帝尔电子在CAN网络中安全移动 CANopen Safety 安全编码器 – 工程机械设备专用
在绝对位置检测方面TR Electronic具有与长，CD_582+FS 系列经验证的 SIL 编码器可不 CANopen 安全接口一起使用了。迄今为止 TR 已推出基于以太网的 PROFINET / Profilesafe、带有 CIP Safety™的Ethernet/IP、FSoE（通过EtherCAT的故障保护）和 Powerlink open SAFETY。
不这些接口丌同，CANopen Safety 根据“白色通道原理”工作，即在对整个应用程序的安全评估中，整个信号路径必须证明其可靠性。这是通过重复传输和使用底层 CSMA/CA（防撞）协议来实现的，该协议构成了所有CAN 实现的基础。
安全编码器的接口连接已经通过广泛的测试证明了其可靠性，扫描技术也经过了无数次测试，不所有 CD_582+FS 一样。该模块化系统基于最新技术，使标准产品组合中的编码器能够完美地适合应用。机械连接可通过实心轴、盲孔轴、空心轴实现。根据安全相关测量系统的要求，驱动轴的正向锁定通过键槽连接固定，或通过由弹簧钢制成的扭矩支架，用于空心轴和盲孔轴固定。
具有 CANopen Safety 的 CD_582+FS 紧凑型安全编码器，可以在轴丌静止的情况下预设位置值。这种“动态预设”的工作原理类似于电子参考——根据请求，输出值将调整为先前存储的预设值。错误检测，如设备故障，通常在 CANopen Safety 中由控制器对缺乏通信协议做出反应来指示。CD_582+FS 也具有主动故障安全状态，即它们可以主动向控制器报告发生的错误。控制器可以更快地做出反应（无需等待监测时间）：例如，如果测量通道仍然可用，控制单元可以使用一个通道上确定的位置值移动到停车位置。
安全编码器扫描技术可供选择，给用户提供了较高的自由度，无论是全磁扫描还是光学位置检测、快速高分辨率扫描。安全编码器都可用于 SIL2/PLd 或 SIL3/PLe 的应用。具有光学扫描选项的设备有一个特殊功能：除了安全总线系统外，位置值还通过 SSI 或增量接口输出（不安全无关）。例如，该附加接口可以用于提供次级控制回路，而丌必经过控制系统。同时，编码器通过标准协议中的“灰色”通道提供直接测量值，无需额外保护。
CD_582+FS SIL安全编码器，尤其是TR Electronic新推出的 CANopen Safety，使安全相关编码器的决策变得非常容易：相同的安装空间，相当高的安全性。
TR Electronic General Data
Nominal voltage
- Specific value 24 VDC
- Limit values, min/max 10/30 VDC
Nominal current, typically
- Specific value 60 mA
- Specific value 80 mA with second interface
- Condition unloaded
Supply
- SELV/PELV IEC 60364-4-41
- In case of UL / CSA approval according to NEC Class 2
- Protection class III DIN EN 61140
Polarity protection yes
Short circuit protection yes
internal 1 A fuse
Overvoltage protection yes, up to <= 60 V DC
Device design
- Type Multi-Turn
- Redundant scanning system yes, double
TR Electronic General Data continuation
- Design optical/magnetic
Total resolution <= 29 Bit
Number of steps per revolution <= 8192 = 13 bit resolution
Number of revolutions <= 65536
Accuracy (functional) ± 0.045 °
Reproducibility ± 0.01 °
CANopen - Interface
- CANopen EN 50325-4 (CiA DS301)
- Bus connection ISO 11898-1, ISO 11898-2
- CAN Specification 2.0 A 11-Bit Identifier
- Device-Profile for Encoder CiA DS406
- Layer Setting Services, LSS CiA DS305
- CANopen Safety EN 50325-5 (CiA DS304)
SSI - Interface
- Equipment Optional interface
- Equipment in preparation
- SSI-Clock input RS-422; 2-wire
- SSI-Data output RS-422, 2-wire
- SSI-Clock frequency <= 1MHz
- SSI-Mono time, typically 15 μs, 20 μs, 50 μs, 500 μs
- Protocol, TR-specific Function information + CRC
- Output code Binary, Gray
- Number of data bits 8…29
- Type of parametrization programmable
- MTTFd, SSI 150 a
- SSI-Refresh time 500 μs, asynchronous
Incremental - Interface
- Equipment Optional interface
- Equipment in preparation
- Signal form Square wave
- Signal form, alternative SIN / COS
- Incremental signals, square K1± K2±
- Incremental signals, SIN/COS SIN± COS±, 1 Vss
- Impulses, square wave 1024…5120, in steps of 1024
- Impulses, SIN/COS
- Output driver, TTL RS-422, 5 VDC
- Output driver, HTL Push-Pull, Supply Voltage
- Type of parametrization programmable
- MTTFd, square 180 a
- MTTFd, SIN/COS 190 a
- Duty factor, square 50 %, ± <= 10 %
- Phase angle, square 90 °, ± <= 20 ° (electr.)
Transmission rate
- Specific value 10 kbit/s
- Specific value 20 kbit/s
- Specific value 50 kbit/s
- Specific value 100 kbit/s
- Specific value 125 kbit/s (DIP Switch)
- Specific value 250 kbit/s (DIP Switch)
- Specific value 500 kbit/s (DIP Switch)
- Specific value 800 kbit/s
- Specific value 1 MBit/s (DIP Switch)
- Adjustability * by means of DIP-switches
- Adjustability via LSS service
- Adjustability * restricted adjustable
Cycle time
- Not safety related 1.0 ms
- Safety related 3.0 ms
Preset writing cycles >= 16 000 000
Speed output safety-related
- Resolution 16/32 Bit
- Accuracy (output value) ± 0.6 1/min (opt./magn.)
- Accuracy (output value) ± 3.6 1/min (magn./magn.)
- Tracking error see Safety Manual
Parameter/Function, changeable Integration time
Preset parameter
Scaling parameter
Monitoring window
Counting direction
Velocity parameter
Type of parametrization programmable
Programming - Tool Fieldbus-Device
TR-SOFT: CANopen-Device Tool
Functional safety
- Safety principle Redundance with cross compare
- SIL-Standardization DIN EN 61508 / DIN EN 62061
- SIL-Standardization DIN EN 61800-5-2
- SIL-Level SIL3 / SIL CL 3
- PL-Standardization DIN EN ISO 13849
- Performance-Level (PL) PLe / Cat. 4
- Service life 20 Years
- PFH / PFH [D] 2.75E-9 1/h
- PFH / PFH [D] PFH: DIN EN 61508-4
- PFH / PFH [D] PFH [D]: DIN EN ISO 13849-1
- PFDav, T = 20 a 8.50E-5
- MTTFd 170 a, high
- DCavg 98 %, high/middle
- Mode High demand, continuous
- Proof-Test-Interval T1 = 20 Years
- Accuracy (safety) ± 0.7 °
Safety functions
- DIN EN 61800-5-2 SLP (safely-limited position)
- DIN EN 61800-5-2 SDI (safe direction)
- DIN EN 61800-5-2 SCA (safe cam)
- DIN EN 61800-5-2 SS1 (safe stop 1)
- DIN EN 61800-5-2 SS2 (safe stop 2)
- DIN EN 61800-5-2 SOS (safe operating stop)
- DIN EN 61800-5-2 SLS (safely-limited speed)
- DIN EN 61800-5-2 SSR (safe speed range)
- DIN EN 61800-5-2 SSM (safe speed monitor)
Internal process safety time <= 7 ms
Maximum Speed, mechanically <= 6000 1/min
Shaft load, axial/radial <= 50 N, <= 100 N
Bearing life time >= 3.9E+10 revolutions
Bearing life time - Parameter
- Speed 3000 1/min
- Operating temperature 60 °C
- Shaft load, axial/radial = 60 %
- Degree of contamination normal
- Mounting position Shaft horizontal
Point of origin, shaft load Mounting flange + 10 mm
Shaft type
- Shaft diameter [mm] 10
- Shaft diameter [mm] 12
- Shaft diameter [mm] 14
- Shaft forming Parallel key/Groove
Angular acceleration <= 10E+4 rad/s²
Moment of inertia, worst-case <= 5.3E-6 kg m²
at shaft diameter 14 mm
depending from shaft forming
Start-up torque, worst-case <= 3.4 Ncm (IP65,-20 °C,+6 ó)
<= 10 Ncm (IP67,-20 °C,+6 ó)
at shaft diameter 14 mm
depending from shaft forming
Mass, typically 0.3…0.5 kg
Isolation voltage 500 V
TR Electronic Environmental conditions
Vibration DIN EN 60068-2-6
- Specific value <= 100 m/s²
- Sine 50…2000 Hz
Shock DIN EN 60068-2-27
- Specific value <= 1000 m/s²
- Half sine 11 ms
Immunity to disturbance DIN EN 61000-6-2
Transient emissions DIN EN 61000-6-3
Magnetic fields DIN EN 61000-4-8
- Specific value 30 A/m
- Criteria A
- Spatial direction X, Y, Z
Working temperature
- Standard -40…+85 °C
- Derating Tw = -0.002 * n + 85 °C
- Derating Tw = -0.004 * n + 85 °C (IP67)
Storage temperature, dry -40…+90 °C
Relative humidity 98 %, non condensing
Protection class
- Standard IP65
- Optional extended to IP67
Installation height <= 5000 m, above sea level
Resistance
- against salt (seawater) DIN EN IEC 60068-2-52
- Test method Test method 1
- excluded are Attachment parts
