TR-Electronic DeviceNet C 65 Series User manual

Rotary
Encoders
Linear Encoders Motion System
TR - ECE - BA - GB - 0014 - 03 03/09/2010
User Manual
Multi-Turn
Absolute rotary encoder series Cx-65 with CAN DeviceNet ™ interface
•
Additional safety instructions
•
Installation
•
Commissioning
•
Configuration / Parameterization
•
Cause of faults and remedies
•Software/Support CD: 490-01001
- Soft-No.: 490-00407
CE-65
CS-65
CK-65
UHL00008 / UHL00005

©TR-Electronic GmbH 1998, 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 forbidden. Reproduction, translation as well as electronic and
photographic archiving and modification require the written content of the
manufacturer. Offenders will be liable for damages.
Subject to amendments
Any technical changes that serve the purpose of technical progress, reserved.
Document information
Release date/Rev. date: 03/09/2010
Document rev. no.: TR - ECE - BA - GB - 0014 - 03
File name: TR-ECE-BA-GB-0014-03.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>).
Trademarks
DeviceNet is a registered trademark of ODVA (Open DeviceNet Vendor Association)

Contents
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Contents
Contents ............................................................................................................................................3
Revision index ..................................................................................................................................5
1 General information ......................................................................................................................6
1.1 Applicability......................................................................................................................6
1.2 Abbreviations used / Terminology ...................................................................................7
2 Additional safety instructions......................................................................................................8
2.1 Definition of symbols and instructions .............................................................................8
2.2 Additional instructions for proper use ..............................................................................8
2.3 Organizational measures.................................................................................................9
3 Technical data................................................................................................................................10
3.1 Electrical characteristics ..................................................................................................10
4 CAN DeviceNet information ........................................................................................................11
5 Installation / Preparation for start-up ..........................................................................................13
5.1 Connection.......................................................................................................................14
5.2 Bus termination................................................................................................................14
5.3 Identifier (MAC-ID)...........................................................................................................14
5.4 Baud rate .........................................................................................................................14
5.5 Shield cover .....................................................................................................................15
6 Commissioning..............................................................................................................................17
6.1 CAN DeviceNet interface.................................................................................................17
6.1.1 Bus status ........................................................................................................17
6.1.2 EDS file............................................................................................................18
6.1.3 Messages ........................................................................................................18
6.1.4 Classes ............................................................................................................18
6.1.5 I/O Instance (polled IO)....................................................................................19
7 Parameterization and configuration............................................................................................20
7.1 Configuration Assembly Data Attribute Format...............................................................20
7.1.1 Assembly Object 04h.......................................................................................20
7.2 Parameter Object Instances............................................................................................22
7.2.1 Parameter Object 0Fh .....................................................................................22
7.2.2 GET DATA CHECK - command ......................................................................23
7.3 Parameters / Range of values.........................................................................................23
7.3.1 Direction...........................................................................................................23
7.3.2 Output Code ....................................................................................................23

Contents
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7.3.3 Scaling parameters..........................................................................................24
7.3.4 Adjust Absolute Value......................................................................................27
7.3.5 Auxiliary Outputs 1 - 7 .....................................................................................27
7.3.5.1 Definition of the operating- and safety-range ..................................28
8 Causes of faults and remedies ....................................................................................................29
8.1 Error and over-range messages (I/O communication port).............................................29
8.2 Parameterization errors...................................................................................................30
8.3 Other faults ......................................................................................................................31
Appendix
Pin Assignment
Version 1.......................................................................................TR-ECE-TI-GB-0022
Version 2.......................................................................................TR-ECE-TI-GB-0030
Version 3.......................................................................................TR-ECE-TI-GB-0036

Revision index
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Revision index
Revision Date Index
First release 08/06/1998 01
Documentation organized again and Pin Assignment Version 3
complemented. 12/04/1998 02
General modifications 03/09/2010 03

General information
©TR-Electronic GmbH 1998, All Rights Reserved Printed in the Federal Republic of Germany
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1 General information
This interface-specific User Manual includes the following topics:
•Safety instructions in additional to the basic safety instructions defined in the
Assembly Instructions
•Electrical characteristics
•Installation
•Commissioning
•Configuration / parameterization
•Causes of faults and remedies
As the documentation is arranged in a modular structure, this User Manual is
supplementary to other documentation, such as product datasheets, dimensional
drawings, leaflets and the assembly instructions 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 the following measuring system models with
CAN DeviceNet
™ interface:
•CE-65
•CS-65
•CK-65
The products are labelled with affixed nameplates and are components of a system.
The following documentation therefore also applies:
•the operator's operating instructions specific to the system,
•this User Manual,
•and the assembly instructions TR-ECE-BA-DGB-0046, which is enclosed
when the device is delivered

General information
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1.2 Abbreviations used / Terminology
CAN Controller Area Network
(manufacturer independent, open field bus standard)
CiA CAN in Automation
(CAN User Organization, "Holding organization")
CE Absolute Encoder with optical scanning unit,
Solid Shaft
CK Absolute Encoder with optical scanning unit,
Integrated Claw Coupling
CS Absolute Encoder with optical scanning unit,
Blind Shaft
DeviceNet™CAN protocol, defined in the Application Layer (layer 7)
DUP-
MAC-ID-Test
DUPLICATE-MAC-ID-Test
Checking the master for duplicates of slave MAC-IDs. Each
address of the connected slaves may occur only once.
EMC Electro Magnetic Compatibility
EDS Electronic-Data-Sheet
MAC-ID Media Access Control Identifier
(node address)
ODVA Open DeviceNet Vendor Association
(CAN User Organization, especially for DeviceNet™)

Additional safety instructions
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2 Additional safety instructions
2.1 Definition of symbols and instructions
WARNING!
means that death, serious injury or major damage to property
could occur if the stated precautions are not met.
CAUTION !
means that minor injuries or damage to property can occur if the
stated precautions are not met.
indicates important information’s or features and application tips
for the product used.
2.2 Additional instructions for proper use
The measurement system is designed for operation with CAN DeviceNet™networks
according to the International Standard ISO/DIS 11898 and 11519-1 up to max.
500 kbit/s.
The technical guidelines for the structure of the CAN DeviceNet™network from the
CAN User Organization ODVA are always to be observed in order to ensure safe
operation.
Proper use also includes:
•observing all instructions in this User Manual,
•observing the assembly instructions. The "Basic safety instructions" in
particular must be read and understood prior to commencing work.

Additional safety instructions
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2.3 Organizational measures
•This User Manual must always kept accessible at the site of operation of the
measurement system.
•Prior to commencing work, personnel working with the measurement system
must have read and understood
- the assembly instructions, in particular the chapter "Basic safety
instructions",
- and this User Manual, in particular the chapter "Additional safety
instructions".
This particularly applies for personnel who are only deployed occasionally,
e.g. at the parameterization of the measurement system.

Technical data
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3 Technical data
3.1 Electrical characteristics
Supply voltage ................................................ 11-27 V DC, twisted in pairs and shielded
Current load ....................................................
< 200 mA at 11 V DC, < 110 mA at 27 V DC (unloaded)
Total resolution ..............................................
≤ 24 bit (optional 25 bit)
Number of steps / revolution ........................
≤ 8.192
Measurement range
Standard....................................................
≤ 4.096 revolutions (12 bit)
Expanded ..................................................
≤ 256.000 revolutions
Baud rate (adjustable) ................................... 125 kbit/s, line length up to 500 m
250 kbit/s, line length up to 250 m
500 kbit/s, line length up to 100 m
Station addresses .......................................... 0 – 63, adjustable via DIP switches
Transmission .................................................. twisted in pairs and shielded copper cable
CAN DeviceNet interface ............................... CAN field bus interface (opto-isolated)
Data transmission...................................... CAN bus driver (ISO/DIS 11898)
Terminating resistor ...................................... 121 ohm, selectable via DIP switches
Special features .............................................. Programming of the following parameters via the
CAN-BUS:
- Direction of rotation
- Output code (binary, gray)
- Measuring length in steps
- Measuring length in revolutions
- Adjustment
- 7 special outputs
EMC
Immunity to disturbance .......................... DIN EN 61000-6-2: 2006
Transient emissions ................................. DIN EN 61000-6-3: 2007

CAN DeviceNet information
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4 CAN DeviceNet information
DeviceNet™was developed by Rockwell Automation and the ODVA as an open field
bus standard, based on the CAN protocol and is standardized in the European
standard EN 50325. Specification and maintenance of the DeviceNet standard is
regulated by the ODVA. DeviceNet™, along with ControlNet and EtherNet/IP, belongs
to the family of CIP-based networks. The CIP (Common Industrial Protocol) forms a
common application layer for these 3 industrial networks. DeviceNet™, ControlNet and
Ethernet/IP are therefore well matched to one another and present the user with a
graduated communication system for the physical layer (Ethernet/IP), cell layer
(ControlNet) and field layer (DeviceNet™). DeviceNet™is an object-oriented bus
system and works according to the producer/consumer model.
DeviceNet™Protocol
The DeviceNet™protocol is an object-oriented protocol. It is typically used for networking
sensors and actuators with the superordinate automation devices (PLC, IPC).
DeviceNet™Data Link Layer
Layer 2 (Data Link Layer) is based on the Controller Area Network (CAN), which was
originally designed for use in motor vehicles.
DeviceNet™Network and Data Transport Layer
The link is set up with the Group 2 Unconnected Port. Selected CAN identifiers are
used for the link set-up. A link, once set up, can be used for transmitting explicit
messages or for setting up additional I/O links. As soon as an I/O link has been set up,
I/O data can be exchanged between the DeviceNet™users. The 11 bit identifier is
used exclusively for coding I/O data. The 8-byte wide CAN data field is fully available
for user data.
DeviceNet™Application Layer – CIP Protocol
The CIP (Common Industrial Protocol) forms the application layer for DeviceNet™.
The CIP defines the exchange of I/O data in realtime via I/O messages (I/O
messaging or implicit messaging), as well as the exchange of data required for
configuration, diagnosis and management via explicit messages (explicit messaging).
The communication between two devices always takes place according to a
connection-oriented communication model, either via a point-to-point or a multicast-V1
connection. This allows both master/slave and multi-master systems to be realized.
Data are known as objects and are logged in the object directory of each device.

CAN DeviceNet information
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Predefined Master-Slave Connection Set
The so-called "Predefined Master/Slave Connection Set" is used for the DeviceNet™
measuring system. This subset of the DeviceNet™protocol simplifies the transmission
of I/O data between an automation system (PLC) and the decentralized peripheral
devices (slaves): Only "Group2 Messages" are supported, with the exception of
"Group1 Message for Slave I/O Poll Response".
DeviceNet™Device Profiles
Beyond the specification of the pure communication functions, DeviceNet™also
includes the definition of device profiles. These profiles define the respective device
types for minimally available objects and communication functions. The device type
number 08hex was defined for the DeviceNet™measuring system.
Vendor ID
The vendor IDs (manufacturer’s identifiers) are assigned and administrated by the
ODVA.
The TR-Electronic vendor ID for DeviceNet™ is "134" (dec).
You can obtain further information on DeviceNet™from the Open DeviceNet Vendor
Association (ODVA) or the following Internet addresses:
http://www.odva.org
e-mail: mailto:[email protected]

Installation / Preparation for start-up
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5 Installation / Preparation for start-up
Up to 64 bus users can communicate with each other in a DeviceNet™network with
Baud rates of 125, 250 or 500 kbit/s. The DeviceNet™cable provides both signals for
CAN-L and CAN-H data transmission, as well as two lines for the 24 Volt operating
voltage supply of the DeviceNet™bus users. The maximum length of the DeviceNet™
cable is dependent on the type of cable selected and the Baud rate. Installation takes
place in a bus topology – with or without taps – and terminators at both ends. The
terminators have a resistance value of 120 Ohm.
Bus lines
The bus lines for the DeviceNet™ system are laid down in the DeviceNet™
specification. According to this specification, the maximum extent of a DeviceNet™
system is dependent on the Baud rate:
Cable length 125 kbit/s 250 kbit/s 500 kbit/s
Total length with thick cable 500 m 250 m 100 m
Total length with thin cable 100 m 100 m 100 m
Max. drop line length 6 m 6 m 6 m
Max. length of all drop lines 156 m 78 m 39 m
The DeviceNet
™ -specification and other applicable standards and guidelines
are to be observed to insure safe and stable operation.
In particular, the applicable EMC directive and the shielding and grounding
guidelines must be observed!

Installation / Preparation for start-up
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5.1 Connection
The connection hood must first be removed from the measuring system to undertake
connection.
The pin assignments with view on the switches etc. are attached in the rear part of this
document.
For the supply shielded cables with twisted core pairs and min. 0.5 mm2have
to be used !
5.2 Bus termination
If the measuring system is the last slave in the CAN segment, the bus is to be
terminated with the termination switch = ON. In this state, the subsequent CAN-bus is
decoupled.
5.3 Identifier (MAC-ID)
The identifier (measuring system address) 0 – 63 is adjusted via 6 DIP-switches. The
adjusted address may be assigned only once in the CAN bus.
5.4 Baud rate
The baud rate is adjusted via 2 DIP-switches.
Following baud rates are possible:
●125 kbit/s
●250 kbit/s
●500 kbit/s

Installation / Preparation for start-up
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5.5 Shield cover
The shield cover is connected with a special EMC cable gland, whereby the cable
shielding is fitted on the inside.
Cable gland assembly, variant A
Pos. 1 Nut
Pos. 2 Seal
Pos. 3 Contact bush
Pos. 5 Screw socket
1. Cut shield braid / shield foil back to dimension "X".
2. Slide the nut (1) and seal / contact bush (2) + (3) over the cable.
3. Bend the shield braining / shield foil to 90° (4).
4. Slide seal / contact bush (2) + (3) up to the shield braining / shield foil.
5. Assemble screw socket (5) on the housing.
6. Push seal / contact bush (2) + (3) flush into the screw socket (5).
7. Screw the nut (1) to the screw socket (5).

Installation / Preparation for start-up
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Cable gland assembly, variant B
Pos. 1 Nut
Pos. 2 Clamping ring
Pos. 3 Inner O-ring
Pos. 4 Screw socket
1. Cut shield braid / shield foil back to dimension "X" + 2mm.
2. Slide the nut (1) and clamping ring (2) over the cable.
3. Bend the shield braining / shield foil to approx. 90°.
4. Push clamping ring (2) up to the shield braid / shield foil and wrap the
braiding back around the clamping ring (2), such that the braiding goes
around the inner O-ring (3), and is not above the cylindrical part or the torque
supports.
5. Assemble screw socket (4) on the housing.
6. Insert the clamping ring (2) in the screw socket (4) such that the torque
supports fit in the slots in the screw socket (4).
7. Screw the nut (1) to the screw socket (4).
1
2
3
4

Commissioning
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6 Commissioning
6.1 CAN DeviceNet interface
The CAN field bus interface (separated via optoelectronics with CAN-BUS-Driver
PCA82C250T) in the measuring system is determined according to the international
standard ISO/DIS 11898 and covers the two lower layers of the ISO/OSI reference
module.
The transformation of measuring system information into the CAN protocol occurs by
the protocol chip PCA82C200. The function of the protocol chip is monitored by a
watchdog.
The PREDEFINED MASTER/SLAVE CONNECTION SET is used for the measuring
system who only works as a slave. It will be used only the Group 2 Messages with
the exception of the Group 1 Message For Slave I/O Poll Response.
Establishing or breakdown of a connection must occur via Group 2 Only
Unconnected Explicit Request Message.
The measuring system contains an I/O Communication Port and an Explicit
Message Communication Port. The I/O communication port is used for polling the
measuring system position and must be made accessible by setting the watchdog
(after the I/O connection master/slave was set up before). Is the I/O port not
retriggered (polled) punctually the connection is interrupted and the red LED flashes.
The connection for the I/O port must be installed again.
During programming, data is exchanged between the measuring system and the
master in binary form.
6.1.1 Bus status
= ON
= OFF
= FLASHING
Measuring system is not online
- no DUP-MAC-ID test
- Device may not be powered
green
green
Online, with connections in the established state
- Device is allocated to a master
DUP-MAC-ID test successful
- No allocation to a master
red
red
Recoverable faults
e.g. I/O-connections are in the time-out state
- Turn off system --> turn on system
- Replace measuring system device

Commissioning
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6.1.2 EDS file
The EDS (electronic datasheet) contains all information on the measuring system-
specific parameters and the measuring system’s operating modes. The EDS file is
integrated using the DeviceNet™network configuration tool to correctly configure or
operate the measuring system.
The EDS file has the file name "1.EDS". The files are on the Software/Support CD:
Order number: 490-01001, Soft-No.: 490-00407.
"3.COD" for multi-turn measuring systems with max. 4096 steps/revolution
"2.COD" for multi-turn measuring systems with max. 8192 steps/revolution
6.1.3 Messages
Following messages are supported by the measuring system:
I/O Poll Command / Respond Message
This message is sent directly by the master to the desired slave (point-to point). For
every slave which is polled the master must sent an own poll command message.
As response on a Poll Command the slave sends back to the master the Poll
Response I/O Message.
Explicit Response / Request Message
Explicit Request Messages are used for processing of WRITE/READ-attribute's.
Explicit Response Messages contains the result of an Explicit Request Message
Service.
Group 2 Only Unconnected Explicit Request Message
Group 2 Only Unconnected Explicit Request Message serves for the establishing or
breakdown of connections for the Predefined Master/Slave Connection Set.
Duplicate MAC ID Check Message
After switch-on the measuring system it reports Duplicate MAC ID Messages.
6.1.4 Classes
The communication objects are divided into classes. The measuring system supports
the following classes:
Object Class Number of instances
01h: Identity 1
02h: Message Router 1
03h: DeviceNet 1
05h: Connection 2
04h: Assembly 2
0Fh: Parameter 19
23h: Position Sensor 1

Commissioning
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6.1.5 I/O Instance (polled IO)
Input Instance
Number Name
1 Position value
Input Data Format
Instance Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
0 D07 Low Byte Position value D00
1 D15 . D08
2 D23 . D16
High Byte Position value
1
3 7. AO 6. AO 5. AO 4. AO 3. AO 2. AO 1. AO D24
AO = Auxiliary Output

Parameterization and configuration
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7 Parameterization and configuration
WARNING !
Danger of personal injury and damage to property exists if the measuring
system is restarted after positioning in the de-energized state by shifting of the
zero point!
If the number of revolutions is not an exponent of 2, it can occur, if more than 512
revolutions are made in the de-energized state, that the zero point of the multi-turn
measuring system is lost!
•Ensure that the quotient of Revolutions Numerator / Revolutions Denominator for
a multi-turn measuring system is an exponent of 2 of the group
20, 21, 22…212 (1, 2, 4…4096).
or
•Ensure that every positioning in the de-energized state for a multi-turn measuring
system is within 512 revolutions.
7.1 Configuration Assembly Data Attribute Format
7.1.1 Assembly Object 04h
Instance Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Service
0 Direction
1 Output Code
2 Low Byte Total Number of Steps
to
5 High Byte Total Number of Steps
6 Low Byte Revolutions Numerator
to
9 High Byte Revolutions Numerator
10 Revolutions Denominator
11 Low Byte Lower Safety Limit
to
14 High Byte Lower Safety Limit
15 Low Byte Lower Operating Limit
to
18 High Byte Lower Operating Limit
19 Low Byte Upper Operating Limit
to
22 High Byte Upper Operating Limit
23 Low Byte Upper Safety Limit
to
42
26 High Byte Upper Safety Limit
r/w
Continuation, see following page