POSITAPE® Tape Position Sensors WB Series Installation and operation manual Please read carefully before operation! POSITAPE® Contents Contents 2 Safety instructions 3 Intended use 5 Unintended use 5 Product description Operating principle 6 Measurement signal and range 6 Delivery / shipment 7 Installation Precautions 8 Installation postion 9 Fitting the sensor 9 Calibration (ISO9001) 12 Electromagnetic compatibility (EMC) 12 Repair and disposal 12 Output specifications 13 Accesories Connector cables 33 Appendix Reliability Characteristics 38 Declaration of conformity 39 MAN-WB-E-15 www.asm-sensor.com © by ASM GmbH POSITAPE® Instruction Manual Safety instructions If total failure or malfunction of the sensor can cause danger or injury to the operator or damage to the machinery or equipment it is recommended that additional safety measures should be incorporated into the system. Any alteration, reconstruction or extension of the sensor is not allowed. Sensor must be operated only within values specified in the datasheet. Connection to power supply must be performed in accordance with safety instructions for electrical facilities and performed only by trained staff. Disregard of this advice can lead to malfunctions, damage to property or personal injury and releases the manufacturer from product liability. WARNING, Risk of Injury: Indicates a potentially hazardous situation, which, if not avoided, could result in serious injury or property damage. Explanation of used safety signs and signal words DANGER WARNING, Risk of Personal Injury or Death: Indicates a situation that can result in serious personal injury or death if not properly avoided. WARNING WARNING, Risk of Personal Injury or Death: Indicates a situation that can result in moderate personal injury or death if not properly avoided. CAUTION WARNING, Risk of Personal Injury: Indicates a situation that can result in minor personal injury if not properly avoided. NOTICE WARNING, Risk of Property Damage: Indicates a situation that can result in minor to major property damage if not properly avoided. © by ASM GmbH www.asm-sensor.com MAN-WB-E-15 3 POSITAPE® Instruction Manual Safety instructions (continuation) Do not open sensor • Release of spring under tension can result in injury! Do not snap tape • Uncontrolled tape or metal tape retraction can break off tape fixing. Broken fixing and tape can result in injury. Also sensor will be damaged! Do not travel over range • Uncontrolled tape retraction can result in injury. Also sensor will be damaged! Do not exceed maximum operating voltage listed in the catalog • Risk of injury. Sensor will be damaged! Avoid shocks to sensor case • 4 Sensor may be damaged! MAN-WB-E-15 www.asm-sensor.com © by ASM GmbH POSITAPE® Instruction Manual Intended use The tape position sensor is intended for distance measurement through the extraction of the measuring tape, when properly mounted and used in the properly rated ambient atmospheric and technical conditions for which the sensor is designated. Unintended use The unintended use is when the sensor is used outside its specified technical and ambient atmospheric conditions or when improperly mounted.. © by ASM GmbH www.asm-sensor.com MAN-WB-E-15 5 POSITAPE® Instruction Manual Product Description The purpose of position sensors is to transform position of a linear and guided movement into an electrical signal. Specifications of measuring range, environment, handling and connections as specified in the catalog, must be followed. The catalog is part of this instruction manual. If the catalog is not available it may be requested by stating the respective model number. The Operating Principle Linear motion of the measuring tape is converted into rotation by means of a precision drum. A spring motor provides torque for the tape retraction. Tape extraction or retraction is transformed into an electrical signal. Depending on application different sensing elements are used. Optional: Subsequent signal conditioners convert the signal of the sensing element into voltage, current, or digital pulses suitable for standard interfaces. Measurement Signal and Range Measurement signal: Analog Measuring range corresponds to the electrical measuring range (e.g. 4...20 mA). Digital Inividual sensitivity is specified on label in steps per millimeter. Actual position Output Analog (e.g. 4 ... 20 mA) 0 % 0 mm 30 % 300 mm 100 % 1000 mm 0 % 4 mA 30 % 8,8 mA 100 % 20 mA Digital (e.g. 10 steps/mm) 0 % 0 30 % 3000 100 % 10000 Measurement range 6 MAN-WB-E-15 www.asm-sensor.com © by ASM GmbH POSITAPE® Instruction Manual Delivery / shipment UnpackingDo not unpack sensor by pulling tape or tape clip. Shipment damagesCheck sensor immediately for shipping damage. In case of any damage or equipment not operating appropriately, please contact supplier or ASM GmbH Moosinning. To avoid shipment damages, use original packing for further shipment. Avoid bending the tape arrester while packing the sensor. Return consignment Return consignment for calibration or repair: only with the RMA number (Return Material Authorization). Please contact ASM and request the RMA number: ASM Automation Sensorik Messtechnik GmbH Service&Repair Am Bleichbach 18-24 D-85452 Moosinning Tel. +49-(0)8123-986-0 Fax +49-(0)8123-986-500 [email protected] www.asm-sensor.com © by ASM GmbH www.asm-sensor.com MAN-WB-E-15 7 POSITAPE® Instruction Manual Installation WARNING Precautions Do not damage tape! Tape must not be oiled or lubricated! Do not snap the tape! Do not travel over range! Do not crack the tape! Tape travel should be axial to the tape outlet - no misalignment allowed! Do not drag tape along objects! Do not let snap the tape Uncontrolled retraction of tape may damage sensor. No warranty will be granted for snapped tapes. Mounting To ensure proper operation, install the sensor only as described in this manual. Tape travel should only be axial to the tape outlet - no misalignment is allowed. Tape misalignment shortens service life of sensor and causes error in measurement. Warranty will not be granted for damage caused by misalignment. If tape travel axial to the tape outlet is not possible, the tape guide wheel WBR1 (accessories) must be used in order to turn the tape. The deflection is possible only in one axe - on the plane side. Pulley wheels with the diameter of >15 mm are recommended (see accessories). 90° twist of the measurement tape A singular tape twist of 90° is possible. Before turning the tape, a distance of at least 30 cm from the tape outlet must be kept in axial direction. While retracting the tape, it must be twisted back at the distance of at least 30 cm before the tape entirely enters the tape outlet. 8 MAN-WB-E-15 www.asm-sensor.com © by ASM GmbH min. 300 [11.811] POSITAPE® Instruction Manual Installation (continuation) Installation position Covered or shielded travel of tape is preferred. This prevents tape from damage, soiling and manipulation. Tape outlet is preferred pointing downwards. Soaking of liquids into the tape outlet is impossible, concentration of condensing water will be avoided. Fit sensor on plain base or use threepoint mounting on uneven surfaces. This prevents sensor from bending and damage. Fitting the sensor Depending upon the sensor model, holes in the base plate or threads in the sensor housing enable attachment of the sensor. Dimensions required are listed in the catalog. Tape attachment device For fastening the tape clip the 5 mm dia. bore is provided. Model Sensor fastening WB10ZG Holes in the base plate Threads in the sensor housing - X WB12 - X WB21 X - WB61 X - WB85 X - WB100M X - Torque The follwing torques / screws and screw materials are recommended. Use flat washers and/or screw protection if necessary. The user is responsible for the appropriate torque, since ASM does not know the operational conditions of the application. Model Screw Screw material Torque [Nm] WB10xx M5 A2 4,5 WB12xx M5 A2 4,5 © by ASM GmbH www.asm-sensor.com MAN-WB-E-15 9 POSITAPE® Instruction Manual Mounting (continued) Sensors with threads in the sensor housing Mount the sensor on a flat surface. Fixing is possible laterally or on the bottom side of the sensor. For the length of thread engagement see the outline drawing in the data sheet. example WB10ZG Zeichnung ist Eigentum der Firma ASM, Vervielfältigung nur mit Genehmigung Schutzvermerk nach DIN 34 beachten © Copyright by ASM GmbH Nicht bemaßte Werkstückkanten Sensors with holes in the base plate Allgemeintoleranzen +0,1 +0,2 -0,1 -0,2 ISO 2768-mH DIN 6784 Mount the sensor on a flat surface. Gezeichnet Datum 16.06.2014 Maßstab 1:1 Name ka Kontrolliert BMC: CT: Werkstoff, Halbzeug Benennung WB10-Befestigung Manual Norm AS M AUTOMATION SENSORIK MESSTECHNIK Status Änderungen Datum ASM GmbH Am Bleichbach 18-22 D-85452 Moosinning Tel.: 08123/986-0 Zeichnungsnummer / Datei 1213105_WB10-Befestigung Manual_107_-.idw Name example WB21 10 MAN-WB-E-15 www.asm-sensor.com © by ASM GmbH Blatt 1 /1 A4 POSITAPE® Instruction Manual Mounting (continued) Sensors with mounting clamps Mount the clamps on a flat surface. The clamps are mounted ex-factory. Fixing is possible laterally or on the bottom side of the clamp. example WB61 © by ASM GmbH www.asm-sensor.com MAN-WB-E-15 11 POSITAPE® Instruction Manual Calibration (ISO9001) The recommended calibration interval is 1 year. Electromagnetic Compatibility (EMC) The electromagnetic compatibility depends on wiring practice. Recommended wiring: Test protocol and traceable calibration certificate (ISO9001) is available on request. • • • Use shielded twisted pair sensor tape. Ground shield single ended at switch cabinet. Connect shield directly before or at tape inlet of switch cabinet by low impedance ground tape bond. On delivery of preassembled sensor cables the shield is not connected to the sensor housing. Keep sensor signal well separated from power wiring e.g. AC wiring, motor or relay. Use separate conduit or ducts for each. If application includes highly electromagnetic interference emitting equipment like switch converter drives additional measures are recommended: • • Use a twisted pair tape, shielded per pair and common. Use shielded conduits or ducts connected to ground potential. Repair Sensors and accessories have to be repaired and adjusted at ASM in Moosinning. WARNING In order to avoid risk of injury and improper handling do not try to repair. No warranty or liability will be granted for opened sensors. Remove the dirt from the dust wiper with subtle air blasts. Disposal 12 Disposal according to applicable government regulations. MAN-WB-E-15 www.asm-sensor.com © by ASM GmbH POSITAPE® Instruction Manual Analog output U2R Voltage output 0.5 ... 10 V Excitation voltage Excitation current 10 ... 36 V DC typ. 22 mA at 24 V DC typ. 43mA at 12 V DC max. 60 mA per canal 0,5 ... 10 V DC 2 mA max. 1 kHz standard ±50 x 10-6/°C f.s. (typ.) Reverse polarity, short circuit -40 ... +85 °C EN 61326-1:2013 Output voltage Output current Measuring rate Stability (temperature) Protection Operating temperature EMC U8R Voltage output 0.5 ... 4,5 V Excitation voltage Excitation current 10 ... 36 V DC typ. 20mA at 24 V DC typ. 38mA at 12 V DC max. 60 mA per canal 0,5 ... 4,5 V DC 2 mA max. 1 kHz standard ±50 x 10-6/°C f.s. (typ.) Reverse polarity, short circuit -40 ... +85 °C EN 61326-1:2013 Output voltage Output current Measuring rate Stability (temperature) Protection Operating temperature EMC I1R Current output 4 ... 20 mA, 3 wire Excitation voltage Excitation current 10 ... 36 V DC typ. 39 mA at 24 V DC typ. 76 mA at 12 V DC max. 100 mA per canal at 20 mA 500 Ω max. 4 ... 20 mA 1 kHz standard ±50 x 10-6/°C f.s. (typ.) Reverse polarity, short circuit -40 ... +85 °C EN 61326-1:2013 *) WB10, WB100M: -20 ... +85 °C Load RL Output current Measuring rate Stability (temperature) Protection Operating temperature EMC Output signals Excitation + U2 U8 I1 Signal + GND Signal Wiring Signal Plug connection Cable connection 1 2 3 4 5 brown white blue black grey Excitation + Signal GND Do not connect! Do not connect! Connection View to sensor connector © by ASM GmbH www.asm-sensor.com A-Coding MAN-WB-E-15 13 POSITAPE® Instruction Manual Analog output, programmable U2/PMU Voltage output 0.5 ... 10 V U8/PMU Voltage output 0.5 ... 4.5 V I1/PMU Current output 4 ... 20 mA, 3 wire Output signals Excitation voltage Excitation current 10 ... 36 V DC typ. 20 mA at 24 V DC, typ. 38 mA at 12 V DC max. 60 mA 0.5 ... 10 V DC 2 mA max. 1 kHz standard ±50 x 10-6/°C f.s. (typ.) Reverse polarity, short circuit Output voltage Output current Measuring rate Stability (temperature) Protection Operating temperature EMC -40 ... +85 °C *) EN61326-1:2013 Excitation voltage Excitation current 10 ... 36 V DC typ. 17 mA at 24 V DC, typ. 32 mA at 12 V DC max. 60 mA 0.5 ... 4.5 V DC 2 mA max. 1 kHz standard ±50 x 10-6/°C f.s. (typ.) Reverse polarity, short circuit Output voltage Output current Measuring rate Stability (temperature) Protection Operating temperature EMC -40 ... +85 °C *) EN61326-1:2013 Excitation voltage Excitation current 10 ... 36 V DC typ. 36 mA at 24 V DC , typ. 70 mA at 12 V DC max. 100 mA 500 Ω max. 4 ... 20 mA 1 kHz standard ±50 x 10-6/°C f.s. (typ.) Reverse polarity, short circuit Load RL Output current Measuring rate Stability (temperature) Protection Operating temperature EMC -40 ... +85 °C *) EN61326-1:2013 *) WB10, WB100M: -20 ... +85 °C ) Signal wiring Signal Excitation + Signal GND Do not connect! SPAN/ZERO Plug connection Cable connection 1 2 3 4 5 brown white blue black grey View to sensor connector A-Coding Option -PMU Programming of the start and end value by the customer Teach-In of start and end value for the options 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 teached positions will be stored non-volatile. To reset the sensor to factory default signal ZERO/END must be connected to ground while powering up the sensor for 2 … 3 seconds. 14 MAN-WB-E-15 www.asm-sensor.com © by ASM GmbH POSITAPE® Instruction Manual Analog output, redundant U2R Voltage output 0.5 ... 10 V Excitation voltage Excitation current Output voltage Output current Measuring rate Stability (temperature) Protection Operating temperature EMC U8R Voltage output 0.5 ... 4.5 V Excitation voltage Excitation current Output voltage Output current Measuring rate Stability (temperature) Protection Operating temperature EMC I1R Current output 4 ... 20 mA, 3 wire Excitation voltage Excitation current Load RL Output current Measuring rate Stability (temperature) Protection Operating temperature EMC Signal wiring, redundant version with 2 channels and 1 connector 10 ... 36 V DC typ. 22 mA at 24 V DC typ. 43mA at 12 V DC max. 60 mA per channel 0.5 ... 10 V DC 2 mA max. 1 kHz standard ±50 x 10-6/°C f.s. (typ.) Reverse polarity, short circuit See specification of the respective sensor EN 61326-1:2013 10 ... 36 V DC typ. 20mA at 24 V DC typ. 38mA at 12 V DC max. 60 mA per channel 0.5 ... 4.5 V DC 2 mA max. 1 kHz standard ±50 x 10-6/°C f.s. (typ.) Reverse polarity, short circuit See specification of the respective sensor EN 61326-1:2013 10 ... 36 V DC typ. 39 mA at 24 V DC typ. 76 mA at 12 V DC max. 100 mA per channel 500 Ω max. 4 ... 20 mA 1 kHz standard ±50 x 10-6/°C f.s. (typ.) Reverse polarity, short circuit See specification of the respective sensor EN 61326-1:2013 *) WB10, WB100M: -20 ... +85 °C Channel Signal Connector M12, 8 pins Cable connection View to sensor connector 1 1 1 1 2 2 2 2 Excitation + Signal GND Do not connect! Excitation + Signal GND Do not connect! 1 2 3 4 5 6 7 8 white brown green yellow grey pink blue red A-Coding © by ASM GmbH www.asm-sensor.com MAN-WB-E-15 15 POSITAPE® Instruction Manual Output specification MSSI Synchronous serial SSI Interface Excitation voltage Excitation current EIA RS-422 8 ... 36 V DC typ. 19 mA at 24 V DC typ. 35 mA at 12 V DC max. 80 mA 100 kHz ... 500 kHz Gray-Code, continuous progression 20 µs min. ±50 x 10-6 / °C f.s. (typ.) -40 ... +85 °C Short circuit EN 61326-1:2013 Clock frequency Code Delay between pulse trains Stability (temperature) Operating temperature Protection EMC *) WB10, WB100M: -20 ... +85 °C Data format (train of 26 pulses) Recommended processing circuit DATA DATA CLOCK CLOCK Transmission rate Signal wiring/ Connection Cable length Baud rate 50 m 100 m Signal 100-400 kHz 100-300 kHz Connector Pin Cable wire color 1 2 white brown 3 4 5 6 7 8 green yellow grey pink blu red Excitation + Excitation GND CLOCK CLOCK DATA DATA − − Note: Extension of the cable length will reduce the maximum transmission rate. View to sensor connector Apply the shield unilaterally! Avoid ground loops! 16 MAN-WB-E-15 www.asm-sensor.com © by ASM GmbH POSITAPE® Instruction Manual Output specification CANopen Description MCANOP CANopen Interface according to CANopen-Standards CiA DS301 DS406, for WB Linear Position Sensors. Prozess data objects for Position und CAM switches. Programmable parameters include Preset, Offset, Resolution, CAM switches, Transmission mode. Communication profile Device profile Configuration services Error Control Node ID PDO PDO Modes SDO CAM Transmission rates Bus connection Integrated terminating resistor Bus, galvanic isolated Specifications 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 50 kBaud to 1 MBaud, default: 125 kBaud; programmable via LSS or SDO M12 connector, 5 pins RT = 120 Ω, user programmable No Excitation voltage Excitation current Measuring rate Stability (temperature) Repeatability Operating temperature Protection Dielectric strength EMC © by ASM GmbH www.asm-sensor.com 8 ... 36 V DC typ. 20 mA at 24 V DC typ. 40 mA at 12 V DC max. 80 mA 1 kHz (asynchronous) ±50 x 10-6 / °C f.s. typical 1 LSB -40 ... +85 °C Reverse polarity, short circuit 1 kV (V AC, 50 Hz, 1 min.) EN 61326-1:2013 MAN-WB-E-15 17 POSITAPE® Instruction Manual Output specification CANopen Setup WARNING Warning notice • 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! • Change parameters only when machine is in a safe condition! NOTICE 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 bootup 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 NMTMaster 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. Following the CAN example protocols included in this manual the sensor may be used without CANopen master device. 18 MAN-WB-E-15 www.asm-sensor.com © by ASM GmbH POSITAPE® Instruction Manual Output specification CANopen Service Data Object (SDO) COB-Id Service data objects (SDO) provide a peer to peer communication between master and slave. The communication object identifier (COB) of the SDO is defined by the Node-Id. SDO COB-Id Default COB-Id Master to Slave 600h + Node-Id 67Fh Slave to Master 580h + Node-Id 5FFh Process Data Object (TPDO) Real time data transfer is provided by Process Data Objects (PDO). The PDO mapping is fixed. The PDO COB-Id is by default setting derived from the Node-Id (Predefined Connection Set) but may be changed to application specific values by object PDO COB-Id 1800..1803 Sub-Index-1. DLC defines the length of the data field. COB-Id DLC 180h + Node-Id length Data Frame Byte0 Data Frame max 8 Byte Byte7 Transmission behaviour of TPDO-1, -2, -4 is configurable by object PDO Communication Parameter 1800, 1801, 1803 sub-indices -1, -2, -3 and -5. Transmission type example for TPDO-1 COB-Id 1800-1 Transmission Type 1800-2 Inhibit Time 1800-3 Event Timer [ms] 1800-5 Cyclic Asynchronous FEh 1 .. 07FFFh 1 .. 07FFFh Change of State FEh 1 .. 07FFFh 0 Synchronous Disable TPDO Enable TPDO 80 00 xx xx 00 00 xx xx N = 1 .. 240 - - - Transmission type «cyclic asynchronous» triggers TPDO-transmission periodically with a time period defined by the event timer. Transmission type «change of state» will be enabled If the event timer is set to «0». This will trigger TPDOtransmission on change of the position value where «Inhibit time» defines a minimum time delay between consecutive TPDOs. In «synch mode» 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). © by ASM GmbH www.asm-sensor.com MAN-WB-E-15 19 POSITAPE® Instruction Manual Output specification CANopen Object Dictionary Communication Profile CiA 301 Object Index [hex] Subindex Access Type Default Value Range / Note Device type 1000 0 ro U32 80196h encoder profile ‚406‘ Error register 1001 0 ro U8 0 COB-ID-Sync 1005 0 rw U32 80 Manufacturer device name 1008 0 ro String - Manufacturer hardware version 1009 0 ro String - Manufacturer software version 100A 0 ro String - Guard time 100C 0 rw U16 0 0 .. 7FFFh Life time factor 100D 0 rw U8 0 0 .. FFh Save Settings 1010 1 w U32 - „save“ (65766173h) Load Manufacturer Settings 1011 1 w U32 - „load“ (64616F6Ch)* COB-ID-EMCY 1014 0 ro U32 FFh NodeID+80h Producer heartbeat time 1017 0 rw U16 0 0 .. 7FFFh Idendity Object VendorID 1018 1 ro U32 252h Idendity Object Product Code 2 ro U32 - Idendity Object Revision number 3 ro U32 - Idendity Object Serial number 4 ro U32 - COB-ID Server->Client 1200 1 ro U32 67Fh - SOD COBID Client-> Sever 1200 2 ro U32 5FFh - SDO PDO1 COB-ID 1800 1 rw U32 1FFh 181h .. 1FFh PDO1 Transmission-Type 2 rw U8 FEh 0 .. FFh PDO1 Inhibit time 3 rw U16 0 0 .. 7FFFh PDO1 Event timer 5 rw U16 64h 0 .. 7FFFh 1 rw U32 2FFh 281h .. 2FFh PDO2 Transmission-Type 2 rw U8 1 0 .. FFh PDO2 Inhibit time 3 rw U16 0 0 .. 7FFFh PDO2 Event timer 5 rw U16 0 0 .. 7FFFh 1 rw U32 4FFh 381h .. 3FFh PDO4 Transmission-Type 2 rw U8 FEh 0 .. FFh PDO4 Inhibit time 3 rw U16 0 0 .. 7FFFh PDO4 Event timer 5 rw U16 0 0 .. 7FFFh PDO2 COB-ID PDO4 COB-ID 1801 1803 TPDO1-Mapped Object 1A00 1 ro U32 60040020h TPDO2-Mapped Object 1A01 1 ro U32 60040020h TPDO4-Mapped Object 1A03 1 ro U32 63000108h NMT-Startup 1F80 0 rw U32 0 0, 8 *) Reset to Manufacturer Default Setting, Bitrate und Node ID not affected 20 MAN-WB-E-15 www.asm-sensor.com © by ASM GmbH POSITAPE® Instruction Manual Output specification CANopen Device profile „Linear Encoder“ CiA 406 Single and dual redundant devices Object SubIndex Index Access Default Value range / note Manufacturer specific Node ID 2000 0 rw 127 *) 1...127 Bitrate 2010 0 rw 4 *) 0...4, 6 Hysteresis (change of state) 2040 0 rw 10 0 ... 1000 Termination resistor 2050 0 rw 0 0 (off) / 1 (on) Filter 2102 0 r/w 1 1...255 Operating Parameters 6000 0 rw 0 Bit select Total Measuring Range 6002 0 rw - Measuring range in 10 mm-Steps Preset Value 6003 0 rw 0 Position Value 6004 0 ro - Measuring Step 6005 1 rw 10 nm 103 .. 106 nm Cyclic Timer 6200 0 rw 100 10 ... 7FFFh Profile SW Version 6507 0 ro Serial Number 650B 0 ro Cam state register 6300 0 ro 0 Cam enable register 6301 0 rw 0 Linear-Encoder CiA406 3 CAM CiA406 Cam polarity register 6302 0 rw 0 6310.. Cam 1-8 low limit 1 rw 0 6317 6320.. Cam 1-8 high limit 1 rw 0 6327 6330.. 1 rw 0 Cam 1-8 hysteresis 6337 *) For dual redundant devices: Always configure Baud-Rates to the same value and the Node-Ids to different values. Operating Parameters (Object 6000) 15 .. .. .. 4 3 2 1 0 - - - - - md sfc - - msb md = 0/1 sfc = 0/1 lsb Measuring direction in / out Scaling function disabled/enabled © by ASM GmbH www.asm-sensor.com MAN-WB-E-15 21 POSITAPE® Instruction Manual Output specification CANopen Process Data Object (TPDO) Mapping TPDO COB-Id DLC TPDO-01 180h +Node-Id 4 TPDO-02 280h +Node-Id 4 TPDO-04 480h +Node-Id 1 Data Frame Byte0 Byte7 4 Byte Position Data (LSB) ... ... (MSB) 4 Byte Position Data (LSB) ... ... (MSB) CAM State CAM State Data Format 8 Bit CAM State Register b7 b6 b5 b4 b3 b2 b1 b0 CAM 8 CAM 7 CAM 6 CAM 5 CAM 4 CAM 3 CAM 2 CAM 1 TPDO Default Settings TPDO Default COB-Id Default Transmission Type TPDO-01: Position Data, 4 Byte 1FFh Event Timer 100ms (FE, T!=0) TPDO-02: Position Data, 4 Byte 2FFh Sync Mode TPDO-04: CAM Status, 1 Byte 4FFh Change of State Mode Baud Rate (Object 2010) Baud Rate Index 0 1 2 3 4 6 22 Baud Rate [kbit/s] 1000 800 500 250 125 50 MAN-WB-E-15 www.asm-sensor.com © by ASM GmbH POSITAPE® Instruction Manual Output specification CANopen Examples Example protocols are prepared using the IXXAT USB-to-CAN PC-Interface with CAN-Monitor „miniMon“ (IXXAT Automation GmbH, D-88250 Weingarten). These examples enable the user to configure and to run the CANopen slaves from a host PC without using a CANopen master ECU. The miniMon-screen has the configuration and status window at left side, a receive message window and a transmit message window below. Configuration Example 1 - screenshot © by ASM GmbH www.asm-sensor.com MAN-WB-E-15 23 POSITAPE® Instruction Manual Output specification CANopen Configuration Example 1 - detailed explanation The example shows the Sensor responding on POWER ON with the Boot-Up message. By SDO message the node-Id and the baud rate will be changed to 7Eh and 1000kbit/s. Finally the host sends an SDO „SAVE“ to store the configuration nonvolatile. Note: Changes of of node-Id and baud rate will become effective on next POWER ON sequence. So the SAVE command has to address the old SDO-COB-Id. Screen Shot Explanation: Boot-Up message Set node Id to 7E Response Set baud rate to 1000kbit/s Response SAVE Response 24 MAN-WB-E-15 www.asm-sensor.com © by ASM GmbH POSITAPE® Instruction Manual Output specification CANopen Configuration Example 2 - screenshot © by ASM GmbH www.asm-sensor.com MAN-WB-E-15 25 POSITAPE® Instruction Manual Output specification CANopen Configuration Example 2 - detailed explanation The message window shows the slave responding on POWER ON with the Boot-Up message on new node-id 7Eh. Event timer of PDO1 is changed to 500ms and COBId of PDO1 is changed to 1F1h. Finally „Autostart“ is activated (automatic transition to operational) and the configuration stored nonvolatile with „SAVE“. On POWER OFF / POWER ON the slave starts sending PDOs asynchronously with the new COB-Id after the Boot-Up message. Screenshot explanation: Boot-Up Message Set PDO1 Event Timer 500 Response Set PDO1 COB-Id to 1F1 Response Set Autostart Response SAVE Response .. POWER OFF Boot Up on POWER ON Cyclic PDO Transfer on Power On ... ... ... ... ... ... ... 26 MAN-WB-E-15 www.asm-sensor.com © by ASM GmbH POSITAPE® Instruction Manual Output specification CANopen CAM function CAM Status activ Hysteresis Hysteresis 1 inactive 0 High Limit Signal wiring / connection Signal Plug connection Shield Excitation + GND CAN-H CAN-L Low Limit Position View to sensor connector 1 2 3 4 5 A-Coding 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 © by ASM GmbH www.asm-sensor.com MAN-WB-E-15 27 POSITAPE® Instruction Manual Output specification CAN SAE J1939 Description MCANJ1939 NAME Fields Parameter Group Numbers (PGN) Specifications Linear encoder according to standard SAE J1939. Customer configuration of operating parameters by Peer-to-Peer. Process data exchange by Broadcast message. 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 user programmable 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 Configuration data PGN EFddh Process data PGN FFnnh Excitation voltage Excitation current 8 ... 36 V DC typ. 20 mA at 24 V DC typ. 40 mA at 12 V DC max. 80 mA 10 µm 1 kHz (asynchronous) ±50 x 10-6 / °C f.s. 1 LSB -40 ... +85 °C Reverse polarity, short circuit 1 kV (V AC, 50 Hz, 1 min.) EN 61326-1:2013 Resolution Measuring rate Stability (temperature) Repeatability Operating temperature Protection Dielectric strength EMC Automation Yes Global Non specific Non specific Manufacturer ID Serial number 21 bit Proprietary-A (PDU1 peer-to-peer) dd Sensor Node ID Proprietary-B (PDU2 broadcast); nn Group Extension (PS) configurable *) WB10, WB100M: -20 ... +85 °C 28 MAN-WB-E-15 www.asm-sensor.com © by ASM GmbH POSITAPE® Instruction Manual Output specification CAN SAE J1939 Warning notice • Changing the parameters can cause a sudden step of the instantaneous value and can result in unexpected machine (re)actions! • Precautions to prevent danger for man or machine are necessary! • Execute parametrizing at standstill of the machine only! WARNING Setup Node-ID The default Node-ID the sensor will claim on power up is user or factory configurable. The user can configure by ”Commanded Address” service according to the J1939 standard or by Peer-to-Peer message as described below. User configuration User accessible parameters including node-id may be configured by peerto-peer proprietary A message PGN 0EF00h. The parameters are accessed by byte-index and read/write operations coded in the data frame. The slave will return the data frame including the acknowledge code. Parameter values will be effective immediatly. On execution of ”Store Parameters” the configuration is saved nonvolatile. Peer-to-peer message (PGN 0x00EF00), send/receive format PGN PGNHIGH 8 Byte data frame PGNLOW (Node-ID) Index Rd/Wr 0 Ack 4-Byte Data i 0/1 0 0 LSB .. .. MSB i 0/1 0 a LSB .. .. MSB Request: Control Unit → Sensor → 0EFh dd Response: Control Unit ← Sensor ← 0EFh a: dd: cc: Acknowledge codes: 0: Acknowledge, 81: Read only parameter, 82: Range overflow, 83: Range underflow, 84: Parameter does not exist Sensor Node-ID (Default 0F7h, 247d) Control-Unit Node-ID cc © by ASM GmbH www.asm-sensor.com MAN-WB-E-15 29 POSITAPE® Instruction Manual Output specification CAN SAE J1939 Configuration examples Example: Set Transmit Cycle to 10ms, Index 31, Node-ID 247d (F7h) PGNHIGH PGNLOW 8 Byte data frame → 0EFh F7h 1Fh 01h 00 00 0Ah 00 00 00 ← 0EFh cc 1Fh 01h 00 00 0Ah 00 00 00 Example: Read Transmit Cycle value, Index 31 → 0EFh F7h 1Fh 00 00 00 00 00 00 00 ← 0EFh cc 1Fh 00 00 00 0Ah 00 00 00 Example: Store Parameters permanently, Index 28 → 0EFh F7h 1Ch 01h 00 00 65h 76h 61h 73h ← 0EFh cc 1Ch 01h 00 00 65h 76h 61h 73h Reload factory defaults, Index 29 → 0EFh F7h 1Dh 01h 00 00 64h 61h 6Fh 6Ch ← 0EFh cc 1Dh 01h 00 00 64h 61h 6Fh 6Ch Example: Broadcast (PGNLow = 0FFh - Reload factory defaults of all sensors, Index 29 → 0EFh 0FFh 1Dh 01h 00 00 64h 61h 6Fh 6Ch ← 0EFh cc 1Dh 01h 00 00 64h 61h 6Fh 6Ch 30 MAN-WB-E-15 www.asm-sensor.com © by ASM GmbH POSITAPE® Instruction Manual Output specification CAN SAE J1939 Encoder - Parameters Index [dec] Default Range / Selection 20 21 247 3 (250kB) 128 ... 247 - rd/wr 1) rd Termination resistor 22 0 0/1 (off/on) rd/wr 2) Store parameters Reload factory defaults Communication 28 29 - ”save” 3) ”load” 3) wr wr 2) Transmit mode 30 0 Transmit cycle PGN Group Extension Event mode hysteresis 31 32 38 100 0 0 Process data byte order 39 0 Code sequence 70 0 Measuring step Preset Averaging filter Identification SW Version Serial number Identity number 73 74 77 100 0 1 0 CW 1 CCW 10 ... 10000 0 ... 214 - 1 1 ... 255 198 199 200 - 4 bytes 4 bytes 21 bit Parameter Control Node ID Baude rate 0 timer 1 request 2 event 10 ... 65535 0 ... 255 0 ... 16383 0 little / 1 big endian Measurement Unit Read / Write rd/wr ms steps rd/wr rd/wr rd/wr rd/wr rd/wr µm steps rd/wr rd/wr rd/wr number number number rd rd rd Write access to index 20 (change of node ID) is effective immediately and initiates address claiming Effective on next power-up 3) „save“ MSB...LSB: 73h, 61h, 76h, 65h „load“ MSB...LSB: 6Ch, 6Fh, 61h, 64h 1) 2) Broadcast access by PGNLow = 0FFh adresses the specified index of all sensors Depending on configuration ordered default settings may be different, refer to ASM homepage. Process data Process data are transmitted by broadcast proprietary-B-Message PGN 0x00FFxx where the low byte is configurable. Data field of process data B7 Error Byte *) *) B6 B5 B4 B3 MSB B2 B1 Position value B0 LSB Error codes: 0 = no error, 1 = error © by ASM GmbH www.asm-sensor.com MAN-WB-E-15 31 POSITAPE® Instruction Manual Output specification CAN SAE J1939 Signal wiring CAN Bus wiring Signal Shield Excitation + GND CAN-H CAN-L Plug connection Cable connection 1 2 3 4 5 braid white brown blue black View to sensor connector 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 32 MAN-WB-E-15 www.asm-sensor.com © by ASM GmbH POSITAPE® Instruction Manual Connector cable M12, 4 pin Suitable for 5-pin sensor connectors, shielded The 4-lead shielded 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 m, 5 m and 10 m. Wire: cross sectional area 0.34 mm2. Order code: KAB - XM - M12/4F/W - LITZE IP69K: KAB - XM - M12/4F/W/69K - LITZE Length in m Connector cable M12, 4 pin Suitable for 5-pin sensor connectors, shielded The 4-lead shielded cable is supplied with a mating 4-pin M12 connector at one end and 4 wires at the other end. Available lengths are 2 m, 5 m and 10 m. Wire: cross sectional area 0.34 mm2. 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 pin / cable color 1 brown 2 white © by ASM GmbH www.asm-sensor.com 3 blue 4 black MAN-WB-E-15 33 POSITAPE® Instruction Manual Connector cable M12, 5 pin, shielded connector The 5-lead shielded cable is supplied with a mating 5-pin 90° M12 connector at one end and 5 wires at the other end. Available lengths are 2 m, 5 m and 10 m. Wire: cross sectional area 0.34 mm2. Order code: KAB - XM - M12/5F/W - LITZE IP69K: KAB - XM - M12/5F/W/69K - LITZE Length in m Connector cable M12, 5 pin, shielded connector The 5-lead shielded cable is supplied with a mating 5-pin M12 connector at one end and 5 wires at the other end. Available lengths are 2 m, 5 m and 10 m. Wire: cross sectional area 0.34 mm2. Order code: KAB - XM - M12/5F/G - LITZE IP69K: KAB - XM - M12/5F/G/69K - LITZE Length in m Signal wiring M12, 5 pin 34 Connector pin / cable color 1 brown 2 white 3 blue MAN-WB-E-15 www.asm-sensor.com 4 black 5 grey © by ASM GmbH POSITAPE® Instruction Manual Connector cable M12, 8 pin, shielded connector The 8-lead shielded 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 m, 5 m and 10 m. Wire: cross sectional area 0.25 mm². Order code: KAB - XM - M12/8F/W - LITZE IP69K: KAB - XM - M12/8F/W/69K - LITZE Length in m Connector cable M12, 8 pin, shielded connector The 8-lead shielded cable is supplied with a mating 8-pin M12 connector at one end and 8 wires at the other end. Available lengths are 2 m, 5 m and 10 m. Wire: cross sectional area 0.25 mm². Order code: KAB - XM - M12/8F/G - LITZE IP69K: KAB - XM - M12/8F/G/69K - LITZE Length in m Signal wiring M12, 8 pin Connector pin / cable color 1 white 2 brown 3 green 4 yellow © by ASM GmbH www.asm-sensor.com 5 grey 6 pink 7 blue 8 red MAN-WB-E-15 35 POSITAPE® Instruction Manual Connector/bus cable M12, 5 pin CAN bus, shielded connector 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 0.3, 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 M12, 5 pin CAN bus Order code: KAB - TCONN - M12/5M - 2M12/5F - CAN Terminating resistance 5 pin M12 CAN bus 36 Order code: KAB - RTERM - M12/5M/G - CAN MAN-WB-E-15 www.asm-sensor.com © by ASM GmbH POSITAPE® Instruction Manual Tape pulley Order code: WBR1 5 [0.197] 35 [1.378] 55 [2.165] 40 [1.575] 40,4 [1.591] 60 [2.362] 7,5 [0.295] 20 [0.795] 2x 5,5 7,5 [0.295] 28 [1.102] 45 [1.772] Dimensions in mm [inch]. Dimensions informative only. For guaranteed dimensions consult factory. © by ASM GmbH www.asm-sensor.com MAN-WB-E-15 37 POSITAPE® Instruction Manual Reliability Characteristics Models WB10, WB12, WB17KT, WB21, WB25KT, WB27KT, WB61, WB85, WB100M Outputs single-channel U2 Voltage output 0,5 ... 10 V U8 Voltage output 0,5 ... 4,5 V I1 Current output 4 ... 20 mA MCANOP CAN-BUS (CANopen) MCANJ1939 CAN-BUS (SAE J1939) MSSI SSI output dual-channel Characteristics Operating conditions Standards U2R Voltage output 0,5 ... 10 V, redundant U8R Voltage output 0,5 ... 4,5 V, redundant I1R Current output 4 ... 20 mA, redundant MCANOPR CAN-BUS, redundant (CANopen) MCANJ1939 CAN-BUS, redundant (SAE J1939) Device type B Life period (electronics) MTTFd 320 years / channel*) Probability of failure PFH (λDU) 350 Fit / channel Life period (mechanics) B10 5*106 cycles (draft) Probability of failure (mechanics) λMECH 0,1 * Ch / B10 Ch = cycles per hour Working life 10 years Calibration intervall annually Pull-out speed (max) 1 m/s Pull-in speed (max) 1 m/s Assembly No deflection Functional Safety IEC 61508-1, -2, -6 Safety of machinery ISO 13849-1 Failure rate of electronic components (Siemens) SN 29500 *) = Reference Conditions: Reference Supply Voltage UBREF= 24 V, Reference Temperature ϑREF= 60 °C 38 MAN-WB-E-15 www.asm-sensor.com © by ASM GmbH POSITAPE® Instruction Manual Declaration of Conformity Declaration of Conformity The Position sensor Manufacturer: ASM GmbH Am Bleichbach 18-24 85452 Moosinning Germany Model: WB10, WB12, WB17KT, WB21, WB25KT, WB27KT, WB61, WB85 WB100M complies with the following standards and directives: Directives: 2014 96/79 Standards: EN 61326-1:2013 (EMV) Moosinning, 8th 07.2015 i.A. Peter Wirth Head of Development © by ASM GmbH www.asm-sensor.com MAN-WB-E-15 39 ASM GmbH Automation • Sensorik • Messtechnik Am Bleichbach 18-24 Telephone: +49 8123 986-0 Internet: www.asm-sensor.com E-Mail: [email protected] 85452 Moosinning / Germany Telefax: +49 8123 986-500 © by ASM GmbH, Moosinning 3.0.0 / 08.2015 Subject to change without notice. See protection note DIN 34 !