TR-Electronic LP-38 User manual

5141
TR - ELA - TI - GB - 0040 - 06 02/13/2017
User Manual
_Additional safety instructions
_Installation
_Commissioning
_Parameterization
_Cause of faults and remedies
Absolute linear encoder LP-38
+Multi sensor

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TR-Electronic GmbH
D-78647 Trossingen
Eglishalde 6
Tel.: [phone]
Fax: [phone]
email: [email protected]
www.tr-electronic.com
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: 02/13/2017
Document / Rev. no.: TR - ELA - TI - GB - 0040 - 06
File name: TR-ELA-TI-GB-0040-06.docx
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
DeviceNet is a trademark of ODVA, Inc.

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Contents
Contents.............................................................................................................................................. 3
Revision index .................................................................................................................................... 4
1 General information ........................................................................................................................ 5
1.1 Applicability............................................................................................................................. 5
1.2 Abbreviations used / Terminology .......................................................................................... 6
2 Additional safety instructions........................................................................................................ 7
2.1 Definition of symbols and instructions.................................................................................... 7
2.2 Additional instructions for proper use..................................................................................... 7
2.3 Organizational measures........................................................................................................ 8
3 Multi-Sensor - Technique................................................................................................................ 9
4 DeviceNet™ information................................................................................................................. 10
5 Installation / Preparation for start-up............................................................................................ 12
5.1 Connection.............................................................................................................................. 13
5.2 Bus termination....................................................................................................................... 13
5.3 Identifier (MAC-ID).................................................................................................................. 13
5.4 Baud rate ................................................................................................................................ 13
5.5 Shield cover............................................................................................................................ 14
6 Commissioning................................................................................................................................ 16
6.1 CAN interface.......................................................................................................................... 16
6.1.1 Bus status ............................................................................................................... 16
6.1.2 EDS file................................................................................................................... 17
6.1.3 Messages................................................................................................................ 17
6.1.4 Classes ................................................................................................................... 18
6.1.5 I/O Instance (polled IO)........................................................................................... 18
7 Parameterization and configuration.............................................................................................. 19
7.1 Configuration Assembly Data Attribute Format...................................................................... 19
7.1.1 Assembly Object 04h.............................................................................................. 19
7.2 Parameter Object Instances................................................................................................... 19
7.2.1 Parameter Object 0Fh............................................................................................. 19
7.3 Parameters / Range of values................................................................................................ 20
7.3.1 Direction.................................................................................................................. 20
7.3.2 Output Code............................................................................................................ 20
7.3.3 Total Number of Steps............................................................................................ 20
7.3.4 Adjust Absolute Value............................................................................................. 21
7.3.5 Number of Magnets ................................................................................................ 21
8 Causes of faults and remedies ...................................................................................................... 22
Pin assignment downloads
LP-38 .......................................................................www.tr-electronic.com/f/TR-ELA-TI-GB-0009

Revision index
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Revision index
Revision
Date
Index
First release
09/26/03
00
Revision of chapter "I/O Instance (polled IO) ", page 18
12/10/03
01
LA-65-H not available as multi-sensor
09/22/06
02
General technical modifications, layout modifications
08/20/07
03
New design
01/14/16
04
DeviceNet™ logo and trademark updated
03/14/16
05
Technical data removed
02/13/17
06

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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
Installation
Commissioning
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:
LP-38
The products are labelled with affixed nameplates and are components of a system.
The following documentation therefore also applies:
see chapter “Other applicable documents” in the Assembly Instructions
www.tr-electronic.com/f/TR-ELA-BA-DGB-0004

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")
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
LP
Linear-Absolute Measuring System, type with Profile-housing
MAC-ID
Media Access Control Identifier
(node address)
ODVA™
Open DeviceNet Vendor Association
(CAN User Organization, especially for DeviceNet)

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2 Additional safety instructions
2.1 Definition of symbols and instructions
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.
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.

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3 Multi-Sensor - Technique
With the multi-sensor type the positions of max. 16 magnets can be detected. The
minimum distance between two magnets must be 50 mm.
With the I/O Poll Command the magnet (0 –15) at which the position have to be read
is addressed in the output byte.
The Respond Message contains the position of the addressed magnet.
Principle

DeviceNet™ information
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4 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.

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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!

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5.1 Connection
The pin assignments with view onto the switches are attached in the rear of this
document.
For the supply shielded cables with twisted core pairs with 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 an external bus terminal resistance of 120 ohms.
5.3 Identifier (MAC-ID)
The identifier (measuring system address) 0 –63 is adjusted via rotary switches. The
adjusted address may be assigned only once in the CAN bus.
5.4 Baud rate
The baud rate is adjusted via rotary 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).

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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 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 SJA1000. 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
Online, with connections in the established state
- Device is allocated to a master
DUP-MAC-ID test successful
- No allocation to a master
green
red
Recoverable faults
- I/O-connections are in the time-out state
- Measuring system has not detected any magnet
- Turn off system --> turn on system
- Replace measuring system device
red

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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".
Download:
258.COD: www.tr-electronic.com/f/TR-ELA-ID-MUL-0009
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.

Commissioning
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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
1
0Fh: Parameter
6
6.1.5 I/O Instance (polled IO)
Input Instance
Number
Name
1
Position value
Input Data Format
Instance
Byte
Bit7
Bit6
Bit5
Bit4
Bit3
Bit2
Bit1
Bit0
1
0
Low Byte Position value
1
.
2
High Byte Position value
3
Magnet number = 0
4
Low Byte Position value
5
.
6
High Byte Position value
7
Magnet number = 1
.
.
.
.
.
.
.
.
60
Low Byte Position value
61
.
62
High Byte Position value
63
Magnet number = 15
The number of used input bytes corresponds to the number of magnets multiplied with
four.

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7 Parameterization and configuration
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
42
0
Direction
r/w
1
Output Code
2
Low Byte Total Number of Steps
to
5
High Byte Total Number of Steps
The ranges of values of the individual parameters are defined in chapter "Parameters /
Range of values" starting from page 20.
7.2 Parameter Object Instances
7.2.1 Parameter Object 0Fh
Instance
Name
Data Type
Service
Attribute
1
Direction
USINT
r/w
1
2
Output Code
USINT
r/w
1
3
Total Number of Steps
UDINT
r/w
1
4
Read: Position / Write: Adjustment
UDINT
r/w
1
5
Number of Magnets
USINT
r/w
1
6
Software version
UDINT
ro
1
The ranges of values of the individual parameters are defined in chapter "Parameters /
Range of values" starting from page 20.

Parameterization and configuration
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7.3 Parameters / Range of values
7.3.1 Direction
Instance
Service
Value
Description
Default
1
r/w
= 0
increasing position values to the rod end
X
0
decreasing position values to the rod end
7.3.2 Output Code
Instance
Service
Value
Description
Default
2
r/w
= 0
Binary code
X
0
Gray code
7.3.3 Total Number of Steps
Instance 3, r/w
Defines the Total number of steps of the measuring system related to the measuring
length and corresponds to the resolution.
lower limit
15 steps
upper limit
16 777 215 steps (24 bit)
default
15
Standard value:
The given measuring length on the rating plate multiplied with 100 corresponding to
the resolution of 0.01 mm.
Measuring length in steps =
Measuring length
Resolution in mm