turck REM Series User manual

Your Global Automation Partner
Instructions for Use
REM…|RES…
Encoders with CANopen
Interface

Contents
Hans Turck GmbH & Co. KG | T [phone] | [email protected] | www.turck.com V02.00 | 2022/10 | 2
Contents
1 About these instructions ...................................................................................................................4
1.1 Target groups ...................................................................................................................4
1.2 Explanation of symbols used.........................................................................................4
1.3 Other documents.............................................................................................................4
1.4 Feedback about these instructions ..............................................................................4
2 Information About 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
4.1.1 Display elements ..............................................................................................................................7
4.2 Operating principle .........................................................................................................7
4.3 Functions and operating modes...................................................................................7
4.3.1 Output function................................................................................................................................7
4.3.2 Terminating resistor ........................................................................................................................7
4.4 Technical accessories ......................................................................................................8
5 Installing ...............................................................................................................................................9
5.1 Mounting the solid shaft encoder using a coupling .............................................. 10
5.2 Mounting the hollow shaft encoder using a coupling .......................................... 11
6 Connection ........................................................................................................................................ 12
6.1 Wiring diagram.............................................................................................................. 12
7 Commissioning................................................................................................................................. 13
8 Operation........................................................................................................................................... 14
8.1 LED display..................................................................................................................... 14
9 Setting................................................................................................................................................ 15
9.1 Communication profiles.............................................................................................. 15
9.1.1 Object 0x1000: Device type....................................................................................................... 15
9.1.2 Object 0x100A: Manufacturer software version................................................................. 15
9.1.3 Object 0x1010: Store parameters............................................................................................ 16
9.1.4 Object 0x1011 Restore default parameters (load default values) ............................... 16
9.1.5 Object 0x1017: Producer heartbeat time (heartbeat cycle)........................................... 17
9.1.6 Object 0x1018: Identity object (device identification) .................................................... 18
9.1.7 Object 0x1029: Error behavior.................................................................................................. 18
9.1.8 Object 0x1800: PDO1 parameters (asynchronous)........................................................... 19
9.1.9 Object 0x1801: PDO2 parameters (synchronous, cyclical)............................................. 20
9.1.10 Transmission types ....................................................................................................................... 21
9.2 Creating variable PDO mapping................................................................................ 22
9.2.1 Changing mapping parameters............................................................................................... 22
9.2.2 Standard settings for the mapping of transmit PDOs...................................................... 23
9.2.3 Object 0x1A00: PDO1 mapped object................................................................................... 23

Contents
Hans Turck GmbH & Co. KG | T [phone] | [email protected] | www.turck.com V02.00 | 2022/10 | 3
9.2.4 Object 0x1A01: PDO2 mapped object................................................................................... 24
9.2.5 Example: Creating PDO mapping for PDO3 (speed) ........................................................ 25
9.2.6 Default setting for the mapping of transmit PDOs........................................................... 26
9.2.7 PDO mapping in accordance with CiA (from CANopen version 4)............................. 26
9.3 Setting parameters specific to the manufacturer................................................... 27
9.3.1 Object 0x2100: Baud rate (setting the transmission rate) .............................................. 27
9.3.2 Object 0x2101: Node number (changing the node address)........................................ 27
9.3.3 Object 0x2102: CANBus termination (switching the terminating resistor on and
off)....................................................................................................................................................... 27
9.3.4 Object 0x2105: Save all bus parameters ............................................................................... 28
9.4 Setting default device parameters............................................................................ 29
9.4.1 Object 0x6000: Operating parameters.................................................................................. 29
9.4.2 Object 0x6001: MUR – Measuring Units per Revolution................................................. 29
9.4.3 Object 0x6002: TMR – Total Measuring Range................................................................... 30
9.4.4 Object 0x6003: Preset value (zero point adjustment)...................................................... 31
9.4.5 Object 0x6004: Current position value.................................................................................. 31
9.4.6 Object 0x600C: Position raw value (unscaled measured value)................................... 31
9.4.7 Object 0x6200: Cycle timer (cycle time of the measured value output)................... 32
9.4.8 Object 0x6400: Work area state register (current status of the limit values)........... 32
9.4.9 Object 0x6401 and 0x6402: Working area limits (adjusting limit values)................. 32
9.4.10 Object 0x6500: Operating status (read only) ...................................................................... 33
9.4.11 Object 0x6501: Single-turn resolution (read only)............................................................ 34
9.4.12 Object 0x6502: Number of distinguishable revolutions (read only)........................... 34
9.4.13 Object 0x6503: Alarms (read only).......................................................................................... 34
9.4.14 Object 0x6504: Supported alarms (read only).................................................................... 34
9.4.15 Object 0x6505: Warnings (read only)..................................................................................... 34
9.4.16 Object 0x6506: Supported warnings (read only)............................................................... 34
9.4.17 Object 0x6507: Profile and software version (read only)................................................ 35
9.4.18 Object 0x6509: Offset value (read only)................................................................................ 35
9.4.19 Object 0x650A: Module identification (manufacturer comparison) (read only).... 35
9.4.20 Object 0x650B: Series number (read only)........................................................................... 35
9.5 LSS services DS 305 V2.0 ............................................................................................. 36
9.6 Network management................................................................................................. 38
10 Troubleshooting............................................................................................................................... 39
11 Maintenance ..................................................................................................................................... 40
12 Repair ................................................................................................................................................. 41
12.1 Returning devices ......................................................................................................... 41
13 Disposal.............................................................................................................................................. 42
14 Turck subsidiaries — contact information.................................................................................. 43

About these instructions
Feedback about these instructions
Hans Turck GmbH & Co. KG | T [phone] | [email protected] | www.turck.com V02.00 | 2022/10 | 4
1 About these instructions
These instructions for use describe the structure, functions and the use of the product and will
help you to operate the product as intended. Read these instructions carefully before using the
product. This is to avoid possible damage to persons, property or the device. Retain the instruc-
tions for future use 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 used
The following symbols are used in these instructions:
DANGER
DANGER indicates a dangerous situation with high risk of death or severe injury if
not avoided.
WARNING
WARNING indicates a dangerous situation with medium risk of death or severe in-
jury if not avoided.
CAUTION
CAUTION indicates a dangerous situation of medium risk which may result in minor
or moderate injury if not avoided.
NOTICE
NOTICE indicates a situation which may lead to property damage if not avoided.
NOTE
NOTE indicates tips, recommendations and useful information on specific actions
and facts. The notes simplify your work and help you to avoid additional work.
uCALL TO ACTION
This symbol denotes actions that the user must carry out.
aRESULTS OF ACTION
This symbol denotes relevant results of actions.
1.3 Other documents
Besides this document, the following material can be found on the Internet at www.turck.com:
nData sheet
nQuick Start Guide
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].

Information about the product
Turck service
Hans Turck GmbH & Co. KG | T [phone] | [email protected] | www.turck.com V02.00 | 2022/10 | 5
2 Information About the Product
2.1 Product identification
These instructions apply to the following encoders with CANopen interface:
nRES-25
nRES-33
nRES-52
nRES-53
nRES-184
nRES-185
nRES-188
nRES-189
nREM-101
nREM-102
nREM-105
nREM-106
nREM-E-121
2.2 Scope of delivery
The scope of delivery includes:
nEncoder – sensor
nQuick Start Guide
2.3 Turck service
Turck supports you with your projects, from initial analysis to the commissioning of your applic-
ation. The Turck product database under www.turck.com contains software tools for program-
ming, configuration or commissioning, data sheets and CAD files in numerous export formats.
The contact details of Turck subsidiaries worldwide can be found on p. [}43].

For your safety
General safety notes
Hans Turck GmbH & Co. KG | T [phone] | [email protected] | www.turck.com V02.00 | 2022/10 | 6
3 For Your Safety
The product is designed according to state-of-the-art technology. However, residual risks still
exist. Observe the following warnings and safety notices to prevent damage to persons and
property. Turck accepts no liability for damage caused by failure to observe these warning and
safety notices.
3.1 Intended use
The encoders with a CANopen interface are used to measure angular movements. To do this,
the devices record mechanical rotary movements and convert them into digital output signals.
The devices may 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 pro-
tection.
nAny use that exceeds the maximum permissible mechanical speed (see technical data) is
deemed to be not in accordance with the intended purpose.
3.3 General safety notes
nThe device meets the EMC requirements for industrial areas. When used in residential areas,
take measures to avoid radio interference.
nThe device may only be assembled, installed, operated, parameterized and maintained by
professionally-trained personnel.
nThe device may only be used in accordance with applicable national and international regu-
lations, standards and laws.
nIf safe operation is no longer guaranteed: Take the device out of operation and ensure that it
cannot be switched on again accidentally.

Product description
Functions and operating modes
Hans Turck GmbH & Co. KG | T [phone] | [email protected] | www.turck.com V02.00 | 2022/10 | 7
4 Product Description
The REM… and RES… encoders with a CANopen interface are available as solid shaft or hollow
shaft versions. Devices are available in three sizes ranging from 36 to 58 mm.
The CANopen encoders supply the current angle position in digital form via process data ob-
jects (PDO).
4.1 Device overview
Fig.1: Example — encoder with hollow shaft Fig.2: Example — encoder with solid shaft
4.1.1 Display elements
The device has two LED displays.
4.2 Operating principle
Encoders detect rotational movements, such as the angle velocity of a shaft. Encoders convert
the rotational movements into electrical signals. The devices pass on the electrical signals to a
higher-level controller for evaluation. Encoders are designed as absolute and incremental en-
coders with hollow or solid shafts.
Absolute encoders also supply the angle value after a startup if the value has changed when
deactivated. Incremental encoders only detect position changes when active by counting peri-
odic patterns. This normally involves the optical scanning of a rotating disk.
4.3 Functions and operating modes
4.3.1 Output function
The device has a CANopen interface that complies with the following standards:
nCAL-based Communication Profile for Industrial System
nCiA Draft Standard 301 Communication Profile
nCiA Draft Standard 302-3 Framework for CANopen Managers (Bootloader)
nCiA Draft Standard 305 Layer Setting Services
nCiA Draft Standard 406 Device Profile for Encoders
Various device functions can be set and parameterized by using the control software (see "Set-
ting" section). All measured values and parameters can be accessed via the object directory.
4.3.2 Terminating resistor
A bus terminating resistor can be switched on and off via the CANopen interface.

Product description
Technical accessories
Hans Turck GmbH & Co. KG | T [phone] | [email protected] | www.turck.com V02.00 | 2022/10 | 8
4.4 Technical accessories
Dimension drawing Type ID Description
48,5
11,5
ø 14,2
M12 x 1
L
50
7
RKC5701-5M 6931034 Bus cable for CAN (DeviceNet,
CANopen), M12 female connector,
straight, A-coded, cable length
5m, jacket material: PUR, anthra-
cite, open end; other cable lengths
and types available, see
www.turck.com
M12 x 1
55,2
18,2
ø 14,2
L
50
7
RSC5701-5M 6931036 Bus cable for CAN (DeviceNet,
CANopen), M12 male connector,
straight, A-coded, cable length
5m, jacket material: PUR, anthra-
cite, open end; other cable lengths
and types available, see
www.turck.com
48.5
ø 16.2
M12 x 1
L
50
7
RKC 572-2M U5311-02 Bus cable for CAN (DeviceNet,
CANopen), M12 female connector,
straight, A-coded, cable length
2m, jacket material: PVC, gray,
open end; other cable lengths and
types available, see
www.turck.com
RKC 572-xM/
S3117
U-54470 Bus cable for CAN (DeviceNet,
CANopen), M12 female connector,
without drain connection on pin 1
to BUS, straight, A-coded, cable
length 2m, jacket material: PVC,
gray, open end; other cable
lengths and types available, see
www.turck.com
Ø 15
[0.59]
56 [2.21]
23.5
[0.93]
Ø 4.5
[0.18]
Ø 7.5
[0.29]
31
[1.22]
M12 × 1
M12 × 1 M12 × 1
FSM-2FKM57 6622101 T-splitter without cable for CAN
(DeviceNet CANopen), M12 ad-
apter , 5-pin

Mounting
Hans Turck GmbH & Co. KG | T [phone] | [email protected] | www.turck.com V02.00 | 2022/10 | 9
5 Installing
NOTICE
Incorrect mounting
Risk of damage to the sensor
Do not modify or disassemble the encoder.
Do not make adjustments to the shaft after mounting.
Do not use a hammer to align the device.
Avoid impact loads.
Load the encoder shaft only within the permissible values (see technical data).
Do not rigidly connect the rotary encoder to shafts and flanges at the same time.
Use the coupling between the drive shaft and the encoder shaft or the hollow
shaft encoder flange.
Fig.3: Mounting view — do not open Fig.4: Mounting view — do not make
adjustments after mounting
Fig.5: Mounting view — do not
use a hammer to align the device
Fig.6: Mounting view — do not rigidly connect
the device to shafts and flanges at the same
time

Mounting
Mounting the solid shaft encoder using a coupling
Hans Turck GmbH & Co. KG | T [phone] | [email protected] | www.turck.com V02.00 | 2022/10 | 10
5.1 Mounting the solid shaft encoder using a coupling
Check shaft for displacement.
Refer to the technical data for the coupling for the maximum axial displacement, radial
displacement, and angular displacement values.
D
M
Fig.7: Axial displacement Fig.8: Radial displacement
α
Fig.9: Angular displacement
During mounting, protect the coupling against excessive bending and damage.
Align the coupling on the shaft.
Secure the coupling on the device using tensioning screws or clamping screws. For the
maximum tightening torque, refer to the data sheet of the screws used.