r2301

INSTALLATION
INSTRUCTIONS
Receivers:
R23-01, R23-03 R23-02, R23-04
safe smart strong
IM-PN-RX107-EN-v06
Language: English (original)
R23
IMPORTANT! This document is intended for R23 receivers with software version
SW0028-09v09 or higher.
©Tele-Radio i Lysekil AB
August Barks gata 30A
SE-421 32 Västra Frölunda
Sweden
Phone: +46 (0)31 748 54 60

CONTENTS
CHAPTER 1: INTRODUCTION 5
1.1 About this document 6
1.2 About R23 receivers 7
CHAPTER 2: SAFETY 8
2.1 Warnings & restrictions 8
CHAPTER 3: FUNCTIONAL SAFETY 12
3.1 Safety function 12
3.2 Applicable products 12
3.3 Installation 12
3.4 Configuration 12
3.5 Interface 14
CHAPTER 4: TECHNICAL DATA 15
4.1 Common specifications 15
4.2 Other specifications 16
4.3 Current consumption 17
CHAPTER 5: PRODUCT GENERAL DESCRIPTION 18
5.1 Receiver description 18
5.2 Mechanical installation 19
5.3 Antenna 22
CHAPTER 6: BOARD DESCRIPTION 25
6.1 Position of the printed circuit boards 25
6.2 Base board 27
6.3 Expansion boards 31
CHAPTER 7: STATUS AND ERROR INDICATIONS 42
7.1 Function LEDs indication in normal operation 42
7.2 CANopen run status (LED8) 43
7.3 CANopen error status (LED7) 43
7.4 J1939 run status (LED8) 45
7.5 J1939 error status (LED7) 45
7.6 Menu mode indications 46
7.7 Error indications and code messages 47
CHAPTER 8: OPERATION 51
8.1 General information 51
8.2 Radio mode 52
8.3 Relay functions 52
8.4 Login/logout function 52
CHAPTER 9: CONFIGURATION MENU 53
9.1 Menu mode 53
9.2 Register the transmitter in the receiver 54
9.3 Set momentary or latching relay functions 55
9.4 Show settings 56
9.5 Operating modes 57
9.6 Active Load select 64
9.7 Register a batteryless button (BLB) transmitter 66
9.8 Log a transmitter out 68
9.9 Erase all registered transmitters 69
9.10 Master reset of the receiver 69
CHAPTER 10: WARRANTY, SERVICE, REPAIRS, AND MAINTENANCE 70
CHAPTER 11: REGULATORY INFORMATION 71
11.1 Europe 71
11.2 United Kingdom 71
11.3 North America 72
ANNEX A: CANOPEN SPECIFICATION FOR R23 (IN ENGLISH) 75
A.1 Introduction 75
A.2 General 75
A.3 Bus termination 76
A.4 Selection of CANopen node ID 76
A.5 Selection of CANopen baud rate 76
A.6 Configuration of CANopen object dictionary 77
A.7 LED indications 77
A.8 Internal states 78
A.9 Pre-defined connection set 79
A.10 Transmit Process Data Objects (TPDO) overview 80
A.11 Receive Process Data Objects (RPDO) overview 81
A.12 Manufacturer Specific Objects 82
A.13 Emergency Object (EMCY) 88
A.14 Object Dictionary 89
ANNEX B: J1939 SPECIFICATION FOR R23 (IN ENGLISH) 93
B.1 Introduction 93
B.2 General 93
B.3 LED indications 95
B.4 Supported PGNs Tx (Request messages transmitted) 96
B.5 Supported PGNs Rx (Request messages accepted) 101
ANNEX C: GLOSSARY 103
ANNEX D: INDEX 104
Installation instructions│ R23│ Chapter 1: Introduction
CHAPTER 1: INTRODUCTION
Thank you for purchasing a Tele Radio product
READ ALL INSTRUCTIONS AND WARNINGS CAREFULLY BEFORE MOUNTING,

INSTALLING, CONFIGURING AND OPERATING THE PRODUCTS.
These Installation instructions have been published by Tele Radio and are not
subject to any guarantees. The Installation instructions may be withdrawn or
revised by Tele Radio at any time and without further notice. Corrections and
updates will be added to the latest version of the manual. Always download the
Installation instructions from our website, www.tele-radio.com, for the latest
available version. Keep the safety instructions for future reference.
IMPORTANT! These instructions are intended for installers and authorized service
and distribution centers. The instructions containing information about the
installation and configuration of the radio remote control unit on the machine are
NOT intended to be passed on to the end user. Only information that is needed to
operate the machine correctly by radio remote control may be passed on to the end
user.
Tele Radio remote controls are often built into wider applications. This
documentation is not intended to replace the determination of suitability or
reliability of the product for specific user applications and should not be used for
this purpose. It is the responsibility of any such users or integrators to perform the
appropriate and complete risk analysis, evaluation and testing of the products with
respect to the relevant specific application or use. Tele Radio shall not be
responsible or liable for misuse of the information contained herein.
Always refer to the applicable local regulations for installation and safety
requirements relating to cranes, hoists, material handling applications, lifting
equipment, industrial machinery, and/or mobile hydraulic applications using Tele
Radio products, e.g.:
l applicable local and industrial standards and requirements,
l applicable occupational health and safety regulations,
l applicable safety rules and procedures for the factory where the equipment
is being used,
l user and safety manuals or instructions of the manufacturer of the

equipment where Tele Radio remote control systems are installed.
IM-PN-RX107-EN-v06 5
Tele Radio Installation instructions do not include or address the specific

instructions and safety warnings of the end product manufacturer.
Tele Radio products are covered by a warranty against material, construction, or

manufacturing faults. See "Chapter 10: Warranty, service, repairs, and maintenance".
1.1 About this document

Before installing or operating the product, read the corresponding documentation
carefully.
Tele Radio's product range is composed of transmitters, receivers, and accessories

intended for use together as a system.
These Installation instructions cover general safety issues, main technical

specifications, standard installation, configuration and operating instructions, as
well as general troubleshooting. Images shown in this document are for illustrative
purposes only.
Please report any error or omission in this document, as well as any improvement
or amendment suggestion to td@tele-radio.com.
1.1.1 COPYRIGHT
Information in this document is subject to change without notice. No part of this
publication may be reproduced, stored in a retrieval system, or transmitted in any
form or by any means, electronic, photographic, mechanical (including
photocopying), recording or otherwise for any purpose other than the purchaser's
personal use without the written permission of Tele Radio.
1.1.2 TERM AND SYMBOL DEFINITIONS

The capitalized terms and symbol used herein shall have the following meaning:
l WARNING: indicates a hazardous situation which, if not avoided, could result

in death or serious injury.
l CAUTION: indicates a hazardous situation which, if not avoided, will result in

minor or moderate injury.
l IMPORTANT: is used for information that requires special consideration.
l NOTE: is used to address practices not related to physical injury.
This symbol is used to call attention to safety messages that would be

assigned the signal words "WARNING" or "CAUTION".
6 IM-PN-RX107-EN-v06
1.2 About R23 receivers

Tele Radio's remote control systems are suitable for a wide variety of applications
for e.g. stationary or mobile equipments, hydraulic machines, construction, forestry
or agriculture equipments and more. Tele Radio's transmitters and receivers are
highly customizable and can be configured to suit the most wide-ranging
application requirements & usage habits.
R23 receivers have simplex communication and can work in either discontinuous or
continuous mode. There are eight models available:
Main
Casing type Expansion boards Bus system
board
1 2 10 5-relay 14- DI CAN/RS485
(yellow / (black) relays relays
black)
R23-01 ● ● ○ ○ ○ ○
R23-02 ● ● ○ ○ ○ ○
R23-03 ● ● ● ○ ○ ○
R23-04 ● ● ● – ○ ○
1
● Standard; ○ Optional ; – Not possible
1 Must be purchased separately.
Installation instructions│ R23│ Chapter 2: Safety
CHAPTER 2: SAFETY
2.1 Warnings & restrictions
Carefully read through the following safety instructions before

proceeding with the installation, configuration, operation, or
maintenance of the product. Failure to follow these warnings could
result in death or serious injury.
This product must not be operated without having read and understood the
Installation instructions and having received the appropriate training. The
purchaser of this product has been instructed how to handle the system safely. The
following information is intended for use as a complement to applicable local
regulations and standards.
IMPORTANT! Tele Radio remote controls are often built into wider applications.
These systems should be equipped with:
• a wired emergency stop where necessary
• a brake
• an audible or visual warning signal
2.1.1 INSTALLATION AND COMMISSIONING
IMPORTANT! Only licensed or qualified personnel should be permitted to install

the product.
This radio system must not be used in areas where there is a risk of
explosion.
Always switch off all electrical power from the equipment before
installation procedure.
To utilize the safety features of the system, use the stop relays in the
safety circuitry of the object/ equipment to be controlled.
When the equipment controlled by the receiver's standard relays is

connected via the stop relays, make sure that the maximum current
through the stop relays is still within the specifications. Contact your
representative for assistance.
RISK OF UNINTENDED EQUIPMENT OPERATION

Only transmitters that are intended for use should be registered in the
receiver.
Failure to follow these instructions could result in death, serious injury,
or equipment damage.
RISK OF ELECTRIC SHOCK

The receiver must only be opened by qualified installers or authorized
personnel.
Make sure the power supply is switched off before opening the receiver.
l The receiver must be securely attached and located where it will

not be hit by e.g. any moving parts.
l Do not install the product in areas affected by strong vibrations
l Cable glands and vent plugs must face downwards to prevent water
ingress.
l Ensure that the power supply is connected to the correct terminals.
l Ensure that flexible cords and cables are not damaged through
friction or stress.
l Do not use damaged cables.
l Ensure cables and connectors do not hang loose.
l The receiver is designed to withstand normal weather conditions but should

be protected from extreme conditions.
l Install the receiver in a location where the LED is easily visible and the
button accessible.
l Make sure to install available accessories inside or on the receiver before

permanently installing the receiver. A permanent installation of the product
must include fuse protection of the equipment and cables against short
circuits.
2.1.2 OPERATION
This equipment is not suitable for use in locations where children are
likely to be present.
Only qualified personnel should be permitted to access the transmitter

and operate the equipment.
l Make sure that the user satisfies the age requirements in your
country for operating the equipment.
l Make sure that the user is not under the influence of drugs,
alcohol and medications.
l Make sure that the user knows and follows operating and
maintenance instructions as well as all applicable safety
procedures and requirements.
The user should:
l Always test the transmitter stop button before operating it.This

test should be done on each shift, without a load.
l Never use a transmitter if the stop button is mechanically
damaged.Contact your supervisor or representative for service
immediately.
l Never leave the transmitter unattended.
l Always switch the transmitter off when not in use. Store in a safe
place.
l Keep a clear view of the work area at all times.
2.1.3 MAINTENANCE
Before maintenance intervention on any remote controlled equipments:

• always remove all electrical power from the equipment.
• always follow lockout procedures.
l Keep the safety information for future reference. Always download the
Installation instructions from our website, www.tele-radio.com, for the latest
available version.
l If error messages are shown, it is very important to find out what caused
them. Contact your representative for help.
l The functionality of the stop button should be tested at least after every 200
hours’ use.
l If the stop button is mechanically damaged, do not use the transmitter.

Contact your supervisor or representative for service immediately.
l Keep contacts and antennas clean.
l Wipe off dust using a clean, slightly damp cloth.
l Never use cleaning solutions.
l Check the encapsulation, foils and cable for damages. If the encapsulation or
foil is damaged, moisture can cause serious damage to the electronics.
Installation instructions│ R23│ Chapter 3: Functional safety
CHAPTER 3: FUNCTIONAL SAFETY

NOTE: The information in this section applies only to the products specified
below.
3.1 Safety function

The safety-related stop function in the radio system complies with EN 13849-1:2015
PLd category 3. The stop relays on the receiver unit are controlled by the stop
button on the transmitter unit. When the stop button is pressed, the stop relays
interrupt the power to the safety-related application. The complete end-user
system, including the radio system, enters a safe state. The maximum response time
for the safety-related stop function is 500 ms.
Safety function Mission time MTTFd DC avg Category Achieved PL

Stop function 20 years 90 years 99 % 3 d
3.2 Applicable products

The following transmitters are designed to comply with the appointed safety
requirements when used together with a R23 receiver:
l T19-02, T29-12
NOTE: Both the receiver and the transmitter used in the specific end-user system
must be compliant.
3.3 Installation
The two stop relays on the receiver unit shall be correctly installed/integrated to
the end-user system requirements.
NOTE: The safety level of the stop function on the complete end-user system
depends on other sub system(s) and needs to be calculated by the manufacturer
of the complete system.
3.4 Configuration
The default configuration of the receiver unit complies with the appointed safety
requirements. Any reconfiguration that breaches the safety requirements will be
indicated by a LED on the main board of the receiver unit. Before commissioning
the radio system, the installer must check the LED indication.
Function LED Status Indicates

PLd status LED (red) ON Not compliant with PLd
OFF Compliant with PLd
R23
1. Stop relays SR1–2 2. PLd status LED (red)
IMPORTANT! All safety-related parameters must be configured as follows in

order to comply with the appointed safety requirements:
n The system must be configured in continuous radio mode.
n The stop relays must be switched off when the radio link is down.
n The radio link timeout must be set to a maximum of 500 ms.
n The login/logout function must be activated.
n The Custom ID setting must be deactivated, i.e. the receiver must always use
the unique transmitter ID code.
n The parameter ' START status in Gen1 packet for session ' must
be activated. See "3.4.1 'START status'/'START bit' parameters" for more
details.
n The parameter ' START bit in Gen2 packet for session ' must be
activated. See "3.4.1 'START status'/'START bit' parameters" for more details.
3.4.1 'START STATUS'/'START BIT' PARAMETERS

When the transmitter 1 is started it will send start commands for 200 ms.
l If both ‘ START status ’ and ' START bit ' parameters are activated, the
receiver is PLd compliant.
The receiver will not activate the stop relays until it receives a start command
from the transmitter. This is to make sure that the stop relays will not
1 T19-02, T29
activate immediately if the receiver is restarted after a temporary loss of

power and the transmitter is still active.
If the receiver has received a start command and the transmitter goes out of
range for more than six minutes, a new start packet will be required (i.e. the
transmitter will have to be restarted).
l If one or both ‘ START status ’ or ' START bit ' parameters are not
checked, the receiver is NOT PLd compliant.
The stop relays are activated as soon as the receiver receives packets without
pressing any button on the transmitter.
3.5 Interface
The radio system comprises one SRP/CS (as defined in EN 13849-1:2015), including
the stop button (input), the stop relays (output) and the safety-related logic
maintening the stop function (logic).
The interfaces to the SRP/CS are the stop button (as controlled by the
operator) and the stop relays.
INPUT LOGIC OUTPUT

Transmitter's stop button ¢ Safety-related logic ¢ Receiver's stop relays
¢: Interconnection
Installation instructions│ R23│ Chapter 4: Technical data
CHAPTER 4: TECHNICAL DATA
4.1 Common specifications

Power supply 12–24 V AC/DC, 48–230 V AC, 50–60 Hz, max. 1 A
Number of stop relays 2 (potential free*, 10 A, 250 V AC)
Relay functionality Momentary, latching, interlocking (programmable)
Radio type Low IF topology
Radio frequency band 2405 – 2480 MHz
Frequency management Direct Sequence Spread Spectrum (DSSS)
Number of Channels 16 (channel 11 – 26)
Radio communication Simplex
Radio frequency output EIRP 1 < 10 dBm (10 mW)
power
Max. number of 16
registered transmitters
Antenna
Standard Internal antenna
Optional External antenna
IP code IP66
Operating temperature -20…+55 °C / -4…+130 °F
Safety levels EN ISO 13849-1 PLd CAT3 (stop function, see "Chapter 3:
Functional safety")
* Potential free means that a supply voltage is needed to get voltage out of a relay.
1 Equivalent isotropic radiated power
4.2 Other specifications
4.2.1 R23-01, R23-03 (HOUSING 1)
R23-01 R23-03
Number of relays 10 15
1
potential free , 10 A, 250 V AC
Number of digital inputs – –
Number of digital outputs 2 5
Bus system – –
Connector Cable gland M25 x 1.5 (PA66)
Dimensions 176 x 160 x 75 mm / 6.9 x 6.3 x 3 in
Weight (typical) 745 g / 1.64 lbs 832 g / 1.83 lbs
4.2.2 R23-02, R23-04 (HOUSING 2)
R23-02 R23-04
Number of relays 10 15
potential free, 10 A, 250 V AC
Number of digital inputs – –
Number of digital outputs 2 5
Bus system – –
Connector Customizable (e.g. Harting 10, 16 or 24 pin, or
cable gland. Must be purchased separately).
Dimensions 209 x 147 x 71 mm / 8.23 x 5.8 x 2.8 in
Weight (typical) 919 g / 2.02 lbs 943 g / 2.08 lbs
1 * Potential free means that a supply voltage is needed to get voltage out of a relay.
4.3 Current consumption
Input R23-01, R23-02 R23-01, R23-02 with R23-02 with 14-relay

power CAN and RS485 exp. exp. board
boards
Min.* Max.** Min.* Max.** Min.* Max.**
12 V AC 100 428 144 482 106 785
24 V AC 52 175 72 192 55 332
48 V AC 33 105 44 115 35 210
115 V AC 15 45 19 48 16 80
230 V AC 11 25 13 27 12 42
12 V DC 105 355 143 390 109 645
24 V DC 55 188 76 203 57 330
Input power R23-03, R23-04 R23-03 with 14-relay and DI exp.

boards
Min.* Max.** Min.* Max.**
12 V AC 100 580 108 950
24 V AC 52 226 55 388
48 V AC 34 138 35 265
115 V AC 15 56 16 90
230 V AC 10 30 11 47
12 V DC 105 455 109 740
24 V DC 55 237 58 379
*Minimum current consumption = receiver powered, no active relays, no radio

session established.
**Maximum current consumption = receiver powered, all relays on the receiver

active, radio session established.
Installation instructions│ R23│ Chapter 5: Product general description
CHAPTER 5: PRODUCT GENERAL DESCRIPTION

The pictures shown in this chapter are for illustrative purposes only.
5.1 Receiver description
5.1.1 R23-01, R23-03 (HOUSING 1)
1. Power cable gland (M25x1.5)
5.1.2 R23-02, R23-04 (HOUSING 2)
1. Customizable (e.g. Harting 10, 16 or 24 pin, or cable gland. Must be purchased

separately).
5.2 Mechanical installation
5.2.1 R23-01, R23-03 ( HOUSING 1)
NOTE: For mounting on a wall or equipment, use 4 M5x30 mm screws or equivalent

fastening method.
5.2.2 R23-02, R23-04 (HOUSING 2)
NOTE: For mounting on a wall or equipment, use 4 M5x30 mm screws or equivalent

fastening method.
5.2.3 INSTALLATION PRECAUTIONS

personnel.
IMPORTANT! Only authorized personnel should install the product.
Only correct installation complies with the safety levels for the product.
l A permanent installation of the receiver must include fuses in order to

protect the equipment and cables from short circuit.
l The receiver must be installed vertically, on a flat and rigid surface, with the
cable at the bottom.
NOTE: For mounting on a wall or equipment, use 4 M5x30 mm screws or

equivalent fastening method.
l Install the receiver in a location where the LED is easily visible and the
button accessible.
l Consider the wiring limitation and the radio communication limitation to

choose the receiver location.
l Ensure no obstacle is impairing the radio communication performance

between the receiver and the transmitter.
l The receiver must not be installed inside closed metal containers.
l Make sure any accessories inside or on the receiver are installed before
permanently installing the receiver.
l Test the equipment before installing the receiver permanently.
5.3 Antenna
The wireless link can be used with up to four diversity antennas. As standard, R23
receivers are equipped with an internal antenna.
The internal antenna can operate at a distance of about 120 m but this working
distance can change depending on many factors. Depending on the application
and/or the environment, an additional external antenna or repeater can be added
to R23 receivers to optimize data transmission.
Possible external antennas 1/2-2.4G 1/2-2.4G-K1

Possible repeaters D5-21* D5-22*
*For more details, please refer to the corresponding Installation instructions

available on www.tele-radio.com.
5.3.1 EXTERNAL ANTENNA (OPTIONAL)
NOTE: If the cable length required is more than 5 m, using an active antenna is
recommended.
Specifications
EXTERNAL ANTENNA 1/2-2.4G 1/2-2.4G-K1

Frequency 2405 –2480 MHz 2405 –2480 MHz
Current consumption max. 500 mA max. 500 mA
Impedance 50 Ω 50 Ω
Gain 3 dBi 3 dBi
Radiation Omni Omni
Connector RP-SMA-K, female connector SMA-J
Range 100 m (328 ft), adjustable 100 m (328 ft), adjustable
depending on configuration depending on configuration
Dimensions ~ 19 x 114 x Ø10 mm / ~ 0.7 x ~ 117 mm / ~ 4.6 in
4.5 x 0.4 in
Weight without cable ~18 g (0.04 lbs) ~18 g (0.04 lbs)
(typical).
IP code IP40 IP40
Cable length – 1 m / 3.2 ft
5.3.2 MOUNTING DIMENSIONS
1/2-2.4G
Mounting hole:
(*) Hex nut
1/2-2.4G-K1
5.3.3 PRECAUTIONS FOR THE INSTALLATION OF EXTERNAL

ANTENNAS
IMPORTANT! Only authorized personnel should install the product.
Only correct installation meets the safety levels for the product.
l For optimum performance, place the external antennas away from metal
objects such as metal girders, high-voltage cables, and other antennas.
l Keep the longest distance possible between the antenna and e.g. engines,
welding machines, power sources, inverters, x-ray devices and other radio
transmitters.
l Any antenna that is mounted separately must be positioned in as open a

space as possible. A hidden antenna significantly impairs the reception.
l Do not mount the antenna in closed metal containers.
l Test the equipment before installing the antennas permanently.
Installation instructions│ R23│ Chapter 6: Board description
CHAPTER 6: BOARD DESCRIPTION

NOTE: The pictures shown in this chapter are for illustrative purposes only.

personnel.
IMPORTANT! Only experienced electronic technicians should add and map

expansion boards and inputs/outputs.
6.1 Position of the printed circuit boards

Each board is identified by a position number. When referring to a component or a
connector, use the board's position number together with the component number
(engraved on the board) to make it easier for the support team to pinpoint the
component or connector.
Board position number Board description

A Base board
B RS485 expansion board
C CAN expansion board
D 5-relay expansion board
E DI expansion board
F 14-relay expansion board
6.2 Base board
NOTE: This base board is integrated in all R23 models. It has position number A.
IMPORTANT! Before connecting the power supply to the terminal block, make
sure that J21 is connected to the connector corresponding to the power supply
voltage (see "6.2.1 Power supply voltage").
NOTE: If the base board is powered with 48–230 V AC and used together with a
CAN, RS485 or DI expansion board, use double insulated cables on both the power
supply and relay terminal blocks.
The base board has two digital outputs. It can be fitted with up to five expansion
boards.
3
1. Terminal block for power supply 13. Connector for relay board
(PWR), stop relays (SR) and 14. Power LED (yellow)
function relays*
15. TRABUS contact
2. Connector for input power 1
16. Radio module 2.4 GHz
3. Stop relays SR1–2
17. Function LEDs
4. Connector for 48–230 V AC (1 = red, 2 = yellow, 3 = green, 4 =
5. Connector for 12–24 V AC/DC orange)
6. Connector for 12–24 V DC 2 18. Connector for relay board 4
7. Function relays 1–10 (NO) 19. PLd status LED (red)

8. Connector for RS485 board 20. Function button (Cancel)
9. Connector and LEDs for DO 1–2 21. CANopen/J1939 status LEDs
10. Connector for CANopen/J1939 22. Select button (OK)
board 23. LED indicators for stop relays
11. Connector for DI board (CPU2) SR1–2
12. Connector for DI board (CPU1) 24. Relay LEDs 1–10 (red)
*By design, input power (PWR) is also connected to connector J21, see "6.2.1 Power
supply voltage". For more information about cable requirements, see "6.2.2
Terminal block for power supply, stop and function relays on the base board".
1 To be connected to either J43, J44 or J45, depending on the voltage to achieve.
2 Input to be used when the receiver needs to be able to go low in voltage.
3 14-relay board.
4 5-relay board.
6.2.1 POWER SUPPLY VOLTAGE
On this board, the terminal block for

the power supply (1) is connected by
design to the connector for input power
(2) and there are three different
connectors, one for each possible
power supply voltage :
l (4) : 48–230 V AC
l (5): 12–24 VAC/DC
l (6): 12–24 V DC 1
The power supply to the board must be connected in two steps:
1. Connect (2) to the connector corresponding to the desired power supply

voltage.
2. Connect the external power supply to the PWR terminal block (1).
By default the receiver is supplied with the following connection.
IMPORTANT! The connector for input power (2) must be connected to the correct
power supply voltage connector (4), (5) or (6) BEFORE connecting the external
power supply to the PWR terminal block (1).
1 Input to be used when the receiver needs to be able to go low in voltage.
6.2.2 TERMINAL BLOCK FOR POWER SUPPLY, STOP AND

FUNCTION RELAYS ON THE BASE BOARD
NOTE: If input voltage is higher than 60 V DC or 30 V AC r.m.s, use double

insulation cables on the power supply terminal block.
NOTE: If voltage on the function relay(s) is higher than 60 V DC or 30 V AC r.m.s,

use double insulation cables on the relay terminal block.
NOTE: On J3–J20, use AWG12-24 cables.
Relay number Relay name Terminal block Pin number* Contact

PWR Power supply J35 (A) 1 +
(A) 2 -
(A) 3 not used
SR1 Stop relay 1 J3 (A) 4 CO
(A) 5 CO
(A) 6 NO
SR2 Stop relay 2 J5 (A) 7 CO
(A) 8 NO
(A) NO
1 Relay 1 (NO) J8 (A) 10 CO
(A) 11 NO
2 Relay 2 (NO) J9 (A) 12 CO
(A) 13 NO
3 Relay 3 (NO) J10 (A) 14 CO
(A) 15 NO
4 Relay 4 (NO) J11 (A) 16 CO
(A) 17 NO
5 Relay 5 (NO) J12 (A) 18 CO
(A) 19 NO
6 Relay 6 (NO) J13 (A) 20 CO
(A) 21 NO
7 Relay 7 (NO) J14 (A) 22 CO
(A) 23 NO
8 Relay 8 (NO) J18 (A) 24 CO
(A) 25 NO
9 Relay 9 (NO) J19 (A) 26 CO
(A) 27 NO
10 Relay 10 (NO) J20 (A) 28 CO
(A) 29 NO
*In parentheses is the position number of the expansion board.
6.2.3 CONNECTOR FOR DIGITAL OUTPUTS ON THE BASE BOARD

1. +5 V
2. Digital output 1*
3. Digital output 2*
4. GND
*Open drain, max. voltage 30 V, max. current 100 mA.
6.3 Expansion boards

Expansion boards can be used to increase the number of inputs/outputs and
communication options. There are currently three expansion boards available for
the R23 receivers.
EXPANSION BOARDS Available slots on the base board

14-relay expansion board 1
5-relay expansion board 1
Expansion board for digital inputs 1
CAN expansion board 1
RS485 expansion board 1
6.3.1 5-RELAY EXPANSION BOARD
NOTE: This relay expansion board is integrated in the following receiver models:
R23-03, R23-04, R23-11. It has position number D.
1. Terminal block for +3.3 V/ GND 5. Status LEDs for DO 3–5

2. Terminal block for +5–12 V 6. Relay LEDs 11–15 (red)
3. Terminal block for DO 3–5 7. Terminal blocks for function relays
4. Function relays 11–15 (change-over) 11–15*
*For more information about cable requirements, see " Terminal blocks for
function relays 11–15 on the 5-relay expansion board".
Terminal blocks for function relays 11–15 on the 5-relay

expansion board


11 Function relay 11 J1 (D) 1 CO
(D) 2 NO
(D) 3 NC
(D) 5 NO
(D) 6 NC
(D) 8 NO
(D) 9 NC
(D) 11 NO
(D) 12 NC
(D) 14 NO
(D) 15 NC
Terminal blocks for digital outputs on the 5-relay expan-

sion board
Pin Description
number*
(D) 16 Digital output 3 **
(D) 19 +12 V DC
(D) 20 +5 V DC
(D) 21 +3.3 V DC
(D) 22 GND
**Open drain, max. voltage 30 V, max. current 100 mA.
6.3.2 14-RELAY EXPANSION BOARD
R23-11, R23-12. It has position number F.
1. Terminal blocks for function relays 7. Function LED 1 (yellow)

16–29* 8. TRABUS contact
2. Function relays 16–28 (NO) and 29 9. Connector for base board
(NO/NC)
10. Function LED 2 (red)
3. Relay LEDs 16–29 (red)
11. Status LEDs for DO DO 6–7
4. Function button (Cancel)
12. Connector for AI 1–8
5. Select button (OK)
6. Connector for DO 6–7
*For more information about cable requirements, see " Terminal blocks for
function relays 16–29 on the 14-relay expansion board".
Terminal blocks for function relays 16–29 on the 14-relay

expansion board


16 Function relay 16 J11 (F) 1 CO
(F) 2 CO
(F) 3 NO
(F) 5 NO
(F) 7 NO
(F) 9 NO
(F) 11 NO
(F) 13 NO
(F) 15 NO
(F) 17 NO
(F) 19 NO
(F) 21 NO
(F) 23 NO
(F) 25 NO
(F) 27 NO
(F) 29 NO
(F) 30 NC
Connector for digital outputs on the 14-relay expansion

board
1. +5 V
2. Digital output 7 *
3. Digital output 6 *
4. GND
*Open drain, max. voltage 30 V, max. current 100 mA.
Connector for analog inputs on the 14-relay expansion

board
1. GND 6. Analog input 6*

2. Analog input 2* 7. Analog input 5*
4. Analog input 4* 9. +5 V DC
*Not implemented.
6.3.3 EXPANSION BOARD FOR DIGITAL INPUTS
NOTE: This relay expansion board is integrated in the following receiver model:
R23-11. It has position number E.
This expansion board allows to connect up to eight digital inputs. For more inputs,
contact your representative for assistance.
1. Terminal block for DI 1 4. Connector for the base board

2. Status LED for DI 1 5. Status LED for DI 2–8
3. Connector for extra DI board 6. Terminal block for DI 2–8
Terminal blocks for digital inputs on the DI expansion

board
NOTE: Each digital input has two pins. The pins are interchangeable and can be
used either as DI or as GND.
NOTE: 9–33 V DC or 8–24 V AC, max. current 10 mA for each digital input.
J1 – Digital inputs 1
Pin number* Description Pin number* Description

(E) 1 Digital input 1 (E) 1 GND
(E) 2 GND (E) 2 Digital input 1
J2 – Digital inputs 2–8
Pin number* Description Pin number* Description

(E) 3–4 Digital input 2 / GND (E) 11–12 Digital input 6 / GND
(E) 9–10 Digital input 5 / GND
Wiring examples
Fig. 1: Pin1 to GND, pin 2 to input voltage Fig. 2: Pin 1 to input voltage and pin2 to
GND
6.3.4 CAN EXPANSION BOARD
R23-08, R23-09. It has position number C.
1. CAN connector.
NOTE: V+ is not used.
6.3.5 RS485 EXPANSION BOARD
R23-08, R23-09. It has position number B.
1. RS485 connector.
NOTE: The voltage (+V) is internally connected to VIN on the base board (input
power supply). Maximum current consumption: 1 A
Installation instructions│ R23│ Chapter 7: Status and error indications
CHAPTER 7: STATUS AND ERROR INDICATIONS
7.1 Function LEDs indication in normal operation
LED Color Off On Flashing Indicates

5 yellow No power to the receiver
○
● Receiver is powered up
6 red ● Not compliant with PLd
Compliant with PLd

○
1 red No transmitter is registered.
○
● Single One or more transmitters are registered.
flash No radio link.
● Double One or more transmitters are registered
flash and logged in. No radio link.
● Solid Radio link established.
2 yellow ● Receiving a radio packet from a transmitter

other than a Panther.
3 green set to a different radio mode
● (discontinuous or continuous) than the
receiver.
4 orange that is not registered.
●
3 green ● Receiving a radio packet, low signal (RSSI).
4 orange ● Receiving a radio packet, configuration ID

not accepted.
LED Color Off On Flashing Indicates

3 green ● Receiving a radio packet, custom ID not
4 orange accepted.
●
2 yellow ● 1. Receiving a radio packet from a
3 green registered transmitter. The receiver is
4 orange ● already controlled by another registered
● transmitter.
2. Load select mode is activated. Incorrect
Load is selected on the transmitter.
1–4 red ● TRABUS mode activated (PC
yellow communication).
green ●
orange ●
●
7.2 CANopen run status (LED8)
LED On Flickering ( red/ Single flash Blinking

color green alternately)
Operational Pre-operational
Green LSS Stopped state
state state
CANopen Description
communication state
Operational State for process data transmission.
LSS LSS services in progress.
Stopped Except for node guarding or heartbeat messages, a node
cannot transmit or receive any other messages in this
state.
Pre-operational State for the configuration of CANopen devices. PDO
communication is not possible in this state.
7.3 CANopen error status (LED7)
LED On Flickering (red/ Single flash Double flash Triple flash

color green alternately)
Warning limit Error control
Red Bus off LSS Sync error
reached event
CANopen error code Problem description

message
Bus Off CAN controller is in bus off.
Warning limit reached At least one of the error counters in the CAN controller
has reached or exceeded its warning level (e.g. too many
error frames).
Error Control Event A guard event or a heartbeat event has occurred.
Sync Error The sync message has not been received within the
configured communication cycle time.
LSS LSS services in progress.
7.4 J1939 run status (LED8)
LED color On Single flash

Green Operational No address
J1939 communication Description

state
Operational Address claim is correct, processing messages.
No address Address claim is still running or has failed.
7.5 J1939 error status (LED7)

Red Bus off Warning limit reached
J1939 error code Problem description

message
error frames).
7.6 Menu mode indications

The different menus are identified by the Function LEDs 1–4 according to the
following table.
: LED is lit. : LED is off.
Function LEDs Menu

LED 1 LED 2 LED 3 LED 4
(red) (yellow) (green) (orange)
Register/ erase transmitters
○ ○ ○
Latching/ momentary relay
○ ○ ○ functions
Show settings
○ ○ ○
Show/ change Operating mode
○ ○ ○
Active Load select (extended
○ menu)
7.7 Error indications and code messages

Errors are indicated by function LEDs
1–4, which are all flashing at the same
time.
Each error is identified by a code

indicated by relay LEDs 1–10.
Write down which relay LED(s) are lit and contact your representative for
assistance.
Relays LEDs (LED_…)

Recommended
R1 R2 R3 R4 R5 R6 R7 R8 R9 R10 Description
corrective action
red red red red red red red red red red
For this error code, contact technical support
○ ○ ○ ○ ● ○ ○ ○ ○ ○
○ ○ ○ ● ○ ○ ○ ○ ○ ○

Recommended
corrective action
Function block error Function block is
○ ○ ○ ● ● ○ ○ ○ ○ ○ inconsistent with the
function block
configured in SM6
Invalid operating mode Select another operating
○ ○ ● ○ ○ ○ ○ ○ ○ ○ selected mode
Receiver not locked on Change channel to 11. If
○ ○ ● ○ ● ○ ○ ○ ○ ○ channel 11 when using the error persists,
batteryless button (BLB) contact technical
support.
○ ○ ● ● ○ ○ ○ ○ ○ ●
○ ○ ● ● ○ ○ ○ ○ ● ○
○ ○ ● ● ○ ○ ○ ○ ● ●
○ ○ ● ● ○ ○ ○ ● ○ ●
○ ○ ● ● ○ ○ ○ ● ● ●
○ ○ ● ● ○ ○ ● ○ ○ ○
○ ○ ● ● ● ○ ○ ○ ○ ●
Incorrect software Flash correct SW version
○ ○ ● ● ● ○ ○ ○ ● ○ version detected in CPU2 in CPU2. Check /change
the SW version in CPU1
(must be the same as in
CPU2)
Update CPU2 first and
CPU1 after.
'Get version' failed Flash CPU2. If the error
○ ○ ● ● ● ○ ○ ○ ● ● persists, contact
technical support.
For this error code, contact technical support.
○ ○ ● ● ● ○ ○ ● ○ ○
○ ○ ● ● ● ○ ○ ● ○ ●
○ ○ ● ● ● ○ ○ ● ● ○
○ ○ ● ● ● ○ ○ ● ● ●
○ ○ ● ● ● ○ ● ○ ○ ○
○ ○ ● ● ● ○ ● ○ ○ ●
○ ● ○ ○ ○ ○ ○ ○ ○ ●
○ ● ○ ○ ○ ○ ○ ○ ● ○
○ ● ○ ○ ○ ○ ○ ○ ● ●

Recommended
corrective action
○ ● ○ ○ ○ ○ ○ ● ○ ○
○ ● ○ ○ ○ ○ ○ ● ○ ●
○ ● ○ ○ ● ○ ○ ○ ○ ●
○ ● ○ ○ ● ○ ○ ○ ● ○
○ ● ○ ○ ● ○ ○ ○ ● ●
○ ● ○ ○ ● ○ ○ ● ○ ○
○ ● ○ ○ ● ○ ○ ● ○ ●
○ ● ○ ○ ● ○ ○ ● ● ○
○ ● ○ ○ ● ○ ○ ● ● ●
○ ● ○ ○ ● ○ ● ○ ○ ○
○ ● ○ ○ ● ○ ● ○ ○ ●
○ ● ○ ○ ● ○ ● ○ ● ○
The connection between Restore the connection,
○ ● ○ ○ ● ○ ● ○ ● ● the DI expansion board e.g. connect the board(s)
(s) and CPU2 has been again or check the
lost (at least one DI cables (diode 5.2 och
expansion board was 7.9.10). If the error
connected to CPU2, but persists, contact
all are now technical support.
disconnected).
○ ● ○ ○ ● ○ ● ● ○ ○
○ ● ○ ○ ● ○ ● ● ○ ●
○ ● ○ ○ ● ○ ● ● ● ○
○ ● ○ ● ○ ○ ○ ○ ○ ●
○ ● ○ ● ○ ○ ○ ○ ● ○
○ ● ○ ● ○ ○ ○ ○ ● ●
○ ● ○ ● ○ ○ ○ ● ○ ○
○ ● ○ ● ○ ○ ○ ● ○ ●
○ ● ○ ● ○ ○ ○ ● ● ○

Recommended
corrective action
Overcurrent error on the The digital output(s) on
○ ● ○ ● ● ○ ○ ○ ○ ● analog output exp. Analog output exp.
board. board have suffered a
short-circuit. Investigate
and remove the possible
causes. If the error
persists, contact
technical support.
○ ● ○ ● ● ○ ○ ○ ● ○ the 14-relay exp. board e.g. connect the board
and CPU1 has been lost. again or check the cable.
○ ● ○ ● ● ○ ○ ○ ● ● the 5-relay exp. board connect the board again
and CPU1 has been lost. or check the cable. If the
error persists, contact
technical support.
○ ● ○ ● ● ○ ○ ● ○ ○ the DI expansion board e.g. connect the board(s)
(s) and CPU1 has been again or check the
lost (at least one DI cables. If the error
expansion board was persists, contact
connected to CPU1, but technical support.
all are now
disconnected)
○ ● ○ ● ● ○ ○ ● ○ ● the AN/DI exp. board e.g. connect the board(s)
and CPU1 has been lost. again or check the
cables. If the error
persists, contact
technical support.
AN/DI exp. board Remove the AN/DI exp.
○ ● ○ ● ● ○ ○ ● ● ○ detected (connected) board or change to
but the receiver is not in operating mode 255 in
Operation mode 255 the receiver.
Software incompatibility Update the software.
○ ● ○ ● ● ○ ○ ● ● ● error on the 14-relay
exp. board
The 14-relay exp. board Flash the 14-relay exp.
○ ● ○ ● ● ○ ● ○ ○ ○ seems to be in board. If the error
bootloader. Something persists, contact
that does not respond is technical support.
connected.
'Safe settings' write Approve the 'safe
● ○ ○ ○ ○ ○ ○ ○ ○ ○ error. Normal indication setting' in SM.
that occurs before a
'safe setting' has been
approved by the user.
Installation instructions│ R23│ Chapter 8: Operation
CHAPTER 8: OPERATION
8.1 General information

1
8.1.1 RECEIVERS WITH LOGIN/LOGOUT FUNCTION ACTIVATED
To control a receiver, the transmitter must be registered and logged in to the
receiver. If another transmitter is already logged in to the receiver, it must be
logged out before a different transmitter can be logged in.
If no transmitter is logged in to the receiver, the first registered transmitter to be

started will automatically log in to the receiver. Once a transmitter has been logged
in, it will remain logged in until it is manually logged out.
More than one transmitter can be registered in the receiver, but only one
transmitter can be logged in at a time.
8.1.2 RECEIVERS WITHOUT LOGIN/LOGOUT FUNCTION OR WITH

LOGIN/LOGOUT FUNCTION INACTIVATED
To control a receiver, the transmitter must be registered in the receiver.
If no transmitter is controlling the receiver, the first registered transmitter to be

started will automatically take control of the receiver. Switching the transmitter off
will free the receiver and allow any other registered transmitter that is started to
control the receiver.
More than one transmitter can be registered in the receiver, but only one
transmitter can control the receiver at a time.
NOTE: If the login/logout function is inactivated the receiver is not PLd compliant.
8.1.3 MULTIPLE TRANSMITTERS REGISTERED IN A SAME

RECEIVER
If more than one transmitter is registered in the same receiver, it is recommended
to select the same frequency channel on all transmitters.
1 For more information about login/logout, see "8.4 Login/logout function"
Installation instructions│ R23│ Chapter 8: Operation
8.2 Radio mode

The radio mode is determined by the selected Operating mode.
To establish a radio link between the transmitter and the receiver, both units must
be set to the same radio mode.
This receiver is set to continuous radio mode by default.
Some settings can only be selected when the products are transmitting
continuously. These settings are indicated with the note "Only for continuous radio
mode."
8.3 Relay functions

This receiver is set to momentary relay functionality by default. The relay remains
active while a button is pressed on the transmitter. When the button is released the
relay deactivates. Setting a relay to latching means that the relay becomes active
when a button is pressed and remains active until the button is pressed again.
8.4 Login/logout function
NOTE: Only for continuous radio mode.
NOTE: The login/logout function cannot be activated/deactivated in the receiver.

Contact your representative for assistance.
For this receiver, the login/logout function is activated by default.
Logging out means stopping the communication between the transmitter and the
receiver, and freeing the receiver for another registered transmitter to log in.
Installation instructions│ R23│ Chapter 9: Configuration menu
CHAPTER 9: CONFIGURATION MENU

All configuration settings require access to the receiver circuit board(s).

personnel.
1. Remove the front cover of the receiver. Use a screwdriver to remove the
screws.
2. Power the receiver up.
3. The power LED lights (yellow).
4. Proceed with the configuration instructions of your choice.
9.1 Menu mode

To select the different menus, press the Function button a predefined number of
times according to the following table. Press the Select button to enter.
The different menus are identified by the function LEDs 1–4 (see "6.2 Base board".
Menu To select the Function LEDs light

menu, press the LED 1 LED 2 LED 3 LED 4
Function button… (red) (yellow) (green) (orange)
Register/Erase once
transmitters
Show/Change latching/ 2 times
momentary functions
Show settings 3 times
Show/Change Operating 4 times
mode
Active Load select 5 times and keep
(extended menu) pressed until
LED3–4 light.
9.2 Register the transmitter in the receiver

receiver.

Do not perform this action when the receiver is in a session with another
transmitter. The radio communication may be interrupted or broken.
NOTE: To establish a radio link between the transmitter and the receiver, both
units must be set to the same radio mode.
1. Set the transmitter in registration mode (see relevant Tele Radio transmitter
installation instructions).
2. Press the Function button.

Function LED 1 lights (red).
3. Press the Select button.

All relay LEDs light (red).
4. Press both Start buttons on the transmitter to be registered in the receiver

(see relevant Tele Radio transmitter installation instructions).
All function LEDs light.
5. Release the transmitter buttons.
If the transmitter is registered, all relay LEDs flash 3 times.
If no transmitter is found within approximately 10 seconds, the receiver exits to

normal operation.
9.3 Set momentary or latching relay functions

The settings options depend on the selected Operating mode.
NOTE: The number of relays that can be set to latching varies depending on the
selected Operating mode.
NOTE: It is not possible to program latching relays in Operating mode 255.
1. Press the Function button twice.

Function LED 2 lights (yellow). The lit relay LEDs indicate relays set to latching.
2. Press the Select button to enter the setting mode.

The relay LED for the first available relay flashes fast.
3. Press the Function button to change the setting for the current relay. Relays
can be set to latching or momentary and the current setting is indicated by
function LED 2 (yellow).
Function LED 2 Indicates

Momentary
○
● Latching
4. Press the Select button to confirm the setting and move to the next available
relay.
5. Repeat steps 3–4 for all available relays.
After the last relay has been programmed (depending on operating mode and
hardware configuration), the receiver returns to normal operation.
9.4 Show settings
1. Press the receiver Function button three times.

Function LED 3 lights (green).

The relay LEDs 1–4 indicate the current settings according to the following
table:
Relay LED Color Off On Indicates

LED_R1 red Discontinuous transmitting mode
○
● Continuous transmitting mode
LED_R2 red Custom ID not enabled

○
● Custom ID enabled
LED_R3 red Configuration ID not enabled

○
● Configuration ID enabled
LED_R4 red Frequency scan on

○
● Frequency scan off (fixed frequency)
After approximately 10 seconds, the receiver will automatically exit "Show

Settings" mode and return to normal operation.
9.5 Operating modes

This receiver is provided with four Operating modes as standard (1, 2, 3 and 255).
For other Operating modes, contact your representative for assistance.
NOTE: If operating mode 255 has been selected, it is not possible to change the
Operating mode from the receiver.
9.5.1 SHOW/ CHANGE OPERATING MODE

1. Press the Function button four times.

Function LED 4 lights (orange). The relay LEDs indicate the current Operating
mode according to the table below:
relay relay relay relay Operating Radio mode

LED 1 LED 2 LED 3 LED 4 mode
● 1 (default) Continuous mode

○ ○ ○
● 2 Continuous mode
○ ○ ○
● ● 3 Continuous mode
○ ○
● ● ● ● 255 Continuous/ discontinuous
depending on the settings
NOTE: If no button is pressed within approximately 10 seconds, the receiver

will automatically return to normal operation.
To change Operating mode:

Function LED 4 flashes (orange).
3. Press the Function button once to move to the next available Operating mode
(repeat until the LED combination corresponds to the desired Operating
mode).
The corresponding relay LEDs lights.
4. Press the Select button to confirm.

The new configuration is saved. The receiver returns to normal operation.
9.5.2 OPERATING MODE 1
NOTE: If the radio link is lost, all relays and digital outputs will switch off.
2 Relay number on the receiver

Button functions
Direction functions
* Depending on the Load select mode selected on the transmitter.
On relays Stop relays (SR1 + SR2) and DO2 are active when
the radio link is up.
Work relays Relay 29 should be activated if any of the
transmitter buttons are pressed.
Load select relays Load A: relay 14 + 27
Load B: relay 15 + 28
Programmable relay functions Relay 10 and 11, 24–26 can be set to latching or
momentary.
Interlocking Between button pairs 1–2, 3–4, 5–6
Radio mode Continuous
Zero position check Active for all functions/buttons.
Digital outputs DO1: e.g. for a +5 V buzzer

DO2: +5 V bright LED to indicate that the stop
relays are activated.
DO3–7: N/A

Button functions
Direction functions
On relays Stop relays (SR1 + SR2) are active when the radio
link is up.
Work relays –
Load select relays –
Programmable relay functions Relays 1–29 can be set to latching or momentary.
Interlocking No interlocking between relay outputs.
All buttons are used as button functions.
Digital outputs DO1–7 not used.

Button function – Load select A (relay 11 for indication)
Button function –Load select B (relay 12 for indication)
* Depending on the Load select mode selected on the transmitter.
On relays Stop relays (SR1 + SR2) are active when the radio
link is up.
Work relays Relays 13–15: not used.
Relay 28: Engine RPM increase with 500 ms delay
when releasing.
Relay 29: active when relays 1–10 and 16–27 are
activated.
Load select relays Load A: relay 11
Load B: relay 12
Programmable relay functions Relays 1–10 and 16–27 can be set to latching or
momentary.
Interlocking No interlocking between relay outputs. All

buttons are used as button functions.
Digital outputs DO1–7 not used.
9.6 Active Load select
NOTE: If this setting is set to 0 (status LEDs 1–4 are off), the receiver will always
be activated when receiving a radio package. For all other settings, the receiver
will be activated when the load select on the transmitter corresponds to one of
the load select settings enabled in the receiver.
9.6.1 SHOW LOAD SELECT
1. Press the Function button five times and keep it pressed until function LEDs 4
(orange) and 3 (green) light.
The receiver is now in extended menu mode. Relay LEDs 1–4 show the current
Load select setting according to the table below:
Relay Relay Relay Relay the receiver will be activated when…

LED 1 LED 2 LED 3 LED 4
(red) (red) (red) (red)
● Load A is selected on the transmitter

○ ○ ○
● Load B is selected on the transmitter
○ ○ ○
● Load C is selected on the transmitter
○ ○ ○
● Load D is selected on the transmitter
○ ○ ○
The receiver does not listen to any
○ ○ ○ ○ load(s) and will always be activated
when receiving a radio package.
NOTE: If no button is pressed within approximately 10 seconds, the receiver

will automatically return to normal operation.
9.6.2 CHANGE LOAD SELECT
1. Press the Select button once.

Relay LED 1 flashes. Load A can be activated.
2. Press the Function button to enable/ unable the Load setting.

Function LEDs 3 (green) and 4 (orange) light when a Load has been activated.
They are off when no Load has been selected.
3. Press the Select button once to move to the next available Load (repeat until
the LED combination corresponds to the desired Load select).
The corresponding status LED flashes and the Load can be activated.

The new configuration is saved.
The receiver returns to normal operation.
9.7 Register a batteryless button (BLB) transmitter

This procedure is intended for customer specific applications where a transmitter's
function buttons 1–4 can be remapped (duplicated) to other buttons on the same
transmitter or on a BLB transmitter.

receiver.

IMPORTANT! For this procedure to succeed, the receiver must be set to

discontinuous mode, the zero position check must be disabled and the receiver
must be locked to channel 11.
NOTE: To establish a radio link between the transmitter and the receiver, both
units must be set to the same radio mode.


All relay LEDs light (red).

Relay LED 1 flashes (red).
Button remapping is now possible with the following settings as default 1 :
LED 1= button 1, LED 2 = button 2, LED 3 = button 3 and LED 4 = button 4
4. Press the Function button to move between the available "button remaps 1–4"
until the desired button remap is selected.
1 For other settings, contact your representative for assistance.
The corresponding relay LED flashes.

The corresponding relay LED stops flashing and remains lit. The receiver is in
BLB registration mode.
NOTE: If no BLB button is pressed within 10 seconds, the receiver will exit
registration mode.
6. Press the BLB button to be remapped to.

All function LEDs and the selected relay LED flash 3 times. The button has been
remapped.
9.8 Log a transmitter out
NOTE: The login/logout function cannot be activated/deactivated in the receiver.

Contact your representative for assistance.
For this receiver, the login/logout function is activated by default.
NOTE: This logout option should be used when a lost or damaged transmitter
must be logged out from the receiver.
NOTE: If a transmitter has been lost or seriously damaged, use the replace
procedure on the transmitter whenever possible.
Function LED 1 (red) is lit to indicate that one or more transmitter(s) are registered
in the receiver and that one transmitter is logged in.

Ensure that the stop relays are deactivated before proceeding with the
following instructions; LED SR 1–2 must be Off.
NOTE: Logout can only be performed when the transmitter is on and a radio link
with one or more receivers has been established. The receiver must be powered-
up for the logout procedure to be successful.
1. Press and hold the Select button for approx. 4 seconds or until function LED 4
goes off.
2. Release the Select button.

All function LEDs light briefly.
The logged in transmitter has been logged out. The receiver returns to normal
operation. Any registered transmitter can now log in.
9.9 Erase all registered transmitters
NOTE: The following instructions will erase all registered transmitters from the
receiver.
NOTE: An erased transmitter cannot be logged in to the receiver until it has been
registered in the receiver again.
1. Press the Function button once.

2. Press and hold the Select button for approx. 4 s or until all relay LEDs go off.
All registered transmitters have been erased.
9.10 Master reset of the receiver

This procedure will erase all settings from the receiver and restore factory defaults.
NOTE: The erase function cannot be activated/deactivated in the receiver. Contact

your representative for assistance.

1. Press both the Select and the Function buttons for approx. 10 seconds or
until all function LEDs go off.
2. Release both buttons.

All function LEDs light briefly. The receiver has been reset.
Installation instructions│ R23│ Chapter 10: Warranty, service, repairs, and
maintenance
CHAPTER 10: WARRANTY, SERVICE, REPAIRS,

AND MAINTENANCE
Tele Radio products are covered by a warranty against material, construction and
manufacturing faults. During the warranty period, Tele Radio may replace the
product or faulty parts. Work under warranty must be performed by Tele Radio or
by an authorized service center specified by Tele Radio.
The following are not covered by the warranty:
l Faults resulting from normal wear and tear
l Parts of a consumable nature
l Products that have been subject to unauthorized modifications
l Faults resulting from incorrect installation and use
l Damp and water damage
Maintenance
l Repairs and maintenance must be performed by qualified personnel
l Only use spare parts from Tele Radio
l Contact your representative for service or any other assistance
l Keep the product in a clean, dry place
l Keep contacts and antennas clean
l Wipe off dust using a slightly damp, clean cloth
NOTE: Never use cleaning solutions or high-pressure washer.
Installation instructions│ R23│ Chapter 11: Regulatory information
CHAPTER 11: REGULATORY INFORMATION
11.1 Europe
Applies to: R23-01, R23-03; R23-02, R23-04
11.1.1 CE MARKING
Hereby, Tele-Radio i Lysekil AB, declares that the product(s) listed above
is/are in compliance with the Radio Equipment Directive 2014/53/EU.
The latest version of the complete EU Declaration of Conformity is
available at the following website: www.tele-radio.com.
11.1.2 WEEE DIRECTIVE

This symbol means that inoperative electrical and electronic products
must not be mixed with household waste. The European Union has
implemented a collection and recycling system for which producers are
responsible. For proper treatment, recovery and recycling, please take
this product to a designated collection point.
Tele Radio strives to minimize the use of hazardous materials, promotes reuse and
recycling, and reduces emissions to air, soil and water. When a commercially viable
alternative is available, Tele Radio strives to restrict or eliminate substances and
materials that pose an environmental, health or safety risk.
11.2 United Kingdom

Applies to: R23-01, R23-03; R23-02, R23-04
11.2.1 UKCA MARKING

UK Importer: Tele Radio (UK) LTD
1 SEYMOUR COURT,
MANOR PARK, RUNCORN, WA7 1SY, UK
Email: sales@teleradiouk.com
The latest version of the complete UKCA Declaration of Conformity is
available on request. Contact your representative for more information.
11.3 North America

Applies to: R23-01, R23-03; R23-02, R23-04
11.3.1 FCC STATEMENT

This device complies with part 15 of the FCC Rules. Operation is subject to the
following two conditions:
(1) This device may not cause harmful interference, and
(2) this device must accept any interference received, including interference that
may cause undesired operation.
Changes or modifications not expressly approved by the party responsible for

compliance could void the user’s authority to operate the equipment.
This equipment has been tested and found to comply with the limits for a Class B
digital device, pursuant to part 15 of the FCC Rules. These limits are designed to
provide reasonable protection against harmful interference in a residential
installation. This equipment generates uses and can radiate radio frequency energy
and, if not installed and used in accordance with the instructions, may cause
harmful interference to radio communications. However there is no guarantee that
interference will not occur in a particular installation. If this equipment does cause
harmful interference to radio or television reception, which can be determined by
turning the equipment off and on, the user is encouraged to try to correct the
interference by one or more of the following measures:
l Reorient or relocate the receiving antenna.
l Increase the separation between the equipment and receiver.
l Connect the equipment into an outlet on a circuit different from that to which
the receiver is connected.
l Consult the dealer or an experienced radio/TV technician for help.
To satisfy FCC RF exposure requirements, a separation distance of 20 cm or more

should be maintained between the antenna of this device and persons during
device operation. To ensure compliance, operations at closer than this distance is
not recommended.
11.3.2 IC STATEMENT
This product complies with Industry Canada's licence-exempt RSSs. Operation is
subject to the following two conditions:
(1) This device may not cause interference; and
(2) This device must accept any interference, including interference that may cause
undesired operation of device.
Le présent appareil est conforme aux CNR d’Industrie Canada applicables aux
appareils radio exempts de licence. L’exploitation est autorisée aux deux conditions
suivantes :
1) l’appareil ne doit pas produire de brouillage;
2) l’appareil doit accepter tout brouillage radioélectrique subi, même si le

brouillage est susceptible d’en compromettre le fonctionnement.
This radio transmitter has been approved by Industry Canada to operate with the
antenna types listed below with the maximum permissible gain and required
antenna impedance for each antenna type indicated. Antenna types not included in
this list, having a gain greater than the maximum gain indicated for that type, are
strictly prohibited for use with this device.
Gain of antenna: 3.0 dBi max.
Type of antenna: 50 ohm, Omni-directional
Le présent émetteur radio a été approuvé par Industrie Canada pour fonctionner
avec les types d'antenne énumérés ci-dessous ayant le gain admissible maximal et
l'impédance requise pour chaque type d'antenne indiqué. Les types d'antenne non
inclus dans cette liste, ou dont le gain est supérieur au gain maximal indiqué, sont
strictement interdits pour l'exploitation de l'émetteur.
Gain d'antenne: 3.0 dBi maximum
Type d'antenne: 50 ohm, omnidirectionnel
To satisfy IC RF exposure requirements, a separation distance of 20 cm or more

should be maintained between the antenna of this device and persons during
device operation. To ensure compliance, operation at closer than this distance is
not recommended.
Afin d'assurer la conformité aux exigences de la IC en matière d'exposition aux RF,

une distance de séparation d'au moins 20 cm doit être maintenue entre l'antenne
de cet appareil et toute personne à proximité pendant le fonctionnement de
l'appareil. Pour assurer le respect de ces exigences, il n'est pas recommandé
d'utiliser l'appareil à une distance inférieure à celle-ci.
11.3.3 FCC/IC LABELS

The radio module in this product is labeled with its own FCC ID and IC numbers. The
FCC ID and IC numbers are not visible when the radio module is installed inside
another device. Therefore, the outside of the device into which the module is
installed must also display a label referring to the enclosed radio module. The final
end device must be labeled in a visible area with the following:
“Contains FCC ID: ONFC1902A
“Contains IC: 4807A-C1902A
The FCC and IC numbers are found on the product label.
Installation instructions│ R23│ Annex A: CANopen specification for R23 (in
English)
ANNEX A: CANopen SPECIFICATION FOR R23 (IN

ENGLISH)
For receivers using Software version SW0028-09v09 or higher.
A.1 Introduction 75
A.2 General 75
A.3 Bus termination 76
A.4 Selection of CANopen node ID 76
A.5 Selection of CANopen baud rate 76
A.6 Configuration of CANopen object dictionary 77
A.7 LED indications 77
A.8 Internal states 78
A.9 Pre-defined connection set 79
A.10 Transmit Process Data Objects (TPDO) overview 80
A.11 Receive Process Data Objects (RPDO) overview 81
A.12 Manufacturer Specific Objects 82
A.13 Emergency Object (EMCY) 88
A.14 Object Dictionary 89
Version: v01
A.1 Introduction
This document describes the CANopen specification for Panther systemsand applies
to both Panther R18 and R23 receivers.
A.2 General
The Panther receiver CANopen interface operates according to CANopen Application
Layer and Communication Profile and Pre-Defined Connection Set defined in CiA
DS-301 version 4.2.0.
General features:
l CANopen Slave device
l 4 freely mappable Transmit Process Data Objects (TPDO)
l 4 freely mappable Receive Process Data Objects (RPDO)
English)
l 1 Service Data Object (SDO)
l Synchronisation Object (SYNC) Consumer
l Emergency Object (EMCY) Producer
l NMT protocols
l Bootup Protocol
l Node Guarding Protocol
l Heartbeat Protocol
l Layer Setting Service (LSS)
l CANopen Node ID selectable via Settings Manager or LSS: 1-127
l CANopen baud rate selectable via Settings Manager or LSS: 10 kbps, 20 kbps,
50 kbps, 100 kbps, 125 kbps, 250 kbps, 500 kbps, 800 kbps 1 Mbps
l Vendor ID: 0x000000A6
Limitations
EMCY message is not transmitted and CAN-error LED is inactive when a missing
heartbeat (as consumer) / guard message (as slave) is configured but not detected
or when a received PDO is smaller than expected.
A.3 Bus termination

The CANopen interface contains an internal bus termination resistor. If the Panther
receiver is the last unit on the bus, the bus has to be terminated, which can be
done by activating the internal termination using the PC program Settings Manager,
or by connecting an external termination resistor.
A.4 Selection of CANopen node ID

The CANopen node ID is selected using Tele Radio's proprietary configuration
software – Settings Manager–. The selected node ID has to be in the range 1 to 127.
A.5 Selection of CANopen baud rate

The CANopen baud rate is selected using Tele Radio's proprietary configuration
software – Settings Manager–. The following baud rates can be selected: 10 kbps, 20
kbps, 50 kbps, 100 kbps, 125 kbps, 250 kbps, 500 kbps, 800 kbps, 1 Mbps.
English)
A.6 Configuration of CANopen object dictionary

A custom CANopen mapping can be configured using the PC program Settings
Manager. This is above the CANopen protocol and changes what values are
available to map in TPDOs and RPDOs. Changing this mapping is outside the scope
of this document.
A.7 LED indications

The CANopen interface has two indication LEDs, see table below.
A.7.1 RUN-LED
LED State Indication Description

Off - No power or CAN interface
deactivated
Green OPERATIONAL State=OPERATIONAL
Green, blinking PRE-OPERATIONAL State=PRE-OPERATIONAL
Green, single flash STOPPED State=STOPPED
A.7.2 ERROR-LED
LED State Indication Description

Off - No power or CAN interface
deactivated
Red, single flash Warning limit reached A bus error counter reached or
exceeded its warning level.
Red, flickering LSS LSS services in progress
Red Bus off (Fatal Event) Bus off.
English)
A.8 Internal states

The CANopen interface supports the following states:
State Transition Trigger for State Transition

(1) At Power On the Initialization state is entered autonomously
(2) Initialization finished – enter state PRE-OPERATIONAL automatically
(3), (6) Start Remote Node indication (NMT message)
(4), (7) Enter PRE-OPERATIONAL State indication (NMT message)
(5), (8) Stop Remote Node indication (NMT message)
(9), (10), (11) Reset Node indication (NMT message)
(12), (13), (14) Reset Communication indication (NMT message)
English)
A.9 Pre-defined connection set

The communication objects according to the pre-defined connection set have the
following COB-IDs and communication parameters:
Object Default COB-ID Communication/Mapping Parameters at Index

NMT 0h -
SYNC 80h 1005h, 1006h, 1007h, 1019h
EMERGENCY (EMCY) 80h + Node ID 1014h, 1015h
RPDO 1 200h + Node ID 1400h, 1600h
RPDO 2 300h + Node ID 1401h, 1601h
RPDO 3 400h + Node ID 1402h, 1602h
RPDO 4 500h + Node ID 1403h, 1603h
TPDO 1 180h + Node ID 1800h, 1A00h
Default SDO Client->Server (rx) 600h + Node ID 1200h
Default SDO Server->Client (tx) 580h + Node ID 1200h
NMT Error Control 700h + Node ID 1016h, 1017h
Default PDO transmission type is 254 (transmission when data changes).
English)
A.10 Transmit Process Data Objects (TPDO)

overview
The default mappings of the TPDOs are listed below. These are sent from the
Panther Gen2 receiver to the CANopen network. The index/sub-index in the object
dictionary is shown below each description.
TPDO 1: System status
UNSIGNED8 UNSIGNED8 UNSIGNED8 UNSIGNED8 UNSIGNED16 UNSIGNED16

Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8
RX packet Radio link Radio link Main TX type Main TX radio link Main TX load
counter quality channel flags select
2100h/01h 2100h/02h 2100h/03h 2100h/04h 2101h/03h 2101h/04h
TPDO 2: Buttons and directions
UNSIGNED16 UNSIGNED16 UNSIGNED16 UNSIGNED16

Main TX buttons, step 1 Main TX buttons, step 2 Main TX buttons, both steps Directions
2101h/05h 2101h/06h 2101h/07h 2101h/08h
TPDO 3: Reserved
N/A N/A N/A N/A N/A N/A N/A N/A

Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved
Not mapped Not mapped
TPDO 4: TX id
UNSIGNED32 N/A
Main TX id Reserved Reserved Reserved Reserved
2102h/07h Not mapped
English)
A.11 Receive Process Data Objects (RPDO) overview

The default mappings of the RPDOs are listed below. These are received by the
Panther receiver from the CANopen network. The index/sub-index in the object
dictionary is shown below each description.
RPDO 1: Fieldbus input register 1 and 2
UNSIGNED32 UNSIGNED32

Generic U32 RPDO object 1 Reserved
2200h/01h Not mapped
Reserved Reserved
Reserved Reserved
Reserved Reserved
English)
A.12 Manufacturer Specific Objects

The following Manufacturer Specific Objects are available in the object dictionary:
Index Object Name Description Data Access
Type
2000h Generic U8 RPDO 32 UNSIGNED8 input data objects accessible with value U8 RWW
objects selectors Array
2001h Generic U16 RPDO 16 UNSIGNED16 input data objects accessible with U16 RWW
objects value selectors Array
2002h Generic U32 RPDO 8 UNSIGNED32 input data objects accessible with value U32 RWW
2003h Generic I8 RPDO 32 INTEGER8 input data objects accessible with value I8 Array RWW
objects selectors
2004h Generic I16 RPDO 16 INTEGER16 input data objects accessible with value I16 RWW
2005h Generic I32 RPDO 8 INTEGER32 input data objects accessible with value I32 RWW
2100h Generic U8 TPDO 32 UNSIGNED8 output data objects configurable with U8 RO
2103h Generic I8 TPDO 32 INTEGER8 output data objects configurable with I8 Array RO
objects value selectors
2104h Generic I16 TPDO 16 INTEGER16 output data objects configurable with I16 RO
2105h Generic I32 TPDO 8 INTEGER32 output data objects configurable with I32 RO
2200h System commands U32 RWW
Array
English)
A.12.1 OBJECT 2000H: GENERIC U8 RPDO OBJECTS

Index: 2000h
Name: Generic U8 RPDO objects
Sub-indexes: 20h
Data type: UNSIGNED8
Access: RWW
Sub-index Description Value selector (internal parameter)
1-32 General feedback from CANopen network Group: CANOPEN_INPUT_8BIT (50)
(not used in default mapping) Type: UINT8 (1)
Indexes: 0-31

Index: 2001h
Sub-indexes: 10h
Access: RWW
(not used in default mapping) Type: UINT16 (3)
Indexes: 0-15

Index: 2002h
Sub-indexes: 08h
Access: RWW
(two sub-indexes mapped to each RPDO) Type: UINT32 (5)
Indexes: 0-7
A.12.4 OBJECT 2003H: GENERIC I8 RPDO OBJECTS

Index: 2003h
Name: Generic I8 RPDO objects
Sub-indexes: 20h
Data type: INTEGER8
Access: RWW
(not used in default mapping) Type: INT8 (2)
Indexes: 0-31

Index: 2004h
Sub-indexes: 10h
Data type: INTEGER16
Access: RWW
Indexes: 0-15
English)

Index: 2005h
Sub-indexes: 08h
Access: RWW
Indexes: 0-7
A.12.7 OBJECT 2100H: GENERIC U8 TPDO OBJECTS

Index: 2100h
Name: Generic U8 TPDO objects
Sub-indexes: 20h
Access: RO
1 RX packet counter Group: SESSION_DATA (4)
Incremented by one on every 16 received Type: UINT8 (1)
valid radio packets Index: 4
2 Radio link quality Group: SESSION_DATA (4)
Based on RSSI, range 0…15 Type: UINT8 (1)
Corresponds to RSSI values -90…-60 Index: 5
3 Radio link channel Group: SESSION_DATA (4)
Zero if no session active, otherwise range Type: UINT8 (1)
11…26 Index: 6
4 Main TX type Group: TX2RX_STATE_DATA (1)
Value 00h => No TX active/Invalid Type: UINT8 (1)
Value 01h => Gen1 TX Index: 36
Value 81h => Gen1 PLD TX
5-32 Not used in default mapping -

Index: 2101h
Sub-indexes: 10h
Access: RO
English)
3 Main TX radio link flags Group: TX2RX_STATE_DATA (1)

Bit 00: RAW_LINK Type: UINT16 (3)
Bit 01: ACTIVE_LINK Index: 5
Bit 02: SESSION
Bit 03: SHORT_LINK
Bit 04: ZERO_LINK
Bit 05: START_PHASE
Bit 06: KILL_PHASE
Bit 07: ACTIVE_STOP
Bit 08: PASSIVE_STOP
Bit 09: CM_ACT_LINK
Bit 10: BAD_BATTERY
Bit 11: LOGOUT
Bit 12–15: Reserved
4 Main TX load select Group: TX2RX_STATE_DATA (1)
Bit 00: Load A Type: UINT16 (3)
Bit 01: Load B Index: 6
Bit 02: Load C
Bit 03: Load D
Bit 04-15: Reserved
5 Main TX buttons, step 1 Group: TX2RX_STATE_DATA (1)
Bit 00: Button 01, step 1 Type: UINT16 (3)
Bit 01: Button 02, step 1 Index: 2
Bit 02: Button 03, step 1
6 Main TX buttons, step 2 Group: TX2RX_STATE_DATA (1)
Bit 00: Button 01, step 2 Type: UINT16 (3)
Bit 01: Button 02, step 2 Index: 3
English)
7 Main TX buttons, both steps Group: TX2RX_STATE_DATA (1)

Bit 00: Button 01, both steps Type: UINT16 (3)
Bit 01: Button 02, both steps Index: 4
Bit 02: Button 03, both steps
8 Directions Group: Information about current session
Bit 00: Direction 01, pos negative 01 (4)
Bit 01: Direction 01, pos negative 02 Type: UINT16 (3)
Bit 02: Direction 01, pos positive 01 Index: 6
Bit 03: Direction 01, pos positive 02
Bit 04: Direction 02, pos negative 01

Index: 2102h
Sub-indexes: 08h
Access: RO
7 Main TX id Group: TX2RX_STATE_DATA (1)
Zero if no session with main TX, id of main Type: UINT32 (5)
TX otherwise Index: 0
A.12.10 OBJECT 2103H: GENERIC I8 TPDO OBJECTS

Index: 2103h
Name: Generic I8 TPDO objects
Sub-indexes: 20h
Data type: INTEGER8
Access: RO

Index: 2104h
Sub-indexes: 10h
Access: RO
English)

Index: 2105h
Sub-indexes: 08h
Access: RO
A.12.13 OBJECT 2200H: SYSTEM COMMANDS

Index: 2200h
Name: System commands
Sub-indexes: 01h
Access: RWW
Sub-index Description
1 System command
Bit 00-07: Contains the ascii value ‘T’
Bit 08-15: Contains the ascii value ‘R’
Bit 16-23: Contains the ascii value ‘C’
Bit 24-31: One of the following values:
01h: Activate TX register mode on RX
English)
A.13 Emergency Object (EMCY)

The Emergency Object is sent to the CANopen network with the following
information:

EMCY Error Code EMCY Error Code Error Register (1001h) Manufacturer specific field (not used)
Low Byte High Byte
The EMCY Error Codes for internal CANopen diagnostics are interpreted as follows:
EMCY Error Description
Code
8100h Communication error
8110h CAN controller signalled a lost message (overrun)
8120h CAN controller reached the warning limit due to error frames
8130h An error control event has occurred (either a life guarding or a heartbeat event)
8140h CAN controller has recovered from a BUS OFF state
8210h A received PDO was smaller than specified by the valid mapping table
8220h The DLC of a received PDO exceeded the length specified by the valid mapping
table
NOTE: EMCY message is not transmitted when a missing heartbeat (as consumer) /
guard message (as slave) is configured but not detected or when a received PDO
is smaller than expected.
English)
A.14 Object Dictionary
A.14.1 ABBREVIATIONS
RO Read Only
RW Read, Write
RWW Read, Write on process output
U8 Unsigned8
U16 Unsigned16
U32 Unsigned32
I8 Integer8
I16 Integer16
I32 Integer32
A.14.2 GENERAL PARAMETERS
Index Object Name Sub- Description Data Access Note
Index Type
0002h Dummy Object 00h Dummy Type Object for I8 U32 RW 0000 0008h
0005h Dummy Object 00h Dummy Type Object for U8 U32 RW 0000 0008h
1000h Device Type 00h Device Type U32 RO 0000 0000h (No
Profile)
1001h Error Register 00h Error Register U8 RO -
1003h Pre-defined 00h Number of errors U8 RW
error field
01h-0Ah Error field U32 RO
1005h COB-ID Sync 00h COB-ID Sync U32 RW Default value is
0000 0080h
1006h Communication 00h Period between transmissions U32 RW 0000 0000h
Cycle Period of SYNC in µs
1007h Synchronous 00h Synchronous Window Length U32 RW 0000 0000h
Window Length in µs (0 is disabled)
1008h Manufacturer 00h Manufacturer Device Name Visible RO “PN-R23”
Device Name string
1009h Manufacturer 00h Manufacturer Hardware Visible RO -
Hardware Version string
Version
100Ah Manufacturer 00h Manufacturer Software Version Visible RO “SW0028-09vXX”
Software string CAN
Version
100Ch Guard Time 00h Guard Time U16 RW -
100Dh Life Time Factor 00h Life Time Factor U8 RW -
1010h Store 00h Largest sub-index supported U8 RO 02h
Parameters 01h Store all parameters U32 RW Both sub-
indexes have
the same
effect when
ASCII “SAVE” is
written
02h Store Communication U32 RW
parameters
English)
Index Type
1011h Restore 00h Largest sub-index supported U8 RO 02h
Parameters 01h Restore all default parameters U32 RW Both sub-
indexes have
the same effect
when ASCII
“LOAD” is
written
02h Restore communication U32 RW
default parameters
1014h COB-ID EMCY 00h COB-ID EMCY U32 RO -
1015h Inhibit Time 00h Inhibit Time EMCY U16 RW Default value is
EMCY 0000h
1016h Consumer 00h Number of entries U8 RO 01h
Heartbeat Time 01h Consumer Heartbeat Time U32 RW Node ID +
Heartbeat Time.
Value must be a
multiple of 1ms.
1017h Producer 00h Producer Heartbeat Time U16 RW -
Heartbeat Time
1018h Identity object 00h Number of entries U8 RO 04h
01h Vendor ID U32 RO 0000 00A6h
02h Product Code U32 RO 0x17 (23)
03h Revision Number U32 RO -
04h Serial Number U32 RO id number of
the unit
1019h Sync counter 00h Sync counter U8 RO -
A.14.3 SERVER SDO PARAMETERS
Index Type
1200h Server SDO 00h Largest sub-index supported U8 RO 02h
Parameter 01h COB ID Client to Server U32 RO Node ID +
(Receive SDO) 0600h
02h COB ID Server to Client U32 RO Node ID +
(Transmit SDO) 0580h
A.14.4 RECEIVE PDO COMMUNICATION PARAMETERS
Index Type
1400h Receive PDO 00h Largest sub-index supported U8 RO 05h
… Communication 01h COB-ID used by PDO U32 RW -
1403h Parameter 02h Transmission Type U8 RW -
03h Inhibit Time (not used) U16 RW -
05h Event Timer (not used) U16 RW -
English)
A.14.5 RECEIVE PDO MAPPING PARAMETERS
Index Type
1600h Receive PDO 00h Number of mapped application U8 RW -
… Mapping objects in PDO
1603h Parameter 01h Mapped object No.1 U32 RW -
02h Mapped object No.2 U32 RW -
… … U32 RW -
n Mapped object No.n U32 RW -
A.14.6 TRANSMIT PDO COMMUNICATION PARAMETERS
Index Type
1800h Transmit PDO 00h Largest sub-index supported U8 RO 05h
… Communication 01h COB-ID used by PDO U32 RW -
1803h Parameter 02h Transmission Type U8 RW -
03h Inhibit Time U16 RW -
05h Event Timer (ms) U16 RW -
A.14.7 TRANSMIT PDO MAPPING PARAMETERS
Index Type
1A00h Transmit PDO 00h Number of mapped application U8 RW -
… Mapping objects in PDO
1A03h Parameter 01h Mapped object No.1 U32 RW -
02h Mapped object No.2 U32 RW -
… … U32 RW -
n Mapped object No.n U32 RW -
A.14.8 MANUFACTURER SPECIFIC PARAMETERS
Index Type
2000h Generic U8 00h Largest sub-index supported U8 RO 20h
RPDO objects 01h-20h 32 UNSIGNED8 input data objects U8 RWW
accessible with value selectors in
the Panther RX using the PC
program Settings Manager
English)
Index Type
2003h Generic I8 00h Largest sub-index supported U8 RO 20h
RPDO objects 01h-20h 32 INTEGER8 input data objects I8 RWW
TPDO objects 01h-20h 32 UNSIGNED8 output data objects U8 RO
configurable with value selectors
in the Panther RX using the PC
TPDO objects 01h-10h 16 UNSIGNED16 output data U16 RO
objects configurable with value
selectors in the Panther RX using
the PC program Settings Manager
TPDO objects 01h-08h 8 UNSIGNED32 output data objects U32 RO
TPDO objects 01h-20h 32 INTEGER8 output data objects I8 RO
in the Panther Gen2 RX using the
PC program Settings Manager
2200h System 00h Largest sub-index supported U8 RO 01h
commands 01h System command trigger U32 RWW
Installation instructions│ R23│ Annex B: J1939 specification for R23 (in English)
ANNEX B: J1939 SPECIFICATION FOR R23 (IN

ENGLISH)
For receivers using Software version SW0028-09v09 or higher.
B.1 Introduction 93
B.2 General 93
B.3 LED indications 95
B.4 Supported PGNs Tx (Request messages transmitted) 96
B.5 Supported PGNs Rx (Request messages accepted) 101
Version: v01
B.1 Introduction
This document describes the installation, setup and J1939 communication profile
for Tele Radio receiver units 23-08 and R23-09. It is intended for personnel with
qualifications within electrical engineering and J1939 communication. For additional
documentation, see official J1939 standards.
R23-08 and R23-09 receivers have 10 standard relays on the main board that can be
controlled with J1939.
B.2 General
The receiver's J1939 interface operates according to SAE J1939 DA.
This document describes the messages provided by Tele-Radio J1939 default spec
and general information about using the CAN protocol with extended 29-bit CAN
identifiers.
Definitions:
Parameter Group Numbers identifiers (PGN): 18-bit subset of the 29-bit extended
CAN.
Suspect Parameter Numbers parameters (SPN): identifier for the CAN signals
/parameters contained in the datafield.
B.2.1 GENERAL FEATURES

The receiver's J1939 unit is arbitrary address capable by default. It is possible to
specify a start address in Tele Radio's proprietary configuration software – Settings
Manager– but if the address is already used, then it will automatically be changed
to next available address.
l Baud rate: The baud rate is selected using Tele Radio's proprietary
configuration software – Settings Manager–. The following baud rates can be
selected: 10 kbps, 20 kbps, 50 kbps, 100 kbps, 125 kbps, 250 kbps, 500 kbps,
800 kbps, 1 Mbps.
l Default starting network address must be defined and set manually in Tele
Radio's proprietary configuration software – Settings Manager–). Contact your
representative for assistance.
Tele Radio Node claiming ends at 251/0xFB and then restarts at 0x00.
l PGNs 0x0FF00 – 0x0FFFF are reserved for proprietary use.
l Tele radio's default message size for J1939 is 8 bytes.

Byte \ Bit 7 6 5 4 3 2 1 0
0 7 6 5 4 3 2 1 0
1 15 14 13 12 11 10 9 8
2 23 22 21 20 19 18 17 16
3 31 30 29 28 27 26 25 24
4 39 38 37 36 35 34 33 32
5 47 46 45 44 43 42 41 40
6 55 54 53 52 51 50 49 48
7 63 62 61 60 59 58 57 56
B.2.2 LIMITATIONS
Request message (PGN:0x00EA00) is not implemented.
B.2.3 NAME MESSAGE WHEN CLAIMING ADDRESS

The Name message is 64 bit (8 bytes) and follows the structure below (for more
details about addresses and names, please refer to the J1939/81 standard).
Bits 0-20 are used for the receiver's serial number.
s = serial number

(hex) 0x ss ss 0s 00 00 FF 00 80
B.3 LED indications

The J1939 interface has two indication LEDs, see table below.
B.3.1 RUN-LED

Green Operational No address
J1939 communication Description

state
Operational Address claim is correct, processing messages.
No address Address claim is still running or has failed.
B.3.2 ERROR-LED

Red Bus off Warning limit reached
J1939 error code Problem description

message
error frames).
B.4 Supported PGNs Tx (Request messages

transmitted)
PGNs FF80h – FF83h are 64 bits each. They are sent every 100 ms with a priority 6.
NOTE: Transmission repetition rate is set to 100ms by default but can be adjusted
to customer needs. Contact your representative for assistance.
NOTE: "Priority" and "Source address" values are voluntary and can be adjusted to
customer needs (contact your representative for assistance).
NOTE: In the tables below, "Priority 6" is the default values while "Source address
Z/0xZZ (dec/hex)"/hex)" is only used as an example for the identifier.
B.4.1 PGN: SYSTEM STATUS
Transmission Data length Default priority PGN (dec/hex) Source address Identifier 1 (hex)
repetition rate (bytes) (dec) (dec/hex)

Every 100ms 8 6 65408/ 0xFF80 Z / 0xZZ 0x18FF80ZZ
• RX packet counter
Packet counter for the number of received radio packets by the receiver unit.
SPN name SPN start SPN length Description
(bit) (bit)
Packet counter 0 8 Counter increases value by 1 for every 16th
radio packet received and counts from 0 to
255, then resets and starts over again.
• Radio link quality
(bit) (bit)
Radio link quality 8 8 Based on RSSI, range 0…15
Corresponds to RSSI values -90…-60
• Radio link channel
(bit) (bit)
Radio link channel 16 8 0 = no session active
2.4 GHz frequency band: Value 11–26 => radio
channel 11–26
1 Identifier (hex) = Priority (hex) + PGN (hex) + Source address (hex)
• Main TX type
(bit) (bit)
Main TX type 24 8 0 =No TX active/Invalid
Value 01h => Gen1 TX
Value 81h => Gen1 PLD TX
Value 10h => Gen2 simple TX
Value 90h => Gen2 simple PLD TX
Value 11h => Gen2 button TX
Value 91h => Gen2 button PLD TX
Value 12h => Gen2 joystick TX
Value 92h => Gen2 joystick PLD TX
• Main TX radio link flags
(bit) (bit)
RAW_LINK 32 1 1 =raw link active
ACTIVE_LINK 33 1 1 = active link active
SESSION 34 1 1 = session active
SHORT_LINK 35 1 1 = short link active
ZERO_LINK 36 1 1 = zero link active
START_PHASE 37 1 1 = start phase active
KILL_PHASE 38 1 1 = kill phase active
ACTIVE_STOP 39 1 1 = active stop active
PASSIVE_STOP 40 1 1 = passive stop active
CM_ACT_LINK 41 1 1 = link active
BAD_BATTERY 42 1 1 = Battery level is too low
LOGOUT 43 1 1 = logout active
Reserved 44 4 –
• Main TX load select
(bit) (bit)
Load A 48 1 1= Load A active
Load B 49 1 1= Load B active
Load C 50 1 1= Load C active
Load D 51 1 1= Load B active
Reserved 52 12 –
B.4.2 PGN: BUTTONS AND DIRECTIONS
Transmission Data length Default priority PGN (dec/hex) Source address Identifier (Hex)

Every 100ms 8 6 65409/ 0xFF81 Z / 0xZZ 0x18FF81ZZ
• Main TX buttons, step 1
(bit) (bit)
Button 01, step 1 0 1 1 = button active
• Main TX buttons, step 2
(bit) (bit)
• Main TX buttons, both steps
(bit) (bit)
Button 01, both steps 32 1 1 = button active
(bit) (bit)
• Directions
(bit) (bit)
Direction 01, pos negative 01 48 1
Direction 01, pos positive 01 50 1
B.4.3 PGN: RESERVED
B.4.4 PGN: TX ID

On change 8 6 65411/ 0xFF83 Z / 0xZZ 0x18FF83ZZ
(bit) (bit)
Main TX id 64 32 = 0 if no session with main TX
Otherwise, = ID of main TX
B.5 Supported PGNs Rx (Request messages

accepted)
PGNs FF00h – FF03h are 64 bits each. They have an update timeout of 500ms. It
accepts all source addresses.
NOTE: Transmission repetition rate is not defined by default but can be adjusted
to customer needs. Contact your representative for assistance.
NOTE: "Priority" and "Source address" values are voluntary and can be adjusted to
customer needs (contact your representative for assistance).
NOTE: For incoming PGNs, "Priority" and "Source address" are actually not
relevant. In the table below, "Priority Y" and "Source address Z/0xZZ (dec/hex)"
are therefore only used as an example for the identifier.
NOTE: It is possible to filter by "Source address", i.e. filter the incoming PGNs by
source address.
B.5.1 PGN: FIELDBUS INPUT REGISTER 1 AND 2
repetition rate 1 (bytes) (dec) (dec/hex)

– 8 Y 65280/ 0xFF00 Z/0xZZ 0xYYFF00ZZ
(bit) (bit)
Generic U32 RPDO object 1 0 32 Reserved for general feedback from the
CAN network (2 sub-indexes mapped to each
RPDO)
RPDO)

– 8 Y 65281/ 0xFF01 Z / 0xZZ 0xYYFF01ZZ
1 Not defined by default but can be adjusted to customer's need. Contact your representative for
assistance.
assistance.
(bit) (bit)
RPDO)
RPDO)

(bit) (bit)
RPDO)
RPDO)

(bit) (bit)
RPDO)
RPDO)
assistance.
assistance.
Installation instructions│ R23│ Annex C: Glossary
ANNEX C: GLOSSARY
DC
Diagnostic Coverage
FIT
Failures in time (1 FIT = 1 failure per 10^9 hours)
HFT
Hardware Fault Tolerance
MTTF
Mean Time To Failure
PFH
Probability of Failure per Hour
PL
Performance level
SFF
Safety Failure Fraction
SIL
Safety Integrity Level
Installation instructions│ R23│ Annex D: Index
ANNEX D: INDEX
Active Load select 64
Antenna 15
Base board 27
Digital outputs 31
Power supply voltage 29
Boards 25
Bus system 16
CANopen specifications 75
CE marking 71
Circuit board positions 25
code messages 47
Configuration menu 53
Enter menu mode 53
Connector 16
Current consumption 17
Dimensions 16
EIRP 15
EMCY 88
Erase all registered transmitters 69
Error indications 47
CANopen 43
J1939 45
Expansion boards 31
14-relay 35
5-relay 32
CAN 40
Digital inputs 38
RS485 41
External antenna 22
FCC statement 72
FCC/IC labels 73
Function LEDs in normal operation mode 42
IC Statement 72
Installation precautions 21
IP code 15
J1939 specifications 93
Log a transmitter out 68
Login/Logout 52
Login/Logout function 52
Logout 68
Maintenance 70
Master reset 69
Menu mode
Enter menu mode 53
Menu mode indications 46
Mounting dimensions
External antenna 23
Receiver 19
Number of channels 15
Operating mode 1 59
Operating mode 2 61
Operating mode 3 62
Operating modes 57
Operating temperature 15
Position
Bottom board 25
Expansion boards 25
Main board 25
Power supply 15
Pre-defined connection set 79
Radio communication 15
Radio frequency band 15
Radio frequency output power 15
Radio mode 52
Register 54
Register a BLB transmitter 66
Relay functions 52
RPDO 81
Safety standards 15
Set momentary/latching relay functions 55
Show settings 56
Show/ change Operating mode 57
Specifications 15
Common 15
External antenna 22
Other 16
Status and error indications 42
Status indications
CANopen 43
J1939 45
TPDO 80
UKCA marking 71
Warnings & restrictions 8
Installation and commission 8
Maintenance 10
Operation 10
WEEE directive 71
Weight 16
safe smart strong
These Installation instructions are subject to change without prior notice.
Download the latest Installation instructions from www.tele-radio.com .

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INSTALLATION

August Barks gata 30A

SE-421 32 Västra Frölunda

Phone: +46 (0)31 748 54 60

Thank you for purchasing a Tele Radio product

READ ALL INSTRUCTIONS AND WARNINGS CAREFULLY BEFORE MOUNTING,

l applicable local and industrial standards and requirements,

l applicable occupational health and safety regulations,

l user and safety manuals or instructions of the manufacturer of the

Tele Radio Installation instructions do not include or address the specific

Tele Radio products are covered by a warranty against material, construction, or

1.1 About this document

Tele Radio's product range is composed of transmitters, receivers, and accessories

These Installation instructions cover general safety issues, main technical

1.1.2 TERM AND SYMBOL DEFINITIONS

l WARNING: indicates a hazardous situation which, if not avoided, could result

l CAUTION: indicates a hazardous situation which, if not avoided, will result in

l IMPORTANT: is used for information that requires special consideration.

l NOTE: is used to address practices not related to physical injury.

This symbol is used to call attention to safety messages that would be

1.2 About R23 receivers

1 Must be purchased separately.

2.1 Warnings & restrictions

Carefully read through the following safety instructions before

2.1.1 INSTALLATION AND COMMISSIONING

IMPORTANT! Only licensed or qualified personnel should be permitted to install

When the equipment controlled by the receiver's standard relays is

RISK OF UNINTENDED EQUIPMENT OPERATION

RISK OF ELECTRIC SHOCK

l The receiver must be securely attached and located where it will

l The receiver is designed to withstand normal weather conditions but should

l Make sure to install available accessories inside or on the receiver before

Only qualified personnel should be permitted to access the transmitter

The user should:

l Always test the transmitter stop button before operating it.This

Before maintenance intervention on any remote controlled equipments:

l If the stop button is mechanically damaged, do not use the transmitter.

l Keep contacts and antennas clean.

l Wipe off dust using a clean, slightly damp cloth.

l Never use cleaning solutions.

CHAPTER 3: FUNCTIONAL SAFETY

3.1 Safety function

Safety function Mission time MTTFd DC avg Category Achieved PL

3.2 Applicable products

Function LED Status Indicates

1. Stop relays SR1–2 2. PLd status LED (red)

IMPORTANT! All safety-related parameters must be configured as follows in

n The system must be configured in continuous radio mode.

n The radio link timeout must be set to a maximum of 500 ms.

n The login/logout function must be activated.

3.4.1 'START STATUS'/'START BIT' PARAMETERS

activate immediately if the receiver is restarted after a temporary loss of

INPUT LOGIC OUTPUT

CHAPTER 4: TECHNICAL DATA

4.1 Common specifications

1 Equivalent isotropic radiated power

4.2 Other specifications

4.2.1 R23-01, R23-03 (HOUSING 1)

4.2.2 R23-02, R23-04 (HOUSING 2)

4.3 Current consumption