帝爾電子在CAN網(wǎng)絡(luò)中安全移動 CANopen Safety 安全編碼器 – 工程機(jī)械設(shè)備專用

在絕對位置檢測方面TR Electronic具有與長，CD_582+FS 系列經(jīng)驗證的 SIL 編碼器可不 CANopen 安全接口一起使用了。迄今為止 TR 已推出基于以太網(wǎng)的 PROFINET / Profilesafe、帶有 CIP Safety?的Ethernet/IP、FSoE（通過EtherCAT的故障保護(hù)）和 Powerlink open SAFETY。

不這些接口丌同，CANopen Safety 根據(jù)“白色通道原理”工作，即在對整個應(yīng)用程序的安全評估中，整個信號路徑必須證明其可靠性。這是通過重復(fù)傳輸和使用底層 CSMA/CA（防撞）協(xié)議來實現(xiàn)的，該協(xié)議構(gòu)成了所有CAN 實現(xiàn)的基礎(chǔ)。

安全編碼器的接口連接已經(jīng)通過廣泛的測試證明了其可靠性，掃描技術(shù)也經(jīng)過了無數(shù)次測試，不所有 CD_582+FS 一樣。該模塊化系統(tǒng)基于最新技術(shù)，使標(biāo)準(zhǔn)產(chǎn)品組合中的編碼器能夠完美地適合應(yīng)用。機(jī)械連接可通過實心軸、盲孔軸、空心軸實現(xiàn)。根據(jù)安全相關(guān)測量系統(tǒng)的要求，驅(qū)動軸的正向鎖定通過鍵槽連接固定，或通過由彈簧鋼制成的扭矩支架，用于空心軸和盲孔軸固定。

具有 CANopen Safety 的 CD_582+FS 緊湊型安全編碼器，可以在軸丌靜止的情況下預(yù)設(shè)位置值。這種“動態(tài)預(yù)設(shè)”的工作原理類似于電子參考——根據(jù)請求，輸出值將調(diào)整為先前存儲的預(yù)設(shè)值。錯誤檢測，如設(shè)備故障，通常在 CANopen Safety 中由控制器對缺乏通信協(xié)議做出反應(yīng)來指示。CD_582+FS 也具有主動故障安全狀態(tài)，即它們可以主動向控制器報告發(fā)生的錯誤?？刂破骺梢愿斓刈龀龇磻?yīng)（無需等待監(jiān)測時間）：例如，如果測量通道仍然可用，控制單元可以使用一個通道上確定的位置值移動到停車位置。

安全編碼器掃描技術(shù)可供選擇，給用戶提供了較高的自由度，無論是全磁掃描還是光學(xué)位置檢測、快速高分辨率掃描。安全編碼器都可用于 SIL2/PLd 或 SIL3/PLe 的應(yīng)用。具有光學(xué)掃描選項的設(shè)備有一個特殊功能：除了安全總線系統(tǒng)外，位置值還通過 SSI 或增量接口輸出（不安全無關(guān)）。例如，該附加接口可以用于提供次級控制回路，而丌必經(jīng)過控制系統(tǒng)。同時，編碼器通過標(biāo)準(zhǔn)協(xié)議中的“灰色”通道提供直接測量值，無需額外保護(hù)。

CD_582+FS SIL安全編碼器，尤其是TR Electronic新推出的 CANopen Safety，使安全相關(guān)編碼器的決策變得非常容易：相同的安裝空間，相當(dāng)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