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