POSIROT ® PRAS2 Magnetic Angle Sensor with Analog Output agnetic angle sensor 0 - 360° in a flat housing M with 36 mm dia. ● Measurement range 0 to 360° ● Protection class IP67 / IP69K ● Analog output ● Flat housing – 20 mm thickness ● Non-contact with external position magnet ● Wear free ● Redundant second channel as option ● SIL in preparation Specifications Outputs U6 U2 I1 Measurement range Resolution Repeatability Linearity Rated distance sensor / magnet Protection class Signal characteristics Material Mounting Shock Vibration Voltage 0.5 ... 4.5 V ratiometric Voltage 0.5 ... 10 V Current 4 ... 20 mA, 3 wire 0 ... 15° to 0 ... 360° in 15° increments 0.03 % (60 ... 360); 0.1 % (15 ... 45°) ±0.03 % (60 ... 360°); ±0.1 % (15 ... 45°) ±0.3 % f.s. (typ.) Depending on the position magnet IP67/IP69K (connector output with IP69K connector cable) IP67 (cable output, option IP67/IP69K) CW, CCW Aluminium Clamps, mounting plate EN60068-2-27:1993, 100 g/11 ms, 100 shocks EN60068-2-6:1995, 20 g 10 Hz-2 kHz, 10 cycles Order Code PRAS2 PRAS2 Model name Measurement range 15 ... 360° in 15° increments 15 / 30 / 45 / ... / 345 / 360 Output (see page 46) U6 = 0.5 ... 4.5 V ratiometric U2 = 0.5 ... 10 V I1 = 4 ... 20 mA, 3 wire Signal characteristics CW = Signal increasing CW CCW = Signal increasing CCW Connection KAB2M/KAB2M69K = Cable, standard length 2 m, IP67/IP69K M12A5/M12R5 = 5-pin socket M12 axial/radial (compatible with 4-pin connector) Order code mounting clamps (set of 3 pieces) Order code position magnet (see accessories page 53/54) Order code connector cable (see accessories page 90) PRPT-BFS1 PRMAG ... KAB-2M-M12/4F/G-LITZE Order example: PRAS2 - 360 - I1 - CW - KAB2M 18 CAT-PR/PT-E-11 www.asm-sensor.com ASM POSIROT ® PRDS2 Magnetic Angle Encoder with SSI Output agnetic angle encoder 0 - 360° in a flat housing M with 36 mm dia. ● ● ● ● ● ● Specifications Measurement range 0 to 360° Protection class IP67 / IP69K Synchronous serial output (SSI) Flat housing – 20 mm thickness Non-contact with external position magnet Wear free Output Measurement range Resolution Repeatability Linearity Rated distance sensor / magnet Max. revolutions Protection class Code characteristics Material Mounting Shock Vibration Synchronous serial (SSI) 0 ... 360° 12 bit (4096 steps) per revolution ±0.1° (typ.) ±1° (typ.) Depending on the position magnet 30,000 r.p.m. IP67/IP69K (connector output with IP69K connector cable) IP67 (cable output, option IP67/IP69K) CW, CCW Aluminium Clamps, mounting plate EN60068-2-27:1993, 100 g/11 ms, 100 shocks EN60068-2-6:1995, 20 g 10 Hz-2 kHz, 10 cycles Order Code PRDS2 PRDS2 Model name Output (see page 49) RSSI5V = Synchronous serial output with excitation 5 V DC RSSI24V = Synchronous serial output with excitation 10 ... 36 V DC Code characteristics CW = Code increasing CW CCW = Code increasing CCW Connection KAB2M/KAB2M69K = Cable, standard length 2 m (not with RSSI5V), IP67/IP69K M12A8/M12R8 = 8-pin socket M12 axial/radial Order code mounting clamps (set of 3 pieces) Order code position magnet (see accessories page 53/54) Order code connector cable (see accessories page 90) PRPT-BFS1 PRMAG ... KAB-2M-M12/8F/G-LITZE Order example: PRDS2 - RSSI24V - CW - KAB2M 20 CAT-PR/PT-E-11 www.asm-sensor.com ASM POSIROT ® PRDS2 Magnetic Angle Encoder with CANopen output agnetic angle encoder 0 - 360° in a flat housing M with 36 mm dia. ● ● ● ● ● ● Specifications Measurement range 0 to 360° Protection class IP67 / IP69K CANopen output Flat housing – 20 mm thickness Non-contact with external position magnet Wear free Output Measurement range Resolution Linearity Protection class Material Connection Shock Vibration EMC, Temperature CANopen-Bus (Encoder CiA 406 V 3.2) 0 to 360° 0.05° max. ±1° (typ.) IP67/IP69K (connector output with IP69K connector cable); IP67 (cable output, option IP67/IP69K) Aluminium 5-pin socket M12, radial or axial EN60068-2-27:1993, 100 g/11 ms, 100 shocks EN60068-2-6:1995, 20 g/10 Hz-2 kHz, 10 cycles Refer to output specification Order Code PRDS2 PRDS2 Model name Output (see page 50/51) CANOP = CANopen CANJ1939 = CAN SAE J1939 Connection M12R5/CAN M12A5/CAN = 5-pin socket M12 radial = 5-pin socket M12 axial Order code connector cable (see accessories page 91) KAB - XM - M12/5F/G - M12/5M/G - CAN Order example: PRDS2 - CANOP - M12A5/CAN ASM www.asm-sensor.com CAT-PR/PT-E-11 21 POSIROT ® PRAS2/PRDS2 Dimensions Outline drawing sensor with cable output Marking Position magnet Measuring area Dimensions in mm [inch] Weight without cable approx. 40 g. Dimensions informative only. For guaranteed dimensions please consult factory. 22 CAT-PR/PT-E-11 www.asm-sensor.com ASM POSIROT ® PRAS2/PRDS2 33 [1.299] Befestigungexzenter Mounting clamps PRPT-BFS1 PRPT-BFS1 Markierung Marking 42 36 [1.417] 20 [0.787] 3 [0.118] 2,5 [0.098] Outline drawing sensor M12 axial 2,5 [0.098] Dimensions ] 54 .6 1 [ PositionsPosition magnet magnet Weight without cable approx. 50 g. Dimensions informative only. For guaranteed dimensions please consult factory. Messfläche Measuring area M12 SteckerM12 Connector Outline drawing sensor M12 radial Dimensions in mm [inch] Connector M12 Marking Position magnet Measuring area Weight without cable approx. 50 g. Dimensions informative only. For guaranteed dimensions please consult factory. ASM www.asm-sensor.com CAT-PR/PT-E-11 23 POSIROT ® PRAS Analog outputs U2(B), U6 and I1(B) U2; U2B Voltage Output 0.5 ... 10 V Excitation voltage Excitation current Output voltage Output current Measuring rate Stability (temperature) U2: 18 ... 36 V DC; U2B: 11.5 ... 27 V DC 12 mA typ., 16 mA max. 0.5 ... 10 V DC 2 mA max. 1 kHz standard ±50 x 10-6 / °C f.s. (typ.) for 90°...360° ±100 x 10-6 / °C f.s. (typ.) for <90° -40 ... +85 °C Reverse polarity, short circuit EN61326-1:2006 Operating temperature Protection EMC U6/5; U6/8,25 Voltage Output 10 ... 90% ratiometr. Excitation voltage Excitation current Output voltage Output current Measuring rate Stability (temperature) 5V DC ±10 % / 8.25 V DC ±10 % 8 mA typ., 12 mA max. 10 ... 90 % of the excitation voltage 2 mA max. 1 kHz standard ±50 x 10-6 / °C f.s. (typ.) for 90°...360° ±100 x 10-6 / °C f.s. (typ.) for <90° -40 ... +85 °C Reverse polarity, short circuit EN61326-1:2006 Operating temperature Protection EMC I1; I1B Current Output 4 ... 20 mA, 3 wire Excitation voltage Excitation current Load resistor Output current Measuring rate Stability (temperature) I1: 18 ... 36 V DC; I1B: 10 ... 18 V DC 32 mA typ., 36 mA max. I1: 500 Ω max.; I1B: 250 Ω max. 4 ... 20 mA 1 kHz standard ±50 x 10-6 / °C f.s. (typ.) for 90°...360° ±100 x 10-6 / °C f.s. (typ.) for <90° -40 ... +85 °C Reverse polarity, short circuit EN61326-1:2006 Operating temperature Protection EMC Other outputs available on request. Output signals Excitation + U2 U2B U6 I1 I1B Signal Wiring Signal + GND Output signals Connector pin Cable color Excitation + Signal GND Do not connect! Do not connect! 1 2 3 4 5 brown white blue black – Connection M12A5 / M12R5 46 CAT-PR/PT-E-11 www.asm-sensor.com View to sensor connector ASM POSIROT ® PRDS Output RSSI5V / RSSI24V RSSI5V / RSSI24V Synchronous serial Interface Excitation voltage Excitation current Clock frequency Code Resolution Delay between pulse trains Stability (temperature) Operating temperature Protection EMC EIA RS-422 RSSI5V: 5 V DC ±10 %; RSSI24V: 10 ... 36 V DC 100 mA max. without load 100 kHz ... 1 MHz Single step Gray code 12 Bit 12 Bit 20 µs min. ±50 x 10-6 / °C f.s. (typ.) -40 ... +85 °C Short circuit EN61326-1:2006 Data format (Train of 13 pulses) >16 µs Recommended processing input circuit DATA DATA CLOCK CLOCK Cable length Baud rate 50 m 100-1000 kHz 100 m 100-300 kHz Signal wiring Signal name Note: Extension of the cable length will reduce the maximum transmission rate. The signals CLOCK /CLOCK and DATA/DATA must be connected in a twisted pair cable, shielded per pair and common. Connector pin no. Cable color 1 2 3 4 5 6 white brown green yellow grey pink Excitation + Excitation GND CLOCK CLOCK DATA DATA Connection View to sensor connector M12A8 / M12R8 ASM www.asm-sensor.com CAT-PR/PT-E-11 49 POSIROT ® PRDS Output CANopen Description CANopen Magnetic angle encoder with CANopen interface according to CiA 406. Communication profile Device profile Configuration services Error Control Node ID PDO PDO Modes SDO CAM Certified Transmission rates Bus connection Integrated bus terminating resistor Bus, galvanic isolated Specifications 50 Excitation voltage Excitation current Measuring rate Stability (temperature) Repeatability Operating temperature Protection Dielectric strength EMC Automation CANopen CiA 301 V 4.02, Slave Encoder CiA 406 V 3.2 Layer Setting Service (LSS), CiA Draft Standard 305 (transmission rate, node id) Node Guarding, Heartbeat, Emergency Message Default: 127; programmable via LSS or SDO 3 TxPDO, 0 RxPDO, static mapping Event-/Time triggered, Remote-request, Sync cyclic/acyclic 1 server, 0 Client 8 cams Yes 50 kBaud to 1 MBaud, default: 125 kBaud; programmable via LSS or SDO M12 connector, 5 ping Optional No 8 ... 36 V DC Typ. 15/30 mA for 24/12 V, max. 100 mA 1 kHz (asynchronous) ±50 x 10-6 / °C f.s. 1 LSB -40 ... +105 °C Reverse polarity, short circuit 1 kV (V AC, 50 Hz, 1 min.) EN61326-1:2006 CAT-PR/PT-E-11 www.asm-sensor.com ASM POSIROT ® PRDS Output CAN SAE J1939 Description Interface J1939 NAME Fields Parameter Group Numbers (PGN) Specifications Signal wiring / connection ngle encoder according to standard SAE J1939. Customer configuration of operating paraA meters by Peer-to-Peer. Process data exchange by Broadcast message. Node-Id distribution by address claiming (ACL). CAN specification Transceiver Communication profile Baud rate Internal temination resistor Address ISO 11898, Basic and Full CAN 2.0 B 24V-compliant, not isolated SAE J1939 250 kbit/s 120 Ω Default 247d, configurable Arbitrary address capable Industry group Vehicle system Vehicle system instance Function Function instance ECU instance Manufacturer Identity number 1 0 7Fh (127d) 0 FFh (255d) 0 0 145h (325d) 0nnn Yes Global Non specific Configuration data PGN EF00h Process data PGN FFnnh Proprietary-A (PDU1 peer-to-peer) Proprietary-B (PDU2 broadcast); nn Group Extension (PS) configurable Excitation voltage Excitation current Measuring rate Stability (temperature) Repeatability Operating temperature Protection Dielectric strength EMC 8 ... 36 V DC Typ. 15/30 mA for 24/12 V, max. 100 mA 1 kHz (asynchronous) ±50 x 10-6 / °C f.s. 1 LSB -40 ... +105 °C Reverse polarity, short circuit 1 kV (V AC, 50 Hz, 1 min.) EN61326-1:2006 Signal name Shield Excitation + GND CAN-H CAN-L Non specific Manufacturer ID Serial number 21 bit Connector pin Wire color 1 2 3 4 5 Black+grey White Brown Green Yellow ASM www.asm-sensor.com View to sensor connector CAT-PR/PT-E-11 51 POSIROT ® PRAS/PRDS Characteristics for magnetic angle sensors Output signal (CW increasing) Marking Range [°] Output signal (CCW increasing) Marking Range [°] Example angular range 90° Marking Example angular range 360° Marking 52 CAT-PR/PT-E-11 www.asm-sensor.com ASM POSIROT ® Accessories 8 [.315] 3,5 [.138] J K J 4,5 [.177] 4,5 [.177] 30 [1.181] PRMAG20 20 [.787] Position magnets K 5 [.197] 13 [.512] Sensor / Sensor sensor Marking Markierung / marking Weight 11 g approx., moment of inertia 1.2 kgmm2 A misalignment of the position magnet has an effect on the linearity J K K J Sensor Sensor/ sensor 6,6 [.260] Weight 3 g approx., moment of inertia 0.1 kgmm2 A misalignment of the position magnet has an effect on the linearity 2,7 [.106] 5 [.197] Markierung / Marking marking 3,7 [.146] 2,7 [.106] 8 [.315] PRMAG21 16 [.630] Sensor/ Sensor sensor Ø5,4 [.213] Sensor/ Sensor sensor Dimensions in mm [inch] Dimensions informative only For guaranteed dimensions please consult factory ASM www.asm-sensor.com CAT-PR/PT-E-11 53 POSIROT ® Accessories Position magnets PRMAG22 E 5 4, 5 6 ,5 F 26 36 22 6,4 F E Weight 17 g approx., moment of inertia 3 kgmm2 15 6,5 Markierung / Marking marking A misalignment of the position magnet has an effect on the linearity 9 [.354] PRMAG5Z G H 8,2 [.323] H 10 [.394] 15 [.591] Sensor / Sensor sensor G Weight 100 g approx., moment of inertia 55 kgmm2 14 [.551] Ø48 0,05 [1.890 0.002] [ A misalignment of the position magnet has an effect on the linearity ] Ø66 +- 00,1 2.598 +- 00.004 Sensor / Sensor sensor 5 [.197] Nut /Notch notch Markierung Marking/ marking Sensor / Sensor sensor Dimensions in mm [inch] Dimensions informative only For guaranteed dimensions please consult factory 54 CAT-PR/PT-E-11 www.asm-sensor.com ASM POSIROT ® Accessories Mounting Plates PRPT-BPL1 40 [1.575] ] 17 [.2 5 , 5 Ø33 [1.299] (screw mounting) For PRAS2, PRDS2, PRAS3, PRDS3 In combination with the mounting clamps PRPT-BFS1 (3 x M2.5) or in combination with the mounting bracket PRPT-BFS2 (3 x M4). 40 [1.575] 90 5 [.197] ° 11 0° 4 8 [1 4 2[ .890 ] 1.6 5 4] 3x M2,5 4 [.157] 4 [.157] 55 [2.165] 3x M4 Dimensions in mm [inch] Weight 30 g approx. Dimensions informative only. For guaranteed dimensions please consult factory. PRPT-BPL2 Ø33 [1.299] (welding assembly) For PRAS2, PRDS2, PRAS3, PRDS3 90 In combination with the mounting clamps PRPT-BFS1 (3 x M2.5) or in combination with the mounting bracket PRPT-BFS2 (3 x M4). ° 11 0° 4 4 8 [1 2[ 4 [.157] 4 [.157] 56 .89 0 1.6 5 ] 4] 3x M2,5 55 [2.165] 3x M4 CAT-PR/PT-E-11 www.asm-sensor.com ASM POSIROT ® Accessories Mounting Plates PRPT-BPL3 For PRAS3, PRDS3 Dimensions in mm [inch] Weight 30 g approx. Dimensions informative only. For guaranteed dimensions please consult factory. Mounting possibilities PRAS2/PRDS2 PRAS3/PRDS3 PRPT-BPL2 + PRPT-BFS2 PRPT-BPL1 + PRPT-BFS2 PRPT-BPL2 + PRPT-BFS1 PRPT-BPL1 + PRPT-BFS1 ASM www.asm-sensor.com CAT-PR/PT-E-11 57 POSIROT ® / POSITILT ® Accessories Connector Cables Connector cable for POSIROT®POSITILT ® sensors 4 pins M12 Suitable for 5-pin sensor connectors M12A5 and M12R5 The 4-core screened cable is supplied with a mating 4-pin 90° M12 connector at one end and 4 wires at the other end. Available lengths are 2, 5 and 10 m. Order code: KAB - XM - M12/4F/W - LITZE IP69K: KAB - XM - M12/4F/W/69K - LITZE Length in m Connector cable for POSIROT®POSITILT ® sensors 4 pins M12 Suitable for 5-pin sensor connectors M12A5 and M12R5 The 4-core screened cable is supplied with a mating 4-pin M12 connector at one end and 4 wires at the other end. Available lengths are 2, 5 and 10 m. Order code: KAB - XM - M12/4F/G - LITZE IP69K: KAB - XM - M12/4F/G/69K - LITZE Length in m Signal wiring M12, 4 pin Connector cable for POSIROT®POSITILT ® sensors 8 pins M12 Connector pin / cable color 1 Brown 2 White 3 Blue 4 Black The 8-core screened cable is supplied with a mating 8-pin 90° M12 connector at one end and 8 wires at the other end. Available lengths are 2, 5 and 10 m. Order code: KAB - XM - M12/8F/W - LITZE IP69K: KAB - XM - M12/8F/W/69K - LITZE Length in m Connector cable for POSIROT®POSITILT ® sensors 8 pins M12 The 8-core screened cable is supplied with a mating 8-pin M12 connector at one end and 8 wires at the other end. Available lengths are 2, 5 and 10 m. Order code: KAB - XM - M12/8F/G - LITZE IP69K: KAB - XM - M12/8F/G/69K - LITZE Length in m Signal wiring M12, 8 pin 90 Connector pin / cable color 1 White 2 Brown 3 Green 4 Yellow CAT-PR/PT-E-11 www.asm-sensor.com 5 Grey 6 Pink 7 Blue 8 Red ASM POSIROT ® / POSITILT ® Accessories Connector Cables Connector/bus cable for POSIROT®POSITILT ® sensors 5 pin M12 CAN bus The 5-lead shielded cable is supplied with a female 5-pin M12 connector at one end and a male 5-pin M12 connector at the other end. Available lengths are 2, 5 and 10 m. Order code: KAB - XM - M12/5F/G - M12/5M/G - CAN IP69K: KAB - XM - M12/5F/G/69K - M12/5M/G/69K - CAN Length in m T-piece for bus cable 5 pin M12 CAN bus Order code: KAB - TCONN - M12/5M - 2M12/5F - CAN Terminating resistance 5 pin M12 CAN bus Order code: KAB - RTERM - M12/5M/G - CAN ASM www.asm-sensor.com CAT-PR/PT-E-11 91