posiwire Cable Extension Position Sensors Installation and operation manual Please read carefully before installation and operation!

Transcription

1 Installation and operation manual EN Please read carefully before installation and operation!

2 === Ende der Liste für T extmar ke copyright === ASM Automation Sensorik Messtechnik GmbH All rights reserved. Am Bleichbach Moosinning Germany 2

3 1 Safety instructions Signal words and symbols General safety instructions Intended use Unintended use Transport and storage Installation and initial operation Delivery / shipment Mechanical installation Electrical connection Operating temperature Maintenance and disposal Maintenance and repair Disposal Output specification Measurement signal and range Precision potentiometer Optical incremental output Optical absolute encoder Magnetic encoder Output information EU Declaration of Conformity

4 Pos: 6 /Bedi enungsanleitung en/module U ni versal/ü berschriften/sicher heitshi nweise U 1 Pos: 7 /Sicher heitshi nweise/signalwörter und Symbol e 1 Pos: 8 /Sicher heitshi @ 1 Pos: 9 /########### Seitenumbr uch @ 1 1 Safety instructions 1.1 Signal words and symbols WARNING, Risk of Injury: Indicates a potentially hazardous situation, which, if not avoided, could result in serious injury or property damage. WARNING, Risk of Personal Injury or Death: Indicates a situation that can result in serious personal injury or death if not properly avoided. WARNING, Risk of Personal Injury or Death: Indicates a situation that can result in moderate personal injury or death if not properly avoided. WARNING, Risk of Personal Injury: Indicates a situation that can result in minor personal injury if not properly avoided. WARNING, Risk of Property Damage: Indicates a situation that can result in minor to major property damage if not properly avoided. Product liability Disregarding the following instructions may result in malfunction, damage to property and personal injury and releases the manufacturer from product liability. 4

5 Pos: 10 /Sicherheitshinweise/Allg_Sicher heitshi nweise U 1 Pos: 11 @ 1 Pos: 12 /########### Sei tenumbruch @ General safety instructions Risk of crushing and cutting injury due to pre-tensioned spring being released from housing when opened! Do not open the sensor. Risk of cutting injury due to uncontrolled retraction of the cable Do not damage the measuring cable! Do not let the measuring cable and the cable fixing spring back uncontrolled! Do not exceed the maximum cable extension range! Do not bend the measuring cable! Do not let the measuring cable be dragged on objects! Mechanical damage or destruction of the sensor Avoid impact and shock to the sensor. Do not allow the measuring cable to spring back uncontrolled. Do not pull out the measuring cable beyond the range of the sensor. Malfunction due to the accumulation of dirt on the measuring cable Do not oil or lubricate the measuring cable. 5

6 Pos: 13 /Sicherheitshinweise/Bestimmungsgemäß e Ver wendung/besti mmungsgemäße Ver wendung 1 Pos: 14 /Bedienungsanl eitungen/posi wire/besti mmungsgemäße Verwendung @ 1 Pos: 15 /Sicherheitshinweise/Bestimmungsgemäß e Ver wendung/nicht besti mmungsgemäß e Ver wendung U 1 Pos: 16 /Bedienungsanl eitungen/posi wire/nicht besti mmungsgemäß e Ver wendung @ 1 Pos: 17 /########### Sei tenumbruch @ Intended use POSIWIRE are used for linear position measurement of linear guided objects by extending the measuring cable. The ranges for the measuring length as well as the information on environmental compatibility and connection data given in the data sheet must be observed. The sensor is used as intended if it is operated within its specified technical data and ambient conditions. The installation and operating instructions supplied with the unit must be observed and all maintenance and service work must be carried out. The data sheet of the respective sensor is part of this instruction manual. If yet not available, it may be requested by stating the respective model number. 1.4 Unintended use Unintended use is if the sensor is operated outside of its specified technical data and ambient conditions. The sensor must not be improperly mounted, operated or serviced. In addition, operation of the sensor in faulty condition is prohibited. Check whether the protection class of the sensor is suitable for the application. Danger of personal injury and danger of property damage The danger of personal injury and danger of property damage due to a malfunction of the sensor in machines or systems must be excluded by additional safety measures. In safety-relevant applications, additional facilities shall be provided for maintaining safety and preventing damage. 6

7 Pos: 18 /Bedienungsanl eitungen/posi wire/tr ansport und 6 1 Pos: 19 /Bedienungsanl eitungen/m odul e U ni versal/ü berschriften/montage, Inbetriebnahme U 1 Pos: 20 /Bedienungsanl eitungen/posi wire/liefer Transport and storage Risk of damage to the measuring cable or cable fixing Do not lift the sensor by the cable or cable attachment Observe storage and transport temperatures according to the operating temperature (see data sheet) Max. rel. humidity 60%, condensation must be excluded The device must be secured against slipping and tipping during transport. 3 Installation and initial operation 3.1 Delivery / shipment Unpacking Do not unpack sensor by pulling cable or cable clip. Shipment damages Check sensor immediately for shipping damage. In case of any damage, please contact your supplier. Removing kink protection / Shipment protection The kink protection prevents the cable fixing from buckling and damaging the cable. Remove in the direction of the cable. 7

8 Pos: 21 /Bedienungsanl eitungen/posi wire/geg enstecker @ 1 Pos: 22 /########### Sei tenumbruch @ 1 Transport protection (for some sensor models) prevents the measuring cable from being extracted before mounting the sensor. Only remove immediately before mounting: 1. cut the crimped, short wire end directly at the sensor housing 2. pull the wire out of the case at the loop For further transport, use the original packaging (if available) to avoid transport damage. Shipment content Sensor Installation and operation manual (connector not included in scope of delivery) Mating connectors Delivery does not include female connectors for electrical connection. They are available under the following order code: 90 female 8-pin connector DIN CONN-DIN-8F-W Female 8-pin connector M12 CONN-M12-8F-G 90 female 12-pin connector DIN CONN-DIN-12F-W Female 12-pin connector CONN-CONIN-12F-G 8

9 Pos: 23 /Bedienungsanl eitungen/posi wire/m ontag Mechanical installation Choice of installation position Risk of injury from touching the moving measuring cable or moving parts during operation Operate the sensor only with a suitable protective device (e.g. cable cover) to prevent injury! Select a protected installation position for the measuring cable. This prevents damage of the measuring cable. Preferably mount the sensor with the cable outlet pointing downwards. This prevents liquids from entering through the cable outlet. Screw the sensor onto a flat surface or provide a three-point mounting. This avoids distortion and damage to the sensor. In harsh environments provide protection for the measuring cable. Cable travel should only be axial to the cable outlet - no misalignment is allowed Cable misalignment shortens service life of sensor and causes error in measurement. Warranty will not be granted for damage caused by misalignment. Sensor with horizontal extension Sensor with vertical extension If the measuring cable cannot be extended in the axial direction of the cable outlet opening due to the measuring task, the SR2 cable pulley must be used. For special applications, extension cables with cable clips attached on both ends are available. 9

10 Fixing the sensor Depending upon the sensor model, holes in the base plate, threads, mounting brackets or T-slots in the sensor housing enable attachment of the sensor. Required dimensions are listed in the data sheet. Mount the sensor on flat surface. Use flat washers and/or screw protection if necessary. The torques of the fixing screws depend on the material used (see p. 12). Cable attachment device The cable clip can be fastened as follows: M4 cable connection in cable outlet direction The mounting of the M4 connection is made with a through hole and a M4 nut. Do not rotate the M4 connection during assembly, otherwise the measuring cable will be twisted! Cable clip with Allen screw M5: standard fixing. Cable clip with attachment head (accessory GK1: metal, GK2: plastic): fast cable attachment, easy to remove 10

11 Pos: 24 /########### Sei tenumbruch @ 1 Cable clip with magnetic clamp (accessory MAG1): with this device the sensor can be easily used at several measuring points with ferromagnetic surface. Cable clip attachment The cable clip (see drawing above) can be opened for easy attachment of the measuring cable. If possible, fasten cable fixing with cable in retracted position. Danger of cutting injuries due to cable clips during cable connection Before connecting the cable clip into the fixture read the mounting instructions. Mounting hints for unfavourable installation conditions For example, fit a mounting loop and put it around your wrist. Do not remove the mounting loop until after final installation. 11

12 Pos: 25 /Bedienungsanl eitungen/posi @ 1 Pos: 26 /Bedienungsanl eitungen/posi wire/anzugsmomente @ 1 Pos: 27 /Bedienungsanl eitungen/posi wire/anzugsmomente @ 1 Pos: 28 /########### Sei tenumbruch @ 1 Fixing screws WS31 / WS31C / WS42 / WS42C Model Screw material Material Torque [Nm] WS31 / WS31C WS31 / WS31C WS31 / WS31C WS42 / WS42C WS42 / WS42C WS42 / WS42C M2.5 Mounting brackets A M3 Clamping claws A2 0.5 M4 Mounting brackets A M2.5 Mounting brackets A M3 Clamping claws A2 0.5 M4 Mounting brackets A WS10, WS10ZG, WS10SG Model Screw Screw material Torque [Nm] WS10 M5, 8 mm deep A2 2,0 WS10ZG M5, 8 mm deep A2 2,0 WS10SG M5, 8 mm deep A2 2,0 WS17KT, WS19KT, WS21 Model Screw Screw material Torque [Nm] WS17KT M5 A2 2.5 WS19KT M5 A2 2.5 WS21 M5 A

13 Pos: 29 /Bedienungsanl eitungen/posi wire/anzugsmomente @ 1 Pos: 30 /Bedienungsanl eitungen/posi wire/anzugsmomente Pos: 31 /Bedienungsanl eitungen/posi wire/anzugsmomente @ 1 Pos: 32 /########### Sei tenumbruch @ 1 WS58C Model Screw Screw material Torque [Nm] WS58C M4, 5 mm deep A2 1.0 WS60 Model Screw Screw material Torque [Nm] WS60 M8 A WS7.5 Model Screw Screw material Torque [Nm] WS7.5 M5 A

14 Pos: 33 /Bedienungsanl eitungen/posi wire/anzugsmomente Pos: 34 /Bedienungsanl eitungen/posi wire/anzugsmomente Pos: 35 /Bedienungsanl eitungen/posi wire/anzugsmomente @ 1 Pos: 36 /########### Sei tenumbruch @ 1 WS61, WS85 Model Screw Screw material Torque [Nm] WS61 (oval hole) M5 A2 2.0 WS85 M6 A2 4.0 WS85 (oval hole) M6 A2 3.0 WS12 Model Screw Screw material Torque [Nm] WS12 M5, 10 mm deep A2 2.0 WS100M Model Screw Screw material Torque [Nm] WS100M M10 A

15 Pos: 37 /Bedienungsanl eitungen/posi @ 1 Pos: 38 /########### Sei tenumbruch @ 1 Cable dust wiper SAB5 1. Disassemble the aluminium washer (1) by removing the three M3 screws (3). 2. Remove the spiral wiper (4). 3. Fix the basic body at the cable outlet of the sensor by the set screw M3 (2). Make sure that the sensor measurement cable is in centric position. 4. Thread the measurement cable into the spiral wiper. Do not bend the measurement cable! Do not let the cable spring back uncontrolled! 5. Assemble the aluminium washer. 15

16 Pos: 39 /Bedienungsanl eitungen/posi wire/elektrischer Anschl 1 Pos: 40 /########### Sei tenumbruch @ Electrical connection Damage or destruction of the sensor due to excessive operating voltage or mounting error The applied operating voltage must not exceed the value specified in the data sheet. Operate the sensor only within the limits specified in the data sheet. Connect to the power supply only by qualified personnel and in accordance with the applicable safety regulations for electrical equipment. Do not connect or disconnect the sensor under voltage! Corrosion in the sensor due to moisture penetration Use the sensor only according to IP protection Avoid crossing the dew point. Connector Pin assignment According to the definitions of the output types contained in the appendix. Supply voltage See specification in the data sheet of the sensor. The maximum operating voltage must not be exceeded. Special Encoder Special operating instructions for customized encoders must be observed. The corresponding data sheets or encoder connection diagrams apply to output types not listed in the connection table. Connection example: current output 420A To convert the ma signal into a voltage signal, it needs a load resistor RM (measuring resistor) as shown in the diagram. The maximum value of RM depends on the cable resistance RL and the excitation voltage UB: R Mmax = ((UB 12 V)/0,02 A) R L With an excitation of 24 V DC and a cable resistance RL = 500 Ω a maximum value of RM = 100 Ω can be used (see page 78). 16

17 Pos: 41 /Bedienungsanl eitungen/posi wire/m ontag @ 1 Assembly of the couplings 90 female connector CONN-DIN-8F-W 1. Assemble O-rings (lubricate!) on shielding ring (7) and rotating hull (9). 2. Stringing parts and cut off projecting braiding. Note detail drawing of shielding! (See chapter Electromagnetic Compatibility / EMC). Shielding connected Put shielding around shielding ring. Shielding not connected Cut off shielding and insulate with heat shrink tube. 3. Thread wires through housing, then assemble shielding ring, sealing ring and pinch ring. Turn on pressing screw to fix the cable, solder wires. 17

18 Pos: 42 /Bedienungsanl eitungen/posi wire/c ONN_M @ 1 Pos: 43 /########### Sei tenumbruch @ 1 4. Assemble remaining parts according to diagram, fasten pressing screw. 5. Insert profile seal and fix female connector at male socket. Check that the profile seal is in the correct position. Female connector CONN-M12-8F-G The sensor protection class (IP) is only valid when the electrical plug is correctly connected. To ensure sensor protection class assemble all connector seals carefully. The connector is suitable for cable diameters of 6 to 8 mm. The sealing ring has to enclose the cable tightly (use heat shrink tube if necessary). Four different directions of the angled outlet are possible (4 x 90 ) by changing the position of the rotating hull (part no. 9 in the upper drawing). 1. Stringing parts. 2. Dismantle, expand shield and turn over the shielding ring. 3. Push isolating hull into the housing. Thread wires through housing, the assemble shielding ring, sealing ring and pinch ring. Turn on pressing screw to fix the cable. Screw wires. 4. Screw insert into housing and fasten pressing screw. The sensor protection class (IP) is only valid when the electrical plug is correctly connected. To ensure sensor protection class assemble all connector seals carefully. The connector is suitable for cable diameters of 6 to 8 mm. The sealing ring has to enclose the cable tightly (use heat shrink tube if necessary). 18

19 Pos: 44 /Bedienungsanl eitungen/posi wire/c ONIN @ 1 Pos: 45 /########### Sei tenumbruch @ 1 Female connector CONN-CONIN-12F-G 1. Slide the adaptor pos. 1, the sleeve nut pos. 2, the sealing element pos. 4 with sealing ring pos. 3 onto the cable. 2. Dismantle the outer sheath of the cable at a length of 23 mm. 3. Turn the shielding braid 90 up, move the shielding ring pos. 5A with a little rotation over the plastic film resp. the cotton mesh but under the shielding braid; cut off the shielding braid flushing with the outer diameter of the shielding ring pos. 5A. 4. Cut off plastic film, filler and inner isolation. 5. Strip the wires a length of 3,5 mm, twist (and tin). 6. Solder, crimp or screw the wires to the contacts. 7. Insert distance hull pos Move insert pos. 7 and distance hull pos. 6 into the insert hull pos. 8; please see to it that the desired code notch of the insert pos. 7 is inserted correctly into the code bar. 9. Push in the cable with shielding and sealing unit. 10. Screw the adaptor pos. 1 tight! The sensor protection class (IP) is only valid when the electrical plug is correctly connected. To ensure sensor protection class assemble all connector seals carefully. The connector is suitable for cable diameters of 6 to 8 mm. The sealing ring has to enclose the cable tightly (use heat shrink tube if necessary). 19

20 Pos: 46 /Bedienungsanl eitungen/posi @ 1 Pos: 47 /Bedienungsanl eitungen/posi wire/arbeitstemper atur_ü 1 Pos: 48 /########### Sei tenumbruch @ 1 Electromagnetic Compatibility (EMC) The electromagnetic compatibility of POSIWIRE is influenced by the sensor wiring. Recommended wiring: Single shielded sensor cable with twisted pair conductors for power supply and signal output. Connect the cable shield to ground on one side of the control cabinet. Connect the shield connection over a large area using cable clamps before or at the cable entry into the control cabinet. When preassembled cables are delivered, the screen is not connected to the housing on the sensor side. Do not install sensor cables in the immediate vicinity parallel to power conducting conductors such as motor or contactor control cables (separate cable ducts for signal and power cables). Additional measures may be necessary when used in systems with highly interference-prone components such as frequency inverters Use cables with an outer shield and twisted and shielded conductors in pairs. Install the cables in metal cable ducts connected to ground. 3.4 Operating temperature The operating temperature of a sensor depends on the sensor type and encoder technology used: POSIWIRE WS31 (Incremental encoder) POSIWIRE WS42 (Incremental encoder) POSIWIRE WS31, WS31C (Potentiometer) POSIWIRE WS42, WS42C (Potentiometer) POSIWIRE WS10, WS10SG, WS10ZG (Incremental encoder) POSIWIRE WS12 (Incremental encoder) POSIWIRE WS61 POSIWIRE WS85 POSIWIRE WS21 all other sensors C C C C C 20

21 Pos: 49 /Bedienungsanl eitungen/m odul e U ni versal/ü berschriften/instandhaltung und Entsorgung U 6 1 Pos: 50 /Bedienungsanl eitungen/posi 1 Pos: 51 /Bedienungsanl eitungen/posi wire/ws_kali @ 1 Pos: 52 /Bedienungsanl eitungen/posi 1 Pos: 53 /########### Sei tenumbruch @ 1 4 Maintenance and disposal 4.1 Maintenance and repair Risk of crushing and cutting injury due to pre-tensioned spring being released from housing when opened! Do not open the sensor. Check sensor regularly for possible damage: Due to possible risk of injury by improper handling, we strongly advise against repair attempts. Inspection of Integrity of housing Integrity of connector, cable Mounting elements Cable Measures Send damaged sensor to ASM for repair Replace damaged parts resp. send sensor to ASM for repair Tighten mounting parts with recommended torque, if applicable use bolt adhesive Damaged cable, spliced or bended cable: send sensor to ASM for repair Calibration Opening the following sensors will cause damage and void the warranty: POSIWIRE WS12 (partly) POSIWIRE WS61 POSIWIRE WS85 POSIWIRE WS21 The recommended calibration interval is 1 year. Test protocol and traceable calibration certificate (ISO9001 / ISO10012) is available on request. 4.2 Disposal Disposal according to applicable government regulations. 21

22 Pos: 54 /Bedienungsanl eitungen/m odul e U ni versal/ü berschriften/spezifi kati on der Ausgangsarten U 1 Pos: 55 /Bedienungsanl eitungen/posi wire/m esssignal und M essbereich 1 Pos: 56 /########### Sei tenumbruch @ 1 5 Output specification 5.1 Measurement signal and range Analog, not calibrated Output: voltage divider, sensitivity not adjustable Resistance range is used from about 3% to 98%. 0% or 100% is not possible. Individual sensitivity is specified on the label. Position 0% 30% 100% Measurement value approx. 3% 30% approx. 98% Analog, calibrated Integrated signal conditioner, sensitivity adjusted Measuring range corresponds to the electrical measuring range (e.g ma). Position 0% 30% 100% Measurement value 4 ma 8.8 ma 20 ma Digital incremental Incremental encoder, sensitivity not adjustable Inividual sensitivity is specified on label in pulses or increments per millimeter. Position 0% 30% 100% Measurement value 0 pulses 3000 pulses 10,000 pulses 22

23 Pos: 57 /Ausg angsarten/posi wire/analog-ausgänge/anal og-ausgänge_poti U 1 Pos: 58 /Ausg angsarten/posi wire/analog-ausgänge/r1k/spannungsteil er @ Precision potentiometer Voltage divider R1K Potentiometer Excitation voltage 32 V DC max. at 1 kω (max. power 1 W) Potentiometer impedance 1 kω ±10 % Thermal coefficient Sensitivity ±25 x 10-6 / C f.s. Depends on the measuring range, individual sensitivity of the sensor is specified on the label Voltage divider utilization range approx. 3 % 97 % Operating temperature Refer to output specification EMC DIN EN :2013 The Potentiometer must be connected as a voltage divider! The following processing circuit has to be implemented according to the circuit scheme in the Appendix (see )! Output signals The metal wiper of the potentiometer must be protected against current load Electrical current flow impact on the wiper causes linearity errors and shortens the lifetime of the potentiometer. Additional information: ws_poti_technote_en.pdf R1K + Excitation Metal wiper GND Signal wiring 8 pin Signal Connector pin no. Cable color Cable color Poti + 1 white brown Poti GND 2 brown white Poti slider 3 green blue - 4 yellow black - 5 grey pink blue red

24 Pos: 59 /########### Sei tenumbruch @ 1 Signal wiring potentiometer WS31 / WS42 Signal CT-Poti / 5-Turn WS31: 250 mm Multi-Turn-Poti / 10-Turn WS31, WS42: 500 / 750 / 1000 mm Poti + M CCW Poti GND CW CW Poti slider S S View to sensor connector View to soldering side of mating connector CONN-M12-8F CONN-M8-4F (only WS31C, WS42C) CONN-DIN-8F 24

25 Pos: 60 /Ausg angsarten/prm Encoder/Anal og-ausgäng e/analog-ausgänge @ 1 Pos: 61 /Ausg angsarten/posi wire/analog-ausgänge/10v und 10V5/Messumfor mer 10V und 10V5_M @ 1 Analog output 10V and 10V5 Voltage output Excitation voltage Excitation current Output voltage Output current Output load Stability (temperature) Protection Output noise Operating temperature V DC non stabilized 20 ma max. 10V: V DC; 10V5: V DC 2 ma max. > 5 kω ±50 x 10-6 / C f.s. Reverse polarity, short circuit 0.5 mvrms Refer to output specification EMC DIN EN :2013 Output signals 10 V Excitation V Excitation GND Signal + Signal GND Signal wiring 5 pin Signal Connector pin no. Cable color View to sensor connector Excitation + 1 brown Signal 2 white GND 3 blue Not connected 4 black Not connected 5 grey CONN-M12-5F View to soldering side of mating connector. 25

26 Pos: 62 /########### Sei tenumbruch @ 1 Signal wiring 8 pin Signal Connector pin no. Cable color View to sensor connector Excitation + 1 white Excitation GND 2 brown Signal + 3 green Signal GND 4 yellow Not connected 5 grey Not connected 6 pink Not connected 7 blue Not connected 8 red CONN-M12-8F CONN-DIN-8F View to soldering side of mating connector. Check connector type: M12: CONN-M12-8F D8: CONN-DIN-8F 26

27 Pos: 63 /Ausg angsarten/posi wire/analog-ausgänge/420a/m essumfor mer 420A_M @ 1 420A Current output (2 wire) Excitation voltage Excitation current Output current Stability (temperature) Protection Output noise Operating temperature V DC non stabilized, measured at the sensor terminals 35 ma max ma equivalent for % range ±100 x 10-6 / C f.s. Reversed polarity, short circuit 0.5 mveff Refer to output specification EMC DIN EN :2013 Output signals Signal + 420A 4 20 ma Signal - Signal wiring 5 pin Signal Connector pin no. Cable color Connection Signal+ 1 brown Do not connect 2 white Signal- 3 blue Do not connect 4 black Do not connect 5 grey CONN-M12-5F View to soldering side of mating connector. 27

28 Pos: 64 /########### Sei tenumbruch @ 1 Signal wiring 8 pin Signal Connector pin no. Cable color Connection Signal + 1 white Signal - 2 brown Not connected 3 green Not connected 4 yellow Not connected 5 grey Not connected 6 pink Not connected 7 blue Not connected 8 red CONN-M12-8F CONN-DIN-8F View to soldering side of mating connector. Check sensor type: M12: CONN-M12-8F D8: CONN-DIN-8F 28

29 Pos: 65 /Ausg angsarten/posi wire/analog-ausgänge/420t/m essumfor mer 420T_M @ 1 420T Current output (3 wire) Excitation voltage Excitation current Load resistor Output current Stability (temperature) Protection Output noise Operating temperature V DC non stabilized 40 ma max. 350 Ω max ma equivalent for % range ±50 x 10-6 / C f.s. Reverse polarity, short circuit 0.5 mvrms Refer to output specification EMC DIN EN :2013 Output signals Excitation + 420T 4 20 ma Signal + Excitation GND Signal wiring 5 pin Signal Connector pin no. Cable color View to sensor connector Excitation + 1 brown Signal 2 white GND 3 blue Not connected 4 black Not connected 5 grey CONN-M12-5F View to soldering side of mating connector. 29

30 Pos: 66 /########### Sei tenumbruch @ 1 Signal wiring 8 pin Signal Connector pin no. Cable color View to sensor connector Excitation + 1 white Excitation GND 2 brown Signal + 3 green Signal GND 4 yellow Not connected 5 grey Not connected 6 pink Not connected 7 blue Not connected 8 red CONN-M12-8F CONN-DIN-8F View to soldering side of mating connector. Check connector type: M12: CONN-M12-8F D8: CONN-DIN-8F 30

31 Pos: 67 /Ausg angsarten/posi wire/analog-ausgänge/pmui und PMUV/M essumfor mer PMUI PMU V_M @ 1 PMUV Voltage output programmable PMUI Current output programmable Excitation voltage Excitation current Voltage output PMUV Output current Output load Current output PMUI Working resistance Scaling Activation of offset and gain adjust Scalable range Stability (temperature) Operating temperature Protection V DC 50 ma max V 10 ma max. 1 kω min ma (3 wire) 500 Ω max. Connect with excitation GND (0 V) 90 % max. f.s. ±50 x 10-6 / C f.s. Refer to output specification Reversed polarity, short circuit EMC DIN EN :2013 Output signals Excitation + Excitation GND PMUV PMUI Signal + Signal GND ZERO END 31

32 Pos: 68 /########### Sei tenumbruch @ 1 Signal wiring PMUV / PMUI Signal Connector pin no. Cable color 8 pin 6 pin Connection Excitation + 1 white white Excitation GND 2 brown brown Signal + 3 green green Signal GND 4 yellow yellow Not connected 5 grey - Not connected 6 pink - ZERO 7 blue grey END 8 red pink M12: CONN-M12-8F D8: CONN-DIN-8F View to soldering side of mating connector. Check sensor type: M12: CONN-M12-8F D8: CONN-DIN-8F Signal wiring PMUI2 Signal Connector pin no. Cable color Connection Excitation + 1 white Excitation GND 2 brown Not connected 3 green Not connected 4 yellow Signal + 5 grey Signal GND 6 pink ZERO 7 blue END 8 red M12: CONN-M12-8F D8: CONN-DIN-8F View to soldering side of mating connector. Check sensor type: M12: CONN-M12-8F D8: CONN-DIN-8F Outputs.../PMUV, PMUI, PMUI2 Programming of the start and end value by the customer Teach-In of start and end value for the outputs PMUV, PMUV and PMUI2 is provided by two binary signals ZERO and END. At the start position connect signal ZERO for a short period to GND via push button. At the end position connect signal END for a short period to GND. The scaling range will be stored non-volatile. To reset the sensor to factory default both signals ZERO and END must be connected to ground while powering up the sensor. 32

33 Pos: 69 /Ausg angsarten/posi wire/analog-ausgänge/ad SI/M essumfor mer ADSI_M @ 1 Digital Interfaces ADSI A/D converted synchronous serial Excitation volatge Excitation current Interface Clock frequency Code Delay between pulse trains Resolution Stability (temperature) V DC 200 ma max. EIA RS422, RS485, short-circuit proof khz Gray-Code, continuous progression 30 μs min. ADSI16: 16 bit (65536 counts) f.s. ADSI14: 14 bit (16384 counts) f.s. ADSI: ±50 x 10-6 / C f.s. 12 bit (4096 counts) f.s. Operating temperature C EMC DIN EN :2013 Data format (train of 26 pulses) Recommended processing circuit Transmission rate Cable length Baud rate Note: < 50 m < 300 khz < 100 m < 100 khz Extension of the cable length will reduce the maximum transmission rate. 33

34 Pos: 70 /########### Sei tenumbruch @ 1 Signal wiring Signal Connector pin no. Cable color Connection Excitation + 1 white Excitation GND (0 V) 2 brown CLOCK 3 green CLOCK 4 yellow DATA 5 grey DATA 6 pink Not connected 7 blue Not connected 8 red CONN-M12-8F CONN-DIN-8F View to soldering side of mating connector. Check sensor type: M12: CONN-M12-8F D8: CONN-DIN-8F 34

35 Pos: 71 /Ausg angsarten/posi wire/inkr emental-ausgänge/inkr emental-ausgänge U 1 Pos: 72 /Ausg angsarten/posi wire/inkr emental-ausgänge/pp530/messumfor mer PP530_M @ Optical incremental output PP530 Incremental interface Excitation voltage Excitation current Output frequency Output Output current Output voltage V DC 25 ma typ. (w/o load), 200 ma max. 200 khz max. Linedriver, Push-Pull, CMOS, TTL and HTL compatible 30 ma max. Depends on the excitation voltage Saturation voltage high/low Ia < 10 ma, Ub 5 V/24 V: < 0,5 V Ia < 30 ma, Ub 5 V/24 V: < 1 V Stability (temperature) ±20 x 10-6 / C f.s. (sensor mechanism) Operation temperature C Storage temperature C Transition time positive edge Transition time negative edge < 200 ns < 200 ns Protection Reverse polarity, short circuit *) EMC DIN EN :2013 *) Prevent unused output signals (e.g. A, B, Z) from unintenionally beeing shorted with each other or any other voltage like ground, excitation + or shield. Isolate and secure unused output wires. Line driver may get damaged in case of shorted output for unlimited time. Output signals 35

36 Pos: 73 /########### Sei tenumbruch @ 1 Signal wiring Signal Connector pin no. Cable color Connection Excitation + 1 white Excitation GND 2 brown Signal A 4 yellow Signal A 6 pink Signal B (A + 90 ) 3 green Signal B 5 grey Signal Z (reference pulse) 7 blue Signal Z 8 red M12: CONN-M12-8F D8: CONN-DIN-8F View to soldering side of mating connector. Check sensor type: M12: CONN-M12-8F D8: CONN-DIN-8F 36

37 Pos: 74 /Ausg angsarten/posi wire/inkr emental-ausgänge/ie24li und IE24HI/Messumfor mer IE24LI und IE24H @ 1 IE24LI and IE24HI Incremental interface IE24LI IE24HI Excitation voltage 5 V DC ±10 % V DC Excitation current Output frequency Output Output current Output voltage Stability (temperature) Operating temperature Protection 100 ma max. 200 khz max. Push-Pull and inverted signals 10 ma max. Depending on the excitation voltage ±20 x 10-6 / C f.s. (sensor mechanism) Refer to output specification of the sensor Short circuit EMC DIN EN :2013 Output signals 37

38 Pos: 75 /########### Sei tenumbruch @ 1 Recommended processing circuit Signal wiring Signal Excitation + Excitation GND Signal A Signal A Signal B (A + 90 ) Signal B Signal Z (reference pulse) Signal Z Cable color brown white green yellow grey pink blue red 38

39 Pos: 76 /Ausg angsarten/posi wire/inkr emental-ausgänge/ie41li und IE41HI/Messumfor mer IE41LI und IE41H @ 1 IE41LI and IE41HI Incremental interface IE41LI IE41HI Excitation voltage 5 V DC ±10 % V DC Excitation current 150 ma max. (w/o load) Output frequency 300 khz max. 200 khz max. Output RS422 Push-pull antivalent Output current ±30 ma max. 30 ma Output voltage Stability (temperature) Depending on the excitation voltage ±20 x 10-6 / C f.s. (sensor mechanism) Operating temperature C Protection against short circuit One channel for 1 s yes EMC DIN EN :2013 Signal wiring WS10 Signal Connector pin no. Cable color View to sensor connector Excitation + 1 white Excitation GND 2 brown Signal A 4 yellow Signal A 6 pink Signal B (A + 90 ) 3 green Signal B 5 grey Signal Z (reference pulse) 7 blue Signal Z 8 red CONN-M12-8F Signal wiring WS12 Signal Connector pin no. Cable color View to sensor connector Excitation + 1 white Excitation GND 2 brown Signal A 3 green Signal A 5 grey Signal B (A + 90 ) 4 yellow Signal B 6 pink Signal Z (reference pulse) 7 blue Signal Z 8 red CONN-M12-8F 39

40 Pos: 77 /########### Sei tenumbruch @ 1 Recommended processing circuit Output signals Signal A Signal B Signal Z 40

41 Pos: 78 /Ausg angsarten/posi wire/inkr emental-ausgänge/ld 5VC/M essumfor mer LD @ 1 LD5VC Incremental interface Excitation voltage 5 V DC ±10 % Excitation current 150 ma max. w/o load Interface Output frequency Output current Line driver RS khz max. 20 ma per channel Signal level Ud High bei Id = 20 ma Ud Low bei Id = 20 ma Transition time positive edge Transition time negative edge Stability (temperature) 2.5 V 0.5 V < 100 ns < 100 ns ±20 x 10-6 / C f.s. (sensor-mechanism) Operation temperature C Protection Short circuit, overvoltage EMC DIN EN :2013 Signal wiring Signal Connector pin no. Cable color View to soldering side of mating connector Excitation + 12 white Excitation GND 10 brown Signal A 5 yellow Signal A 6 pink Signal B (A + 90 ) 8 green Signal B 1 grey Signal Z (reference pulse) 3 blue Signal Z 4 red Fault detection signal 7 - Shield housing - CONN-CONIN-12F 41

42 Pos: 79 /########### Sei tenumbruch @ 1 Recommended processing circuit Output signals Signal A Signal B Signal Z 42

43 Pos: 80 /Ausg angsarten/posi wire/inkr emental-ausgänge/pp24vc /Messumfor mer @ 1 PP24VC Incremental interface Excitation voltage Excitation current Interface Output frequency Output current Signal level Ud High at Id = 20 ma, Ub = 24 V Ud Low at Id = 20 ma, Ub = 24 V Transition time positive edge Transition time negative edge Stability (temperature) Operating temperature Protection V DC 150 ma max. w/o load Push-pull line driver (24 V-HTL) 300 khz max. 100 ma per channel 21 V 2.8 V < 200 ns < 200 ns ±20 x 10-6 / C f.s. (sensor mechanism) Refer to output specification Reverse polarity, short circuit, overvoltage EMC DIN EN :2013 Signal wiring Signal Connector pin no. View to sensor connector Excitation + 12 Excitation GND 10 Signal A 5 Signal A 6 Signal B (A + 90 ) 8 Signal B 1 Signal Z (reference pulse) 3 Signal Z 4 Fault detection signal 7 Shield housing CONN-CONIN-12F 43

44 Pos: 81 /########### Sei tenumbruch @ 1 Recommended circuit Output signals Signal A Signal B Signal Z 44

45 Pos: 82 /Ausg angsarten/posi wire/absol ut-encoder/absolut-encoder-ausgänge U 1 Pos: 83 /Ausg angsarten/posi wire/digital e Schnittstellen U @ 1 Pos: 84 /Ausg angsarten/posi wire/absol ut-encoder/h SSI_T SSI2/Schnittstell e @ 1 Pos: 85 /Ausg angsarten/posi wire/absol ut-encoder/h PROF/Schni ttstelle HPR @ Optical absolute encoder Digital interfaces HSSI synchronous serial Excitation voltage Excitation current Interface Lines / drivers Code Resolution V DC 100 ma Standard-SSI Clock and data / RS422 Gray bit 3 db cutoff frequency 500 khz Control input Preset key Alarm output Status LED Connection DIRECTION Zero adjustment with optical response Alarm bit (SSI option), warning bit Green = OK, red = alarm 12 pin male socket Data format Transmission rate (Mx = Multiturn bits, Sx = Singleturn bits) Cable length Baud rate < 50 m < 400 khz < 100 m < 300 khz < 200 m < 200 khz Note: Extension of the cable length will reduce the maximum transmission rate. < 400 m < 100 khz Signal wiring Signal Connector pin no. Cable color View to sensor connector Excitation + 8 white Excitation GND 1 brown CLOCK 3 yellow CLOCK 11 green DATA 2 pink DATA 10 grey Direction* 5 blue 0 V Signal output 12 black CONN-CONIN-12F * unconnected or Excitation + = cw increasing code, 0 V = cw decreasing code 45

46 Pos: 86 /########### Sei tenumbruch @ 1 HPROF Profibus Interface Excitation voltage Excitation current Protocol Resolution Output code Baud rate Programmability Integrated special functions Bus terminating resistor Connection EMC RS V DC 250 ma Profibus DP with encoder profile C2 12 ( ) + 12 bit Binary Automatically selected between 9,6 kbaud and 12 MBaud Resolution, preset, direction Velocity, acceleration, operating time Selectable via DIP switch Bus cover with T manifold Din EN 61326: Class A Signal wiring Signal Cable terminal no. (bus cover) Ub in 1 0 V in 2 UB out 3 0 V out 4 B in 5 A in 6 B out 7 A out

47 Pos: 87 /Ausg angsarten/posi wire/absol ut-encoder/hint /Schnittstell e @ 1 Pos: 88 /########### Sei tenumbruch @ 1 HINT Interbus Interface Excitation voltage Excitation current Output code Baud rate Interbus, ENCOM profile K3 (configurable), K V DC 250 ma 32 Bit binary 500 kbaud Data refresh Every 600 µs Resoution Programmability Connection 12 ( ) + 12 bit Direction, preset, offset, resolution Bus cover with T manifold EMC DIN EN :2013 Data format K2 / K3 Differential signals (RS485) ENCOM profile K3, K2, 32 Bit, binary process data DÜ-Format Sµpi-Adresse (according to the Phoenix company) Byte no ID-Code K2 ID-Code K3 36H (=54 dez.) 37H (=55 dez.) Signal wiring Signal Cable terminal no. (bus cover) Ub + 1 GND 2 DI1 4 DI1 6 D01 3 D01 5 D02 7 D02 8 DI2 9 D02 10 RBST 11 GND

48 Pos: 89 /Ausg angsarten/posi wire/absol ut-encoder/h EDV/Schni ttstelle @ 1 Pos: 90 /########### Sei tenumbruch @ 1 HDEV DeviceNet Interface CAN highspeed according to ISO/DIS CAN specification 2.0 A (11 bit identifier) Excitation voltage V DC Excitation current Protocol Resolution Output code MAC-ID Date refresh Baud rate Programmability Bus terminating resistor Connection 250 ma DeviceNet according rev. 2.0, programmable encoder 12 ( ) + 12 bit Binary Selectable via DIP switch Every 5 ms Selectable via DIP switch: 125 kbaud, 250 kbaud, 500 kbaud Resolution, preset, direction Selectable via DIP switch Bus cover with T manifold EMC DIN EN :2013 Recommended transmission Characteristic impedance Operating capacity Loop resistance Wire diameter Ω (3 20 MHz) < 30 pf < 110 Ω/km > 0.63 mm Wire width > 0.34 mm 2 Transmission rate Segment length Kbit/s 500 m m m 500 Signal wiring Signal Cable terminal no. (bus cover) Ub in 1 0 V in 2 CAN-L 4 CAN-H 6 Drain 3 Drain 5 CAN-H 7 CAN-L

49 Pos: 91 /Ausg angsarten/posi wire/absol ut-encoder/hc AN_HC ANOP/Schnittstelle H CAN @ 1 Pos: 92 /########### Sei tenumbruch @ 1 HCAN / HCANOP CANopen / CAN Layer 2 Interface CAN highspeed according to ISO/DIS Excitation voltage V DC Excitation current 250 ma Protocol Resolution Output code Data refresh Baud rate Base identifier Programmability Integrated special functions Connection CANopen according DS301 with encoder profile DSP406, programmable encoder according class C2 12 ( ) + 12 bit Binary Every millisecond (selectable), on request Selectable 10 up to 1000 kbit/s Selectable via DIP switch CANopen: direction, resolution, preset, offset CAN L2: direction, limit values CANopen: velocity, acceleration, rotary axis, limit values CAN L2: direction, limit values Bus cover with T manifold EMC DIN EN :2013 Signal wiring Signal Cable terminal no. (bus cover) Ub in 1 0 V in 2 CAN in (dominant L) 4 CAN in + (dominant H) 6 CAN GND in 3 CAN GND out 5 CAN out + (dominant H) 7 CAN out (dominant L) 8 0 V out 9 Ub out

50 Pos: 93 /Ü berschriften/posi wire/magnetischer 1 Pos: 94 /Ausg angsarten/prm Encoder/Anal og-ausgäng e/analog-ausgänge @ 1 Pos: 95 /Ausg angsarten/prm Encoder/Anal og-ausgäng e/u @ 1 Pos: 96 /Ausg angsarten/prm Encoder/Anal og-ausgäng e/u @ 1 Pos: 97 /########### Sei tenumbruch @ Magnetic encoder Analog output U2 Excitation voltage 8 36 V DC Voltage output V Excitation current Output voltage Output current Measuring rate Stability (temperature) Protection Operating temperature 20 ma typical at 24 V DC 38 ma typical at 12 V DC max. 50 ma V DC 2 ma max. 1 khz standard ±50 x 10-6 / C f.s. (typical) Reverse polarity, short circuit See specification of the respective sensor EMC DIN EN :2013 U8 Excitation voltage 8 36 V DC Voltage output V Excitation current Output voltage Output current Measuring rate Stability (temperature) Protection Operating temperature 17 ma typical at 24 V DC 32 ma typical at 12 V DC 50 ma max V DC 2 ma max. 1 khz standard ±50 x 10-6 / C f.s. (typical) Reverse polarity, short circuit See specification of the respective sensor EMC DIN EN :

51 Pos: 98 /Ausg angsarten/prm Encoder/Anal og-ausgäng @ 1 Pos: 99 /Ausg angsarten/prm Encoder/Anal og-ausgäng e/anschl ussbel egung Anal og Ausg @ 1 Pos: 100 /Ausgangsarten/PRM Encoder/Analog-Ausgänge/Ausgangssignale Anal og @ 1 Pos: 101 /########### Seitenumbruch @ 1 I1 Excitation voltage 8 36 V DC Current output 4 20 ma, 3 wires Excitation current Load RL Output current Measuring rate Stability (temperature) Protection Operating temperature typical 36 ma at 24 V DC typical 70 ma at 12 V DC 120 ma max. 500 max ma 1 khz standard ±50 x 10-6 / C f.s. (typical) Reverse polarity, short circuit See specification of the respective sensor EMC DIN EN :2013 Signal wiring Signal Connector pin no. Cable connection View to the sensor connector Excitation + 1 brown Signal 2 white GND 3 blue Do not connect! 4 black Do not connect! 5 (grey) Signal diagram Excitation + U2 U8 I1 Signal + GND Magnet 51

52 Pos: 102 /Ausgangsarten/PRM Encoder/Analog-Ausgänge, skalier bar/anal og-ausgäng e S @ 1 Pos: 103 /Ausgangsarten/PRM Encoder/Analog-Ausgänge, skalier bar/u 2, @ 1 Pos: 104 /Ausgangsarten/PRM Encoder/Analog-Ausgänge, skalier bar/u 8, @ 1 Pos: 105 /########### Seitenumbruch @ 1 Analog output, programmable U2/PMU programmable U2/PMZ tare function Voltage output V Excitation voltage Excitation current Output voltage Output current Measuring rate Stability (temperature) Protection Operating temperature 8 36 V DC 20 ma typical at 24 V DC 38 ma typical at 12 V DC max. 50 ma 0, V DC 2 ma max. 1 khz standard ±50 x 10-6 / C f.s. (typical) Reverse polarity, short circuit See specification of the respective sensor EMC DIN EN :2013 U8/PMU programmable U8/PMZ tare function Voltage output V Excitation voltage Excitation current Output voltage Output current Measuring rate Stability (temperature) Protection Operating temperature 8 36 V DC 17 ma typical at 24 V DC 32 ma typical at 12 V DC max. 50 ma V DC 2 ma max. 1 khz standard ±50 x 10-6 / C f.s. (typical) Reverse polarity, short circuit See specification of the respective sensor EMC DIN EN :

53 Pos: 106 /Ausgangsarten/PRM Encoder/Analog-Ausgänge, skalier bar/i1, skalier bar @ 1 Pos: 107 /Ausgangsarten/PRM Encoder/Analog-Ausgänge, skalier bar/anschlussbelegung Analog @ 1 Pos: 108 /Ausgangsarten/PRM Encoder/Analog-Ausgänge, skalier bar/ausgangssignal e Anal og Skalier @ 1 Pos: 109 /########### Seitenumbruch @ 1 I1/PMU programmable I1/PMZ tare function Current output 4 20 ma, 3 wire Excitation voltage Excitation current Load RL Output current Measuring rate Stability (temperature) Protection Operating temperature 8 36 V DC typical 36 ma at 24 V DC typical 70 ma at 12 V DC max. 120 ma 500 max ma 1 khz standard ±50 x 10-6 / C f.s. (typical) Reverse polarity, short circuit See specification of the respective sensor EMC DIN EN :2013 Signal wiring Signal Connector pin no. Cable color View to sensor connector Excitation + 1 brown Signal 2 white GND 3 blue Do not connect! 4 black SPAN/ZERO 5 grey Signal diagram Excitation + U2/PMU U8/PMU I1/PMU Signal + GND SPAN/ZERO Magnet 53

54 Pos: 110 /Ausgangsarten/PRM Encoder/Analog-Ausgänge, skalier bar/option @ 1 Pos: 111 /Ausgangsarten/PRM Encoder/Analog-Ausgänge, skalier bar/option @ 1 Pos: 112 /########### Seitenumbruch @ 1 Output /PMU Programming of the start and end value by the customer (programmable) Teach-In of start and end value for the outputs U2/PMU, I1/PMU, U8/PMU is provided by a binary signal SPAN/ZERO. At the start position connect signal SPAN/ZERO for a period of 2 3 seconds to GND via push button. At the end position connect signal SPAN/ZERO for a period of 5 6 seconds to GND via a push button. The scaling range will be stored non-volatile. To reset the sensor to factory default ZERO/END must be connected to ground while powering up the sensor for 2 3 seconds. Output /PMZ Programming of the start value by the customer (tare function) Programming of the start value for the outputs U2/PMZ, U8/PMZ and I1/PMZ is provided by a programming signal ZERO available at the connector. Connect the signal ZERO with GND via a push button. Pushing the button between 1 and 4 seconds sets the current position as start position. To reset the sensor to the factory values the button must be pushed when the sensor is switched on. 54

55 Pos: 113 /Ausgangsarten/PRM Encoder/Analog-Ausgänge, redundant/analog-ausgänge R @ 1 Pos: 114 /Ausgangsarten/PRM Encoder/Analog-Ausgänge, @ 1 Pos: 115 /Ausgangsarten/PRM Encoder/Analog-Ausgänge, @ 1 Pos: 116 /########### Seitenumbruch @ 1 Analog output, redundant U2R Excitation voltage 8 36 V DC Voltage output V Excitation current Output voltage Output current Measuring rate Stability (temperature) Protection Operating temperature 20 ma typical at 24 V DC 38 ma typical at 12 V DC max. 50 ma per channel V DC 2 ma max. 1 khz standard ±50 x 10-6 / C f.s. (typical) Reverse polarity, short circuit See specification of the respective sensor EMC DIN EN :2013 U8R Excitation voltage 8 36 V DC Voltage output V Excitation current Output voltage Output current Measuring rate Stability (temperature) Protection Operating temperature 17 ma typical at 24 V DC 32 ma typical at 12 V DC max. 50 ma per channel V DC 2 ma max. 1 khz standard ±50 x 10-6 / C f.s. (typical) Reverse polarity, short circuit See specification of the respective sensor EMC DIN EN :

56 Pos: 117 /Ausgangsarten/PRM Encoder/Analog-Ausgänge, @ 1 Pos: 118 /Ausgangsarten/PRM Encoder/Analog-Ausgänge, redundant/anschlussbel egung Anal og @ 1 Pos: 119 /Ausgangsarten/PRM Encoder/Analog-Ausgänge, redundant/ausgangssignale Anal og R @ 1 Pos: 120 /########### Seitenumbruch @ 1 I1R Excitation voltage 8 36 V DC Current output 4 20 ma, 3 wires Excitation current Load RL Output current Measuring rate Stability (temperature) Protection Operating temperature 36 ma typical at 24 V DC 76 ma typical at 12 V DC max. 120 ma per channel 500 max ma 1 khz standard ±50 x 10-6 / C f.s. (typical) Reverse polarity, short circuit See specification of the respective sensor EMC DIN EN :2013 Signal wiring Channel Signal Connector pin no. Cable color View to the sensor connector 1 Excitation + 1 white 1 Signal 2 brown 1 GND 3 green 1 Do not connect! 4 yellow 2 Excitation + 5 grey 2 Signal 6 pink 2 GND 7 blue 2 Do not connect! 8 red Signal diagram Magnet U2R U8R I1R Excitation + Signal + GND (do not connect) Excitation + Signal + GND (do not connect) 56

57 Pos: 121 /Ausgangsarten/Posi wire/digital e Schnittstell en @ 1 Pos: 122 /Ausgangsarten/PRM Encoder/M @ 1 Digital interfaces MSSI Interface EIA RS-422 Synchronous serial SSI Excitation voltage V DC Excitation current Clock frequency Code Delay between pulse trains (tp) Stability (temperature) Operating temperature Protection 19 ma typical at 24 V DC 35 ma typical at 12 V DC max. 80 ma 100 khz khz Gray-Code, continuous progression 30 µs min. ±50 x 10-6 / C f.s. (typical) See specification of the respective sensor Reverse polarity, short circuit EMC DIN EN :2013 Data format (Train of 26 pulses) Recommended processing circuit Transmission rate Cable length Baud rate Note: 50 m khz 100 m khz Extension of the cable length will reduce the maximum transmission rate. 57

58 Pos: 123 /########### Seitenumbruch @ 1 Signal wiring Signal Connector pin no. Cable color View to sensor connector Excitation + 1 white Excitation GND 2 brown CLOCK 3 green CLOCK 4 yellow DATA 5 grey DATA 6 pink - 7 blue - 8 red 58

59 Pos: 124 /Ausgangsarten/PRM Encoder/MC ANOP/C @ 1 Pos: 125 /########### Seitenumbruch @ 1 MCANOP, CANOPR CAN specification ISO 11898, Basic and Full CAN 2.0 B CANopen Communication profile CANopen CiA 301 V 4.02, Slave Encoder profile Encoder CiA 406 V 3.2 Error Control Node Guarding, Heartbeat, Emergency Message Node ID Adjustable via LSS or SDO, default: 127 Specifications PDO PDO Modes SDO CAM Certified Transmission rate Bus connection Integrated bus terminating resistor Bus, galvanic isolated Excitation voltage Excitation current Measuring rate Stability (temperature) Repeatability Operating temperature Protection Dielectric strength 3 TxPDO, 0 RxPDO, no linking, static mapping Event-/Time triggered, Remote-request, Sync cyclic/acyclic 1 Server, 0 Client 8 cams Yes 50 kbit bis 1 Mbit, adjustable via LSS or SDO, default: 125 kbit M12 conncector, 5 pin 120Ω adjustable by the customer no V DC 20 ma typical at 24 V DC 40 ma typical at 12 V DC 80 ma max. 1 khz (asynchronous) ±50 x 10-6 / C f.s. (typical) 1 LSB See specification of the respective sensor Reverse polarity, short circuit 1 kv (V AC, 50 Hz, 1 min.) EMC EN :2013 Signal wiring Signal Connector pin no. View to the sensor connector Shield 1 Excitation + 2 GND 3 CAN-H 4 CAN-L

60 Pos: 126 /Bedi enungsanleitungen/positape/can open_spec_ws_wb_ph /CAN Pos: /Bedi enungsanleitungen/positape/can open_spec_ws_wb_ph /Config_M @ 1 Pos: /########### Seitenumbruch @ 1 CANopen Set up (MCANOP) Before connecting the sensor to the CAN-Bus the devices have to be checked for correct bitrate and unique node-ids. Both parameters are configurable by Layer-Setting-Service (LSS) or by Service Data Object (SDO). After power-on the sensor will enter pre-operational state and send a boot-up message being ready for configuration by Service Data Objects. Parameters configured by the user can be stored nonvolatile by SAVE command. On receiving NMT-Node-Start the sensor transits to operational state and starts process data transmission. When Auto-Start is configured the sensor will automatically transit to operational after boot-up without a need for the Node-Start message. Node monitoring is supported by Node Guarding and Heartbeat protocol. Node Guarding implements cyclic querying of the node status by the NMT-Master within the guard time window. The Heartbeat protocol provides automatic transmission of the node status (heartbeat message) by the slave within producer heartbeat time window. Configuration Message Service Data Object (SDO) Risk of injury by unexpected machine movement Change parameters only when machine is in a safe condition Changing parameters may cause unexpected machine movement. Changing parameters may influence dependent parameters e.g. changing the resolution may have influence on position of CAM switches. Precautions have to be taken to avoid damage to human and machine parts! Configurable parameters of the sensor are accessible by peer to peer communication. The identifier (COB) of the SDO message is defined by the predefined connection set. Parameters to be uploaded or downloaded are addressed by Index and Subindex. 11-Bit CAN-Id SDO COB-Id CS Index Request: Control Unit to Sensor 8 Byte data frame Sub- Index Data 600h + Node-Id Byte LSB MSB Byte LSB.... MSB Response: Sensor to Control Unit 580h + Node-Id Byte LSB MSB Byte LSB.... MSB 60

61 Pos: /Bedi enungsanleitungen/positape/can open_spec_ws_wb_ph /SD O_U pd @ 1 SDO - download protocol 8 Byte data frame CS Index Sub-Index Data Request: control unit to sensor ccs LSB MSB Byte LSB.... MSB Response: sensor to control unit scs LSB MSB Byte Reserved Bit structure of command specifier CS: b7 b6 b5 b4 b3 b2 b1 b0 Request: control unit to sensor ccs X n e s Response: sensor to control unit scs X ccs: control unit command specifier, ccs = 1 (=> CS8 = 2Fh, CS16 = 2Bh, CS32 = 23h) scs: sensor command specifier, scs = 3 (=> CS = 60h) SDO - upload protocol 8 Byte data frame CS Index Sub-Index Data Request: control unit to sensor scs LSB MSB Byte Reserved Response: sensor to control unit ccs LSB MSB Byte LSB.... MSB Bit structure of command specifier CS: b7 b6 b5 b4 b3 b2 b1 b0 Request: control unit to sensor scs X Response: sensor to control unit ccs X n e s Pos: /########### Seitenumbruch @ 1 ccs: control unit command specifier, ccs = 2 (=> CS = 40h) scs: sensor command specifier, scs = 2 (=> CS8 = 4Fh, CS16 = 4Bh, CS32 = 43h) X: reserved e: expedited transfer e = 1 s: data set size = 1 n: number of bytes which do not contain data 61

62 Pos: /Bedi enungsanleitungen/positape/can open_spec_ws_wb_ph /SD @ 1 Pos: /########### Seitenumbruch @ 1 SDO - abort peer-to-peer-protocol 8 Byte data frame CS Index Sub-Index Data Response: control unit or sensor cs LSB MSB Byte Abort Code Bit structure of command specifier CS for abort protocol: b7 b6 b5 b4 b3 b2 b1 b0 Request: control unit to sensor cs X cs: control unit / sensor command specifier, cs = 4, (=> CS = 8h) X: reserved SDO - abort code description Abort code Description h Attempt to read a write only object h Attempt to write a read only object h Object does not exist in the object dictionary h Data type does not match, length of service parameter too high h Data type does not match, length of service parameter too low h Value range of parameter exceeded (only for write access). 62

63 Pos: /Bedi enungsanleitungen/positape/can open_spec_ws_wb_ph /TPD @ 1 Pos: 43 /########### Sei tenumbruch @ 1 Pos: /########### Seitenumbruch @ 1 Process Data Message (TPDO) Process data messages are broadcast messages. The structure of the 8 Byte data frame is product specific. 11-Bit CAN-Id PDO COB-Id 8 Byte data frame Process Data Sensor to Control Unit 180h + Node-Id LSB.. MSB Format of Process Data Field Byte0 Byte1 Byte2 Byte3 Byte4 Byte5 Byte6 Byte7 Inclination value Status LSBX MSBX LSBY MSBY reserved reserved reserved Byte TPDO Transmit-PDO transmission type Transmission type of TPDO-1, -2 is configurable by object PDO Communication Parameter 1800, 1801 subindices -1, -2, -3 and -5. Transmission type COB-Id Transmission Type Inhibit Time Event Timer [ms] example for TPDO Event Timer Driven 1FFh FEh 0... FFFFh 0... FFFFh Cyclic Synchronous 1FFh N = 1... F0h - TPDO Disable xx xx - - TPDO Enable xx xx - - Transmission type "Event Timer Driven" triggers TPDO-transmission periodically with a time period defined by the event timer. In "Cyclic Synchronous" a TPDO is transmitted on reception of a number of one or multiple SYNC commands. Enable or disable a TPDO by setting Bit 31 of the COB-Id '0' resp. '1' (Default: "0" Enabled). 63

64 Pos: /Bedi enungsanleitungen/positape/can open_spec_ws_wb_ph /Comm_Pr ofile_ci A Pos: /########### Seitenumbr uch @ 1 Communication profile CiA 301 Object Index [hex] Subidx Access Type Default Value range / Note [time spec in ms] Device type ro U h Absolute linear encoder Error register ro U8 0 Error status Pre-defined error field, n rw U8 0 Number of errors Pre-defined error field, error list ro U32 0 Emergency error code COB-ID-Sync rw U32 80h Manufacturer device name ro String 1) Manufacturer hardw version ro String 1) Manufacturer softw version 100A 0 ro String 1) Guard time 100C 0 rw U FFFFh Life time factor 100D 0 rw U FFh Save settings w U32 - save ( h) Load manufacturer settings w U32 - load (64616F6Ch) COB-ID-EMCY rw U32 FFh Producer heartbeat time rw U FFFFh Idendity object vendorid ro U h Idendity object product code 2 ro U32 1) A-number Idendity object revision number 3 ro U32 1) Idendity object serial number 4 ro U32 1) COB-ID server->client ro U32 67Fh SDO COBID client-> sever ro U32 5FFh SDO TPDO1 COB-ID rw U32 1FFh 181h.. 1FFh 2) TPDO1 transmission-type 2 rw U8 FEh 0.. FFh 2), 3) TPDO1 inhibit time 3 rw U FFFFh 2) TPDO1 event timer 5 rw U16 64h 0.. FFFFh TPDO2 COB-ID rw U32 2FFh 281h.. 2FFh 2) TPDO2 transmission-type 2 rw U FFh 2), 3) TPDO2 inhibit time 3 rw U FFFFh 2) TPDO2 event timer 5 rw U FFFFh TPDO1 no of mapped obj 1A00 0 ro U8 4 TPDO1-mapped object 1 ro U h Position value TPDO1-mapped object 2 U h reserved TPDO1-mapped object 3 U h reserved TPDO1-mapped object 4 ro U h Error register TPDO2 no of mapped obj 1A01 0 ro U8 4 TPDO2-mapped object 1 ro U h Position value TPDO2-mapped object 2 U h reserved TPDO2-mapped object 3 U h reserved TPDO2-mapped object 4 ro U h Error register NMT-Startup 1F80 0 rw U32 4 0: Self start ON 4: Self start OFF 1) Product specific 2) enable write access for objects "COB-ID", "Transmission-Type" or "Inhibit time" by setting COB-ID-bit31 to "1" (see examples) 3) Valid Transmission Types: 1... F0h, FEh 64

65 Pos: /Bedienungsanl eitung en/positape/c AN open_spec_ws_wb_ph/c onfigurabl e @ 1 Configurable Parameters Parameter Index [hex] Sub- Index [hex] Read / Write Type Default Range / Selection [Unit] Control Store parameters wo U32 - save 2) Reload factory defaults wo U32 - load 2) Node Address Ch1 Node Address Ch rw 1) U8 7Fh 7Eh 1.. 7Fh 3) 2.. 7Eh 3) Bit Rate rw U kbit/s Termination Resistor rw 1) U8 0 0=OFF, 1=ON 8) Filter Time Constant T90% rw U ms 6) Measurement Operating Parameters 5) rw U16 0 Total measuring range in measuring steps 7) ro / rw 4) U32 7) Preset value ro / rw 4) U Position value ro S32 - Linear encoder measuring step ro / rw 4) U , nm Event Timer rw U ms 1) Effective after "store parameters" and next power-up 2) save : LSB...MSB: 73h 61h 76h 65h load : LSB...MSB: 6Ch 6Fh 61h 64h Reload factory defaults does not affect Node-Id and Bit Rate 3) For two channel redundant version: Channel CH1 accepts odd Node Addresses only, Ch2 accepts even Node Addresses only 4) Write access to Objects 6002, 6003, 6005 only when Scaling function enabled (Object 6000) 5) If Operating Parameters will be changed, Objects 6002, 6003, 6005 will reset to default values 6) Filter time constant T90% defined as 90% step response settling time 7) Total Measuring Range in measuring units will calculate as TMRNM = TMRSTEP * LMSNM [nm] where TMRNM: Total measuring range in nanometers TMRSTEPS : Total measuring range in measuring steps (6002) LMSNM : Linear encoder measuring step in nanometers (6005) 8) If CAN-Bus is wired in common activate termination resistor of Channel Ch1 only 65

66 Pos: /########### Seitenumbr uch @ 1 Bit structure of object 6000, Operating Parameters: b15 b14... b4 b3 b2 b1 b0 n.b. n.b.... n.b. md sfc n.b. n.b. md = 0 Measuring direction: pull out for increasing code (default) md = 1 Measuring direction: pull in for increasing code sfc = 0 Scaling function disabled (default) sfc = 1 Scaling function enabled n.b. not used Baud Rate (Object 2010) Baud Rate Index Baud Rate [kbit/s]

67 Pos: /Bedienungsanl eitung en/positape/c AN open_spec_ws_wb_ph/di agnostic @ 1 Pos: 37 /########### Sei tenumbruch Pos: /########### Seitenumbr uch @ 1 Diagnostic Features Status Flags Bit0 Bit1 Bit2 Bit3 Bit4 Bit5 Bit6 Bit7 Generic reserved reserved reserved Communication reserved 0 CAN-Bus Error Flags: 0 = no error, 1 = error Status Flag Description Recoverable Error )* Bit0 Generic Flag set if any error is active Bit4 CAN OFF CAN-Bus error OFF no Bit7 CAN passive CAN-Bus error passive no 67

68 Pos: /Bedienungsanl eitung en/positape/c AN open_spec_ws_wb_ph/exampl e CANopen example protocolls The example protocols are prepared using the USB-to-CAN Interface with CAN-Monitor IXXAT (HMS Industrial Networks AB). The examples enable the user to configure and run the CANopen sensor from a host PC without using a CANopen master ECU. CAN Monitor Screen 68

69 Example: boot up and change parameter After boot up (line 1) the filter (Object ) will be changed to 1F4h by an SDO message (line 2). The sensor sends a response message (line 3). Example: Change Node-ID After boot up (line 1) the node-id (2000h) will be changed from 7F to 7Eh by SDO (line 2, 3). The changed setting is stored nonvolatile by SDO "SAVE" (line 4). The sensor node-id stays unchanged (Line5, 6) and will become valid on next power down - boot up cycle (line 6). Note: While the configurable parameters will become valid immediately node-id and baud rate stay unchanged until the next power cycle. Example: switch to operational After boot up (line 1) a "Start all Nodes" NMT message (line 2) will switch the sensor from pre-operational to operational starting transmission of the process data objects (lines 3...). 69

70 Pos: 128 /Bedi enungsanleitungen/positape/can open_spec_ws_wb_ph /CAN bus wiri @ 1 Pos: 129 /########### Seitenumbruch @ 1 Example: change COB-ID of a TPDO The example sequence shows boot up of node 7Fh in line 1. Write access is enabled be writing h to COB-ID object, Index (lines 3, 4). Next frame writes a new COB-ID 181h to Index (lines 5, 6). Example: change transmission type of a TPDO The example sequence shows boot up of node 7Fh in line 1. Write access is enabled be writing h to COB-ID object, Index (lines 3, 4). Next two frames write a new Transmission Type 1h to Index (lines 5, 6) and restore the COB-ID object, Index to its original value 1FFh (lines 7, 8). CAN-Bus wiring Connect the device by a T-connector to the CAN trunk line. Total length of stubs should be minimized. Do not use single stub lines longer than 0.5 m. Connect terminating resistors 120 Ohm at both ends of the trunk line. Termination resistor T piece CAN cable sensor 70