TR-Electronic CDV582 - Page 5

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11/21/2019 TR - ECE - BA - GB - 0139 - 02 Page 5 of 154
6.2.4.7.12 Parameter list (PNU 980) ............................................... 69
6.2.5 Preset function ................................................................................................. 70
6.2.6 Warnings, errors, diagnosis ............................................................................. 70
6.2.6.1 Error codes in signal G1_XIST2 ...................................................... 71
6.2.6.2 Diagnostic alarm .............................................................................. 71
6.3 OPTION: PNO Encoder Profile, safety instrumented (Safety BP/XP (PNO)) ................. 72
6.3.1 Structure of the cyclic process data ................................................................. 72
6.3.1.1 Standard Telegram 36 (BP/XP) ....................................................... 73
6.3.1.2 Standard Telegram 37 (BP/XP) ....................................................... 73
6.3.1.3 Format Signal 96: F actual position value (S_XIST32).................... 74
6.3.1.4 Format Signal 97: F actual speed value (S_NIST16) ...................... 74
6.3.1.5 Format Signal 98: Encoder F control word 1 (S_STW1_ENC) ....... 74
6.3.1.6 Format Signal 99: Encoder F status word 1 (S_ZSW1_ENC) ......... 75
6.3.1.7 Format Signal PNU 62000: F Preset value (S_PRESET32) ........... 75
6.3.2 Parameter access and initialization (safety-related) ....................................... 76
6.3.3 Configurable module-related iParameters (F_iPar) ........................................ 78
6.3.3.1 Code sequence ................................................................................ 79
6.3.3.2 Preset affects XIST32 ...................................................................... 79
6.3.3.3 Scaling function control .................................................................... 79
6.3.3.4 Scaling parameter ............................................................................ 79
6.3.3.4.1 Scaling: Measuring units per revolution ........................... 80
6.3.3.4.2 Scaling: Total measuring range ....................................... 80
6.3.3.5 Velocity value normalization ............................................................ 81
6.3.3.6 Window increments (internal, not visible) ........................................ 81
6.3.4 Configurable submodule-related F-parameters (F_Par) ................................. 82
6.3.5 Acyclic parameter access (Base Mode Parameter Access - Local) ............... 83
6.3.5.1 Safety telegram no. (PNU 60022) .................................................... 83
6.3.5.2 Safety velocity value normalization (PNU 60023) ........................... 83
6.3.5.3 Safety setpoint telegram (PNU 60024) ............................................ 84
6.3.5.4 Safety setpoint telegram (PNU 60025) ............................................ 84
6.3.5.5 Safety preset value S_PRESET32 (PNU 62000) ............................ 84
6.3.5.6 Safety operating status (PNU 65100) .............................................. 85
6.3.5.6.1 Block Header (PNU 65100.00) ........................................ 85
6.3.5.6.2 Operating status (PNU 65100.01) ................................... 86
6.3.5.6.3 Offset value 32-bit (PNU 65100.08) ................................. 86
6.3.6 Preset adjustment function .............................................................................. 87
6.3.6.1 Procedure ........................................................................................ 87
6.3.6.2 Preset finite state machine / control cycle ....................................... 88
6.3.7 Diagnosis ......................................................................................................... 89
6.4 TR Encoder Profile, non-safety instrumented (Channel 1/2 (TR)) .................................. 90
6.4.1 Configurable module-related parameters ........................................................ 90
6.4.1.1 Coupled channel .............................................................................. 90
6.4.2 Submodule Position ......................................................................................... 91
6.4.2.1 Structure of the cyclic process data ................................................. 91
6.4.2.2 Configurable submodule-related parameters .................................. 91
6.4.2.2.1 Rotational direction .......................................................... 91
6.4.2.2.2 Scaling parameter ............................................................ 92
6.4.3 Submodule velocity .......................................................................................... 95
6.4.3.1 Structure of the cyclic process data ................................................. 95
6.4.3.2 Configurable submodule-related parameters .................................. 95
6.4.3.2.1 Velocity format ................................................................. 96
6.4.3.2.2 Velocity filter intensity ...................................................... 96
6.4.3.2.3 Velocity filter type ............................................................. 97
6.4.3.2.4 Velocity factor ................................................................... 97
6.4.3.2.5 Velocity integration time ................................................... 97
6.4.4 Submodule Preset (adjustment function) ........................................................ 98
6.4.4.1 Structure of the cyclic process data ................................................. 98