TR-Electronic CDV582 - Page 4

Contents
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Page 4 of 91 TR-ECE-BA-GB-0163 v03 10/07/2020
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