Professional Documents
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Technical documentation
Online-Communication with Twin
Line-controllers in the Fieldbus
CAN Bus
Operating system: 1.0xx
Order no.: TLADOCCANME
Edition: -001, 06.02
CAN Bus General Hazard Statement CAN Bus
DANGER
HAZARD OF ELECTRIC SHOCK, BURN, OR EXPLOSION
Read and understand this bulletin in its entirety before install-
ing or operating Twin Line drive system products. Installation,
adjustment, repair, and maintenance of these drive systems
must be performed by qualified personnel.
Disconnect all power before servicing the power controller.
WAIT SIX MINUTES until DC bus capacitors discharge, then
measure DC bus capacitor voltage between the DC+ and DC-
terminals to verify that the DC voltage is less than 45 V. The
DC bus LED is not an accurate indication of the absence of
DC bus voltage.
The motor can produce voltage at its terminals when the shaft
is rotated! Prior to servicing the power controller, block the
motor shaft to prevent rotation.
DO NOT short across DC bus terminals or touch unshielded
components or terminal strip screw connections with voltage
present.
Install all covers and close enclosure door before applying
power or starting and stopping the drive system.
The user is responsible for conforming to all applicable code
requirements with respect to grounding all equipment.
Many parts in this drive system, including printed wiring
boards, operate at line voltage. DO NOT TOUCH. Use only
electrically insulated tools.
Before servicing drive system:
Disconnect all power.
Place a DO NOT TURN ON label on the drive system dis-
connect.
Lock the disconnect in open position.
Failure to follow these instructions will result in death or
serious injury.
TLADOCCANME, -001, 06.02
CAN Bus
CAN Bus Table of Content
Table of Content
Glossaries . . . . . . . . . . . . . . . . . . . . . . . . . . . . V-5
Abbreviations . . . . . . . . . . . . . . . . . . . . . . . . . . . V-5
Product name . . . . . . . . . . . . . . . . . . . . . . . . . . V-5
Technical Terms . . . . . . . . . . . . . . . . . . . . . . . . V-6
Written conventions and note symbols . . . . . . . . . . . . . V-8
3 Safety
3.1 Hazard categories . . . . . . . . . . . . . . . . . . 3-1
3.2 Safety instructions . . . . . . . . . . . . . . . . . . 3-2
3.3 Intended use . . . . . . . . . . . . . . . . . . . . . 3-3
3.4 Qualification of the personnel . . . . . . . . . . . . 3-3
3.5 Optimizing Network Performance . . . . . . . . . . 3-4
7 Error handling
7.1 Error messages . . . . . . . . . . . . . . . . . . . 7-1
7.2 Synchronous errors . . . . . . . . . . . . . . . . . 7-2
7.3 Asynchronous errors . . . . . . . . . . . . . . . . . 7-3
9 Accessories
9.1 List of accessories . . . . . . . . . . . . . . . . . . 9-1
Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-1
TLADOCCANME, -001, 06.02
Glossaries
Abbreviations
Abbrevia- Meaning
tion
AC Alternating current
ASCII American Standard Code for Information Interchange
COS Controller Operating System
DC Direct current
E Encoder
E/A Inputs / output
EC European Community
EMC Electromagnetic compatibility
EU European Union
GSD File with device master data
HMI Human-Machine Interface, plug-in hand-held operating unit
Inc Increment
LED Light Emitting Diode
LWL Fiber Optic
M Motor
NEMA National Electrical Manufacturers Association
NFPA National Fire Protection Agency
PC Personal Computer
PLC Programmable logic controller
Product name
Technical Terms
Actual position of the drive system The actual position of the drive system gives the absolute or relative
positions of moved components in the system.
Actual position of the motor See Angular position of the motor.
Angular position of the motor The angular position of the motor corresponds to the angular position of
the rotor in the motor housing, and refers to the zero point or index point
of the position sensor.
Asynchronous error Error which is recognized and reported by the monitoring facilities built-
in to the controller.
CAN-C Fieldbus module which connects the controller to a CAN Fieldbus.
Control response Speed at which a controller reacts to a disturbance or to a change in the
input signal.
DC Bus The DC bus generates the necessary direct current for operating the
motor and provides the amplifier with the necessary energy. The DC bus
acts as a buffer to energy fed back by the motor.
Default values Preset values for the parameters of the Twin Line controller before the
first commissioning, factory settings.
Direction of rotation Rotation of the motor shaft in a clockwise or counter-clockwise direction.
A clockwise direction of rotation is given when the motor shaft rotates
clockwise as the observer faces the end of the protruding shaft.
Drive solution The drive solution comprises the drive system with its Twin Line control-
ler and motor, as well as the system mechanics forming an integral part
of the chain of motion.
Drive system The drive system consists of the Twin Line controller, motor and auxiliary
power and control devices (i.e. brake controller, HMI, etc.).
Electronic gear An input speed is recalculated by the Twin Line controller using the val-
ues of an adjustable gear ratio to produce a new output speed for the
motor movement.
Encoder Sensor for recording the angular position of a rotating element. Mounted
on the motor, the encoder signals the angular position of the rotor.
Error class Reaction of the Twin Line controller to an operational malfunction corre-
sponding to one of five error classes.
Forcing To change signal states irrespective of the hardware switching status in
the controller; with the control tool, for example. The hardware signals
remain unchanged.
High/open Signal status of an input or output signal; when no signal is present, sig-
nal voltage is high (high level).
HMI Hand-held operating unit which can be plugged into the Twin Line con-
troller. HMI: Human-machine interface.
I2t monitoring Predictive temperature monitoring. On the basis of the motor current,
the expected heating of controller components is calculated in advance.
TLADOCCANME, -001, 06.02
Should a limit value be exceeded, the Twin Line controller reduces the
current.
Incremental signals Angular steps of an encoder in the form of square-wave pulse
sequences. Relative changes in position are signalled by the number of
pulses contained in the pulse sequence.
Index pulse Encoder signal for referencing the rotor position in the motor. The
encoder sends one index pulse per revolution.
Input device Input device is the device which can be connected to the RS-232 inter-
face for the purpose of commissioning; it is either the HMI hand-held
operating unit or a PC with the Commissioning Software.
Internal units The actual position of the drive system gives the absolute or relative
positions of moved components in the system.
Limit switch Switches which signal any overrun on the permissible travel.
Low/open Signal status of an input or output signal; when no signal is present, sig-
nal voltage is low (low level).
Node guarding Monitoring function at the RS-232 interface.
Optically isolated Electrical transmission of signals with electrical isolation.
Parameter Device data and values which can be set by the user.
Power amplifier This is the unit that controls the motor. The power amplifier generates
currents for controlling the motor in accordance with the signals from the
controller.
Pulse direction signals Digital signals with variable pulse frequencies which signal changes in
position and rotation direction via separate signal wires.
Quick-stop This function is used to command rapid deceleration of the motor by the
power amplifier. To achieve rapid deceleration, the power amplifier must
be operational during the entire deceleration period, the motor must be
dimensioned to allow for sufficient stopping torque, and the power ampli-
fier must be able to absorb the system mechanical load energy/power
during the deceleration.
RS-232 interface Communications interface of the Twin Line controller for the connection
of a PC or the HMI hand-held operating unit.
Sincoder An encoder for registering the position of the rotor of the motor as an
analog sine-cosine signal and as digital position data via the HIFA-C
module. Motor data are held in the Sincoder and are read into the con-
troller once the Twin Line controller is switched on.
Synchronous error Error which is signaled by the controller when it is unable to carry out a
command from the master device.
User units A user unit corresponds to the maximum precision at which a distance,
speed or acceleration value can be input. User units can be set for
parameters involving speed, position and acceleration.
Watchdog Device in the controller which detects internal faults. If a fault occurs, the
amplifier is switched off immediately.
TLADOCCANME, -001, 06.02
Action symbols This action symbol is used for step-by-step instructions which can be
carried out as they are described. If one of the instructions leads to a
noticeable response from the controller, this will be given after the
description of the action to be carried out. In this way you will receive
direct confirmation that a particular step has been properly executed.
Enumeration symbol The enumeration symbol is used for listing individual points in a given
information group in summary form. If the result of steps or sequences
is described, the step to be performed is described first.
Menu paths In the Twin Line Controller commissioning software, actions can be ini-
tiated via "Menu menu item ...". For example, selecting "File
Save" in the "File" menu under menu item "Save" will save data to the
data storage medium.
Parameter name Parameters are written in this handbook in the following description:
parameter group.parameter name (Index:Subindex)
Example: CtrlBlock1.n_max (19:5) for a parameter in the group
CtrlBlock1 describing the maximal rotation.
In the parameter chapter of the device book, more information can be
found about parameters. They are sorted and listed there in groups.
This symbol is used for general notes which give additional
information about the controller.
The CAN bus was originally developed for fast, cost-effective data trans-
mission for automotive engineering. In the meantime the CAN bus is
also used in industrial automation technology, and has been further
developed for communication at the Fieldbus level.
The CAN bus is a standardized open bus, through which devices, sen-
sors and actuators from different manufacturers communicate with each
other.
Twin Line controllers can be integrated with the Fieldbus module CAN-C
in a CAN bus network.
CAN bus devices The CAN bus network consists of several CAN bus devices which are
connected via a bus cable. Every CAN bus device can send commands
if it is configured as a master device. If it is configured as a slave device,
it can receive commands. Data between network devices are transmit-
ted serially.
Master Masters are active bus devices which control data traffic in the network.
Examples of master devices are:
Automation devices, e.g. PLCs
PCs
Programming devices
Slaves Slaves are passive bus devices. They receive control commands and
provide data for the master device. Examples of slave devices are:
Input/output modules
Drive controllers, e.g. Twin Line controllers
Sensors and actuators
TLADOCCANME, -001, 06.02
Master-slave technique Data exchange with drive controllers is effected by means of the master-
slave technique. The master device sends a command to the slave
device, and waits for the slave to acknowledge the command. The slave
responds after a command has been sent by the master.
A drive controller is addressed by means of two identifiers which are
derived from the slave devices address:
Identifiers for transmitted data with which the controller recognizes
a command addressed to it
Identifiers for received data through which the master device identi-
fies a message as confirmation of receipt
The Twin Line controller must be fitted with the CAN-C Fieldbus interface
for operating in a Fieldbus.
CAN-C in
Tw e
i n
L
TLADOCCANME, -001, 06.02
Fieldbus devices from Berger Lahr can be operated in the same Field-
bus segment. However, the commands for Twin Line controllers differ
from those for other Berger Lahr devices in the Fieldbus.
Ramp functions
Brake function
Monitoring functions
The Fieldbus can be used to call up and change Twin Line controller
parameter settings, monitor inputs and control outputs, as well as to acti-
vate diagnostic and fault monitoring functions.
Twin Line manuals Twin Line Controller 4xx, 5xx and 6xx manual for TLC4xx, TLC5xx and
TLC6xx Controllers
Twin Line HMI manual for the hand-held HMI device
TLCT commissioning software manual for the Twin Line Control Tool
software
ISO/DIS 11519-1
ISO/DIS 11898
NEMA ICS 1.1: Safety Guidelines for the Application, Installation and
Maintenance of Solid State Control.
NEMA ICS 7.1: Safety Standards for the Construction and Guide for
Selection, Installation and Operation of Adjustable-Speed Drive Sys-
tems.
TLADOCCANME, -001, 06.02
3 Safety
DANGER
DANGER indicates an imminently hazardous situation which, if not
avoided, will result in death or serious injury.
WARNING
WARNING
WARNING indicates a potentially hazardous situation which, if not
avoided, can result in death or serious injury.
CAUTION
CAUTION
CAUTION indicates a potentially hazardous situation which, if not
avoided, can result in minor or moderate injury.
CAUTION
CAUTION, used without the safety alert symbol, indicates a potentially
hazardous situation which, if not avoided, can result in property damage.
DANGER
HAZARD OF ELECTRIC SHOCK, BURN, OR EXPLOSION
Read and understand this bulletin in its entirety before install-
ing or operating Twin Line drive system products. Installation,
adjustment, repair, and maintenance of these drive systems
must be performed by qualified personnel.
Disconnect all power before servicing the power controller.
WAIT SIX MINUTES until DC bus capacitors discharge, then
measure DC bus capacitor voltage between the DC+ and DC-
terminals to verify that the DC voltage is less than 45 V. The
DC bus LED is not an accurate indication of the absence of
DC bus voltage.
The motor can produce voltage at its terminals when the shaft
is rotated! Prior to servicing the power controller, block the
motor shaft to prevent rotation.
DO NOT short across DC bus terminals or touch unshielded
components or terminal strip screw connections with voltage
present.
Install all covers and close enclosure door before applying
power or starting and stopping the drive system.
The user is responsible for conforming to all applicable code
requirements with respect to grounding all equipment.
Many parts in this drive system, including printed wiring
boards, operate at line voltage. DO NOT TOUCH. Use only
electrically insulated tools.
Before servicing drive system:
Disconnect all power.
Place a DO NOT TURN ON label on the drive system dis-
connect.
Lock the disconnect in open position.
Failure to follow these instructions will result in death or
serious injury. TLADOCCANME, -001, 06.02
WARNING
LOSS OF CONTROL
The designer of any control scheme must consider the poten-
tial failure modes of the control signal paths and, for certain
critical control functions, provide a means to achieve a safe
state during and after a signal path failure. Examples of critical
control functions are Emergency Stop and Overtravel Stop.
Refer to NEMA ICS1.1 Safety Guidelines for the Application,
Installation and Maintenance of Solid State Control and NEMA
ICS7.1 Safety Standards for construction and Guide for Selec-
tion, Installation and Operation of Adjustable Speed Drive
Systems for further information
Separate or redundant control paths must be provided for crit-
ical control functions.
System control signal paths may include communication links.
Consideration must be given to the implications of unantici-
pated transmission delays or failure of the link.
Failure to follow these instructions can result in death or
serious injury.
Work on and with the controller may only be carried out by qualified per-
sonnel.
Qualified personnel are people who, by technical training, knowledge
and experience, are able to assess the work to be done and to recognize
and avoid possible hazards.
Qualified personnel will be aware of the current standards, regulations,
and accident prevention regulations which must be observed when
working on the controller.
TLADOCCANME, -001, 06.02
WARNING
LOSS OF CONTROL
Gateways in the communication link may keep the connection
while the master of the Twin Line controller is out of order.
Use timeout monitoring functions in master and Twin Line con-
troller to insure correct network functioning.
Check timeout monitoring function before starting or stopping
the drive system.
WARNING
UNINTENDED EQUIPMENT OPERATION
Writing to parameters that are designated as reserved may
cause unintended equipment operation.
DO NOT write data to parameters unless the function to be
performed is completely understood. Consult the TLC xxx
technical documentation for additional details.
Bit 0 is right-most (least significant) bit. Bit 15 is left-most (most
significant) bit.
Do not establish Fieldbus communication unless the commu-
nication principles in the Fieldbus are completely understood.
Consult the chapter Communication in the Fieldbus in this
documentation.
WARNING
LOSS OF CONTROL
The designer of any control scheme must consider the poten-
tial failure modes of the control signal paths and, for certain
critical control functions, provide a means to achieve a safe
state during and after a signal path failure. Examples of critical
control functions are Emergency Stop and Overtravel Stop.
Refer to NEMA ICS1.1 Safety Guidelines for the Application,
Installation and Maintenance of Solid State Control and NEMA
ICS7.1 Safety Standards for construction and Guide for Selec-
tion, Installation and Operation of Adjustable Speed Drive
Systems for further information
Separate or redundant control paths must be provided for crit-
ical control functions.
System control signal paths may include communication links.
Consideration must be given to the implications of unantici-
pated transmission delays or failure of the link.
Failure to follow these instructions can result in death or
TLADOCCANME, -001, 06.02
Local and remote access Data exchange and control of Twin Line controllers can be carried out
via various access channels:
Locally via the RS-232 interface with the HMI hand-held operating
device or TLCT commissioning software, or via the signal interface
Remotely over the Fieldbus
Local Fieldbus
Twin Line
HMI
ESC L
N
CR STOP
Automatic access security If an operating mode is set through an access channel, any active com-
mands using this channel must be completed before another access
channel can change mode. One exception exists for the Stop command.
The Stop command is always active and may be entered from any inter-
face.
Channel access to the Twin Line device can be enabled and disabled
using the Commands.On\Auto parameter.
Parameter Name Idx:Sidx TL-HMI Explanation and unit [ ] Range of values Default R/W
Value rem.
Commands.On\Auto 29:30 - Access to the mode setting UINT16 0 R/W
0: Access via all channels -
1: Access only via the channel
that has set this parameter
If this parameter has been set to 1, access via other channels is not
available until the channel that has set the parameter resets it to 0, or
the access port is interrupted (for example, using Fieldbus mode).
If the drive is enabled by at least two enable input sources, the drive will
remain enabled, even if one enable input source is withdrawn. Enable
sources are Enable signal input, TLCT, TLHMI and Fieldbus. All
enabling input sources must be withdrawn to disable the drive.
TLADOCCANME, -001, 06.02
Communication via parameters The basis for communication between Twin Line controllers and the
Fieldbus master device is formed by the Twin Line controller parameters.
A Fieldbus command addresses each parameter through an index and
sub-index.
Example: for the parameter I_max (18:2), the conversion factor from cur-
rent strength to values to be inputted is: 100=1Apk. If input is 100, it will
set a current strength of 1Apk.
TLCxxx
Controller Unit functions
Buffer for
Received data
TLADOCCANME, -001, 06.02
Commands The master device transmits control commands and action commands
with the transmitted data. After sending a control command, it receives
an acknowledgment from the controller confirming whether the process-
ing operation has been successfully carried out and completed.
In the case of an action command, the controller merely reports back
whether a process has been successfully initiated. The master device
must thereafter continuously monitor for the end of the processing task,
by requesting and evaluating data received from the controller.
Details of both commands are described in the section entitled "Action
and control commands" from page 4-14.
Bit 7 6 5 4 3 2 1 0
Byte 1 2 3 4 5 6 7 8
= 8 bits
1 byte 1 word 1 double word
Word 1 2
= 2 bytes
Low byte
High byte
Double word 1 2 3 4
= 4 bytes
High word Low word
TLADOCCANME, -001, 06.02
The first byte transmitted (byte 1) in the eight byte block contains
acknowledgment information for co-originating data exchange.
The data framework with transmitted and received data, and all byte,
word and double word values are given in hexadecimal notation in the
manual. Hexadecimal values are indicated by an h after the value, e.g.
31h.
4.1.3 Identification
Every device in the CAN bus is addressed through identifiers. The iden-
tifier is calculated from the slave devices address and an offset to dis-
tinguish between transmitted and received data.
Identifier for transmitted data = Device address* 16 + 0
Identifier for received data = Device address* 16 + 8
Examples:
The master device transmits to a slave device which has the
address 126 (7Eh):
Identifier transmitted data: 126 (7Eh) * 16 = 2016 (7E0h)
The master device waits for the received data from the slave device
through:
Identifier for received data: 126 (7Eh) * 16 + 8 = 2024 (7E8h)
Identifiers are transmitted with administration data, they do not form part
of the eight byte data framework.
32 devices can be addressed in one network branch in the CAN bus
Fieldbus, and up to 128 devices in a network which has been extended
with repeaters.
Byte 1 2 3 4 5 6 7 8
Read sf 0 0 0 0 0 0 0 Byte 5 6 7 8
Bit 7 6 5 4 3 2 1 0 Bit 31 . . . 0
Write sf 0 0 0 0 1 0 0
Byte 1: requestdata This byte contains control information for acknowledging and synchro-
nizing as well for differentiating whether the command is a write com-
mand or a read command.
cmderr=0: Readdata
Byte 1 2 3 4 5 6 7 8
cmderr=1: Errnum
Fb-statusword
Controldata cmderr=0: readdata, 4 bytes
Responsedata
Byte 5 6 7 8
Bit 31 . . . 0
Responsedata, 1 byte
Bit 7 6 5 4 . . . 0
Fb-statusword, 2 bytes
x_err x_end x_add_info 0 0 0 0 0 warning Sign_SR FltSig 0 cos
Bit 15 14 13 12 11 10 9 8 7 6 5 4 3 . . . 0
Byte 1: responsedata The first byte contains the response data from the controller on acknowl-
edgment, synchronization and error detection, and on the identification
of the Fieldbus service.
Byte 3, 4: fb-statusword The operating status of the controller is monitored by means of the sta-
tus signals. This information can also be derived via the Low word of the
driveStat parameter (28:2).
Byte 5..8: readdata The readdata contains control information, e. g. the current position of
the motor. The controller updates this control information before each
message is sent to the master device. It sends this information to the
master device with each receive data set.
The master device requests new read data by means of a command with
the status, read value, see "Data framework for transmitted data", page
4-5, byte 1.
When a parameter of type INT16 or UINT16 is transmitted, the value is
stored in readdata in bytes 7 and 8, and the entries in bytes 5 and 6 have
no significance.
The data types used can be found in the controller's manual.
If no read value has been requested yet, the controller communicates
the current axis position.
Read data are transmitted when the command has been executed with-
out error.
Byte 7, 8: errnum If a command is not executed correctly, the command error bit cmderr
in byte 1 signals an error. The cause of the error can be determined via
the error number errnum. A list containing a description of the error
TLADOCCANME, -001, 06.02
WARNING
LOSS OF CONTROL
Provide alternate control paths (Start, Stop and Speed):
When not enabling timeout monitoring.
When motor control is required while a communication fault
exists.
Failure to follow these instructions can result in death or
serious injury or equipment damage.
Timeout monitoring A timeout time can be set in the slave device within which the master
device must send a new message. If no message is received from the
master in this time, the controller will halt the processing operation which
has been triggered over the Fieldbus.
The master device can report by sending a command, which is acknowl-
edged by the controller.
The time interval to the timeout signal can be set via the M4.toutCan
parameter (24:26). Time interval 0 switches this monitoring off.
When not using timeout monitoring, the loss of communication will not
cause the controller to generate a fault. The controller will continue to fol-
low the last valid command it received over the network.
NOTE: Use this function during normal network operation. The timeout
monitoring may be disabled during start-up and troubleshooting. The
system designer must provide in this case alternate control paths for
starting, stopping, and controlling the motor.
Controller response on timeout monitoring fault can result in two differ-
ent situations:
If the drive was enabled via input signal, (IO-Mode= 2, for
IO_mode=2 see technical documentation) the drive executes a
quick stop when a movement is commanded over Fieldbus.
If the drive was enabled via Fieldbus (IO-Mode=0 or 1, for
IO_Mode=0,1 see technical documentation), the drive disables, no
quickstop is executed and the output signals and forcing commands
TLADOCCANME, -001, 06.02
The sf bit/rf bit mechanism ensures that the controller does not exe-
cute the command a second time.
WARNING
LOSS OF CONTROL
Do not establish Fieldbus communication unless the commu-
nication principle of sf-rf is completely understood.
Critical commands may not be executed because of
unchanged sf bit or invalid sf-rf-sf sequences.
Failure to follow this instruction can result in death or
serious injury or equipment damage.
sf
rf
sf=rf=0 rf=sf=0
1 sf rf Execute
New command sf: 0->1
command
...
rf=sf=1 rf=sf=1
Execute
New command sf: 1->0 0 sf rf
command
Response from the slave device If the command has been carried out, the controller switches over the rf
bit and sends the signal together with the response data back to the
master device.
If the controller receives a command which has already been carried
out, it sends an acknowledgment back to the master device together
with the latest status data.
Evaluation by the master device The master device receives confirmation from the controller by means of
rf=sf after the command has been carried out.
rf=0
The first command sets the speed, and the second initiates a positioning
process. The bytes mean:
Byte 1 (requestdata): send new command: switch over sf bit; write
access with bit 2 =1: 4h
Bytes 2-4: sub-index and index for the command:
05h:00 23h for PtP set speed PTP.v_target (35:5)
03h:00 23h for relative positioning PTP.p_relPTP (35:3)
Bytes 5-8 (commanddata): setting value for the command
00 00 00 38h: PtP speed, here 38h = 56 units
00 00 13 E4h: positioning path, here 13E4h = 5.092 units
Process
command
no
cmderr = 0
? Acknowledge
yes data framework
Synchronous
Command executed
error
If a command could not be correctly carried out, the controller sets the
command error bit cmderr to 1 and reports a synchronous error.
Action commands Action commands start a movement. The controller switches on the
appropriate operating mode, and loads the required parameters. It sig-
nals the start of the movement as confirmation of the command back to
the master device. For example, an action command can initiate a posi-
tioning process.
Process
command
no
cmderr = 0
? Acknowledge
yes data framework
TLADOCCANME, -001, 06.02
Synchronous
Command executed
error
Action started
If an action was not able to be initiated correctly, the controller sets the
command error bit cmderr to 1, and signals a synchronous error.
Monitoring the operating status The operating status and the completion of the movement command
must be continuously monitored by the master device via the status
word fb-statusword in the received data.
Status bits Internally the controller administers the operating status for every oper-
ating mode via separate status bits. It only reports the status of the cur-
rent operating mode on the Fieldbus. The status bits have the following
meanings:
Bit 13, x_add_info: Signal dependent on operating mode
Bit 14, x_end: Processing status of operating mode
0: Processing running
1: Processing finished, motor stopped
Bit 15, x_err: Error status during processing
0: Error-free operation
1: Error has occurred
Master
Command executed
device
Action started
Slave device
Transmitted data Transmitted data
framework with sf = rf
Acknowledge
data framework
Received Received data
data framework (acknowledge)
no
x_end = 1
?
yes
Check for asynchronous
error and warning
After replacing a slave device, the new device should perform in exactly
the same manner as the old one. To achieve this, the new device must
have the same parameter value settings.
In the case of IO_mode = 0, the device recognizes the values of the
Fieldbus parameters via the signal interface inputs when it starts up. In
the case of IO_mode 0, the Fieldbus parameters have to be set before-
hand via the HMI or TLCT software, otherwise no communication is pos-
sible with the device in the Fieldbus network.
If the default values of other parameters are to be changed, these values
can be stored in the master controller. They must be transmitted every
time the Twin Line controller starts up, e.g. in ReadyToSwitchOn
status.
TLADOCCANME, -001, 06.02
5.1 EMC
5.2 Installation
WARNING
UNINTENDED EQUIPMENT OPERATION
Unintended equipment operation may happen if address or baud
rate is changed during operation.
When using the setting facility through the signal interface, the controller
interprets the switching states of inputs ADR_1 to ADR_64 as the net-
work address and the BAUD_1 and BAUD_4 inputs as the baud rate set-
ting. A description of possible pin assignments and settings for the
interface can be found in the chapter in the manual on connecting the
signal interface.
When setting address and baud rate via parameters, the address is
input locally in parameter M4.addrCan (24:24) with a hand-held oper-
ating unit, and the baud rate in parameter M4.baudCan (24:25).
The baud rate must be set to the same rate for all devices in the Field-
bus. The new address and baud rate is recognized only during power up
of 24 V.
TLADOCCANME, -001, 06.02
CAN-OK
5 1 -
- 9 - 6 6
- GND 2
- CAN_LOW
- CAN_HIGH 7
GND GND 3
CAN_HIGH - -
CAN_LOW -
GND -
- 6 - 9
1 5
Shield (ground)
Fig. 5.1 Fieldbus module interface connections with plug and socket.
For controllers with a hood, the cable must be led downwards from the
connection.
Cable specification Screened cable
Minimum cross section of signal wires: 25 AWG (0.14 mm2)
Twisted-pair cables
Screen to be earthed at both ends
Maximum length is dependent on number of devices, baud rate and
signal transmission times. The higher the baud rate, the shorter the
bus cable has to be.
Guideline: 131 ft. (40 m) at 1 Mbits/s, 1640 ft. (500 m) at 100 kbits/s
TLADOCCANME, -001, 06.02
Display The LED on the CAN-C module lights for approximately 2 seconds when
Fieldbus data have been correctly received.
5.2.4 Termination
Fieldbus devices are connected in segments with a linear structure, con-
sisting of 32 master and slave devices. Every segment must be termi-
nated at both ends with an active bus terminator or a terminating resistor
of 120 . When using the Twin Line controllers network accessory
cable, termination can be effected by means of a switch in the connect-
ing plug to external bus devices.
When there are more than 32 devices, individual segments are con-
nected by means of repeaters. Each segment must then be terminated
separately.
TLADOCCANME, -001, 06.02
5.3 Set-up
5.3.2 Troubleshooting
If no answer is received from the controller, check the following settings:
Is the controller switched on and master device started up for net-
work operation?
Cable connections mechanically sound?
Is the LED at the Fieldbus input of the controller lit? If not, either
network operation or the polling process are not working. The LED
shows data movement across the network interface.
Has the correct address been set on the controller?
TLADOCCANME, -001, 06.02
Have the identifiers for transmitted and received data been correctly
calculated?
Has the baud rate been set at the same rate for master device and
controller?
Is the status display on the Twin Line controller showing 3, 4 or
6 without blinking? If not, there is an operating fault on the control-
ler. Information on the causes for errors and on ways to correct
them can be found in the manual.
Overview The program examples show practical applications for the use of Twin
Line controllers in networks. The following elements are shown:
Description of task
Initial conditions
Commands required in transmitted data framework
Response of the controller in receiving
Possible limitations on command execution
Transmitted and received data Send and receive data are shown in hexadecimal notation.
The master command is given in each case. The response of the con-
troller after carrying out the command correctly, is only shown if this is
necessary for a further description. Otherwise positive acknowledgment
of the command is assumed.
Transmit data
Enquiry
Sub-index
Index
ID for transmit process
(Master -> Controller)
The data type of the value written can be taken from the value range
column in the parameter description of the manual. When an INT16 or
UINT16 value is transmitted, the value is stored in bytes 7 and 8 0 must
be entered in bytes 5 and 6.
Receive data
Fb-statusword
Controldata
Responsedata
ID for receive process
(controller - > master)
The data type of the value written can be taken from the value range
column in the parameter description in the manual. When an INT16 or
UINT16 value is read, the value is stored in bytes 7 and 8 and bytes 5
and 6 show 0. The error number for a synchronous fault message is
stored as a UINT16 value, and in responsedata a fault is designated by
cmderr=1.
Irrelevant values Values which are not relevant for the example are shown by an x.
Value units If read or write data are given in user-defined units [usr], they must be
converted using normalization factors. Information on this can be found
in the manual in the chapter entitled "Using operating functions" under
"Normalization" on page 6-27.
Acknowledgment bits In all examples, the value 0 is assumed before the first transmit com-
mand for acknowledgment bits sf and rf. The first command must
therefore transmit with sf = 1. This also applies when the description of
a subject is split across several examples. A new command can be rec-
ognized by the change in level.
Data framework In the examples only the 8 byte-sized data framework for Twin Line con-
trollers is shown. The control bytes specific to the Fieldbus must be
added by the master devices user program in accordance with the Field-
bus protocol.
Manual The examples are designed to complement the function descriptions in
the manuals. The basic way in which operating modes and functions
work are described in the manual. A list of all parameters which apply to
the operating modes and functions are also available in the manual.
TLADOCCANME, -001, 06.02
Example: the conversion factor from current strength to input values for
the parameter, I_max (18:2) is: 100=1Apk. If 100 is entered, a current of
1Apk is set.
Byte 3 Byte 4
Fb-statusword: x x x x x x x x xxxx0000
Bit 3..0
cos
Operating states 0..3, 5, 8 and 9 are transitional states in which the con-
troller does not dwell in if it is working correctly.
If the controller remains in operating status 1, 2 or 3 when the 24 V
power supply is switched on, then a fault has occurred during
initialization. Help in correcting the fault can be found in the Controllers
User Manual in the chapter titled Installation, under Installation
Troubleshooting.
TLADOCCANME, -001, 06.02
WARNING
UNINTENDED EQUIPMENT OPERATION
Commands entered in this parameter may be executed imme-
diately upon receipt by the drive controller.
Before sending any commands, ensure that the machine is
clear and ready for motion.
Failure to follow these instructions can result in death or
serious injury.
Switching off the power amplifier Switch off the power amplifier.
Teach
List
List1Data0..List1Data63, List2Data0..List2Data63
Capture
I/O
M1..M4
ErrMem0..ErrMem19
Setting the speed for fast manual Set the speed for fast manual movement to 500 usr = 01F4h usr.
movement
Initially, the set speed must not be greater than the entry in
Motion.v_target0. The controller must be in Operation Enable status
(see chapter "Changing the operating status" on page 6-4) and the
Manual.n_fastMan parameter must be available on the Twin Line con-
troller.
The speed for fast manual movement can be set before initiating the
movement or while it is taking place.
A parameter value can be read and the data type it corresponds to can
be found in the description of parameters in Chapter 12 of the Twin Line
controller manual. All values in the parameter list in the R/W column
marked with R can be read. The data type can be found in the value
range column.
If a 16-bit value is accessed, the value read in bytes 7 and 8, and the
value of bytes 5 and 6 shall read as 0.
TLADOCCANME, -001, 06.02
If a 16-bit value is accessed, it will be found that the value read in bytes
7 and 8, and the value of bytes 5 and 6 are 0.
Status information dependent on Every operating mode has its own acknowledgment object. The status
operating mode information for PTP positioning, for example, is provided by the
PTP.StatePTP parameter.
Request detailed status information on the PTP positioning operat-
ing mode.
The read value must be available on the controller and in the current sta-
tus.
If a 16-bit value is accessed, it will be found that value read in bytes 7 and
8, and the value of bytes 5 and 6 are 0.
TLADOCCANME, -001, 06.02
WARNING
UNINTENDED EQUIPMENT OPERATION
Commands entered in this parameter may be executed imme-
diately upon receipt by the drive controller.
Before sending any commands, ensure that the machine is
clear and ready for motion.
Failure to follow these instructions can result in death or
serious injury.
RxD 80h xxh xxx6h 0000 0036h Outputs Q1, Q2, Q4 and
ACTIVE_CON are set.
WARNING
UNINTENDED EQUIPMENT OPERATION
Commands entered in this parameter may be executed imme-
diately upon receipt by the drive controller.
Before sending any commands, ensure that the machine is
clear and ready for motion.
Failure to follow these instructions can result in death or
serious injury.
The first station is 324 usr (e.g. 324 mm) away from the reference posi-
tion 0. The station is reached by means of an absolute positioning pro-
cess. The second station is a further 500 usr away and is reached by
means of relative positioning.
The journey to position 2 is interrupted by a STOP signal. After the fault
has been corrected, the interrupted journey is to be resumed and com-
pleted.
The following conditions must be met in order to be able to carry out this
task:
All the necessary function settings must have been made, see page
6-24.
The 0 position must be defined, see page 6-18.
There must be no homing movement active.
Carrying out absolute positioning Set the absolute motor movement to position +324 usr with a set
speed of 200 usr.
TxD 35.3 PTP.p_relPTP 84h 03h 0023h 0000 01F4h Start of relative positioning by
+500 usr = 01F4h usr
WARNING
UNINTENDED EQUIPMENT OPERATION
Commands entered in this parameter may be executed imme-
diately upon receipt by the drive controller.
Before sending any commands, ensure that the machine is
clear and ready for motion.
Failure to follow these instructions can result in death or
serious injury.
All the necessary settings must have been made via the functions,
see page 6-24.
The controller is in the OperationEnable status, see page 6-4.
There is no homing movement active.
WARNING
UNINTENDED EQUIPMENT OPERATION
Commands entered in this parameter may be executed imme-
diately upon receipt by the drive controller.
Before sending any commands, ensure that the machine is
clear and ready for motion.
Failure to follow these instructions can result in death or
serious injury.
All the necessary settings must have been made via the functions,
see page 6-24.
The controller is in the OperationEnable status, see page 6-4.
There is no homing movement active.
Set gear to Disable status and wait until drive has stopped:
All the necessary settings must have been carried out via the func-
tions, see page 6-24.
The controller is in OperationEnable status, see page 6-4.
There is no homing movement active.
Gear processing is active.
The set speed of the offset movement can be changed during the move-
ment by accessing Gear.n_tarOffs.
There are various setting options available in the parameter group
Gear for processing the PTP offset positioning operation.
6.6.4 Homing
WARNING
UNINTENDED EQUIPMENT OPERATION
Commands entered in this parameter may be executed imme-
diately upon receipt by the drive controller.
Before sending any commands, ensure that the machine is
clear and ready for motion.
Failure to follow these instructions can result in death or
serious injury.
Dimension setting Set the current drive position to a value of 1000 usr. The value
serves as a reference point for further movements.
After referencing has been successfully carried out, the ref_ok bit in
controldata is set to 1.
Carrying out a homing movement Carry out a homing movement in a negative direction to the addi-
tional reference switch. The search run to the switch is to be made
at a speed of 500 usr.
After homing has been successfully carried out, the ref_ok bit in con-
troldata is set to 1.
There are various setting options available in the parameter group
Home for processing the operating mode.
TLADOCCANME, -001, 06.02
WARNING
UNINTENDED EQUIPMENT OPERATION
Commands entered in this parameter may be executed imme-
diately upon receipt by the drive controller.
Before sending any commands, ensure that the machine is
clear and ready for motion.
Failure to follow these instructions can result in death or
serious injury.
There are two different movement profiles available for manual move-
ments. Profiles can be selected by means of Manual.typeMan.
Initiate a classic manual movement in a positive direction of rotation
with a set slow sense of rotation. Then change the values to enable
a classic manual movement to be carried out in a positive direction
of rotation at a fast speed.
In order to be able to carry out the example, the following condition must
be met:
All the necessary settings must have been made via the functions,
see page 6-24.
The controller is in OperationEnable status, see page 6-4.
There is no homing movement active.
TxD 41.1 Manual.startMan 84h 01h 0029h 0000 0000h Selection: no direction of rotation, i.e.
complete manual movement
There are various option settings available in the parameter group Man-
ual for processing the operating mode.
WARNING
UNINTENDED EQUIPMENT OPERATION
Commands entered in this parameter may be executed imme-
diately upon receipt by the drive controller.
Before sending any commands, ensure that the machine is
clear and ready for motion.
Failure to follow these instructions can result in death or
serious injury.
The movement data for the Data set operation operating mode are
stored in data set memories, RecoData0..RecoData49.
RecoData0.TypeReco can be used to choose between PTP Set and
VEL Set; data set operation of the selected type can be initiated via
Reco.startReco.
The following examples provide a description of the sequence for setting
up the PTP data set, initiating data set operation and resuming an inter-
rupted data set operation via Record.continue.
All the necessary settings must have initially been made via the func-
tions, see page 6-24.
Device types which can be used TLC4xx
Setting PTP data sets Set the data set data for the PTP data set.
Set data set 15 with the following processing values:
Initiating PTP data set operation Activate the PTP data set 15, and check the movement sequence.
Complete interrupted data set Complete data set operation interrupted by STOP signal.
operation
In order to be able to resume and complete an interrupted data set oper-
ation, the following conditions must be set:
TLADOCCANME, -001, 06.02
Graph (Fig. Number of the list Listentype 1xxx:1 Position 1xxx:2 Triggersignal Speed 1xxx:4
6.5) refer- 1100:x...1163:x 1xxx:3
ence point
0 1100 1 10 0 0
1 1101 1 50 1 0
2 1102 1 120 0 0
3 1103 1 200 1 0
4 1104 1 300 0 0
5 1105 1 470 1 0
6 1106 1 490 0 0
- ... ... ... 0 0
All the necessary settings must have initially been made by the functions
that are described in this chapter, Using operating functions.
TLADOCCANME, -001, 06.02
Starting number = 0
Finishing number = 6
The setting of the other list points 1..6 is made in a similar way via index
L1Data1..L1Data6.
Setting the starting and finishing numbers of the list range:
Activating list control Activate list 1 from the example shown above, and monitor the pro-
cessing sequence
The number of the list entry last activated can be interrogated via
List.actList.
The level of the output TRIGGER can be set via I/O.OutTrig when list
control is inactive.
6.7.2 Teach-in
The current absolute position in user-defined units [usr] can be stored in
a selected list or data set memory as a position value using the Teach-
in function.
The following example describes the process by which list 1 is set up for
Teach-in as a position/signal list, and how the actual Teach-in process is
carried out. Execution is monitored.
All the necessary settings must have initially been carried out via the
functions which are described in this chapter Using operating func-
tions.
Preparing Teach-in Set list 1 as the memory for Teach-in processes.
Set list 1 as a position/signal list.
Carrying out Teach-in Carry out Teach-in in order to store the current motor position in list
1 under entry 5. Monitor the processing status.
6.7.3 Normalization
Position, speed and acceleration values are stored in the controller in
user-defined units. Normalization converts user-defined units to the
controller's units and vice versa. The normalization factor is set by spec-
ifying the numerator and denominator; the value is adopted when the
numerator is transmitted. More detailed information can be found in this
manual under Normalization.
It is only possible to change values when the power amplifier is switched
off e.g. in ReadyToSwitchOn status. The values specified in [usr] are
TLADOCCANME, -001, 06.02
converted into control values when the power amplifier is activated, and
the threshold values are checked.
Values stored in the controller in [usr] lead to changed processing values
when the relevant normalization factor is changed. Therefore, the safety
distance of a homing movement Home.p_outHome must be adjusted
when the position normalization is changed.
Controller value
Normalization factor=
User value
Setting position normalization Set position normalization so that changing the user position by
1000 usr results in one revolution of the motor.
For this task the power amplifier must be switched off, i.e. the controller
is in ReadyToSwitchOn status, see page 6-4.
All the necessary settings must have been made via the functions which
are described in this chapter Using operating functions.
The user can evaluate the cause of the fault in detail via the internal
monitoring signals.
External monitoring signals A positioning operation has been interrupted by a light barrier at the
STOP input. Evaluate the cause of the fault.
The cause of the fault can be evaluated in detail via the internal moni-
toring signals.
The controller must have been interrupted via the STOP input.
If the faults have been reset or the 24 V power supply has been switched
off and on again, the cause of the last interruption is deleted.
If more than one fault has been detected, only the fault which has led to
the interruption of the drive, i.e. to the controller leaving OperationEn-
able status, is stored as the cause of the last interruption. Any conse-
quential faults, which may occur, are stored in chronological order in the
normal error memory.
If the fault has been successfully reset, the controller quits fault status.
The controller enters OperationEnable status.
The fault entry in the error memory is not deleted as a result of this
action.
TLADOCCANME, -001, 06.02
TxD 900.3 ErrMem0.Time 80h 03h 0384h 0000 0000h Request: Time of fault since power
amplifier was switched on
7 Error handling
Check execution
Check of synchronous error
of command
no Evaluate error
cmderr = 0
? number "errnum"
yes
cmderr is only valid after the command has been acknowledged. The
controller sends back an error number errnum in bytes 7 and 8 of the
received data, and from this number the cause of the error can be deter-
mined.
A table with the error numbers can be found in the manual in the chapter
on diagnostics and error correction.
TLADOCCANME, -001, 06.02
Error message If the controller sets the x_err signal, it immediately interrupts the
movement operation and depending on the class of fault, it reacts either
by braking or by immediately switching off the amplifier. Besides the
x_err bit, the bits FltSig or Sign_Sr are also set. The meaning of the
error message must be determined through the relevant parameters.
Monitor slave
Check for asynchronous error device status
Internal signal
External signal
Sign_Sr yes Evaluate
= 1? "Status.Sign_SR" (28:15)
no
Other error
Evaluate
"Status.StopFault" (32:7)
Warning
yes Evaluate
warning
"Status.FltSig_SR" (28:18)
=1?
"Status.IntSigSR" (29:34)
no
Parameters, fault classes and measures for correcting faults are all
described in the manual in the chapter on diagnostics and error correc-
tion.
DANGER
HAZARD OF ELECTRIC SHOCK, BURN, OR EXPLOSION
Read and understand this bulletin in its entirety before install-
ing or operating Twin Line drive system products. Installation,
adjustment, repair, and maintenance of these drive systems
must be performed by qualified personnel.
Disconnect all power before servicing the power controller.
WAIT SIX MINUTES until DC bus capacitors discharge, then
measure DC bus capacitor voltage between the DC+ and DC-
terminals to verify that the DC voltage is less than 45 V. The
DC bus LED is not an accurate indication of the absence of
DC bus voltage.
The motor can produce voltage at its terminals when the shaft
is rotated! Prior to servicing the power controller, block the
motor shaft to prevent rotation.
DO NOT short across DC bus terminals or touch unshielded
components or terminal strip screw connections with voltage
present.
Install all covers and close enclosure door before applying
power or starting and stopping the drive system.
The user is responsible for conforming to all applicable code
requirements with respect to grounding all equipment.
Many parts in this drive system, including printed wiring
boards, operate at line voltage. DO NOT TOUCH. Use only
electrically insulated tools.
Before servicing drive system:
Disconnect all power.
Place a DO NOT TURN ON label on the drive system dis-
connect.
Lock the disconnect in open position.
Failure to follow these instructions will result in death or
serious injury. TLADOCCANME, -001, 06.02
Shipping The controller must be protected against impact while in transit. Use the
original packing material for this purpose.
Storage Store the controller within the specified storage limits for room temper-
ature and humidity.
Protect the controller from dust and dirt.
Disposal When servicing or decommissioning, dispose of this equipment in
accordance with the applicable standards for this classification of equip-
ment. The controller is made from many recyclable materials. Some
materials may require special disposal procedures.
For recycling purposes, split the controller into the following parts
Housing, screws and terminals for ferrous metal recycling
Cables for copper recycling
Connectors, hood for plastics recycling
9 Accessories
Index
A
Accessories
Order number 9-1
Acknowledgment mechanism 4-11
Action commands 4-14
Address settings 5-3
Addressing of transferred data 4-5
Asynchronous errors 7-3
Axis information 4-7
C
CAN bus
Connecting the Twin Line controller 5-4
Fieldbus devices 2-2
CAN-C-interface 2-1
CAN-Interface, connecting 5-4
cmderr (command error)
Bit in received data 4-7
Function 4-12
Command
Action commands 4-14
Control commands 4-14
Read value (ccs=0) 4-6
Write value (ccs=4) 4-6
Command error 4-12
Commanddata, Byte in transmitted data 4-4, 4-6
Commissioning software TLCT
Local access with 4-2
Order number 9-1
Connection monitoring 4-9
Control commands 4-14
Controldata
Allocation of operating mode 4-15
Byte in received data 4-7
cos, Bits in receive data 4-8
D
Data framework 4-4
Transmitted data 4-5, 4-6
Data structure 4-4
Deinstallation 8-2
Diagram
Carrying out a control command 4-14
Carrying out an action command 4-14
TLADOCCANME, -001, 06.02
Error
Asynchronous 7-3
Synchronous 7-2
Error message, monitoring with "x_err" 4-8
Error number "errnum" 4-8
Examples
Device information 6-9
Electronic gear 6-16
Fault processing 6-31
FaultReset 6-35
Homing 6-18
Inputs 6-11
List control 6-24
Manual movement 6-20, 6-21
Normalization 6-27
Operating functions 6-24
Operating modes 6-12
Operating status 6-3
Outputs 6-11
Parameter settings 6-9
Point-to-Point Positioning 6-12
Position value capture 6-29
Processing parameters 6-7
Speed mode 6-15
Status information 6-10
Structure 6-1
Teach-in 6-27
F
fb-statusword
Byte in received data 4-8
Evaluating asynchronous errors 7-3
Fieldbus
Cable installation 5-1
Network topology 1-1
Operating modes with Twin Line devices 2-2
Transmission technology 1-1
Fieldbus interface CAN-C 2-1
FltSig, Bit in received data 4-8
H
h, see hexadecimal value
Hazard categories 3-1
Hexadecimal value 4-4
HMI hand-held operating unit
Local access with 4-2
Manual 2-3
Monitoring Fieldbus operation 5-6
TLADOCCANME, -001, 06.02
Installation
Address settings 5-3
Connecting the Twin Line controller 5-4
Device installation 5-3
L
Local access 4-2
M
Maintenance 8-1
Master-slave technique 1-2
Mode, Bit in framework of received data 4-7
Monitoring
Error of controller with "x_err" 4-8
External error with "Sign_SR" 4-8
Internal error with "FltSig" 4-8
Operating status with "x_add_info" 4-8
With "x_end" 4-8
Monitoring the operating status 4-15
O
Online command processing 4-3
Operating status
Changing 6-4
Checking 6-3
Evaluate 4-8
Monitoring with "x_end" 4-8
Operation, Monitoring end of operation with "x_end" 4-8
Optimizing network performance 3-4
P
Program examples, Structure 6-1
pwin, Bit in received data 4-7
Q
Qualification of the personnel 3-3
R
readdata, byte in received data 4-8
Received data
Communication 4-4
Examples 6-1
Identifier 4-5
ref_ok, Bit in received data 4-7
Repeater 5-5
responsedata, Byte in received data 4-7
rf (receive flag)
Acknowledgment mechanism 4-11
Bit in received data 4-7
TLADOCCANME, -001, 06.02
S
Safety notes 3-1, 3-2
Service information 8-1
Set-up
Initiating network operation 5-6
Troubleshooting 5-6
sf (send flag)
Acknowledgment mechanism 4-11
Bit in transmitted data 4-6
Shipping 8-3
Shipping, storage and disposal 8-2
Sign_SR, Bit in received data 4-8
Signal interface, addressing with 5-3
Slaves
Devices 1-1
Task 1-1
Status information 4-8
Storage 8-3
Sub-index, Byte in transmitted data 4-4, 4-6
Synchronous error 7-2
System requirements 2-1
T
Termination 5-5
Transmitted data
Communication 4-4
Data framework 4-5, 4-6
Examples 6-1
Identifier 4-5
U
Unit address, identifier for 4-5
W
Warning
Bit in received data 4-8
Warning message with "warning" 4-8
Warranty 8-1
X
x_add_info, Bit in received data 4-8
x_end, Bit in received data 4-8
x_err
Bit in receive data 4-8
Error message 7-4
TLADOCCANME, -001, 06.02