.1.1.1.1 TR-Status.........................................................................32
5.1.1.1.2 Speed...............................................................................33
5.1.1.1.3 Multi turn / Single turn......................................................33

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5.1.1.1.4 Actual value scale............................................................34
5.1.1.2 Output data......................................................................................35
5.1.1.2.1 TR-Control........................................................................35
5.1.1.2.2 Preset multi turn / Preset single turn................................35
5.1.2 NON-safety-related process data....................................................................36
5.1.2.1 Input data.........................................................................................36
5.1.2.1.1 Cams................................................................................36
5.1.2.1.2 Speed...............................................................................37
5.1.2.1.3 Multi turn / Single turn......................................................37
5.1.2.1.4 Actual value scale............................................................38
5.1.3 Preset adjustment function..............................................................................39
5.1.3.1 Timing diagram................................................................................40
5.2 TR profile.........................................................................................................................41
5.2.1 Safety-related process data.............................................................................41
5.2.1.1 Input data.........................................................................................42
5.2.1.1.1 TR-Status 1......................................................................42
5.2.1.1.2 TR-Status 2......................................................................43
5.2.1.1.3 Safe position value...........................................................43
5.2.1.1.4 Speed...............................................................................43
5.2.1.2 Output data......................................................................................44
5.2.1.2.1 TR-Control........................................................................44
5.2.1.2.2 Preset set value ...............................................................44
5.2.1.3 Preset adjustment function..............................................................45
5.2.1.3.1 Timing diagram ................................................................46
5.2.2 NON-safety-related process data....................................................................47
5.2.2.1 Input data.........................................................................................47
5.2.2.1.1 TR-Status.........................................................................47
5.2.2.1.2 Position ............................................................................48
5.2.2.1.3 Speed...............................................................................48
5.2.2.2 Output data......................................................................................48
5.2.2.2.1 TR-Control........................................................................48
5.2.2.2.2 Preset set value ...............................................................48
5.2.2.3 Preset adjustment function..............................................................49
6 POWERLINK –Object Directory ..................................................................................................50
6.1 Communication-specific standard objects, EPSG DS-301 .............................................50
6.2 Relevant manufacturer-specific objects ..........................................................................51
6.2.1 Object 2000h: Device configuration.................................................................51
6.2.2 Object 2012h: NON-safety-related data –Legacy / TR profile........................51
6.2.3 Object 2020h: Status information - head-end..................................................51
6.2.4 Object 4002h: Indata_safe –Legacy / TR profile............................................52
6.2.5 Object 4003h: Outdata_safe –Legacy / TR profile.........................................52
6.3 Access to the POWERLINK object directory...................................................................53
6.3.1 TR-Legacy .......................................................................................................53
6.3.2 TR profile .........................................................................................................54
7 openSAFETY –Object Directory..................................................................................................55
7.1 Access to openSAFETY –I/O data.................................................................................55
7.1.1 TR-Legacy .......................................................................................................55
7.1.2 TR profile .........................................................................................................56
8 Parameterization - Modular Measuring System.........................................................................57
8.1 Head-end.........................................................................................................................57
8.2 “Legacy” child element ....................................................................................................58
8.2.1 Safety-related parameters...............................................................................58
8.2.1.1 Rotational direction..........................................................................58
8.2.1.2 Safe integration time........................................................................58

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8.2.1.3 Window increments .........................................................................59
8.2.1.4 Preset standstill tolerance................................................................59
8.2.2 NON-safety-related parameters ......................................................................59
8.2.2.1 Unsafe integration time....................................................................59
8.3 “TR Profile” child element................................................................................................60
8.3.1 Safety-related parameters...............................................................................60
8.3.1.1 Rotational direction..........................................................................61
8.3.1.2 Scaling parameters..........................................................................62
8.3.1.3 Speed format ...................................................................................65
8.3.1.4 Speed factor.....................................................................................65
8.3.1.5 Speed integration time.....................................................................66
8.3.1.6 Speed filter type...............................................................................66
8.3.1.7 Speed filter strength.........................................................................67
8.3.1.8 Window increments .........................................................................67
8.3.2 NON-safety-related parameters ......................................................................68
8.3.2.1 Rotational direction..........................................................................69
8.3.2.2 Scaling parameters..........................................................................69
8.3.2.3 Speed format ...................................................................................72
8.3.2.4 Speed factor.....................................................................................72
8.3.2.5 Speed integration time.....................................................................73
8.3.2.6 Speed filter strength.........................................................................73
8.3.2.7 Speed filter type...............................................................................74
8.3.2.8 Remote default value.......................................................................74
8.3.2.9 Linked to safe sensor.......................................................................74
8.4 OPTION: “SSI” and “Incremental” child elements ...........................................................75
8.4.1 SSI (synchronous-serial) parameters..............................................................76
8.4.1.1 SSI channel......................................................................................77
8.4.1.2 SSI coding........................................................................................77
8.4.1.3 SSI number of bits ...........................................................................77
8.4.1.4 SSI mono time .................................................................................77
8.4.1.5 SSI status bits..................................................................................77
8.4.1.6 SSI sign-of-life counter ....................................................................78
8.4.1.7 SSI checksum..................................................................................78
8.4.2 Incremental parameters...................................................................................79
8.4.2.1 Number of incr. pulses.....................................................................79
9 Output of Forced Variable Values (Substitute Values)..............................................................80
10 Troubleshooting and Diagnosis Options..................................................................................81
10.1 Optical displays .............................................................................................................81
10.1.1 Link status, PORT1: LED1; PORT2: LED2 ...................................................81
10.1.2 POWERLINK status, LED3 ...........................................................................81
10.1.3 openSAFETY Status, LED4 ..........................................................................82
10.2 Manufacturer-specific diagnosis (POWERLINK object)................................................83
11 Checklist, Part 2 of 2...................................................................................................................84
12 Appendix ......................................................................................................................................85
12.1 POWERLINK certificate.................................................................................................85
12.2 EU Declarations of Conformity......................................................................................85

Revision index
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Revision index
Modification
Date
Index
First issue
06/19/2023
01

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1 General information
This interface-specific user manual contains the following topics:
●Safety information
●Device-specific characteristics
●Installation/Commissioning
●Parameterization
●Error causes and solutions
As the documentation is arranged in a modular structure, this User Manual is supplementary to other
documentation, such as product data sheets, dimensional drawings, brochures and 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 for measuring system series in accordance with the following
type code with POWERLINK interface and openSAFETY protocol:
* 1
* 2
* 3
* 4
* 5
-
* 6
* 6
* 6
* 6
* 6
Position
Designation
Description
* 1
A
C
Explosion-proof enclosure (ATEX);
Absolute encoder, programmable
* 2
D
Redundant dual scanning
* 3
V
Solid shaft
H
Hollow shaft
S
Blind shaft
W
Draw-wire box
* 4
582
Outer diameter 58 mm, 2nd generation
* 5
M
Multiturn
S
Singleturn
* 6
-
Consecutive number
* = placeholder
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
http://www.tr-electronic.de/f/TR-ECE-BA-GB-0142
●Product data sheets https://www.tr-electronic.com/s/S025323

General information
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1.2 References
1.
EPSG DS-301 Ethernet POWERLINK Communication Profile V1.4.0
2.
EPSG WDP-304 openSAFETY Profile Specification V1.5.2
3.
CiA DS-406 CANopen Profile for Encoders
4.
IEC 61158-300 Digital data communications for measurement and control
- Fieldbus for use in industrial control systems
- Part 300: Data Link Layer service definition
5.
IEC 61158-400 Digital data communications for measurement and control
- Fieldbus for use in industrial control systems
- Part 400: Data Link Layer protocol specification
6.
IEC 61158-500 Digital data communications for measurement and control
- Fieldbus for use in industrial control systems
- Part 500: Application Layer service definition
7.
IEC 61158-600 Digital data communications for measurement and control
- Fieldbus for use in industrial control systems
- Part 600: Application Layer protocol specification
8.
IEC 61784-2 Digital data communications for measurement and control
- Additional profiles for ISO/IEC 8802-3 based
communication networks in real-time applications
9.
ISO/IEC 8802-3 Carrier Sense Multiple Access with Collision Detection
(CSMA/CD) Access Method and Physical Layer Specifications
10.
IAONA Directive “Industrial Ethernet - Planning and Installation Guide”
11.
ISO/IEC 11801, Information technology - Application-neutral
EN 50173 communication cable systems

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1.3 Abbreviations and terms used
0x
Hexadecimal representation
Automation Studio
B&R programming tool
CAT
Category:
Classification of cables which are also used for Ethernet.
CD_
Absolute encoder with redundant dual scanning,
all variants
CiA
CAN in Automation. Internationale Anwender- und Herstellervereinigung e.V.:
not-for-profit organization for the Controller Area Network (CAN).
CN
Controlled Node: Node in the EPL network, without the capability to control the
“Slot Communication Network Management” (Slave).
CRC
Cyclic Redundancy Check
DCavg
Diagnostic Coverage
Average diagnostic coverage
EU
Europäische Union
EMC
Electro-Magnetic Compatibility
EPL
Ethernet PowerLink
EPSG
ETHERNET Powerlink Standardization Group
Forced values
In the case of a safety-related periphery with outputs, the safety-related system
transmits default values (e.g. 0) to the fail-safe outputs in the case of error
instead of the output values provided in the process image by the safety program.
Hub
A hub connects different network segments together, e.g. in an Ethernet network.
IAONA
Industrial Automation Open Networking Alliance
IEC
International Electrotechnical Commission
IP
Internet Protocol
ISO
International Standard Organization
MAC
Media Access Control, Ethernet-ID
MNnmt
Managing Node: Node in the EPL network, with the capability to control the “Slot
Communication Network Management” (Master).
MTTFd
Mean Time ToFailure (dangerous)
Mean time until dangerous failure
NMT
Network Management. One of the service elements in the application layer in the
CAN reference model. Executes initialization, configuration and troubleshooting
in bus traffic.
PDO
Process Data Object. Object for data exchange between several devices.
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.

General information
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Continued
S/UTP
Shielded/Unshielded Twisted Pair
SDO
Service Data Object. Point to point communication with access to the object data
list of a device.
SIL
Safety Integrity Level: Four discrete levels (SIL1 to SIL4). The higher the SIL of a
safety-related system, the lower the probability that the system cannot execute
the required safety functions.
Slot
Time slot
Repeat test
(proof test)
Repetitive test to detect hidden dangerous failures in a safety-related system.
XDD
XML Device Description,
NON-safety-related device description file
XOSDD
openSAFETY Device Description,
safety-oriented device description file
XML
EXtensible Markup Language

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1.4 Main features
●POWERLINK - Interface with openSAFETY protocol, for transfer of a safe position and speed
●Quick process data channel via POWERLINK, NON-safety-related
●Only for variant 1:
Additional incremental / SIN/COS or SSI interface, NON-safety-related
●Two-channel scanning system, for generation of reliable measured data through internal channel
comparison
–Variant 1:
Channel 1, Master system:
optical single-turn scanning via code disk with transmitted light and magnetic multi-turn
scanning
Channel 2, inspection system:
magnetic single and multi-turn scanning
–Variant 2:
Channel 1, Master system:
magnetic single and multi-turn scanning
Channel 2, inspection system:
magnetic single and multi-turn scanning
●A common drive shaft
The data of the more precise measuring system are made available unchecked in the NON-safety-
related process data channel with normal POWERLINK protocol. As the process data do not have to
be compared, these data are more up-to-date in variant 1 than the safety-related process data.
The inspection system serves for the internal safety check. The "safe data" obtained through two-
channel data comparison are packed into the openSAFETY protocol and also transmitted to the
POWERLINK control via POWERLINK. The data are also made available to the openSAFETY control
through cross traffic.
The SSI interface and the incremental interface, or the optionally available SIN/COS interface, is
derived from a single channel and is not evaluated from a safety viewpoint.

General information
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1.5 Principle of the safety function
System safety results when:
–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 speed in two channels and transfers the safe data in the
openSAFETY protocol via POWERLINK to a downstream, safety-related control
–In the event of a failed channel comparison or other errors detected through internal
diagnostic mechanisms, the measuring system switches the openSAFETY channel into error
state
–The measuring system initialization and execution of the preset adjustment function are
appropriately verified
–The control additionally checks whether the obtained position data lie in the position window
expected by the control. Unexpected position data are e.g. position jumps, tracking error
deviations and incorrect direction of travel
–When errors are detected the control introduces appropriate safety measures defined by the
system manufacturer
–The system manufacturer ensures, through correct mounting 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 verified test during commissioning and in the event of
any parameter modification

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2 Safety information
2.1 Definition of symbols and notes
means that death or serious injury will occur if the required precautions are
not met.
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 information
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2.2 Safety functions of the fail-safe processing unit
The measuring system does not make any decisions about valid states of motion of the system in
which it is used. The system must check the consistency between the position information of the
measuring system and the expected movement of the system.
The safety control, to which the measuring system is connected, must perform the following safety
checks.
To enable the correct measures to be taken in the case of error, the following
applies:
If no safe position can be output due to an error detected by the measuring system,
the openSAFETY channel is set to Pre-Operational state and automatically put
into fail-safe state, openSAFETY status LED = red. In this state so-called "forced
variable values" are output via the openSAFETY channel. Also see the chapter
"Output of Forced Variable Values (Substitute Values)" on page 80.
Fail-safe state from the viewpoint of the measuring system:
–openSAFETY state: Pre-Operational
–openSAFETY frame: Data are set to 0
–openSAFETY module: SafeModuleOk: invalid
Upon receipt of forced data, the safety control must put the system into a safe
state. It is only possible to leave this error state by eliminating the error and
then switching the measuring system supply voltage off and on again!
Depending on the error, it is also possible to leave the error state by
acknowledging the error (Error Acknowledge) in the TR profile.
The process data channel addressable via POWERLINK is not necessarily affected
by this. If the internal diagnosis of the single-channel position acquisition does not
detect an error, the process data are still output. Module status: ModuleOk=valid.
However, these data are not safe for the purposes of a safety standard.
2.2.1 Mandatory safety checks / measures
Measures for commissioning, changes
Error reaction
Application-dependent parameterization of openSAFETY
parameters, see chapter "Parameterization - Modular
Measuring System" on page 57.
–
In the event of parameter changes, check that the measure is
executed as desired.
STOP
Check by safety control
Error reaction
Cyclical consistency check of the current safety-related
openSAFETY data in relation to the previous data.
STOP
Consistency check between openSAFETY position information
of the measuring system and the movement of the system.
STOP
Monitoring of cyclical openSAFETY data.
SafeModuleOk = false --> STOP
Timeout: Monitoring of the measuring system - response time.
For checking e.g. cable breakage, power failure etc..
STOP

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3 Installation / Preparation for Commissioning
3.1 Basic rules
Deactivation of the safety function through conducted interference
sources!
All openSAFETY devices used on the bus must have a POWERLINK
and an openSAFETY certificate.
All safety-related devices must also have a certificate from a "Notified
Body" (e.g. TÜV, BIA, HSE, INRS, UL, etc.).
The 24V power supplies used must meet the requirements according
to IEC 60364-4-41 SELV/PELV and conform to NEC Class 2 in UL
applications.
The shielding effect of cables must also be guaranteed after
installation (bending radii/tensile strength!) and after connector
changes. In cases of doubt, use more flexible cables with a higher
current carrying capacity.
For connecting the measuring system only use M12 connectors, which
guarantee good contact between the cable shield and connector
housing. The cable shield must be connected to the connector housing
over a large area.
Compensating currents due to potential differences across the shield
to the measuring system must be avoided.
A shielded and stranded data cable must be used to ensure high
electromagnetic interference stability of the system. The shielding
should be connected to protective ground on both sides if possible,
ensuring good conductivity, using large shield clips. The shielding
should be grounded in the switch cabinet on one side, 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
the national safety and installation directives for data and energy
cables must be observed.
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.

Installation / Preparation for Commissioning
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Upon completion of installation, a visual inspection with report should be carried out. Where possible,
the network quality should be determined using a suitable bus analysis tool: no duplicate IP
addresses, no reflections, no frame repetitions etc.
To ensure safe and fault-free operation,
- ISO/IEC 11801, EN 50173 (European standard)
- ISO/IEC 8802-3
- EPSG DS 301, Communication Profile Specification, chapter “Physical
Layer”
- IAONA directive “Industrial Ethernet - Planning and Installation Guide”
chapters “Cable” and “System Installation”
www.iaona-eu.com
- and the standards and directives referenced therein must be observed!
In particular the EMC directive in its valid version must be observed!
3.2 POWERLINK transfer technology, cable specification
The safety-related openSAFETY communication is embedded in the standard protocol of
POWERLINK and transmitted over the same network.
For transmission according to the 100Base-TX Fast Ethernet standard, patch cables in category
S/UTP Cat5e must be used (overall shielding with 2 x 2 unshielded twisted pair copper wire cables).
The cables are designed for bit rates of up to 100 Mbit/s. As the measuring system supports the
“Auto-Crossover function”, both crossed and uncrossed cables can be used. The transmission speed
is automatically detected by the measuring system and does not have to be set by means of a switch.
Half-duplex mode must be used for transmission, and automatic detection must be switched off. The
use of Class 2 hubs is recommended for setting up the EPL network.
The cable length between two nodes may be max. 100 m.

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3.3 Connection information
The pin assignment is dependent on the device type and is therefore noted on the type plate of each
measuring system as a pin assignment number. When the measuring system is delivered, a device-
specific pin assignment is provided in printed form.
Download
https://www.tr-electronic.com/service/downloads/pin-assignments
Destruction, damage and malfunction of the measuring system due to
penetration of moisture!
When storing and operating the measuring system unused connection
plugs must either be provided with a mating plug or a protective cap.
The appropriate IP protection class must be selected to meet the
relevant requirements.
Closing elements with O-ring:
When re-closing, check that the O-ring is present and correctly
positioned.
For appropriate protective caps, see the "Accessories" chapter in the
Safety manual.
3.3.1 Supply voltage
Danger of unnoticed damage to the internal electronics, due to
unacceptable overvoltages!
The power supply used must meet the requirements of
- SELV/PELV (IEC 60364-4-41:2005)
- NEC Class 2 (design),
also see chapter “UL / CSA approval” in the Safety Manual
Cable specification: min. 0.34 mm2(recommended: 0.5 mm2). Generally, the cable cross-section must
be matched to the cable length. The use of a shielded cable is recommended for applications in
particularly sensitive EMC environments.
3.3.2 Optional additional interfaces (Incremental, SSI)
Cable specification: min. 0.25 mm2and shielded.
However, to ensure signal quality and to minimize possible environmental influences, the use of a
twisted-pair cable is also recommended.

Installation / Preparation for Commissioning
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3.4 EPL Node ID
Each EPL node, MN/CN/router, is addressed by an 8-bit EPL Node-ID on the EPL layer. This ID can
only be assigned once within an EPL segment and therefore only has significance for the local EPL
segment. The Node-ID's 1…239 (0x01…0xEF) can be assigned for the measuring system.
3.4.1 Adjustment via hardware switches
Destruction, damage and malfunction of the measuring system due to
penetration of foreign bodies and moisture!
Make sure that the closing screw is securely closed again after
accessing the hardware switches to make settings.
The Node-ID is adjusted by means of two HEX rotary switches, which are only read in at the moment
of switch-on. Subsequent settings during operation are therefore not recognized.
axial connector radial connector
0
SW2 (16 )
1
SW1 (16 )
0
SW2 (16 )
1
Figure 1: EPL Node-ID, switch assignment
3.5 Measuring system - POWERLINK synchronization
The measuring system synchronizes with the POWERLINK field bus, when the POWERLINK cycle
time is a multiple of 500 µs.

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3.6 Incremental interface / SIN/COS interface (optional)
In addition to the POWERLINK interface, the measuring system can be equipped with an additional
incremental interface for output of the absolute position.
Adjustable parameters, see chapter 8.4.2 on page 79.
Alternatively, this can also be designed as a SIN/COS interface. This interface is not parameterizable.
This additional interface is not evaluated in relation to safety and must
not be used for safety-related purposes!
The interface is generally used as position feedback for motor control
applications.
Danger of damage to subsequent electronics due to overvoltages caused
by a missing ground reference point!
If the ground reference point is completely missing, e.g. 0V of the power
supply not connected, voltages equal to the supply voltage can occur at
the outputs of this interface.
It must be guaranteed that a ground reference point is present at all
times,
or appropriate protective mechanisms must be provided for the
subsequent electronics by the system operator.
The signal characteristics of the two possible interfaces are shown below.

Installation / Preparation for Commissioning
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Page 20 of 85 TR-ECE-BA-GB-0169 v01 06/19/2023
3.6.1 Signal characteristics
1: Edge evaluation
2: Measuring system with
1024 pulses/rev.
3: Counter evaluation
1x: 1024 counting pulses/rev.
2x: 2048 counting pulses/rev.
4x: 4096 counting pulses/rev.
Figure2: Counter evaluation, Incremental interface
Measurement of signals
against 0 V
Differential measurement
Figure 3: Level definition, SIN/COS interface