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48 views96 pages

TR Ece Ba GB 0163 06

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Original manual

Absolute Encoder CD_582

EtherNet/IP™ / CIP Safety™
– OPTION: Optional interface

CDV582 CDS582 / CDH582

Pictures are similar

TR-ECE-BA-GB-0163 v06 01/27/2022

DIN EN 61508 / DIN EN 62061: SIL2 / SIL CL 2, SIL3 / SIL CL 3

DIN EN ISO 13849: PL d / PL e

_Safety instructions
_Installation
_Commissioning
_Parameterization
User Manual
_Error causes and remedies
Interface
TR-Electronic GmbH
D-78647 Trossingen
Eglishalde 6
Tel.: (0049) 07425/228-0
Fax: (0049) 07425/228-33
E-mail: [email protected]
https://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 not permitted. Reproduction, translation as well as electronic and
photographic archiving and modification require the written consent of the
manufacturer. Violations shall be subject to claims for damages.

Subject to modifications
The right to make any changes in the interest of technical progress is reserved.

Document information
Release date / Rev. date: 01/27/2022
Document / Rev. no.: TR-ECE-BA-GB-0163 v06
File name: TR-ECE-BA-GB-0163-06.docx
Author: MÜJ

Font styles
Italic or bold font styles are used for the title of a document or are used for
highlighting.
Courier font displays text, which is visible on the display or screen and software
menu selections.
< >  indicates keys on your computer keyboard (such as <RETURN>).

Brand names

EtherNet/IP™, DeviceNet™, ControlNet™, CIP™, CIP Safety™, ODVA™ and

ODVA CONFORMANT™ are registered trademarks of ODVA, Inc.

Page 2 of 96 TR-ECE-BA-GB-0163 v06 01/27/2022

Contents

Contents .............................................................................................................................................. 3

Revision index .................................................................................................................................... 6

1 General information ........................................................................................................................ 7

1.1 Scope ................................................................................................................................... 7
1.2 References ........................................................................................................................... 8
1.3 Abbreviations used / Terminology ........................................................................................ 9
1.4 Main features ........................................................................................................................ 11
1.5 Principle of the safety function ............................................................................................. 12

2 Safety instructions .......................................................................................................................... 13

2.1 Definition of symbols and notes ........................................................................................... 13
2.2 Safety-related requirements when using CIP Safety™ devices .......................................... 14
2.3 Safety functions of the fail-safe processing unit ................................................................... 16
2.3.1 Mandatory safety checks / measures ..................................................................... 17

3 Installation / Preparation for Commissioning............................................................................... 18

3.1 Basic rules ............................................................................................................................ 18
3.2 EtherNet/IP™ transmission technology, cable specification ................................................ 20
3.3 Connection – Notes .............................................................................................................. 21
3.3.1 Supply voltage ........................................................................................................ 21
3.3.2 Optional additional interfaces (Incremental, SSI) ................................................... 21
3.4 Additional interfaces – Hardware description ....................................................................... 22
3.4.1 Incremental interface / SIN/COS interface (optional) ............................................. 22
3.4.1.1 Signal characteristics .............................................................................................. 23
3.4.1.2 HTL/TTL Level (optional) ........................................................................................ 24
3.4.2 SSI interface (optional) ........................................................................................... 26
3.4.2.1 Signal characteristics .............................................................................................. 26
3.4.2.2 Cable lengths .......................................................................................................... 28
3.5 Defining the Target Unique Network Identifier (TUNID)....................................................... 29
3.5.1 Setting the Node ID or IP address .......................................................................... 29
3.5.2 Programming the Safety Network Number (SNN) .................................................. 30

4 Commissioning ................................................................................................................................ 32
4.1 Device identification ............................................................................................................. 33
4.2 EDS file ................................................................................................................................ 33
4.3 Bus status display ................................................................................................................ 34
4.4 MAC address........................................................................................................................ 35
4.5 Downloading the safety-related configuration ...................................................................... 36
4.5.1 Via the TR SNCT – SafetyOpen Type 2 ................................................................. 36
4.6 Commissioning via SCHNEIDER M580 SIL3 (BME P58) – Type 2 .................................... 38
4.7 Commissioning via Allen-Bradley Compact GuardLogix 5370 – Type 1 ............................. 38

01/27/2022 TR-ECE-BA-GB-0163 v06 Page 3 of 96

Contents

5 Resetting the safety-related device parameters .......................................................................... 39

6 Structure of the configuration data – Configuration assembly .................................................. 40

6.1 Instance 103, Grey Config Channel 1 .................................................................................. 40
6.2 Instance 104, Grey Config Channel ..................................................................................... 40
6.3 Instance 123, Safety Config ................................................................................................. 41

7 Structure of the cyclic process data – IO Assembly ................................................................... 42

7.1 Instance 1, Grey Default Input ............................................................................................. 42
7.2 Instance 101, TR Grey Input ................................................................................................ 43
7.2.1 Input TR Grey – Encoder Status ............................................................................. 43
7.2.2 Input Position Value Unsigned ................................................................................ 44
7.2.3 Input TR Grey – Velocity ......................................................................................... 44
7.3 Instance 102, Grey Output Channel 1 (adjustment function) ............................................... 45
7.4 Instance 121, Safety Input ................................................................................................... 45
7.4.1 Input TR Safety – Status ......................................................................................... 46
7.4.2 Input TR Safety – Position ...................................................................................... 47
7.4.3 Input TR Safety – Velocity ...................................................................................... 47
7.5 Instance 122, Safety Input ................................................................................................... 48
7.5.1 Output TR Safety – Controlword ............................................................................. 48
7.5.2 Output TR Safety – Presetout ................................................................................. 48

8 Connection Types – Connection Points ....................................................................................... 49

9 Parameter description..................................................................................................................... 51
9.1 Object 0x23 (Instance 1), Position Sensor ........................................................................... 52
9.1.1 Attribute 1, Number of Attributes ............................................................................ 55
9.1.2 Position Value Unsigned ......................................................................................... 55
9.1.3 Attribute 11, Position Sensor Type ......................................................................... 55
9.1.4 Attribute12, Direction Counting Toggle ................................................................... 55
9.1.5 Preset Value ........................................................................................................... 56
9.1.6 TR Grey – Preset Control ....................................................................................... 56
9.1.7 TR Grey – Encoder Status ...................................................................................... 57
9.1.8 TR Grey – Velocity .................................................................................................. 57
9.1.9 TR Grey – Rotational Direction ............................................................................... 58
9.1.10 TR Grey – Scaling parameter ............................................................................... 59
9.1.11 TR Grey – Velocity Format ................................................................................... 62
9.1.12 TR Grey – Velocity Factor..................................................................................... 62
9.1.13 TR Grey – Velocity Integration Time ..................................................................... 63
9.1.14 TR Grey – Channel coupled ................................................................................. 63
9.1.15 TR Grey – Position substitution ............................................................................ 64
9.1.16 TR Grey – Velocity Filter Intensity ........................................................................ 64
9.1.17 TR Grey – Velocity Filter Type .............................................................................. 64
9.1.18 TR Safety – Rotational Direction .......................................................................... 65
9.1.19 TR Safety – Scaling parameter ............................................................................. 66
9.1.20 TR Safety – Velocity Format ................................................................................. 69
9.1.21 TR Safety – Velocity Factor .................................................................................. 69
9.1.22 TR Safety – Velocity Integration Time .................................................................. 70
9.1.23 TR Safety – Velocity Filter Intensity ...................................................................... 70
9.1.24 TR Safety – Velocity Filter Type ........................................................................... 71
 TR-Electronic GmbH 2020, All Rights Reserved Printed in the Federal Republic of Germany

Page 4 of 96 TR-ECE-BA-GB-0163 v06 01/27/2022

9.1.25 TR Safety – Window Increments .......................................................................... 71
9.1.26 TR Safety – SIL / PL ............................................................................................. 71
9.1.27 TR Safety – Position ............................................................................................. 72
9.1.28 TR Safety – Velocity ............................................................................................. 72
9.1.29 TR Safety – Status ................................................................................................ 72
9.1.30 TR Safety – Controlword....................................................................................... 72
9.1.31 TR Safety – Presetout........................................................................................... 73
9.2 OPTION: Additional interface ............................................................................................... 74
9.2.1 Class 0x545247 - Instance 1, TR SSI Sensor ........................................................ 75
9.2.1.1 Attribute 1, Source .................................................................................................. 76
9.2.1.2 Attribute 2, Coding .................................................................................................. 76
9.2.1.3 Attribute 3, Data bits ............................................................................................... 76
9.2.1.4 Attribute 4, Mono time ............................................................................................. 76
9.2.1.5 Attribute 5, Status bits ............................................................................................. 77
9.2.1.6 Attribute 6, Sign of Life bits ..................................................................................... 77
9.2.1.7 Attribute 7, Checksum............................................................................................. 78
9.2.2 Class 0x545248 - Instance 1, TR Incremental Sensor ........................................... 78
9.2.2.1 Attribute 1, Pulses/Rev. .......................................................................................... 78

10 TR Safety – Preset Adjustment Function .................................................................................... 79

10.1 Procedure ........................................................................................................................... 79
10.2 Timing – Diagram ............................................................................................................... 80
10.3 Calculating the delay for a moving axis ............................................................................. 81

11 Obtain IP parameters via Flash or DHCP .................................................................................... 82

11.1 Object 0xF5, Instance 1 ..................................................................................................... 82
11.1.1 Attribute 3, Configuration Control ......................................................................... 82
11.1.2 Attribute 5, Interface Configuration ....................................................................... 83
11.1.2.1 Obtaining IP Parameters ....................................................................................... 83
11.1.2.2 Setting and saving IP parameters ......................................................................... 84
11.2 Example, obtaining IP parameters via DHCP server ......................................................... 85
11.2.1 Requirements ........................................................................................................ 85
11.2.2 Procedure.............................................................................................................. 85

12 Error causes and remedies .......................................................................................................... 88

12.1 Optical displays .................................................................................................................. 88
12.1.1 Module status, bicolor LED ................................................................................... 88
12.1.2 Network Status, Bicolor LED................................................................................. 89
12.2 General status codes ......................................................................................................... 90
12.3 Miscellaneous faults ........................................................................................................... 92

13 Elementary data types .................................................................................................................. 93

14 Checklist, Part 2 of 2 ..................................................................................................................... 94

15 Appendix ........................................................................................................................................ 96
15.1 TÜV certificate .................................................................................................................... 96
15.2 EtherNet/IP™ / CIP Safety™ - Declaration of Conformity ................................................. 96
15.3 EU Declaration of Conformity............................................................................................. 96

01/27/2022 TR-ECE-BA-GB-0163 v06 Page 5 of 96

Revision index

Modification Datum Index

First release 10/06/2020 02
Adaptation of the procedure in chapter
10/07/2020 03
“Resetting the safety-related device parameters”
Parameter for the second interface added 12/11/2020 04
- EtherNet/IP + CIP-Safety: Declaration of conformity added
01/11/2021 05
- ODVA Conformant - Logo added
Chapter “Miscellaneous faults” no twisted pair wires for supply 01/27/2022 06

Page 6 of 96 TR-ECE-BA-GB-0163 v06 01/27/2022

1 General information
This interface-specific user manual contains the following topics:
 Safety instructions
 Installation
 Commissioning
 Parameterization
 Error causes and remedies

Since it has a modular structure, this User Manual is supplementary to other documentations, such as
product data sheets, dimensional drawings, brochures, the Safety Manual, etc.

The User Manual may be included in the customer’s specific delivery package or it may be requested
separately.

1.1 Scope
This User Manual applies exclusively to measuring system series according to the following keys for
article numbers and types with EtherNet/IP™ interface and CIP Safety™ profile:

Article number

*1 *2 *3 *4 *5 – *6 *6 *6 *6 *6

Position Designation Description

A Explosion protection enclosure (ATEX);
*1
C Absolute encoder, programmable
*2 D Redundant dual scanning unit
V Solid shaft
*3 H Hollow shaft
S Blind shaft
*4 582 Outer diameter  58 mm, Generation 2
M Multi-turn
*5
S Singleturn
*6 – Consecutive number
* = placeholder

Type key
See Revision List:
CD_582M +FS02: www.tr-electronic.de/f/TR-ECE-TI-D-0343
CD_582M +FS03: www.tr-electronic.de/f/TR-ECE-TI-D-0349

The products are labeled with affixed nameplates and are components of a system.

The following documentations therefore apply as well:

● See the Chapter “Other Applicable Documents” in the Safety Manual
www.tr-electronic.de/f/TR-ECE-BA-GB-0142
● Product data sheets www.tr-electronic.com/s/S022978

01/27/2022 TR-ECE-BA-GB-0163 v06 Page 7 of 96

General information

1.2 References

IEC 61158:2003, Type 2

1.
Defines (among other things) the CIP™ Application Layer that uses EtherNet/IP™

IEC 61784-1:2003,
2.
Defines the communication profile of EtherNet/IP™ CP 2/2 Type 2

ISO/IEC 8802-3
3. Carrier Sense Multiple Access with Collision Detection
(CSMA/CD) Access Method and Physical Layer Specifications

RFC768
4.
Defines the User Datagram Protocol (UDP)

RFC791
5.
Defines the Internet Protocol (IP)

RFC792
6.
Defines the Internet Control Message Protocol (ICMP)

RFC793
7.
Defines the Transmission Control Protocol (TCP)

RFC826
8.
Defines the Ethernet Address Resolution Protocol (ARP)

RFC894
9.
IP datagram transmission standard for Ethernet networks

RFC1112
10.
Host extensions for IP multicasting

RFC2131
11.
Defines the Dynamic Host Configuration Protocol (DHCP)

RFC2236
12.
Defines the Internet Group Management Protocol (ICMP) Version 2

ODVA™
13.
The CIP Networks Library Vol. 1 to 9

Page 8 of 96 TR-ECE-BA-GB-0163 v06 01/27/2022

1.3 Abbreviations used / Terminology

0x Hexadecimal representation
Category
CAT
Cable classification also used for Ethernet
Common Industrial Protocol, transmission protocol for real-time data and configuration
CIP™
data.
CRC Cyclic Redundancy Check (redundancy check)
Dynamic Host Configuration Protocol,
DHCP
dynamic IP address assignment
DNS Domain Name System, name resolution resulting in an IP address
EDS Electronic Data Sheet
EMC Electro Magnetic Compatibility
Gateway Connection point between two networks
Half duplex Two-way alternate communication
Internet Group Management Protocol,
IGMP
protocol for managing groups
MAC ID Media Access Control Identifier
Multicast Multipoint connection; the message is sent to a specific group of participants.
Node ID Node address (IP address)
Open DeviceNet Vendor Association
ODVA™
(CAN user organization, specifically for DeviceNet, EtherNet/IP™)
Originator (control system)
Type 1: A device capable of configuring target devices (targets) and simultaneously
Originator connect to the targets.
Type 2: A device not capable of configuring target devices (targets). Safety-related
parameters, SNN and SCID are configured using the SNCT program.
In a safety-related peripheral equipment with outputs, the safety controller does not
transmit the output values provided by the safety program in the process image to the
Passivation
fail-safe outputs in the event of a passivation but sends substitute values (e.g. 0)
instead.
Connection
Port
Address part that assigns data segments to a network protocol.
Router Network component for coupling several subnets.
Safety Configuration CRC
SCCRC
CRC that checks the Safety Open device configuration data.
Safety Configuration Identifier
SCID SCCRC and SCTS combination used to uniquely identify a target and originator
configuration.
Safety Configuration Time Stamp
SCTS Time/date stamp, identifies the time and date when a configuration was created or
changed.
Safety Integrity Level: Four discrete levels (SIL1 to SIL4). The higher the SIL of a
SIL safety instrumented system, the lower the probability that the system cannot execute
the required safety functions.

...

01/27/2022 TR-ECE-BA-GB-0163 v06 Page 9 of 96

General information

...

SNCT Safety Network Configuration Tool

Safety Network Number
SNN Safety network number uniquely identifying a network across all networks in the safety
system.
SSI Synchronous Serial Interface
Network component used to connect several computers or network segments in a
Switch
local network, prevents collisions.
Target Target device (measuring system)
TCP/IP Transmission Control Protocol/Internet Protocol
TUNID Target Unique Network Identifier, see UNID
UDP User Datagram Protocol
Unique Network Identifier
UNID Combination of SNN and device node ID used to uniquely identify a node across all
networks in a safety system.
Full duplex Two-way simultaneous communication

Page 10 of 96 TR-ECE-BA-GB-0163 v06 01/27/2022

1.4 Main features
● EtherNet/IP™ – interface with CIP Safety™ protocol, used to transfer a safe position and a safe
velocity
● Fast process data channel via EtherNet/IP™, non-safety-related
● Variant 1 only:
Additional incremental or SIN/COS or SSI interface, non-safety-related
● Two-channel scanning system, for generation of safe measured data through internal channel
comparison
– Variant 1:
Channel 1, Master system:
Optical single-turn scanning via code disc with transmitted light and magnetic multi-turn
scanning
Channel 2, Test system:
Magnetic single- and multi-turn scanning
– Variant 2:
Channel 1, Master system:
Magnetic single- and multi-turn scanning
Channel 2, Test system:
Magnetic single- and multi-turn scanning
● One common drive shaft

The untested Channel 1 Master System data and the Channel 2 Test System data are separately
provided in the non-safety-related process data channel with normal EtherNet/IP™ protocol and short
cycle time.

The inspection system is used for the internal safety check. “Safe data” obtained through two-channel
data comparison are packed into the CIP Safety™ protocol and transmitted to the controller via
EtherNet/IP™.

The optional incremental interface in Variant 1, or its alternative SIN/COS interface, are derived from
the master system and are not evaluated with respect to safety.
Instead of the incremental interface, a synchronous-serial absolute-value interface (SSI) is available,
which is also not evaluated with respect to safety.

01/27/2022 TR-ECE-BA-GB-0163 v06 Page 11 of 96

General information

1.5 Principle of the safety function

System safety is established as follows:
– Each of the two scanning channels is largely fail-safe thanks to individual diagnostic
measures.
– The measuring system internally compares the positions detected by both channels in two
channels and determines the velocity in two channels and transfers the safe data in the CIP
Safety™ protocol via EtherNet/IP™.
– In the event of a failed channel comparison or if another error is detected through the internal
diagnostic mechanisms, the measuring system switches the CIP Safety™ channel to error
status.
– Initialization of the measuring system and execution of the preset adjustment function are
appropriately safeguarded.
– The control additionally checks whether the obtained position data are within the position
window expected by the control. Unexpected position data are, e.g., position jumps, tracking
error deviations and incorrect direction of travel.
– In case errors are detected, the control introduces appropriate safety measures defined by the
system manufacturer
– The system manufacturer ensures, through correct attachment of the measuring system, that
the measuring system is always driven by the axis to be measured and is not overloaded.
– The system manufacturer performs a safeguarded test during commissioning and whenever a
parameter has been changed.

Page 12 of 96 TR-ECE-BA-GB-0163 v06 01/27/2022

2 Safety instructions
2.1 Definition of symbols and notes

means that death or serious injury can occur if the required precautions
are not met.

means that minor injuries can occur if the required precautions are not
met.

means that damage to property can occur if the required precautions are
not met.

indicates important information or features and application tips for the

product used.

01/27/2022 TR-ECE-BA-GB-0163 v06 Page 13 of 96

Safety instructions

2.2 Safety-related requirements when using CIP Safety™ devices

● Exchanging the measuring system requires the backup device to be configured correctly and the
user to verify its correct function by a test run in safe mode before recommissioning the replaced
measuring system. See also Safety Manual TR-ECE-BA-GB-0142, Chapter 6 “Replacing the
measuring system”.

● The user must ensure the originator and measuring system are correctly configured when a safety
connection of the measuring system has been configured with a safety configuration ID
SCID = 0. However, we strongly advise against this operating mode, as it bypasses an
automated security check. See Chapter 4.5 from Page 36.

● Unique SNN numbers must be assigned for each safety network or safety subnet across the
entire system. See Chapter 3.5 on Page 29.

● The transmitted SCID and configuration data must be compared with the SCID and configuration
data originally displayed on the PC if the measuring system is configured using a PC
(workstation). See Chapter 4.5 from Page 36.

● The user must validate all downloads to the measuring system. See Chapter 4.5 from Page 36.

● A user test is required to ensure a signature is verified (and the configuration locked). See Chapter
4.5 from Page 36.

● Connection data and measuring system configuration data must be downloaded to the measuring
system first for an originator configuration to be tested and verified with such data. This is the only
way to confirm the measuring system SCID. See Chapter 4.5 from Page 36.

● The lock attribute can be set in the measuring system only after the user has verified the correct
function of the measuring system by a test run in safe mode. See Chapter 4.5 from Page 36.

● A configuration received by the measuring system from a Safety Network Configuration Tool
(SNCT) must afterwards be uploaded from the measuring system to the SNCT and be compared.
The lock attribute can only be set if the data match perfectly. See Chapter 4.5 from Page 36.

● An existing configuration must be deleted before installing a measuring system in a safety

network. See Chapter 4 on Page 32.

● A measuring system must be programmed with the intended Target Unique Network Identifier
(TUNID) before it can be installed in a safety network. See Chapter 3.5 on Page 29.

● A safety function user must carefully consider the effects of mixing different SIL level devices in
the network. See Chapter 9.1.26 on Page 71.

● Safety connection configurations must be verified after they have been applied in an originator to
confirm that a target connection is working as intended. See Chapter 8 from Page 49.

Page 14 of 96 TR-ECE-BA-GB-0163 v06 01/27/2022

● The measuring system status LEDs are not reliable indicators and no guarantee can be given that
they will provide accurate information. LEDs may thus only be used for the purpose of general
diagnosis during commissioning or troubleshooting but may not be used as an operational display.
See Chapter 4.3 on Page 34.

● The automatic SNN setting function of originator devices may only be used if the safety system
does not rely on it. See Chapter 3.5.2 on Page 30.

● The measuring system must always be locked after the configuration data have been verified. See
Chapter 4.5 from Page 36.

● As part of the final verification process, users must verify that the measuring system has received
its ownership assignment from the relevant originator if the measurement system has been
configured via a Type 1 SafetyOpen.

● Visually verify that all configuration data have been correctly downloaded to the measuring
system. See Chapter 4.5 from Page 36.

The measuring system cannot receive configuration data from another originator in
the presence of an ownership assignment by another originator. In this case you
must reset the measuring system to remove the ownership assignment. See Chapter
“Resetting the safety-related device parameters“ on Page 39.

01/27/2022 TR-ECE-BA-GB-0163 v06 Page 15 of 96

Safety instructions

2.3 Safety functions of the fail-safe processing unit

The originator connected to the measuring system must perform the safety checks listed below.

To ensure the appropriate measures can be taken in the event of an error, the
following applies:

1. The CIP Safety™ data channel is automatically put into the fail-safe state if
the measuring system detects an error and a safe position cannot be
output. In this state, so-called “passivated data” are output via
CIP Safety™.

Passivated data as seen by the measuring system:

CIP Safety™ data channel: all outputs are set to 0

CIP Safety™ Device Status: in ABORT state
CIP Mode Byte: Run/Idle-Bit is set to Idle
CIP Safety™ CRC: valid
4
TR Safety status: Safe State-Bit 2 = 0

Upon receipt of passivated data, the Originator must put the system
into a safe state. The error state can be terminated only by eliminating
the error and exiting the ABORT state!

2. The CIP Safety stack is stopped if a safe position cannot be output due to
a critical error (memory error) recognized by the measuring system. This
state doesn’t permit any safety-related communication; a connection
timeout error is output.

Again, the Originator must put the system into a safe state if this
occurs. To exist this error state, try switching the supply voltage off
and then on again. The measuring system must be replaced if this
doesn’t work.

This does not necessarily affect the process data channel that can be addressed via
EtherNet/IP™. The process data continue to be output if an internal non-safety-
related channel diagnosis does not detect an error. However, these data are not
safe in terms of a safety standard.

Page 16 of 96 TR-ECE-BA-GB-0163 v06 01/27/2022

2.3.1 Mandatory safety checks / measures

Measures for commissioning, changes Error response by originator

Application-dependent parameterization or definition of the
–
necessary safety-related parameters.
In the event of parameter changes, check whether the measure is
STOP
taken as desired.

Verification by originator Error response by originator

Cyclic check of the current safety-related data for consistency with
STOP
the previous data.
Receipt of passivated data ->
Monitoring of non-safety-related and safety-related cyclic data.
STOP
Timeout: Monitoring of the measuring system – response time. To
STOP
check, e.g., for critical errors, cable breakage, power failure, etc.

01/27/2022 TR-ECE-BA-GB-0163 v06 Page 17 of 96

Installation / Preparation for Commissioning

3 Installation / Preparation for Commissioning

3.1 Basic rules

The safety function may be deactivated by wire-based disturbance

sources!

 All CIP Safety™ devices used on the bus must be EtherNet/IP™ and
CIP Safety™ certified.
 All safety devices must also have a certificate from a “Notified Body”
(e.g., TÜV, BIA, HSE, INRS, UL, etc.).
 The 24 V power supplies used must comply with the requirements of
IEC 60364-4-41 SELV/PELV and be NEC Class 2 compliant for UL
applications.
 The shielding effect of cables must also be ensured after installation
(bending radii/tensile strength!) and after connector changes. In cases
of doubt, use more flexible cables with a higher current carrying
capacity.
 Only use M12 connectors for connecting the measuring system, which
ensure good contact between the cable shield and the connector
housing. Connect the cable shield to the connector housing over a
large area.
 Compensating currents caused by differences in potential across the
shield to the measuring system must be prevented.
 A shielded and stranded data cable must be used to ensure high
electromagnetic interference stability of the system. The shield should
be connected to protective ground in a well-conducting manner using
large-scale shield clips, if possible on either end. The shielding should
be grounded in the switch cabinet on one end only if the machine
ground is heavily contaminated with interference towards the switch
cabinet ground.
 Equipotential bonding measures must be provided for the complete
processing chain of the system.
 Power and signal cables must be laid separately. During installation,
observe the applicable national safety and installation regulations for
data and power cables.
 Observe the manufacturer's instructions for the installation of
converters and for shielding power cables between frequency
converter and motor.
 Ensure adequate dimensioning of the energy supply.

 Recommendation: Check the EtherNet/IP network for sufficient

bandwidth reserves (determination of network load) before starting
serial operation.

Page 18 of 96 TR-ECE-BA-GB-0163 v06 01/27/2022

Upon completion of installation, a visual inspection with report should be carried out. Verify the
network quality with a suitable bus analysis tool whenever possible.

To ensure safe and fault-free operation, do observe

- the ODVA directive “Media Planning and Installation Manual” (Pub 148)
- the ODVA directive “EtherNet/IP™ Network Infrastructure Guide” (Pub 35)
- and the publications referenced therein!

In particular, do observe the EMC directive 2014/30/EU as amended!

For further technical ODVA guidelines see

https://www.odva.org/technology-standards/document-library/

Further information on EtherNet/IP™ and CIP Safety™ are available on request from the Open
DeviceNet Vendor Association (ODVA™) at the following address:

ODVA, Inc.
4220 Varsity Drive, Suite A
Ann Arbor, MI 48108-5006 USA
Phone +1 734.975.8840
Fax +1 734.922.0027
www.odva.org
e-mail: mailto:[email protected]

More literature download options:

http://literature.rockwellautomation.com/
www.rockwellautomation.com/knowledgebase/

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Installation / Preparation for Commissioning

3.2 EtherNet/IP™ transmission technology, cable specification

EtherNet/IP™ networks generally use an active star topology where a point-to-point connection links
the devices to a switch. One star topology advantage is that star topology supports devices with a
transmission rate of 10 Mbit/s as well as 100 Mbit/s. Devices using either of the two transmission rates
can also be combined, as most Ethernet switches automatically negotiate the transmission rate.

The measuring system also supports the Line (daisy chain) and Ring (DLR, optional) topologies.

Use category STP CAT5e patch cables (2 x 2 copper wire cables twisted in pairs and shielded) for
transmissions using the 100Base-TX Fast Ethernet standard. The cables are designed for bit rates of
up to 100 Mbit/s. The transmission velocity is automatically detected by the measuring system. The
shield needs to be earthed on one side only.

Transmit in full duplex mode. We recommend using switches with the following properties when
setting up the EtherNet/IP™ network:
 for the I/O communication:
- full duplex capability, on all ports
- IGMP snooping – restricts multicast data traffic to ports with an associated IP multicast group.
- IGMP Query – Routers (or switches) with active IGMP function periodically send queries to
find out which IP multicast group members are connected in the LAN.
- Port Mirroring – allows data traffic on one port to be mirrored to another port, important for
troubleshooting.
 other switch functions:
- e.g. redundant power supply
- Remote diagnostic capabilities

The EtherNet/IP™ Node ID can be set either via two rotary switches, flash configuration or DHCP.

The cable length between two nodes may be max. 100 m.

Page 20 of 96 TR-ECE-BA-GB-0163 v06 01/27/2022

3.3 Connection – Notes
The pin assignment depends on the device version and is therefore noted on every connector as a pin
assignment number. When the measuring system is delivered, a printed device-specific pin
assignment form is enclosed.

Download
• TR-ECE-TI-DGB-0362, basic device
• TR-ECE-TI-DGB-0329, optional interface SIN/COS
• TR-ECE-TI-DGB-0330, optional interface TTL
• TR-ECE-TI-DGB-0331, optional interface HTL
• TR-ECE-TI-DGB-0332, optional interface SSI

https://www.tr-electronic.com/service/downloads/pin-assignments.html

The measuring system may be destroyed or damaged or its function be

impaired by ingress of moisture!
 Connector plugs of the measuring system that are unused during
storage and/or operation of the system have to be provided either with
a mating connector or a protective cap. The IP degree of protection is
to be selected according to requirements.

 Protective cap with O-ring:

When re-closing, check that the O-ring is present and seated properly.

 For suitable protective caps, see the Chapter on Accessories in the

Safety Manual.

3.3.1 Supply voltage

The internal electronics may be damaged by impermissible overvoltages

and this damage go unnoticed!
 The power supply used must meet the requirements of
– SELV/PELV (IEC 60364-4-41:2005)
– and be designed according to NEC Class 2,
see also Chapter “UL/CSA Approval” in the safety manual

2 2
Cable specification: min. 0.34 mm (recommended 0.5 mm ). Always coordinate cable cross-section
and cable length. We recommend using shielded cables, particularly in sensitive EMC environments.

3.3.2 Optional additional interfaces (Incremental, SSI)

2
Cable specification: min. 0.25 mm and shielded.
To guarantee the signal quality and minimization of possible environmental influences, we urgently
recommend to use a shielded twisted pair cable.

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Installation / Preparation for Commissioning

3.4 Additional interfaces – Hardware description

3.4.1 Incremental interface / SIN/COS interface (optional)

The measuring system can be equipped with an additional incremental interface in addition to the
EtherNet/IP™ interface used for outputting the absolute position.

Alternatively, this interface can also be designed as a SIN/COS interface. This interface cannot be
parameterized.

This additional interface is not evaluated in relation to safety and may not
be used for safety-related purposes!
 In motor control applications, the interface is generally used as position
feedback.

In the event of overvoltage, caused by a missing ground reference point,

there is a danger of damage to the downstream electronic devices!
 If the ground reference point is completely missing, e.g., 0 V of the power
supply is not connected, voltages equal to the supply voltage can occur at
the outputs of this interface.
 Ensure that a ground reference point is present at all times,
 or the organization responsible for the system must provide
appropriate protective measures for downstream electronic devices.

The signal characteristics of the two possible interfaces are shown below.

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3.4.1.1 Signal characteristics

1: Edge evaluation
2: Measuring system with
1024 pulses/rev.
3: Counter evaluation

1x: 1024 counter pulses/rev.

2x: 2048 counter pulses/rev.
4x: 4096 counter pulses/rev.

Figure 1: Counter evaluation, incremental interface

Measurement of signals
tending to 0 V

Differential measurement

Figure 2: Level definition, SIN/COS interface

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Installation / Preparation for Commissioning

3.4.1.2 HTL/TTL Level (optional)

Optionally, the incremental interface is also available with HTL and TTL levels. For technical reasons,
the user using this version has to take the following general conditions into account: ambient
temperature, cable length, cable capacitance, supply voltage, and output frequency.
In this case, the maximum output frequencies that can be reached via the incremental interface are a
function of the cable capacitance, the supply voltage and the ambient temperature. Therefore, the use
of this interface is reasonable only if the interface characteristics meet the technical requirements.

From the view of the measuring system, the transmission cable represents a capacitive load which
must be reloaded with each impulse. The load quantity required varies strongly depending on the
cable capacitance. It is this reloading of the cable capacitances that is responsible for the high power
dissipation and heat, which result in the measuring system.

The following diagrams show, separated by TTL and HTL version, the different dependencies with
respect to three different supply voltages.

TR’s own hybrid cable (part number: 64-200-021) was used for the measurements.

Figure 3: Cable lengths / cutoff frequencies, TTL version

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Figure 4: Cable lengths / cutoff frequencies, HTL version

Other cable parameters, frequencies, and ambient temperatures as well as bearing heat and
temperature increase via the shaft and flange, can yield a considerably poorer result in practice.

Therefore, the fault-free function of the incremental interface with the application-dependent
parameters has to be checked prior to productive operation.

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Installation / Preparation for Commissioning

3.4.2 SSI interface (optional)

In addition to the EtherNet/IP™ interface, the measuring system can be equipped with a synchronous-
serial absolute-value interface instead of an incremental interface.

This additional interface is not evaluated in relation to safety and may not
be used for safety-related purposes!
 The interface is typically used for control purposes when transferring
absolute value data to a second non-safety-related controller.

3.4.2.1 Signal characteristics

In power-down mode, Data+ and Clock+ are set to high. In the diagram below, this corresponds to the
Time before point (1).

When the clock signal changes from High to Low (1) for the first time, the device-internal re-triggerable
monoflop is set to monoflop time tM.
The time tM determines the lowest transmission frequency (T = tM / 2). The upper cutoff frequency
results from the sum of all signal propagation times and is additionally limited by the built-in filter
circuits.

With each further falling clock edge, the active state of the monoflop is extended by the time t M – this
happens last at point (4).
Setting the monoflop (1) causes the bit-parallel data pending at the internal parallel-to-serial converter
to be stored by an internally generated signal in an input latch of the shift register. This ensures that
the data does not change during the transmission of an actual position value.

When the clock signal changes from Low to High (2) for the first time, the most significant device
information bit (MSB) is applied to the serial data output. With each further rising edge, the next lower-
order bit is pushed to the data output.
When the clock rate has ended, the data lines are kept at 0 V (low) for the duration of the
monoflop time tM (4). This also results in the minimum pause time tp, which must be maintained
between two consecutive clock sequences and is 2 * tM.

The evaluation electronics read the data already at the first rising clock edge. Various factors result in
a delay time tV >100 ns, without cables. The measuring system data push to the output is thus delayed
by the time tV. Therefore, a “Pause-1” is read at time (2). This must be discarded or used for line break
monitoring in conjunction with a “0” after the LSB data bit. The MSB data bit is read only at time (3).
Therefore, the clock number must always be one higher (n+1) than the number of data bits to be
transmitted.

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tp
Monoflop time
Clock+

Data+

Figure 5: Typical SSI transmission sequences

1 2 3 T
4
n+1 High
Clock+ 1 2 n Low
tM

High
Data+ MSB LSB Low
tD
High
internal Low
Monoflop, can be retriggered

Figure 6: SSI transmission format

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Installation / Preparation for Commissioning

3.4.2.2 Cable lengths

SSI clock frequency and cable quality determine the maximum cable length.

TR’s own hybrid cable (part number: 64-200-021) was used for the measurements.

SSI clock frequency [kHz] 1000 500 250 125 125 125
Cable length [m] ca. 25 ca. 50 ca. 100 ca. 150 ca. 200 ca. 250
Table 1: SSI clock frequency / cable lengths

Figure 7: SSI clock frequency / cable lengths

Other cable parameters, frequencies, and ambient temperatures as well as bearing heat and
temperature increase via the shaft and flange, can yield a considerably poorer result in practice.

Therefore, the fault-free function of the SSI interface with the application-dependent parameters must
be checked prior to productive operation.

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3.5 Defining the Target Unique Network Identifier (TUNID)
The TUNID uniquely identifies the measuring system across all networks in the safety system and is a
combination of “Safety Network Number” SNN (6 bytes) and the measuring system’s IP address (4
bytes).

At delivery, the measuring system is assigned a default value of FFFF_FFFF_FFFF. Thus, the user
must assign a valid value. The TUNID can be assigned by the TR program TR SNCT Device
Applet or by an originator using the services Propose and Apply TUNID.
The measuring system performs a self-test when the supply voltage is ON, provided the supply
voltage is switched on in this state. When the self-test completes successfully, the measuring system
changes to the status WAITING FOR TUNID and waits for a TUNID to be assigned. This state is
exited only after a valid assignment has been made.

The user must assign unique SNN numbers for each safety network or safety subnet
across the entire system.
Establishing a TUNID is a prerequisite for the measuring system to be installed in a
safety network.

3.5.1 Setting the Node ID or IP address

The measuring system may be destroyed or damaged or its function be

impaired by penetration of foreign bodies and ingress of moisture!
 Firmly close the access to the address switches with the screw plug
after the settings have been made.

Every EtherNet/IP™ node in an EtherNet/IP™ segment is addressed by an 8-bit node ID (node

address). This address may be assigned only once within an EtherNet/IP™ segment and is therefore
only relevant to that local EtherNet/IP™ segment. The preset node ID corresponds to the host ID and
is part of the IP address.

Default IP address if hardware switch is active

192.168.1. <preset EtherNet/IP™ node ID>
Network ID Host ID
Table 2: IPv4 address assembly

The node ID is set using two HEX rotary switches which are read only at the starting moment.
Subsequent settings during ongoing operation will no longer be detected. See also Chapter “Obtaining
IP Parameters” on Page 83.

Hardware switch * Configuration Control Action

0x00 Configuration from FLASH
0x00
0x02 Configuration via DHCP
0x01 … 0xFE not relevant Hardware switch active
0xFF not relevant Configuration via DHCP
Table 3: Switch activation

* See “Attribute 3, Configuration Control” from “TCP/IP Interface Object” on Page 82.

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Installation / Preparation for Commissioning

Node IDs 1 to 254 may be assigned to the measuring system.

Figure 8: EtherNet/IP™ node ID, switch assignment

The following provisions apply when the HEX rotary switches are activated:
● IP address = 192.168.1.<preset node ID>
● Subnet mask = 255.255.255.0
● Default Gateway = 192.168.1.254

For obtaining the configuration from a FLASH or via a DHCP server,

please refer to “Attribute 5, Interface Configuration” as from Page 83.

3.5.2 Programming the Safety Network Number (SNN)

®
TR-Electronic provides the WINDOWS program TR SNCT Device Applet to configure the
measuring system according to the “SNCT-to-Originator and SNCT-to-Target” scheme and to
configure firmware updates and diagnostic options:

Download program description:

● www.tr-electronic.de/f/TR-ECE-TI-DGB-0364

Download TR SNCT Device Applet:

● www.tr-electronic.de/f/zip/TR-ECE-SW-MUL-0016

See the program description for program installation, system requirements, device connection and
possible use cases.

Ensure that no controller is connected to the measuring system and that there is no EtherNet/IP™
communication during programming.
The following procedure assumes that the corresponding network interface and IP address of the
measuring system have been set in the TR SNCT Device Applet and that there is communication.

SNN input format: „****_****_****“ (6 Byte); ´*´ = 4 Bit, HEX coded (0-9, A-F)

To improve readability, the separator “_” is required after every 2 bytes.

CIP data type for DATE_AND_TIME: [DATE_WORD]_[TIME_HI_WORD]_[TIME_LO_WORD]

Page 30 of 96 TR-ECE-BA-GB-0163 v06 01/27/2022

Ensure the correct measuring system has been programmed with the preset SNN before writing the
SNN. Use one of the following verification options found under the program tab Device ID:

Displayed article number and serial number in the field Device ID and MAC address displayed in the
field MAC address. These data are noted on the nameplate of the measuring system.

The button Identify triggers the status LEDs of the relevant measuring system to flash, which
makes assignments simple and easy.

Execute the function Apply after verifying that the correct measuring system has being addressed.
The measuring system immediately applies these settings.
Several devices can be integrated into the LAN network via a switch if several devices have to be
programmed. Select the devices by entering the corresponding IP address in the TR SNCT Device
Applet.

Originators that support Type 1 SafetyOpen configurations can also program the
TUNID. These originator devices support the “SNCT-to-Originator-to-Target”
configuration scheme.

The user must ensure the uniqueness of an automatically assigned SNN if an

originator programmed the TUNID with an automatic SNN setting function.

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Commissioning

4 Commissioning
The measuring system must have a safety-related configuration before it can establish a connection
to an originator. When the measuring system is delivered, it does not have a safety-related
configuration and must therefore first be configured accordingly.
The measuring system performs a self-test if the supply voltage is turned on in this state. After a
successful self-test it is checked whether the measuring system was assigned a valid TUNID. After a
successful self-test, the measuring system changes to the CONFIGURING status and waits for a
configuration to be assigned. This state is exited only after a valid configuration has been made.

If the measuring system has already been put into operation and has a safety-
related configuration, this safety-related configuration must be deleted for safety
reasons before the measuring system can be installed in a safety network.
If this is the case, follow this procedure:
1. Reset the measuring system to factory settings
2. Assign a TUNID
3. write the safety-related configuration

The safety-related configuration can be deleted by using the TR SNCT Device

Applet, by using the SNCT download and by using the function Reset.
Alternatively, delete the configuration by using the rotary switch, see Chapter 5 on
Page 39. This sets the factory settings for TUNID, SCID, the Safety
configuration, and the password. The measuring system is then reset to the
as-delivered status and remains in the WAITING FOR TUNID state after the supply
voltage was turned OFF/ON, see Chapter 3.5 on Page 29.

The measuring system supports both SafetyOpen connection frames of Type 1 and Type 2.

Originators that support Type 1 SafetyOpen connection frames can configure the measuring system
completely and simultaneously establish connections to the measuring system. The originator
performs the entire configuration process (download, test, and verification).
The description of the configuration process is not part of this manual. Please refer to the
documentation associated with the control system instead. However, do observe the
instructions in Chapter 2.2 on Page 14.

Originators that only support Type 2 SafetyOpen connection frames cannot configure the
measuring system. The safety-related parameters SNN and SCID must be configured with
TR-Electronic’s own TR SNCT Device Applet. Apply the values calculated in this way to the
control system configuration.
Appropriate downloading, testing, and verification functions have been implemented in the
configuration tool. The safety configured measuring system can then be connected to the originator
and establish connections.

The safety-related Type 2 SafetyOpen configuration with download process and verification process
meets the CIP NETWORKS LIBRARY Volume 5, Alternative 3 requirements:
Download and function test with various subsequent comparison processes.

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This method performs a delayed readback verification after the entire configuration has been
downloaded and tested.

1. Initially, the measuring system configuration has not yet been verified in the system. The
measuring system is configured and assigned a SCID, which the measuring system uses to
verify data. At this point, the user verification of the uploaded data is not yet performed.
2. As soon as the user has functionally tested the entire system, it is verified by the SNCT on the
PC (workstation). This verification step reads back all configuration data from the measuring
system, compares the read-back data with the local drive copy and provides the data in a
separate text editor for review by the user. The most important step is that the user must
perform this verification and with it, the verification can be regarded as completed.

4.1 Device identification

The following attributes are used to identify the correct device when establishing a connection or
replacing a device.

Controllers (connection originators) use the so-called “Electronic Keying” function to verify the
attributes defined in the control project with the attributes of the connected or installed device. If the
verification fails an appropriate error message is generated and the connection setup is rejected.

Attribute Entry for the measuring system

Vendor ID 0x471 (TR-Electronic GmbH)
Device Type 0x22 (Encoder)
Product Code CD_582_-EIP
Major Revision ≥1
Minor Revision ≥1
Table 4: Device identification attributes

The TR SNCT Device Applet also displays the attributes Vender ID, Device type, and
Product Code of the connected measuring system.

4.2 EDS file

The EDS (Electronic Data Sheet) file contains all information about the measuring-system-specific
parameters and the measuring system’s operating modes. The EtherNet/IP™ network configuration
tool attaches the EDS file so that the measuring system can be properly configured and
commissioned.

Download:
 www.tr-electronic.de/f/TR-ECE-ID-MUL-0067

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Commissioning

4.3 Bus status display

The measuring system is equipped with bicolor diagnostic LEDs. A self-test is performed when the
system is switched on and indicated by the red/green flashing (1 Hz) module status LED.

For safety reasons, status LEDs may only be used for general diagnosis during
commissioning and troubleshooting but may not be used as an operational display!

Figure 9: Measuring system diagnostic LEDs

LED1: Module status “Mod Stat”

green Description
– Voltage supply missing or too low
Off
– Hardware error, measuring system defective
On Measuring system ready for operation (no error)
1 Hz The measuring system is in Idle state

red Description
On a critical error has occurred
1 Hz The measuring system is in Abort state

red/green Description
red <-> green
The measuring system performs a self-test or must be configured
1 Hz

LED2: Network status “Net Stat”

green Description
– Voltage supply missing or too low
Off – Hardware error, measuring system defective
– Measuring system offline
On Measuring system online, CIP connection established
1 Hz Measuring system online, CIP connection not established

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red Description
On Several identical IP addresses detected
1 Hz I/O connections in Timeout state

red/green Description
red <-> green
The measuring system is in Communication Error state
1 Hz
red <-> green
Propose_TUNID Service received
2 Hz

Identify function: Module status LED1, Network status LED2

green red Description
The measuring system thereby indicates the receipt of a TUNID-
1 Hz, 5 s PROPOSE-REQUEST service. This allows the user to verify that the
correct device has been selected.

LED3/4: PORT1/2 – Link / Data Activity “Port 1 L/A” / “Port 2 L/A”

green Description
Off no Ethernet connection established
On Ethernet connection established

yellow Description
Off No data exchange
On / flashing Data exchange active

For appropriate measures in case of error, see Chapter “Error causes and remedies” on Page 88.

4.4 MAC address

TR-Electronic assigns every EtherNet/IP™ device a globally unique device identification used to
identify the Ethernet node. This 6 bytes long device identification is the MAC address and cannot be
changed.

The MAC address is divided into:

- 3 bytes manufacturer ID and
- 3 bytes device ID, consecutive number

The MAC address is usually noted on the nameplate of the device,

e.g. “00-03-12-04-00-60”

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Commissioning

4.5 Downloading the safety-related configuration

4.5.1 Via the TR SNCT – SafetyOpen Type 2

The user must always validate all downloads to the measuring system.

A download of the safety-related configuration requires that the measuring system has a TUNID and
that a communication has been established to the TR SNCT Device Applet.

Before downloading the configuration to the measuring system, verify that the correct measuring
system receives the preset configuration. To do so, use the SNCT’s verification option Device ID.

The safety-related measuring system parameters

SIL / PL
Direction of rotation
Measuring range
Revolutions numerator
Revolutions denominator
Velocity format
Velocity factor
Velocity integration time
Velocity filter type
Velocity filter strength
Window Increments

and the calculation/determination of the Safety Configuration CRC SCCRC and Safety Configuration
Time Stamp SCTS are set/performed by the SNCT Safety configuration function.
The combination of SCCRC and SCTS serves as a clear ID of the set configuration and makes up the
Safety Configuration Identifier SCID.

Once the settings have been made as required, press the button Calculate to calculate this
configuration. The result is displayed in the fields SCTS: and SCCRC. Right-click in the relevant field to
copy the calculated value to the clipboard to then paste it in the originator’s engineering tool.

The configuration must be downloaded to the measuring system so the preset

configuration can be tested and verified.

Switch to the SNCT function SNCT Download to meet this requirement. The previously calculated
SCTS and SCCRC values are automatically applied and written into the corresponding fields of the
Configuration Download section.

The Download button transfers the preset configuration to the measuring system, which applies it
after a voltage OFF/ON cycle.

Now the measuring system is configured and the originator can put it into the cyclic data exchange
(Execute State) state.

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The lock attribute can be set in the measuring system only after the user has verified
the correct function of the measuring system by a test run in safe mode.

To meet this requirement, the user must integrate the measuring system in this phase into the
intended application and verify the correct function through a test run in safe mode.

If readjustments are necessary, perform the steps of

- setting parameters
- calculating (SCTS, SCCRC)
- downloading the configuration
- Function test
repeatedly as described above.

It is recommended to save the configuration of a successful test for further configuration transfers or
later verifications via the menu item File ->Save.

Now upload the configuration from the measuring system to the SNCT and compare
it as the measuring system has received the configuration from the SCNT. The
configuration can be locked only if the data match.

To meet this requirement, the measuring system must be reconnected to the SNCT. Ensure that no
controller is connected to the measuring system. that there is no EtherNet/IP™ communication, and
that the correct configuration has been selected for the verification. Activate the SNCT function SNCT
Download -> Upload for the upload.

The Upload button transfers the SCCRC and SCTS determined or saved by the measuring system and
writes them into the appropriate fields in the Configuration Verification section.
The fields SCCRC and SCTS are highlighted in yellow if the values differ from the configuration
download data.

The transmitted SCID and configuration data must be compared with the SCID and
configuration data originally displayed on the PC.
Visually verify that all configuration data have been correctly downloaded to the
measuring system.

Use the Show button to read in and display the data automatically saved on the hard drive after the
upload and meet this requirement. The divers display uses an independent and separate editor.
Compare the data displayed in the editor (Device SCID) with the configuration download data (Tool
SCID). These must be identical to meet the requirements of a Safety configuration. Close the editor
via the Shut down button.

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Commissioning

Confirm the verification by pressing the Verify button after the correct measuring system function
has been validated and the configuration data have been verified by the user. The configuration data
are now considered verified. This is visually indicated by the tick in the SCID verified checkbox.
The configuration data can now be locked to protect them from unintentional changes.

The measuring system must always be locked after the configuration data have
been verified.

To do so, set a password. This relates to locking and unlocking a configuration.

A 16-character password can be set in the Password: field of Lock/Unlock the configuration
section. The assigned password must be re-entered in the Confirmation: field to confirm the
password. If no password protection is required, the configuration can be locked with the standard
password (no entry).

The Lock button locks the current configuration. The configuration cannot be changed in this state.

Now, the configuration can only be changed with the correct password (if assigned) and by unlocking
it via the Unlock button or by resetting the measuring system to the factory settings.

The signature can only be considered verified after a user test and a completed
configuration.

Now, the safety-related configuration is complete, the measuring system can be integrated into the
CIP Safety™ network, and connections to the originators can be established with the Type 2
SafetyOpen configuration options.

The user must ensure the originator and measuring system are correctly configured
when a safety connection of the measuring system has been configured with a
safety configuration ID SCID = 0. However, we strongly advise against this
operating mode, as it bypasses an automated security check.

4.6 Commissioning via SCHNEIDER M580 SIL3 (BME P58) – Type 2

Download, technical information: www.tr-electronic.de/f/TR-ECE-TI-DGB-0363

4.7 Commissioning via Allen-Bradley Compact GuardLogix 5370 – Type 1

Download, technical information: www.tr-electronic.de/f/TR-ECE-TI-DGB-0370

Page 38 of 96 TR-ECE-BA-GB-0163 v06 01/27/2022

5 Resetting the safety-related device parameters

The measuring system may be destroyed or damaged or its function be

impaired by penetration of foreign bodies and ingress of moisture!
 Firmly close the access to the address switches with the screw plug
after the settings have been made.

Use the two HEX rotary switches SW1 and SW2 for resetting the device parameters. See Figure 8 on
Page 30 for details on the position and assignment of the HEX rotary switches.

The device parameters can only be reset if no IO connection is active.

Procedure:
1. Unscrew the screw plug
2. Condition 1; at least one switch or both switches are set to ≠ 0:
In this case both switches must be set to 0
-> wait for feedback under point 3

Condition 2; both switches are set to 0:

In this case, set at least one switch temporary to ≠ 0, then set both switches to 0
-> wait for feedback under point 3
3. Wait 3 s, the green NET- and green MODULE-status - LEDs flash alternately with 2 Hz
4. Set switch SW2 to 5 and switch SW1 to 2, corresponds to 0x52 = “R” (RESET)
5. Wait 3 s, the green NET- and green MODULE-status - LEDs flash alternately with 2 Hz
6. Set both switches to 0
7. Now, the safety-related configuration is reset, the TUNID and SCID are deleted and the ownership
assignment of the measuring system/originator is cancelled.
8. The measuring system reboots to apply the settings
9. The process is complete, and the screw plug can be screwed back in again

Resetting via the network:

Alternatively, also you can use the Safety Supervisor Object 0x39 to reset the device
parameters. To do so, use the Service Code 0x54 to trigger a so-called Safety Reset of Type 1
or 2.
Ensured the configuration is not locked as a precaution against changes when executing this
command. The Password and the TUNID of the measuring system are required to prevent an
unintentional deletion.
In contrast to a Type 1 Safety Reset, a Type 2 Safety Reset allows the selection of which parameters
will not be reset, e.g. the password.

01/27/2022 TR-ECE-BA-GB-0163 v06 Page 39 of 96

Structure of the configuration data – Configuration assembly

6 Structure of the configuration data – Configuration assembly

6.1 Instance 103, Grey Config Channel 1
Only the mandatory position sensor object (0x23) attribute for switching the counting direction
DirectionCountingToggle (DCT) is supported in the non-safety-related profile related
configuration assembly (Instance 103, Attribute 3). The setting is transferred to the measuring
system during startup after a connection has been established.

Instance Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Page
0 – – – – – – – DCT 55
103
1-3 reserved –

6.2 Instance 104, Grey Config Channel

All TR Grey attributes from the position sensor object (0x23) are combined in the non-safety-related
TR-Electronic related configuration assembly (Instance 104, Attribute 3) and transferred to the
measuring system during startup after a connection has been established.

The attributes are described with their default values. All parameters must be written as “0” values if
this is not desired.

Instance Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Page
0 TR Grey – Channel coupled 63
1 TR Grey – Rotational Direction 58
2
3
TR Grey – Measuring Range
4
5
6
7
TR Grey – Revolutions Numerator 59
8
9
10
104 11
TR Grey – Revolutions Denominator
12
13
14 TR Grey – Velocity Format 62
15 TR Grey – Velocity Filter Intensity 70
16 TR Grey – Velocity Filter Type 71
17
TR Grey – Velocity Factor 62
18
19
TR Grey – Velocity Integration Time 70
20
21 TR Grey – Position substitution 64
22-23 reserved –

Page 40 of 96 TR-ECE-BA-GB-0163 v06 01/27/2022

6.3 Instance 123, Safety Config
All TR safety attributes from the position sensor object (0x23) are combined in the safety-related
configuration assembly (Instance 123, Attribute 3). These are required to calculate the SCID as well
as for downloading the safety-related configuration, see also Chapter 4.5 on Page 36.

Instance Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Page
0
TR Safety – SIL / PL 71
1
2 TR Safety – Rotational Direction 65
3
4
TR Safety – Measuring Range
5
6
7
8
TR Safety – Revolutions Numerator 66
9
10
11
123
12
TR Safety – Revolutions Denominator
13
14
15 TR Safety – Velocity Format 69
16
TR Safety – Velocity Factor 69
17
18
TR Safety – Velocity Integration Time 70
19
20 TR Safety – Velocity Filter Type 71
21 TR Safety – Velocity Filter Intensity 70
22
TR Safety – Window Increments 71
23

01/27/2022 TR-ECE-BA-GB-0163 v06 Page 41 of 96

Structure of the cyclic process data – IO Assembly

7 Structure of the cyclic process data – IO Assembly

IO Assembly transfers the process data of the measuring system. Only the static configuration
called Static Assembly is supported. The number of instances and attributes is therefore fixed and
cannot be changed.

Instance Attr. Type Name Description

Grey Default Input NON-safety-related (PROFILE)
1 3 Input
– Position Value Unsigned 32-bit unsigned position value
100 3 – Heartbeat Heartbeat
TR Grey Input NON-safety-related (TR-Electronic)
– TR Grey – Encoder Status 16-bit status information
101 3 Input
– Position Value Unsigned 32-bit unsigned position value
– TR Grey – Velocity 32-bit signed velocity value
Grey Output Channel 1 NON-safety-related
102 3 Output – TR Grey – Preset Control 16-bit preset control
– Preset Value Set 32-bit preset value
Safety Input Safety-related
– TR Safety – Status 16-bit status information
121 3 Input
– TR Safety – Position 32-bit unsigned position value
– TR Safety – Velocity 32-bit signed velocity value
Safety Output Safety-related
122 3 Output – TR Safety – Controlword 16-bit preset control
– TR Safety – Presetout Set 32-bit preset value
Table 5: Overview of I/O assembly instances

7.1 Instance 1, Grey Default Input

The current, non-safety-related, scaled absolute actual position of the measuring system is output as
an unsigned 32-bit binary value via Instance 1, Member Position Value Unsigned.

Input byte IB0 to IB3, UDINT

Byte 0 1 2 3
Bit 7-0 15-8 23-16 31-24
7 0 15 8 23 16 31 24
Data 2 –2 2 –2 2 –2 2 –2

Link path, Packed EPATH with 8-bit class

0x20 0x04 0x24 0x01 0x30 0x03

Logical Type = Logical Type = Logical Type =
Class #4 Instance #1 Attribute ID #3
Class Instance Attribute ID

Page 42 of 96 TR-ECE-BA-GB-0163 v06 01/27/2022

7.2 Instance 101, TR Grey Input
All non-safety-related data of the measuring system are output via Instance 101, Members 1 to 3.

Input word structure 0 to 4, Measuring system -> Originator

IW 0 IW 1 IW 2 IW 3 IW 4
TR Grey – Encoder
Position Value Unsigned TR Grey – Velocity
Status

Link path, Packed EPATH with 8-bit class

0x20 0x04 0x24 0x65 0x30 0x03

Logical Type = Logical Type = Logical Type =
Class #4 Instance #65 Attribute ID #3
Class Instance Attribute ID

7.2.1 Input TR Grey – Encoder Status

The current, non-safety-related measuring system status is output via the Member TR Grey –
Encoder Status:

Input word IW 0, WORD

Byte 0 1
Bit 7-0 15-8
7 0 15 8
Data 2 –2 2 –2

Bit Function
Adjustment execution – positive feedback
0: Normal operation, no error
0
1: Adjustment was carried out
For the execution of the adjustment function, see Chapter 7.3 on Page 45.
Output of the original position
1 0: Position incorrect, channel in error status
1: Output of the original position
Output of the substitute position
0: no substitute position output
2 1: Output of the substitute position
The substitute position (Position substitution = On) must be set accordingly, see
Chapter 9.1.15, Page 64.
3-6 unused
Adjustment execution – Negative feedback
7 1: Adjustment was not carried out
For the execution of the adjustment function, see Chapter 7.3 on Page 45.
8-15 unused

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Structure of the cyclic process data – IO Assembly

7.2.2 Input Position Value Unsigned

The current, non-safety-related, scaled absolute actual position of the measuring system is output as
an unsigned 32-bit binary value via Member Position Value Unsigned.

Input words IW 1 to IW 2, UDINT

Byte 2 3 4 5
Bit 23-16 31-24 39-32 47-40
7 0 15 8 23 16 31 24
Data 2 –2 2 –2 2 –2 2 –2

7.2.3 Input TR Grey – Velocity

The current scaled non-safety-related velocity of the measuring system is output as a signed 32-bit
two’s complement value via the Member TR Grey – Velocity. Default setting: RPM, see Attribute
TR Grey – Velocity Format on Page 62.

Input words IW 3 to IW 4, DINT

Byte 6 7 8 9
Bit 55-48 63-56 71-64 79-72
7 0 15 8 23 16 31 24
Data 2 –2 2 –2 2 –2 2 –2

Page 44 of 96 TR-ECE-BA-GB-0163 v06 01/27/2022

7.3 Instance 102, Grey Output Channel 1 (adjustment function)

Danger of physical injury and material damage due to an actual value

jump during execution of the adjustment function!
 The adjustment function should only be executed when the measuring
system is stationary, or the resulting actual value jump must be
permitted by both the program and the application!

A 32-bit adjustment value can be transferred and set as a new position value in Instance 1 and
Instance 101 (Position Value Unsigned) via Instance 102, Member TR Grey – Preset
Control (Control word) and Member Preset Value (Adjustment value). The adjustment value
must be within the programmed measuring range –1. An invalid adjustment value transmitted is not
accepted and error code 0x0080 is indicated in the status word TR Grey – Encoder Status.
Control word = 0x0000 deletes the error code in the status word TR Grey – Encoder Status.
0
The adjustment value is set with a rising edge 0->1 of bit 2 (0x0001) in the control word. Execution of
0
the adjustment is acknowledged in the status word TR Grey – Encoder Status by setting bit 2
0 0
(0x0001). Cancelling bit 2 (0x0000) in the control word automatically resets bit 2 (0x0000) in the
status word TR Grey – Encoder Status.

Source data structure, originator -> measuring system

WORD / DINT
Byte 0 1 2 3 4 5
Bit 7-0 15-8 23-16 31-24 39-32 47-40
7 0 15 8 7 0 15 8 23 16 31 24
Data 2 –2 2 –2 2 –2 2 –2 2 –2 2 –2
0
Function Control word (2 ) 32-bit adjustment value (binary)

Adjustment value lower limit 0

Adjustment value upper limit Programmed total measuring range in steps – 1

Link path, Packed EPATH with 8-bit class

0x20 0x04 0x24 0x66 0x30 0x03
Logical Type = Logical Type = Logical Type =
Class #4 Instance #66 Attribute ID #3
Class Instance Attribute ID

7.4 Instance 121, Safety Input

All safety-related data of the measuring system are output via Instance 121, Members 1 to 3.

Input word structure 0 to 4, Measuring system -> Originator

IW 0 IW 1 IW 2 IW 3 IW 4
TR Safety – Status TR Safety – Position TR Safety – Velocity

Link path, Packed EPATH with 8-bit class

0x20 0x04 0x24 0x79 0x30 0x03
Logical Type = Logical Type = Logical Type =
Class #4 Instance #79 Attribute ID #3
Class Instance Attribute ID

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Structure of the cyclic process data – IO Assembly

7.4.1 Input TR Safety – Status

The safety-related measuring system status is output via the Member TR Safety – Status.

Danger of death, serious physical injury and/or damage to property if the

4
drive system starts uncontrolled and the Safe State bit 2 fails to be
evaluated!
4
 The output actual values are only valid if the Safe State bit 2 = 1.

Input UINT IW 0, UINT

Bit Description
Speed Error
Bit = 1, if the velocity value is outside the range
0
–2147483648…+2147483647. The bit is automatically reset when the velocity coefficient is within
the permissible range.
1 reserved
Preset OK
2
Bit = 1, if a preset request was executed successfully.
Preset Error
Bit = 1, if a preset request was not executed because of an error. The bits can be reset using the
3
Preset Request and Preset Preparation preset control bits; see also Chapter 7.5.1 on
Page 48.
Safe State
Bit = 0,
- in the initialization phase or, rather, if initialization was unsuccessful
- if a preset request is initiated using the Preset Preparation control bit
4 - if the measuring system is in Safe state

Bit = 1,
- if initialization was completed successfully
- if the preset control bits Preset Request and Preset Preparation were reset.
Preset Active
5 Bit = 1, if execution of the preset function is triggered via the Preset Request control bit. After
the preset function has been executed, the bit is reset automatically; see also page 74.
6 reserved
Scaling Error
Bit = 1, if the measuring system was run in de-energized state. As it is impossible to verify whether
7 a zero transition has been generated in this case, the issued position must first be verified with the
desired mechanical position before the application is started. After positive verification, the bit can
be cleared by executing the preset adjustment function, see Chapter 9.2 on Page 74.
Error Ack Request
Bit = 1 if the measuring system is in Safe state This bit can only be acknowledged when exiting the
8 Abort status. You may try to perform a Type 0 Safety Reset via Safety Supervisor
Object 0x39 (Service Code = 0x54) or perform a supply voltage OFF/ON cycle.
Preset Locked
Bit = 1 if a preset is already being executed under another Safety IO connection (application). In
9
order to avoid inconsistencies, this application will not be able to run a preset until the preset
operation has been completed in the other application.
10…15 reserved

Page 46 of 96 TR-ECE-BA-GB-0163 v06 01/27/2022

7.4.2 Input TR Safety – Position

The current scaled absolute actual safety-related position of the measuring system is output as an
unsigned 32-bit binary value via the Member TR Safety – Position.

Input words IW 1 to IW 2, UDINT

Byte 2 3 4 5
Bit 23-16 31-24 39-32 47-40
7 0 15 8 23 16 31 24
Data 2 –2 2 –2 2 –2 2 –2

7.4.3 Input TR Safety – Velocity

The current scaled safety-related velocity of the measuring system is output as a signed 32-bit two’s
complement value via the Member TR Safety – Velocity. Default setting: RPM,
see Attribute TR Safety – Velocity Format on Page 69.

Input words IW 3 to IW 4, DINT

Byte 6 7 8 9
Bit 55-48 63-56 71-64 79-72
7 0 15 8 23 16 31 24
Data 2 –2 2 –2 2 –2 2 –2

01/27/2022 TR-ECE-BA-GB-0163 v06 Page 47 of 96

Structure of the cyclic process data – IO Assembly

7.5 Instance 122, Safety Input

The safety-related preset adjustment function is controlled via Instance 122, Members 1 to 2, and the
associated preset value is transferred to the measuring system.

Structure of the output words 0 to 2, Originator -> Measuring system

OW 0 OW 1 OW 2
TR Safety – Controlword TR Safety – Presetout

Link path, Packed EPATH with 8-bit class

0x20 0x04 0x24 0x7A 0x30 0x03

Logical Type = Logical Type = Logical Type =
Class #4 Instance #7A Attribute ID #3
Class Instance Attribute ID

7.5.1 Output TR Safety – Controlword

The safety-related preset adjustment function is triggered and a new position value is sent to Instance
121, Member TR Safety – Position via Members TR Safety – Controlword

Output word OW 0, UINT

Bit Description
Preset Preparation
This bit serves to prepare the preset adjustment function. The actual preset function can
0 only be set using the Preset Request control bit if this bit is set. This function can only
be executed when the corresponding sequence is exactly followed;
see Chapter “TR Safety – Preset Adjustment Function“ on Page 79.
Preset Request
This bit serves to control the preset adjustment function. When this function is executed,
1 the measuring system is set to the position value set in Member TR Safety –
Presetout. This function can only be executed when the corresponding sequence is
exactly followed; see Chapter “TR Safety – Preset Adjustment Function“ on Page 79.
2…15 reserved

7.5.2 Output TR Safety – Presetout

The zero point of the measuring system can be adjusted to the mechanical zero point via the Member
TR Safety – Presetout. The desired preset value must be in the range of 0 to (measuring range
in steps – 1), otherwise the preset adjustment function will not be executed and Bit 3 Preset Error
in TR Safety – Status is set to = 1.
The preset value is set as a new position when the preset adjustment function is executed; see
chapter “TR Safety – Preset Adjustment Function” on Page 79.

Output words OW 1 to OW 2, UDINT

Byte 2 3 4 5
Bit 23-16 31-24 39-32 47-40
7 0 15 8 23 16 31 24
Data 2 –2 2 –2 2 –2 2 –2

Page 48 of 96 TR-ECE-BA-GB-0163 v06 01/27/2022

8 Connection Types – Connection Points
The connection type defines the type of connection between the sender = control system (originator)
and the target = measuring system (target).

A distinction is also made between the data flow:

 O -> T: Data packets from Originator to Target
 T -> O: Data packets from Target to Originator

The measuring system supports the following connection types:

Exclusive Owner
Refers to an independent connection where a single device controls the output states in the target
device. If an Exclusive Owner connection already exists to a target device no further
Exclusive Owner connection can be defined to this target device.

Input Only
Refers to an independent connection where a device receives inputs from the target device and sends
configuration data to the network. An Input Only connection does not send any outputs, only inputs
can be received. But several Input Only connections can be defined from various senders to the
target device.

NON-safety-related connections

Grey Channel 1, Exclusive Owner, Client

O -> T
Connection Point Class Attribute Data size Description
103 (instance) 0x04 3 4 bytes Configuration data
– TR Grey – Preset Control, 16 bit
102 0x04 – 6 bytes
– Preset Value, 32 bit

T -> O (SINGLE-CAST / MULTICAST)

Connection Point Class Attribute Data size Description
1 0x04 – 4 bytes – Position Value Unsigned, 32 bit

TR Grey Channel 1, Exclusive Owner, Client

O -> T
Connection Point Class Attribute Data size Description
104 (instance) 0x04 3 24 bytes Configuration data
– TR Grey – Preset Control, 16 bit
102 0x04 – 6 bytes
– Preset Value, 32 bit

T -> O (SINGLE-CAST / MULTICAST)

Connection Point Class Attribute Data size Description
– TR Grey - Encoder Status, 16 bit
101 0x04 – 10 bytes – Position Value Unsigned, 32 bit
–TR Grey – Velocity, 32 bit

01/27/2022 TR-ECE-BA-GB-0163 v06 Page 49 of 96

Connection Types – Connection Points

Safety-related connections

Safety Output, Exclusive Owner, Server

O -> T
Connection Point Class Attribute Data size Description
123 (instance) 0x04 3 24 bytes Safety configuration data
– TR Safety – Controlword, 16 bit
122 0x04 – 6 bytes
– TR Safety – Presetout, 32 bit

Safety Input, Input Only, Client

O -> T
Connection Point Class Attribute Data size Description
123 (instance) 0x04 3 24 bytes Safety configuration data

T -> O (SINGLE-CAST / MULTICAST)

Connection Point Class Attribute Data size Description
– TR Safety – Status, 16 Bit
121 0x04 – 10 bytes – TR Safety – Position, 32 Bit
– TR Safety – Velocity, 32 Bit

Safety connection configurations must be verified after they have been applied in an
originator to confirm that a target connection is working as intended.

Page 50 of 96 TR-ECE-BA-GB-0163 v06 01/27/2022

9 Parameter description
Object description terms

Term Description
Attribute-ID (Attr. ID) Integer value assigned to the corresponding attribute
Access rule
Set:
The attribute can be accessed via the Set_Attribute service and
corresponds to a writing service.
Access Note: All Set Attributes can also be addressed via the Get_Attribute
services.
Get:
The attribute can be accessed via the Get_Attribute service and
corresponds to a reading service.

Saving the attributes (parameters)

NV:
NV (nonvolatile),
The attribute is permanently saved in the non-volatile memory.
V (volatile)
V:
The attribute is temporarily saved in the volatile memory.

Name Attribute name

Data type Data type of the Attribute

Description Attribute description

Default Attribute default value

Table 6: Definition of terms

01/27/2022 TR-ECE-BA-GB-0163 v06 Page 51 of 96

Parameter description

9.1 Object 0x23 (Instance 1), Position Sensor

The Position sensor object contains all measurement-system-specific attributes. The attributes
are accessed via the Configuration Assembly or via the IO Assembly, see Chapter 6 on Page 40 or
Chapter 7 on Page 42.
Currently only the mandatory Attribute 0x0C for switching the counting direction
DirectionCounting Toggle is provided for the write access (Set_Attribute Service) across
the network.

The attribute is permanently (NV) saved with the write access to a writable attribute.

Attr. ID Access Name Data type Description Default Page

Depending on
Number of Number of all
0x01 Get USINT the measuring 55
Attributes supported attributes
system
NON-safety-related attributes
Position Value Current unsigned
– Get UDINT – 55
Unsigned position value
Position Sensor Defines the device 0x00 02: Multi-turn
0x0B Get UINT 55
Type type absolute encoder
Counting direction of
Direction 0: Counting
0x0C Set BOOL the position value 55
Counting Toggle direction increasing
(profile parameter)
– Set Preset Value DINT Preset value, 32 bit 0 56
TR Grey –
– Set WORD Adjustment function 0 56
Preset Control
Measuring system
TR Grey –
– Get WORD status 0 57
Encoder Status
(preset, position ...)
TR Grey – Current signed
– Get DINT – 57
Velocity velocity
TR Grey – Counting direction of
1: Counting
– Set Rotational BOOL the position value 58
direction increasing
Direction (TR parameter)
TR Grey –
Total measuring range
– Set Measuring UDINT 536870912 59
in steps
Range
TR Grey –
Number of numerator
– Set Revolutions UDINT 65536 59
revolutions
Numerator
TR Grey – Number of
– Set Revolutions UDINT denominator 1 59
Denominator revolutions
TR Grey –
– Get UDINT For internal use only – –
Revolutions
TR Grey –
– Get UDINT For internal use only – –
Resolution
TR Grey –
– Get Sensor Null UDINT For internal use only – –
Offset

...

Page 52 of 96 TR-ECE-BA-GB-0163 v06 01/27/2022

...

Attr. ID Access Name Data type Description Default Page

TR Grey –
– Set USINT Velocity format 1: RPM 62
Velocity Format
TR Grey –
– Set UINT Velocity factor 1 62
Velocity Factor
TR Grey –
Velocity integration
– Set Velocity UINT 100 ms 63
time
Integration Time
TR Grey –
– Set BOOL Linked channel 0: off 63
Channel coupled
TR Grey –
– Set Position BOOL Substitute position 0: off 64
substitution
TR Grey –
– Set Velocity Filter USINT Velocity filter strength 0 64
Intensity
TR Grey –
– Set Velocity Filter BOOL Velocity filter type 0: static 64
Type
Safety-related attributes
TR Safety –
Counting direction of 1: Counting
– Set Rotational BOOL 65
the position value direction increasing
Direction
TR Safety –
Total measuring range
– Set Measuring UDINT 536870912 66
in steps
Range
TR Safety –
Number of numerator
– Set Revolutions UDINT 65536 66
revolutions
Numerator
TR Safety – Number of
– Set Revolutions UDINT denominator 1 66
Denominator revolutions
TR Safety –
– Set USINT Velocity format 1: RPM 69
Velocity Format
TR Safety –
– Set UINT Velocity factor 1 69
Velocity Factor
TR Safety –
Velocity integration
– Set Velocity UINT 100 ms 70
time
Integration Time
TR Safety –
– Set Velocity Filter USINT Velocity filter strength 0 70
Intensity
TR Safety –
– Set Velocity Filter BOOL Velocity filter type 0: static 71
Type
TR Safety –
– Set Window UINT Window Increments 1000 increments 71
Increments

...

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Parameter description

...

Attr. ID Access Name Data type Description Default Page

TR Safety –
– Set UINT SIL / PL Level 2: SIL 2 71
SIL / PL
TR Safety – Current unsigned
– Get UDINT – 72
Position position value
TR Safety – Current signed
– Get DINT – 72
Velocity velocity
Measuring system
TR Safety –
– Get UINT status (preset, position 0 72
Status
...)
TR Safety –
– Set UINT Adjustment function 0 72
Controlword
TR Safety –
– Set UDINT Preset value, 32 bit 0 73
Presetout
Table 7: Overview of measuring system parameters

Page 54 of 96 TR-ECE-BA-GB-0163 v06 01/27/2022

9.1.1 Attribute 1, Number of Attributes

Number of Attributes returns the number of supported Position Sensor Object attributes.

Link path, Packed EPATH with 8-bit class

0x20 0x23 0x24 0x01 0x30 0x01

Logical Type = Logical Type = Logical Type =
Class #23 Instance #1 Attribute ID #1
Class Instance Attribute ID

9.1.2 Position Value Unsigned

The current, non-safety-related, scaled absolute actual position of the measuring system is output as
an unsigned 32-bit binary value via the Attribute Position Value Unsigned.

UDINT, read only

Byte 0 1 2 3
Bit 7-0 15-8 23-16 31-24
7 0 15 8 23 16 31 24
Data 2 –2 2 –2 2 –2 2 –2

9.1.3 Attribute 11, Position Sensor Type

Position Sensor Type returns the device type:

UINT, read only

Value Definition
02 Absolute multi-turn encoder

Link path, Packed EPATH with 8-bit class

0x20 0x23 0x24 0x01 0x30 0x0B

Logical Type = Logical Type = Logical Type =
Class #23 Instance #1 Attribute ID #11
Class Instance Attribute ID

9.1.4 Attribute12, Direction Counting Toggle

Danger of death, severe personal injury and/or material damage due to a

jump in the absolute value when changing the counting direction function!
 The internal calculation algorithm results in different absolute positions
for the counting direction settings ascending and descending. Verify
the correct function by a test run in safe mode after changing the
counting direction. Under certain circumstances, the output position
must be adjusted via the preset function.

01/27/2022 TR-ECE-BA-GB-0163 v06 Page 55 of 96

Parameter description

BYTE, BOOL
Value Description Default
Measuring system – position ascending clockwise
0 X
(looking at shaft, flange connection)
Measuring system – position descending clockwise
1
(looking at shaft, flange connection)

Link path, Packed EPATH with 8-bit class

0x20 0x23 0x24 0x01 0x30 0x0C

Logical Type = Logical Type = Logical Type =
Class #23 Instance #1 Attribute ID #12
Class Instance Attribute ID

9.1.5 Preset Value

The Attribute Preset Value contains the adjustment value, which is set as the new position value if
the adjustment function is triggered via the Attribute TR Grey – Preset Control. The attribute is
integrated into the cyclic data traffic via the IO Assembly Instance 102,
Grey Output Channel 1 (adjustment function),
see Chapter 7.3 on Page 45.

DINT, Default: 0
Byte 0 1 2 3
Bit 7-0 15-8 23-16 31-24
7 0 15 8 23 16 31 24
Data 2 –2 2 –2 2 –2 2 –2

9.1.6 TR Grey – Preset Control

The Attribute TR Grey – Preset Control (control word) contains the control bit for the
adjustment function and is integrated into the cyclic data traffic via the IO Assembly Instance 102,
Grey Output Channel 1 (adjustment function),
see Chapter 7.3 on Page 45.

WORD
Byte 0 1
Bit 7-0 15-8
7 0 15 8
Data 2 –2 2 –2

Page 56 of 96 TR-ECE-BA-GB-0163 v06 01/27/2022

9.1.7 TR Grey – Encoder Status

The Attribute TR Grey – Encoder Status (status word) contains the measuring system-related
status bits and is integrated into the cyclic data traffic via the IO Assembly Instance 101, TR
Grey Input, see Chapter 7.2 from Page 43.

WORD
Byte 0 1
Bit 7-0 15-8
7 0 15 8
Data 2 –2 2 –2

9.1.8 TR Grey – Velocity

The current scaled non-safety-related velocity of the measuring system is output as a signed 32-bit
two’s complement value via the Attribute TR Grey – Velocity. Default setting: RPM, see
Parameters TR Grey – Velocity Format on Page 62.

DINT, read only

Byte 0 1 2 3
Bit 7-0 15-8 23-16 31-24
7 0 15 8 23 16 31 24
Data 2 –2 2 –2 2 –2 2 –2

01/27/2022 TR-ECE-BA-GB-0163 v06 Page 57 of 96

Parameter description

9.1.9 TR Grey – Rotational Direction

Danger of death, severe personal injury and/or material damage due to a

BYTE, BOOL
Value Description Default
Measuring system – position descending clockwise
0
(looking at shaft, flange connection)
Measuring system – position ascending clockwise
1 X
(looking at shaft, flange connection)

Page 58 of 96 TR-ECE-BA-GB-0163 v06 01/27/2022

9.1.10 TR Grey – Scaling parameter

Risk of physical injury and material damage due to shifting of the zero
point when the measuring system is switched on again after positioning
in de-energized state!
The zero point of the multiturn measuring system may be lost if more than
32767 revolutions are executed in de-energized state!
 Make sure that positioning operations in de-energized state take place
within 32767 revolutions on a multiturn measuring system.
 If this cannot be ensured, the issued position must first be verified with the
desired mechanical position before the application can be started.

The physical resolution of the measuring system can be changed by using the scaling parameters
– TR Grey – Measuring Range
– TR Grey – Revolutions Numerator
– TR Grey – Revolutions Denominator
The measuring system supports the gear function for rotary axes.

This means that the number of steps per revolution and the quotient of Revolutions numerator
/ Revolutions denominator can be a decimal number.

The output actual position value is offset by a zero-point correction, the set counting direction and the
entered gearbox parameter.

MEASURING RANGE

Defines the total number of steps of the measuring system, before the measuring system restarts at 0.

UDINT
Lower limit 2 steps
Upper limit 536 870 912 steps (30 bits)
Default 536870912

The actual upper limit value to be entered for the measuring range in steps depends on the
measuring system design and can be calculated using the formula below. As the value "0" is already
counted as a step, the end value = measuring range in steps – 1.

Measuring range = steps per revolution * number of revolutions

For the purposes of calculation, the parameters Steps/Revolution and Number of Revolutions can
be taken from the measuring system nameplate.

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Parameter description

REVOLUTIONS NUMERATOR / REVOLUTIONS DENOMINATOR

These two parameters together define the number of revolutions, before the measuring system
starts at 0 again.

As decimal numbers are not always finite (such as 3.4), but may have an infinite number of digits after
the decimal point (such as 3.43535355358774...) the number of revolutions is entered as a fraction.

UDINT
Numerator lower limit 1
Numerator upper limit 256000
Numerator default 65536

UDINT
Denominator lower limit 1
Denominator upper limit 16384
Denominator default 1

Formula for gearbox calculation:

Number of numerator revolutions

Measuring range in steps = number of steps per revolution *
Number of denominator revolutions

If it is not possible to enter parameter data in the permitted ranges of numerator and denominator, the
attempt must be made to reduce these accordingly. If this is not possible, it may only be possible to
represent the relevant decimal number approximately. The resulting minor inaccuracy accumulates for
real round axis applications (infinite applications with motion in one direction).
A solution is e.g. to perform adjustment after each revolution or to adapt the mechanics or gear ratio
accordingly.

The parameter Number of steps per revolution may also be a decimal number, however the
measuring range may not. The result of the above formula must be rounded up or down. The
resulting error is distributed over the total number of revolutions programmed and is therefore
negligible.

Preferably for linear axes (forward and backward motion):

The parameter Revolutions denominator can be programmed as a fixed value of “1” for linear
axes. The parameter Revolutions numerator is programmed slightly higher than the required
number of revolutions. This ensures that the measuring system does not generate an actual value
jump (zero transition) if the travel is slightly exceeded. For the sake of simplicity, the full revolution
range of the measuring system can also be programmed.

Page 60 of 96 TR-ECE-BA-GB-0163 v06 01/27/2022

The following example serves to illustrate the approach.

Given:

● Measuring system with 4096 steps/rev. and max. 4096 revolutions

● Resolution 1/100 mm

● Make sure that the measuring system is programmed in its full resolution and measuring range
(4096x4096):
Measuring range in steps = 16777216,
Revolutions numerator = 4096
Denominator revolutions = 1
Set the mechanics to be measured to the left stop position
● Set measuring system to "0" by adjustment
● Set the mechanics to be measured to the end position
● Measure the mechanical distance covered in mm
● Read off the actual position of the measuring system on the connected control

Assumption:
● Distance covered = 2000 mm
● Measuring system actual position after 2000 mm = 607682 steps

Consequently:

Number of revolutions covered = 607682 steps / 4096 steps/rev.

= 148.3598633 revolutions

Number of mm/revolution = 2000 mm/148.3598633 revs. = 13.48073499 mm/rev.

For a resolution of 1/100 mm, this equates to 1348.073499 steps/revolution

required programming:

Number of numerator revolutions = 4096

Number of denominator revolutions =1

Number of numerator revolutions

Measuring range in steps = number of steps per revolution *
Number of denominator revolutions

4096 numerator revolutions

= 1348.073499 steps / rev. *
1 denominator revolution

= 5521709 steps (rounded)

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Parameter description

9.1.11 TR Grey – Velocity Format

The Attribute indicates the resolution at which the velocity is calculated and output.

The velocity is output as a signed two's complement:

● Counting direction setting = ascending

– Output positive, with clockwise rotation
(looking at flange connection)

● Counting direction setting = descending

– Output negative, with clockwise rotation
(looking at flange connection)

The limit values (0x7FFF FFFF or 0x8000 0000) are output if the velocity value range
(-2147483648…+2147483647) has been exceeded or not reached.

USINT
Value Allocation Description Default
Output in [rev./second], multiplied by the factor set under the
0 RPS * Factor
TR Grey – Velocity Factor parameter, see Page 62
Output in [rev./min], multiplied by the factor set under the
1 U/min * Factor X
TR Grey – Velocity Factor parameter, see Page 62
Output in [rev./hour], multiplied by the factor set under the
2 Rev/hour * factor
TR Grey – Velocity Factor parameter, see Page 62
(Steps/integration Output in [steps/ms],
3
time) see Page 62 Resolution: scaled steps/rev.

9.1.12 TR Grey – Velocity Factor

The Attribute specifies the factor value for the parameter TR Grey – Velocity Format, see
Page 62.

UINT
Lower limit 1
Upper limit 1000
Default 1

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9.1.13 TR Grey – Velocity Integration Time

The Attribute specifies the integration time in [ms] for the parameter TR Grey – Velocity
Format, see Page 62.

The parameter serves to calculate the velocity, which is output via the cyclic process data. The
velocity is specified in steps/integration time. Long integration times allow high-resolution
measurements at low speeds. Low integration times show velocity changes more quickly and are
suitable for high velocities and high dynamics.

UINT
Lower limit 1 ms
Upper limit 1000 ms
Default 100 ms

Example
Given:
- Programmed resolution = 8192 steps per revolution
- Speed = 4800 revolutions per minute
- Integration time ti = 50 ms = 0.05 s
Determine:
- Output value in steps/integration time

8192 steps * 4800 rev. 655360 steps

Number of steps / s = =
Rev. * 60 s 1s

655360 steps
Number of steps/t = * 0.05 s = 32768 steps
1s

Steps/integration time = 32768 steps / 50 ms

9.1.14 TR Grey – Channel coupled

BYTE, BOOL
Value Allocation Description Default
0 Off Function switched off X
Use the setting Channel coupled = on to specify whether the
non-safety-related channel TR Grey should be linked to the safety-
related TR Safety channel. The position and velocity settings are
used by the safety-related channel TR Safety and the current
1 On
settings in the channel TR Grey are ignored.
The preset function can only be performed in the safety-related
TR Safety channel, but the preset function in the
non-safety-related TR Grey channel is disabled.

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Parameter description

9.1.15 TR Grey – Position substitution

BYTE, BOOL
Value Allocation Description Default
0 Off Function switched off X
Output of the substitute position if the position channel is in the error
1 On status, see also Attribute TR Grey – Encoder Status on
Page 57.

9.1.16 TR Grey – Velocity Filter Intensity

Use the Attribute TR Grey – Velocity Filter Intensity to average the output velocity. The
strength of averaging can be specified. You can also select whether the filtering should be switched off
dynamically during the acceleration phases, see the Attribute TR Grey – Velocity Filter Type
described below. Thus the velocity signal can quickly follow the actual course in the event of changes
and is stable in the stationary range.

USINT
Lower limit 0
Upper limit 10
Default 0

0: no filtering
1: weak filtering, high cutoff frequency
...
10: strong filtering, low cutoff frequency

9.1.17 TR Grey – Velocity Filter Type

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9.1.18 TR Safety – Rotational Direction

Danger of death, severe personal injury and/or material damage due to a

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Parameter description

9.1.19 TR Safety – Scaling parameter

Risk of physical injury and material damage due to shifting of the zero
point when the measuring system is switched on again after positioning
in de-energized state!
If the scaling parameter settings listed below deviate from the default settings,
the zero point of the multi-turn measuring system may be lost if more than the
permissible revolutions are performed in the de-energized state!
 SIL2 – measuring system: Make sure that positioning operations in de-
energized state take place within 3200 revolutions on a multiturn measuring
system.
 SIL3 – measuring system: Make sure that positioning operations in de-
energized state take place within 320 revolutions on a multiturn measuring
system.
 If this cannot be ensured, the issued position must first be verified with the
desired mechanical position before the application can be started.
Too high revolutions are indicated by the cyclic process input data in
TR Safety – Status, Bit 7 Scaling Error = 1 when the measuring
system is restarted in case the actual revolutions exceed the permissible
revolutions. After positive verification, the Scaling Error bit can be
cleared by executing the preset adjustment function, see Chapter 9.2 on
Page 74.

The physical resolution of the measuring system can be changed by using the scaling parameters
– TR Safety – Measuring Range
– TR Safety – Revolutions Numerator
– TR Safety – Revolutions Denominator
The measuring system supports the gear function for rotary axes.

This means that the number of steps per revolution and the quotient of Revolutions numerator
/ Revolutions denominator can be a decimal number.

The output actual position value is offset by a zero-point correction, the set counting direction and the
entered gearbox parameter.

MEASURING RANGE

Defines the total number of steps of the measuring system, before the measuring system restarts at 0.

UDINT
Lower limit 2 steps
Upper limit 536 870 912 steps (30 bits)
Default 536870912

Page 66 of 96 TR-ECE-BA-GB-0163 v06 01/27/2022

Measuring range = steps per revolution * number of revolutions

For the purposes of calculation, the parameters Steps/Revolution and Number of Revolutions can
be taken from the measuring system nameplate.

REVOLUTIONS NUMERATOR / REVOLUTIONS DENOMINATOR

These two parameters together define the number of revolutions, before the measuring system
starts at 0 again.

UDINT
Numerator lower limit 1
Numerator upper limit 256000
Numerator default 65536

UDINT
Denominator lower limit 1
Denominator upper limit 16384
Denominator default 1

Formula for gearbox calculation:

Number of numerator revolutions

Measuring range in steps = number of steps per revolution *
Number of denominator revolutions

Preferably for linear axes (forward and backward motion):

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Parameter description

The following example serves to illustrate the approach.

Given:

● Measuring system with 4096 steps/rev. and max. 4096 revolutions

● Resolution 1/100 mm

Assumption:
● Distance covered = 2000 mm
● Measuring system actual position after 2000 mm = 607682 steps

Consequently:

Number of revolutions covered = 607682 steps / 4096 steps/rev.

= 148.3598633 revolutions

Number of mm/revolution = 2000 mm/148.3598633 revs. = 13.48073499 mm/rev.

For a resolution of 1/100 mm, this equates to 1348.073499 steps/revolution

required programming:

Number of numerator revolutions = 4096

Number of denominator revolutions =1

Number of numerator revolutions

Measuring range in steps = number of steps per revolution *
Number of denominator revolutions

4096 numerator revolutions

= 1348.073499 steps / rev. *
1 denominator revolution

= 5521709 steps (rounded)

Page 68 of 96 TR-ECE-BA-GB-0163 v06 01/27/2022

9.1.20 TR Safety – Velocity Format

The Attribute indicates the resolution at which the velocity is calculated and output.

The velocity is output as a signed two's complement:

● Counting direction setting = ascending

– Output positive, with clockwise rotation
(looking at flange connection)

● Counting direction setting = descending

– Output negative, with clockwise rotation
(looking at flange connection)

The limit values (0x7FFF FFFF or 0x8000 0000) are output if the velocity value range
(-2147483648…+2147483647) has been exceeded or not reached.

USINT
Value Allocation Description Default
Output in [rev./second], multiplied by the factor set under the
0 RPS * Factor
TR Safety – Velocity Factor parameter, see Page 69
Output in [rev./min], multiplied by the factor set under the TR
1 U/min * Factor X
Safety – Velocity Factor parameter, see Page 69
Output in [rev./hour], multiplied by the factor set under the TR
2 Rev/hour * factor
Safety – Velocity Factor parameter, see Page 69
Steps/integration Output in [steps/ms],
3
time see Page 69 Resolution: scaled steps/rev.

9.1.21 TR Safety – Velocity Factor

The Attribute specifies the factor value for the parameter TR Safety – Velocity Format, see
Page 69.

UINT
Lower limit 1
Upper limit 1000
Default 1

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Parameter description

9.1.22 TR Safety – Velocity Integration Time

The Attribute specifies the integration time in [ms] for the parameter TR Safety –
Velocity Format, see Page 69.

UINT
Lower limit 1 ms
Upper limit 1000 ms
Default 100 ms

Example
Given:
- Programmed resolution = 8192 steps per revolution
- Speed = 4800 revolutions per minute
- Integration time ti = 50 ms = 0.05 s
Determine:
- Output value in steps/integration time

8192 steps * 4800 rev. 655360 steps

Number of steps / s = =
Rev. * 60 s 1s

655360 steps
Number of steps/t = * 0.05 s = 32768 steps
1s

Steps/integration time = 32768 steps / 50 ms

9.1.23 TR Safety – Velocity Filter Intensity

Use the Attribute TR Safety – Velocity Filter Intensity to average the output velocity.
The strength of averaging can be specified. You can also select whether the filtering should be
switched off dynamically during the acceleration phases, see the Attribute TR Safety – Velocity
Filter Type described below. Thus the velocity signal can quickly follow the actual course in the
event of changes and is stable in the stationary range.

USINT
Lower limit 0
Upper limit 10
Default 0

0: no filtering
1: weak filtering, high cutoff frequency
...
10: strong filtering, low cutoff frequency

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9.1.24 TR Safety – Velocity Filter Type

9.1.25 TR Safety – Window Increments

This Attribute defines the maximum permissible position deviation in increments of the master / slave
scanning systems integrated in the measuring system. The permissible tolerance window is basically
dependent on the maximum speed occurring in the system and must first be determined by the
system operator. Higher speeds require a larger tolerance window.

UINT
Lower limit 50
Upper limit 4000
Default 1000

The larger the window increments, the larger the angle until an error will be detected.

The position deviation in increments is always based on the non-scaled resolution of

13 bits = 8192 steps/revolution.

9.1.26 TR Safety – SIL / PL

The Attribute TR Safety – SIL / PL indicates the SIL the user expects from the respective
safety-related device. It is compared with the manufacturer’s fixed setting in the device. The
measuring system supports the safety classes SIL2 to SIL3.

UINT
Value Description Default
2 Safety class SIL2 X
3 Safety class SIL3

The user must carefully consider the effects of mixing different SIL level devices in
the network.

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Parameter description

9.1.27 TR Safety – Position

The current, scaled absolute actual position of the measuring system is output as an unsigned 32-bit
binary value via the Attribute TR Safety – Position.

UDINT, read only

Byte 0 1 2 3
Bit 7-0 15-8 23-16 31-24
7 0 15 8 23 16 31 24
Data 2 –2 2 –2 2 –2 2 –2

9.1.28 TR Safety – Velocity

The current scaled safety-related velocity of the measuring system is output as a signed 32-bit two’s
complement value via the Attribute TR Safety – Velocity. Default setting: RPM, see Attribute
TR Safety – Velocity Format on Page 69.

DINT, read only

Byte 0 1 2 3
Bit 7-0 15-8 23-16 31-24
7 0 15 8 23 16 31 24
Data 2 –2 2 –2 2 –2 2 –2

9.1.29 TR Safety – Status

The Attribute TR Safety – Status (status word) contains the status bits for the adjustment
function, position output, etc. and is integrated into the cyclic data traffic via the IO assembly
Instance 121, Safety Input, see Chapter 7.4 from Page 45.

UINT
Byte 0 1
Bit 7-0 15-8
7 0 15 8
Data 2 –2 2 –2

9.1.30 TR Safety – Controlword

The safety-related preset adjustment function is triggered, and a new position value is sent to Instance
121, Member TR Safety – Position via the Attribute TR Safety – Controlword. The attrib-
ute is integrated into the cyclic data traffic via the IO Assembly Instance 122, Safety Input,
see Chapter 7.5 from Page 48.

UINT
Byte 0 1
Bit 7-0 15-8
7 0 15 8
Data 2 –2 2 –2

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9.1.31 TR Safety – Presetout

The Attribute TR Safety – Presetout contains the adjustment value, which is set as the new
position value if the Preset Adjustment function is triggered via the Attribute TR Safety –
Controlword. The attribute is integrated into the cyclic data traffic via the IO Assembly
Instance 122, Safety Input, see Chapter 7.5 from Page 48.

DINT, Default: 0
Byte 0 1 2 3
Bit 7-0 15-8 23-16 31-24
7 0 15 8 23 16 31 24
Data 2 –2 2 –2 2 –2 2 –2

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Parameter description

9.2 OPTION: Additional interface

Optionally, the measuring system can be equipped with a second interface in addition to the
EtherNet/IP interface. The setting of the attributes can be done either directly via the EtherNet/IP
network, or via the SNCT.

The standard EtherNet/IP services are used to access the parameters:

0x0E: Get_Attribute_Single returns the content of the corresponding attribute
0x10: Set_Attribute_Single modifies the content of the corresponding attribute
0x01: Get_Attributes_All returns the content of all attributes
0x02: Set_Attributes_All modifies the value of a list of attributes
0x0D: Apply_Attributes activates with “1” the modified attributes and saves them permanently

The attributes can be parameterized user-friendly via the GUI of the TR SNCT Device Applet:
Download program description:
● www.tr-electronic.de/f/TR-ECE-TI-DGB-0364

Download TR SNCT Device Applet:

● www.tr-electronic.de/f/zip/TR-ECE-SW-MUL-0016

See the program description for program installation, system requirements, device connection and
possible use cases.

Under the program tab Device ID you can use the Identify button to determine whether and
which secondary interface is supported by the measuring system. If a secondary interface is
supported by the measuring system, an additional program tab Secondary Interface is added to
the program interface. This tab then contains a suitable table with the possible settings for each
secondary interface:

Example of a SSI interface for the second interface Example of an incremental interface for the second interface

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9.2.1 Class 0x545247 - Instance 1, TR SSI Sensor

Optionally, the measuring system can be equipped with a synchronous serial absolute SSI interface in
addition to the EtherNet/IP interface.

SSI Data transmission format:

MSB LSB
Position Status Sign of life Checksum
max. 8…29 bits max. 0…2 bits max. 0…5 bits max. 0…8 bits

Object 0x545247 and the following attributes are only available if the measuring system is equipped
with an additional SSI interface.

Attr.-ID Access Name Data type Description Default Page

Selection of the channel
0x01 Set Source BOOL 0: Channel 1 0: Channel 1 76
1: Channel 2
SSI output code
0x02 Set Coding BYTE 0: Binary 0: Binary 76
1: Gray
Number for SSI data bits
(8…29)
0x03 Set Data bits BYTE 0000 1000: 8 29 Data bits 76
0000 1001: 9
...
0001 1101: 29
Selection of the SSI
monoflop time tM
0000 0000: 15 µsec
0x04 Set Mono time BYTE 0000 0001: 20 µsec 0x01: 20 µsec 76
0000 0010: 35 µsec
0000 0011: 50 µsec
0000 0100: 500 µsec
Number of the status bits
0000 0000: 0
0x05 Set Status bits BYTE 0x00: 0 77
0000 0001: 1
0000 0010: 2
Number of the sign of
life bits
0000 0000: 0
Sign of Life 0000 0001: 1
0x06 Set BYTE 0x00: 0 77
bits 0000 0010: 2
0000 0011: 3
0000 0100: 4
0000 0101: 5
0000 0000: None
0000 0001: Parity even
0x07 Set Checksum BYTE 0x00: None 78
0000 0010: Parity odd
0000 0011: CRC8

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Parameter description

9.2.1.1 Attribute 1, Source

BYTE, BOOL
Selection Value Description Default
Channel 1 0 SSI output: Actual position from the master system X
Channel 2 1 SSI output: Actual position from the test system

9.2.1.2 Attribute 2, Coding

BYTE
Selection Value Description Default
Binary 0 SSI output binary coded X
Gray 1 SSI output gray coded

9.2.1.3 Attribute 3, Data bits

The attribute Data bits define the number of reserved bits for the output of the measuring system
position. Special bits such as status bits, sign of Life bits or the checksum are not contained in it and
will be output in this order after the data bits.

BYTE
Lower limit 8
Upper limit 29
Default 29

9.2.1.4 Attribute 4, Mono time

BYTE
Selection Value Description Default
15 µsec 0 SSI monoflop time = 15 μs
20 µsec 1 SSI monoflop time = 20 μs X
35 µsec 2 SSI monoflop time = 35 μs
50 µsec 3 SSI monoflop time = 50 μs
500 µsec 4 SSI monoflop time = 500 μs

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9.2.1.5 Attribute 5, Status bits

The attribute Status bits define the number of reserved bits for the status output.

BYTE
Value Description Default
0 No output of status bits X
Output of one status bit
1 0: No error
1: Error in the master system or test system; depending on the source
Output of two status bits
MSB bit = 0: No error
2 MSB bit = 1: Error in the master system
LSB bit = 0: No error
LSB bit = 1: Error in the test system

9.2.1.6 Attribute 6, Sign of Life bits

The attribute Sign of Life bits define the number of reserved bits for the sign of life output.

The sign of life counter is incremented in dependence of the scanning procedures and is inserted into
the SSI telegram. The control of this incrementing event by the control guarantees that the newly
transferred position value comes from a current scanning procedure.

BYTE
Value Description Default
0 no output of sign of life bits X
1 1 bit sign of life (toggle bit)
2 2 bit sign of life
3 3 bit sign of life
4 4 bit sign of life
5 5 bit sign of life

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Parameter description

9.2.1.7 Attribute 7, Checksum

In general, the checksum is calculated via all user data (position, status and sign of life) in the SSI
telegram and is always inserted into the SSI telegram at the last position (LSB).

An incorrect CRC checksum is not a reference to a measuring system error, but to a communication
problem. A cause for it can be an EMC interference signal. Communication problems at SSI interfaces
can also occur by too long cable lengths or to high SSI sampling rates.

BYTE
Selection Value Description Default
None 0 no output of a checksum X
The parity represents the checksum of the bits in the SSI
data word. If the SSI data word contains an odd number
Parity even 1
of "1", this bit = "1" and supplements the checksum to even
parity.
The parity represents the checksum of the bits in the SSI
data word. If the SSI data word contains an even number
Parity odd 2
of "1", this bit = "1" and supplements the checksum to odd
parity.
8 bit CRC checksum
8 5 4
CRC8 3 Polynomial: X + X + X + 1 (Maxim/Dallas)
Start value: 0xFF
Min. Hamming distance: 4

9.2.2 Class 0x545248 - Instance 1, TR Incremental Sensor

Optionally, the measuring system can be equipped with an incremental interface in addition to the
EtherNet/IP interface.

Object 0x545248 or the following attribute is only available if the measuring system is equipped with
an additional incremental interface.

9.2.2.1 Attribute 1, Pulses/Rev.

BYTE
Selection Value Description Default
1024 0 The number of pulses is set to 1024 X
2048 1 The number of pulses is set to 2048
3072 2 The number of pulses is set to 3072
4096 3 The number of pulses is set to 4096
5120 4 The number of pulses is set to 5120

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10 TR Safety – Preset Adjustment Function

Risk of death, serious physical injury and/or damage to property if the

drive system starts uncontrolled while executing the Preset Adjustment
function!
 The relevant drive systems must be locked to prevent automatic
start-up
 Use the Originator to protect the preset adjustment function from being
triggered by taking additional safety measures, such as key-operated
switches, passwords, etc.
 You must follow the operational sequence described below and the
Originator must evaluate the status bits to verify whether the preset
adjustment function has been executed successfully or unsuccessfully
 Ensure the settings are made for the correct axis
 Verify the new position on the relevant axis after executing the preset
function

The preset adjustment function is used to set the currently output actual position value to any actual
position value within the scaled measuring range. This allows setting the displayed position to a
machine reference position electronically.

10.1 Procedure
 Requirement: The measuring system is in Cyclical Data Exchange mode.
 Set the Preset register in the source data of the safety-related submodule to the desired preset
value.
 Set the control bits Preset Preparation and Preset Request to 0.
 Set the Preset Preparation control bit to 1. In response, the Safe State status bit is set to
0, whereupon the Originator must transfer the system to the safe state. The output actual position
value is no longer safe!
 A rising edge of the Preset Request control bit applies the preset value. Receipt of the preset
value is acknowledged by setting (= 1) the Preset Active status bit. Once execution of the
preset function has been completed, the Preset Active status bit is reset to 0.
 After receipt of the preset value, the measuring system checks whether all prerequisites for
execution of the preset adjustment function are fulfilled. If yes, the preset value is written as the
new actual position value. If no, execution is rejected and an error message is output by setting
the Preset Error status bit.
 After successful execution of the preset adjustment function, the measuring system sets the
Preset OK status bit to 1, thus signaling to the Originator that execution of the preset
adjustment function has been completed.
 Reset the Preset Request control bit to 0.
 Reset the Preset Preparation control bit to 0. In response, the Safe State status bit is set
to 1 again.
 Finally, the Originator must verify that the new position corresponds to the new target position.

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TR Safety – Preset Adjustment Function

10.2 Timing – Diagram

Blue area: Output signals Originator -> Measuring system
Orange area: Input signals measuring system -> Originator

Figure 10: Preset Timing Diagram

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10.3 Calculating the delay for a moving axis
If the preset adjustment function is executed while the axis is in motion, processing and run-times in
the control system and the speed of the measuring system play a major role for the delay between
preset execution and actually setting the value. The faster the axis moves, the greater the delay,
measured in revolutions.
The delay can also be expressed in steps when using the programmed Number of steps per
revolution.

The following example explains these facts in more detail.

Given:
- Programmed resolution = 8192 steps per revolution
- Speed: n = 3000 revolutions per minute
- Processing time in the controller: tControl = 100 ms (application-specific)
- Transmission time via EtherNet/IP™ network: tEtherNet/IP = 10 ms (application specific)
- Processing time in the measuring system: tmeasuring system ≤ 10 ms

Wanted:
- Delay in revolutions and steps

The static delay time tstatic [ms] is a result of adding the processing times and the EtherNet/IP™
transmission time:
tstatic = tController + tEtherNet/IP + tMeasuring system = 100 ms + 10 ms + 10 ms = 120 ms

The dynamic delay in revolutions Vdynamic results from the static delay time multiplied by the speed:
0.120 s * 3000 rev.
Vdynamic = tstatic * n = = 6 rev.
60 s

The steps taken result from:

6 Rev. * 8192 steps
Vdynamic * Resolution = = 49152 steps
Rev.

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Obtain IP parameters via Flash or DHCP

11 Obtain IP parameters via Flash or DHCP

The TCP/IP Interface Object is used to configure the TCP/IP network interface; it contains,
among other things, device IP address, network mask, and gateway address. The settings are made
via the Object 0xF5, Instance 1, and the Attributes 3 Configuration Control and 5
Interface Configuration. The attributes are generally controlled via a DHCP server program,
see 85.

11.1 Object 0xF5, Instance 1

Attr. ID Access Name Data type Description Default Page

0x0000 0002
The device
Interfaces
obtains the IP
Configuration Control flags set
3 Set/Get DWORD parameters via 82
Control the configuration
DHCP if the
options.
hardware switch =
0x00
Configuration of the
Interface STRUCT
TCP/IP network 83
Configuration of:
interface.
configures the
IP Address UDINT FLASH content 83
device IP address
configures the
Network Mask UDINT FLASH content 83
device subnet mask
5 Set/Get
configures the
Gateway
UDINT device gateway FLASH content 83
Address
address
Name Server UDINT not implemented 0x0000 0000 –
Name Server UDINT not implemented 0x0000 0000 –
configures the
Domain Name STRING 0 83
domain name
configures the Host
6 Set/Get Host Name STRING 0 –
name
Table 8: TCP/IP interface object 0xF5, Instance 1, Attributes 3 and 5

11.1.1 Attribute 3, Configuration Control

The Configuration Control attribute is bit-coded and defines how the IP parameters are
assigned to the measuring system during the start-up phase, see also “Obtaining IP Parameters” on
Page 83.

Bit Function Description

Switch position 0x00
Value = 0: A FLASH provides the IP parameters to the measuring system.
Startup Value = 2: A DHCP provides the IP parameters to the measuring system.
0-3
Configuration
Attribute 3 is not evaluated if the switch positions are different; hardware
switch specifications apply.
4 DNS Enable 0 (FALSE): is not supported
5-31 Reserved 0

Page 82 of 96 TR-ECE-BA-GB-0163 v06 01/27/2022

11.1.2 Attribute 5, Interface Configuration

The Interface Configuration attribute contains the configuration parameters (IP parameters)
required to operate the measuring system as a TCP/IP node. IP parameters cannot be set individually
to avoid incomplete or incompatible configurations. Perform changes as follows: read the Get service
with the Interface Configuration Attribute, change the desired parameters, and then write
the parameters with the Set service.

Name Description
IP address Sets the IP address, e.g. 0x0501A8C0 for 192.168.1.5
Network mask Set the subnet mask
Gateway address Sets the IP address for the default gateway
Name server 0, is not supported
Name server 2 0, is not supported
Domain name Sets the domain name, max. 48 characters

11.1.2.1 Obtaining IP Parameters

During the start-up phase of the measuring system, the saved configuration is read from “Attribute 5,
Interface Configuration” (Page 83), the saved value is read from “Attribute 3, Configuration Control”
(Page 82) and the hardware switch value is read from (Page 29 ) and evaluated as follows:

Hardware
Config. Control Action Description
switch
A FLASH provides
0x00 0x00 FLASH active
the configuration.
IP Address: 192.168.1.<Switch position>
not relevant 0x01 … 0xFE Switch active Subnet mask: 255.255.255.0
Default Gateway: 192.168.1.254
not relevant 0xFF The configuration is obtained from a
DHCP request DHCP server. DHCP requests are sent
0x02 0x00 until a response is received.
Inadmissible!
other – none The request is responded to with error
code 0x20.

01/27/2022 TR-ECE-BA-GB-0163 v06 Page 83 of 96

Obtain IP parameters via Flash or DHCP

11.1.2.2 Setting and saving IP parameters

The IP parameters can be set or saved via the TCP/IP Interface Object, Class code 0xF5, in
two ways:

1. A Set_Attribute_Single service on Attribute 5 Interface Configuration causes

the values transferred as parameters to be set. The configuration is also permanently stored in
the FLASH if the value of Attribute 3 Configuration Control = 0x00 during executing of
the action.

2. The current configuration is permanently saved in the FLASH if the measuring system has
received a configuration via DHCP, the current value of Attribute 3 Configuration Control =
0x02, and the Configuration Control value is set to 0x00.

Flowcharts

Page 84 of 96 TR-ECE-BA-GB-0163 v06 01/27/2022

11.2 Example, obtaining IP parameters via DHCP server

11.2.1 Requirements

 An appropriate software is required for the DHCP server, which can be obtained free of
charge from Rockwell Automation:
– Program: BootP DHCP EtherNet/IP™ Tool
– Download: Rockwell Automation - Compatibility & Downloads
– The tool is part of the control software if the Rockwell control system “Logix” is used.

®
The program can be installed on a PC running under a WINDOWS operating system. The
PC acting as DHCP server must be in the same network as the measuring system to be
parameterized.

11.2.2 Procedure

1. Connect the measuring system with the DHCP server

 Ensure the measuring system functions as a DHCP client:
– Hardware switch = 0x00; 0xFF if Configuration Control state = unknown
– Instance Attribute 3 Configuration Control = 0x0000 0002
-> matches the as-delivered status!

2. Start BOOTP/DHCP Server Utility

3. Make the following entries in the Tools -> Network Settings menu:
 Subnet mask: desired subnet mask
 Gateway: desired Default Gateway IP address
 Primary DNS, Secondary DNS, and Domain name: are not supported

01/27/2022 TR-ECE-BA-GB-0163 v06 Page 85 of 96

Obtain IP parameters via Flash or DHCP

4. Switch on the supply voltage

– The measuring system starts cyclical DHCP requests, which are entered into the Request
History:

5. Double click on one of the entries:

– The New Entry Dialog box allows the following entries to be made:
 Ethernet Address (MAC): is automatically applied!
 IP address: desired IP address
 Hostname: is not supported
 Description: description is optional

Page 86 of 96 TR-ECE-BA-GB-0163 v06 01/27/2022

The new entry is displayed in the Relation List and the specified IP parameters are assigned to
the measuring system with the next DHCP request. The result of this assignment is written to the
Request History:

6. Use the Disable BOOTP/DHCP button to save the IP parameters to the FLASH.
– The successful execution is confirmed with the status report (Disable DHCP)
Command successful, which completes the configuration.
– Disable BOOTP/DHCP sets the Instance Attribute 3 Configuration Control to
0x0000 0000
-> the measuring system does not send any more DHCP requests after POWER ON if the
hardware switch = 0x00.

01/27/2022 TR-ECE-BA-GB-0163 v06 Page 87 of 96

Error causes and remedies

12 Error causes and remedies

12.1 Optical displays
For the assignment of LEDs, see Chapter “Bus status display”, Page 34.

12.1.1 Module status, bicolor LED

green Cause Solution

- Check power supply, wiring
Voltage supply absent or too low - Is the voltage supply in the permissible
range?
OFF Connector incorrectly wired or screwed
Check wiring and connector position
down
Hardware error, measuring system
Replace measuring system
defective
- Device status: EXECUTING
- The measuring system is fully configured
ON –
- The measuring system is ready for
operation, no error
- Device status: IDLE
1 Hz - Self-test completed successfully –
- valid configuration available
red Cause Solution
- Device status: CRITICAL FAULT;
CIP Safety – Stack is stopped and causes Power supply OFF/ON. If the error persists
ON a connection timeout after this measure, the measuring system
- Unrecoverable error occurred, passivated must be replaced
data cannot be output
- Device status: ABORT Try to execute a Safety Reset Service
- A recoverable error has occurred. 0x54 (Type 0) on Object 0x39 Safety
1 Hz
-> CIP Safety™ channel in error state, Supervisor to put the measurement system
passivated data are output in the IDLE state.
red/green Cause Solution
- Device status: SELF-TESTING Read out the device status of the Safety
- The measuring system is still self-testing Supervisor Object 0x39, Attribute 11 = 1.
after the supply is ON The self-test takes ca. < 10 s.
Read out the device status of the Safety
Supervisor Object 0x39, Attribute 11 = 3.
- Device status: SELF-TEST EXCEPTION Try to execute a Safety Reset Service
0x54 (Type 0) on Object 0x39 Safety
- Self-test was not successful
Supervisor. Switch the supply OFF/ON and
restart the measuring system if the above
1 Hz
measure was unsuccessful.
Read out the device status of the Safety
- Device status: WAITING FOR TUNID
Supervisor Object 0x39, Attribute 11 = 8.
- Measuring system needs a
See Chapter “Defining the Target Unique
TUNID assignment
Network Identifier (TUNID)” on Page 29.
Read out the device status of the Safety
- Device status: CONFIGURING Supervisor Object 0x39, Attribute 11 = 7.
- Measurement system must be configured See Chapter „Downloading the safety-related
configuration” on Page 36.

Page 88 of 96 TR-ECE-BA-GB-0163 v06 01/27/2022

12.1.2 Network Status, Bicolor LED

green Cause Solution

Measuring system is offline, IP address wasSee Chapter “Setting the Node ID or IP
OFF not assigned address” on Page 29.
Voltage supply absent or too low See measures under Module Status
Measuring system online, CIP connection Measuring system is ready for operation,
ON
was established normal operating state
- Try to read out the status of the
Identity Object 0x01 to isolate the
error.
- The controller was unable to establish a
connection due to incorrect IP
parameters. Coordinate IP address,
Measuring system is online, CIP connection
1 Hz subnet mask, and default gateway
not established, IP address was assigned.
settings between the controller and the
measuring system.
- Incorrect connection parameters
prevented the controller from establishing
a connection, see Chapter “Connection
Types – Connection Points“ on Page 49.
red Cause Solution
The Address Conflict Detection
(ACD) function determined that the same IP Ensure an IP address is only assigned once
ON
address was assigned several times in the within an EtherNet/IP™ segment.
network.
One or more I/O connections (Exclusive This state is exited only when all
1 Hz Owner) to the measuring system are in connections have been re-established or a
timeout state. device RESET has been carried out.
red/green Cause Solution
- Check network connections
Communication error, existing network
1 Hz - Ensure accessibility via the (DOS prompt)
connection was interrupted
PING command
- Device status: PROPOSED TUNID RCVD
- The measuring system received the
intended TUNID. The LED flashes until the
2 Hz –
measuring system received the
APPLY_TUNID service and the validation
was completed successfully.

01/27/2022 TR-ECE-BA-GB-0163 v06 Page 89 of 96

Error causes and remedies

12.2 General status codes

This table lists the general status codes that are entered in the General Status Code Field of
an Error Response.

General Status Code Name Description

The service specified by the object was executed
0x00 Success
successfully.
0x01 Connection failure The connection related service failed.
The resources required to perform the requested
0x02 Resource unavailable
service are not available.
see Status Code 0x20, which is the preferred
0x03 Invalid parameter value
value for this state.
The path segment name or the segment syntax
0x04 Path segment error
was not understood by the node being executed.
The path refers to an object class, instance, or
Path destination
0x05 structure element, which the node does not know
unknown
or does not contain.
0x06 Partial transfer Only a part of the expected data was transferred.
0x07 Connection lost The communication link has been lost.
The service requested for this object class or
0x08 Service not supported
instance was not implemented or not defined.
0x09 Invalid attribute value Invalid attribute data detected.
An attribute in the feedback of the
0x0A Attribute list error Get_Attribute_List or
Set_Attribute_List reported a Status ≠0.
Already in requested The object is already in the requested mode or
0x0B
mode/state state.
The requested service cannot be executed by the
0x0C Object state conflict
object in the current mode or status.
The requested instance of the object to be
0x0D Object already exists
created already exists.
Only a Get Service can be executed for this
0x0E Attribute not settable
attribute.
0x0F Privilege violation Access right violated.
The current mode or status of the device prevents
0x10 Device state conflict
the requested service from being carried out.
The data in the input buffer to be transferred is
0x11 Reply data too large
larger than the allocated buffer.
The service specifies a procedure which
Fragmentation of a
0x12 fragments a simple data value, i.e. halves a REAL
primitive value
data type.

...

Page 90 of 96 TR-ECE-BA-GB-0163 v06 01/27/2022

...

General Status Code Name Description

The service does not support enough data to
0x13 Not enough data
perform the requested operation.
The attribute specified in the request is not
0x14 Attribute not supported
supported.
0x15 Too much data The service provides more data than expected.
The specified object is not implemented in the
0x16 Object does not exist
device.
Service fragmentation
The fragmentation sequence for this service is
0x17 sequence not in
currently not active for this data.
progress
The attribute data for this object was previously
0x18 No stored attribute data
not saved for the requested service.
An error caused the attribute data for this object
0x19 Store operation failure
not to be saved.
The service request packet in the path to the
Routing failure, request
0x1A target was too large for transmission on the
packet too large
network.
Routing failure, The service response packet in the path from the
0x1B response packet too target was too large for transmission on the
large network.
An attribute in the attribute list is not supported by
Missing attribute list
0x1C the service but is required by the service to
entry data
perform the requested behavior.
Invalid attribute value The service returns an attribute list with invalid
0x1D
list status information for this data.
0x1E Embedded service error An error has occurred in an embedded service.
0x1F Vendor specific error –
A parameter associated with the request was
invalid. This code is used when a parameter does
0x20 Invalid parameter
not meet the ODVA™ or Application Object
Specifications.
An attempt was made to write to a medium that
Write-once value or can only be written once, e.g. WORM Drive,
0x21
medium already written PROM. Or an attempt was made to change a
value that can only be set once.
An invalid response was received, e.g. the
Response Service Code does not match the
0x22 Invalid Reply Received
Requested Service Code, or the returned
message is smaller than the expected size.
The received message is larger than the receive
0x23 Buffer Overflow buffer can process. The entire message was
discarded.

...

01/27/2022 TR-ECE-BA-GB-0163 v06 Page 91 of 96

Error causes and remedies

...

General Status Code Name Description

The server does not support the format of the
0x24 Message Format Error
received message.
The key segment (included as the first segment in
0x25 Key Failure in path the path) does not match the target module. The
object-specific status indicates the defective part.
The path size sent with the service request is
0x26 Path Size Invalid either not large enough to enable the service or
too much routing data have been added.
Unexpected attribute in An attempt was made to set an attribute which
0x27
list cannot be set at that moment.
The Member ID specified in the request does not
0x28 Invalid Member ID
exist in the specified class / instance / attribute.
An attempt was made to write to a read-only
0x29 Member not settable
member.

12.3 Miscellaneous faults

Fault Cause Solution

So-called “shock modules dampen vibrations,

impacts, and shocks, e.g. on presses. The
strong vibrations
measuring system must be replaced if this
error reappears despite these measures.

Isolated flanges and couplings made of plastic

Position jumps of the may help against electrical faults, as well as
electrical interference,
measuring system cables with twisted pair wires for data lines.
EMC
Shielding and cable routing must follow the
installation guidelines and the specification.

extreme axial and radial Couplers prevent mechanical stress on the

load on the shaft or a shaft. If the error occurs repeatedly despite
scanning defect. these measures, the measuring system must
be replaced.

Page 92 of 96 TR-ECE-BA-GB-0163 v06 01/27/2022

13 Elementary data types
Data type Code Description
BOOL 0xC1 Boolean variable with the values TRUE and FALSE
SINT 0xC2 Signed 8 Bit Integer
INT 0xC3 Signed 16 Bit Integer
DINT 0xC4 Signed 32 Bit Integer
LINT 0xC5 Signed 64 Bit Integer
USINT 0xC6 Unsigned 8 Bit Integer
UINT 0xC7 Unsigned 16 Bit Integer
UDINT 0xC8 Unsigned 32 Bit Integer
ULINT 0xC9 Unsigned 64 Bit Integer
REAL 0xCA 32 Bit Floating Point
LREAL 0xCB 64 Bit Floating Point
STRING 0xD0 Character string, 1 byte / character
BYTE 0xD1 Bit string, 8 bit
WORD 0xD2 Bit string, 16 bit
DWORD 0xD3 Bit string, 32 bit
LWORD 0xD4 Bit string, 64 bit
SHORT_STRING 0xDA Character string, 1 byte / character, 1 byte length index
EPATH 0xDC CIP path segment
STRINGI 0xDE International Character String

01/27/2022 TR-ECE-BA-GB-0163 v06 Page 93 of 96

Checklist, Part 2 of 2

14 Checklist, Part 2 of 2
We recommend that you print out and work through the checklist for commissioning, replacing the
measuring system and when changing the parameterization of a previously accepted system and
store it as part of the overall system documentation.

Documentation reason Datum edited checked

Sub-item Note Reference yes

Document no.:
– Checklist, part 1 of 2 
TR-ECE-BA-GB-0142
This User Manual was read and Document no.:
– 
understood TR-ECE-BA-GB-0163
● Chapter
Safety functions of the fail-
Verify that the measuring system ● Safety functions of the fail-safe safe processing unit,
can be used for the present processing unit Page 16 
automation task based on the ● Compliance with all technical ● Product data sheets
specified safety requirements data
www.tr-
electronic.com/s/S022978
● The power supply unit used ● Chapter Supply voltage,
Supply voltage 
must meet the requirements of Page 21
● Compliance with valid ● Chapter
Proper international standards or ODVA Installation / Preparation for

EtherNet/IP™ installation guidelines specified for Commissioning,
EtherNet/IP™ from Page 18
Applicable to
● Device replacement
● Security connections with
SCID = 0
● SNN No. – Assignment
● SNCT configuration –
comparison of SCID and
configuration data
Compliance with the safety- ● Validation of all downloads
related requirements when using ● Verification of the signature
● Chapter
CIP Safety™ devices according ● Verification of configuration data
Safety-related requirements
to ODVA EtherNet/IP™ ● Function test
when using CIP Safety™ 
Specification V2.20, Volume 5, ● Deletion of an existing devices, Page 14
CIP™ Safety, Table “TST97 – configuration
and references
Safety Manual Inspection ● Programming the TUNID
Requirement” ● Various SIL levels in the network
● Verification of safety connections
● Status EDS
● Automatic SNN assignment
● Locking of configuration data
● Ownership assignment for Type
1 SafetyOpen configurations
● Visual review of configuration
data

...

Page 94 of 96 TR-ECE-BA-GB-0163 v06 01/27/2022

...

Sub-item Note Reference yes

● Ensured the preset adjustment
function can not be triggered
unintentionally
● Chapter
● Ensure the settings are made for
TR Safety – Preset
Preset adjustment function the correct axis 
Adjustment Function,
● After execution of the preset Page 79
adjustment function, check the
new position at the relevant axis
before restarting

01/27/2022 TR-ECE-BA-GB-0163 v06 Page 95 of 96

Appendix

15 Appendix
15.1 TÜV certificate
Download
● CD_582M +FS02: www.tr-electronic.de/f/TR-ECE-TI-DGB-0344
● CD_582M +FS03: www.tr-electronic.de/f/TR-ECE-TI-DGB-0350

15.2 EtherNet/IP™ / CIP Safety™ - Declaration of Conformity

Download
● www.tr-electronic.de/f/TR-ECE-TI-GB-0371

15.3 EU Declaration of Conformity

Download
● CD_582M +FS02: www.tr-electronic.de/f/TR-ECE-KE-DGB-0354
● CD_582M +FS03: www.tr-electronic.de/f/TR-ECE-KE-DGB-0358

Page 96 of 96 TR-ECE-BA-GB-0163 v06 01/27/2022

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