POSIROT ® PRAS5 Magnetic Angle Sensor with Analog Output agnetic angle sensor 0 - 360° in a flat M housing with 66 mm resp. 68.2 mm dia. ● Measurement range 0 - 360° ● Protection class IP67 / IP69K, optional IP68* ● Analog o utput ● With 10 mm shaft or non-contact ● Magnetic measurement principle ● Other outputs available on request ● Seawater proof ● Suitable for use on ocean-going vessels * Depth and duration of immersion must be specified! Specifications Outputs U2 U6 /5/ 8,25 I1 Measurement range Resolution Repeatability Linearity Rated distance sensor / magnet Protection class Signal characteristics Material Mounting Shock Vibration Life cycle of bearings (shaft version) Revolutions per minute (shaft version) Allowable shaft load Voltage 0.5 ... 10 V Voltage 0.5 ... 4.5 V / 0.825 ... 7.425 V ratiometr. Current 4 ... 20 mA, 3 wire 0 ... 15° to 0 ... 360° in 15° increments 0.03 % (60 ... 360); 0.1 % (15 ... 45°) ±0.03 % (60 ... 360°); ±0.1 % (15 ... 45°) ±0.3 % f.s. (typ.) Depending on the position magnet IP67/IP69K (connector output with IP69K connector cable); IP68 - on request CW, CCW Stainless steel Screws M8 EN60068-2-27:1993, 100 g/11 ms, 100 shocks EN60068-2-6:1995, 20 g 10 Hz-2 kHz, 10 cycles 100 x 106 revolutions (<1500 r.p.m.) Max. 10,000 r.p.m. 120 N radial, 120 N axial Order Code PRAS5 PRAS5 Model name Mechanical connection V / K= Shaft 10 mm / non-contact with external magnet Measurement range 15 ... 360° in 15° increments 15 / 30 / 45 / ... / 345 / 360 Outputs (see page 46) U6/5 = 0.5 ... 4.5 V ratiometric, UB = 5 V ±10% U6/8,25 = 0.825 ... 7.425 V ratiometric, UB = 8.25 V ±10% U2 = 0.5 ... 10 V I1 = 4 ... 20 mA, 3 wire Signal characteristics CW / CCW = Signal increasing CW / signal increasing CCW Connection M12A5/M12R5 = 5-pin socket M12 axial/radial (compatible to 4-pin connector) Housing material VA= Stainless steel Order code position magnet (see accessories page 53/54) Order code connector cable (see accessories page 90) PRMAG ... KAB-2M-M12/4F/G-LITZE Order example: PRAS5 - V - 360 - U6/5 - CW - M12R5 - VA 34 CAT-PR/PT-E-12 www.asm-sensor.com ASM POSIROT ® PRDS5 Magnetic Angle Encoder with SSI Output agnetic angle sensor 0 - 360° in a flat M housing with 66 mm resp. 68.2 mm dia. ● Measurement range 0 - 360° ● Protection class IP67 / IP69K, optional IP68* ● Synchronous serial output (SSI) ● With 10 mm shaft or non-contact ● Magnetic measurement principle ● Seawater proof ● Suitable for use on ocean-going vessels * Depth and duration of immersion must be specified! Specifications Output Measurement range Resolution Repeatability Linearity Rated distance sensor / magnet Protection class Code characteristics Material Mounting Shock Vibration Life cycle of bearings (shaft version) Revolutions per minute (shaft version) Allowable shaft load Synchronous serial (SSI) 0 to 360° 12 bit (4096 steps) per revolution ±0.1° (typ.) ±1°(typ.) Depending on the position magnet IP67/IP69K (connector output with IP69K connector cable); IP68 - on request CW, CCW Stainless steel Screws M8 EN60068-2-27:1993, 100 g/11 ms, 100 shocks EN60068-2-6:1995, 20 g 10 Hz-2 kHz, 10 cycles 100 x 106 revolutions (<1500 r.p.m.) Max. 10,000 r.p.m. 120 N radial, 120 N axial Order Code PRDS5 PRDS5 Model name Shaft V = Shaft 10 mm K = Non-contact with external magnet Output (see page 49) RSSI5V = Synchronous serial output with excitation 5 V DC RSSI24V = Synchronous serial output with excitation 10 ... 36 V DC Code characteristics CW = Code increasing CW CCW = Code increasing CCW Connection M12A8/R8 = 8-pin socket M12 axial/radial Housing material VA= Stainless steel Order code position magnet (see accessories page 53/54) Order code connector cable (see accessories page 90) PRMAG ... KAB-2M-M12/8F/G-LITZE Order example: PRDS5 - K - RSSI24V - CW - M12R8 - VA 36 CAT-PR/PT-E-12 www.asm-sensor.com ASM POSIROT ® PRDS5 Magnetic Angle Encoder with CANopen Output agnetic angle encoder 0 - 360° in a flat M housing with 66 mm resp. 68.2 mm dia. ● Measurement range 0 - 360° ● Protection class IP67 / IP69K, optional IP68* ● CANopen output ● With 10 mm shaft or non-contact ● Magnetic measurement principle ● Seawater proof ● Suitable for use on ocean-going vessels * Depth and duration of immersion must be specified! Specifications Output Measurement range Resolution Linearity Protection class Material Mounting Connection Shock Vibration Life cycle of bearings (shaft version) Revolutions per minute (shaft version) Allowable shaft load EMC, Temperature CANopen-Bus (Encoder CiA 406 V 3.2) 0 ... 360° 0.05° max. ±1° (typ.) IP67/IP69K (connector output with IP69K connector cable); IP68 - on request Stainless steel Screws M8 Connector M12 5 pin, radial or axial EN60068-2-27:1993, 100 g/11 ms, 100 shocks EN60068-2-6:1995, 20 g/10 Hz-2 kHz, 10 cycles 100 x 106 revolutions (<1500 r.p.m.) Max. 10,000 r.p.m. 120 N radial, 120 N axial Refer to output specification Order Code PRDS5 PRDS5 Model Shaft V = Shaft 10 mm K = Non-contact with external magnet Output (see page 50/51) CANOP= CANopen CANJ1939 = CAN SAE J1939 Connection M12R5/CAN = Connector M12 radial, 5 pin M12A5/CAN = Connector M12 axial, 5 pin Housing material VA= Stainless steel Order code position magnet (see accessories page 53/54) Order code connector cable (see accessories page 91 ) PRMAG ... KAB - XM - M12/5F/G - M12/5M/G - CAN Order example: PRDS5 - K - CANOP - M12A5/CAN - VA ASM www.asm-sensor.com CAT-PR/PT-E-12 37 POSIROT ® PRAS5/PRDS5 Dimensions Outline drawing PRAS5-K/PRDS5-K M12 radial 48 0,0 1. 5[ Markierung Marking +0 66 - 0,1 89 0 .00 [2.598 2] +0 4 - .00 ] Ø15 [.591] Meßfläche Measuring area M12-Stecker Connector M12 10 [.394] 20 [.787] 10 [.394] Positionsmagnet Position magnet Ø9 [.354] 13 [.512] Dimensions in mm [inch] Dimensions informative only. For guaranteed dimensions consult factory. 38 CAT-PR/PT-E-12 www.asm-sensor.com ASM POSIROT ® PRAS5/PRDS5 Dimensions Outline drawing PRAS5-K/PRDS5-K M12 axial 6 6 48 0,0 5 +0 -0 ,1 [ 2.598 +0 - .0 04 [1.8 90 .0 02] ] Marking Markierung Positionsmagnet Position magnet 34 [1.339] Ø9 [.354] Measuring area Meßfläche 20 [.787] 10 [.394] 15 [.591] M12-Stecker Connector M12 Dimensions in mm [inch] Dimensions informative only. For guaranteed dimensions consult factory. ASM www.asm-sensor.com CAT-PR/PT-E-12 39 POSIROT ® PRAS5/PRDS5 Ø15 [.591] 38 [1.496] 3 [.118] 3 [.118] 10 [.394] (flange mechanically compatible to the analog angle sensor AWS1) 10 [.394] 10 [.394] Outline drawing PRAS5-V, PRDS5-V M12 radial 20 [.787] Dimensions )] Ø9 [.354] 01 6 - .0 001 -. Ø60 [2.362] M12 connector M12-Stecker 9 [.354] )[ 3 ,0 - 0 ,0 4 -0 ( f6 6 3 4 8 , 05 0 68 1. 7 41 ( f6 2 .00 890 ] [ 1. , 2 [2 . 685 ] Markierung Marking Dimensions in mm [inch] Dimensions informative only. For guaranteed dimensions consult factory. 40 CAT-PR/PT-E-12 www.asm-sensor.com ASM POSIROT ® PRAS5/PRDS5 3 [.118] 3 [.118] 38 [1.496] Ø15 [.591] 10 [.394] (flange mechanically compatible to the analog angle sensor AWS1) 10 [.394] 10 [.394] Outline drawing PRAS5-V, PRDS5-V M12 axial 20 [.787] Dimensions Ø9 [.354] M12-Stecker M12 connector )] 01 6 - .0 001 -. Ø60 [2.362] 9 [.354] f 36 )[ ,03 - 0 ,04 -0 6( 4 8 0 6( 7f 1 1.4 ,0 5 68 .0 0 [ 1. , 2 [2 89 0 . 685 2] ] Markierung Marking Dimensions in mm [inch] Dimensions informative only. For guaranteed dimensions consult factory. ASM www.asm-sensor.com CAT-PR/PT-E-12 41 POSIROT ® PRAS Analog outputs U2(B), U6 and I1(B) U2; U2B Voltage Output 0.5 ... 10 V Excitation voltage Excitation current Output voltage Output current Measuring rate Stability (temperature) U2: 18 ... 36 V DC; U2B: 11.5 ... 27 V DC 12 mA typ., 16 mA max. 0.5 ... 10 V DC 2 mA max. 1 kHz standard ±50 x 10-6 / °C f.s. (typ.) for 90°...360° ±100 x 10-6 / °C f.s. (typ.) for <90° -40 ... +85 °C Reverse polarity, short circuit EN61326-1:2006 Operating temperature Protection EMC U6/5; U6/8,25 Voltage Output 10 ... 90% ratiometr. Excitation voltage Excitation current Output voltage Output current Measuring rate Stability (temperature) 5V DC ±10 % / 8.25 V DC ±10 % 8 mA typ., 12 mA max. 10 ... 90 % of the excitation voltage 2 mA max. 1 kHz standard ±50 x 10-6 / °C f.s. (typ.) for 90°...360° ±100 x 10-6 / °C f.s. (typ.) for <90° -40 ... +85 °C Reverse polarity, short circuit EN61326-1:2006 Operating temperature Protection EMC I1; I1B Current Output 4 ... 20 mA, 3 wire Excitation voltage Excitation current Load resistor Output current Measuring rate Stability (temperature) I1: 18 ... 36 V DC; I1B: 10 ... 18 V DC 32 mA typ., 36 mA max. I1: 500 Ω max.; I1B: 250 Ω max. 4 ... 20 mA 1 kHz standard ±50 x 10-6 / °C f.s. (typ.) for 90°...360° ±100 x 10-6 / °C f.s. (typ.) for <90° -40 ... +85 °C Reverse polarity, short circuit EN61326-1:2006 Operating temperature Protection EMC Other outputs available on request. Output signals Excitation + U2 U2B U6 I1 I1B Signal Wiring Signal + GND Output signals Connector pin Cable color Excitation + Signal GND Do not connect! Do not connect! 1 2 3 4 5 brown white blue black – Connection M12A5 / M12R5 46 View to sensor connector CAT-PR/PT-E-12 www.asm-sensor.com ASM POSIROT ® PRDS Output RSSI5V / RSSI24V RSSI5V / RSSI24V Synchronous serial Interface Excitation voltage Excitation current Clock frequency Code Resolution Delay between pulse trains Stability (temperature) Operating temperature Protection EMC EIA RS-422 RSSI5V: 5 V DC ±10 %; RSSI24V: 10 ... 36 V DC 100 mA max. without load 100 kHz ... 1 MHz Single step Gray code 12 Bit 12 Bit 20 µs min. ±50 x 10-6 / °C f.s. (typ.) -40 ... +85 °C Short circuit EN61326-1:2006 Data format (Train of 13 pulses) >16 µs Recommended processing input circuit DATA DATA CLOCK CLOCK Cable length Baud rate 50 m 100-1000 kHz 100 m 100-300 kHz Signal wiring Signal name Note: Extension of the cable length will reduce the maximum transmission rate. The signals CLOCK /CLOCK and DATA/DATA must be connected in a twisted pair cable, shielded per pair and common. Connector pin no. Cable color 1 2 3 4 5 6 white brown green yellow grey pink Excitation + Excitation GND CLOCK CLOCK DATA DATA Connection View to sensor connector M12A8 / M12R8 ASM www.asm-sensor.com CAT-PR/PT-E-12 49 POSIROT ® PRDS Output CANopen Description CANopen Magnetic angle encoder with CANopen interface according to CiA 406. Communication profile Device profile Configuration services Error Control Node ID PDO PDO Modes SDO CAM Certified Transmission rates Bus connection Integrated bus terminating resistor Bus, galvanic isolated Specifications 50 Excitation voltage Excitation current Measuring rate Stability (temperature) Repeatability Operating temperature Protection Dielectric strength EMC Automation CANopen CiA 301 V 4.02, Slave Encoder CiA 406 V 3.2 Layer Setting Service (LSS), CiA Draft Standard 305 (transmission rate, node id) Node Guarding, Heartbeat, Emergency Message Default: 127; programmable via LSS or SDO 3 TxPDO, 0 RxPDO, static mapping Event-/Time triggered, Remote-request, Sync cyclic/acyclic 1 server, 0 Client 8 cams Yes 50 kBaud to 1 MBaud, default: 125 kBaud; programmable via LSS or SDO M12 connector, 5 ping Optional No 8 ... 36 V DC Typ. 15/30 mA for 24/12 V, max. 100 mA 1 kHz (asynchronous) ±50 x 10-6 / °C f.s. 1 LSB -40 ... +105 °C Reverse polarity, short circuit 1 kV (V AC, 50 Hz, 1 min.) EN61326-1:2006 CAT-PR/PT-E-12 www.asm-sensor.com ASM POSIROT ® PRDS Output CAN SAE J1939 Description Interface J1939 NAME Fields Parameter Group Numbers (PGN) Specifications Signal wiring / connection ngle encoder according to standard SAE J1939. Customer configuration of operating paraA meters by Peer-to-Peer. Process data exchange by Broadcast message. Node-Id d istribution by address claiming (ACL). CAN specification Transceiver Communication profile Baud rate Internal temination resistor Address ISO 11898, Basic and Full CAN 2.0 B 24V-compliant, not isolated SAE J1939 250 kbit/s 120 Ω Default 247d, configurable Arbitrary address capable Industry group Vehicle system Vehicle system instance Function Function instance ECU instance Manufacturer Identity number 1 0 7Fh (127d) 0 FFh (255d) 0 0 145h (325d) 0nnn Yes Global Non specific Configuration data PGN EF00h Process data PGN FFnnh Proprietary-A (PDU1 peer-to-peer) Proprietary-B (PDU2 broadcast); nn Group Extension (PS) configurable Excitation voltage Excitation current Measuring rate Stability (temperature) Repeatability Operating temperature Protection Dielectric strength EMC 8 ... 36 V DC Typ. 15/30 mA for 24/12 V, max. 100 mA 1 kHz (asynchronous) ±50 x 10-6 / °C f.s. 1 LSB -40 ... +105 °C Reverse polarity, short circuit 1 kV (V AC, 50 Hz, 1 min.) EN61326-1:2006 Signal name Shield Excitation + GND CAN-H CAN-L Non specific Manufacturer ID Serial number 21 bit Connector pin Wire color 1 2 3 4 5 Black+grey White Brown Green Yellow ASM www.asm-sensor.com View to sensor connector CAT-PR/PT-E-12 51 POSIROT ® PRAS/PRDS Characteristics for magnetic angle sensors Output signal (CW increasing) Marking Range [°] Output signal (CCW increasing) Marking Range [°] Example angular range 90° Marking Example angular range 360° Marking 52 CAT-PR/PT-E-12 www.asm-sensor.com ASM POSIROT ® Accessories 8 [.315] 3,5 [.138] J K J 4,5 [.177] 4,5 [.177] 30 [1.181] PRMAG20 20 [.787] Position magnets K 5 [.197] 13 [.512] Sensor / Sensor sensor Marking Markierung / marking Weight 11 g approx., moment of inertia 1.2 kgmm2 A misalignment of the position magnet has an effect on the linearity J K K J Sensor Sensor/ sensor 6,6 [.260] Weight 3 g approx., moment of inertia 0.1 kgmm2 A misalignment of the position magnet has an effect on the linearity 2,7 [.106] 5 [.197] Markierung / Marking marking 3,7 [.146] 2,7 [.106] 8 [.315] PRMAG21 16 [.630] Sensor/ Sensor sensor Ø5,4 [.213] Sensor/ Sensor sensor Dimensions in mm [inch] Dimensions informative only For guaranteed dimensions please consult factory ASM www.asm-sensor.com CAT-PR/PT-E-12 53 POSIROT ® Accessories Position magnets PRMAG22 E 5 4, 5 6 ,5 F 26 36 22 6,4 F E Weight 17 g approx., moment of inertia 3 kgmm2 15 6,5 Markierung / Marking marking A misalignment of the position magnet has an effect on the linearity 9 [.354] PRMAG5Z G H 8,2 [.323] H 10 [.394] 15 [.591] Sensor / Sensor sensor G Weight 100 g approx., moment of inertia 55 kgmm2 14 [.551] Ø48 0,05 [1.890 0.002] [ A misalignment of the position magnet has an effect on the linearity ] Ø66 +- 00,1 2.598 +- 00.004 Sensor / Sensor sensor 5 [.197] Nut /Notch notch Markierung Marking/ marking Sensor / Sensor sensor Dimensions in mm [inch] Dimensions informative only For guaranteed dimensions please consult factory 54 CAT-PR/PT-E-12 www.asm-sensor.com ASM POSIROT ® / POSITILT ® Accessories Connector Cables Connector cable for POSIROT®POSITILT ® sensors 4 pins M12 Suitable for 5-pin sensor connectors M12A5 and M12R5 The 4-core screened cable is supplied with a mating 4-pin 90° M12 connector at one end and 4 wires at the other end. Available lengths are 2, 5 and 10 m. Order code: KAB - XM - M12/4F/W - LITZE IP69K: KAB - XM - M12/4F/W/69K - LITZE Length in m Connector cable for POSIROT®POSITILT ® sensors 4 pins M12 Suitable for 5-pin sensor connectors M12A5 and M12R5 The 4-core screened cable is supplied with a mating 4-pin M12 connector at one end and 4 wires at the other end. Available lengths are 2, 5 and 10 m. Order code: KAB - XM - M12/4F/G - LITZE IP69K: KAB - XM - M12/4F/G/69K - LITZE Length in m Signal wiring M12, 4 pin Connector cable for POSIROT®POSITILT ® sensors 8 pins M12 Connector pin / cable color 1 Brown 2 White 3 Blue 4 Black The 8-core screened cable is supplied with a mating 8-pin 90° M12 connector at one end and 8 wires at the other end. Available lengths are 2, 5 and 10 m. Order code: KAB - XM - M12/8F/W - LITZE IP69K: KAB - XM - M12/8F/W/69K - LITZE Length in m Connector cable for POSIROT®POSITILT ® sensors 8 pins M12 The 8-core screened cable is supplied with a mating 8-pin M12 connector at one end and 8 wires at the other end. Available lengths are 2, 5 and 10 m. Order code: KAB - XM - M12/8F/G - LITZE IP69K: KAB - XM - M12/8F/G/69K - LITZE Length in m Signal wiring M12, 8 pin 90 Connector pin / cable color 1 White 2 Brown 3 Green 4 Yellow 5 Grey 6 Pink CAT-PR/PT-E-12 www.asm-sensor.com 7 Blue 8 Red ASM POSIROT ® / POSITILT ® Accessories Connector Cables Connector/bus cable for POSIROT®POSITILT ® sensors 5 pin M12 CAN bus The 5-lead shielded cable is supplied with a female 5-pin M12 connector at one end and a male 5-pin M12 connector at the other end. Available lengths are 2, 5 and 10 m. Order code: KAB - XM - M12/5F/G - M12/5M/G - CAN IP69K: KAB - XM - M12/5F/G/69K - M12/5M/G/69K - CAN Length in m T-piece for bus cable 5 pin M12 CAN bus Order code: KAB - TCONN - M12/5M - 2M12/5F - CAN Terminating resistance 5 pin M12 CAN bus Order code: KAB - RTERM - M12/5M/G - CAN ASM www.asm-sensor.com CAT-PR/PT-E-12 91