EN

Operating instructions
Interface description
N 152 spindle position display (SPA)
Firmware 01
Version 1.10 and up
Contents
1.
1.1.
1.2.
2.
3.
3.1.
3.2.
3.3.
3.4.
3.5.
3.6.
3.7.
3.8.
4.
4.1.
4.2.
4.3.
4.4.
4.5.
5.
5.1.
5.2.
5.3.
6.
7.
7.1.
8.
General information
Safety precautions
SPA description and explanation
Terminal assignment
Interface
Interface data
Protocol
Checksum (Cyclic Redundancy Check)
Data transmission properties
Broadcast commands
Data saving
Transmitting and reading negative values
Transmitting and reading position values (decimal point)
Command explanations
General information
Operating commands
Parameter commands
Identifier (address) commands
Specific commands
Error warnings
CRC error
Format error
Display error indication
Overview on commands
Technical data
Dimensions
Part number
Baumer IVO GmbH & Co. KG
Dauchinger Strasse 58-62 • DE-78056 Villingen-Schwenningen
Phone +49 (0)7720 942-0 • Fax +49 (0)7720 942-900
www.baumer.com • [email protected]
Page
2
2
3
3
5
5
6
6
6
6
7
7
7
8
8
8
15
23
25
27
27
27
27
28
29
30
30
02.10 • 171.02.315/4
Subject to modification
in technic and design.
N 152
1. General information
1.1. Safety precautions
General remarks
The equipment is designed and assembled according to the prevailing regulations of technology. The equipment
left the manufacturer in perfect working order and in line with all safety-relevant conditions. To maintain this
status of the equipment, it is imperative to stick to the following when installing and using the device:
- use only according to the intended purpose,
- observation of any precautions regarding safety and hazards,
- observe the present manual and especially the relevant safety precautions!
Make sure that the operating manual and especially the chapter describing the safety precautions is read and
well understood by the staff in charge. Supplementary to the operating instructions, ad other generally or legally
relevant regulations regarding accident prevention and environmental care are to be considered and observed.
This manual is a supplement to already existing documentation (product information, mounting instructions,
catalogues).
Intended purpose of the equipment
Intended purpose of the equipment is industrial process monitoring and control in metal, wood, plastic, paper,
glass and textile etc. industry.
It is imperative that the equipment is applied only
- in properly installed condition and
- in line with the relevant technical data!
Any operation outside the technical specifications/parameters is improper use and in conjunction
with the equipment/processes/machines to be monitored/controlled might lead to
- fatal injuries
- serious damage to health,
- damage to property or corporate equipment or
- damage to the device!
Any overvoltage the device might be exposed to at its connecting terminals has to be limited to the values
stipulated in overvoltage category II (see technical data).
The device must not be operated
- in hazardous areas where is danger of explosion,
- as medical equipment or in medical areas,
- or in any applications expressly named in EN 61010!
If the device is utilized for control/monitoring of machines or processes where as the result of a
failure/malfunction or incorrect operation of the device might occur
- any threats to life,
- risks of damage to health or
- any risk of damage to property or environment
the corresponding appropriate safety precautions must be taken!
Do not open the housing of the device or proceed any modifications! Any modifications of the device can affect
operating safety and result in danger!
Do not proceed any repairs but return defective devices to the manufacturer!
Installation/commissioning
In case of any extraordinary incidents (including in the operating behaviour) that impair safety switch off the
device immediately.
Installation must be carried out by suitably trained experts only. After proper mounting and installation the device
is ready for operation.
Maintenance/repairs
Always disconnect the power supply of all appliances involved. Maintenance and repair work must only be
carried out by suitably trained experts.
If troubleshooting is unsuccessful, do not continue using the device but contact the manufacturer.
www.baumer.com
2
N 152
1.2. SPA description and explanation
Mounting the spindle position display (SPA) is by docking hollow shaft onto spindle shaft (max.14 mm in
diameter).The hollow shaft is fixed to the spindle shaft by hexagon screw and secured by power grip.
This way, the SPA is mounted in an overhung position and secured against torsion by torque support provided at
rear of the housing. The SPA features an absolute multiturn sensing system capable of detecting the position
after several spindle turns even in powerless state. Position data will be retained even in case of power failure
(min. 10 years).
The current position value is indicated in the two-line backlit LCD display (2x 5 digits, numeric), optionally
together with the target transmitted by the control (master). Two arrows indicate the editing engineer the
direction the spindle must be turned to for aligning actual value with target. As soon as actual value is in
alignment with target and within the permitted tolerances, the target will disappear. By corresponding master
parameterization the display can be turned by 180° enabling vertical respectively horizontal installation. SPAs are
networked by M8 connector, power supply is by the same cable directly from master. SPA parameterization by
master only.
indication „target“
arrows indicating the required direction for target/actual value alignment
indication „actual value“
N 152 enables motor connection using the 12-core cable. Two softkeys on the
keypad serve for manual motor trigger. Automated motor trigger by master is
also possible. Motor supply is provided separately.
2. Terminal assignment
Pin
Assignment
Core colour DIN47100
IEC757
Pin 1
Tx/Rx-, RS485
white
orange
Pin 2
Tx/Rx+, RS485
brown
brown
Pin 3
Sensor supply +24 V
yellow
red
Pin 4
Sensor supply 0 V
green
black
Connector M8
1
3
www.baumer.com
2
4
3
N 152
Connecting motor to SPA N152
Motor connection to SPA is provided by 12-pin female connector.
Pin
Assignment
Significance
Core colour
Pin A
--
n.c.
--
Pin B
IN 1
motor ccw
yellow
Pin C
IN 2
motor cw
blue
Pin D
IN 4*
speed
green
Pin E
--
n.c.
--
Pin F
--
n.c.
--
Pin G
--
n.c.
--
Pin H
--
n.c.
--
Pin J
--
n.c.
--
Pin K
OUT 3
error signal
white
Pin L
IN 3*
speed
brown
Pin M
GND
GND
black
IN 3*
1
0
1
IN 4*
0
1
1
speed
slow
medium
high
B
A K
J
C L
D
M H
E
F G
rpm Dunker
200
-3600
Circuit diagram
Betriebsspannung
Freigabe
Linkslauf
Freigabe
Rechtslauf
Enable
n.c.
1
2
3
4
5
6
7
8
24 V
0V
IN 1 Ausgang
IN 1 Eingang
IN 2 Ausgang
IN 2 Eingang
(Logik 24 V)
M
Motor
OUT 1
IN 1 (links)
IN 2 (rechts)
IN 4 (speed)
24 V
n.c.
n.c.
AI- (0...10 V)
AI+ (0...10 V)
OUT 3 (fault)
IN 3 (speed)
0V
A
B
C
D
E
F
G
H
J
K
L
M
Error
Linkslauf
Rechtslauf
Drehzahl
intern nicht beschaltet
nicht belegt
nicht belegt
nicht belegt
nicht belegt
Motorstörung
Drehzahl
GND
SPA
Connecting the motor supply
Motor supply is by 8-pin connector provided at the motor.
Pin
Assignment
Significance
Core colour
Pin 1
Ue
+ 24 V motor supply
red
Pin 2
GND
0 V ground relating to UE
blue
Pin 3
OUT ccw
start ccw run
white
Pin 4
IN ccw
start ccw run
brown
Pin 5
OUT cw
start cw run
green
Pin 6
IN cw
start cw run
yellow
Pin 7
Enable
logic +24 V
grey
Pin 8
n.c.
n.c.
pink
www.baumer.com
7
6
8
3
1
4
5
2
4
N 152
Circuit diagram
1
2
3
4
5
6
7
8
Betriebsspannung
Freigabe
Linkslauf
Freigabe
Rechtslauf
Enable
n.c.
24 V
0V
IN 1 Ausgang
IN 1 Eingang
IN 2 Ausgang
IN 2 Eingang
(Logik 24 V)
M
Motor
OUT 1
IN 1 (links)
IN 2 (rechts)
IN 4 (speed)
24 V
n.c.
n.c.
AI- (0...10 V)
AI+ (0...10 V)
OUT 3 (fault)
IN 3 (speed)
0V
A
B
C
D
E
F
G
H
J
K
L
M
Error
Linkslauf
Rechtslauf
Drehzahl
nicht belegt
nicht belegt
nicht belegt
nicht belegt
nicht belegt
Motorstörung
Drehzahl
GND
SPA
Connect power supply that is free from interference emission. The supply must not be used as
parallel supply of drives, shields, magnetic valves, etc.
Apply DC according to the terminal assignment
Power supply: 24 VDC ±10 %
Shield
Use shielded cables only. Ground of the shield must be provided at the machine.
(two examples corresponding to the cable applied, see drawings).
Abschirmungsanschluss
3. Interface
3.1. Interface data
Type:
RS485
Baudrate:
19200
Parity:
No
Data bits:
8
Stop bits:
1
Handshake:
Nein
Checksum:
Ja (CRC)
Timeout reply*:
0,1...60 ms
BUS switching time**:
<0,1 ms
* To avoid bus collisions a minimum timeout reply of 1 ms (default
parameter) is to be kept, i.e. the time elapsed between transmitting the
last bit of the query until start transmitting the 1st bit of the SPA response.
The operator should see that due to the minimized timeout reply of 1 ms
the bus switching time after having transmitted the last bit must not exceed
1 ms.
The default parameter of 1 ms can optionally be altered by serial interface
in steps of 0,1 ms within the range of 0,1 ... 60 ms. Refer to command „x“
(78h).
** The BUS switching time is the time the SPA requires to be ready again for
transmission receipt after having replied to host.
www.baumer.com
5
N 152
3.2. Protocol
The spindle position display operates with ASCII protocol (clear text protocol). Depending on the command, the
protocol data package varies between 5 and 17 bytes.
Byte
1
2
3
4-n
n+1
n+2
Hex code
01H
XXh
XXh
[XXh..XXh]
04h
XXh
Significance
SOH = start of heading
Adr = identifier
Cmd = command code
[Data] = data
EOT = end of transmission
CRC = checksum
Values
permanent 01h
00...31dez + 20h offset (identifier 00 = 20h)
specific commands
20h-7Fh
permanent 04h
00h...FFh
3.3. Checksum (Cyclic Redundancy Check)
For optimized error-free data transmission the CRC byte is added after the footer token (EOT, end of
transmission) to the string to be transmitted. Upon receiving a command the CRC byte transmitted is
crosschecked with the auto-calculated CRC byte.
Algorithm:
1) Reset CRC byte.
2) Rotate CRC byte by 1 bit to the left.
3) Link result to first data byte XOR.
4) Rotate result by 1 bit to the left.
5) Link result to the second data byte XOR.
:
x) Rotate result by 1 bit to the left.
y) Link result to the last data byte (ever 04H) XOR.
z) Add result as CRC after the footer token (04H) to the string transmitted.
Note:
1101 0000
RL 1010 0001
Important: Bit 7 is shifted in bit 0 during rotation
Example:
Transmitted string less CRC = 01h 20h 43h 04h
CRC-Byte
= 0Ah
0000 0000
RL
0000 0000
XOR
0000 0001 (01h)
=
0000 0001
0000 0001
RL
0000 0010
XOR
0010 0000 (20h)
=
0010 0010
0010 0010
RL
0100 0100
XOR
0100 0011 (43h)
=
0000 0111
0000 0111
RL
0000 1110
XOR
0000 0100 (04h)
=
0000 1010
= CRC
Legend: RL = rotate left; XOR = antivalence link
3.4. Data transmission properties
For reasons of compatibility, within the complete multicon system the amount of data is always the same (see
table in chapter 6), no matter how many digits are in the display. For example, command “R” (read actual value)
comprises a transmitted data amount of 6 bytes, but only 5 digits are indicated in the display. If it is a negative
value, digit 6 respectively digit 5 is always 0 (30h).
3.5. Broadcast commands
Some specific commands are designated so-called broadcast commands. As soon as the master broadcasts a
command to identifier 99, the command is addressed to every multicon devices in the network. Each individual
SPA will accomplish the respective command but will not respond any confirmation to master.
www.baumer.com
6
N 152
3.6. Data saving
Specific parameters are saved in EEPROM (1.000.000 writing cycles). Data saving is via interface upon every
parameter transmission to SPA.
Important:
There should not be a cyclic transmission of these parameters to SPA but only if necessary, for example in case
of parameter alteration. The relevant parameters saved in EEPROM are listed in the charts in chapter
“Command explanations” or “Overview on commands”.
3.7. Transmitting and reading negative values
The minus sign (2DHex) is always transmitted by digit 6 of the data field.
Example: Taking for granted a negative target of –1,5 and a programmed resolution of 1/10, the transmitted
value is –00015.
3.8. Transmitting and reading position values (decimal point)
Position values as for example target (command „S“), offset (command „U“) or end positions (command “g”) are
generally transmitted and read without decimal point. Visualization in the display corresponds to the format in the
data field of the interface command.
Thus, the transmission format depends on the resolution (see command „a“).
Example 1: resolution = 1/100; target = 278.50; actual value = 1.00
SOH Adr Cmd Profile no=17
01h 20h 53h 31h 37h 30h
Target = 278.50
32h 37h 38h 35h
30h
EOT CRC
04h 29h
Display
2 7 8.5 0
1.0 0
Example 2: resolution = 1/10; target = 278.5; actual value = 1.0
SOH Adr Cmd Profile no=17
01h 20h 53h 31h 37h 30h
30h
Target = 278.5
32h 37h 38h
35h
EOT CRC
04h 29h
www.baumer.com
2 7 8.5
1.0
7
N 152
4. Command explanations
4.1. General information
The following is describing the individual interface commands broken down into the four groups below:
operating commands
parameter commands
identifier commands
specific commands
-
[ commands required during operation ]
[ commands for SPA parameterization ]
[ commands to indicate or alter the device identifier (address)]
[ commands for specific functions as device reset or version number readout]
The following abbreviations are applied:
SOH
EOT
Adr
Cmd
Sub
Data
CRC
=
=
=
=
=
=
=
start of heading (header token)
end of transmission (footer token)
device identifier, including offset 20h
command
sub-Command
data transmitted or received
checksum (cyclic redundancy check)
4.2. Operating commands
Command
code
C
D
F
R
S
U
V
Z
t
u
(43h)
(44h)
(46h)
(52h)
(53h)
(55h)
(56h)
(5Ah)
(74h)
(75h)
Data amount
in Bytes
read
write
Broadcast
3 / 11
1
4
6
8
6
2
6
6
6
X
X
X
X
X
X
X
X
-
X
X
X
X
X
X
X
X
X
X
-
Saved in Signficance
EEPROM
X
X
X
-
Check if actual value = target
Start motor
Read device status and error
Read actual value
Read / write target
Offset
Read / write profile number
Set preset
Transmit tool number
Transmit optional column of figures
4.2.1. Check Position „C“ (43h)
This command provides the alignment status of target versus actual value. If the actual value is within the target
tolerance window, the response will be „o“ (6Fh) for OK together with the current profile number. If the actual
value is outside the tolerances, „x“ (78H) followed by the current profile number will be replied. In case of any
SPA error occurred, the response will be “e” together with the active profile number.
Example: (active profile number = 05)
Transmission
SOH
01h
Adr
20h
Cmd
43h
EOT
04h
CRC
0Ah
Response if actual value within the tolerances:
Response
SOH
01h
Adr
20h
Cmd
43h
Status Profil-Nr. = 05
6Fh
30h
35h
EOT
04h
CRC
A5h
EOT
04h
CRC
1D
Response if actual value is outside the tolerances:
Response
SOH
01h
Adr
20h
Cmd
43h
Status Profil-Nr. = 05
78h
30h
35h
Following values relating to status are possible:
Status
o (6Fh)
x (78h)
e (65h)
Significance
Actual value = target
Actual value ≠ target
SPA error
www.baumer.com
8
N 152
Command extension Check Position „CX“
Command extension „Check Position CX “provides besides the alignment status target versus current value also
the contents of the status and error register as well as the current value. The profile number is not transmitted.
For the relevant status parameters (status) refer to the table above, the significance of the individual bits in the
status and error register is explained under command readout device status „F“.
Example:
Transmission
Response
SOH Adr Cmd SCmd EOT CRC
01h 20h 43h 58h 04h A8h
SOH Adr Cmd Status Status-Reg Error-Reg
01h 20h 43h 78h 80h 80h 80h 80h
2Dh
Actual value = -12.50
30h 31h 32h 35h
30h
EOT CRC
04h 0Fh
4.2.2. Motor start enable „D“ (44h)
This command is utilized to read the actual SPA enable status or to set respectively clear motor start enable.
The following modes are available:
Status
0
1
2
3
:
(30h)
(31h)
(32h)
(33h)
:
Significance
abort enable motor start, motor stop
start enable SPAs of group 1
start enable SPAs of group 2
start enable SPAs of group 3
:
Start is also enabled by broadcast command (identifier = 99) to all SPAs at the same time. Refer to example 3.
Example 1: read current enable status (status = 0 = disable)
Transmission
Response
SOH Adr Cmd EOT CRC
01h 20h 44h 04h 04h
SOH Adr Cmd Stat. EOT CRC
01h 20h 44h 30h 04h 64h
Example 2: start enable of a specific motor
Transmission
SOH Adr Cmd Stat. EOT CRC
01h 20h 44h 31h 04h 66h
Response
SOH Adr Cmd Stat. EOT CRC
01h 20h 44h 31h 04h 66h
Example 3: start enable for all motors by broadcast command (identifier=99)
Transmisison
Response
SOH Adr Cmd Stat. EOT CRC
01h 83h 44h 31h 04h 7Bh
Not confirmed
www.baumer.com
9
N 152
Motor holding torque on / off „DB“ (44h, 42h)
Prior to utilizing “DB” command to activate / deactivate the holding torque it must be enabled first in command
„m“ since otherwise command „DB“ remains ineffective.
Holding torque ever ON means that only motive shaft positioning operations are possible - either by aid of the
two keys provided or by a corresponding command via interface. The holding torque is automatically deactivated
as soon as the motor is getting a start command and is later autonomously re-enabled. Manual positioning
operations by hand cranks etc require deactivating the holding torque first by command “DB”.
Following modes are available::
Status
Function
0 (30h) holding torque off
1 (31h) holding torque on
Example 1: Read current status (status = 0: no holding torque)
Transmission
Response
SOH Adr Cmd SCmd EOT CRC
01h 20h 44h 42h 04h 80h
SOH Adr Cmd SCmd Stat. EOT CRC
01h 20h 44h 42h 30h 04h 6Dh
Example 2: holding torque off (status = 0: unblock holding torque)
Transmission
SOH Adr Cmd SCmd Stat. EOT CRC
01h 20h 44h 42h 30h 04h 6Dh
Response
SOH Adr Cmd SCmd Stat. EOT CRC
01h 20h 44h 42h 30h 04h 6Dh
Example 3: holding torque off for all motors by broadcast command (ID=99)
Transmission
Response
SOH Adr Cmd SCmd Stat. EOT CRC
01h 83h 44h 42h 30h 04h 57h
not confirmed
Note: If the holding torque is enabled (command „m“) the clamping is always active upon power on, reason why
holding torque OFF by command „DB0“ is only effective whilst device is under power supply.
www.baumer.com
10
N 152
4.2.3. Read device status „F“ (46h)
This command provides the device statii Stat1 and Stat2 together with error flags Err1, Err2. In case of error
check command “C” will come with an “e” in reply.
Example:
Transmission
Response
Stat1:
Stat2:
Err1:
Err2:
SOH Adr Cmd EOT CRC
01h 20h 46h 04h 00h
SOH Adr Cmd Stat1 Stat2 Err1 Err2 EOT CRC
01h 20h 46h 80h 80h 80h 80h 04h 4Bh
1 0 0 0 0 0 0 0
┬ ─────┬───────
│
└─────────
└────────────────
reserved
ever 1
1 0 0 0 0 0 X X
┬ ────┬──── ┬ ┬
│
│
│ └──
│
│
│
│
│
│
│
│
└────
│
│
│
└──────────
└────────────────
1 = Motor is running (Moving Bit). The bit is set with running motor
including loop interval. With active clamping the bit will remain as
set whilst the clamping is open.
1 = Manual SPA abort. Bit is set if during an automated positioning
operation any key at the SPA is actuated.
reserved
ever 1
1 0 0 0 0 0 X X
┬ ──┬── ┬ ┬ ┬ ┬
│
│
│ │ │ └──
│
│
│ │ └────
│
│
│ └──────
│
│
└────────
│
└────────────
└────────────────
1 = Err 8 - target > MAX limit position (motor does not start)
1 = Err 9 - target < MIN limit position (motor does not start)
reserved
reserved
reserved
ever 1
1 0 X X X X X X
┬ ┬ ┬ ┬ ┬ ┬ ┬ ┬
│ │ │ │ │ │ │ └──
│ │ │ │ │ │ └────
│ │ │ │ │ └──────
│ │ │ │ └────────
│ │ │ └──────────
│ │ └────────────
│ └──────────────
└────────────────
1 = Err 1 - MAX limit position is hurt
1 = Err 2 - MIN limit position is hurt
1 = Err 3 – no shaft rotation
1 = Err 4 – Motor failure (overcurrent)
1 = Err 5 – target window not achieved
1 = Err 6 – trailing error
reserved
ever 1
4.2.4. Read actual value „R“ (52h)
This command is for reading the 5-digit actual value (bottom display). Data amount is always 6 bytes. In case of
a negative value, the minus sign (2Dh) together with 5 data bytes is replied. Positive values are represented by 6
data bytes without sign. Values inferior to 5(4) digits will come with preceding zeroes. Please note that N 152
provides a 5-digit actual value.
Example: Actual value = -32.50
Transmission
SOH
01h
Adr
20h
Cmd
52h
EOT
04h
CRC
40h
Response
SOH
01h
Adr
20h
Cmd
52h
2Dh
Actual value = –32.50
30h
33h
32h
35h
www.baumer.com
30h
EOT
04h
CRC
54h
11
N 152
4.2.5. Read / write target profile „S“ (53h)
This command is utilized to read the presently active target (profile value) respectively to read or write a specific
target. Data are composed by profile number (2 bytes) and target (6 bytes). Note: Negative targets are
transmitted as 5-digit number (see example 3). Please consider that SPA targets comprise 5 digits only.
Example 1: Read active target (profile number = 12; target = 12.50)
Transmission
SOH
01h
Adr
20h
Cmd
53h
EOT
04h
CRC
2A
Response
SOH
01h
Adr
20h
Cmd Profile no. = 12
53h
31h
32
30h
30h
Cmd Profile no= FFh
53h
3Fh
3F
3Fh
3Fh
Target = 12.50
31h
32h
35h
30h
EOT
04h
CRC
3E
Target = FFFFFFh
3Fh
3Fh
3Fh
3Fh
EOT
04h
CRC
2Ah
35h
30h
EOT
04h
CRC
BCh
Response upon clearing all targets:
Response
SOH
01h
Adr
20h
Example 2: Read specific target (profile number = 17; target = 12.50)
Transmission
SOH
01h
Adr
20h
Cmd Profile no. = 17 EOT
53h
04h
31h
37h
CRC
16h
Response
SOH
01h
Adr
20h
Cmd Profile no. = 17
53h
31h
37h
30h
30h
Target = 12.50
31h
32h
Example 3: Write specific target (profile number = 17; target = -12.50)
s
Transmission
SOH
01h
Adr
20h
Cmd Profile no. = 17
53h
31h
37h
2Dh
30h
Target = -12.50
31h
32h
35h
30h
EOT
04h
CRC
FBh
Response
SOH
01h
Adr
20h
Cmd Profile no. = 17
53h
31h
37h
2Dh
30h
Target = -12.50
31h
32h
35h
30h
EOT
04h
CRC
FBh
Note: Instead of command „S“ also command „SP“ may be utilized. The function is fully identical to command
“S”. If command SD is utilized it might be easier to apply command SP due to their identical protocol length.
Please consider that with anterior or other multicon devices command „SP“ maybe is not available.
Example 4: As in example 3 but utilizing command „SP“
Transmission
SOH Adr Cmd Sub Profile no.=17
Target = -12.50
01h 20h 53h 50h 31h 37h 2Dh 30h 31h 32h 35h
30h
EOT CRC
04h 29h
Response
SOH Adr Cmd Sub Profile no.=17
Target = -12.50
01h 20h 53h 50h 31h 37h 2Dh 30h 31h 32h 35h
30h
EOT CRC
04h 29h
Direct positioning „SD“
This command may be utilized for direct positioning operations. Only the target less any profile number is
transmitted to SPA. The profile number after the command “S” is replaced by sub command “D” ( = dimension).
Motor start enable requires transmitting in addition motor start command “D”.
Example 4: Write position value for direct positioning operation (less profile)
Transmission
SOH Adr Cmd Sub
01h 20h 53h 44h
30h
Position value = 278.25
EOT CRC
32h 37h 38h 32h 35h 04h 6Bh
Response
SOH Adr Cmd Sub
01h 20h 53h 44h
30h
Position value = 278.25
EOT CRC
32h 37h 38h 32h 35h 04h 6Bh
Note: The position value is saved in the non-volatile memory and will be retained in case of power failure. In this
case the previously selected profile is utilized again.
www.baumer.com
12
N 152
Transmitting targets with simultaneous motor start signal
Specific applications require autonomous re-alignment of shafts to the new target when it is received without
prior enable signal by command „D“. For this intention the following commands are available:
SPF transmits to SPA profile number together with motor start signal for automated positioning operations
SDF transmits to SPA position value together with motor start signal for automated positioning operations
The addressed SPA is enabled by adding sub-command „F“ to the respective basic command. Since it is a pure
individual positioning operation, defined groups are not affected. Collision prevention is up to the operator.
Example: Write specific target utilizing command „SPF“ (profile number = 17; target = -12.50)
Transmission
SOH Adr Cmd Sub1 Sub2 Profile=17
01h 20h 53h 50h 46h 31h 37h
2Dh 30h
Target = -12.50
31h 32h 35h
30h
EOT CRC
04h A0h
Response
SOH Adr Cmd Sub1 Sub2 Profile=17
01h 20h 53h 50h 46h 31h 37h
2Dh 30h
Target = -12.50
31h 32h 35h
30h
EOT CRC
04h A0h
4.2.6. Read / write offset „U“ (55h)
This command is utilized to read or write the offset that is added to the true current value. First however the
function must be enabled in command bit parameter ‚a’ (61h).
Example 1: Read offset
Transmission
SOH
01h
Adr
20h
Cmd
55h
EOT
04h
CRC
26h
Cmd
55h
2Dh
Data (offset = –20.00)
30h
32h
30h
30h
30h
EOT
04h
CRC
C3h
2Dh
Data (offset = –20.00)
30h
32h
30h
30h
30h
EOT
04h
CRC
C3h
Example 2: Write offset
Transmission
SOH
01h
Adr
20h
Response in both examples:
Response
SOH
01h
Adr
20h
Cmd
55h
4.2.7. Read / write profile number „V“ (56h)
This command is for readout the number of the presently active profile respectively for profile alteration.
Example 1: Read active profile (active profile number = 38)
Transmission
SOH
01h
Adr
20h
Cmd
56h
EOT
04h
CRC
20h
Response
SOH
01h
Adr
20h
Cmd Profile no. = 38 EOT
56h
04h
33h
38h
CRC
28h
Response after reset upon having cleared all profiles:
Response
SOH
01h
Adr
20h
Cmd Profile no. = FF EOT
56h
04h
3Fh
3Fh
CRC
16h
Example 2: Transmit new profile (new profile number = 17)
Transmission
SOH
01h
Adr
20h
Cmd Profile no. = 17 EOT
56h
04h
31h
37h
CRC
3E
Response
SOH
01h
Adr
20h
Cmd Profile no. = 17 EOT
56h
04h
31h
37h
CRC
3E
Example 3: New profile by broadcast command to all SPAs (Identifier = 99 (83h); new profile number = 17)
Transmission
Response
SOH
01h
Adr
83h
Cmd Profile no. = 17 EOT
56h
04h
31h
37h
CRC
04
Not confirmed
To check whether the new profile has been adopted by all SPAs utilize check command „C“ (43h).
www.baumer.com
13
N 152
4.2.8. Set actual value as preset „Z“ (5Ah)
Command “Z” is utilized to set the actual value at any optional value. The required position value is transmitted
to SPA. The SPA will calculate a so-called “preset offset” value relating to the true absolute encoder position.
When calculating the preset offset, any programmed offset transmitted by command “U” will be considered, so
that after having accomplished command “Z” the current value always equals the preset.
Note: If the resolution is altered (see command “a”) from 1/100 to 1/10 or vice-versa, the previously programmed
preset has to be set anew. The auto-calculated offset is provided in the previously selected resolution.
The actual value displayed is composed as follows:
Current valuedispl
Current valueabs
Preset offset
Offset
actual valuedisplz = actual valueabs + preset offset + Offset
Immediately after having accomplished command „Z“ applies preset value = current valuetdispl
actual value indicated in the display and read out by interface
internal absolute actual value (not corresponding to the transmitted preset value).
offset generated by command „Z“.
Additional offset enabled by command „U“. This function must be enabled first in command
bit parameter ‚a’ (61h), otherwise the offset is 0.
Example 1: Read out presently active preset value
Transmission
Response
SOH Adr Cmd EOT CRC
01h 20h 5Ah 04h 38h
SOH Adr Cmd
01h 20h 5Ah 30h
Preset value = 2.50
30h 30h 32h 35h
30h
EOT CRC
04h 27h
Example 2: Set actual value as preset value (preset value = 17.25)
Transmission
SOH Adr Cmd
01h 20h 5Ah 30h
Preset value = 17.25
30h 31h 37h 32h
35h
EOT CRC
04h 09h
Response
SOH Adr Cmd
01h 20h 5Ah 30h
Preset value = 17.25
30h 31h 37h 32h
35h
EOT CRC
04h 09h
Example 3: Set actual value as preset at all SPAs by broadcast command
Transmission
SOH Adr Cmd
01h 83h 5Ah 30h
Response
Not confirmed
Preset value = 17.25
30h 31h 37h 32h
35h
EOT CRC
04h AAh
www.baumer.com
14
N 152
4.2.9. Indicate optional column of figures in upper line „t“ (74h)
This command is utilized to indicate a 5-digit number in the upper line of the display. The numerical column is
indicated less dot respectively comma. Preceding zeroes as well as both arrows are suppressed. The bottom
line still indicates the actual value.
The numerals are indicated in the display until any command except „t“, „u“ or „R“ is received. The number will
be retained after power failure.
Example: (Column of figures = 054321)
Transmission
SOH
01h
Adr
20h
Cmd
74h
30h
Column of figures = 054321
35h
34h
33h
32h
31h
EOT
04h
CRC
C6h
Response
SOH
01h
Adr
20h
Cmd
74h
30h
Column of figures = 054321
35h
34h
33h
32h
31h
EOT
04h
CRC
C6h
4.2.10. Indicate optional column of figures in bottom line „u“ (75h)
The command is utilized to indicate a 5-digit column of figures in the bottom line of the display. The number is
indicated less dot respectively comma. Preceding zeroes as well as both arrows are suppressed. The upper line
still indicates actual target or the column of figures.
The column is indicated until any optional command except „t“, „u“ or „R“ is received by the interface. The
number will be retained after power failure.
Example: (Column of figures = 012345)
Transmission
SOH
01h
Adr
20h
Cmd
75h
30h
Column of figures = 012345
31h
32h
33h
34h
35h
EOT
04h
CRC
B6h
Response
SOH
01h
Adr
20h
Cmd
75h
30h
Column of figures = 012345
31h
32h
33h
34h
35h
EOT
04h
CRC
B6h
Note:
Command “t” in conjunction with command “u” enables indication of a 10-digit number.
Both columns are not saved in EEPROM.
4.3. Parameter commands
Command Data amount
code
in bytes
a (61h)
b (62h)
c (63h)
g (67h)
h (68h)
i (69h)
j (69h)
k (6Bh)
l (6Ch)
m (6Dh)
5
8
8
12
12
1
3
9
5
5
read
write
Broadcast
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
-
Saved in Significance
EEPROM
X
X
X
X
X
X
X
X
X
X
www.baumer.com
Read / write general parameters
Parameter: tolerance compensation, window
Parameter: Scaling of spindle pitch
Parameter: Limit positions MIN, MAX
Parameter: Switching points motor speed
Parameter: mm / inch
Parameter: Timeout bus error
Parameter: motor system times
Parameter: Jog function
Read / write general parameters
15
N 152
4.3.1. Read / write bit parameters „a“ (61h)
To exploit maximum memory capacity, several parameters are put together and transferred as “data pack”
under the following parameter codes:
Data1:
Data2:
Data3:
Data4/5:
1 0 X X 0 X 0 X
┬ ──┬── ─┬─ ─┬─
│
│
│
└───
│
│
└───────
│
└────────────
└────────────────
positioning direction 0/1
counting direction
0/1
arrows
0/1/2/3
1
1 0 X X X X 0 X
┬ ┬ ─┬─ ┬ ┬ ─┬─
│ │ │ │ │ └───
│ │ │ │ └──────
│ │ │ └────────
│ │ └───────────
│ └──────────────
└────────────────
round actual value
turn display
dimension
actual value correction
reserved
1
1 0 0 0 0 X X X
┬ ───┬─── ┬ ─┬─
│
│
│ └───
│
│
└──────
│
└───────────
└────────────────
hide target
resolution
reserved
1
0 0 1 1 0 0 0 0
───┬───
└─────
reserved
(UP/DOWN)
(UP/DOWN)
(UP/DOWN/UNI/OFF)
0/1
0/1
0/1
0/1/2
0/1/2
0/1
(OFF/ON)
(OFF/ON)
(OFF/ON)
(OFF/ON/On+Key)
(ON/OFF/EVER)
(1/100;1/10)
Important: Only bits marked ‘X’ may be altered. The permanent parameters „1“ and „0“ must not be altered
since this might create a control token ( tokens < 20h) what is not permitted in ASCII protocol.
Example 1: read bit parameter (data1 to data3 = 80h; data4 to data5 = 30h)
Transmission
SOH
01h
Adr
20h
Cmd
61h
EOT
04h
CRC
4E
Response
SOH
01h
Adr
20h
Cmd
61h
Data1 Data2 Data3 Data4 Data5
80h
80h
80h
30h
30h
EOT
04h
CRC
F1
bit parameter default
Example 2: write bit parameter (positioning direction = down; turn display = On)
Transmission
SOH
01h
Adr
20h
Cmd
61h
Data1 Data2 Data3 Data4 Data5
81h
84h
80h
30h
30h
EOT
04h
CRC
91h
Response
SOH
01h
Adr
20h
Cmd
61h
Data1 Data2 Data3 Data4 Data5
81h
84h
80h
30h
30h
EOT
04h
CRC
91h
Significance of parameter „a“
Positioning direction
This parameter defines the direction the target is aimed for. Tolerances that occur for example at cogwheels,
joints, shafts etc during a precise positioning operation requires a tolerance compensation. The tolerance
compensation is proceeded by aiming for the target position always from the same direction utilizing so-called
loops. Loops mean that the target position is first crossed by a defined distance and then aimed for again from the
opposite direction. The parameter for the crossing distance is programmed by command “b”. Whether a loop is
required or not is indicated by the arrows in the display. A flashing arrow means tolerance compensation required.
Upon reaching the turning point the direction changes and the arrow stops flashing. Targets allowing direct
positioning are marked by a non-flashing arrow. Upon achieving the target within the programmed tolerances (see
command “b”) the arrows will not disappear until the required tolerance compensation has been completed.
00 = Up
01 = Down
Direct positioning if target position > actual position; otherwise proceed tolerance compensation
Direct positioning if target position < actual position; otherwise proceed tolerance compensation
www.baumer.com
16
N 152
Counting mode
This parameter assigns either „ascending“ or „descending” counted values in relation to the shaft’s direction of
rotation. Following parameters are available:
00 = Up
01 = Down
Clockwise rotation, ascending counted values
Clockwise rotation, descending counted values
Arrows
This parameter relates to the arrows in the display that indicate the operator the direction (to the right or to the left)
of the new positioning operation. Following parameters are available:
00 = Up
01 = Down
10 = Uni
11 = Off
If actual value < target = arrow to the right; actual value > target = arrow to the left
As „Up“, but inverted arrows direction
If actual value ≠ target arrows ever indicated
Arrows ever hidden
Note: A loop operation (as backlash compensation) is only performed with settings Up and Down. Uni and Off
always implicate a direct movement to the target without backlash compensation.
Rounding the actual value
This means that the actual value being within the tolerances but still differing from the target is rounded up or
down to the target value as soon as the shaft remains idle for approx. 3 seconds. The rounding operation is only
visualized, the true internal actual value remains unchanged. For actual value readout by serial interface
(command “R”) the true, not rounded actual position value is provided. The true actual value will immediately
reappear on the display upon key actuation. If the position is still within the tolerance window the rounding
operation will be repeated after 3 seconds.
Note: In operating mode „Suppress target = Ever“ the target is deactivated and the SPA serves as pure actual
value display with disabled rounding function. The following parameters are available:
0 = Off
Round actual value disable
1 = On
Round actual value enable
Turn display
This parameter is utilized to turn the display by 180°.
0 = Off
Display readout with standard mounting, i.e. display above keypad
1 = On
Display readout with inverted mounting, i.e. display below keypad
Dimension
Only in conjunction with N 242 master. By this parameter the master enables indication of actual value and direct
positioning (so-called dimension). Refer also to N 242 user manual.
Utilized with other controls (PLC or PC) this parameter may be assigned to general identifications.
0 = Off
1 = On
Device not indicated in N 242 master
Device indicated in N 242 master. Direct target input possible
Offset
Command „U“ is utilized for programming the offset that is added to actual value and actual target. This parameter
defines whether the offset is considered in the calculation.
0 = Off
1 = On
2 = On + Key
Offset disabled. Any offset previously transmitted is NOT added neither to actual value nor target.
Offset enabled. Offset is added to actual value and actual target.
As setting 1. The offset can be altered by keypad.
Suppress target
This parameter defines when to indicate the target in the upper line of the display.
0 = On
Target indicated if target ≠ current value.
1 = Off
Target ever indicated, also if target = current value. Indicate arrows too if target ≠ current value.
2 = Ever
Target and arrows ever suppressed.
www.baumer.com
17
N 152
Resolution
This parameter defines the resolution of the actual value. Upon altering the resolution the decimal point is shifted
correspondingly by one digit to the right or left, same applies also to actual value and target. The target values
however are not converted correspondingly but only the decimal point is shifted. When editing the machine please
pay attention to defining the resolution first so that the target values are transmitted to the SPAs with the
corresponding resolution.
0
1
Resolution 1/100 mm resp. 1/1000 inch visualized in the display: 000.00 mm resp. 00.000 inch
Resolution 1/10 mm resp. 1/100 inch visualized in the display: 0000.0 mm resp. 000.00 inch
4.3.2. Read / write bit parameter motor „m“ (6Dh)
To exploit maximum memory capacity, several parameters are put together and transferred as “data pack”
under the following parameter codes:
Data1:
Data2:
Data3:
Data4/5:
1 0 X X 0 X 0 X
┬ ──┬── ─┬─ ─┬─
│
│
│
└───
│
│
└───────
│
└────────────
└────────────────
key
key assignment
direction motor direction of rotation
Jog
Activate MicroStep
1
1 0 X X 0 X X X
┬ ──┬── ┬ ──┬──
│
│
│
└────
│
│
└────────
│
└────────────
└────────────────
reserved
reserved
shaft type
1
1 0 X X 0 X X X
┬ ┬ ┬ ┬ ┬ ──┬──
│ │ │ │ │
└────
│ │ │ │ └────────
│ │ │ └──────────
│ │ └────────────
│ └──────────────
└────────────────
group
reserved
assigned shafts
holding torque
reserved
1
0/1
0/1
0/1
0/1/2/3
(UP/DOWN)
(UP/DOWN)
(UP/DOWN/EVER/ONLY)
(R/A)
0 – 7 (groupe1/groupe2/…/groupe8)
0/1 (OFF/ON)
0/1 (OFF/ON)
0 0 1 1 X X X X
0 0 1 1 X X X X
───────┬───────
───────┬───────
│
└────────
└───────────────────────────
Leading shaft identifier for assigned shafts
ADR LSB (values 30h to 39h)
ADR MSB (values 30h to 39h)
Important: Only bits marked ‘X’ may be altered. The permanent values „1“ and „0“ must not be altered since
thereby a control token ( tokens < 20h) might be created what is not permitted in ASCII.
Example 1: Read bit parameter (data 1 to data 3 = 80h; data 4 to data 5 = 30h)
Transmission
Response
SOH Adr Cmd EOT CRC
01h 20h 6Dh 04h 56h
SOH Adr Cmd Data1 Data2 Data3 Data4 Data5 EOT CRC
01h 20h 6Dh 80h 80h 80h 30h 30h 04h F2h
bit parameter default
Example 2: Write bit parameter (key assignment = down; motor direction of rotation = Down)
Transmission
SOH Adr Cmd Data1 Data2 Data3 Data4 Data5 EOT CRC
01h 20h 6Dh 81h 84h 80h 30h 30h 04h 92h
Response
SOH Adr Cmd Data1 Data2 Data3 Data4 Data5 EOT CRC
01h 20h 6Dh 81h 84h 80h 30h 30h 04h 92h
www.baumer.com
18
N 152
Significance of parameter „m“
Key assignment
This parameter assigns a specified direction of rotation to a certain key. For the mounting option “keypad below
display” and the remaining default parameters applies the following:
0 = Up
1 = Down
left/right key actuation = shaft rotation ccw/cw, counting mode UP/DOWN
left/right key actuation = shaft rotation cw/ccw, counting mode UP/DOWN
Motor direction of rotation
The parameter “motor direction of rotation” enables inversion of the two output signals for motor ccw (pin B) and
motor cw (pin C) provided at the motor cable.
0 = Up
1 = Down
Standard direction of rotation
Inverted direction of rotation
Jog
The jog function makes the motor run by a defined number of steps upon a short stroke on a key. The holding
time does not matter as long as it is not less than 400 ms. A holding time of > 400 ms results in permanent motor
run. Inferior holding times are accomplished as Jog. The number of steps is defined under parameter command
„l“, default parameter is 1.
Note: The respective step is always accomplished completely and cannot be stopped or restarted by actuating any
key during the motor positioning operation. However a stop by interface (command “D”) is possible. With running
motor the moving bit is set to 1 (refer also command “F”).
Setting the step width to 0 will disable the Jog function, both by keypad and by external inputs.
00 = Up
01 = Down
10 = Ever
11 = Only
Jog only enabled with counting mode UP
Jog only enabled with counting mode DOWN
Jog enabled with both counting modes UP/DOWN
Jog only enabled. Continuous movements actuated by keypad are disabled
Shaft type
The shaft type parameter assigns the shaft type.
Some applications may call for different treatment of radially and axially operated shafts what is already taken into
consideration when utilizing the IVO master. For example, only certain shafts shall be displayed in DIM mode.
Other controls (for example PLC or PC) may utilize this parameter for general assignments.
0=R
1=A
Shaft type R
Shaft type A
Groups
Parameter for division in groups. Individual SPAs can be bundled to 8 different groups to be started in successive
order group by group (command „D“) in order to prevent collisions.
0 = group 1
1 = group 2
:
:
7 = group 8
Start command „D“ must comprise the designated group number to start the respective group.
Assigned shafts
This parameter assigns two or more shafts to a leading shaft and is applied when utilizing the IVO Master. For
detailed description please refer to the IVO master user manual, chapter specific functions. Other controls (for
example PLC or PC) may utilize this parameter for general assignments.
0 = Off
1 = On
Not assigned
Assigned. This SPA is assigned to a leading shaft. The leading shaft’s identifier is specified in
data 4/5 of command “m” in the leading shaft identifier.
www.baumer.com
19
N 152
Holding torque
This parameter is utilized to enable respectively disable the motor holding torque. Both directional signals “motor
ccw” and “motor cw” are activated by the spindle position display (SPA). Thus, the motor is hold at its actual
position. Refer also to command „DB“ for temporary holding torque disabled.
0 = Off
1 = On
holding torque disabled
holding torque enabled
4.3.3. Read / write spindle tolerance compensation and window „b“ (62h)
This command is utilized to read or write the parameters tolerance compensation and tolerance window.
Example 1: Read parameter (tolerance compensation = 0.15; tolerance window = 0.25)
Transmission
SOH
01h
Adr
20h
Cmd
62h
EOT
04h
CRC
48h
Response
SOH
01h
Adr
20h
Cmd
62h
tolerance compensation=0.5
30h
30h
35h
30h
tolerance window=0.25
30h
30h
32h
35h
EOT
04h
CRC
0Bh
Example 2: Write parameter (tolerance compensation = 1.30; tolerance window = 0.75)
Transmission
SOH
01h
Adr
20h
Cmd
62h
tolerance compensation =1.30
30h
31h
33h
30h
tolerance window =0.75
30h
30h
37h
35h
EOT
04h
CRC
1Eh
Response
SOH
01h
Adr
20h
Cmd
62h
tolerance compensation =1.30
30h
31h
33h
30h
tolerance window =0.75
30h
30h
37h
35h
EOT
04h
CRC
1Eh
4.3.4. Read / write spindle pitch (scaling) „c“ (63h)
This command is utilized to read or write the scaling factor relating to the spindle pitch within the range from
0,0000001...9,9999999. The decimal point is not transmitted.
Resolution per turn is 1440 steps. A scaling factor of 1.000000 will increase respectively decrease the indicated
value by 14.4 mm.
How to calculate the scaling factor:
Resolution per turn: 14.40 mm (corresponding to length with scaling factor 1.0000000)
Spindle pitch:
4.00 mm
Spindle pitch
4.00
scaling = ───────────────── = ───── = 0.2777777
resolution per revolution
14.40
Example 1: Read scaling (scaling factor = 1.000000)
Transmission
SOH
01h
Adr
20h
Cmd
63h
EOT
04h
CRC
4Ah
Response
SOH
01h
Adr
20h
Cmd
63h
31h
30h
Scaling factor = 1.0000000
30h
30h
30h
30h
30h
30h
EOT
04h
CRC
4B
Example 2: Write scaling (scaling factor = 0.2777777)
Transmission
SOH
01h
Adr
20h
Cmd
63h
30h
32h
Scaling factor = 0.2777777
37h
37h
37h
37h
37h
37h
EOT
04h
CRC
30h
Response
SOH
01h
Adr
20h
Cmd
63h
30h
32h
Scaling factor = 0.2777777
37h
37h
37h
37h
37h
37h
EOT
04h
CRC
30h
4.3.5. Read / write limit positions „g“ (67h)
This command is utilized to read or write the MIN and MAX limit positions within the range from -999.99 to
9999.99. The decimal point is not transmitted.
Example 1: Read limit positions (MIN = 15.00; MAX = 850.25)
Transmission
SOH Adr Cmd EOT CRC
01h 20h 67h 04h 42h
www.baumer.com
20
N 152
Response
SOH Adr Cmd
MIN limit position = 0015.00
01h 20h 67h 30h 30h 31h 35h 30h 30h
MAX limit position = 0850.25
EOT CRC
30h 38h 35h 30h 32h 35h 04h 1Fh
Example 2: Write limit positions (MIN = -33.22; MAX = 1234.56)
Transmission
Response
SOH Adr Cmd
MIN limit position = -033.22
01h 20h 67h 2Dh 30h 33h 33h 32h 32h
MAX limit position = 1234.56
EOT CRC
31h 32h 33h 34h 35h 36h 04h 92h
SOH Adr Cmd
MIN limit position = -033.22
01h 20h 67h 2Dh 30h 33h 33h 32h 32h
MAX limit position = 1234.56
EOT CRC
31h 32h 33h 34h 35h 36h 04h 92h
4.3.6. Read / write motor speed switching points „h“ (68h)
This command is utilized to read or write the motor speed switching points. Prior to reaching the target the motor
speed can be slowed down by two optional speeds (slow and precision) for absolutely precise positioning to the
target. The motor’s switchoff point might also be set to a certain value prior to reaching the target. The following
3 parameters are available:
Slow speed:
point where SPA changes from high speed to slow speed.
Precision speed: point where SPA changes from slow speed to precision speed.
Switchoff point: Position where motor is stopped by SPA .
The individual switching points are indicated in relation to the target.
Example 1: Read parameter (slow speed = 2.00; precision speed = 0.70; switchoff point= 0.02)
Transmisison
Response
SOH Adr Cmd EOT CRC
01h 20h 68h 04h 5Ch
SOH Adr Cmd
Slow speed =2.00
01h 20h 68h 30h 32h 30h 30h
Precision speed =0.70
30h 30h 37h 30h
Switchoff point =0.00 EOT CRC
30h 30h 30h 30h 04h 72h
Example 2: Wirte parameter (slow speed = 1.25; precision speed = 0.50; switchoff point = 0.01)
Transmission
SOH Adr Cmd
Slow speed =1.25
01h 20h 68h 30h 31h 32h 35h
Precision speed =0.50
30h 30h 35h 30h
Switchoff point =0.01 EOT CRC
30h 30h 30h 31h 04h EAh
Response
SOH Adr Cmd
Slow speed =2.00
01h 20h 68h 30h 31h 32h 35h
Precision speed =0.50
30h 30h 35h 30h
Switchoff point =0.01 EOT CRC
30h 30h 30h 31h 04h EAh
4.3.7. Read / write measuring unit „i“ (69h)
The command is for utilized to read or write the measuring unit in mm or inches.
Data = 0 (30h) = mm
Data = 1 (31h) = inch
Example 1: Read parameter (setting = mm)
Transmission
SOH
01h
Adr
20h
Cmd
69h
EOT
04h
CRC
5E
Response
SOH
01h
Adr
20h
Cmd
69h
Data
30h
EOT
04h
CRC
D0h
Example 2: Change measuring unit into inches
Transmisison
SOH
01h
Adr
20h
Cmd
69h
Data
31h
EOT
04h
CRC
D2
Response
SOH
01h
Adr
20h
Cmd
69h
Data
31h
EOT
04h
CRC
D2
Example 3: Write measuring unit mm in all SPAs by broadcast command (identifier=99)
Transmission
Response
SOH
01h
Adr
83h
Cmd
69h
Data
30h
EOT
04h
CRC
CDh
not confirmed
Important: Parameters are programmed in mm and auto-converted by SPA into inches upon displaying the
position values.
www.baumer.com
21
N 152
4.3.8. Read / write timeout at bus error RS485 „j“ (6Ah)
This command is utilized to read or write the system time: timeout at bus error. Value range is within 00,1 s to
99,9 s. Tolerance: ±7% at minimum time; < 1‰ at maximum time, approx. 1% at 1.
Function: RS485 bus monitoring during motive shaft positioning operations. If there is no interface activity within
the programmed timeout the motor will stop (EMERGENCY OFF) upon occurring a bus error or in case of an
inactive control. A motor restart requires transmitting the profile (command „S“ or „V“) together with start signal
(command „D“). Setting 0.00 s means function disabled.
Example 1: Read parameter (time= 2.5 s)
Transmission
Response
SOH Adr Cmd EOT CRC
01h 20h 6Ah 04h 58h
SOH Adr Cmd
Time =2.5 s
EOT CRC
01h 20h 6Ah 30h 32h 35h 04h C5h
Example 2: Write parameter (time = 13.5 s)
Transmission
SOH Adr Cmd
Loop =13.5 s
EOT CRC
01h 20h 6Ah 31h 33h 35h 04h C9h
Response
SOH Adr Cmd
Loop =13.5 s
EOT CRC
01h 20h 6Ah 31h 33h 35h 04h C9h
4.3.9. Read / write motor system times „k“ (6Bh)
This command is utilized to read or write the individual motor system times within the range of 00,1 s to 99,9 s.
Tolerance: ±7% at minimum time; < 1‰ at maximum time, approx. 1% at 1 s.
The following 3 parameters are available:
Loop:
Waiting time at turning point during loop operation.
Trailing error: Timeout of motor signals, if shaft does not rotate after motor start.
Clamping:
timeout reply between loose/active clamping or break
prior to motor start / after motor stop.
Example 1: Read parameter (loop = 1.0 s; trailing error = 3.5 s; clamping = 0.5 s)
Transmission
Response
SOH Adr Cmd EOT CRC
01h 20h 6Bh 04h 5Ah
SOH Adr Cmd
Loo p=1.0 s
Traling error=3.5s Clamping =0.5 EOT CRC
01h 20h 6Bh 30h 31h 30h 30h 33h 35h 30h 30h 35h 04h E3h
Example 2: Write parameter (loop = 2.0 s; trailing error = 6.5 s; clamping = 1.5 s)
Transmission
SOH Adr Cmd
Loop =2.0 s
Trailing error=6.5s Clamping =1.5 EOT CRC
01h 20h 6Bh 30h 32h 30h 30h 36h 35h 30h 31h 35h 04h 44h
Response
SOH Adr Cmd
Loop =2.0 s
Trailing error=6.5s Clamping =1.5 EOT CRC
01h 20h 6Bh 30h 32h 30h 30h 36h 35h 30h 31h 35h 04h 44h
4.3.10. Setting the jog step scale „l“ (6Ch)
This command is utilized to read or write the jog step scale within the range from 0- 999.
Parameter 0 will disable the Jog function, both by keypad and by external inputs.
Note: The jog function must be enabled in command „m“, lock in one direction is possible as an option.
The respective jog step is always completely accomplished during a motor positioning operation and cannot be
stopped or restarted by actuating another key. However it is possible to stop by interface (command „D“). With
running motor the moving bit is set to 1 (refer also command “F”).
Example 1: Read jog step
Transmission
Response
SOH Adr Cmd SCmd EOT CRC
01h 20h 6C 53h 04h 5Ah
SOH Adr Cmd SCmd
Jog step = 25
01h 20h 6Ch 53h 30h 30
32
35
EOT CRC
04h 44h
www.baumer.com
22
N 152
Example 2: Write jog step
Transmission
SOH Adr Cmd SCmd
Jog step = 50
01h 20h 6Ch 53h 30h 30
35
30
EOT CRC
04h 52h
Response
SOH Adr Cmd SCmd
Schrittweite = 50
01h 20h 6Ch 53h 30h 30
35
30
EOT CRC
04h 52h
Example 3: Value transmitted is too high (4 digits)
Transmission
SOH Adr Cmd SCmd
Jog step = 2345
01h 20h 6Ch 53h 32h 33
34
35
EOT CRC
04h 64h
Response
SOH Adr Cmd SCmd
Jog step = 0345
01h 20h 6Ch 53h 30h 33
34
35
EOT CRC
04h 44h
SPA adopts only 3-digit values, the 4th digit is automatically replaced by zero.
4.3.11. Read / write specific parameter „x“ (78h)
The specific parameter „x“ comprises several sub-parameters enabling alteration of originally permanent
parameters to adapt them to new circumstances. Presently the following sub-parameter is available:
D (44h) = delaytime for minimized timeout reply of serial interface
Sub parameter: Delaytime „D“ (44h)
This parameter defines the minimum delay time (break) between the last bit received and the first bit of the
response transmitted. Delay time is in steps of 0,1 ms from 00.0 ... 60.0 ms. Default is 1.0 ms.
Example 1: Read actual delay time
Transmission
Response
SOH Adr Cmd Sub EOT CRC
01h 20h 78h 44h 04h 7Ch
SOH Adr Cmd Sub
01h 20h 78h 44h
Delaytime = 4.5
EOT CRC
30h 30h 34h 35h 04h BBh
Example 2: Write new delay time
Transmission
SOH Adr Cmd Sub
01h 20h 78h 44h
Delaytime = 15.0
EOT CRC
30h 31h 35h 30h 04h BDh
Response
SOH Adr Cmd Sub
01h 20h 78h 44h
Delaytime = 15.0
EOT CRC
30h 31h 35h 30h 04h BDh
Please not that the true delaytime might be prolonged. It depends on the required processing time as well as on
internal software cycles. Tolerance is approx. 8 ms.
4.4. Identifier (address) commands
Command
code
Data
amount
in bytes
read
write
Broadcast
A (41h)
B (42h)
2
2
X
-
X
-
X
-
Save in function
EEPROM
X
-
www.baumer.com
Assign or indicate device identifier
SPA feedback in addressing mode
23
N 152
4.4.1. Assigning device identifiers in the network „A“ (41h)
This command is creating an automated process assigning the device identifier in successive order to every
single SPA upon commissioning of the system. The first identifier to be assigned is broadcasted to all networked
SPAs as follows:
Transmission
SOH
01h
Adr
83h
Cmd
41h
identifier = 01
30h
31h
EOT
04h
CRC
B4h
All SPAs now show the identifier just transmitted and that is to be assigned in the upper display. The bottom line
indicates the device-specific identifier.To make the SPA adopt the new identifier, the shaft must be turned by half
at least (direction does not matter). The identifier is now adopted and indicated in the bottom line of the display
(as new device-specific identifier). Both identifiers are now identical. As soon as the shaft is in idle position again
and after having elapsed 3 seconds, the SPA will transmit the following command „B“ (42h) as confirmation to
master:
Transmission
to master
SOH
01h
Adr
21h
Cmd
42h
identifier = 01
30h
31h
EOT
04h
CRC
86h
The Master can now transmit command „A“ with the next identifier to be assigned as previously described.
This way, the different (successive) identifiers are automatically assigned to all networked SPAs, one after the
other.
Important: Confirmatory command „B“ transmitted by SPA to master will be repeated after 3 seconds provided
the master has not previously transmitted another „A“ command.
Indicate identifier in the display „A“ (41h)
This command less parameters as a broadcast command (address/Identifier=99) will make every networked
SPA indicate the device-specific identifier in the bottom line of the display. The upper line is blind.
This command is a designated broadcast command.
Transmission
Response
SOH
01h
Adr
83h
Cmd
41h
EOT
04h
CRC
80h
Not confirmed
SPA remains in this mode until being switched off and on again or until transmission of another command
except „A“, „R“, „t“ or „u“.
If this command is transmitted to a valid device identifier (except 99) without any parameters, the respective SPA
will return to standard operating mode and reply the actual device identifier.
Transmission
SOH
01h
Adr
21h
Cmd
41h
EOT
04h
CRC
0Ah
Response
SOH
01h
Adr
21h
Cmd
41h
Identifier =01
30h
31h
EOT
04h
CRC
9Eh
Extended identifier command „AX“ (41h, 58h)
This extended command is utilized to address individual SPAs in the bus network in a similar way as described
above. By broadcast command the identifier to be assigned is transmitted to all networked SPAs as follows:
Transmission
SOH
01h
Adr
83h
Cmd
41h
Cmd2 Identifier = 01
58h
30h
31h
EOT
04h
CRC
40h
Similar to the standard command all SPAs now indicate the identifier just transmitted which is to be assigned in
the upper display. Adopting the identifier is in the same way. However, contrary to the above there is not any
acknowledgement „B“ in reply. Checking whether the new identifier has been adopted is up to master, for
example utilizing command “R” (read actual value). The R-command with the corresponding identifier is
transmitted to the SPA. If the addressed SPA confirms that the assignment was successful, the master can
proceed with next identifier. Regarding other commands the display of the respective SPA switches to standard
operation.
www.baumer.com
24
N 152
4.5. Specific commands
Command Data amount
code
in bytes
K (4Bh)
Q (51h)
X (58h)
read
write
Broadcast
X
X
X
-
X
X
-
1
2/4/8
Saved in Significance
EEPROM
X
X
-
Specific command: profile reset (clear)
Specific command: SPA reset
Specific commands
4.5.1. SPA profile reset „K“ (4Bh)
This command is clearing all previously programmed profiles.
Example 1: profile reset of a specific SPA
Transmission
SOH
01h
Adr
20h
Cmd
4Bh
Data
7Fh
EOT
04h
Response
SOH
01h
Adr
20h
Data
6Fh
EOT
04h
CRC
52h
CRC
C6h
SPA replies by standard response ‚o’ (6Fh) = OK
Example 2: profile reset in all SPAs by broadcast command (identifier=99)
Transmission
SOH
01h
Response
Adr
83h
Cmd
4Bh
Data
7Fh
EOT
04h
CRC
DBh
Not confirmed
Important: After profile reset all profile data are set to FFFFFFhex, the current profile number to FFhex.
The SPA display now is indicating 5 hyphens instead of target.
4.5.2. SPA restore default „Q“ (51h)
This command restores default either of individual or collective parameters.
Data
Data
Data
Data
=
=
=
=
q
t
x
∆
(71h)
(74h)
(78h)
(7Fh)
=
=
=
=
Restore default parameters
Device identifier = 98
Multiturn counter reset to 0. No singleturn reset possible.
All above functions are accomplished.
Note: No profile reset. Profile reset by command „R“.
Example 1: Restore default in specific SPA
Transmission
SOH
01h
Adr
20h
Cmd
51h
Data
7Fh
EOT
04h
CRC
AEh
Response
SOH
01h
Adr
20h
Data
6Fh
EOT
04h
CRC
52h
SPA replies by standard response ‚o’ (6Fh) = OK
Example 2: Restore default in all SPAs by broadcast command (identifier=99)
Transmission
Response
SOH
01h
Adr
83h
Cmd
51h
Data
7Fh
EOT
04h
CRC
B3
Not confirmed
www.baumer.com
25
N 152
4.5.3. Read version, type or serial number „X“ (58h)
This command is utilized to read version number, device type or serial number. The following sub-commands
are available:
Data = V (56h) = read version
Data = T (54h) = read device type
Data = S (53h) = read serial number
Example 1 : Read version number
Transmission
SOH
01h
Adr
20h
Cmd
58h
Data
56h
EOT
04h
CRC
D8h
Response
SOH
01h
Adr
20h
Cmd
58h
Data
56h
Version number = 2.00
20h
32h
30h
30h
EOT
04h
CRC
FAh
Example 2: Read device type (device type = N 152; firmware = 01)
Transmisison
SOH
01h
Adr
20h
Cmd
58h
Data
54h
EOT
04h
CRC
DCh
Response
SOH
01h
Adr
20h
Cmd
58h
Data
54h
Type
90h
81h
EOT
04h
CRC
26h
Code configuration of the transmitted device type:
1 0 0 1 0 0 0 0
1 0 0 0 0 0 0 1
┬ ──────┬──────
┬ ───────┬─────
│
│
│
└───────
│
│
└────────────────
│
└──────────────────────────
└──────────────────────────────────
=
90 81 hex
software number 01h = firmware 01
permanent 1
device type 10h = N 152
permanent 1
Example 3: Read serial number
Transmission
SOH
01h
Adr
20h
Cmd
58h
Response
SOH
01h
Adr
20h
Cmd
58h
Data
53h
Data
53h
EOT
04h
30h
CRC
D2h
37h
Coded serial number = 07090EA4
30h
39h
30h
3Eh
3Ah
34h
EOT
04h
CRC
20h
Code configuration of the transmitted serial number:
The Low-Nibble (lower 4 bits of a byte) of the 8 data bits received equal together a 4 byte value comprising the
serial number.
The serial number is composed by date and time of production. Since also the seconds are coded and by
assigning only one number per second the serial number is unique.
Example: serial number for 01.06.2005 16:58:36 = 15 83 0E A4 hex
X X X X X X X X
X X X X X X X X
X X X X X X X X
X X X X X X X X
J J J J J J M M
M M T T T T T h
h h h h m m m m
m m s s s s s s
0 0 0 1 0 1 0 1
1 0 0 0 0 0 1 1
0 0 0 0 1 1 1 0
1 0 1 0 0 1 0 0
─────┬───── ────┬──── ────┬──── ─────┬───── ──────┬────── ─────┬─────
│
│
│
│
│
└───────
│
│
│
│
└────────────────────
│
│
│
└─────────────────────────────────
│
│
└────────────────────────────────────────────
│
└──────────────────────────────────────────────────────
└─────────────────────────────────────────────────────────────────
www.baumer.com
bit position
content
example = 15 83 0E A4 hex
seconds 10 0100 = 24h = 36d
minutes 11 1010 = 3Ah = 58d
hours
1 0000 = 10h = 16d
day
0 0001 = 01h = 01d
month
0110 = 06h = 06d
year 00 0101 = 05h = 05d
│
01.06.05 16:58:36 <──────┘
26
N 152
5. Error warnings
5.1. CRC error
Upon recognizing a CRC error in a transmitted command the SPA will respond as follows:
Response
SOH
01h
Adr
20h
Error
65h
EOT
04h
CRC
46h
Error = „e“ (65h) = CRC error
5.2. Format error
Upon recognizing a format error (incorrect length of protocol or void command (Cmd) in a command transmitted
the SPA will respond as follows:
Response
SOH
01h
Adr
20h
Error
66h
EOT
04h
CRC
40h
Error = „f“ (66h) = format error
5.3. Display error indication
Error warnings are visualized by a flashing upper display line, indicating alternately both error signal and current
value (usually target).
MAX limit of SPA hurt by manual positioning operation (utilizing key)
Troubleshooting: Set SPA to the admissible positioning range.
MIN limit of SPA hurt by manual positioning operation (utilizing key)
Troubleshooting: Set SPA to the admissible positioning range.
SPA is giving a motor start signal but SPA hollow shaft does not rotate.
Troubleshooting: Check motor, cable and mechanical connections from motor to shaft to SPA.
Motor failure at SPA.
(Failure is indicated for approx. 5 seconds if motor start is released by interface or
pushbutton)
Troubleshooting: Take corrective actions.
SPA did not reach the target window.
Troubleshooting: Extend the tolerance window. Set switchover to precision speed at an earlier point.
Direction error. Shaft positioning is in the wrong direction.
Troubleshooting: Verify SPA parameterization ( for example motor direction of rotation, or motor
cable connection)
www.baumer.com
27
N 152
Target transmitted respectively DIM parameter is above the MAX limit.
Note: Take loops into consideration.
Troubleshooting: Transmit new admissible position value.
Target transmitted respectively DIM parameter is below the MIN limit.
Note: Take loops into consideration.
Troubleshooting: Transmit new admissible position value.
6. Overview on commands
The following chart shows in alphabetical order all available commands (Cmd) as well as options regarding read
and write (parameterization).
Command Data amount
code
in bytes
a (61h)
b (62h)
c (63h)
g (67h)
h (68h)
i (69h)
j (69h)
k (6Bh)
l (6Ch)
m (6Dh)
t (74h)
u (75h)
x (78h)
A (41h)
B (42h)
C (43h)
D (44h)
F (46h)
K (4Bh)
Q (51h)
R (52h)
S (53h)
U (55h)
V (56h)
X (58h)
Z (5Ah)
5
8
8
12
12
1
3
9
5
5
6
6
5
2
2
3
1
4
1
6
8
6
2
4
6
read
write
Broadcast
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
Saved in
Significance
EEPROM
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
www.baumer.com
Read / write general parameters
Parameter: Tolerance compensation, window
Parameter: Scaling factor spindle pitch
Parameter: Limits MIN, MAX
Parameter: Switching points motor speed
Parameter: mm / inch
Parameter: Timeout interval bus error
Parameter: Motor system cycles
Parameter: Jog step
Read/write general parameters
Transmit tool number
Transmit optional column of figres
Read / write specific parameters
Assign or display device identifier
SPA response in addressing mode
Check if current value = target
Motor start enable
Readout device status and error
Specific command: Profile reset (clear)
Specific command: SPA reset
Read current value
Read / write target
Offset
Read / write profile number
Specific command: read device data
Set preset
28
N 152
7. Technical data
Technical data – electrical ratings
Supply voltage
24 VDC ±10 %
Power consumption
<40 mA
Display
LCD, 7segment, 2 lines, backlit
Sensing principle
Absolute multiturn sensing
Sensing range
-99.99...+999.99 mm
-9.999...+99.999 inch
Number of steps/revolution
1440
Number of revolutions
4096 / 12 Bit
Spindle pitch
≤14 mm
Interface
RS485 (ASCII-protocol)
Data saving
Parameter buffer: EEPROM
Actual value buffer: >10 years by integrated 3 V Lithium battery
Programmable
Display position horizontal/vertical
parameters
Measuring unit mm/inch
Spindle pitch
Counting direction
Spindle tolerances
Positioning direction
Directional arrows
Tolerance window
Rounding function
Motive positioning
Two softkeys with jog operation for format alignment
Direct motor connection of N 152 by motor cable
Standard DIN EN 61010-1
Protection class II
Overvoltage category II
Pollution degree 2
Interference emission
DIN EN 61000-6-3
Interference immunity
DIN EN 61000-6-2
Approvals
UL/cUL
Technical data – mechanical design
Hollow shaft
ø14 mm
Operating speed
≤600 rpm (short-term)
Protection DIN EN 60529
IP 65
Operating temperature
-10...+50 °C
Storage temperature
-20...+70 °C
Relative humidity
80 % not condensing
Torque support
Torque pin provided at housing
E-connection
- cable output (15 cm) with 4-pin M8 connector
- motor cable with female 12-pin M16 connector
User surface / keypad
Keypad with two softkeys
Housing
With hollow shaft for direct shaft mount
Dimensions W x H x L
37 x 75 x 45 mm
Mounting
Hollow-shaft mount
Weight approx.
120 g
Material
Polyamide black, UL 94V-0
www.baumer.com
29
N 152
7.1. Dimensions
Optional display
position
75
°
4.8
Torque pin
6
28
2:1
ø6h9
ø14H7
20.5
ø20
22
75
0.5x 45°
Pin M4
Seal
6.5
M16 male
connector / motor
37
31.8
1
30.15
12.5
45
M8 mal e
connector
8. Part number
Reference
1
Interface
RS485
E-connection
1
2
Connector output M8, motor cable 0.5 m
Cable output M8, motor cable 1.5 m
Supply voltage
3
24 VDC
Display
A
B
At slope
At face
Hollow shaft
A
N 152.1
3
ø14 mm
A01
www.baumer.com
30
Similar pages