TR-Electronic CDV582 - Page 6

Contents
 TR-Electronic GmbH 2019, All Rights Reserved Printed in the Federal Republic of Germany
Page 6 of 154 TR - ECE - BA - GB - 0139 - 02 11/21/2019
6.4.5 Submodule status ............................................................................................ 99
6.4.5.1 Structure of the cyclic process data ................................................. 99
6.4.5.2 Configurable submodule-related parameters .................................. 99
6.5 TR Encoder Profile, safety instrumented (Safety (TR)) ................................................... 100
6.5.1 Submodule position (BP/XP) ........................................................................... 100
6.5.1.1 Structure of the cyclic process data ................................................. 100
6.5.1.2 Configurable submodule-related IParameters (F_iPar) ................... 101
6.5.1.3 Configurable submodule-related F-parameters (F_Par) ................. 102
6.5.2 Submodule Velocity (BP/XP) ........................................................................... 103
6.5.2.1 Structure of the cyclic process data ................................................. 103
6.5.2.2 Configurable submodule-related IParameters (F_iPar) ................... 104
6.5.2.3 Configurable submodule-related F-parameters (F_Par) ................. 105
6.5.3 Submodule Position + Velocity (BP/XP) .......................................................... 106
6.5.3.1 Structure of the cyclic process data ................................................. 106
6.5.3.1.1 Input TR Status1 (Stat. 1) ................................................ 107
6.5.3.1.2 Input TR Status2 (Stat. 2) ................................................ 108
6.5.3.1.3 Input Position ................................................................... 108
6.5.3.1.4 Input Velocity .................................................................... 108
6.5.3.1.5 Output TR-Control1 (Cont. 1)........................................... 108
6.5.3.1.6 Output TR-Control2 (Cont. 2)........................................... 109
6.5.3.1.7 Output Preset ................................................................... 109
6.5.3.2 Configurable submodule-related iParameters (F_iPar) ................... 110
6.5.3.2.1 Rotational direction .......................................................... 111
6.5.3.2.2 Scaling parameter ............................................................ 111
6.5.3.2.3 Velocity format ................................................................. 114
6.5.3.2.4 Velocity filter intensity ...................................................... 114
6.5.3.2.5 Velocity filter type ............................................................. 115
6.5.3.2.6 Velocity factor ................................................................... 115
6.5.3.2.7 Velocity integration time ................................................... 115
6.5.3.2.8 Window increments .......................................................... 116
6.5.3.3 Configurable submodule-related F-parameters (F_Par) ................. 117
6.5.4 Preset adjustment function .............................................................................. 118
6.5.4.1 Procedure ........................................................................................ 118
6.5.4.2 Timing – diagram ............................................................................. 119
6.5.4.3 Calculating the delay for a moving axis ........................................... 120
6.6 Legacy (TR) Profile .......................................................................................................... 121
6.6.1 Safety (Legacy), safety-related ........................................................................ 121
6.6.1.1 Structure of the cyclic process data ................................................. 121
6.6.1.1.1 Input Cams ....................................................................... 121
6.6.1.1.2 Input TR status ................................................................. 122
6.6.1.1.3 Input Velocity .................................................................... 122
6.6.1.1.4 Input Multi-Turn / Single-Turn .......................................... 123
6.6.1.1.5 Output TR-Control1 .......................................................... 123
6.6.1.1.6 Output Preset Multi-Turn / Preset Single-Turn ................ 124
6.6.1.2 Configurable module-related iParameters (F_iPar) ......................... 125
6.6.1.2.1 Integration time safety ...................................................... 125
6.6.1.2.2 Integration time standard ................................................. 125
6.6.1.2.3 Window increments .......................................................... 126
6.6.1.2.4 Idleness tolerance preset ................................................. 126
6.6.1.2.5 Rotational direction .......................................................... 126
6.6.1.3 Configurable module-related F-parameters (F_Par) ....................... 127
6.6.2 Channel 1 (Legacy), non-safety instrumented ................................................ 128
6.6.2.1 Structure of the cyclic process data ................................................. 128
6.6.2.1.1 Input Cams ....................................................................... 128
6.6.2.1.2 Input Velocity .................................................................... 128
6.6.2.1.3 Input Multi-Turn / Single-Turn .......................................... 129
6.6.3 Preset adjustment function .............................................................................. 130
6.6.3.1 Procedure ........................................................................................ 130
6.6.3.2 Timing diagram ................................................................................ 131