Electro-optical Absolute Encoders CRD 12098 ME

CRD/S3 series with SIL2 certificate

MULTITURN  PROFIsafe Interface 12 / 2015

■■ Compact and robust design for mechanical

engineering and industrial plant applications
■■ PNO Profisafe Certificate No. Z20020
 SIL2 according to TÜV certificate
Nr. 44 207 11 391019-001
■■ With PROFIsafe Interface to PROFIsafe-Profile
for Safety Technology, Version 1.30, No. 3.092/
Version 2.00, No.3.192 (PNO)
■■ DP-Slave Class 2 functionality in accordance
with Profibus-Profile for Encoder, No. 3.060
(PNO)
■■ Total number of positions: 225 (25 bits) max.
■■ With Velocity signal depending on rotation
sense, gating time adjustable
■■ SIL2 Certificate in preparation
■■ Operating speed up to 2500 min-1 ■■ Protection grade IP 65 or IP 66
 Optonal: Flange, housing and connecting cap ■■ Diagnosis LED‘s for supply voltage, SRD,
in stainless steel - series "SRD" Class 2 and Error

General description Construction

The encoder CRD/S3 has been designed according to the Flange and housing of aluminium - respectiny stainless steel
PROFIsafe profile for safety technology to the PNO standards for SRD series - 12 mm ball-bearings with Nilos ring seal or
No. 3.092/ 3.192 (PNO). The protocol meets the DP slave class radial packing ring seal - code disk of glass or of deformation
2 functionality to PNO No. 3.060 and is described in the TWK resistant plastic - GaAlAs diodes - photo-transistor array with
user manual no. CRD 12099. comparator and trigger circuits for long-term stabilization of
the sensor systems gate array - SMD technology - additional
In addition to the angle position a velocity measurement signal implementations for safety functions to comply with SIL2 to
is generated via the position data. The gating time of the velocity IEC 61508.
measurement is adjustable in the range of 1...255 ms.

The PROFIsafe-Profile has been developed for safety relevant Connecting cap
applications where human lives and environmental objects
may be exposed to danger. In case of any unexpected event T-coupler functionality with integrated addressing code
the device should revert to a fail-safe operation. To comply Connection leads and functions:
with this requirement the model CRS/S3 encoders feature
additional surveillance functions which are described in the  1 cable for the supply voltage
manual no. CRD 12099. (+ VS = 24 VDC, - VS = 0 VDC), M12 cable gland
 1 cable for Bus in ( A, B ), M16 cable gland
The SPC3 Siemens PROFIBUS controller has been implemen-
ted at the output interface. The maximum data transmission  1 cable for Bus out (A‘, B‘), M16 cable gland
rate is 12 MBaud.  The station address and bus-termination resistors are set
with DIP switches in the connecting cap.
To guaranty a fail safe operation, a fail safe master, e.g. Siemens
F-CPU with S7 Distributed Safety must be used.

Because of different parameter and diagnosis data the CRD/

S3 ist not compatible to the preceding model CRD/S2.

TWK-ELEKTRONIK GmbH · PB. 10 50 63 · D-40041 Düsseldorf · Tel.: +49/211/63 20 67 · Fax: +49/211/63 77 05 · [email protected] · www.twk.de
 Electro-Optical Absolute Encoders series CRD/S3

Electrical data Safety Data (IEC61508)

■■ Sensor system: GaAlAs diodes,  According to IEC 61508:
photo-transistor array □ PFH = 4,35 x 10-7 1/h
■■ Resolution (max.): 8192 positions per revolution □ SFF = 98 %
■■ Measuring range: 4096 revolutions □ HFT = 0
■■ Total number of positions: 225 (25 bits max.) □ SIL2
■■ Graduation code: Gray
■■ Max. position variance: ≤ ± 2‘ 38“ at 4096 positions/rev.  According to EN ISO 13849-1:
≤ ± 1‘59 at 8192 positions/rev. □ MTTFD > 100 years
■■ Output code: Natural binary □ DC = 98 %
■■ Velocity signal: depending on rotation sense, □ Category 2
16 bit, unit: steps/gating time
□ Performance Level D
■■ (the gating time is programmable
in the range of 1 to 255 ms,
 Maximum service life: 20 years
default: 10 ms)
■■ Code sense: CW or CCW; (programmable)
■■ Supply voltage range: + 13,5 VDC to + 30 VDC
■■ Power consumption: PD ≤ 3,5 W
(Inrush current ≤ 300 mA) Mechanical data
■■ Interface: Line driver in acc. with RS 485;  Operating speed: 2500 min -1 max
galvanic separation is achieved  Angular acceleration: 105 rad/s² max.
with an opto-coupler. Supply  Moment of inertia (rotor): 45 gcm²
voltage galvanic separation is  Operating torque: ≤ 5 Ncm (8 Ncm - CRD66)
achieved with DC/DC-converter (at 1000 rpm)
■■ Electromagnetic  Starting torque: ≤ 1 Ncm (4 Ncm - CRD66)
compatibility (EMC): EN 61000-4-2 (ESD)  Permissible shaft load: 250 N max. (axial and radial)
EN 61000-4-4 (Burst)  Bearing life expectancy: 109 revolutions *
EN 61000-6-4 (Emission)  Mass
CRD 58, 65 and 66: ca. 0.7 kg with connecting cap
CRD 105: ca. 1.4 kg with connecting cap
* At max. shaft load and working temperature between - 20 °C
Bus data and + 60 °C. Higher values are permissible with lower loads.

 Specification: PROFIsafe-Profile for Safety

Technology
(No. 3.092/ 3.192 - PNO)
Profibus-Profile for Encoder
(No. 3.060 - PNO) Environmental data
 Data transmission rate: 9,6 kBaud to 12 MBaud
 Operating temperature range: - 20 °C to + 60 °C
 Manufacturer code: 1962h  Storage temperature range: - 20 °C to + 60 °C
 Stations address: 1 to 126  Permissible rel. humidity: 85 % without condensation
Default value: 123  Resistance to shock: 200 m/s²; 6 ms
adjustable via DIP switches (DIN IEC 68)
 GSD File: in acc. with DIN 19245-3,  Resistance to vibration: 5 Hz to 2000 Hz; 100 m/s²
PROFIBUS-DP (DIN IEC 68)
 Diagnosis LED's*: UB (green) - Supply voltage  Protection grade (DIN 40 050)
SRD (green) - SRD  CRD 58, 65 and 105: IP 65 (Nilos ring)
C (green) - Class  CRD 66: IP 66 (radial packing ring)
Err (red) - Error  Connecting cap: IP 00 (when not mounted)
 Freeze mode: not supported
 Sync mode: not supported
 Automatic baud rate
search: being supported
 Diagnosis bytes
Class 2: 66 Diagnosis bytes
 User-Parameterbytes
Class 2: 45 Bytes
 Configuration
options: PROFIsafe, Class 2 -Encoder
* True table according to the connector arrangement will
be supplied with each item.

CRD 12098 ME / Page 2

 Electro-Optical Absolute Encoders series CRD/S3

Programming parameter: Encoder

Parameter Range of values Parameter description

Direction of rotation when looking towards the shaft:

Code sense CW, CCW CW (clockwise),
CCW (counter clockwise)
Enable for programming the parameters Resolution and Total number
Scaling function disable, enable
of positions and of the preset function
Resolution 2 to 8192 Positions/360° Number of positions per revolution
Total number of Total number of positions in steps ( Total number of positions =
2 to 33.554.432
positions resolution x number of turns)

Gating time 1 to 255 ms Time intervall for the counting of steps of the speed measurement

Standard Parameter
1 to FFFF CRC-Checksum of standard parameters
CRC
Reference value 0 to (Total number of
Value displayed at the reference point
(by data exchange) positions -1)

Programme for calculating the CRC checksum via the standard parameters
After changing an encoder parameter, the CRC checksum has to be re-calculated and entered in the "Standard Parameter CRC"
parameter. The programme PsCrc.exe for calculating the CRC checksum is available for download on www.twk.de.

CRD 12098 ME / Page 3

 Electro-Optical Absolute Encoders series CRD/S3

Programming parameter: F-Parameter

Parameter Range of values Default Parameter description

F_Check_SeqNr 0: NoCheck NoCheck This parameter defines whether or

not the consecutive number shall be
included in the CRC2 signature.
F_Check_iPar 0: NoCheck NoCheck This parameter defines whether or not
the checksum of the individual para-
meters CRC3 shall be included in the
CRC2 signature.

F_SIL 01b: SIL2 SIL2 SIL2 (Safety Integrity Level) to IEC

61508 (Functional safety of electrical/
electronic/programmable electronic
safety-related systems)

F_CRC_Length 00b: 3-Byte-CRC (V2-Mode) 2-Byte-CRC CRC Test value (of F- useful data)
01b: 2-Byte-CRC (V1-Mode)
10b: 4-Byte-CRC (optional V1/
V2 Mode)

F_Block_ID No F_iPar_CRC No F_iPar_CRC fix adjusted

F_Par_Version 00b: V1-mode V1-mode Parameter version

01b: V2-mode
F_Source_Add 1-65534 2001 This parameter is allocated through
the SIMATIC manager automatically.

F_Dest_Add 1-65534 123 This parameter must agree with the

address in the connecting cap.

F_WD_Time 1-65536 ms 2000 A valid current Safety telegram from

the F-CPU must come inside the
watchdog time.

F_ParCRC (CRC1) 0-65535 CRC-Sum of the F-Parameter from

F_Prm_Flag1

Data format
Output data: Host to slave
Octet 1 Octet 2 Octet 3 Octet 4 Octet 5 Octet 6 Octet 7 Octet 8 Octet 9 Octet 10
MSB * Preset value LSB MSB Dummy LSB F-Data

* Preset control: Bit 31: 1/O

Input data: Slave to host

Octet 1 Octet 2 Octet 3 Octet 4 Octet 5 Octet 6 Octet 7 Octet 8 Octet 9 Octet 10
MSB Position value LSB MSB Velociity LSB F-Data

CRD 12098 ME / Page 4

 Electro-Optical Absolute Encoders series CRD/S3

Order code

Order code format encoder Order code format for connecting cap
CRD 58 - 4096 R 4096 S3 Z 01 Z D - P 3 L 4 - 23
Electrical and/or Variant 23 for CRD/S3 (aluminium)
mechanical variants * Variant 27 for SRD/S3 (stainless steel)
01 = standard
04 = shaft with parallel key Number of LEDs
DIN 6885-A 4x4x16
Number of cable glands
(for CRD 65)
43 = shaft with parallel key P = cable glands
DIN 6885-A 3x3x10
Connecting cap for model CRD
(for CRD 66)
Electrical connection Connecting cap for
Z = via connecting cap variant “Z” encoder
S3 = PROFIsafe
(Profile No. 3.092 / 3.192)
Max. number of revolutions
to be acquired
Output code
R = natural binary
Positions per revolution
4096 or 8192
Model No. (58, 65, 66 or 105)
Series CRD (aluminium)
SRD (stainless steel)
* The basic versions in accordance with the data sheet bear the
code number 01. Variations from the basic version are indicated
with a consecutive number and are documented in our works.

Note
For safety relevant applications we recommend a form-locked fixing for the shaft (parallel key). For this purpose the variants 04
and 43 are available.

Scope of delivery
 STD25WS17 mating connector for the heating in design form 105.

Accessories (to be ordered separately)

 Installation accessories according to data sheet MZ 10111

 Backlash free clamp coupling KK14N, acording to data sheets 12301

„„Documentation on CD
TWK-CD-01 CD-ROM with documentation,
device description file, bit map and
example programme.

Documentation, GSD file, etc.

The following documents plus the GSD file, a bit map, the CRC calculation program and example programmes can be found in
the Internet under www.twk.de in the documentation area, model CRD (letter "C")

o Data sheet No. CRD 12098

o Manual No. CRT 12099
o TÜV SIL2 certificate No. CRD 12464
o PNO PROFIsafe certificate No. CRD 12270
o PNO PROFIBUS certificate No. CRD 12271

A CD-ROM is also available on request.

(Please specify article No. TWK-CD-01 when ordering.)

CRD 12098 ME / Page 5

 Electro-Optical Absolute Encoders series CRD/S3

Dimensions in mm
Model No. 58 with synchro-flange
+0.2
14 -0.5 125 ±0.8

95
4
3 M4 x 5 +1.5
3x120˚
6

ø65 -0.1
ø58 -0.1
ø50 f7
ø6 f7

38
ca. 54
ca. 107 42

Model No. 65 with synchro-flange +0.2

25 -0.5 127 ±0.8
97.5
2
 Option: Variant 04 4.5
1.5 M5 x 9 +1.5
with parallel key +0.1 3x120˚
2.5 -0.5
ø14
(ease fit)
4 N9

ø65 -0.1
ø60 -0.1
ø45 f7

38
ca. 54

1
h7

+0.2
ø12

4 16.2
Parallel key groove ca. 109 55
DIN 6885A - 4x4x16
(Groove depth: 2.5 mm)

Model No. 66 with clamping flange and shaft with flat

+0.2
30 -0.5 125 ±0.8

95.5
 Option: Variant 43 10
with parallel key 3.1 M4 x 9 +1.5
3x120˚
6.2
(ease fit)
3 N9

0.5x45°
ø64 -0.1
ø59 -0.1
ø36 f8

3 10.2
38
ca. 54
9

ø10 f6

Parallel key groove

DIN 6885A - 3x3x10
18 ca. 107 48
(Groove depth: 1.8 mm)
Shaft sealing ring
Wellendichtring

CRD 12098 ME / Page 6

 Electro-Optical Absolute Encoders series CRD/S3

Dimensions in mm

25 ±0.5 130 ±0.8 30 90°

Mating connector
2.5 STD25WS17

M6x12

A
-0.1
ø70 f7
ø105

h7
ø12

Heating connector for

Heating connector
counter plug
for counter plug
STM36S03
ø85 ±0.1

1x EMV-cable gland
M12x1.5
2x EMV-cable gland
Cable-ø 3-6mm
M16x1.5
Cable-ø 5-9mm
12
Connection diagram heating connector
P9
4

Pin Connection
A + VS = +24 Volt ±10% Connecting cap
Io < 500 mA
B - VS = 0 Volt
Detail A
2:1
C n.c.
Groove for woodruff key
4x 5 DIN 6888 Series A

Connecting cap ZD-P3L4-23 (aluminium) / ZD-P3L4-27 (stainless steel)

The cap is listed as a separate item for ordering and delivery.
The cap can be separated from the encoder for setting purpo-
ses by removing two screws.
SUB D connector
Diagnosis LEDs 15 pin socket

Connection terminal 1
UB SRD C Err (uVs)
DIP-switches
TWK-ELEKTRONIK
DÜSSELDORF
ON

+ UB - OFF

Plastic Connection
A B A' B'
Mounting u-silices terminal 2
screws M4 (Profibus)
(undetachable)

EMC-gland
M12x1.5
EMC-gland
M16x1.5

CRD 12098 ME / Page 7