turck RI360P1-DSU35-CNX4 Series User manual

Your Global Automation Partner
Instructions for Use
RI360P1-DSU35-CNX4-…
Inductive Angle Sensor
with CANopen Interface

Contents
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Contents
1 About these instructions ...................................................................................................................4
1.1 Target groups ...................................................................................................................4
1.2 Explanation of symbols ..................................................................................................4
1.3 Other documents.............................................................................................................4
1.4 Feedback about these instructions ..............................................................................4
2 Notes on the product .........................................................................................................................5
2.1 Product identification .....................................................................................................5
2.2 Scope of delivery..............................................................................................................5
2.3 Turck service .....................................................................................................................5
3 For your safety.....................................................................................................................................6
3.1 Intended use .....................................................................................................................6
3.2 Obvious misuse ................................................................................................................6
3.3 General safety notes........................................................................................................6
4 Product description ............................................................................................................................7
4.1 Device overview...............................................................................................................7
4.2 Properties and characteristics.......................................................................................7
4.3 Functional principle ........................................................................................................8
4.4 Functions and operating modes...................................................................................8
4.4.1 Output function................................................................................................................................8
4.4.2 Terminating resistor ........................................................................................................................8
4.5 Technical accessories ......................................................................................................9
5 Installing ............................................................................................................................................ 10
5.1 Mounting the sensor on ferrous shafts (Ø ≤ 14mm) or non-ferrous shafts ...... 10
5.2 Mounting the sensor on ferrous shafts (Ø > 14mm) ............................................. 11
6 Connection ........................................................................................................................................ 12
7 Commissioning................................................................................................................................. 13
8 Operation........................................................................................................................................... 14
8.1 LED indicators................................................................................................................ 14
9 Setting................................................................................................................................................ 15
9.1 Setting the communication profile ........................................................................... 15
9.1.1 Object 0x1000: Device type....................................................................................................... 15
9.1.2 Object 0x1001: Error register .................................................................................................... 15
9.1.3 Object 0x1002: Manufacturer status register...................................................................... 16
9.1.4 Object 0x1005: COB-ID SYNC (COB-ID for SYNC message) ............................................ 16
9.1.5 Object 0x1008: Manufacturer device name......................................................................... 16
9.1.6 Object 0x1009: Manufacturer hardware version ............................................................... 17
9.1.7 Object 0x100A: Manufacturer software version................................................................. 17
9.1.8 Object 0x1010: Store parameters............................................................................................ 17
9.1.9 Object 0x1011 Restore default parameters (load default values) ............................... 18
9.1.10 Object 0x1014: COB-ID emergency (COB-ID for emergency messages)................... 19
9.1.11 Object 0x1015: Inhibit time for emergencies...................................................................... 20
9.1.12 Object 0x1017: Producer heartbeat time (heartbeat cycle)........................................... 20
9.1.13 Object 0x1018: Identity object (device identification) .................................................... 20
9.1.14 Object 0x1029: Error behavior.................................................................................................. 21
9.1.15 Object 0x1800: PDO1 parameters (asynchronous)........................................................... 22

Contents
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9.1.16 Object 0x1801: PDO2 parameters (synchronous, cyclical)............................................. 23
9.1.17 Overview of transmission types............................................................................................... 24
9.2 Creating variable PDO mapping................................................................................ 25
9.2.1 Object 0x1A00: PDO1 mapped object................................................................................... 26
9.2.2 Example: Creating PDO mapping for PDO3 (speed) ........................................................ 27
9.2.3 Default setting for the mapping of transmit PDOs........................................................... 28
9.2.4 PDO mapping in accordance with CiA (from CANopen version 4)............................. 28
9.3 Setting parameters specific to the manufacturer................................................... 29
9.3.1 Object 0x2100: Baud rate (setting the baud rate) ............................................................. 29
9.3.2 Object 0x2101: Node number (changing the node address)........................................ 29
9.3.3 Object 0x2102: CANBus termination (switching the terminating resistor on and
off)....................................................................................................................................................... 29
9.3.4 Object 0x2104: NMT autostart.................................................................................................. 30
9.3.5 Object 0x2105: PDO trigger threshold (specifying the trigger threshold)............... 30
9.3.6 Object 0x2106: Filter configuration (selecting the filter type)...................................... 30
9.3.7 Object 0x2110: Customer memory (setting the customer memory) ......................... 31
9.4 Adjusting the standard device parameters ............................................................. 31
9.4.1 Object 0x6000: Operating parameters.................................................................................. 31
9.4.2 Object 0x6001: MUR – Measuring Units per Revolution................................................. 32
9.4.3 Object 0x6002: TMR – Total Measuring Range................................................................... 32
9.4.4 Object 0x6003: Preset value (zero point adjustment)...................................................... 33
9.4.5 Object 0x6004: Current position value.................................................................................. 33
9.4.6 Object 0x600C: Position raw value (unscaled measured value)................................... 34
9.4.7 Object 0x6200: Cycle timer (cycle time of the measured value output)................... 34
9.4.8 Object 0x6400: Work area state register (current status of the limit values)........... 34
9.4.9 Object 0x6401 and 0x6402: Working area limits (adjusting limit values)................. 35
9.4.10 Object 0x6500: Operating status............................................................................................. 36
9.4.11 Object 0x6501: Single turn resolution................................................................................... 36
9.4.12 Object 0x6502: Number of distinguishable revolutions ................................................. 36
9.4.13 Object 0x6503: Alarms................................................................................................................. 36
9.4.14 Object 0x6504: Supported alarms........................................................................................... 36
9.4.15 Object 0x6505: Warnings............................................................................................................ 37
9.4.16 Object 0x6506: Supported warnings ..................................................................................... 37
9.4.17 Object 0x6507: Profile and software version....................................................................... 38
9.4.18 Object 0x6509: Offset value....................................................................................................... 38
9.4.19 Object 0x650A: Module identification .................................................................................. 38
9.4.20 Object 0x650B: Serial number .................................................................................................. 39
9.4.21 LSS services DS 305 V2.0............................................................................................................. 39
9.4.22 Network management ................................................................................................................ 41
10 Troubleshooting............................................................................................................................... 42
11 Maintenance ..................................................................................................................................... 43
12 Repair ................................................................................................................................................. 43
12.1 Returning devices ......................................................................................................... 43
13 Disposal.............................................................................................................................................. 44
14 Technical data................................................................................................................................... 45
14.1 Factory settings............................................................................................................. 45
15 Turck branches – contact data....................................................................................................... 46

About these instructions
Feedback about these instructions
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1 About these instructions
These instructions describe the setup, functions and use of the product and help you to oper-
ate the product according to its intended purpose. Read these instructions carefully before us-
ing the product. This will prevent the risk of personal injury and damage to property. Keep
these instructions safe during the service life of the product. If the product is passed on, pass on
these instructions as well.
1.1 Target groups
These instructions are aimed at qualified personal and must be carefully read by anyone
mounting, commissioning, operating, maintaining, dismantling or disposing of the device.
1.2 Explanation of symbols
The following symbols are used in these instructions:
DANGER
DANGER indicates a hazardous situation with a high level of risk, which, if not
avoided, will result in death or serious injury.
WARNING
WARNING indicates a hazardous situation with a medium level of risk, which, if not
avoided, will result in death or serious injury.
CAUTION
CAUTION indicates a hazardous situation with a medium level of risk, which, if not
avoided, will result in moderate or minor injury.
NOTICE
CAUTION indicates a situation which, if not avoided, may cause damage to property.
NOTE
NOTE indicates tips, recommendations and important information about special ac-
tion steps and issues. The notes simplify your work and help you to avoid additional
work.
uMANDATORY ACTION
This symbol denotes actions that the user must carry out.
aRESULT OF ACTION
This symbol denotes the relevant results of an action.
1.3 Other documents
nData sheet
1.4 Feedback about these instructions
We make every effort to ensure that these instructions are as informative and as clear as pos-
sible. If you have any suggestions for improving the design or if some information is missing in
the document, please send your suggestions to [email protected].

Notes on the product
Turck service
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2 Notes on the product
2.1 Product identification
These instructions apply to the following angle sensors:
nRI360P1-DSU35-CNX4-2H1650
2.2 Scope of delivery
The delivery consists of the following:
nSensor
nPositioning element P1-RI-DSU35
nCountersunk screw M6×25
n2 cylinder screws M5×12
n2 lock washers A5
nQuick Start Guide
2.3 Turck service
Turck supports you in your projects – from the initial analysis right through to the commission-
ing of your application. The Turck product database at www.turck.com offers you several soft-
ware tools for programming, configuring or commissioning, as well as data sheets and CAD
files in many export formats.
The contact data for Turck branches is provided at [}46].

For your safety
General safety notes
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3 For your safety
The product is designed according to state of the art technology. Residual hazards, however,
still exist. Observe the following safety instructions and warnings in order to prevent danger to
persons and property. Turck accepts no liability for damage caused by failure to observe these
safety instructions.
3.1 Intended use
The inductive angle sensors RI…DSU35… record angles in the range of 0…360° without
making contact.
The device must only be used as described in these instructions. Any other use is not in accord-
ance with the intended use. Turck accepts no liability for any resulting damage.
3.2 Obvious misuse
nThe devices are not safety components and must not be used for personal or property
protection.
3.3 General safety notes
nThe device meets the EMC requirements for the industrial areas. When used in residential
areas, take measures to prevent radio frequency interference.
nThe device must only be fitted, installed, operated, parameterized and maintained by trained
and qualified personnel.
nOnly use the device in compliance with the applicable national and international regula-
tions, standards and laws.

Product description
Properties and characteristics
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4 Product description
The inductive angle sensors of the RI360…DSU35… product series measure angular move-
ments up to 360°. The sensor and positioning element of the angle sensors are fully potted and
designed as two independent and fully sealed units with protection to IP67, which work
together without contact.
The angle sensor is equipped with a CANopen interface. The device is equipped with an M12
connector for the CANopen input and output. All CANopen parameters are permanently saved
in the device's internal memory.
4.1 Device overview
M12 x 1
35.4
74
23
40
13
LED
ø 40.5
60
30
M12 x 1
2
fig.1: Dimensions
4.2 Properties and characteristics
nRectangular, housing DSU35
nPlastic, PP-GF30-VO
nDetection of angular positions from 0…360°
nCANopen interface
nBaud rate 10kbps up to 1Mbps; Factory setting: 125kbps
nNode address 1 to 127; Factory setting 3
nTerminating resistor switched in via CANopen device access
nImmune to electromagnetic interference
n10…30VDC
nConnector, M12×1, 5-pin, CAN in, CAN out
nAcc. to CiA DS-301, CiA 305, CiA 406

Product description
Functions and operating modes
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4.3 Functional principle
The angle sensors work contact-free on the basis of the inductive resonator measurement prin-
ciple. This measuring principle allows for a design without seals, with a fully sealed sensor
housing that is separate from the positioning element. Magnetic fields disturb the measuring
process very little because the positioning element is not based on a magnet but on an induct-
ive coil system where the sensor and position sensor (resonator) form an oscillating circuit.
The device provides an output signal that corresponds to the angle of the positioning element.
4.4 Functions and operating modes
4.4.1 Output function
The device is equipped with a standardized CANopen interface in accordance with CiA DS-301
and a device profile in accordance with CiA DSP-410. Various device functions can be set and
parameterized by using the control software (see "Setting" section). All measured values and
parameters can be accessed via the object directory.
4.4.2 Terminating resistor
A bus terminating resistor can be switched on and off via the CANopen interface.

Product description
Technical accessories
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4.5 Technical accessories
Dimension drawing Type Description
34
ø 40.5
P1-RI-DSU35 Positioning element for inductive
angle sensors DSU35
ø 40
80 (130)
55
40
20
ø max. 65
Sensor
BTS-DSU35-Z02 Mounting accessories for ferrous
metal shafts (e.g. St37) with
Ø > 14mm
48,5
11,5
ø 14,2
M12 x 1
L
50
7
RKC5701-5M Bus cable for CAN (DeviceNet,
CANopen), M12 coupling, straight,
cable length: 5m, jacket material:
PUR, anthracite; cULus approval;
other cable lengths and qualities
available, see www.turck.com
M12 x 1
55,2
18,2
ø 14,2
L
50
7
RSC5701-5M Bus cable for CAN (DeviceNet,
CANopen), M12 connector, straight,
cable length: 5m, jacket material:
PUR, anthracite; cULus approval;
other cable lengths and qualities
available, see www.turck.com

Installing
Mounting the sensor on ferrous shafts (Ø ≤ 14mm) or non-ferrous shafts
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5 Installing
The device can be mounted without mounting accessories on rotating shafts made from
ferrous material with diameters of up to 14mm or on non-ferrous shafts. For ferrous shafts with
larger diameters, mounting kit BTS-DSU35-Z02 is required:
NOTICE
Insufficient clearance from metal surrounding the positioning element
Loss of functionality due to weakening of oscillating circuit
Ensure sufficient clearance between the surrounding area and positioning
element.
Carry out a function test prior to commissioning.
5.1 Mounting the sensor on ferrous shafts (Ø ≤ 14mm) or non-ferrous shafts
19.75
≤ ø14
0.65
0.65
fig.2: Mounting the sensor — shaft diameter of up to 14mm
The positioning element must be centered within the sensor's detection range. The following
prerequisites must be fulfilled for this purpose:
nThe shaft protrudes 19.75mm from the mounting surface.
nThe shaft features a groove as anti-rotation protection for the positioning element.
Screw the sensor on to the mounting surface.
Fit the positioning element on the shaft.
Align the positioning element in the center of the sensor's detection range. The ideal
distance to the upper and lower sensor edge is 0.65mm.
Attach the positioning element. The nominal distance between the sensor and position-
ing element is 1mm.

Installing
Mounting the sensor on ferrous shafts (Ø > 14mm)
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5.2 Mounting the sensor on ferrous shafts (Ø > 14mm)
> ø14
0.25
0.65
0.65
ø 30
4
4
fig.3: Mounting the sensor — shaft diameter greater than 14mm
Mounting kit BTS-DSU35-Z02 allows the device to be mounted on rotating shafts made from
ferrous material with a diameter greater than 14mm.
The positioning element must be centered within the sensor's detection range. The following
prerequisites must be fulfilled for this purpose:
nThe shaft is flush with the mounting surface.
nThe shaft features a groove as anti-rotation protection for the positioning element.
Insert a spacer plate (0.25mm) between the sensor and the mounting surface.
Screw the sensor on to the spacer plate.
Fit mounting kit BTS-DSU35-Z02 on the shaft.
Fit the positioning element on mounting kit BTS-DSU35-Z02.
Align the positioning element in the center of the sensor's detection range. The ideal
distance to the upper and lower sensor edge is 0.65mm.
Attach the positioning element. The nominal distance between the sensor and position-
ing element is 1mm.

Connection
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6 Connection
The device is equipped with two 5-pin M12×1 connectors for CANopen input and output.
3
2
1
5
4
IN OUT
1 = CAN_GND
2 = +V
3 = 0V
4 = CAN_H
5 = CAN_L
5
1
2
3
4
fig.4: Pin assignment
Connect the device to a controller or a fieldbus device according to the wiring diagram.

Commissioning
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7 Commissioning
After connecting and switching on the power supply, the device is automatically ready for
operation.

Operation
LED indicators
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8 Operation
8.1 LED indicators
LED Indication Meaning
PWR Green Sensor being supplied with power properly, positioning
element in detection range
Off Sensor not being supplied with power
SIG Off Positioning element in measuring range
Yellow flashing Positioning element not in detection range
Yellow Positioning element in measuring range, diminished signal
quality (e.g. distance too great)
RUN Green CAN communication active
Green flashing Pre-operational status
1×green flashing CAN communication stopped
Green flashing
Alternating with
ERR LED
LSS service active
ERR Red CAN communication inactive
Red flashing
Alternating with
RUN LED
LSS service active
2×red flashing Error control event
3×red flashing SYNC error

Setting
Setting the communication profile
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9 Setting
The device can be set via the CANopen interface.
NOTE
All non-described objects serve as additional information and can be removed from
the device profile DS406 3.1.
9.1 Setting the communication profile
9.1.1 Object 0x1000: Device type
The device type is specified via the object.
0x1000 VAR Device type Unsigned 32 RO M
Device profile number Positioning element type
Byte 0 (LSB) Byte 1 Byte 2 Byte 3 (MSB)
0x96 0x01 0x01 (absolute, single-turn) 0x00
Example: 0x00010196 = profile DS406: absolute, single-turn
9.1.2 Object 0x1001: Error register
Device errors are displayed in the error register.
0x1001 VAR Error register Unsigned 8 RO M
Bit Value Meaning
0 0 No error
1 Error: no oscillating circuit coupling, positioning
element is outside the detection range
1…7 Not in use

Setting
Setting the communication profile
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9.1.3 Object 0x1002: Manufacturer status register
The manufacturer status register contains various error bits and the current status of the set
limit values from Object 0x6400. The limit values are also recorded in Object 0x6401 and
0x6402.
0x1002 VAR Manufacturer
status register
Unsigned 32 RO M
Bit Value Meaning
0 1 EEPROM error
1 1 No oscillating circuit coupling (no resonator detected,
angle measurement not possible)
2 1 Low oscillating circuit coupling (lower non-linearity if
necessary)
3…7 Not in use
8 1 Operating range 1 out of range
9 1 Operating range 1 too low
10 1 Operating range 1 too high
11 1 Operating range 2 out of range
12 1 Operating range 2 too low
13 1 Operating range 2 too high
9.1.4 Object 0x1005: COB-ID SYNC (COB-ID for SYNC message)
The object specifies the COB-ID for the SYNC message. It also specifies whether the device is an
emitter or receiver of SYNC objects.
0x1005 VAR COB-ID SYNC Unsigned 32 RW O
Data content:
Bit Value Meaning
0…10 Identifier (11bits), standard ID: 0x80
11…29 Reserved for devices with a 29-bit identifier
30 0 Device does not generate a SYNC message
31 1 Device is a receiver for SYNC messages
9.1.5 Object 0x1008: Manufacturer device name
The object contains the manufacturer device name.
0x1008 VAR Manufacturer
device name
Vis-String RO O
Example: RI360P1-DSU35-CNX4-2H1650

Setting
Setting the communication profile
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9.1.6 Object 0x1009: Manufacturer hardware version
The object contains the hardware version number.
0x1009 VAR Manufacturer
hardware version
Vis-String RO O
Data content:
e.g. "HW-12718801 -" in the ASCII code
Hardware version (127xxxxx) with revision index (-, A, B, etc.)
9.1.7 Object 0x100A: Manufacturer software version
The object contains the software version number.
0x100A VAR Manufacturer
software version
Vis-String RO O
Data content:
e.g. “SW-1.0.0.1” in ASCII code
9.1.8 Object 0x1010: Store parameters
When the command "save" is written, the parameters are saved in the nonvolatile memory
(EEPROM).
0x1010 ARRAY Store parameters Unsigned 32 RW O
The following objects are saved using this command: 0x1005, 0x1014, 0x1800 (sub-index 1 and
3), 0x1802 (sub-index 1), 0x2000, 0x2001, 0x2005, 0x6000, 0x6001, 0x6002, 0x6003, 0x6200. To
prevent an object being accidentally saved, the command is only executed when the string
"save" is entered as the code word in the index (Object 0x1010).
NOTE
This command irreversibly overwrites the values saved in the EEPROM (Power ON
values).
Read access to the CANopen device indicates whether values can be saved (Data: 0x01 = save
possible).
Data content for write access (save = 0x65766173):
Bit Value Meaning
0 0x73 ASCII code for s
1 0x61 ASCII code for a
2 0x76 ASCII code for v
3 0x65 ASCII code for e

Setting
Setting the communication profile
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9.1.9 Object 0x1011 Restore default parameters (load default values)
This command deletes the parameters in the working memory and replaces them with default
values (the manufacturer values are the same as upon delivery of the encoder).
0x1011 ARRAY Restore default
parameters
Unsigned32 RW O
A distinction is made between multiple parameter groups:
nSub-index 0x00: Contains the highest sub-index supported.
nSub-index 0x01: Restore all parameters refers to all parameters that can be restored.
nSub-index 0x02: Restore communication parameters refers to parameters relevant to com-
munication (index from 0x1000 to 0x1FFF).
nSub-index 0x03: Restore application parameters refers to parameters relevant to the applica-
tion (index from 0x6000 to 0x9FFF).
Example: Restore all parameters
All parameters in the device RAM are reset to their default values when the command
0x64616F6C (load) is written under sub-index 0x01.
Read access to the sub-index indicates whether the default values can be loaded.
Data content for write access (load = 0x64616F6C):
Bit Value Meaning
0 0x6C ASCII code for I
1 0x6F ASCII code for o
2 0x61 ASCII code for a
3 0x64 ASCII code for d
Data content for read access:
Bit Value Meaning
0 1 Device supports the loading of default values.
31 Reserved
Execute an NMT reset to apply the default values.
If the default values must also be applied to the EEPROM, save the parameters
(see Object 0x1010).

Setting
Setting the communication profile
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9.1.10 Object 0x1014: COB-ID emergency (COB-ID for emergency messages)
The object specifies the COB-ID for emergency messages. Object 0x1029 (error behavior)
describes what happens in the event of an error.
0x1014 VAR COB-ID EMCY Unsigned 32 RW O
Data content:
Bit Value Meaning
0…10 Identifier (11bits), standard ID: 0x80 + node number
10…29 Reserved for devices with a 29-bit identifier
30 Reserved
31 Reserved
Emergency objects appear in the event of an error within a CAN network and, depending on
the event, are triggered and sent with a high priority via the bus.
NOTE
An emergency object is only triggered once per event. No new objects are gener-
ated while the error exists. If an error is corrected, a new emergency object is gener-
ated with the content 0x0000 ("Error reset" or "No error") and sent to the bus.
Emergency messages:
Code Code class Meaning
0x0000 No error; an "Emergency clear message" (0x0000) is shown follow-
ing a boot-up message when starting
0x1389 No measurement possible, the positioning element is missing, no
oscillating circuit coupling
0x6100 Internal software error; emergency message with code 0x6100
and a code class is created
0x6100 0x4000 Warning message, program is not terminated
0x6100 0x4810 Write buffer overflow, TPDO message lost
0x6100 0x4820 Write buffer overflow, TPDO message lost
0x6100 0x4830 Write buffer overflow, SDO message lost
0x6100 0x4840 Write buffer overflow, heartbeat message lost
0x6100 0x8000 Serious error, termination or reset required
0x6100 0x8010 MCO initialization failed
0x6100 0x8021 Not in the CAN input filter, NMT
0x6100 0x8022 Not in the CAN input filter, PDO
0x6100 0x8023 Not in the CAN input filter, SDO
0x6100 0x8031 Initialization of the PDO parameter out of range
0x6100 0x8032 Access to the process image out of range
0x6100 0x8041 Outside the TPDOs
0x6100 0x8042 Outside the RPDOs
0x6100 0x8043 No RPDO mapping found

Setting
Setting the communication profile
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9.1.11 Object 0x1015: Inhibit time for emergencies
The object specifies the inhibit time for emergency messages (configured inhibit time for the
EMCY message).
Specify the value for the inhibit time in multiples of 100µs.
Select the value 0 to deactivate the inhibit time. (max. 6553ms)
0x1015 VAR Inhibit time
EMCY
Unsigned 16 RW O
Default value: 1000dec= 100ms
Value range: 0, 10…65530 (corresponds to 1…6553ms)
NOTE
Only exact millisecond values are saved. Intermediate values are rounded up.
9.1.12 Object 0x1017: Producer heartbeat time (heartbeat cycle)
The producer heartbeat time specifies the cycle of the heartbeat.
Activating the function: Specify time in the range of 1…32767 ms.
Deactivating the function: Enter time 0.
0x1017 VAR Producer heart-
beat time
Unsigned16 RW O
nValue range: 0…32767dec (corresponds to 0…32767ms)
nDefault value: 0dec
NOTE
A heartbeat producer transmits the message cyclically with the set time.
The content of the data byte corresponds to the status of the CAN node:
Status of the CAN node Content of the data byte
Pre-operational 0x7F
Operational 0x05
Stopped 0x04
9.1.13 Object 0x1018: Identity object (device identification)
The device identification can be read via the object.
0x1018 RECORD Device
identification
Identity (0x23) RW O
Subindex Meaning
0x00 Number of entries (4)
0x01 Turck vendor ID
0x02 Product code
0x03 Software revision number
Example: Version 1.0.0.1: 10dec01dec = 0x0A 0x01 = 0x0A01
0x04 Serial number of the device