BML-S1G0-B7 -M5E_-_0-S284 BML-S1G0-S7 -M5E_-_0-S284 User's Guide

Transcription

1 BML-S1G0-B7 -M5E_-_0-S284 BML-S1G0-S7 -M5E_-_0-S284 User's Guide english

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3 1 Notes to the user Validity Symbols and conventions Scope of delivery Approvals and markings Abbreviations Software 5 2 Safety Intended use General safety notes for the linear encoder Explanation of the warnings Disposal Construction and function Construction Function LED Switch-on sequence 7 Installation and connection Distances and tolerances Assembling the sensor head Assembling the magnetic tape Assembly instructions for magnetic tape with adhesive layer (BML-M02...) Connector S Circuitry for SSI/BISS Shielding and cable routing 11 Startup Starting up the system Check system function Operating notes Start set 12 Interfaces SSI interface (BML-S1G0-S ) Principle Data formats Faulty SSI query Troubleshooting BiSS C interface (BML-S1G0-B ) CRC Troubleshooting EDS Additional analog, incremental real-time signal (BML-S1G0- -M5EA-_0- ) Additional digital, incremental real-time signal (BML-S1G0- -M5EQ-_0- ) Maximum movement speed, resolution, and edge distance 19 english 3

4 Error and warning sequences 20 Technical Data Accuracy Ambient conditions Supply voltage Outputs Inputs Dimensions, weights 22 Accessories Magnetic tape Cover strip Installation aid BAM TO-ML-006-S1G Connectors Display/controller for SSI 25 Type code breakdown 26 Appendix Troubleshooting Part label 27 4 english

5 1 Notes to the user 1.1 Validity This guide describes the construction, function and installation options for the BML absolute magnetically coded position measuring system. It applies to types BML-S1G0-B/S7 -M5E_-_0-S284 (see Type code breakdown on page 26). The guide is intended for qualified technical personnel. Read this guide before installing and operating the position measuring system. 1.2 Symbols and conventions Individual instructions are indicated by a preceding triangle. Instruction 1 Action sequences are numbered consecutively: 1. Instruction 1 2. Instruction 2 Note, tip This symbol indicates general notes. 1.3 Scope of delivery Sensor head Condensed guide Two insulators The magnetic tapes are available in different versions and must be ordered separately. 1.4 Approvals and markings UL approval File no. E The CE Mark verifies that our products meet the requirements of EU Directive 2004/108/EC (EMC Directive). Emission tests: RF emission EN (industrial and residential areas) Noise immunity tests: Static electricity (ESD) EN Severity level 4 Electromagnetic fields (RFI) EN Severity level 3 Electrical fast transients (burst) EN Severity level 3 Surge EN Severity level 2 Conducted interference induced by high-frequency fields EN Severity level 3 Magnetic fields EN Severity level 5 More detailed information on the guidelines, approvals, and standards is included in the declaration of conformity. 1.5 Abbreviations BiSS CDM CDS CRC EDS EW event SSI 1.6 Software Bi-directional synchronous serial interface Control Data Master Control Data Slave Cyclic redundancy check Electronic Data Sheet Errors/warnings are transferred in the serial data set. Synchronous Serial Interface XML file via download on the Internet at or to service@balluff.de. The sensor head meets the requirements of the following generic standards: EN (noise immunity) EN (noise immunity) EN (emission) EN (emission) and the following product standard: EN english 5

6 2 Safety 2.1 Intended use The BML magnetically coded position measuring system is intended for communication with a machine control (e.g. PLC). It is intended to be installed into a machine or system. Flawless function in accordance with the specifications in the technical data is ensured only when using original BALLUFF accessories. Use of any other components will void the warranty. Non-approved use is not permitted and will result in the loss of warranty and liability claims against the manufacturer. 2.2 General safety notes for the linear encoder Installation and startup may only be performed by trained specialists with basic electrical knowledge. Qualified personnel are those who can recognize possible hazards and institute the appropriate safety measures due to their professional training, knowledge, and experience as well as their understanding of the relevant regulations pertaining to the work to be done. The operator is responsible for ensuring that local safety regulations are observed. In particular, the operator must take steps to ensure that a defect in the position measuring system will not result in hazards to persons or equipment. If defects and unresolvable faults occur in the position measuring system, take it out of service and secure against unauthorized use. 2.3 Explanation of the warnings Always observe the warnings in these instructions and the measures described to avoid hazards. The warnings used here contain various signal words and are structured as follows: SIGNAL WORD Hazard type and source Consequences if not complied with Measures to avoid hazards The individual signal words mean: NOTICE! Identifies a hazard that could damage or destroy the product. DANGER The general warning symbol in conjunction with the signal word DANGER identifies a hazard which, if not avoided, will certainly result in death or serious injury. 2.4 Disposal Observe the national regulations for disposal. 6 english

7 3 Construction and function 3.1 Construction Sensor head R M12x (2x) Ø 4.3 Insulator 1) LED ) Included in scope of delivery Active measuring surface Fig. 3-1: BML-S1G0- -S284, construction Active measuring surface 3 Left 3 Rear 10 Front 10 Absolutcode Right 3 Magnetic tape Fig. 3-2: BML-S1G0-, positioning 3.2 Function The BML is a magnetically coded, non-contact, absolute position measuring system consisting of a sensor head and magnetic tape. The sensor head and magnetic tape are mounted on the machine. There are two magnetic tracks on the magnetic tape: one with alternating north and south poles and one with the coding of the absolute position. The sensors in the sensor head measure the magnetic alternating field. Moving without any contact over the magnetic tape, they sense the magnetic poles, allowing the controller to determine the absolute position and the travel range. The BML has various interfaces: absolute serial via SSI or BiSS C and incremental (real-time capable) analog 1 Vpp or digital A/B as per RS422. Customer data can be stored in the sensor head via BiSS C. Available interfaces: SSI BiSS C Additional analog, incremental real-time signal Additional digital, incremental real-time signal 3.3 LED The multi-color LED is located in the front on the side opposite the plug (see Fig. 3-1) Switch-on sequence During switch-on, the LED displays the following sequence: Red orange green LED off red orange green LED off green (illuminated permanently). Each color is displayed for about one second until the LED is illuminated permanently green. This way it is possible to assign the colors given the current lighting conditions. If an error occurs or a warning appears, an error or warning sequence is displayed in place of the green LED. Please see section 7 on page 20 to determine the meaning of the error or warning message and LED sequence assignment. In addition, the errors or warnings can be found in the BiSS registry address space (see section on page 16). english 7

8 4 Installation and connection 4.1 Distances and tolerances During assembly, make sure that the sensor head is correctly positioned over the magnetic tape. The distances and tolerances must be complied with to ensure the correct function and linearity class of the system. Distances/angles Z mm ( mm (sensor/magnetic with cover strip), optimum tape gap) measurement at 0.4 mm (0,25 mm with cover strip) Y (side offset) ±0.5 mm Pitch ±0.5 Yaw ±0.2 Roll ±0.5 Tab. 4-1: Roll Angles, distances and tolerances +Roll Active measuring surface 4.2 Assembling the sensor head NOTICE! Interference in function Improper assembly of the magnetic tape and sensor head may impair function of the position measuring system and lead to increased wear or damage to the system. All permissible distance and angle tolerances (see section 4.1) must be strictly complied with. The sensor head may not come into contact with the magnetic tape over the entire measuring range. Contact must also be avoided if the magnetic tape is covered by a cover strip (optional). The position measuring system must be installed in accordance with the indicated degree of protection. External magnetic fields change the functional properties. Magnetic fields with 1 mt reduce the precision of the system, magnetic fields of 30 mt destroy the magnetic tape. The functionality of the system is no longer ensured. Direct contact with magnetic clamps or other permanent magnets must be avoided. No forces may be exerted on the plug on the housing. Provide the cable with a strain relief. -Y +Y 5 5 Free area of magnetizable material Direction of travel Forwards, A (sin) before B (cos), SSI or BiSS position rising 3 +Yaw 3 Yaw 45 +Pitch 35.2 Z Pitch Fig. 4-1: Distances and tolerances BML-S1G0 8 english

9 4 Installation and connection (continued) Assembling the insulators Assembly instructions for magnetic tape with adhesive layer (BML-M02...) NOTICE! Damage to the magnetic tape Hard tools may cause damage to the magnetic surface of the tape. Even damage that appears slight (e.g. scratches, dents) can affect linearity. Do not use hard tools to install the magnetic tape! Replace damaged magnetic tapes! Fig. 4-2: Insulator With increased EMC requirements, the sensor head can be assembled in a way to insulate it completely from the machine using two insulators. This requires two M3 threaded holes on the machine part. Insert the two insulators into the 4.3 mm holes on the sensor head to the left and right. Machine part Fig. 4-3: Insulator Assembling the insulators Assembling the sensor head Fasten the right or left side of the sensor head to the machine part whose position is to be determined (see Fig. 3-1 on page 7 and Fig. 4-1 on page 8). M3 To function correctly, the bottom of the sensor head must always be above the magnetic tape (see Distances and tolerances on page 8). 1. Fasten the installation aid (accessory) to the left or right side of the sensor head using screws (see Fig. 4-4). 2. Thoroughly clean (e.g. with quick rubbing alcohol) the fixing surface for the magnetic tape to remove all oil, grease, dust, etc. and let it dry completely. 3. Align the magnetic tape corresponding to the print (see Fig. 3-2 on page 7). 4. Position the sensor head on the back end of the magnetic tape to be applied (beginning of the measuring range). 5. Remove the protective film on the rear end of the magnetic tape and lightly apply the magnetic tape. 6. Remove another section of the protective film. 7. Move the sensor head forward a bit while applying the magnetic tape flush with the installation aid (see Fig. 4-5). 8. Lightly press the magnetic tape down by hand behind the sensor head. 9. Optional: To protect the magnetic tape from mechanical and chemical influences, affix the stainless steel cover strip (for details, see the magnetic tape instructions). 10. Remove the installation aid. Machine part Ø Assembling the magnetic tape For a complete technical description and assembly instructions for magnetic tapes, please see the magnetic tape user's guide in the Internet at Ideally, the system should include a groove or a stop edge for the magnetic tape that clearly defines its the lateral position. If there is no stop edge, the magnetic tape can be installed in the center below the sensor head using the installation aid (BAM TO-ML-006-S1G, page 24). Fig. 4-4: Machine part Fig. 4-5: Fastening installation aid BAM TO-ML-006-S1G (ordering code BAM0256) (figure shows right-sided fastening) Installation aid Apply the magnetic tape flush with the installation aid Apply the magnetic tape flush with the installation aid (figure with right-sided installation aid) english 9

10 4 Installation and connection (continued) 4.4 Electrical connection Circuitry for SSI/BISS The electrical connection is made using a connector. See Tab. 4-2 for the pin assignment. Note the information on shielding and cable routing on page Connector S284 The position measuring system is connected via a 12-wire cable (see accessories on page 25) BML... Fig. 4-7: +Clk Clk +Data Data GND U B Ω 7 8 Controller Connection example for BML... with controller Clk, Data and supply are stranded in pairs (see Fig. 4-7). Fig. 4-6: M12 plug pin assignment (view on pin side) Pin Signal Description BML-S1G0-_7 -M5EZ/Q/A-_0-S284 Z- Q- (Digital real-time signal) A- (Analog real-time signal) 1 WH Not used 1) +B Rectangular signal, 90 phase-delayed to A +B (+Cos) Cosine-shaped voltage signal 2 BN Not used 1) B Rectangular signal, 90 phase-delayed to A, inverted B ( Cos) Cosine-shaped voltage signal, inverted 3 GN +Clk Clock signal (RS422) 4 YE Clk Clock signal (RS422) 5 GY Data Data signal (RS422) 6 PK +Data Data signal (RS422) 7 BU GND Sensor ground (0 V) 8 RD U B Supply voltage +5 V DC, 10 to 28 V DC 9 BK Not used 1) A Rectangular signal, inverted A ( Sin) Sine-shaped voltage signal 10 VT Not used 1) +A Rectangular signal +A (+Sin) Sine-shaped voltage signal 11 GY PK Start set Define the current position as approx 10 mm 12 RD BU Not used 1) Must remain Not used 1) free PH Shield PE Connector housing/shield 1) Unassigned leads that are not used can be connected to the GND on the controller side but not to the shield. Tab. 4-2: Pin assignment 10 english

11 4 Installation and connection (continued) 4.5 Shielding and cable routing Defined ground! The position measuring system and the control cabinet must be at the same ground potential. Shielding To ensure electromagnetic compatibility (EMC), observe the following: The cable shield must be grounded on the controller side, i.e. connected to the protective earth conductor. When ducting the cable between the sensor, controller, and power supply, it is important to avoid going near high voltage cables due to interferences. Stray noise from AC harmonics (e.g. from phase angle controls or frequency converters) are especially critical and the cable shield offers very little protection against this. Magnetic fields The position measuring system is a magnetically coded system. It is important to maintain adequate distance between the position measuring system and strong, external magnetic fields (see page 8, external magnetic fields). Cable routing Do not route the cable between the position measuring system, controller, and power supply near high voltage cables (inductive stray noise is possible). The cable must be routed tension-free. Bending radius For information on the permissible bending radius, see the connectors on page 25. Cable length Max. cable length 20 m. Longer cables may be used if their construction, shielding and routing prevent noise interference. Observe voltage drop in cable! The cable has a resistance of approx. 0.4 Ohm/m (back and forth). The nominal voltage on the BML must not be undercut. english 11

12 5 Startup 5.1 Starting up the system Danger Uncontrolled system movement When starting up, if the position measuring system is part of a closed loop system whose parameters have not yet been set, the system may perform uncontrolled movements. This could result in personal injury and equipment damage. Persons must keep away from the system's hazardous zones. Startup must be performed only by trained technical personnel. Observe the safety instructions of the equipment or system manufacturer. 1. Check connections for tightness and correct polarity. Replace damaged connections or devices. 2. Turn on the system. 3. Check measured values in the controller and reset if necessary. SSI/BiSS C interface Only send clock impulses if there is power in the position measuring system. 5.2 Check system function Check all functions as follows after assembling the position measuring system or exchanging the sensor head: 1. Switch on the sensor supply voltage. 2. Evaluate the position data. 3. Move the sensor head along the entire measuring range. Heed the error and warning bits in the data set as well as the LED errors and warning sequences. 4. Check that the count direction of all interfaces (SSI/BiSS 1 Vss or A/B) corresponds with the direction of travel. 5.3 Operating notes Check and record the function of the position measuring system and all associated components on a regular basis. If there are malfunctions in the position measuring system, take it out of service and secure it against unauthorized operation (see also Troubleshooting on page 27). Secure the system against unauthorized use. 5.4 Start set The BML is an absolute measuring system. When the supply voltage is switched on, the absolute position is immediately available without the need for a reference run. The sensor head may not be removed in direction Z or Y from and replaced on the magnetic tape during operation. An error message is output immediately if lifted. If the sensor head is returned, a valid signal is not output until a movement of approx. 30 mm in direction X has occurred or after 2 s. Leaving and approaching the magnetic tape in the direction of travel with a speed of von v 1 mm/s is, however, permissible. After the active surface is located above the measuring tape, the error signal disappears after 2 ms and a valid position value is output. The magnetic tape has an absolute coding over 48 m. Thus, with shorter travel distances the position of the sensor head can be permanently set to a start value of 10 mm at any location (start set), which is particularly recommended for SSI interfaces with a low number of bits. A voltage between 10 V and 28 V is applied to the line of pin 11, GY PK for > 1 s. The current position is then 10±1 mm. If the sensor head is moved backwards more than 10 mm, the position decreases to zero and then becomes negative (two's complement). If these values are not useful to the controller, the start set function has to be used at the beginning of the range of movement. The transmitted position can never be negative then. If the magnetic tape is exchanged, the start set function must be repeated at the start position. 12 english

13 6 Interfaces 6.1 SSI interface (BML-S1G0-S ) Principle The data output of the BML must be loaded with 120 Ω, otherwise incorrect measurements may result. SSI stands for Synchronous Serial Interface and describes a digital synchronous interface with a differential clock line and a differential data line. With the first falling clock edge (trigger time), the data word to be output is buffered in the sensor head. Data output takes place with the first rising clock edge, i.e. the sensor head supplies one bit to the data line for each rising clock edge. In doing so, the line capacities and delays of drivers t v when querying the data bits must be taken into account in the controller. The max. clock frequency f clk is dependent on the cable length (see Technical data on page 23). The t m time, also called monoflop time, is started with the last falling edge and is output as the low level with the last rising edge. The data line remains at low until the t m time has elapsed. Afterwards, the sensor head is ready again to receive the next clock package. Clk 32 bits Trigger time Data formats The sensor head has the following factory settings for position output, which can no longer be changed retroactively: BML-S1G0-S : 24, 25, 26, 32 bit with a maximum clock frequency f clk of 1600 khz at 32 bits, otherwise 900 khz. The above bits include the error and null bits. Coded binary or gray Rising or falling Number of bits acc. to type code breakdown Tab. 6-1: Bit meaning/ sequence Error Null bit Position Max. measuring length [m] at 1 µm resolution Clock frequency f clk (khz) SSI resolution, at low resolutions, larger measuring lengths are possible (see Tab. 8-1 on page 22) If a position below the start position (section 5.4) is approached, a negative position value (two's complement) is output. Max. sampling rate = clock frequency f Clk /(number of bits + 3) tm SSI Data 32 bits E Null bit Null bit Null bit MSB LSB t t1 Data t2 t Trigger time Clk 24, 25, 26 bits tm SSI Data 24, 25, 26 bits t1 E MSB Data LSB t2 t t Clk Data Clk T Clk t v T A t v T Clk = 1/f Clk SSI clock period, SSI clock frequency T A = 1/f A Sampling period, sampling rate n Number of bits to be transmitted (requires n+1 clock impulses) t m = 2 T Clk Time until the SSI interface is ready again t v = 150 ns Transmission delay times (measured with a 1 m cable) Clock burst Data Fig. 6-1: Signals with SSI interface english 13

14 6 Interfaces (continued) Faulty SSI query Underclocking If there are too few clock edges, the current data level will be maintained for the time t m after the last negative edge from Clk. If, however, another positive edge occurs within the t m time, the next bit will then be output. If the t m time has elapsed, a timeout event will take place internally, the data output goes to low and then to high after the t m time has elapsed. The high level is maintained until the next clock burst. Overclocking If there are too many clock edges, the data output will switch to low after the correct number of cycles has been completed. The t m timer is started again for every additional negative edge from Clk and the T m event is set internally. DATA switches back to high after the time t m has elapsed. Clocking too fast If the clock rate f clk is too high, the error bit is set and output with the LED sequence (see section 7) Troubleshooting The position measuring system can output up to 8 errors and 8 warnings. The 16 messages are displayed through various colors (LED off, red, green, orange) and LED flashing sequences (see section on page 7). Only the data is transmitted from the measuring system to the controller. No additional information can be transmitted (such as register communication with BiSS C). Error bit position/logics in the SSI data set: At the beginning of each data set, an error bit and one or three null bits are transmitted, followed by the position data beginning with the MSB. The error bit is transferred as active high, i.e. if no error has occurred, this bit is low. If the error event is no longer present, it is transmitted once and then deleted. The temporal signal sequence is shown in Fig. 6-1 on page BiSS C interface (BML-S1G0-B ) For further information, see: The data output of the BML must be loaded with 120 Ω, otherwise incorrect measurements may result. With the BiSS C interface, both position data and register data can be transmitted bi-directionally. The register data is transmitted parallel to the position data and has no effect on the system's measuring behavior. The Balluff BiSS C sensor heads can be connected to the controller via a point-to-point connection. The BiSS interface is compatible to the SSI interface in terms of hardware. Transmission is CRC-secured, i.e. the controller can check if the data was received correctly. If the transmission has failed, the data can be discarded and requested again. Transmission offers the following options: An error and a warning bit are also transmitted. Secure bi-directional data transmission is always available (register communication). Runtime compensation of the clock and data line is possible. This makes it possible to use larger cable lengths or higher data rates. Frame Fig. 6-2: Signal sequence for the BiSS C interface Data With the first rising edge (trigger time), the controller signals that it is requesting a value from the sensor head. The position value valid at this point is included in the data transmission later on. The sensor head confirms the data request with the second rising edge of the clock by setting low on the data line. The time difference between the second rising edge of the clock and the first low of the sensor head data line corresponds to the runtime of both signals. It appears with all further frame edges and can thus be compensated for in the controller. This makes it possible to use much longer cables or higher data rates than with SSI interfaces. t m t A Example: Data with a Clk rate of 1 MHz can be transmitted by e.g. up to 400 m. Only around 20 m would be possible without runtime compensation. 14 english

15 6 Interfaces (continued) All further bits that the sensor transfers are output in the sensor at the next rising edge. The sensor prepares the data during tbusy. Once this is completed, the sensor will set the high (start bit) data signal and then transfer the data. First the CDS bit, the response or echo of the CDM bit that was sent by the controller in the last frame, or the queried data is output. Afterwards the data is transmitted starting with MSB and going to LSB. An error bit and warning bit as well as the CRC follow. Register communication: A bit can be transmitted by the controller to the sensor head with each frame. To do this, the controller's clock signal is either set to high or low during t m time (timeout = 1 µs). The sensor head recognizes it as a high or low bit (CDM) and mirrors it in the CDS bit in the next frame. As a result, the controller can detect if the bit was recognized correctly (secure transmission). By transmitting one bit per frame, various addresses in the sensor head can be read and written using several frames. Further information on errors or warnings are also available there. Customer data can also be saved and read Troubleshooting Information on errors and warnings is available. The position measuring system outputs a maximum of 8 errors and 8 warnings. Regardless of the interface, the 16 messages are displayed through different colors (LED off, red, orange) and LED flashing sequences (see section 7 on page 20). In the following, errors and warnings are referred to as EW events. If the BML detects an EW event, it makes a note of it and transmits it with the error/warning bit once during the next data query. At the same time, an LED flashing sequence (see section 7 on page 20) is started. This flashing sequence is output at least once until the data query has taken place. If the EW event is present for a longer period of time across multiple data queries, the corresponding bit is set and the LED flashing sequence output during each data query. If multiple EW events occur successively, the flashing sequence changes accordingly CRC To ensure the integrity of the data, a cyclic redundancy check (abbreviated CRC) is used in the controller. Here, a check value is calculated for the transmitted data in both the sensor and controller and then compared. If both values are identical, the data has been transmitted correctly. If they are different, the data has been transmitted incorrectly and the position value must be requested again. The controller is parameterized as follows: 4 null bits Position (28 bits) 1 error bit 1 warning bit CRC: 6 bits The counter polynomial for CRC determination is 0x43 (hex), 67 (dec) or (bin). Uni-directional BiSS C Only the data is transmitted from the measuring system to the controller. No additional information can be or is transmitted (such as register communication with BiSS C). Uni-directional signal position/logics for BiSS C: The temporal sequence of the individual bits is shown in Fig CDS/CDM is always high, followed by four null bits. After sensor data MSB to LSB, an error and warning bit is transmitted. The error and warning bit in the data set is active low. If no error/warning is present, both bits are high. Trigger time Clk CDM BiSS Data ACK Busy... Start CDS Null Null Null Null MSB LSB E W bit bit bit bit CRC MSB CRC LSB tm t t Fig. 6-3: BiSS C interface signals (uni-directional) english 15

16 6 Interfaces (continued) Bi-directional BiSS C With the BiSS C interface, as with the SSI interface, errors/ warnings (EW events) are transferred in the serial data set. Additionally, the event type is not only signaled by the LEDs, but can also be queried via register communication. The error and warning bits are, as with uni-directional interfaces, transferred in the serial data stream after the position data and before the CRC. The picture in section 6.2 shows the temporal relationships. The error and warning bit in the data set is transferred as active low. If no error/warning is present, both bits are high. After the error/warning byte has been read, it is automatically deleted in the BML. If the event is still present (corresponding bits continue to be transmitted), the byte is reset and can be re-read. The byte is no longer reset once the event is no longer present. The reading of a byte requires approx. 50 data frames, i.e. it takes a finite time until the byte has been read. During this time, further EW events may occur. They are signalized instantly in the data set. After the corresponding byte has been transmitted successfully, the byte can be reread and the information from the second event be evaluated. Error byte, warning byte: Using the register data, the controller can read the exact error or warning causes. The error byte is located at the BiSS address 0x48 and the warning byte at BiSS address 0x49. There, different error and warning causes are coded bit by bit. For the meaning of the errors/warnings, see section 7 on page EDS EDS, electronic data sheet, user area: This BiSS C function allows the customer to permanently store and read out, byte by byte, any customer-specific data in the EEPROM user area of the sensor head via register communication. The entire BiSS address space is divided into three areas: Hidden The customer has no access to this area, which contains e.g. internal configuration data. Read Only (EDS area) This area is read-only. Read/Write (user area) This area has a total of 448 bytes (7 banks, each with 64 bytes). Mechanical assembly data for the sensor head, the assembly date, order designation for the sensor head, etc. can be stored here. Register communication runs in the background of the BiSS C data transfer. Without interfering with the real-time properties of the position data, register data in the sensor head can also be written and read out at certain addresses. For further information, see: The BiSS register address space (0x00 to 0x7F) is divided into two areas: 1. A fixed area which is always accessible in write and read mode (0x40 to 0x7F). This area can be used to select the bank that is to be edited at any point in time. The following information can be read out simultaneously: Is an error/warning present? Which error/warning is present? At which bank is the electronic data sheet located? Which bank has been selected from the switchable bank area? 2. A switchable bank area (0x00 to 0x3F) that displays different EEPROM areas depending on the selected bank. Depending on the bank, there may be no access, or "read only" or "read and write" access. The selected bank is entered at address 0x40. In the register address area 0x00 to 0x3F, the corresponding bank is displayed. Fig. 6-4 shows the principal relationships. 16 english

17 6 Interfaces (continued) Adr 0x00 0x3F 0x40 0x41 0x48 0x49 0x78 0x7F Fig. 6-4: Bank 2 Bank 1 Bank 0 Bank sel. EDS bank Error byte Warning byte BiSS identifier Bank n selects BiSS C register address space BiSS C register address space Bank 0 Bank 1 Bank 2 Bank n EEPROM address space The reading and writing of the user area is implemented in the sensor head. To read/write the user area, the configuration must first be read out from the EDS: At BiSS C register address 0x41, the EDS bank is read out. The value from address 41 is then entered in register address 40 (bank selection). Afterwards, the following information is available: Address 0x00 the EDS version, Address 0x01 the number of EDS banks, Address 0x02 the beginning of the user area bank Address 0x03 the last user area bank. In the user area, any data can be read and written. This data is stored permanently in the EEPROM. The user area can be used freely and data can be stored freely on the various banks: ASCII or binary-coded, plain text or encrypted, with or without CRC protection. After a user area bank is entered at the address 0x40, any data in address space 0x00 to 0x3F can be read and written. With a different user area bank, other data can be written and read at the same addresses 0x00 to 0x3F without overwriting the data from the other banks. The data stored in the user area are always available, even after the system has been switched off and back on. Only the user banks are readable and writeable. If other banks outside the user area are to be written to, an error message occurs. For the following example, this syntax is used: n = [0x41] Writing of n with the contents of address 41 (hex) [0x40] = 7 Writing of value 7 to the address 0x40 (hex) Example for writing and reading of three bytes in two user banks after power off/on: Reading out of the EDS (reading of the definition of the user area) n = [0x41] (EDS begins at bank n, here e.g. 1) [0x40] = n (EDS bank is selected) len [0x01] (Number of EDS bank is read, e.g. 8) User_beg= [0x02] (Beginning of the user area is read, e.g. 0x09) User_last = [0x03] (Last user area bank is read, e.g. 0x0F) Writing of the user area [0x40] = User_beg (Select first user area bank, here 0x09) [0x00] = 0x11 (Enter any value in the first address of the first bank) [0x3F] = 0x1F (Enter any value in the last address of the first bank) [x040] = User_beg+1 (Select second user area bank) [0x00] = 0x21 (Enter any value in the first address of the second bank) Optional Power off/on Reading of the written user area [0x40] = User_beg (Select first user area bank) n = [0x00] (n changes to 0x11, above value) [x040] = User_beg+1 (Select second user area bank) n = [0x00] (n changes to 0x21, above value) The data format and meaning of the individual bits is defined via the XML file, using the BiSS Identifier. This XML file can be used directly in the controller. Download this XML file from or request it via to service@balluff.de. english 17

18 6 Interfaces (continued) 6.3 Additional analog, incremental real-time signal (BML-S1G0- -M5EA-_0- ) With the analog sine and cosine signals +A (+sin), A ( sin), +B (+cos) and B ( cos), the controller evaluates the difference in signal amplitudes and, from the signals, interpolates the precise position within a period (Fig. 6-5). For a movement over several periods, the controller also counts the number of periods. 6.4 Additional digital, incremental real-time signal (BML-S1G0- -M5EQ-_0- ) The sensor transmits the measurement to the controller as a digital differential voltage signal (RS422). Edge distance A/B corresponds to the resolution of the sensor head (note minimum edge distance, see page 19). For correct function, the sine signal +A (+sin) ( A ( sin)) and the cosine signal +B (+cos) ( B ( cos)) must be evaluated depending on the direction. +A Signal periods 360 el. +B Output voltage Fig. 6-7: Digital output signals for forward movement +A (+sin) ( A ( sin)) +B (+cos) ( B ( cos)) Approx. 1 V Signal periods 360 el. Distance [µm] +A A Z1 +5V 120 Ω A A channel Fig. 6-5: Signals of the sine and cosine sensor (2 mm pole width) for forward movement The sensor transmits the measurement as an analog sine/ cosine differential signal with an amplitude of approx. 1 Vss (peak/peak value) within the assembly tolerances to the controller. The period is 2 mm. +A (+Sin) A ( Sin) Fig. 6-8: GND Circuitry of subsequent electronics for digital output The two digital differential signals A and B are electrically phase-delayed by 90, the algebraic sign of the phase difference depends on the direction of movement of the sensor (Fig. 4-1). Each edge change of A or B is a counting step for the counter (up/down counter). With a leading signal A, the counter reading increases and it decreases with a leading signal B. The controller knows the precise increment position at all times, without having to periodically query the sensor (real-time capability). Note: For correct function, the A and B signal must be evaluated depending on the direction. Fig. 6-6: Circuitry example of subsequent electronics with analog output +A (+sin) ( A ( sin)) (+B (+cos) ( B ( cos)) correspondingly) Signal A Signal B Increment Direction of movement Counter reading (ex.) Forwards Backwards Fig. 6-9: Digitized sine and cosine signal with counter 18 english

19 6 Interfaces (continued) Maximum movement speed, resolution, and edge distance With the BML-S1G0- -M5EQ-_0- with magnetic tape, the maximum movement speed depends on the minimum edge distance and the mechanical resolution (see Tab. 6-2). Min. edge distance Important! The controller/display must be able to count the minimum timed edge distances indicated in the tables (note the counting frequency of the controller!). The min. edge distance can even occur at a standstill due to the internal interpolation process. Always select the next-higher movement speed or the next-largest min. edge distance, otherwise position detection errors may be created by the controller during evaluation. V max acc. to edge distance and resolution Resolution D E F G 1 µm 2 µm 5 µm 10 µm D 0.12 µs 5 m/s 10 m/s 10 m/s 10 m/s E 0.29 µs 2 m/s 4 m/s 10 m/s 10 m/s F 0.48 µs 1 m/s 2 m/s 5.41 m/s 5.41 m/s G 1 µs 0.65 m/s 1.3 m/s 2.95 m/s 2.95 m/s H 2 µs 0.3 m/s 0.6 m/s 1.54 m/s 1.54 m/s K 4 µs 0.15 m/s 0.3 m/s 0.79 m/s 0.79 m/s L 8 µs m/s 0.15 m/s 0.34 m/s 0.34 m/s N 16 µs m/s m/s 0.19 m/s 0.19 m/s P 24 µs m/s m/s 0.13 m/s 0.13 m/s Tab. 6-2: Selection aid for maximum movement speed with digital real-time signal Determination of a suitable BML for the available controller: Example (see Tab. 6-2): Assumptions: Your controller can detect a min. edge distance of 0.5 μs. If there is no sensor head with this min. edge distance, select a sensor head with a larger edge distance. The max. movement speed of the system should be 1 m/s. Determination of a suitable sensor head: You require a sensor head with a min. edge distance of 1 μs (type G) To be able to travel at max. 1 m/s, select the type with a resolution of 2 μm (type E) Determination of a suitable controller for the available BML: What max. counting frequency is required of the controller? The period of the input signal is four times the edge distance. The max. frequency of the input signal is then 1/(4 x edge distance). Example: With an edge distance of 1 μs for the BML-S1G0-S7ED-M5EQ-G0-S284, the max. frequency of the input signal is 1/4 μs = 250 khz. The max. counter frequency for a 4x evaluation = 1/edge distance = 1/1 μs = 1 MHz. Coding in the type code breakdown BML-S1G0-S7E_-M5EQ-_0-S284 (example) Resolution Min. edge distance For further information, see Type code breakdown on page english 19

20 7 Error and warning sequences Up to eight different errors and warnings are displayed. A warning is only output when at least one warning and no error is present. If an error is present, only the error is displayed. With an error, the light flashes red and with a warning, it flashes orange. The eight errors/warnings are divided into two groups that are introduced by a fast red or orange flickering respectively. In each area, a maximum of four messages are output. Each message is output via slow flashing with a duty cycle of 1:1. The message can be identified by counting the flashing impulses. There is a long, dark pause between two messages. The error bit is deleted after the data set has been read. If the EW event is still present, it is reset. The flashing sequence is repeated until at least one sensor head data set is read in which the corresponding bit was set, and as long as the EW event is still present. Possible warnings Flickering Fig. 7-1: Red range Flashing Flickering Optical signaling of multiple warnings Flashing Orange range The example in Fig. 7-1 contains warning 1 and warning 2 in the red range and warning 3 in the orange range. In the BiSS register address space, the warning byte is located at the address 0x49. The different meanings of the bits are listed below. The bits are also the basis for the orange LED flashing sequence. This is why the list describes the warning numbers (that can be counted on the LED) and the bit in the warning byte. Possible errors Flickering Fig. 7-2: Flashing Red range Flickering Optical signaling of multiple errors Flashing Orange range The example in Fig. 7-2 contains error 1 and error 3 in the red range and error 4 in the orange range. In the BiSS register address space, the error byte is located at the address 0x48. The different meanings of the bits are listed below. The bits are also the basis for the red LED flashing sequence. This is why the list describes the error numbers (that can be counted on the LED) and the bit in the error byte. The red flashing sequences represent errors and have the following meanings: Red range in Fig. 7-2 Error 1 (bit 0): Sensor head is not yet ready (switch-on sequence), internal defect Error 2 (bit 1): Unused Error 3 (bit 2): SSI clock rate too high Error 4 (bit 3): Internal undervoltage Orange range in Fig. 7-2 Error 1 (bit 4): Sensor head is not yet completely above the magnetic tape Error 2 (bit 5): Sensor signals too low, gap too high, no magnetic tape Error 3 (bit 6): Inconsistency error, magnetic tape damaged Error 4 (bit 7): Error generating 1 Vss signal The orange flashing sequences represent warnings and have the following meanings: Red range in Fig. 7-1 Warning 1 (bit 0): Unused Warning 2 (bit 1): Unused Warning 3 (bit 2): Unused Warning 4 (bit 3): Unused Orange range in Fig. 7-1 Warning 1 (bit 4): Unused Warning 2 (bit 5): Unused Warning 3 (bit 6): Unused Warning 4 (bit 7): Unused 20 english

21 8 Technical Data The information here comprises typical values at room temperature in conjunction with magnetic tape BML-M02-A55-A and BML-M03-A55-A with a gap of 0.4 mm over the magnetic tape (without cover strip). 8.1 Accuracy For special versions, other technical data may apply. Special versions are indicated by the suffix -SA on the part label. Position resolution Absolute (BML-S1G0-B/S ) BML-S1G0- _C- BML-S1G0- _D- BML-S1G0- _E- BML-S1G0- _F- BML-S1G0- _G- Analog, incremental real-time signal (BML-S -M5EA- ) Digital, incremental real-time signal (BML-S -M5EQ- ) Repeat accuracy Hysteresis Max. non-linearity of sensor head Max. non-linearity of entire system (sensor head + magnetic tape) Temperature coefficient of the entire system Movement speed µm (1000/1024 µm) 1 µm 2 µm 5 µm 10 µm Period 2 mm Resolution (edge distance) as absolute < 1 μm 2 μm ±2 μm ±20 μm (BML-M0_-A55 ) 10.5 ppm/ K Max. 10 m/s 8.2 Ambient conditions Operating temperature 20 C to +70 C Storage temperature for 25 C to +85 C sensor head Shock rating 100 g/6 ms per EN ) Continuous shock 150 g/2 ms per EN ) Vibration load 20 g, 10 to 2000 Hz per EN ) Noise 20 g, Hz per EN ) Degree of protection per IP 67 IEC (with screwed-on connector) Altitude Max m External magnetic fields < 30 mt (to avoid permanent damage) < 1 mt (to avoid influencing the measurement) Relative humidity 90% RH, condensation permitted 8.3 Supply voltage Supply voltage 2) 5 V ±5% or 10 to 28 V Current draw 220 ma at 5 V supply voltage 70 ma at 24 V supply voltage Power consumption < 1.5 W + controller power consumption Inverse-polarity protection No Overvoltage protection No Dielectric strength 500 V DC (GND to housing) Switch-on delay (system Max ms ready) after applying supply voltage 1) Individual specifications as per Balluff factory standard 2) For : The sensor head must be externally connected via a limitedenergy circuit as defined in UL , a low-power source as defined in UL or a class 2 power supply as defined in UL 1310 or UL english 21

22 8 Technical data (continued) 8.4 Outputs SSI (BML-S1G0-S ) Absolute output RS 422 differential signal Bit number 24, 25, 26, 32 (incl. error and null bits) Coding Binary code or gray code Count direction Rising or falling SSI data Error bit, position SSI clock frequency f Clk 70 khz to 1600 khz with 32 data bits 70 khz to 900 khz with 24/25/26 data bits Max. sampling rate Clock frequency f Clk /(number of transmitted bits + 3) BiSS C (BML-S1G0-B ) Absolute output Bit number Coding Count direction BiSS C data BiSS C clock frequency Additional real-time output BML-S1G0 -M5EA- BML-S1G0 -M5EQ- RS 422 differential signal 40 (4 null bits + 28 position + 1 error + 1 warning + 6 CRC) Binary code Rising Null bit, position, error bit, warning bit, CRC 100 khz to 10 MHz Analog, incremental real-time signal 1 Vss (sine, cosine signal), 2 mm period Digital, incremental realtime signal RS 422 For resolution with min. edge distance, see Tab Dimensions, weights Reading distance sensor head/magnetic tape 0.2 to 0.8 mm Recommended: 0.4 mm Max. measuring length SSI: see Tab. 8-1 BiSS: 48 m Housing material Nickel-plated, chromeplated die-cast zinc Connection type M12x1, 12-pin plug Weight (sensor head) 65 g Max. measuring length Tab. 8-1: Number of bits 2 m 24 4 m 25 8 m m 32 2 m 24 4 m 25 8 m m 32 4 m 24 8 m m m m m m m m m m m 32 Resolution µm (1000/1024 µm) 1 µm 2 µm 5 µm 10 µm Interpolation factor 2048 At v = 0 to 10 m/s 2000 At v = 0 to 5 m/s 1000 At v = 0 to 10 m/s 400 At v = 0 to 10 m/s 200 At v = 0 to 10 m/s Max. SSI / BiSS measuring length + max. movement speed 8.5 Inputs Clock Start set RS 422 differential signal 10 to 28 V to GND > 0.5 s 22 english

23 8 Technical data (continued) 8.7 Cable length SSI: The maximum Clk frequency f Clk, max is dependent on the cable length. f Clk, max in khz Cable length in m Fig. 8-1: Maximum Clk frequency depending on the cable length BiSS C: Clk frequency 2.50 MHz 100 m 1.66 MHz 200 m 1.11 MHz 400 m Max. cable length with runtime compensation Tab. 8-2: BiSS C Clk frequency english 23

24 9 Accessories Accessories are not included in the scope of delivery and must be ordered separately. The cover strip can be ordered as drum goods in 4 defined lengths. 9.1 Magnetic tape Absolutcode Length (Max cm = 48 m) ±0.1 (BML-M02 ) 1.35±0.1 (BML-M03 ) Thickness incl. adhesive Width Length BML-A013-T0500 BML-A013-T1000 BML-A013-T2400 BML-A013-T4800 Ordering code BML001J BML001K BML001L BML001M Approx mm 10 mm 5 m 10 m 24 m 48 m Fig. 9-1: Magnetic tape dimensions. BML-M0_-A55-A_-M -E For a complete technical description and assembly instructions for cover strips, please see the magnetic tape user's guide in the Internet at Thickness Cover strip Length 2 = Thickness 1.55, comes 0 = No cover in cm with an adhesive layer (with protective film) for fastening strip 3 = With cover strip 3 = Thickness 1.35, without adhesive layer BML-M0_-A55-A0-T4800-E T = drum goods Influence of magnetic tape on system accuracy (total non-linearity) The measuring system can achieve a system accuracy of ±20 μm. 9.3 Installation aid BAM TO-ML-006-S1G (ordering code BAM0256) For a complete technical description and assembly instructions for magnetic tapes, please see the magnetic tape user's guide in the Internet at Cover strip To protect the magnetic tape from damage caused by chips or chemicals, you may cover it using a stainless steel cover strip. Please note that the permissible gap between the sensor head and measuring strip is reduced by the thickness of the adhesive cover strip (0.15 mm) (Figure 4-1 and Figure 4-2). Before affixing the cover strip, carefully clean the surface of the magnetic tape (acetone, turpentine, mild plastic cleaner, no benzine). Fig. 9-2: Installation aid If magnetic tape BML-M0-A55_-A3-M... is ordered, a cover strip in the same length is included in the scope of delivery. 24 english

25 9 Accessories (continued) 9.4 Connectors Permissible bending radius Fixed routing 7.5 x outer diameter Moved 15 x outer diameter Cable material PUR Plug M12x1, 12-pin 9.5 Display/controller for SSI Digital display BDD-AM 10-1-SSD Ordering code: BAE0069 Ø14.5 M12x1 ~44 4, Housing depth 110 mm SSI master interface (see Fig. 9-4) 7 1/2-digit display with algebraic sign Fig. 9-3: M12 plug, 12-pin BDD BML-S1G For the pin assignment and colors, see Tab. 4-2 on page 10. Fig. 9-4: Use as SSI master Type BCC M41C A-169-PS0C C009 BCC M41C A-169-PS0C C009 BCC M41C A-169-PS0C C009 BCC M41C A-169-PS0C C009 BCC M41C A-169-PS0C C009 Ordering code BCC09MW BCC09MY BCC09MZ BCC09N0 BCC09N1 CAM controller BDD-CC 08-1-SSD Ordering code: BAE006F 1) For cable lengths > 10 m, the controller for the A/B interface BML-S1G0-_7 -M5EQ must be equipped with a protection circuit against surge (EN ). BiSS and SSI interfaces do not require this protection circuit. Examples: BCC M41C A-169-PS0C C009 = cable length 2 m BCC M41C A-169-PS0C C009 = cable length 5 m Housing depth 110 mm SSI master (see Fig. 9-5) or slave interface (see Fig. 9-6) 8 outputs programmable 8 directional switching points possible Fig. 9-5: BDD Use as SSI master BML-S1G Controller BML-S1G BDD Fig. 9-6: Use as slave english 25