TR Ece Ba GB 0014 PDF

CE-65-M CAN-BUS
(Device-Net-Slave)
Operating Manual
Please keep for further use !
Edition-/Rev.-Date: 04.12.1998
Document-/Rev.-No.: TR-ECE-BA-GB-0014-02
Soft edition:
File name: TR-ECE-BA-GB-0014.DOC
Author: ULH / MÜJ
TR - Electronic GmbH
Enclosed Disk
Eglishalde 6
D-78647 Trossingen Art.-No.: 490-00407
Telephone 07425 / 228-0
Telefax 07425 / 228-33
Operating Manual CE-65-M CAN-Bus ELECTRONIC GmbH
Imprint
TR-Electronic GmbH
D-78647 Trossingen
Eglishalde 6
Tel.: (0049) 07425/228-0
Fax: (0049) 07425/228-33
 Copyright 1998 TR-Electronic
Guarantee
In our ongoing efforts to improve our products, TR-Electronic reserve the right to alter
the information contained in this document without prior notice.
Printing
This manual was edited using text formatting software on a DOS personal computer.
The text was printed in Arial.
Fonts
Italics and bold type are used for the title of a document or to emphasize text
passages.
Passages written in Courier show text which is visible on the screen / display as
well as software menu selections.
"< >" refers to keys on your computer keyboard (e.g. <RETURN>).
Copyright Information ©
MS-DOS is a registered trademark of Microsoft Corporation.
TR - ELECTRONIC GmbH, Global Quality Management, Eglishalde 6, 78647 Trossingen, Tel. ++49 (0)7425 / 228-0, Fax ++49 (0)7425 / 228-33
Date: 04.12.1998 TR - ECE - BA - GB - 0014 - 02 Page 2 of 24
Revision History
i 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.
Document created: 05.08.1998
Revision Date
Documentation organized again and Pin Assignment Version 3 04.12.1998
complemented.
Table of contents
1 Safety........................................................................................................................................ 5
1.1 General Potential for Danger....................................................................................... 5
1.2 Safety Information....................................................................................................... 5
1.2.1 Installation Information ................................................................................. 6
1.2.1.1 Screening ..................................................................................... 7
1.2.1.2 General Measures for Interference Suppression ........................... 7
1.3 Appropriate Use .......................................................................................................... 8
1.4 Authorized Operators .................................................................................................. 9
1.5 Safety Measures at the Place of Assembly.................................................................. 9
1.6 Protective Devices ...................................................................................................... 10
2 Transportation / Commissioning............................................................................................. 11
2.1 Transportation / Storage.............................................................................................. 11
2.2 Technical Data............................................................................................................ 12
2.2.1 Electrical Characteristic Data ....................................................................... 12
2.2.2 Mechanical Characteristic Data.................................................................... 13
2.3 Assembly .................................................................................................................... 14
2.4 Commissioning (Rotary Encoder)................................................................................ 15
2.4.1 Encoder Interface ........................................................................................ 15
2.4.1.1 Messages ..................................................................................... 15
2.4.1.2 Classes ........................................................................................ 16
2.4.1.3 I/O Instance .................................................................................. 16
3 Parameter Programming.......................................................................................................... 17
3.1 Configuration Assembly Data Attribute Format ............................................................ 17
3.2 Parameter Object Instances ........................................................................................ 18
3.3 Parameters / Value Ranges ........................................................................................ 18
3.3.1 Direction of Counting ................................................................................... 18
3.3.2 Output Code ................................................................................................ 18
3.3.3 Measuring Length in Steps........................................................................... 19
3.3.4 Adjustment .................................................................................................. 19
3.3.5 Special Outputs 1 - 7 ................................................................................... 20
3.3.5.1 Available Functions of the Special Outputs ................................... 20
3.3.5.2 Definition of the Operating- and Safe Range and of its Switch
Points....................................................................................................... 21
4 Trouble-shooting and diagnostic facilities ............................................................................. 22

4.1 Optical Signallings (LED status) .................................................................................. 22
4.2 Other Faults ................................................................................................................ 23
Appendix
Pin Assignment
Version 1 ................................................................................... TR-ECE-TI-GB-0022
1 Safety
1.1 General Potential for Danger
The CE-65-M rotary encoder cannot function as a stand-alone unit, i.e. it is a
component part that is intended to be installed in a complete system consisting of
several such components working together. This means that the rotary encoder does
not have a direct protection device of its own.
Using the transmission protocol, the system can, however, output an error bit that
shows an error in internal data transfer or that a parameter was assigned with an
illegal value. To reset the error bit, the error must be acknowledged. It is therefore
important to integrate the error bit into your own safety concept, via the application
software (e.g. of a PLC).
(For more information, refer to section 1.6, "Protective Devices" on page 10)
The encoder provides no diagnostics for errors that may occur, such as speed too
high, track errors, transfer errors, etc. This means that you must check the received
data yourself for validity.
All the persons who are involved in the assembly, commissioning and operation of the
device
• must be appropriately qualified
• must follow exactly the instructions in this manual.
This is for your own safety and the safety of your equipment!
1.2 Safety Information

This operating manual contains information that you must comply with to ensure your
personal safety and to avoid damage to property. The information is emphasized by
warning triangles, which have different appearances to match the level of danger:
Warning
Means that if the appropriate safety measures are ignored, death, severe injury or
considerable damage to property can occur.
Caution
Means that if the appropriate safety measures are ignored, slight injury or damage to
property can occur.
i Note
Emphasizes important information about the product, its properties or helpful hints for
using it.
1.2.1 Installation Information
Due to the fact that the rotary encoder is normally used as a component part of a
larger system, this information is intended to provide a guideline for safe installation of
the rotary encoder in its environment.
Warning
• Observe the safety and accident prevention regulations that apply to the specific
application.
• In the case of equipment with a fixed connection (stationary installations/systems)

without allpole mains switches and/or fuses, you must install a mains switch or a
fuse in the system and connect the equipment to a protective earth.
• Before using devices that are running with mains voltage, check whether the
adjusted voltage range matches the local mains voltage.
• With a 24-V supply, ensure safe electrical isolation from the mains. Use only mains
units that comply with IEC 364-4-41 or HD 384.04.41 (VDE 0100 Part 410)
standards.
• Fluctuations or variations from the rated mains voltage may not exceed the
tolerances stated in the technical data. If they do, functional failures of the electrical
components and hazardous conditions cannot be ruled out.
• You must take precautions to ensure that, after voltage drops and failures, it is
possible to restart an interrupted program in an orderly manner. In this context, no
dangerous operating status conditions may occure even for a brief period of time. If
necessary, you must force an EMERGENCY STOP.
• EMERGENCY STOP devices that comply with EN 60204/IEC 204 (VDE 0113)
must remain effective in all the operating modes of the automation equipment.
Unlocking the EMERGENCY STOP devices must not result in an uncontrolled or
undefined restart.
• Install the power and signal lines such that inductive and capacitive interference
does not adversely affect the automation functions.
• Equipment of automation and its operation devices have to be sufficiently protected

against being operated by mistakes.
• Take appropriate hardware and software measures for the case of cable of wire
breakages to prevent undefined status conditions of the automation equipment.
1.2.1.1 Screening
The use of electronic sensor -actor systems in modern machines makes it important to
enforce a consistent and correctly executed interference suppression and wiring
concept.
These conditions are the only guarantee that systems containing electronic measuring
systems will function properly.
Recommended Screened Cable Wiring
Machine
Measuring Systems
Switching Cabinet
Control Unit
0V bar with screen
terminal for measuring
system cable
Measuring sys-
tem and control
cable
Power Unit
Power Cable
Ground cable 10 mm²

(R ground cable << R screen)
1.2.1.2 General Measures for Interference Suppression
• Route (screened) lines connecting to the encoder either a long way from or
completely physically separated from energy lines that carry disturbances.
• Use only completely screened lines for data transfer and ensure they are well
earthed. In the case of differential data transfer, (RS422, RS485 etc.), you must
additionally use twisted-pair lines.
• Use cables with a minimum cross-section of 0.22 mm² for data transfer.
• Use a ground cable with a minimum cross-section of 10 mm² to avoid equipotential

bonding via the screen. In this context, you should ensure that the ground cable's
resistance must be much lower than the screen's resistance.
• Wire the screen continuously keeping a large area in contact with special screen
connecting terminals.
• Avoid crossing cable. If this is not possible the cables should only cross at right-
angles.
1.3 Appropriate Use

The rotary encoder is used to acquire angular motions as well as to condition
measuring data for a controller on the output side which has a CAN-fieldbus interface
according to ISO/DIS 11898.
Warning
Deenergize the system before carrying out wiring or opening and closing
electrical connections!
Short-circuits, voltage peaks etc. can lead to malfunctions and uncontrolled conditions
in the system or to serious personal injury or damage to property.
Before switching on the system, check all the electrical connections!

wrong connections may result in serious personal injury or damage to property.
For safety reasons, mechanical or electrical changes to the measuring systems

are prohibited!
Caution
*Avoid excessive bearing loadings due to radial and axial deviations between
the encoder and the drive shaft!
At assembly, you must use couplings that can take up these forces.
*Protect the encoder from excessive vibrations, shocks and jolts, e.g. on
presses!
Use "shock modules" to cushion vibrations.
i Note
Always keep to the commissioning, operating and programming instructions specified
in this manual.
* Observe the mechanical characteristics on page 13.
1.4 Authorized Operators

A device may only be commissioned by qualified personnel. In the context of the
safety-specific information in this document, qualified personnel are considered to be
persons who are authorized to commission, ground and mark circuits, equipment and
systems in accordance with recognized safety standards.
1.5 Safety Measures at the Place of Assembly
Warning
Do not carry out welding if the encoder has already been wired-up or is
switched-on!
Potential fluctuations can destroy the encoder or adversely affect its function.
Do not touch connector contacts with your hands!

Static charges could destroy the electronic components in the encoder.
Inputs that are not being used may not be connected (refer to the pin
assignments)!
Keep to the supply voltage range: 11-27 V DC (±5% residual ripple)
i Note
Ensure that the area around the place of assembly is protected from aggressive media
(acid, etc.).
1.6 Protective Devices

If an error occurs during execution of the parameter programming or write and read
operations of the F-RAM, the error bit is set via the I/O-communication port of the
encoder. It is precondition that one of the seven Special Outputs (SO) was
programmed as an error output.
IN data relative to master:
Byte High Byte Position Value

3 231 230 229 228 227 226 225 224
SO 7 SO 6 SO 5 SO 4 SO 3 SO 2 SO 1 D24
By execution of the parameter programming over the "Assembly-Class" the

programmed values and the error status as response will be transmitted to the master
while reading. As a result, the error is defined more precisely:
IN data relative to master:
Byte Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0

34 Low Byte Error Receive-Buffer Master
0 0 0 0 0 0 Write Read
Errors Errors
35 High Byte Error Receive-Buffer Master
0 Steps/Rev. Measuring upper *SL upper **OL lower **OL lower *SL 0
too large length/Rev. out of out of out of out of
=0 Range Range Range Range
A set error bit is reset as soon as a parameter programming could be executed

successfully. Value range of the individual parameters see on page 18.
A second possibility for error handling can carried out by execution of the parameter
programming via the "Parameter-Class". The result of the SET Data-Check command
(2 bytes) can then be read with the GET Data-Check:
Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0

Low Byte Error Receive-Buffer Master
0 0 0 0 0 0 Write Read
Errors Errors
High Byte Error Receive-Buffer Master
0 Steps/Rev. Measuring upper *SL upper **OL lower **OL lower *SL 0
A set error bit can only be reset when a data check command is executed.
* SL = Safety Limit
** OL = Operating Limit
Warning
If an error bit is set, the corresponding measures must be caught for avoidance of
person and property damages, e.g., the corresponding axis or system must be stop.
If necessary, you must force an EMERGENCY STOP.
2 Transportation / Commissioning
2.1 Transportation / Storage
Transportation Information
Do not drop encoders or subject them to excessive jolting!

The device contains an optical system with glass elements.
Use only the original packaging material!

Incorrect packaging material can cause damage to the device in transit.
Storage
Storage temperature: -30 to +80° C
Store in a cool place.
2.2 Technical Data
2.2.1 Electrical Characteristic Data
Operating voltage: ........................................... 11-27 V DC (± 5% residual ripple)
Max. current consumption: ............................. app. 180 mA at 11 V DC, app. 80 mA at 27 V DC
Output capacity:............................................... 24-bit (25-bit optional)
Resolution:....................................................... 4096 steps/rev (12-bit)

Option:......................................................... 8192 steps/rev (13-bit)
Measuring range: ............................................. 4096 revolutions (12-bit)
Baud rate (adjustable): .................................... 125 kbaud, line length up to 500 m

250 kbaud, line length up to 250 m
500 kbaud, line length up to 100 m
Encoder interface:............................................ CAN-Fieldbus-Interface (opto-isolated)

Data transfer:.............................................. CAN-BUS-Driver (ISO/DIS 11898)
Terminal resistance (encoder): ....................... 123 ohms, switchably through DIP switches
Special features: .............................................. Programming the following parameters via the

CAN-BUS:
- Direction of rotation
- Code (binary, gray)
- Measuring length in steps
- Measuring length in revolutions
- Preset adjustment
- 7 special outputs
Operating temperature range: ......................... 0 to +60°C, no condensation
2.2.2 Mechanical Characteristic Data
Mechanically permissible speed: .................... 6000 RPM
Permissible shaft loading:............................... 40 N axial, 60 N radial (at end of shaft)
Minimum bearing lifetime: ............................... 3,9 x 1010 revolutions at:

Operating speed: .................................... 3000 RPM
Shaft loading:.......................................... 20 N axial, 30 N radial (at end of shaft)
Operating temperature: ........................... 60°C
Max. angular acceleration: .............................. ≤ 104 rad/s²
Moment of inertia:............................................ 2,5 x 10-6 kg m2
Starting torque at 20° C: .................................. 2 Ncm
Vibration loading (50-2000 Hz): ....................... ≤ 100 m/s2 (DIN IEC 68-2-6)
Shock loading (11 ms): .................................... ≤ 1000 m/s2 (DIN IEC 68-2-27)
2.3 Assembly
Drive of the Encoder Shaft

Series CE encoders are connected to the drive shaft by an elastic coupling which takes
up deviations in the axial and radial directions between the encoder and the drive shaft.
This prevents excessive bearing loading. You can order couplings on request.
Flange Fixing
The centring collar with fit f7 centres the encoder to the shaft. Fixing to the machine is
by means of three screws in the flange (Figure 1).
Clamping Bracket Fixing

The centring collar with fit f7 centres the encoder to the shaft. Fixing of the encoder is
by means of two clamping brackets (Figure 2).
Figure 1 Coupling
Absolute-Encoder
Machine
Figure 2 Coupling
Absolute-Encoder
Machine
Clamping bracket
2.4 Commissioning (Rotary Encoder)
2.4.1 Encoder Interface
The CAN-Fieldbus-Interface (separated galvanically by CAN-BUS-Driver

PCA82C250T) in the encoder is determined according to the international standard
ISO/DIS 11898 and covers the two lower layers of the ISO/OSI reference module.
The transformation of encoder information into the CAN protocol occurs by the
protocol chip PCA82C200. The function of the protocol chip is monitored by a
watchdog.
The PREDEFINED MASTER/SLAVE CONNECTION SET is used for the encoder

who only works as a slave. It will be used only the Group 2 Messages with the
exception of the Group 1 Message For Slave I/O Poll Response.
Establishing or breakdown of a connection must occur via Group 2 Only
Unconnected Explicit Request Message.
The encoder contains an I/O Communication Port and an Explicit Message
Communication Port. The I/O communication port is used for polling the encoder
position and must be made accessible by setting the watchdog (after the I/O
connection master/slave was set up before). Is the I/O port not retriggered (polled)
punctually the connection is interrupted and the red LED flashes. The connection for
the I/O port must be installed again.
i Note
During programming, data is exchanged between the encoder and the master in
binary form.
2.4.1.1 Messages
Following messages are supported by the encoder:
• I/O Poll Command/Respond Message

This message is sent directly by the master to the desired slave (point-to point). For
every slave which is polled the master must sent an own poll command message.
As response on a Poll Command the slave sends back to the master the Poll
Response I/O Message.
• Explicit Response/Request Message

Explicit Request Messages are used for processing of write/read attribute's.
Explicit Response Messages contains the result of an Explicit Request Message
Service.
• Group 2 Only Unconnected Explicit Request Message

Group 2 Only Unconnected Explicit Request Message serves for the establishing or
breakdown of connections for the Predefined Master/Slave Connection Set.
• Duplicate MAC ID Check Message

After switch-on the slave he reports Duplicate MAC ID Messages.
2.4.1.2 Classes
The communication objects are divided into classes. The encoder supports the
following classes:
Object Class Number of instances

Identity 1
Message Router 1
DeviceNet 1
Connection 2
Assembly 2
Parameter 19
Position Sensor 1
2.4.1.3 I/O Instance
Input Instance
Number Name
1 Position value
Input Data Format
Instance Byte Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0
1 0 Low Byte Position Value
1 .
2 .
3 High Byte Position Value
7. Special- 6. Special- 5. Special- 4. Special- 3. Special- 2. Special- 1. Special- D24
Output Output Output Output Output Output Output
3 Parameter Programming
Warning
The zero of the encoder can be lost if the number of revolutions is not a second power
of 20 to 212 and more than 512 revolutions are carried out in the currentless condition.
3.1 Configuration Assembly Data Attribute Format

Instance Byte Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0
0 Direction of counting
1 Code
2 Low Byte Measuring length in steps
3
4
5 High Byte Measuring length in steps
6 Low Byte Measuring length in revolutions Numerator
7
8
9 High Byte Measuring length in revolutions Numerator
10 Measuring length in revolutions Denominators
11 Low Byte Lower Safety Limit
12
13
14 High Byte Lower Safety Limit
15 Low Byte Lower Operating Limit
16
42 17
18 High Byte Lower Operating Limit
19 Low Byte Upper Operating Limit
20
21
22 High Byte Upper Operating Limit
23 Low Byte Upper Safety Limit
24
25
26 High Byte Upper Safety Limit
27 1. Special output
34 0 0 0 0 0 0 Write Read
Errors Errors
35 0 Steps/Rev. Measuring upper *SL upper **OL lower **OL lower *SL 0
While programming the parameters via the "Assembly-Class" the encoder returns as response while
reading the programmed values with an error status (36 bytes total) to the master. The data check is
practised automatically.
* SL = Safety Limit
3.2 Parameter Object Instances
Number Name Data type

1 Direction of Counting USINT
2 Code USINT
3 Measuring length in steps UDINT
4 Measuring length in revolutions Numerator UDINT
5 Measuring length in revolutions Denominator USINT
6 Lower Safety Limit UDINT
7 Lower Operating Limit UDINT
8 Upper Operating Limit UDINT
9 Upper Safety Limit UDINT
10 1. Special output USINT
17 Data check UINT
18 Adjustment UDINT
19 Software version UDINT
If the parameters are programmed via the "Parameter-Class", for taking over and test
the data, a Data-Check must be practised subsequently. The result of the SET Data-
Check can be read with GET Data-Check. Are all bits of the returned UINT value "0",
no error is available. Set bits indicate the error precisely (see chapter 1.6 "Protective
Devices" on page 10).
3.3 Parameters / Value Ranges
3.3.1 Direction of Counting
Value 0 = encoder position increasing clockwise (with look onto the shaft)
Value ≠ 0 = encoder position decreasing clockwise (with look onto the shaft)
3.3.2 Output Code
Value 0 = binary code

Value ≠0 = gray code
3.3.3 Measuring Length in Steps
The measuring length indicates the total number of steps resolved for shaft encoders.
As counting starts with zero, the final value of the encoder step is one step smaller
than the measuring length. After this the system starts to count again with zero.
The following formula applies to the scaling parameters:
Measuring length in Revolutions Numerator

Measuring length in steps = Measuring length per Revolution *
Measuring length in Revolutions Denominator
Least measuring length in steps: 16 dec.

Largest measuring length in steps: 25 Bit
i Note
Measuring length in steps / number rev. ≤ hardware steps per rev. (Rating plate)
Measuring length in revolutions Numerator
1 ≤ Measuring length in revolutions Numerator ≤ 256000
Measuring length in Revolutions Denominator
1 ≤ Measuring length in Revolutions Denominator < 100
i Note
For "whole numbers of revolutions" (e.g. 1, 2, 3...10...1024 and so on.) the denominator
is always "1".
For "broken numbers of revolutions" (e.g. 3.5, 7.5 and so on) the denominator is "not
equal to 1".
3.3.4 Adjustment
By adjustment, the encoder is set to the desired position value.

Is the adjustment practised via the Parameter Class, the required position value is set
with the SET-service and can read as a position value with the GET-service. After the
adjustment, no Data-Check is necessary.
0 ≤ Adjustment < Measuring length in steps
3.3.5 Special Outputs 1 - 7
3.3.5.1 Available Functions of the Special Outputs
Function Description Value for

programming
logical "0" Output is always "0" 0
0 = error Output in the case of an error "0" 1
1 = error Output in the case of an error "1" 2
0 = below the operational range see chapter 3.3.5.2 3
1 = below the operational range " 4
0 = in the operation range " 5
1 = in the operation range " 6
0 = over the operational range " 7
1 = over the operational range " 8
0 = below the safe range " 9
1 = below the safe range " 10
0 = in the safe range " 11
1 = in the safe range " 12
0 = over the safe range " 13
1 = over the safe range " 14
3.3.5.2 Definition of the Operating- and Safe Range and of its Switch Points
Total capacity
Safe range
Operational range
0 = below the operational range
1 = below the operational range
0 = in the operational range
1 = in the operational range
0 = over the operational range
1 = over the operational range
0 = below the safe range
1 = below the safe range
0 = in the safe range
1 = in the safe range
0 = over the safe range
1 = over the safe range
Origin lower **OL upper *SL
lower *SL upper **OL terminal value
* SL = Safety Limit
4 Trouble-shooting and diagnostic facil i ties

4.1 Optical Signallings (LED status)
LED off The encoder is not on-line.

- The encoder has not completed the the Dup_MAC_ID test yet.
- The encoder may not be powered on.
Green The encoder is operating in a normal condition and is on_line with

connections in the established state.
- The encoder is allocated to a master.
Flashing The encoder is operating in a normal condition.

Green - The encoder has passed the Dup_MAC_ID test, is on-line and is not
allocated to a master.
Flashing Recoverable fault.

Red - I/O Connection is in the timed-out state.
Red The encoder has an unrecoverable fault, may need replacing.
4.2 Other Faults
Disturbance Cause Remedy

Encoder step Loose contacts in the Check all the cabling and wiring used for connecting the
changes wiring encoder.
Severe vibrations "Shock modules“ are used to cushion vibrations shocks and
jolts on presses, for example. If the fault keeps occurring
despite these measures, you must replace the encoder.
Electrical Insulating flanges and couplings and cables with twisted-

disturbances pair wires for data and supply are useful against electrical
disturbances. The cable screens should be grounded on
both ends. You should only ground the screen on one end
in the switching cabinet if the machine ground has more
disturbances compared to the switching cabinet ground.
Excessive axial and Plastic couplings prevent mechanical loading of the shaft.
radial loading of the If the fault keeps occurring despite these measures, you
shaft or a sampling must replace the encoder.
defect.
Error reading data Storage area in the If the error occurs during further command execution, the
(Error status F-RAM is defective encoder must be replaced.
0
Low-Byte, bit 2 =1)
Error writing data Storage area in the If the error occurs during further command execution, the
(Error status F-RAM is defective encoder must be replaced.
1
Low-Byte, bit 2 =1)
Lower safety limit While programming Carry out new programming
outside range the switch point, the Permissible range:
(Error status permissible range 1 ≤ lower safety limit ≤ lower operating limit ≤ upper
operating limit ≤ upper safety limit ≤ measuring length in
1
High-Byte, bit 2 =1) was exceeded
steps -2
lower operating limit While programming Carry out new programming
2
steps -2
upper operating limit While programming Carry out new programming
3
steps -2
upper safety limit While programming Carry out new programming
4
steps -2
Revolutions While programming Allowed value range:

numerator = 0 the measuring length
Measuring length in revolutions numerator
(Error status in revolutions
5
1 ≤ Measuring length in revolutions numerator ≤ 256000
High-Byte, bit 2 =1) numerator, a "0" was
programmed. Measuring length in revolutions denominator
1 ≤ Measuring length in revolutions denominator <100
Steps per revolution The max resolution of Allowed value range:

too high the encoder was
Measuring length in steps
(Error status exceeded (see rating ≤ Hardware steps per
6 Number of revolutions revolution (rating plate)
High-Byte, bit 2 =1) plate)

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CE-65-M CAN-BUS

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 Copyright 1998 TR-Electronic

"< >" refers to keys on your computer keyboard (e.g. <RETURN>).

MS-DOS is a registered trademark of Microsoft Corporation.

Document created: 05.08.1998

4 Trouble-shooting and diagnostic facilities ............................................................................. 22

1.2 Safety Information

1.2.1 Installation Information

• In the case of equipment with a fixed connection (stationary installations/systems)

• Equipment of automation and its operation devices have to be sufficiently protected

Recommended Screened Cable Wiring

Ground cable 10 mm²

1.2.1.2 General Measures for Interference Suppression

• Use a ground cable with a minimum cross-section of 10 mm² to avoid equipotential

1.3 Appropriate Use

Before switching on the system, check all the electrical connections!

For safety reasons, mechanical or electrical changes to the measuring systems

* Observe the mechanical characteristics on page 13.

1.4 Authorized Operators

1.5 Safety Measures at the Place of Assembly

Do not touch connector contacts with your hands!

Keep to the supply voltage range: 11-27 V DC (±5% residual ripple)

1.6 Protective Devices

IN data relative to master:

Byte High Byte Position Value

By execution of the parameter programming over the "Assembly-Class" the

IN data relative to master:

Byte Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0

A set error bit is reset as soon as a parameter programming could be executed

Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0

Do not drop encoders or subject them to excessive jolting!

Use only the original packaging material!

Storage temperature: -30 to +80° C

Store in a cool place.

2.2 Technical Data

2.2.1 Electrical Characteristic Data

Operating voltage: ........................................... 11-27 V DC (± 5% residual ripple)

Max. current consumption: ............................. app. 180 mA at 11 V DC, app. 80 mA at 27 V DC

Output capacity:............................................... 24-bit (25-bit optional)

Resolution:....................................................... 4096 steps/rev (12-bit)

Measuring range: ............................................. 4096 revolutions (12-bit)

Baud rate (adjustable): .................................... 125 kbaud, line length up to 500 m

Encoder interface:............................................ CAN-Fieldbus-Interface (opto-isolated)

Special features: .............................................. Programming the following parameters via the

Operating temperature range: ......................... 0 to +60°C, no condensation

2.2.2 Mechanical Characteristic Data

Mechanically permissible speed: .................... 6000 RPM

Permissible shaft loading:............................... 40 N axial, 60 N radial (at end of shaft)

Minimum bearing lifetime: ............................... 3,9 x 1010 revolutions at:

Max. angular acceleration: .............................. ≤ 104 rad/s²

Moment of inertia:............................................ 2,5 x 10-6 kg m2

Starting torque at 20° C: .................................. 2 Ncm

Drive of the Encoder Shaft

Clamping Bracket Fixing

2.4 Commissioning (Rotary Encoder)

2.4.1 Encoder Interface

The CAN-Fieldbus-Interface (separated galvanically by CAN-BUS-Driver

The PREDEFINED MASTER/SLAVE CONNECTION SET is used for the encoder

Following messages are supported by the encoder:

• I/O Poll Command/Respond Message

• Explicit Response/Request Message

• Group 2 Only Unconnected Explicit Request Message