turck Ri-QR24 Operating Instructions Manual

OPERATING
INSTRUCTIONS

CONTACTLESS
QR24 ENCODERS
WITH CANOPEN
INTERFACE

Sense it! Connect it! Bus it! Solve it!

QR24 Encoder with CANopen Interface

2

Hans Turck GmbH & Co. KG • Tel. [phone] • Fax [phone]

Contactless Ri-QR24 encoders – with CANopen interface

1 About this manual ...................................................................................................................... 4

1.1 Target groups .............................................................................................................................. 4

1.2 Explanation of symbols ............................................................................................................. 4

1.3 Other documents ........................................................................................................................ 4

1.4 Feedback on this manual .......................................................................................................... 4

2 Notes on the product ................................................................................................................. 5

2.1 Product identication (type key) ............................................................................................. 5

2.2 Scope of delivery ........................................................................................................................ 6

2.3 Legal requirements .................................................................................................................... 6

2.4 Manufacturer and service ......................................................................................................... 6

3 For your safety

3.1 Intended use ................................................................................................................................ 6

3.2 Obvious misuse ........................................................................................................................... 6

3.3 General safety instructions ....................................................................................................... 6

4 Product description .................................................................................................................... 7

4.1 Device view .................................................................................................................................. 7

4.2 Function principles ..................................................................................................................... 8

4.3 Delivery condition ...................................................................................................................... 8

4.4 Display elements ........................................................................................................................ 8

4.5 Connection assignments ........................................................................................................... 10

4.6 Terminating resistor ................................................................................................................... 10

5 Assembly ...................................................................................................................................... 11

6 Conguration .............................................................................................................................. 12

6.1 Objects 1000h – 1FFFh (communication proles) ............................................................... 12

6.2 Variables PDO mapping ............................................................................................................ 23

6.3 Objects 2000h – 2FFFh (manufacturer specications) ....................................................... 28

6.4 Objects 6000h – 6FFFh (default device parameters) ........................................................... 31

6.5 LSS services DS 305 V2.0 ........................................................................................................... 40

6.6 Network management ............................................................................................................... 41

7 Accessories (assembly accessories and position elements) .............................................. 42

8 Technical information ................................................................................................................ 44

9 Service........................................................................................................................................... 45

10 Repairs .......................................................................................................................................... 45

11 Device returns ............................................................................................................................. 45

12 Disposal ........................................................................................................................................ 45

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QR24 Encoder with CANopen interface –
General information

1 About this manual

This manual describes the setup, the functions and use of the product and helps you to operate the product for its intended use. Read
these instructions carefully prior to using the product. This will prevent the risk of personal injury and damage to property. Keep these
instructions safely during the service life of the product. If the product is passed on, pass on these instructions as well.

1.1 Target groups

This document is written for specially trained personnel and must be read carefully by anyone who is charged with the mounting, commis­sioning, operation, maintenance, disassembly or disposal of the device.

1.2 Explanation of symbols

The following symbols are used in this manual:

WARNING

WARNING denotes a possibly hazardous situation with medium risk, which could result in fatality or severe injury if
not prevented.

NOTE

In connection with WARNING, you will find tips, recommendations, and important information. These notes will
simplify your work, contain information about specific steps to be taken, and help prevent additional work due to
incorrect procedures.

1.3 Other documents

You will find the following supporting documentation in addition to this document online at www.turck.com:

■ Data sheet

1.4 Feedback on this manual

We make every effort to ensure that these instructions are as informative and as clear as possible. If you have any suggestions for improv­ing the design or if some information is missing in the document, please send your suggestions to [e-mail].

4

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QR24 Encoder with CANopen interface –
Notes on the product

2 Notes on the product

2.1 Product identication (type key)

Ri 360 P1 – QR24 M0 – CN X4 – 2 H1 1 5 0

Ri 360 P1

2 H1 1 5 0

Operating principle

Positioning element/
shaft diameter

P0 without positioning

element

P1 P1-Ri-QR24/20 mm
P2 P2-Ri-QR24/14 mm
P3 P3-Ri-QR24/12 mm
P4 P4-Ri-QR24/10 mm
P5 P5-Ri-QR24/6 mm
P6 P6-Ri-QR24 / /"
P7 P7-Ri-QR24 / /"
P8 P8-Ri-QR24 / -

Measuring range

360 360°

Operating principle
Ri Rotatory inductive

Electrical connection

Assignment
0 Standard

–

QR24 M1

Housing style

Alu protective unit
M0 without alu

protective unit

M1 with alu

protective unit

M2 Set M2-QR24

(M1-QR24 +
SP1-QR24)

M3 Set M3-QR24

(M1-QR24 +
SP2-QR24)

M4 Set M4-QR24

(M1-QR24 +
SP3-QR24)

Housing style
QR24

–

CN X4

Electrical version

Number of LEDs

X4 4 x LED

CANopen interface
CN CANopen

–

Number of contacts
5 5-pole

Connector type
1 straight

Connector type

H1 connector M12 x 1

Number of connectors
2 2 x connector

NOTE

The sensor, the assembly elements, and the positioning element can be ordered as a set or individually.

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QR24 Encoder with CANopen interface –
Notes on the product

2.2 Scope of delivery

The following items are included in the scope of delivery:

■ Contactless QR24 encoder

■ Assembly aid

■ Short instructions

■ VZ 3 screw plug

■ Optional: positioning element and mounting element

2.3 Legal requirements

The device is subject to the following EU directives:

■ 2004/108/EC (Electromagnetic compatibility)

2.4 Manufacturer and service

Turck supports you in your projects – from the initial analysis right through to the commissioning of your application. The Turck product
database offers you several software tools for programming, configuring or commissioning, as well as data sheets and CAD files in many
export formats. You can access the Product Database directly via the following address:

www.turck.de/products

For further inquiries in Germany contact the Sales and Service Team on:

Sales: [phone]

Technical: [phone]

For overseas inquiries contact your national Turck representative.

Hans Turck GmbH & Co. KG

Witzlebenstraße 7

45472 Mülheim an der Ruhr

Germany

3 For your safety

The product is designed according to the state of the art technology. Residual hazards, however, still exist. Observe the following warn­ings and safety regulations in order to prevent danger to persons and property. Turck accepts no liability for damage caused by failure to
observe these warnings and safety instructions.

3.1 Intended use

The devices are designed for installation in large-scale industrial plants and equipment and for use in industrial automation applications.
The encoder measures turning angles across a 360° angle range. The devices must only be used as described in these instructions. Any
other use is not in accordance with the intended use; Turck accepts no liability for any resulting damage.

3.2 Obvious misuse

The devices are not safety components and must not be used for the protection of persons or property.

3.3 General safety instructions

The device must only be fitted, installed, operated and maintained by trained and qualified personnel.

6

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QR24 Encoder with CANopen interface –
For your safety

4 Product description

The encoder measures turning angles across a 360° angle range. All parameters are stored in the internal parameter memory.

Features:

■ 360° angle sensor

■ High resolution and accuracy

■ CANopen interface in compliance with CiA DS-301, device profile CiA 406 3.1

■ Baud rates between 10 kbps and 1 Mbps

■ Sampling rate of typ. 1 kHz

■ Functions:

– One TPDO (RTR, cyclic, event-controlled, synchronised)

– SYNC consumer (synchronised transmission of TPDO after receipt of SYNC telegram)

– Failure monitoring via heartbeat or node-guarding/life-guarding

– Freely configurable limit frequency (digital filter)

– Robust, easy to assemble plastic housing

– Suitable for industrial applications

– Temperature range: -25…+85°C

– Housing protection type: IP68/IP69K

4.1 Device view

LED

M12 x 1

Fig. 1: Device view

ø 78 ø 22 ø 4.3 ø 65

24

42.3
81

10

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QR24 Encoder with CANopen interface –

CAN-IN ERR/RUN PWR/SIG CAN-OUT

Product description

4.2 Function principle

The metering principle of the encoders is based on the inductive RLC coupling, which offers significant advantages in comparison with

optical or magnetic metering principles. The sensor contains emitter and receiver coil systems in the form of PCB coils. The emitter coils are

energised in a high frequency alternating field, and consummate an inductive RLC coupling in conjunction with the positioning element, the

so-called resonator. As a result, the positioning element is also inductively coupled with the receiver coils to pinpoint its exact position.

4.3 Delivery condition

At the time of delivery, the sensor comes with the following basic default settings:

■ Node ID: 0x03

■ Baud rate 125 kHz

■ Internal terminating resistor deactivated

■ TPDO1 event time: 100 ms

■ TPDO1 activated

■ TPDO asynchronous mode

4.4. Display elements

Fig. 2: LED arrangement

The encoder comes with an LED status display for the following states:

PWR LED

Colour/Status Status Description

OFF No operating voltage The device is not ready

Green Operating voltage OK The device is ready

NOTE

The PWR LED will respond at as little as 5 V, and is therefore not an indicator for having reached the operating voltage of 10…30 V.

8

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QR24 Encoder with CANopen interface –
Product description

Run LED

Colour/Status Status Description

Green – fast flashing LSS status The device is in LSS operation (intermittently

flashing Error LED)

Green – On short flash Stopped Data transfer was stopped

Green – slow flashing Pre-operational The data transfer is in preparation

Green – continuously lit Operational The device is ready

Sig LED

Colour/Status Status Description

OFF RLC coupling OK The device is functioning correctly.

Yellow – continuously lit RLC coupling is weak The device is working with reduced accu-

rac y.

Yellow – flashing No RLC coupling The device is not functioning.

Error LED (ERR)

Colour/Status Status Description

OFF No error The device is functioning correctly

Red – flashing: LSS status The device is in LSS operation (intermittently

flashing RUN LED)

Red – Two short flashes Guard event occurrence A guard event (NMT slave or master) or

heartbeat event has occurred

Red – Three short flashes SYNC error The SYNC message was not received within

the preconfigured cycle time (see also ob-

ject 0x1006)

Red – continuously lit Bus deactivated The CAN controller was deactivated by the

bus

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31

QR24 Encoder with CANopen interface –
Connection assignment

4.5 Connection assignment

The sensor comes equipped with a CAN input connection and a CAN output connection in accordance with CiA DR-303-1.

Plug connector M12 x 1

Pin Signal Assignment

CAN-IN

2

1 CAN_SHLD Shield

5

4

2 CAN_V+ Supply voltage (+24 VDC)*

CAN-OUT 3 CAN_GND GND/0 V/V-

*) UL marking requires an approved power supply with energy limitation (UL 61010-1) or with Class 2 according to National Electric Code

(USA) / Canadian Electric Code.

2

1

5

3

4

4 CAN_H CAN_H bus line

5 CAN-L CAN_L bus line

4.6 Terminating resistor

An integrated terminating resistor can be activated as needed. (See object 0x2102).

10

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QR24 Encoder with CANopen interface –

A

0.6...0.8 Nm

6

B

6

2

1

5

4

3

2.5

A

C

0.6...0.8 Nm

SP2-QR24

!

Assembly

5 Assembly

An extensive range of assembly accessories

(see chapter 6) allows the easy adaptation to

many different shaft diameters. The shield

plates SP1-QR24 or SP2-QR24 or SP3-QR24

can optionally be used (depending on as-

sembly type) to increase the permissible dis-

tance between the positioning element and

the sensor. The illustrations below show the

5

2

1

SP2-QR24

!

3

4

2.5

simple design of the separate sensor and

resonator units, making them virtually re-

sistant to errors. The assembly can be done

as types A, B, and C.

M4 x 0.5 x 7.5
ø 42

2

3

1

1.4...1.5 Nm

!

WARNING

The positioning element is prone to
detaching from its mounting position if
assembled incorrectly.

Mortal danger due to possibility
of parts ejected at speed!

ӹ Assembly instructions must be complied

with

ӹ Ensure the correct attachment of the

positioning element, tightening torque:
M = 0.6…0.8 Nm

SP3-QR24

0.6...0.8 Nm

3

0.6...0.8 Nm

2

4

2.5

1

!

6

1 Optional shield plate SP2-QR24

can be inserted.
2 Attach assembly aid for optimised align-

ment of the positioning element.
3 Slide the positioning element onto the

rotatable shaft; ensure correct direction-

ality of the active surface (see inscription

on the side of the positioning element).
4 Affix the clamping bracket using a hex

key.

5 Remove the assembly aid.
6 Place the encoder with the aluminium ring

over the positioning element, and affix

with three screws, to create a closed, and

protected unit.

0.6...0.8 Nm

5

SP1-QR24

1 Slide the encoder on the back of the

shaft and affix.
2 Attach assembly aid for optimised align-

ment of the positioning element.
3 Slide the positioning element onto the

rotatable shaft; ensure correct direction-

ality of the active surface (see inscription

on the side of the positioning element).
4 Affix the clamping bracket using a hex

key.

5 Remove the assembly aid.
6 The protective aluminium unit and the

shield plate SP1-QR24 can optionally be

added.

4

2.5

Proceed as follows if the positioning element

is screwed onto a rotating machine part

and not onto a shaft:

1 Insert the blind plug RA8-QR24.
2 Affix the clamping bracket using a hex

key.

3 Insert the optional SP3-QR24 shield plate.
4 Affix the positioning element using

three sunken head screws, ensuring

the correct directionality of the active

surface (see inscription on the side of the

positioning element).
Mount the encoder depending on applica­tion requirement.

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QR24 Encoder with CANopen interface –
Configuration

6 Conguration

The wear-resistant encoder with CANopen interface is ideally suited for use in mobile machinery and industrial applications. Short laten­cies and cyclic, event-controlled communication are only two of the many advantages of the CANopen protocol, which is often used in
this area of application. A particular highlight is the software-controlled, bus-activated terminating resistor.

6.1 Objects 1000h – 1FFFh (communication proles)

6.1.1 Object 1000h: Device type

This object specifies the device type.

1000h VAR Device type Unsigned 32 RO M

Device prole number Encoder type

Byte 0 (LSB) Byte 1 Byte 2 Byte 3 (MSB)

96h* 01h* 01h (absolute encoder single-turn)

02h (absolute encoder multi-turn)

*196h = 406 decimal (encoder profile)

Example: 0001 0196h = profile DS406, absolute encoder single-turn

6.1.2 Object 1001h: Error Register

This register displays occurring device errors.

1001h VAR Error register Unsigned 8 RO M

Bit 0 = 0: no error

Bit 0 = 1: Error "No RLC coupling" (actuator not in range)

Bit 1...7: free

6.1.3 Object 1002h: Manufacturer status register

This register stores various error bits and the current status of the set limit values from object 6400h. The limit values are additionally

stored in object 6401h and object 6402h.

1002h VAR Manufacturer status register Unsigned 32 RO M

00h

Data content object 1002h :

Bit 0 =1: EEPROM error

Bit 1 =1: No RLC coupling (no resonator in range, no angle calculation possible)

Bit 2 =1: Minor RLC coupling (poss. increased non-linearity)

Bit 3…7: free (0)

Bit 8 =1: Operating range 1 out of range

Bit 9 =1: Operating range 1 underrun

Bit 10 =1: Operating range 1 underrun

Bit 11 =1: Operating range 2 out of range

Bit 12 =1: Operating range 2 underrun

Bit 13 =1: Operating range 2 underrun

12

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QR24 Encoder with CANopen interface –
Communication profiles

6.1.4 Object 1005h: COB ID SYNC (COB ID for SYNC message)

The object defines the COB ID for the SYNC message. The object furthermore specifies, whether the device is a generator or receiver of SYNC

objects.

1005h VAR COB ID SYNC Unsigned 32 RW O

Data content:

Bit 0...10: 11 bit identifier; default ID = 80h

Bit 11...29: 0 (reserved for 29-bit identifier devices)

Bit 30: 0 (device does not generate SYNC messages)

Bit 31: 1 (device is receiver for SYNC messages)

6.1.5 Object 1008h: Manufacturer device name

Contains the manufacturer's device name.

1008h VAR Manufacturer device name Vis string RO O

Example:

RI360P0-QR24M0-CNX4-2H1150

6.1.6 Object 1009h: Manufacturer hardware version

Contains the manufacturer's version number.

1009h VAR Manufacturer hardware version Vis string RO O

Data content:

e.g. "HW-12718801 -" in ASCII code

Hardware version (127xxxxx) incl. change index (-, A, B…)

6.1.7 Object 100Ah: Manufacturer software version

Contains the manufacturer's software version number.

100Ah VAR Manufacturer software version Vis string RO O

Data content:

e.g. "SW-1.0.0.1" in ASCII code

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QR24 Encoder with CANopen interface –
Communication profiles

6.1.8 Object 1010h: Store parameters

Writing the command "save" initiates the storing of the parameters to the non-volatile memory (EEPROM).

1010h ARRAY Store parameters Unsigned 32 RW O

The following commands are stored with this command: 1005h, 1014h, 1800h (sub-index 1 and 3), 1802h (sub-index 1), 2000h, 2001h, 2005h,

6000h, 6001h, 6002h, 6003h, 6200h.

The command will only be executed when the string "save" is entered as the codeword in this sub-index to prevent accidental saves.

NOTE

The values stored in EEPROM (power ON values) will be irretrievably overwritten with this command!

A read access to the CANopen device provides information about its capability to store these values. (Data: 01h = storage possible)

Data content:

Write access:

Byte 0: 73h (ASCII code for "s")

Byte 1: 61h (ASCII code for "a")

Byte 2: 76h (ASCII code for "v")

Byte 3: 65h (ASCII code for "e")

s a v e = 0x65766173

6.1.9 Object 1011h: Restore default parameters

This command deletes the parameters in the working memory, and rep[laces them with default values (manufacturer values, resetting of

the encoder to values at time of delivery). A read access to the CANopen device provides information about its capability to restore these
values. (Data: 01h = reset possible)

1011h ARRAY Restore default parameters Unsigned 32 RW O

Multiple parameter groups are distinguished:

Sub-index 00h: contains the highest supported sub-index.

Sub-index 01h: Restore all parameters refers to all parameters than can be reset.

Sub-index 02h: Restore communication parameters refers to communication-relevant parameters (index from 1000h to 1FFFh).

Sub-index 03h: Restore application parameters refers to application-relevant parameters (index from 6000h to 9FFFh).

Example: Restore all parameters

Writing the command 0x64616F6C (=load) under sub-index 01h will reset all parameters in the encoder RAM to their default values.

A read access to the sub-index offers information of whether a reset to default values is possible.

Data content:

Write access: Read access:

Byte 0: 6Ch (ASCII code for "l") Bit 0 = 1: Device supports the loading of default values

Byte 1: 6Fh (ASCII code for "o")

Byte 2: 61h (ASCII code for "a") Bit 1...31 = 0: reserved

Byte 3: 64h (ASCII code for "d")

The default values become valid only after a "NMT reset“. After a "NMT reset" the command "Save parameter" (see object 1010h) must also be

executed if the default values are to be applied to EEPROM as well.

l o a d = 0x64616F6C

14

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