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User Manual - TR Electronic

1. 1 level gt 8V 0 level lt 2V up to 35V 5 kOhm Levels switching output 1 level gt US 2V 0 level lt 1 V up to 100mA programmable parameter TR Electronic GmbH 2007 All Rights Reserved Printed in the Federal Republic of Germany Page 44 of 48 TR ELE BA GB 0010 03 18 12 2007 PPelectronic Appendix 11 1 2 Environmental conditions EMG wisp ccctitieesstntectivenlcnsiieetindeseie ies binieeieiee tions EN 61000 4 2 IEC 801 2 EN 61000 4 4 IEC 801 4 Operating temperature range eseeceseseeeeeeeeeeees 0 50 C Device with heating cceeeeeseeeeeeee 30 to 50 C Thermal driftis 1 ppm C related to the max measuring length of 125 m 170 m 195 m or 240 m Storage temperature range ssesseeeeeeeeeeeeeeeseeeees 20 to 75 C Relative air humidity 0 cc ceeeeeeeeeee cece eeeeeneeeeeeeees 98 no moisture condensation Degree of protection ccceeseeeesseeneeeeeeeeeees IP 65 DIN 40 050 Vibration 50 2000 Hz Sinusoidal DIN IEC 68 2 6 lt 50 m s 5g Shock 14ms DIN IEC 68 2 27 ssssssssssssessssseeesssseeen lt 300 m s 30g The protection class is valid for the device with screwed together cable glands 11 2 Accessories Article No Description 490 00105 TR PT 15 2 switch cabinet module for PC adapter connection 490 00310 Device PC adapter RS485 lt gt USB Soft No 490 00416 TRWinP
2. 5 13 14 15 6 1 13 5 Object 6505h Warnings i 0 Reserved tor tunheruss Manufacturer specie funcfons Bit 0 Bit 1 This object is not supported By read access the value is always 0 TR Electronic GmbH 2007 All Rights Reserved Printed in the Federal Republic of Germany Page 36 of 48 TR ELE BA GB 0010 03 18 12 2007 FRelectronic Configuration Parameter setting via the CANopen master 6 1 13 6 Object 6506h Supported warnings This object is not supported By read access the value is always 0 6 1 13 7 Object 6507h Software version This object contains the software version which is implemented in the laser It is combined to a revision number and an index The version no is indicated in ASCII code e g Version 2 12 Binary 00110010 00101110 00110001 00110010 Hex 32 2E 31 32 Structure of parameter Unsigned32 Read Software version Byte 0 Byte 1 Byte 2 Byte 3 6 1 13 8 Object 6508h Operating time The operating time function indicates the operation hours of the activated laser diode 6 1 13 9 Object 6509h Offset value This object contains the offset value calculated by the preset function The offset value is stored and can be read from the laser 6 1 13 10 Object 650Ah Manufacturer offset value This object is not supported By read access the offset value is 0 6 1 13 11 Object 650Bh Serial number This object
3. Element 4 gland 4 Screw the compression nut 1 to the intermediate gland 4 Intermediate gland TR Electronic GmbH 2007 All Rights Reserved Printed in the Federal Republic of Germany Page 8 of 48 TR ELE BA GB 0010 03 18 12 2007 TRelectronic Safety 1 3 Intended purpose The measuring system is used for recording linear movements and processing the measured data for a downstream control system with a CANopen Field Bus interface according to ISO DIS 11898 The laser measuring device with CANopen protocol supports the device profile for Encoder CiA Draft standard 406 version 2 0 Particularly the measuring system is designed for the use of distance measurements for the detection of the position and positioning of High bay storage devices and lifting gears Crane systems Side tracking skates and truck storage vehicles Transfer machines As Warning Switch off the voltage supply before carrying out wiring work or opening and a tA closing electrical connections KOA Short circuits voltage peaks etc can cause operating failures and uncontrolled operating states as well as serious personal injuries and damage to property Check all electrical connections before switching on the system Incorrectly wired connections can cause operating failures while wrong connections can lead to serious personal injuries and damage to property Las Mechanical or electrical modifications to t
4. 12 15 Manufacturer specific functions o ee Code sequence The code sequence defines whether increasing or decreasing position values are output 0 default With increasing distance to the laser values increasing 1 With increasing distance to the laser values decreasing 6 1 9 Object 6003h Preset value The Preset function can be used to adjust the laser to any position value within a range of 0 to measuring length in increments The output position value is set to the parameter Preset value when writing to this object The call of Object 1010h Store Parameters page 28 isn t necessary Structure of parameter Unsigned32 Read Write Preset value Byte 0 Byte 1 Byte 2 Byte 3 2 to 2 2 to2 2 to 2 Printed in the Federal Republic of Germany TR Electronic GmbH 2007 All Rights Reserved 18 12 2007 TR ELE BA GB 0010 03 Page 33 of 48 Configuration Parameter setting via the CANopen master electronic 6 1 10 Object 6004h Position value The object 6004h Position value defines the output position value for the communication objects 1800h and 1802h Structure of parameter Unsigned32 Read Position value Byte 0 Byte 1 Byte 2 Byte 3 6 1 11 Object 6005h Measuring step If in object Object 2007 Resolution the selection Free resolution was carried out via the measuring step the resolution of the measuring system is defined Index Sub Inde
5. 24 V supplies make sure the extra low voltage is reliably disconnected Only use power supply units manufactured to the standards IEC 364 4 41 HD 384 04 41 VDE 0100 Part 410 e Fluctuations or deviations of the supply voltage from the nominal value must not exceed the tolerance limits stated in the specifications otherwise operational failures and dangerous states in the electrical assemblies cannot be ruled out e Connecting and signal wires must be installed in such a way as to prevent the automation functions from being hampered by inductive and capacitive interference e The units of the automation system and their operating elements must be installed in such a way as to ensure adequate protection against accidental actuation e In order to prevent a wire or strand breakage on the signal side from causing undefined states in the programmable controller suitable hardware and software safety precautions must be taken with regard to the I O interface Printed in the Federal Republic of Germany TR Electronic GmbH 2007 All Rights Reserved 18 12 2007 TR ELE BA GB 0010 03 Page 7 of 48 Safety electronic 1 2 1 1 General interference suppression measures Lay the shielded connecting cable to the device at a sufficient distance or in a separate room from any power cables which are subject to interference Otherwise the data transmission of the measured value can be interfered To ensure reliable data tra
6. 6 1 1 Object 2000 Clear Preset ecccceceeeeeeeeeeeeeteeneeeeseteeeeesenaeeeteeaeeeeeeeaeees 31 6 1 2 Object 2001 Output value in Case Of an error ee eceeeeeeeeeeeeeeteeeeettteeeeees 31 6 1 3 Object 2003 Function external input ss esssesssrnsseernanssnnnnaeennannannnaeennaanannane 31 6 1 4 Object 2004 Automatic error acknowledgement cccceeceeeeeeeeteeeeeenteeeeees 32 6 1 5 Object 2005 Function error Output 0 2 eee ee cece ee eeeeeeeeeeeeeeeeeeeeaeeeseeaeees 32 6 1 6 Object 2006 Switching functions 0 000 eee eect ee eeere ee teeeeeeeteeaeeeeeeeaeees 32 6 1 7 Object 2007 RESOIUtION 2 0 cece teeeee ee eeeeee ee E 33 6 1 8 Object 6000h Operating parameters ec ecceeeeeeeeeeeeeeeeteeeeeeeeeeeeeeeeeaeees 33 6 1 9 Object 6003h Preset ValUC oo ee eect seer ee eeeeeeeeeeeeeeeeteeeeeeeteeaeeeteeeaeees 33 6 1 10 Object 6004h Position ValUC eect cece ee teeter eeeeeeeteeeaeeetenaeeeeeeaeeees 34 6 1 11 Object 6005h Measuring Step sssesssrsesesrrnanssnnnneennannannantennaanannnnenennadnannaa 34 6 1 12 Object 6200h Cyclic timer ee eeeeeeeeeeeeeeeeeeeeeeeeeeeaeeeseeaeeeeeeaeeeeeeeaees 34 6 113 LASEr ClAGNOSUCS orc iieeeicoireretensnedane nace A REEE 35 6 1 13 1 Object 6500h Operating status eeeeeeeeeeeeeeeeetteeeeeenaaes 35 6 1 13 2 Object 6501h Measuring Step eeeceeeeeeeeeeeeteeeeeetteeeeeeeaes 35 6 1 13 3 Object 6503h Alarms c ceeeceeeceee
7. AAR AAA AA AS ARARAT RAA AAE ANARAN ARENA AA LAATRE 6 1 1 Generallirisk potential neaieinia deGhad tanenaaadcansanadvadabahdddaasseds 6 1 2 Safety Informations s i2e5 divi nied waned eens wi edited EREE 6 1 21 Hints On Installation icececcieateed alesse ieiieedenaiegeseedlaceriedliee E A 7 1 2 1 1 General interference suppression measures ceeeeeeeeeees 8 1 3 Intended PULPOSE i icdecccisaseadeateccacessauceddahecdacassaavadsededaaceasseceddedadandesaadann danhancnctanaien denbanae 9 1 4 Authorized operators cccccccceceeeceeceecaece cece eetenacaeeeeeeesescaaeaeeeeeeesesesecacaeeeeeeeerssesnaeees 11 1 5 Safety measures at the installation Site eeceee ee eete eter eeneeeeeeaeeeeeeaaeeeeeeneeeeeeaaes 11 2 General Description sinniees cocisienasncianntecnndasesnatnantienddanbonatnanssewdsnecnoteaninnadensonetnnntsuaedsvnaunnteennyeviennceex 12 3 Transportation Storage sais scccciisccccecs secccesiacecccecasccececsseneceeasccdeteattaccecsestuccecsenddectestaccecaaceceeceesceetsis 13 A Assembly instructions seoseis REEE 14 4 1 Aligning of the laser light spot to the reflector foil inclination eeeeeeeeeeeeeeeeeneeen 14 4 2 Parallel operation of laser linear paths eceeeecceeecceeeeeeeceneaeeeeeeeseseccaeaeeeeeeeeeeteeseaeees 16 5 Commissioning Installation sorsra see aee ceseebtecesstewteeepeuedvesebiecspeauteieeseueeess 17 5 1 Electrical CONNECTION ceceeettere cette eee tine ee ee tne eter
8. DBT Service Specification February 1996 10 CiA DS 204 2 V1 1 DBT Protocol Specification February 1996 11 f CiA DS 205 1 V1 1 LMT Service Specification February 1996 12 CiA DS 205 2 V1 1 LMT Protocol Specification February 1996 13 CiA DS 206 V1 1 Recommended Layer Naming Conventions February 1996 14 j CiA DS 207 V1 1 Application Layer Naming Conventions February 1996 15 CiA DS 301 V3 0 CANopen Communication Profile based on CAL October 1996 16 CiA DS 406 V2 0 CANopen Profile for Encoder May 1998 TR Electronic GmbH 2007 All Rights Reserved Printed in the Federal Republic of Germany Page 46 of 48 TR ELE BA GB 0010 03 18 12 2007 TRelectronic Appendix 11 4 Definitions and Abbreviations CAL CAN CiA CMS COB COB ID DBT LMT NMT PDO SDO Printed in the Federal Republic of Germany 18 12 2007 CAN Application Layer The application layer for CAN based networks as specified by CiA in Draft Standard 201 207 Controller Area Network Data link layer protocol for serial communication as specified in ISO 11898 CAN in Automation international manufacturer and user organisation e V non profit association for Controller Area Network CAN CAN based Message Specification One of the service elements of the application layer in the CAN Reference Model Communication Object CAN Message A unit of transportation in a CAN Network Data must be sent across a Network
9. acknowledgement np f aA Object 1003h Pre defined Error Field page 25 Printed in the Federal Republic of Germany TR Electronic GmbH 2007 All Rights Reserved TR ELE BA GB 0010 03 Page 31 of 48 Configuration Parameter setting via the CANopen master electronic 6 1 4 Object 2004 Automatic error acknowledgement Determines whether occurring error reports should be cleared automatically after eliminating the trouble Unsigned8 Read Write An occurring error report can be cleared via Object 1003h Pre defined Error Field page 25 or via Object 2003 Function external input page 31 not automatically default An occurring error report is cleared automatically after 1 automatically remedying of the error 6 1 5 Object 2005 Function error output Determines the function of the error output external switching output Definition of the error see Description of the error code page 25 Unsigned8 Read Write disabled default Temperature Intensity Hardware all errors Speed check O al Ri wlms o Plausibility measured value 6 1 6 Object 2006 Switching functions Unsigned8 Read Write By setting this bit the laser diode LD is switched off for the extension of the life time If in Object 2003 Function Switch off laser diode external input page 31 LD switching input is prese Bit 0 1 lect
10. byte 0 error value output The bit is set if the device temperature is outside of the Temperature range from 0 50 C A low range deviation has still no Bit 1 in byte 0 influence on the measurement and is therefore to be regarded as a warning Hardware The bit is set if an internal hardware error were noticed Bit 2 in byte 0 and leads to the error value output Laser diode switched off Bit 3 in byte 0 The bit is set if the laser diode was switched off over the bus or the switching input Serves only for information purposes Intensity warning Bit 4 in byte 0 The bit is set if an intensity value of smaller 12 were determined and means that the measuring system optics or the reflecting foil is to be cleaned However the device operates error freely furthermore Overspeed warning Bit 5 in byte 0 The bit is set if the speed adjusted in the PC program TRWinProg is exceeded About the default setting the speed check is switched off A configurability over the bus is not possible Plausibility warning Bit 6 in byte 0 The bit is set if the plausibility of the measured value cannot be guaranteed E g this is the case at a position jump if a second reflection foil is held into the laser beam 6 1 13 4 Object 6504h Supported alarms Object 6504h contains the information on supported alarms by the laser Structure of parameter Unsigned16 Read Function Intensity Temperature Hardware
11. inside a COB COB ldentifier Identifies a COB uniquely in a Network The identifier determines the priority of that COB in the MAC sub layer too Distributor One of the service elements of the application in the CAN Reference Model It is the responsibility of the DBT to distribute COB ID s to the COB s that are used by CMS Layer Management One of the service elements of the application in the CAN Reference Model It serves to configure parameters of each layer in the CAN Reference Model Network Management One of the service elements of the application in the CAN Reference Model It performs initialisation configuration and error handling in a CAN network Process Data Object Object for data exchange between several devices Service Data Object Peer to peer communication with access to the Object Dictionary of a device TR Electronic GmbH 2007 All Rights Reserved TR ELE BA GB 0010 03 Page 47 of 48 Appendix electronic TR Electronic GmbH 2007 All Rights Reserved Printed in the Federal Republic of Germany Page 48 of 48 TR ELE BA GB 0010 03 18 12 2007
12. rate and node number is done by hardware switches 5 2 1 Bus status 5 2 2 EDS file At the connection cap the laser has 3 LEDs which display the bus status of the laser Laser is not on line LEDs Off a Device may not be powered r S On line with connections in the established state RUN green sae Device is allocated to a master RUN Recoverable fault e g I O connections are in the time out state green flashing Node Guarding active Turn off system after that turn on system ERR ted Replace laser device ERR red flashing ON eng OK green Laser hardware ok The EDS file electronic data sheet contains all informations about the laser specific parameters and operating modes of the laser measuring device The EDS file is needed by the CANopen network configuration tool to be able to configure or to take into operation the laser measuring device duly The EDS file has the file name LE200 EDS The file is on the Software Support CD Order number 490 01001 Soft No 490 00408 Printed in the Federal Republic of Germany TR Electronic GmbH 2007 All Rights Reserved 18 12 2007 TR ELE BA GB 0010 03 Page 21 of 48 Commissioning Installation TRelectronic 5 2 3 The communication profile Two process data objects PDO are implemented in the device One is used for asynchronous transmission and th
13. the Federal Republic of Germany Page 6 of 48 TR ELE BA GB 0010 03 18 12 2007 TRelectronic Safety 1 2 1 Hints on installation VANS Since the Laser Measuring Device is normally used as part of a larger system these hints are merely intended as a guide for integrating the device safely into its environment Warning e During the operation of the Laser Measuring Device it isn t allowed to interrupt the laser beam If it comes nevertheless to an interruption at the restart of the automatic operation mode first the validity plausibility of the measured value has to be checked e Precautionary measures must be taken to allow an interrupted program to be properly resumed following a voltage drop or failure Dangerous operating conditions must not be permitted to arise even for short periods If necessary an EMERGENCY STOP must be forced e EMERGENCY STOP devices according to EN 60204 IEC 204 VDE 0113 must remain operational in all operating modes of the programmable controller The release of the EMERGENCY STOP devices must not trigger an uncontrolled or undefined reactivation of the equipment e The safety and accident prevention regulations applicable to the specific application must be observed e In the case of permanently installed plants or systems without an all pole mains switch and or fuses one of these devices must be installed accordingly and the equipment connected to a PE conductor e In the case of
14. 1001h Error Register 0 00 ccecceeeeeeeeeeseeeeeeesueeeeeeeneeeeeeaes 24 5 2 4 3 Object 1002h Manufacturer Status Register cece 24 5 2 4 4 Object 1003h Pre defined Error Field ecceececeseeeeeeetteeeeenaees 25 5 2 4 5 Object 1004h Number of PDOs supported ccceeeeeeereees 26 5 2 4 6 Object 1005h COB ID SYNC message eeeeeeeeeeeeteetteeeeeaees 26 5 2 4 7 Object 1008h Manufacturer Device Name seneese 27 5 2 4 8 Object 1009h Manufacturer Hardware Version 2 00ceeee 27 5 2 4 9 Object 100Ah Manufacturer Software Version ceeeeeeerees 27 5 2 4 10 Object 100Bh Node ID oo eee ee eeceeeeeeetneeeeeeteeeeeeneeeeeeeaes 27 5 2 4 11 Object 100Ch Guard TiMe esrreesssrrsreernnassnnnneennannannnneennnaanannaa 27 5 2 4 12 Object 100Dh Life Time Factor ceeeeeeeeeeeeseeeeeeesteeeeeeeaaes 28 TR Electronic GmbH 2007 All Rights Reserved Printed in the Federal Republic of Germany Page 4 of 48 TR ELE BA GB 0010 03 18 12 2007 Relectronic Table of Contents 5 2 4 13 Object 100Eh Node Guarding Identifier ie eeeeeeeeeeeees 28 5 2 4 14 Object 1010h Store Parameters 0 0 0 eceecceeeeeeeeeeteeeeeesteeeeeenaees 28 6 Configuration Parameter setting via the CANopen master sseeecssseeeeessseeeeeseseeneeeeeeeenees 30 6 1 Standardized encoder profile area ccccccceeeeeeeenceceeceeeeeeeeeccaeaeeeeeeesesecnuesaeeeeeeeeeneee 30
15. 8 rw 2001 VAR Output value in case of an error Unsigned8 rw 2002 Unsigned32 w 2003 Unsigned8 w 2004 Unsigned8 w 2005 Unsigned8 rw 2006 Unsigned iw 2007 Unsigned w 6000 Unsigned16 w 6003 Unsigned32 rw 6004 Unsigned32 ro 6005 Unsigned32 ro 6200 Unsigned16 w Diagnostics 6500 Unsigned16 r 6501 Unsigned32 ro 6503 Unsigned16 r 6504 Unsignedt6 r 6505 Unsigned16 r 6506 Unsigned16 r 6507 Unsigned32 r 6508 Unsigned32 r 6509 Signed32 Tr 650A Signed32 r 6508 Unsigned32_ r On the following pages each single object is explained in detail TR Electronic GmbH 2007 All Rights Reserved Printed in the Federal Republic of Germany Page 30 of 48 TR ELE BA GB 0010 03 18 12 2007 FRelectronic Configuration Parameter setting via the CANopen master 6 1 1 Object 2000 Clear Preset Via this object the zero point correction calculated in Object 6003h Preset value page 33 is deleted The correction arises from the difference of the desired preset value to the physical laser position That means after deletion of the zero point correction the laser outputs his real physical position Unsigned8 Read Write 0 Clear Preset 1 No clearing 6 1 2 Object 2001 Output value in case of an error Determines which data value is to be transmitted in the case of an error The data value is output if the laser can output no more measurement This is given e g if a beam
16. Rotary Linear Encoders Encoders System User Manual Laser Measuring Device LE 200 with CANopen interface e Safety notes e Assembly e Software Support CD 490 01001 e Installation Commissioning Softee 4900 00408 Soft No e Parameter setting e Causes of Faults and Remedies TR ELE BA GB 0010 03 18 12 2007 TRelectronic TR Electronic GmbH D 78647 Trossingen Eglishalde 6 Tel 0049 07425 228 0 Fax 0049 07425 228 33 E mail info tr electronic de 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 18 12 2007 Document rev no TR ELE BA GB 0010 03 File name TR ELE BA GB 0010 03 DOC Author MUJ 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 lt gt indicates keys on your computer keyboar
17. ameters If the storing failed the device responds with abort domain transfer error class 6 error code 6 hardware fault See also Object 6503h Alarms page 35 If a wrong signature is written the device refuses to store and responds with abort domain transfer error class 8 error code 0 Printed in the Federal Republic of Germany TR Electronic GmbH 2007 All Rights Reserved 18 12 2007 TR ELE BA GB 0010 03 Page 29 of 48 Configuration Parameter setting via the CANopen master electronic 6 Configuration Parameter setting via the CANopen master The configuration of the laser occurs alternatively via the configuration software of the CANopen master or via the TRWinProg software With a download of the control parameters the parameters which were configured via the TRWinProg software will be overwritten by the control In this instruction only the configuration via the CANopen master is described The PC program TRWinProg is described in an instruction of its own 6 1 Standardized encoder profile area Each encoder shares the dictionary entries from 6000h to 65FFh These entries are common to encoders Additionally the laser measuring device uses the entries from 2000 to 2006h NOTE that all indices shown in the Index column are hexadecimal The overview of all laser entries are shown below Index Object Name Data Length Attr Parameters 2000 VAR Unsigned
18. bH 2007 All Rights Reserved Printed in the Federal Republic of Germany Page 20 of 48 TR ELE BA GB 0010 03 18 12 2007 electronic Commissioning Installation 5 2 CANopen interface The CAN Bus Interface is defined by the international norm ISO DIS 11898 and specifies the two lowest layers of the ISO DIS CAN Reference Model The CAN BUS Interface with the BUS Driver PCA82C251 is galvanic isolated of the laser electronic and becomes the power over internal DC DC converter There is no external power supply necessary for the CAN BUS Driver The conversion of the laser information to the CAN message format CAN 2 0A is done by the CAN controller SJA1000 The function of the CAN controller is controlled by a watchdog The CANopen Communication Profile CIA standard DS 301 is a subset of CAN Application Layer CAL and describes how the services are used by devices The CANopen Profile allows the definition of device profiles for decentralized I O The laser with CANopen protocol support the Device Profile for Encoder CIA Draft Standard Proposal 406 Version 2 0 The encoders support the extended functions in Class C2 The communication functionality and objects which are used in the laser profile are described in a EDS File Electronic Data Sheet When using a CANopen Configuration Tool e g CANSETTER the user can read the objects of the laser SDOs and program the functionality The selection of transmission
19. bject 100Bh Node ID This object contains the Node ID device address The value is selected by 6 hardware switches and cannot be changed using SDO services Unsigned32 Read N Coxe m B Byte 0 Byte 1 Byte 2 Byte 3 Node ID reserved reserved reserved Value range 1 64 The Node ID is the selected hardware number by switches 1 That means all 6 switches off 0 Node ID 1 switch bit 5 on 32 Node ID 33 5 2 4 11 Object 100Ch Guard Time The objects of index 100CH and 100DH include the guard time in milli seconds and the life time factor The life time factor multiplied with the guard time gives the live time for the node guarding protocol Unsigned16 Read Write Byte 0 Byte 1 2 to 2 2 to 2 Printed in the Federal Republic of Germany TR Electronic GmbH 2007 All Rights Reserved 18 12 2007 TR ELE BA GB 0010 03 Page 27 of 48 Commissioning Installation TRelectronic 5 2 4 12 Object 100Dh Life Time Factor The life time factor multiplied with the guard time gives the life time for the node guarding protocol If the result is 0 no node guarding is supported Unsigned8 Read Write Life Time Factor Byte 0 2 to 2 5 2 4 13 Object 100Eh Node Guarding Identifier The identifier is used for the node guarding and the life guarding procedure Unsigned32 Read MSB LSB 31 30 29 28 11 10 0 reserved O 0000000000000000 00 11 bit i
20. contains the serial number of the laser device 4 byte Printed in the Federal Republic of Germany TR Electronic GmbH 2007 All Rights Reserved 18 12 2007 TR ELE BA GB 0010 03 Page 37 of 48 Emergency Message Relectronic 7 Emergency Message Emergency messages are triggered by the occurrence of a device internal malfunction and are transmitted from the concerned application device to the other devices with highest priority Emergency Message Emergency register content Error Code object COB Identifier 080h Node ID If the laser detects an internal error an emergency message will be transmitted with the error code of Object 1003h Pre defined Error Field page 25 and the error register object 1001H Additionally to the emergency object the according bit in Object 6503h Alarms page 35 is set If the error disappears the laser transmits an emergency message with error code 0 reset error no error and error register 0 To this it is prerequisite that the error acknowledgment was set to automatically see Object 2004 Automatic error acknowledgement page 32 TR Electronic GmbH 2007 All Rights Reserved Printed in the Federal Republic of Germany Page 38 of 48 TR ELE BA GB 0010 03 18 12 2007 FRelectronic Transmitting of the laser position value 8 Transmitting of the laser position value Before the laser position can be transferred the laser has to be started with t
21. ct 1005h COB ID SYNC message This object defines the COB ID of the Oynchronization object SYNC Further it defines whether the device processes the SYNC or whether the device generates the SYNC Unsigned32 Read Write MSB LSB z po o o ooo Bit 31 1 Device processes SYNC message Bit 31 0 Device does not generate SYNC message Bit 30 0 Bit 29 0 11 bit ID CAN 2 0A Bit 28 11 0 Bit 10 0 11 bit SYNC COB IDENTIFIER default value 080h If a SYNC telegram with the identifier defined in this object 080H and data length 0 has been received by the device the position value of the laser is transmitted by the 2 Transmit PDO object 1802 The default value 80 H in byte 0 bit 0 7 can be overwritten by another value 0 The new adjusted value is stored permanently about Object 1010h Store Parameters page 28 TR Electronic GmbH 2007 All Rights Reserved Printed in the Federal Republic of Germany Page 26 of 48 TR ELE BA GB 0010 03 18 12 2007 Relectronic Commissioning Installation 5 2 4 7 Object 1008h Manufacturer Device Name Contains the manufacturer device name visible string LE200 5 2 4 8 Object 1009h Manufacturer Hardware Version Contains the manufacturer hardware version visible string 5 2 4 9 Object 100Ah Manufacturer Software Version Contains the manufacturer software version visible string See also object 6507 5 2 4 10 O
22. d such as lt RETURN gt Trademarks CANopen is a registered trademark of CAN in Automation e V TR Electronic GmbH 2007 All Rights Reserved Printed in the Federal Republic of Germany Page 2 of 48 TR ELE BA GB 0010 03 18 12 2007 Relectronic Revision History Revision History e Note The cover of this document shows the current revision status and the corresponding date Since each individual page has its own revision status and date in the footer there may be different revision statuses within the document Documents that are in the appendix have their own revision history Document created 24 07 2003 Revision Expansion of the function for the error output object 2005 19 09 2003 e Speed check configurable via TRWinProg New Object 2007 Resolution a 11 12 2003 Revision of the warning label in chapter Intended purpose Modification of the Laser Standard DIN EN 60825 1 Warning bit Plausibility measured value Additional reflector foils chap Accessories Meta 2007 Max measuring range 240 m Printed in the Federal Republic of Germany TR Electronic GmbH 2007 All Rights Reserved 18 12 2007 TR ELE BA GB 0010 03 Page 3 of 48 Table of Contents TRelectronic Table of Contents Revision History sssrinin naeran EEEE 3 Table of Content ne scrensnisnenonepenen n cvesubie evsebeiy edeeabieedvaseie eda stie catenins 4 1 Sale ty sicccccvicsiccecsscczcces
23. d switched on Variations in potential can destroy the device or restrict its operation Do not touch plug contacts with your hands Static charges may destroy electronic components of the device Do not connect unused inputs see pin assignment Observe the voltage supply range Standard device 18 27 V DC 5 Device with heating 24 V DC 5 Clean lens opening of the laser and the reflecting foil regularly see chapter Maintenance page 43 Note Make sure that the environment of the installation site is protected against corrosive media acids etc Printed in the Federal Republic of Germany TR Electronic GmbH 2007 All Rights Reserved 18 12 2007 TR ELE BA GB 0010 03 Page 11 of 48 electronic General Description 2 General Description The laser measuring devices of the series LE are optical sensors with which larger distances can be measured without contact and serviceable for controller The measuring system consists of the real measuring device with laser light source receiving optics electronic evaluation and data interface as well as a reflector The device sends out a modulated light beam which is reflected by the reflector From the phase difference of the sent and received light beam the distance is measured 1000 times per second Thus the LE is suitable also directly for the position feedback in controller loops According to the requirements the laser distance measuring devices of t
24. d32 Unsigned32 TR Electronic GmbH 2007 All Rights Reserved Page 23 of 48 Commissioning Installation 5 2 4 1 Object 1000h Device Type TRelectronic Contains information about the device type The object at index 1000h describes the type of device and its functionality It is composed of a 16 bit field which describes the device profile that is used Device Profile Number 406 196h and a second 16 bit field which gives information on the type of device Structure of parameter Unsigned32 const Device Type Device Profile Number Encoder Type Byte 1 Byte 2 Byte 3 Encoder type Definition Laser measuring device 5 2 4 2 Object 1001h Error Register This object contains the error register for the device If an alarm bit is set object 6503 bit 5 is set in the error register Unsigned8 Read device profile specific 5 2 4 3 Object 1002h Manufacturer Status Register This object is not used by the laser by read access the value is always 0 TR Electronic GmbH 2007 All Rights Reserved Page 24 of 48 TR ELE BA GB 0010 03 Printed in the Federal Republic of Germany 18 12 2007 Relectronic Commissioning Installation 5 2 4 4 Object 1003h Pre defined Error Field This object contains an occurred laser error and indicates the error via the Emergency object Index Sub Index Comment Type lo number of errors clear error cod
25. dentifier Bit 10 0 11 bit identifier value 700h Node ID 5 2 4 14 Object 1010h Store Parameters This object supports the saving of parameters in non volatile memory EEPROM Index Sub Index Comment Type lo largest supported sub index Unsigned8 oo save all parameters Unsigned32 Sub index0 The entry in sub index 0 contains the largest sub index which is supported Value 1 Sub index1 By read access the device provides information about its saving possibility TR Electronic GmbH 2007 All Rights Reserved Printed in the Federal Republic of Germany Page 28 of 48 TR ELE BA GB 0010 03 18 12 2007 Relectronic Commissioning Installation Unsigned32 Read Write MSB LSB bits 31 2 value 0 By read access the device provides information about its saving possibility EE Bit O 1 the device saves parameters only on command That means if parameters have been changed by the user and no Store Parameter Command has been executed at the next power on the parameters will have there old values By write access the device stores the parameters to the non volatile memory In order to avoid storage of parameters by mistake storage is only executed when a specific signature is written to the object The signature is save Unsigned32 Signature MSB LSB poe yvy a s 65h 76h 61h 73h On reception of the correct signature the device stores the par
26. device has detected an internal hardware error The bit is set if the diode switched off over the laser was bus or the switching input The mined an intensity of lt 12 device deter The speed level adjusted over the PC program TRWinProg was exceeded The plausibility of the measured value couldn t be guaran teed any more TR ELE BA GB 0010 03 Remedy 1 Clean measuring system optics 2 Clean reflecting foil 3 Rule out an interruption of the laser beam If the possibility of soiling or interruption of the laser signal can be ruled out the device must be replaced Appropriate measures must be taken to prevent the device from overheating or undercooling If the error occurs repeated the device must be replaced Serves only for information purposes This message is only a warning and means that the measuring system optics or the reflecting foil is to be cleaned However the device operates error freely furthermore This message is a warning and means that possibly corresponding measures must be taken so that no system components will be damaged This message is a warning and means that possibly corresponding measures must be taken so that no system components will be damaged Printed in the Federal Republic of Germany 18 12 2007 TRelectronic Maintenance 10 Maintenance 10 1 General Maintenance Information The Laser Measuring Device does not in general r
27. e The bit is set if the speed adjusted in the PC program Overspeed warning TRWinProg is exceeded About the default setting the Bit 5 in byte 0 speed check is switched off A configurability over the bus is not possible The bit is set if the plausibility of the measured value cannot be guaranteed E g this is the case at a position jump if a second reflection foil is held into the laser beam Plausibility warning Bit 6 in byte 0 Printed in the Federal Republic of Germany TR Electronic GmbH 2007 All Rights Reserved 18 12 2007 TR ELE BA GB 0010 03 Page 25 of 48 Commissioning Installation Relectronic 5 2 4 5 Object 1004h Number of PDOs supported This object contains information about the maximum number of PDOs supported by the laser Index Sub Index Comment Type lo number of PDOs supported Unsigned32 number of synchronous PDOs Unsigned32 number of asynchronous PDOs Unsigned32 Sub index 0 describes the overall number of PDOs supported synchronous asynchronous Sub index 1 describes the number of synchronous PDOs supported by the laser Sub index 2 describes the number of asynchronous PDOs supported by the laser Unsigned32 Read Number of PDOs Byte 1 Byte 2 Byte 3 Transmitted PDOs Received PDOs Sub index 0 Transmitted PDOs 2 Received PDOs 0 Sub index 1 Transmitted PDOs 1 Received PDOs 0 Sub index 2 Transmitted PDOs 1 Received PDOs 0 5 2 4 6 Obje
28. e Unsigned8 standard error field Unsigned32 Sub index 0 The entry in sub index 0 contains the number of occurred errors and registers it in sub index 1 After elimination of the error the error code can be cleared about a write access on sub index 0 Sub index 1 The error field consists of an 8 bit error code Unsigned32 Read Standard Error Field Byte 0 Byte 1 Byte 2 Byte 3 error code zee o d o d o Description of the error code No error eE Byte 0 0x00 Corresponds to the normal condition s The bit is set if an intensity value of smaller 8 is Intensity Bit 0 in byte 0 present or the laser beam is interrupted and leads to the error value output The bit is set if the device temperature is outside of the Temperature range from 0 50 C A low range deviation has still no Bit 1 in byte 0 influence on the measurement and is therefore to be regarded as a warning Hardware The bit is set if an internal hardware error were noticed Bit 2 in byte 0 and leads to the error value output The bit is set if the laser diode was switched off over the Laser diode switched off Pe e i Da bus or the switching input Serves only for information Bit 3 in byte 0 purposes The bit is set if an intensity value of smaller 12 were Intensity warning determined and means that the measuring system optics Bit 4 in byte 0 or the reflecting foil is to be cleaned However the device operates error freely furthermor
29. e installed in such a way that the exposure of persons to the laser beam can only happen accidentally e The laser beam may only extend as far as is necessary for the range measurement The beam must be limited at the end of the useful range by a diffusely reflecting target area in such a way as to minimize the danger from direct or diffuse reflection For this purpose you should use the TR Electronic reflecting foil supplied with the device e The area outside the operating range where the unshielded laser beam falls should be limited as far as possible and should remain out of bounds particularly in the area above and below eye level e Observe the legal and local regulations applicable to the operation of laser units p e Note The start up operating and programming instructions contained in this manual are mandatory TR Electronic GmbH 2007 All Rights Reserved Printed in the Federal Republic of Germany Page 10 of 48 TR ELE BA GB 0010 03 18 12 2007 TRelectronic Safety 1 4 Authorized operators The start up and operation of this device may only be performed by qualified personnel For the purposes of this manual the term qualified personnel refers to persons who are authorized to operate earth and label equipment systems and power circuits according to recognized safety standards 1 5 Safety measures at the installation site As Warning p o Do not perform any welding work once the device is connected an
30. e other one for the cyclic transmission functions The output position value is transmitted in binary code COB ID Output Position Value Byte 0 Byte 1 Byte 2 Byte 3 5 2 3 1 1 Transmit Process Data Object asynchronous This PDO transmit the position value of the laser in an asynchronous way The cyclic timer is stored in index 6200h Index Sub Index Comment Default Value o rumber of supported emies 3 E o rumoer oi maopen 1 5 2 3 2 2 Transmit Process Data Object synchronous This PDO transmit the position value of the laser in a cyclic way on request Request by remote frame and or sync telegrams Index Sub Index Comment Default Value o rumber of supported emies 3 O o mme ooo S o rumoer oi mappe ones 1 TR Electronic GmbH 2007 All Rights Reserved Printed in the Federal Republic of Germany Page 22 of 48 TR ELE BA GB 0010 03 18 12 2007 Relectronic 5 2 4 Communication specific standard objects Commissioning Installation Following table gives an overview on the supported indices in the communication profile area Index h Object Name device name 1000 1001 1002 VAR 1005 1008 VAR VAR VAR VAR VAR VAR VAR Printed in the Federal Republic of Germany 18 12 2007 TR ELE BA GB 0010 03 Unsigned32 Unsigned8 Unsigned32 Unsigned32 Unsigned32 Unsigned32 Unsigned32 Unsigned 16 Unsigned8 Unsigne
31. eceeceneeeceaeeeeaeeseeeeeseeeeeeeeeeees 35 6 1 13 4 Object 6504h Supported alarms ccccceseeseceeeeeeeeeseestaeeees 36 6 1 13 5 Object 6505h WarningS cece eeeeeeeeeeeeeeeeeeeeeeeetaeeeeeeneeeeeeaes 36 6 1 13 6 Object 6506h Supported warnings cceeeeeeeeeeeeeeeeeteeeeeeeaees 37 6 1 13 7 Object 6507h Software Version eeeseceeseeeeeeeeteeeeeenteeeeeenaaes 37 6 1 13 8 Object 6508h Operating timMe eee eeeeeeeeeeteeeeeestaeeeeeeaaes 37 6 1 13 9 Object 6509h Offset value ssssessssreseernesssnneseinnnannnnnaneennaanannaae 37 6 1 13 10 Object 650Ah Manufacturer offset value ceceeeeeeeeees 37 6 1 13 11 Object 650Bh Serial number eee eeeeee cette eeeeenteeeeeeeaaes 37 T Emergency Message orina RSSa NE Ea 38 8 Transmitting of the laser position value sssssussesnnnsnnununnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnn nnmnnn 39 8 1 Read Write Service Data Object s nsssseseerrnnssnnnnseennnnsannnstennannannaatennaanaannaaeennannannaaeenn 40 SA Read SDO oaiae a aaiae ne aea aaa AEA 40 8 12 White SDO saccade iin ae ai a aaa e N ae 41 9 Causes of Faults and Remedies nassssususnunnsennnnnnnnnnrnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnn nnmnnn nnmnnn nna 42 TO Maintena C e iesin aaraa raaa aaa Par aiB da erai aeaa Oa panaia iaeaea aa 43 10 1 General Maintenance Information 0 c cece ee enee eter ener ee eeeaeeeeeeaeee
32. ed or in the PC program TRWinProg in the basic parameters the switching off of the laser diode is carried out automatically this function is ineffective Switch on laser diode By setting this bit the laser diode is switched on This Bit 1 1 function is ineffective if see Switch off laser diode above Execute Preset By setting this bit the laser is adjusted to the value Bit 2 1 deposited in Object 6003h Preset value page 33 A read access returns the status of the laser diode 0 Laser diode is switched off 1 Laser diode is switched on TR Electronic GmbH 2007 All Rights Reserved Printed in the Federal Republic of Germany Page 32 of 48 TR ELE BA GB 0010 03 18 12 2007 electronic Configuration Parameter setting via the CANopen master 6 1 7 Object 2007 Resolution Definition of the measuring system resolution Options Centimeter Millimeter default 1 10 millimeter 1 100 millimeter Inch 1 10 Inch O o R O hM a oO Free resolution in 1 100 mm valid values are 1 65535 default 100 With selection Free resolution the entered value of the object Object 6005h Measuring step is used 6 1 8 Object 6000h Operating parameters The operating parameters contain the functions for code sequence Structure of parameter Unsigned16 Read Write Bit Function Bit 0 Bit 4 Code Sequence increasing decreasing e A
33. eeeaeeeeeenaaeeeeeeaes 43 10 2 Repair Maintenance cccccececeeeceecceceeeeeeeeeceaeeceeeeeeeseceenaeeeeeeeeeseceeaeeeeeeeeeseeeenaaeas 43 TI AD DENGIX sc esechd serra te sei a este eels esta aetna ds aca Se Seca eat r 44 11 1 Specifications esnia a teava cea ean edeada dee vias venede casa eae redtadeiel aeeaevaadedecrtesees 44 11 1 1 Electrical rangs scccict veseees hetieds nk ti N vines enh denied 44 11 1 2 Environmental conditions se sirerhereroiiiiiei eindini nini KoA An PETENTE NENA RETENER AANEEN 45 T12 ACCOSSOMIOES rosii eaa iaai Ea EA vance EEEE E E 45 11 3 References cece cece ceeeeeecee cnet ee teee ee aeee ee ttn saaaaeaaeaeceeeeeccecaanaeeeseeeseenaneeseeeeeseeeeseneess 46 11 4 Definitions and Abbreviations 0 0 0 eccceeee ener ee enneeeeeenneeeeeeaeeeeeeeaeeeeetiaeeeeetiaeeeeneaes 47 Pin ASSIGNMENT ennn ionn ai aed TR ELE TI GB 0010 Pin Assignment CIA DR 303 1 conform cccceeeceeeeeeeeeeteteeteees TR ELE TI DGB 0011 Drawings Dimensioned drawing 0ccccieceei cadets E E E 04 K2200 002 Printed in the Federal Republic of Germany TR Electronic GmbH 2007 All Rights Reserved 18 12 2007 TR ELE BA GB 0010 03 Page 5 of 48 Safety 1 Safety Relectronic 1 1 General risk potential TAS The Laser Measuring Device LE 200 CANopen cannot be operated independently but is installed as part of an overall system usually consisting of several interacting components For this
34. equire maintenance by the operator p e Note If the lens opening of the laser or the reflecting foil become dirty clean with a soft cloth Do not use an aggressive cleaning material such as thinner or acetone 10 2 Repair Maintenance Repairs to the devices must only be carried out by the manufacturer Contact your TR Electronic GmbH distributor or service organization should repairs be required The addresses are listed on the last page of this description Printed in the Federal Republic of Germany TR Electronic GmbH 2007 All Rights Reserved 18 12 2007 TR ELE BA GB 0010 03 Page 43 of 48 Appendix electronic 11 Appendix 11 1 Specifications e I Note The electric characteristics have validity only after an operating time of approximate 30 minutes 11 1 1 Electrical ratings Measuring principle 2 cccccesesseeeeereeeee Phase delay time measurement Range measurement on reflecting foil 0 2 125 m standard 170m 195m 240m special devices FRESOVUCIOIN aici czcccascssstatestxeacexhananacectireazieimenss selectable physical resolution 0 7 mm Linearization up to 12m standard 2008 absolute linearity error 3 mm complete measuring length absolute linearity error 5 mm Operating voltage Standard CEVICC yas sianiicradesiacaanicanas 18 27 V DC 5 Device with heating c cc 24 V DC 5 Power consumption no load eceeeee lt 6 wa
35. flectivity At first attaching the reflector foil flatly and drive plant on minimal distance Laser Foil Centering paper C in front of the laser optics so that the laser beam can unhinderedly emerge by an approx 2 cm hole Now the interfering signal B should get visible on the paper C To the better location of the interfering signal B the reflector foil can be moved also a little Here it is valid angle of incidence angle of reflection e Figure 4 Transmitting away the surface reflectivity Rotate the reflector foil in the Y or in the Z axis so that the interference signal B always is outside the laser lens Nevertheless keeping the inclination of the reflector foil as low as possible to minimize measuring errors caused by misalignments in the procedure movement For example if the light spot drifts on the reflector foil around small differences arise as a result of the oblique position Fix reflector foil C real wanted signal is always thrown back 180 independ ently of the reflector inclina tion B Surface reflectivity interference signal C Paper with an approx 2 cm large hole in the center Figure 4 Transmitting away the surface reflectivity Printed in the Federal Republic of Germany TR Electronic GmbH 2007 All Rights Reserved 18 12 2007 TR ELE BA GB 0010 03 Page 15 of 48 electronic Assembly instructions 4 2 Parallel o
36. he Node Start command Node Start Protocol COB Identifier 0 Byte 0 Byte 1 Node Start command with the Node ID of the laser slave starts only this device Node Start command with Node ID 0 starts all slaves connected to the bus After the Node Start command the laser transmit the position value one time with the COB ID of object 1800h Now the laser position value can be transmitted in different ways Asynchronous Transmission The 1 transmit PDO object 1800h transmit the position value of the laser The cyclic time is defined by the value of the cyclic timer object 6200H This transmission starts automatically after the Node Start command and the value of the cyclic timer is gt 0 The default value of the COB ID is 180h Node ID Cyclic Transmission The 2 transmit PDO object 1802 transmit the position value of the laser on request remote sync The laser receives a remote frame with the COB ID default value 280h Node ID The laser receives a sync telegram with the COB ID default value 080h defined in object 1005h All slaves with the this SYNC COB ID will transmit the position value To stop the transmission of the laser position the laser has to be stopped with the Node Stop command Node Stop Protocol COB Identifier 0 Byte 0 Byte 1 Node Stop command with the Node ID of the laser slave stop only this device Node Stop command with Node ID 0 stop all slaves connected to the bu
37. he measuring systems are prohibited 0 gt f for safety reasons hg In particular the following uses are forbidden operation in areas where interruption of the laser beam e g by covering the laser lens opening can lead to equipment damage or injury to personnel in environments in which strong rain snow fog steams or direct insolations etc can influence the laser beam intensity negatively operation in rooms with explosive atmospheres operation for medical purposes With use purposes larger 125m measuring length a special reflector must to be used see chapter Accessories page 45 Printed in the Federal Republic of Germany TR Electronic GmbH 2007 All Rights Reserved 18 12 2007 TR ELE BA GB 0010 03 Page 9 of 48 Safety electronic J Warning e In the case of Class 2 laser devices the eye is not endangered if the exposure of the laser radiation is very short up to 0 25 s and accidental For this reason devices of this class can be used without additional protective measures provided for the application it is not necessary to look into the laser beam deliberately for longer periods i e 0 25 s or to look repeatedly into the laser beam itself or the specular reflected beam The existence of the blinking reflex for the protection of the eyes may not be assumed Therefore the eyes should be closed consciously or the head should be turned away immediately e The device must b
38. he series LE 200 CANopen are configured either directly over the CAN bus or with the PC programming software TRWinProg Principle Phase displacement p Reflecting foil d Distance d f Measuring start Measuring end Measuring range 0 2m 125m Display range max 240m Special Device TR Electronic GmbH 2007 All Rights Reserved Printed in the Federal Republic of Germany Page 12 of 48 TR ELE BA GB 0010 03 18 12 2007 TRelect ronic Transportation Storage 3 Transportation Storage Transport instructions Do not drop the device or expose it to shocks or vibrations Device contains an optical system with glass elements Only use the original packaging The wrong packaging material can cause damage to the device during transportation Storage Storage temperature 20 to 75 C Store in dry conditions Printed in the Federal Republic of Germany TR Electronic GmbH 2007 All Rights Reserved 18 12 2007 TR ELE BA GB 0010 03 Page 13 of 48 Assembly instructions TRelectronic 4 Assembly instructions The adjustment of the laser measuring device in the vertical plain is carried out via four studs in the mounting plate The adjustment in the horizontal plane can be made by four hexagon bolts EJ It has to be taken into account that the screw diameter is approx 1 2 mm smaller than the through bore of the mounting plate Exact dimensional propertie
39. interruption is present Unsigned8 Read Write 0 Null default The position is set to 0 1 OxFF All 24 bits are set to 1 OxFFFFFF or 1 2 last valid value Output of the last valid position 6 1 3 Object 2003 Function external input 18 12 2007 Determines whether the switching input is to be used as Preset input Switch off Laser Diode LD or Failure reset input With connection of the switching input as Preset input the laser is adjusted on the predefined position value in Object 6003h Preset value page 33 With connection the switching input as LD input the laser diode is switched off for the extension of the life time If in the PC program TRWinProg in the basic parameters the switching off of the laser diode is carried out automatically the LD switching input does not have a function Unsigned8 Read Write Function switched off following parameters without 0 disabled default meaning External switching input is determined as Preset input 1 Preset function Software execution see chapter Object 2006 Switching functions page 32 External switching input is used for switching off of the 2 LD switching input laser diode Software switching off see chapter Object 2006 Switching functions page 32 External switching input is used as error acknowledge Error 3 ment Software acknowledgement see chapter
40. length m 20 kbps upto 2500 125 kbps upto 500 500 kbps upto 100 1000 kbps up to 25 TR Electronic GmbH 2007 All Rights Reserved Printed in the Federal Republic of Germany Page 18 of 48 TR ELE BA GB 0010 03 18 12 2007 TRelectronic Commissioning Installation 5 1 3 Switching input Switching output The programming of the switching input switching output is carried out either directly via the bus or via the PC software TRWinProg Functions of the switching input Preset Switch off laser diode Failure quit Functions of the switching output Temperature Intensity Hardware Fail Output or every fail Speed check Plausibility measured value Switching output position Wai GND reference potential pin 2 Pin 2 Switching output 3 GK Switching input M 121314 16 1617 181920 7 8 910 SS SISSSsopeeggegegegeae amp 5 1 4 RS485 programming interface The RS485 programming interface was developed mainly only as service interface for the technician Primarily therefore the programming possibilities via the CANopen should be used Via the PC software TRWinProg and a PC adapter the connection to the laser measuring device is established More informations see page 20 or in the TRWinProg software manual Gk RS485 112345 6 7 8KO 151617181920 RS485 SSsses es S ze MEEN EOUME 5 1 5 Switching on the supply voltage After the connectio
41. n baud rate and Node ID setting has been carried out the supply voltage can be switched on After power on and finishing the initialization the laser goes to the Pre operational state and waits for command If the laser detects an internal error an emergency message with the error code will be transmitted see chapter Emergency Message page 38 Printed in the Federal Republic of Germany TR Electronic GmbH 2007 All Rights Reserved 18 12 2007 TR ELE BA GB 0010 03 Page 19 of 48 electronic Commissioning Installation 5 1 6 Wiring examples Shield connection see chapter 1 2 1 1 page 8 CiA DR 303 1 conformal pin assignment see TR ELE TI DGB 001 1 CANopen connection ao I Se u 252 Mn c 2 D 0 O O O seme mms me m n eee eee ee ee ae Ie ae Iu ae Ie i5 E x1 LE 200 e pm Oa OV S 3 Supply Voltage i l i F Q 45 GNDI i r 16 Shield internal RC element onto case T CAN_H 4 20 CAN_L l l X1 LE 200 gt Q GND reference potential pin 2 N 5 7 itchi 2 S gt gt Switching Output gt Q3 Switching Input OGO amp G Supply Voltage 1 Ka 8 pply g RS485 i PE E E L I AE E I J wee i l Switch Cabinet 14005 ODO RS485 Module OO 2 RS485 490 00105 2T Freise yT 10 I 11 27 XX 48 ON 15 Case Shield QO PC adapter 490 00310 RS485 PC TRWinProg TR Electronic Gm
42. nsmission use fully shielded cables and make sure they are well earthed For differential data transfer RS422 RS485 etc twisted pair wires must be used in addition Use a minimum cable cross section of 0 22 mm for data transfer purposes Use a minimum earthing cable machine base cross section of 10 mm in order to avoid equipotential currents across the shield Make sure the resistance of the earthing cable is much lower than that of the shield Avoid crossing cables where possible If unavoidable only cross them at right angles Ensure continuous wiring of the shield and a large contact area on special shield clampings or cable screw glands see Figure 1 point N and E FETE gt Figure 1 Connection cap with cable screw glands and shield clampings Shield connection via cable screw glands Screw the cable screw gland into the housing Dismount the compression nut 1 and the terminal holder 2 Push the compression nut 1 and the terminal holder 2 over the cable Element 1 Compression nut Strip the cable push back the braiding around the terminal holder 2 such that the braiding goes over the inner O ring 3 and does not lie over the cylindrical section or the torsional bars Element 2 Terminal holder Element 3 Insert the terminal holder 2 into the intermediate inner O ring gland 4 such that the torsional bars fit into the intended lengthwise grooves in the intermediate
43. peration of laser linear paths It has to be taken care in the parallel operation of laser linear paths that a minimum distance of 1 m is kept The reflector foil inclination must be made in such a way that the surface reflectivity see arrows points not into the other laser linear path The alignment is carried out as described in chapter 4 4 1 Figure 5 Minimum distance in parallel operation TR Electronic GmbH 2007 All Rights Reserved Printed in the Federal Republic of Germany Page 16 of 48 TR ELE BA GB 0010 03 18 12 2007 Commissioning Installation 5 Commissioning Installation 5 1 Electrical connection e 1 Note At the realization of the electrical connection the references in chapter 1 2 1 starting from page 7 must be considered CiA DR 303 1 conformal pin assignment see TR ELE TI DGB 0011 In order to be able to carry out the connection the connection cap must be removed from the laser first For this the screws JJ are loosened and the cap J is removed away from the laser REPREN 5 1 1 Supply voltage gum OV GND S05 5 505 0 0505005 505050 005 Gu Standard 18 27 V DC 12 3 4 5 6 eaey 9 10 11 121314 15 1617 18 19 20 SIS SSSISSSSS S amp S Device with heating 24 V DC 5 5 1 2 CANopen GNDI reference potential CAN_L CAN_H Shield internal RC element onto case CAN_H CAN_H CAN_L Get CAN_L Printed in the Federal Republic of Ge
44. reason the laser measuring device is not equipped directly with a protective device Warning The corresponding measures must be taken in order to avoid person and property damages However in the event of an error via the error register Object 1001h Error Register page 24 a generally occurred error is displayed by setting the bit 5 Via the Object 1003h Pre defined Error Field page 25 the error occurred generally is specified and the cause described in detail Via the Emergency Message page 38 the Error Register Error Field can be read It is therefore essential to integrate the error messages into your own safety system via the evaluation software e g a PLC All persons responsible for the assembly start up and operation of the device must e be suitably qualified e adhere strictly to this operating manual Your safety and the safety of your equipment depends on this 1 2 Safety information p e This operating manual contains information which must be observed in the interests of your own personal safety and that of your equipment The safety hints are emphasized by a warning triangle and classified according to the degree of danger as follows Warning means that failure to take the relevant safety precautions can lead to serious damage to property or injuries Note refers to important information and features of the product plus tips on its application TR Electronic GmbH 2007 All Rights Reserved Printed in
45. rmany TR Electronic GmbH 2007 All Rights Reserved 18 12 2007 TR ELE BA GB 0010 03 Page 17 of 48 Commissioning Installation electronic 5 1 2 1 Bus termination For the communication a defined no signal level must be guaranteed on the CAN bus To this both line ends have to be terminated with terminating resistors In the laser measuring device is not provided an add on connection of the terminating resistor Therefore if the laser measuring device is the last slave in the CAN bus line the termination must be made manually with a terminating resistor of 121 ohms between the CAN_H and CAN L lines 5 1 2 2 Identifier Node ID The identifier laser address 1 64 is adjusted via the DIL switches 1 6 DIL 1 ID 2 DIL 6 ID 2 l DEEE The Node ID is the adjusted hardware number by the DIL switches 1 6 1 That means DIP Switch all 6 switches off 0 Node ID 1 1 see also Object 100Bh Node ID page 27 The adjusted address may be assigned only once in the CANopen bus 5 1 2 3 Baud rate The baud rate is adjusted via the DIL switches 7 8 DIP 7 DIP 8 Baud rate OFF OFF 20 kbps ON OFF 125 kbps OFF ON 500 kbps ON ON 1000 kbps 5 1 2 4 Length of the bus line The max bus line length is dependent on the adjusted baud rate Baud rate Line
46. rog PC software with user manual German and English Soft No 490 00408 EDS Files Reflecting foils for measurements up to 125m 49 500 020 200 x 200 mm package contents 49 500 038 200 x 300 mm 49 500 031 749 x 914 mm Other sizes upon request In addition the foils can be sticked on side by side up to the desired size 490 01001 Fresnel Reflecting foils for measurements gt 125m 49 500 032 554 x 480 mm package contents 49 500 034 554 x 480 mm predrilled 49 500 036 720 x 693 mm 49 500 037 1108 x 960 mm 49 500 039 200 x 200 mm for measurements approx up to 130m Printed in the Federal Republic of Germany TR Electronic GmbH 2007 All Rights Reserved 18 12 2007 TR ELE BA GB 0010 03 Page 45 of 48 Appendix electronic 11 3 References 1 ISO 11898 Road Vehicles Interchange of Digital Information Controller Area Network CAN for high speed Communication November 1993 2 Robert Bosch GmbH CAN Specification 2 0 Part A and B September 1991 3 f CiA DS 201 V1 1 CAN in the OSI Reference Model February 1996 4 CiA DS 202 1 V1 1 CMS Service Specification February 1996 5 CiA DS 202 2 V1 1 CMS Protocol Specification February 1996 6 f CiA DS 202 3 V1 1 CMS Encoding Rules February 1996 7 CiA DS 203 1 V1 1 NMT Service Specification February 1996 8 CiA DS 203 2 V1 1 NMT Protocol Specification February 1996 9 CiA DS 204 1 V1 1
47. s Printed in the Federal Republic of Germany TR Electronic GmbH 2007 All Rights Reserved 18 12 2007 TR ELE BA GB 0010 03 Page 39 of 48 Transmitting of the laser position value electronic 8 1 Read Write Service Data Object The transfer of the Service Data Object SDO is done by the CMS Multiplexed Domain protocol CIA DS202 2 8 1 1 Read SDO Initiate Domain Upload Request Protocol format content COB Identifier 600h Node ID Read SDOs index aon tow righ Love o 0 The Read SDO telegram has to be send to the slave The slave answers with the following telegram Response Protocol format content COB Identifier 580h Node ID Read SDOs index 4xh_ low high byte data data data data Format byte 0 TR Electronic GmbH 2007 All Rights Reserved Page 40 of 48 n number of data bytes bytes 4 7 that does not contain data If only 1 data byte Data 0 contains data the value of byte 0 is 4FH If byte O 80h the transfer has been aborted Printed in the Federal Republic of Germany TR ELE BA GB 0010 03 18 12 2007 electronic Transmitting of the laser position value 8 1 2 Write SDO Initiate Domain Download Request Protocol format COB Identifier 600h Node ID Write SDOs one ee a 1G ao Format byte 0 z7 e s 4 s 2 1fo olo li oj n aifi n number of data bytes by
48. s are on the dimensional drawing in the rear part of the document Figure 2 Mechanical adjustment possibilities 4 1 Aligning of the laser light spot to the reflector foil inclination The measuring device or reflector is attached to the moving object and the reflector sensor to the fixed remote station in such a way that the reflector always remains within the visual field of the sensor This can be done using the light spot of the laser diode which is still clearly visible on the reflecting foil even at long distance When aligning the laser measuring device the user may need to take measures to ensure that it can be mechanically adjusted The size of the reflecting foil must be such that the light spot cannot be displaced from the reflector by vibrations Since with an increasing distance the light spot gets larger and larger the edge areas of the foil also have to be avoided The device comes with a reflecting foil measuring 20 x 20 cm but other sizes can be ordered on request p o Note Reflecting foils by other manufacturers should not be used under any circumstances as all the information in the Specifications chapter refers to the foil already supplied with the device TR Electronic GmbH 2007 All Rights Reserved Printed in the Federal Republic of Germany Page 14 of 48 TR ELE BA GB 0010 03 18 12 2007 electronic Assembly instructions Procedure e Figure 3 Detection of the surface re
49. tees ee teee eee teeeeeteeeeetiaeeeeetnaeeeee 17 5 1 1 S10 VAR 0 6 ec cece 17 toad O70 0 lt a eee 17 5 1 2 1 Bus termination ee eee ee eeenee ee eeenneeeeeenaeeeeeeeaeeeeeenaeeeeeeneeeesenaes 18 5 1 2 2 Identifier NOGE ID oe eee eeeeeeeeeneeeeeeeneeeeeeeaeeeeeeenaeeeeeenieeeeeenaes 18 5 1 2 3 Baud ate occ cece ee eeenee ee eeeeaeeeeeeaeeeeeeeaaeeeeeeaeeeseenaeeeeeeneeeeeeaes 18 5 1 2 4 Length of the DUS LING eee cece e teeter ee eeeaeeeeeeaeeeeeeaeeeeesenaes 18 5 1 3 Switching input Switching output oe eee ee eeeeee ee eeeeee eee teteeeeeeeenaeees 19 5 1 4 RS485 programming interface esssesssrnsseerrnanssnnnneennnnnannnaeennaanannaaenennaanannna 19 5 1 5 Switching on the supply voltage eee eee eeeeeeeeeeeeeeeeeeeeeeseeeaeeeeetaaeeeeeeaeees 19 SLO WINING CXAMPIOS sasso arana iA NE EEEE AAA EERE 20 5 2 CANope ninterface macsniian a e a E N EA E A EET 21 9 2 1 BUS STAUS aen vi ae Aa E EGEE ATEREA 21 9 22 EDS ileana aaa aa elite a A ee eee ee 21 5 2 3 The communication profile c cccccceceeeeeeeeceeceeeeeeeseceeeaecaeeeeeeesetseneaeeeeeess 22 5 2 3 1 1 Transmit Process Data Object asynchronouS 0scee 22 5 2 3 2 2 Transmit Process Data Object synchronous 22 5 2 4 Communication specific standard objects ce eceeccceeeeeeeeeeneeeeteeeeeeeeeenaeees 23 5 2 4 1 Object 1000h Device Type asssseeessrresssrrereennanssnnaneennaanannnnneennaanannaa 24 5 2 4 2 Object
50. tes 4 7 that does not contain data If only 1 data byte Data 0 contains data the value of byte 0 is 2FH The Write SDO telegram has to be send to the slave The slave answers with the following telegram Response Protocol format COB Identifier 580h Node ID Ta ow nak ove oo If byte O 80h the transfer has been aborted Printed in the Federal Republic of Germany TR Electronic GmbH 2007 All Rights Reserved 18 12 2007 TR ELE BA GB 0010 03 Page 41 of 48 Causes of Faults and Remedies 9 Causes of Faults and Remedies Relectronic The error causes are determined in Object 1003h Pre defined Error Field page 25 Depending on setting the error messages must be acknowledged for resetting the error code see chapter Object 1003h Pre defined Error Field page 25 Object 2003 Function external input page 31 and Object 2004 Automatic error acknowledgement page 32 Error code Bit 0 Intensity error Bit 1 Device temperature Bit 2 Hardware error Bit 3 Laser diode switched off Bit 4 Intensity warning Bit 5 Speed check warning Bit 6 Plausibility warning TR Electronic GmbH 2007 All Rights Reserved Cause The device checks the intensity of the received laser signal continuously it was detected a below minimum intensity The temperature has exceeded or fallen short of the range of 0 50 C at the housing of the device The
51. tts Power consumption with heating lt 60 watts Opto transmitter ccceseeeeeeeeeeeeeeeeeeeeeeeen Laser diode red light Wavelength A ccceeeeeeeeeteeeeee 670 nm Max laser POWE 0 ceeeeee P lt 1mW Laser protection class 0 2 according to DIN EN 60 825 1 2003 10 Lifetime zasite ai 50 000 h Measured value output refresh cycle 1000 values s Integration time ccccceeseeeeeeeeeneeeeeeeneeeeeees ims Reproducibility cccccessseeeseseeeeeeeseeneeeeeees 2mm Programming via RS4853 cseeeseseereeeeeee PC IBM compatible TRWinProg CANopen CANopen Interface ccceceeeeeeeeseeeeeeen CAN Bus Interface according to ISO DIS 11898 Data protocol ccceeeeeeeeeee CAN 2 0 A CANopen Device Profile for Encoder CiA DS 406 V2 0 Output codes Binary Baud rate via switches 20kbps line length up to 2500 m 125 kbps line length up to 500 m 500 kbps line length up to 100 m 1000 kbps line length up to 25 m Special features eee Configuration of the following parameters via the CAN Bus Preset value Clear Preset Output value in case of an error Function ext input Automatic error acknowledgement Function error output Switching functions Operating parameters Position value Measuring step Cyclic transmitting of the position values Switching input Switching output Levels switching input
52. uence increasing decreasing Manufacturer specific functions 0 With increasing distance to the laser values increasing 1 With increasing distance to the laser values decreasing 6 1 13 2 Object 6501h Measuring step The object 6501h indicates the adjusted resolution of the measuring system in 1 100 mm see also Object 6005h Measuring step page 34 Structure of parameter Unsigned32 Read Measuring step Byte 0 Byte 1 Byte 2 Byte 3 2 to 2 2 to 2 2 to 2 2 to 2 adjusted resolution in 1 100 mm 0 0 6 1 13 3 Object 6503h Alarms Additionally to the emergency message object 6503h provides further alarm messages An alarm is set if a malfunction in the laser could lead to incorrect position value If an alarm occurs the according bit is set to logical high until the alarm is cleared and the laser is able to provide an accurate position value Structure of parameter Unsigned16 Read Alarms Byte 0 Byte 1 PPP PPP Printed in the Federal Republic of Germany TR Electronic GmbH 2007 All Rights Reserved 18 12 2007 TR ELE BA GB 0010 03 Page 35 of 48 Configuration Parameter setting via the CANopen master electronic Description of the error code M 0x00 Corresponds to the normal condition Intensity The bit is set if an intensity value of smaller 8 is PR present or the laser beam is interrupted and leads to the Bit 0 in
53. x Comment Type 0 numberofentries Unsigned Unsigned3 Unsigned32 Read Measuring step Input value in 1 100 mm 0 0 Input value in 1 100 mm 1 mm e g corresponds to the input value of 100 That means that the laser output 1 step mm Default value 100 maximum value 65535 6 1 12 Object 6200h Cyclic timer Defines the parameter Cyclic timer A Cyclic transmission of the position value is set when the cyclic timer is programmed gt 0 Values between 1 ms and 65535 ms can be selected 1h 100 h e g 1ms 256 ms This value isn t saved in the device permanently and is lost with switching off the supply voltage With each restart the cyclic timer is 0 and must always be rewritten therefore When the laser is started with the NODE START command and the value of the cyclic timer is gt 0 the 1 transmit PDO object 1800h transmit the laser position TR Electronic GmbH 2007 All Rights Reserved Printed in the Federal Republic of Germany Page 34 of 48 TR ELE BA GB 0010 03 18 12 2007 electronic Configuration Parameter setting via the CANopen master 6 1 13 Laser diagnostics 6 1 13 1 Object 6500h Operating status This object contains the operating status of the laser It gives information on laser internal programmed parameters see also Object 6000h Operating parameters page 33 Structure of parameter Unsigned16 Read Bit 0 Bit 1 Code Seq

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