POSIWIRE® Position Sensors Installation and operation manual Please read carefully before operation! POSIWIRE® Contents Contents 2 Safety instructions 3 Intended use / unintended use 5 Product description Operating principle 6 Measurement signal and range 6 Delivery / shipment 7 Mating connectors 7 Installation Precautions 8 Female connector 90° CONN-DIN-8F-W 19 Female connector CONN-M12-8F-G 20 Female connector CONN-CONIN-12F-G 21 Connection22 Cable dust wiper SAB5 23 Calibration24 Electromagnetic compatibility (EMC) 24 Repair and disposal 24 Output specifications Analog Output with Potentiometer with Magnetic Absolute Encoder Incrementel Output with Optical Incremental Encoder SSI Interface with Potentiometer with Magnetic Absolute Encoder with Optical Absolute Encoder CAN-Bus with Magnetic Absolute Encoder with Optical Absolute Encoder DeviceNet Profibus DP Interbus 25 25 25 29 31 31 33 33 34 35 38 38 55 55 56 57 Appendix Output Information Reliability Characteristics Declaration of Conformity 58 62 63 MAN-WS-E-15 www.asm-sensor.com © by ASM GmbH POSIWIRE® 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. Crossing the dew point must be avoided. 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-WS-E-15 3 POSIWIRE® Instruction Manual Safety instructions (continued) Do not open sensor • Release of spring under tension can result in injury! Do not snap cable • Uncontrolled cable retraction can break off cable fixing (cable clip or M4 connection). Broken fixing and cable can result in injury. Also sensor will be damaged! Do not travel over range • Uncontrolled cable retraction can result in injury. Also sensor will be damaged! Special attention during mounting and operation of metal cable sensors • Risk of injury by the measuring cable! Sensors without cover / housing (OEM sensors) • Risk of injury by moving parts. Mounting and operation of the sensor only with appropriate safety equipment that an injury is impossible! Do not exceed maximum operating voltage listed in the catalog • Risk of injury. Sensor will be damaged! Avoid shock and vibration to the sensor • 4 Sensor will be damaged! MAN-WS-E-15 www.asm-sensor.com © by ASM GmbH POSIWIRE® Instruction Manual Intended use The position sensor was intended for linear position measurement, 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-WS-E-15 5 POSIWIRE® 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 cable (flexible stainless steel) is converted into rotation by means of a precision cable drum. A spring motor provides torque for the cable retraction. Special design assures precise and reproducible winding of the measuring cable. Cable 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, not adjusted Potentiometer Sensitivity not adjustable Analog, adjusted Integrated signal conditioner Sensitivity adjusted Digital incremental Incremental encoder Sensitivity not adjustable Potentiometer (e.g. 1 kΩ) Measuring range corresponds to the electrical measuring range (e.g. 4...20 mA). Inividual sensitivity is specified on label in pulses or increments per millimeter. Actual position Output Resistance range is used from about 3% to 98%. 0% or 100% are not possible. Individual sensitivity is specified on the label. 0 % 0 mm 30 % 300 mm 100 % 1000 mm approx. 3 % approx. 30 % approx. 98 % Integrated signal conditioner (e.g. 4 ... 20 mA) 0 % 4 mA 30 % 8,8 mA 100 % 20 mA Incremental encoder (e.g. 10 pulses/mm) 0 % 0 30 % 3000 100 % 10000 Measurement range 6 MAN-WS-E-15 www.asm-sensor.com © by ASM GmbH POSIWIRE® Instruction Manual Delivery / shipment UnpackingDo not unpack sensor by pulling cable or cable clip. Shipment damagesCheck sensor immediately for shipping damage. Shipment protection loop (not to be confused with the mounting loop below!) Do not remove until mounting. (prevents cable movement before mounting) In case of any damage or equipment not operating appropriately, please contact supplier or ASM GmbH Moosinning. To avoid shipment damages, use original protection facilities and original packing for further shipment. Mating connectors Delivery does not include female connectors for electrical connection. They are available under the following order code: 90° female 8-pin connector DIN Female 8-pin connector M12 90° female 12-pin connector DIN Female 12-pin connector © by ASM GmbH www.asm-sensor.com CONN-DIN-8F-W CONN-M12-8F-G CONN-DIN-12F-W CONN-CONIN-12F-G MAN-WS-E-15 7 POSIWIRE® Instruction Manual Installation Do not damage cable! Cable must not be oiled or lubricated! Do not snap cable! Do not travel over range! Do not crack cable! Cable travel should be axial to the cable outlet - no misalignment allowed! Do not drag cable along objects! Precautions Do not let snap the cable Uncontrolled retraction of cable may damage sensor. No warranty will be granted for snapped cables. Mounting loop Mounting hints for unfavourable conditions If possible fasten cable fixing with cable in retracted position. For example, fit a mounting loop (see diagram) and put it around your wrist. Do not remove the mounting loop before the cable ist fastened. The cable clip may be opened for easy attachment. Mounting To ensure proper operation, install the sensor only as described in this manual. 8 MAN-WS-E-15 www.asm-sensor.com © by ASM GmbH POSIWIRE® Instruction Manual Installation Installation position Covered or shielded travel of cable is preferred. This prevents cable from damage, soiling and manipulation. Cable outlet is preferred pointing downwards. Soaking of liquids into the cable 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. Cable travel should only be axial to the cable outlet - no misalignment is allowed. Cable misalignment shortens service life of sensor and causes error in measurement. Warranty will not be granted for damage caused by misalignment. If cable travel axial to the cable outlet is not possible, the cable guide wheel SR2 (accessories) must be used in order to turn the cable. For special applications extension cables with clips on both ends are available. Fitting the sensor Depending upon the sensor model, holes in the base plate, threads or Tslots in the sensor housing enable attachment of the sensor. Dimensions required are listed in the catalog. Cable attachment device For fastening the cable clip the following solutions are available. For example: a) Set screw M5: (Allen screw) b) Attachment head GK1/GK2: (accessory) c) Magnetic clamp MAG1: (accessory) Standard fixing. Fast cable attachment, easy to remove. An easy way to fasten the cable to ferromagnetic materials. The mounting of the M4 connection is made with a through hole and a M4 nut. Note: Do not screw the M4 connection itself into a stationary object, otherwise the measuring cable will be twisted! Cable clip attachment When fastening the cable clip take notice of the chapter Installation / Precautions (page 8). © by ASM GmbH www.asm-sensor.com MAN-WS-E-15 9 POSIWIRE® Instruction Manual Installation Mount the sensor on the flat surface. 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. M4 M3 M2,5 Model Screw Material Torque [Nm] WS31 / WS31C M2,5 Mounting brackets A2 0.25 WS31 / WS31C M3 Clamping claws A2 0.5 WS31 / WS31C M4 Mounting brackets A2 0.65 WS42 / WS42C M2,5 Mounting brackets A2 0.25 WS42 / WS42C M3 Clamping claws A2 0.5 WS42 / WS42C M4 Mounting brackets A2 0.65 10 MAN-WS-E-15 www.asm-sensor.com © by ASM GmbH POSIWIRE® Instruction Manual Installation M5 (4x) Model Screw Material Torque [Nm] WS10 M5, 8 mm deep A2 2.0 WS10ZG M5, 8 mm deep A2 2.0 WS10SG M5, 8 mm deep A2 2.0 © by ASM GmbH www.asm-sensor.com MAN-WS-E-15 11 POSIWIRE® Instruction Manual Installation Model Screw Material Torque [Nm] WS17KT M5 A2 2.5 WS19KT M5 A2 2.5 WS21 M5 A2 2.5 12 MAN-WS-E-15 www.asm-sensor.com © by ASM GmbH POSIWIRE® Instruction Manual Installation M4 (4x) Model Screw Material Torque [Nm] WS58C M4, 5 mm deep A2 1.0 © by ASM GmbH www.asm-sensor.com MAN-WS-E-15 13 POSIWIRE® Instruction Manual Installation Model Screw Material Torque [Nm] WS60 M8 A2 10.0 14 MAN-WS-E-15 www.asm-sensor.com © by ASM GmbH POSIWIRE® Instruction Manual Installation Model Screw Material Torque [Nm] WS7.5 M5 A2 2.5 © by ASM GmbH www.asm-sensor.com MAN-WS-E-15 15 POSIWIRE® Instruction Manual Installation Model Screw Material Torque [Nm] WS61 M5 A2 2.5 WS85 M6 A2 4.0 M6 for oval hole A2 3.0 WS85 for oval hole 16 MAN-WS-E-15 www.asm-sensor.com © by ASM GmbH POSIWIRE® Instruction Manual Installation M5 (4x) Model Screw Material Torque [Nm] WS12 M5, 10 mm deep A2 2.0 © by ASM GmbH www.asm-sensor.com MAN-WS-E-15 17 POSIWIRE® Instruction Manual Installation Model WS100M 18 Screw Material Torque [Nm] M10 A2 20 MAN-WS-E-15 www.asm-sensor.com © by ASM GmbH POSIWIRE® Instruction Manual Installation 90° female connector CONN-DIN-8F-W Part no.: Operation: 1 to 2 Assemble O-rings (lubricate!) on shielding ring and rotating hull. 3 to 7Stringing parts and cut off projecting braiding. Note detail drawing of shielding! (See chapter Electromagnetic Compatibility / EMC). 8Thread wires through housing, then assemble shielding ring, sealing ring and pinch ring. Turn on pressing screw to fix the cable, solder wires. 9 to 13 Assemble remaining parts according to diagram, fasten pressing screw. 14 Insert profile seal and fix female connector at male socket. Cover Shielding connected Put shielding around shielding ring. Shaped O ring 22x1 Distance hull Shielding not connected Cut off shielding and insulate with heat shrink tube. Female insert Rotating hull Heat shrink tube O ring 13x1,25 Use heat shrink tube if necessary O ring 9x1,5 Pressing screw Housing Thread ring Shielding ring Profile seal Pinch ring Cable Sealing ring © by ASM GmbH www.asm-sensor.com MAN-WS-E-15 19 POSIWIRE® Instruction Manual Installation The sensor protection class (IP) is only valid when the electrical plug is correctly connected. To ensure sensor protection class assemble all connector seals carefully. The connector is suitable for cable diameters of 6 to 8 mm. The sealing ring has to enclose the cable tightly (use heat shrink tube if necessary). Note: Four different directions of the angled outlet are possible (4 x 90°) by changing the position of the rotating hull (part no. 9 in the drawing previous page). Female connector CONN-M12-8F-G 1. Stringing parts. 2. Dismantle, expand shield and turn over the shielding ring. 3. Push isolating hull into the housing. Thread wires through housing, the assemble shielding ring, sealing ring and pinch ring. Turn on pressing screw to fix the cable. Screw wires. 4. Screw insert into housing and fasten pressing screw. e antl dism 35 +1 tion sula in ove rem en hort s ld shie Isolating hull The sensor protection class (IP) is only valid when the electrical plug is correctly connected. To ensure sensor protection class assemble all connector seals carefully. The connector is suitable for cable diameters of 6 to 8 mm. The sealing ring has to enclose the cable tightly (use heat shrink tube if necessary). 20 MAN-WS-E-15 www.asm-sensor.com © by ASM GmbH POSIWIRE® Instruction Manual Installation Female connector CONN-CONIN-12F-G 1. Slide the adaptor pos. 1, the sleeve nut pos. 2, the sealing element pos. 4 with sealing ring pos. 3 onto the cable. 2. Dismantle the outer sheath of the cable at a length of 23 mm. 3. Turn the shielding braid 90° up, move the shielding ring pos. 5A with a little rotation over the plastic film resp. the cotton mesh but under the shielding braid; cut off the shielding braid flushing with the outer diameter of the shielding ring pos. 5A. 4. Cut off plastic film, filler and inner isolation. 5. Strip the wires a length of 3,5 mm, twist (and tin). 6. Solder, crimp or screw the wires to the contacts. 7. Insert distance hull pos. 6. 8. Move insert pos. 7 and distance hull pos. 6 into the insert hull pos. 8; please see to it that the desired code notch of the insert pos. 7 is inserted correctly into the code bar. 9. Push in the cable with shielding and sealing unit. 10. Screw the adaptor pos. 1 tight! The sensor protection class (IP) is only valid when the electrical plug is correctly connected. To ensure sensor protection class assemble all connector seals carefully. The connector is suitable for cable diameters of 6 to 8 mm. The sealing ring has to enclose the cable tightly (use heat shrink tube if necessary). © by ASM GmbH www.asm-sensor.com MAN-WS-E-15 21 POSIWIRE® Instruction Manual Connection Signal wiringSee Output specifications (appendix). Operating voltageAccording to Output specifications (appendix). Do not exceed the listed maximum operating voltage. Special encodersInstruction manuals of special encoders have to be noticed. For connection of outputs not listed in the connection table see data sheets or special connection diagrams. Connection example: current output 420A To convert the 4 ... 20 mA signal into a voltage signal, it needs a load resistor RM (measuring resistor) as shown in the diagram. The maximum value of RM depends on the cable resistance RL and the excitation voltage UB: RMmax = ((UB – 12 V)/0,02 A) – RL With an excitation of 24 V DC and a cable resistance RL = 500 Ω a maximum value of RM = 100 Ω can be used. External circuit V oltage drop at the precision resistor Connection 22 KAB-XM-DIN/8F/W-LITZE KAB-XM-M12/8F/W-LITZE WS-CONN-066S CONN-DIN-8F CONN-M12-8F white brown green yellow gray pink blue red MAN-WS-E-15 www.asm-sensor.com © by ASM GmbH POSIWIRE® Instruction Manual Cable dust wiper SAB5 1. Disassemble the aluminium washer (1) by removing the three M3 screws (3). 2. Remove the spiral wiper (4). 3. Fix the basic body at the cable outlet of the sensor by the set screw M3 (2). See to it that the sensor measurement cable is in centric position. 4. Thread the measurement cable into the spiral wiper. Do not bend the measurement cable! Don´t let snap back the cable! 5. Assemble the aluminium washer. © by ASM GmbH www.asm-sensor.com MAN-WS-E-15 23 POSIWIRE® Instruction Manual Calibration The recommended calibration interval is 1 year. Test protocol and traceable calibration certificate (ISO9001 / ISO10012) is available on request. Electromagnetic Compatibility (EMC) The electromagnetic compatibility depends on wiring practice. Recommended wiring: • • • Use shielded twisted pair sensor cable. Ground shield single ended at switch cabinet. Connect shield directly before or at cable inlet of switch cabinet by low impedance ground cable 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: • • Repair and Disposal Use a twisted pair cable, shielded per pair and common. Use shielded conduits or ducts connected to ground potential. Sensors and accessories have to be repaired and adjusted at ASM in Moosinning. 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. Send metal parts for recycling! Disposal according to applicable government regulations. 24 MAN-WS-E-15 www.asm-sensor.com © by ASM GmbH POSIWIRE® Outputs Voltage Divider with Potentiometer Voltage divider R1K Potentiometer Signal wiring potentiometer WS31/42 Signal wiring The Potentiometer must be c onnected as a voltage divider! The following processing circuit has to be implemented according to the circuit scheme in the Appendix (see „Appendix – Output Information“)! Excitation voltage 32 V DC max. at 1 kΩ (max. power 1 W) Potentiometer impedance 1 kΩ ±10 % Thermal coefficient ±25 x 10-6 / °C f.s. Sensitivity Depends on the measuring range, individual sensitivity of the sensor is specified on the label Voltage divider utilization range Approx. 3 % ... 97 % Operating temperature -20 ... +85 °C CT-Poti / 5 turn 250 / 500 mm Poti + Poti GND Poti slider M CW S Signal View to soldering side of mating connector Poti + Poti GND Poti slider Plug connection Potentiometer + Potentiometer GND Potentiometer slider Connection Multi turn-Poti / 10 turn 750 / 1000 mm 1 2 3 4 5 6 7 8 CCW CW S Cable connection Cable connection [WH, BN, GN, YE] [BN, WH, BU, BK, GY] white brown green yellow - brown white blue black grey - CONN-M12-8F A codification CONN-DIN-8F © by ASM GmbH www.asm-sensor.com MAN-WS-E-15 25 POSIWIRE® with Potentiometer Analog Output Signal conditioner 10V and 10V5 Voltage output Signal conditioner 420T Current output (3 wire) Signal wiring 5-pin Excitation voltage Excitation current Output voltage Output current Output load Stability (temperature) Protection Output noise 18 ... 27 V DC non stabilized 20 mA max. 10V: 0 ... 10 V DC; 10V5: 0.5 ... 10 V DC 2 mA max. > 5 kΩ ±50 x 10-6 / °C f.s. Reverse polarity, short circuit 0.5 mVRMS Operating temperature EMC -20 ... +85 °C EN 61326-1:2013 Excitation voltage Excitation curren Load resistor Output current Stability (temperature) Protection Output noise 18 ... 27 V DC non stabilized 40 mA max. 350 Ω max. 4 ... 20 mA equivalent for 0 ... 100 % range ±50 x 10-6 / °C f.s. Reverse polarity, short circuit 0.5 mVRMS Operating temperature EMC -20 ... +85 °C EN 61326-1:2013 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 CONN-M12-5F A codification View to soldering side of mating connector Signal wiring 8-pin 10V / 10V5 / 420T Excitation + Excitation GND Signal + Signal GND - Plug connection Cable connection 1 2 3 4 5,6,7,8 white brown green yellow grey, pink, blue, red CONN-M12-8F A codification Connection View to soldering side of mating connector CONN-DIN-8F - Check sensor type! - 26 MAN-WS-E-15 www.asm-sensor.com © by ASM GmbH POSIWIRE® with Potentiometer Analog Output Signal conditioner 420A Current output (2 wire) Signal wiring Excitation voltage Excitation current Output current Stability (temperature) Protection Output noise 12 ... 27 V DC non stabilized, measured at the sensor terminals 35 mA max. 4 ... 20 mA equivalent for 0 ... 100 % range ±100 x 10-6 / °C f.s. Reversed polarity, short circuit 0.5 mVRMS Operating temperature EMC -20 ... +85 °C EN 61326-1:2013 Signal Plug connection Cable connection Signal + Signal - 1 2 3 4 5 6 7 8 white brown green yellow grey pink blue red Connection CONN-M12-8F A codification View to soldering side of mating connector CONN-DIN-8F - Check sensor type! - © by ASM GmbH www.asm-sensor.com MAN-WS-E-15 27 POSIWIRE® with Potentiometer Analog Output Signal conditioner PMUV / PMUI Voltage or current output (3 wire) Signal wiring PMUV / PMUI Signal wiring PMUI2 Connection View to soldering side of mating connector Excitation voltage Excitation current Voltage output PMUV Output current Output load Current output P MUI Working resistance Scaling Activation of offset and gain adjust Scalable range Stability (temperature) Operating temperature Protection EMC Signal Excitation + Excitation GND Signal + Signal GND Not used Not used Offset Gain 18 ... 27 V DC 50 mA max. 0 ... 10 V 10 mA max. 1 kΩ min. 4 ... 20 mA (3 wire) 500 Ω max. Connect with excitation GND (0 V) 90% max. f.s. ±50 x 10-6 / °C f.s. -20 ... +85 °C Reversed polarity, short circuit EN 61326-1:2013 Plug Connection Cable connection 8 wire Cable connection 6 wire 1 2 3 4 5 6 7 8 white brown green yellow grey pink blue red white brown green yellow grey pink Signal Plug connection Cable connection 1 2 3 4 5 6 7 8 white brown green yellow grey pink blue red Excitation + Excitation GND Not used Not used Signal + Signal GND ZERO END CONN-M12-8F A codification CONN-DIN-8F - Check sensor type! - 28 MAN-WS-E-15 www.asm-sensor.com © by ASM GmbH POSIWIRE® with Absolute Magnetic Encoder Analog Output U2 Voltage output 0.5 ... 10 V Excitation voltage Excitation current Output voltage Output current Measuring rate Stability (temperature) Protection Operating temperature EMC U8 Voltage output 0.5 ... 4.5 V Excitation voltage Excitation current Output voltage Output current Measuring rate Stability (temperature) Protection Operating temperature EMC I1 Current output 4 ... 20 mA, 3 wire Excitation voltage Excitation current Load RL Output current Measuring rate Stability (temperature) Protection Operating temperature EMC © by ASM GmbH www.asm-sensor.com 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. (typical) Reverse polarity, short circuit -20 ... +85° C EN61326-1:2013 10 ... 36 V DC typ. 17 mA at 24 V DC typ. 32mA 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. (typical) Reverse polarity, short circuit -20 ... +85° C EN61326-1:2013 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. (typical) Reverse polarity, short circuit -20 ... +85° C EN61326-1:2013 MAN-WS-E-15 29 POSIWIRE® with Absolute Magnetic Encoder Analog Output Signal Wiring Signal Plug connection Cable connection Cable connection [BN-WH-BU-BK-GY] [WH-GN-BN-YE-GY] Excitation + Signal GND Do not connect! 1 2 3 4 brown white blue black white green brown yellow ZERO/END (Option PMU) 5 grey grey CONN-M12-8F A codification Connection View to soldering side of mating connector Signal wiring, double-channel, redundant, one connector Signal Excitation + Signal GND ZERO/END (Option PMU) Excitation + Signal GND ZERO/END (Option PMU) Channel Plug connection M12, 8-pin Cable connection 1 1 1 1 1 2 3 4 white brown green yellow 2 2 2 2 5 6 7 8 grey pink blue red CONN-M12-8F A codification Connection View to soldering side of mating connector 30 MAN-WS-E-15 www.asm-sensor.com © by ASM GmbH POSIWIRE® with Incremental Optical Encoder Incremental Output Signal conditioner PP530 Incremental Excitation voltage Excitation current Output frequency Output Output current Output voltage Saturation voltage high/low Stability (temperature) Operation temperature Storage temperature Transition time positive edge Transition time negative edge Protection EMC 5 ... 30 V DC 25 mA typ. (w/o load), 200 mA max. 200 kHz max. Linedriver, Push-Pull, CMOS, TTL and HTL compatible 30 mA max. Depends on the excitation voltage (e.g. to obtain TTL signals the excitation voltage must be 5 V). Compatible to EIA RS422/RS485 Ia <10 mA, UB 5 V/24 V: <0.5 V Ia <30 mA, UB 5 V/24 V: <1 V ±20 x 10-6 / K f.s. (sensor mechanism) -10 ... +70 °C -30 ... +80 °C <200 ns <200 ns Reverse polarity, short circuit *) EN 61326-1:2013 *) Note: Prevent unused output signals (e.g. A, B, Z) from unintenionally beeing shorted with each other or any other voltage like ground, excitation + or shield. Isolate and secure unused output wires. Line driver may get damaged in case of shorted output for unlimited time. Signal wiring Connection View to soldering side of mating connector Signal Plug connection Cable connection Excitation + Excitation GND Signal B (A+90°) Signal A Signal B Signal A Signal Z (reference pulse) Signal Z 1 2 3 4 5 6 7 8 white brown green yellow grey pink blue red CONN-M12-8F A codification CONN-DIN-8F - Check sensor type! - © by ASM GmbH www.asm-sensor.com MAN-WS-E-15 31 POSIWIRE® with Incremental Optical Encoder Incremental Output Signal conditioner IE24LI und IE24HI Incremental Signal wiring Signal conditioner IE41LI and IE41HI Incremental Signal wiring / connection 32 IE24LI IE24HI 5 V DC ±10 % 10 ... 30 V DC 100 mA max. 200 kHz max. Push pull and inverted signals 10 mA max. Depending on the excitation voltage ±20 x 10-6 / K f.s. (sensor mechanism) -20 ... +85 °C Short circuit EN 61326-1:2013 Excitation voltage Excitation current Output frequency Output Output current Output voltage Stability (temperature) Operating temperature Protection EMC Signal Cable connection (WS31/42) Excitation + Excitation GND (0 V) Signal A Signal A Signal B (A + 90°) Signal B Signal Z (reference pulse) Signal Z Brown White Green Yellow Grey Pink Blue Red IE41LI IE41HI 5 V DC ±10 % 10 ... 30 V DC 150 mA max. w/o load 300 kHz max. 200 kHz max. RS422 Push-pull antivalent ±30 mA max. 30 mA Depending on the excitation voltage ±20 x 10-6 / K f.s. (sensor mechanism) -10 ... +70 °C One channel for 1 s Yes EN 61326-1:2013 Excitation voltage Excitation current Output frequency Output Output current Output voltage Stability (temperature) Operating temperature Protection against short circuit EMC Signal Plug connection WS10 Plug connection WS12 1 2 4 6 3 5 7 1 2 3 5 4 6 7 8 8 Excitation + Excitation GND (0 V) Signal A Signal A Signal B Signal B Signal Z (reference pulse) Signal Z MAN-WS-E-15 www.asm-sensor.com View to soldering side of mating connector CONN-M12-8F A codification © by ASM GmbH POSIWIRE® with Incremental Optical Encoder Incremental Output Signal conditioner PP24VC Incremental Signal conditioner LD5VC Incremental Signal wiring / connection Interface Excitation voltage Excitation current Output frequency Output current Signal level Ud High at Id=20 mA, Ub=24 V Ud Low at Id=20 mA, Ub=24 V Transition time positive edge Transition time negative edge Stability (temperature) Operating temperature Protection EMC Interface Excitation voltage Excitation current Output frequency Output current Signal level Ud High at Id=20 mA Ud Low at Id=20 mA Transition time positive edge Transition time negative edge Stability (temperature) Operation temperature Protection EMC Signal Push-pull line driver (24 V-HTL) 10 ... 30 V DC 150 mA max. w/o load 300 kHz max. 100 mA per channel ≥21V ≤2,8 V <200 ns <200 ns ±20 x 10-6 / K f.s. (sensor mechanism) -20 ... +85 °C Reverse polarity, short circuit, overvoltage EN 61326-1:2013 Line driver RS422 5 V DC ±10 % 150 mA max. w/o load 300 kHz max. 20 mA per channel ≥2,5V ≤0,5 V <100 ns <100 ns ±20 x 10-6 / K f.s. (sensor mechanism) -20 ... +85 °C Short circuit, overvoltage EN 61326-1:2013 CONN-CONIN-12F, Plug connection Excitation + Excitation GND (0 V) Signal A Signal A Signal B Signal B Signal Z (reference pulse) Signal Z Fault detection signal Uas Shield © by ASM GmbH www.asm-sensor.com 12 10 5 6 8 1 3 4 7 Housing View to soldering side of mating connector CONN-CONIN-12F MAN-WS-E-15 33 POSIWIRE® with Potentiometer SSI interface Signal conditioner ADSI16 [12/14] A/D converted synchronous serial Interface Excitation voltage Excitation current Clock frequency Code Data format Delay between pulse trains Resolution EIA RS422, RS485, short-circuit proof 11 ... 27 V DC 200 mA max. 70 ... 500 kHz Gray code, continuous progression 24 Bit 30 µs min. 16 bit (65536 counts) f.s.; optional 12 bit resp. 14 bit ±50 x 10-6 / °C f.s. -20 ... +85 °C EN 61326-1:2013 Stability (temperature) Operating temperature EMC Data format (train of 26 pulses) CLK TO DAT Transmission rate Signal wiring Cable length Baud rate < 50 m < 100 m < 300 kHz < 100 kHz Signal Plug connection Cable connection 1 2 3 4 5 6 not connected white brown green yellow grey pink − Excitation + Excitation GND (0 V) CLOCK CLOCK DATA DATA Shield Note: Extension of the cable length will reduce the maximum transmission rate. View to soldering side of mating connector - check connector type! CONN-M12-8F A codification 34 MAN-WS-E-15 www.asm-sensor.com CONN-DIN-8F © by ASM GmbH POSIWIRE® with Magnetic Absolute Encoder SSI interface MSSI Synchronous serial SSI MSSI12/14/16*) Interface Excitation voltage Excitation current EIA RS-422 8 ... 36 V DC typ. 19/35 mA at 24/12 V max. 80 mA 100 kHz ... 500 kHz Gray-Code, continuous progression 24 Bit TO ≥ 20 µs min. ±50 x 10-6 / °C f.s. (typ.) -20 ... +85 °C Short circuit, Reverse polarity EN61326-1:2013 Clock frequency Code Data format Delay between pulse trains Stability (temperature) Operating temperature Protection EMC *) MSSI12/14/16 replaces ADSI/ADSI14/ADSI16 CLK Data format (train of 26 pulses) TO DAT Transmission rate Signal wiring/ Connection Cable length Baud rate 50 m 100 m Signal Excitation + Excitation GND CLOCK CLOCK DATA DATA − − 100-400 kHz 100-300 kHz Plug connection Cable connection 1 2 white brown 3 4 5 6 7 8 green yellow grey pink blue red © by ASM GmbH www.asm-sensor.com Note: Extension of the cable length will reduce the maximum transmission rate. View to soldering side of mating connector CONN-M12-8F A codification MAN-WS-E-15 35 POSIWIRE® with Optical Absolute Encoder SSI interface Signal conditioner TSSI2 Absolute encoder synchronous serial Interface Excitation voltage Excitation current Clock frequency Code Format Delay between pulse trains Stability (temperature) Operating temperature EMC Data format (train of 26 pulses) EIA RS422, RS485, short-circuit proof 10 ... 30 V DC 200 mA max. 100 kHz ... 1 MHz Gray code, continuous progression 24 Bit 12 to 35 µs ±20 x 10-6 / °C f.s. (sensor mechanism) -20 ... +85 °C EN 61326-1:2013 CLK TO DAT Transmission rate Signal wiring Cable length Baud rate 50 m 100 m 100-1000 kHz 100-300 kHz Signal Plug connection Excitation + Excitation GND (0 V) CLOCK CLOCK DATA DATA Direction 1) Reset 2) 7 10 8 9 14 17 2 5 Note: Extension of the cable length will reduce the maximum transmission rate. View to soldering side of mating connector CONN-CONIN-17F Permanent connecting to Excitation + will reverse the rotating direction. 1) A positive edge >1 ms will reset the actual position value. 2) 36 MAN-WS-E-15 www.asm-sensor.com © by ASM GmbH POSIWIRE® with Optical Absolute Encoder SSI interface Signal conditioner HSSI Absolute encoder synchronous serial Data format (train of 26 pulses) Excitation voltage Excitation current Interface Lines / drivers Code Resolution Data format 3 dB cutoff frequency Control input Preset key Alarm output Status LED Connection EMC 10 ... 30 V DC 100 mA Standard SSI Clock and data / RS422 Gray 24 Bit 24 Bit 500 kHz Direction Zero adjustment with optical response Alarm bit (SSI option), warning bit Green = OK, red = alarm 12 pin male socket EN 61326-1:2013 CLK TO DAT Transmission rate Signal wiring Cable length Baud rate < 50 m < 100 m < 200 m < 400 m < 400 kHz < 300 kHz < 200 kHz < 100 kHz Signal Cable connection Plug connection white brown yellow green pink grey blue black 8 1 3 11 2 10 5 12 Excitation + Excitation GND (0 V) CLOCK CLOCK DATA DATA Direction * 0 V Signal output * unconnected or Excitation + 0 V Note: Extension of the cable length will reduce the maximum transmission rate. = cw increasing code = cw decreasing code View to soldering side of mating connector CONN-CONIN-12F © by ASM GmbH www.asm-sensor.com MAN-WS-E-15 37 POSIWIRE® with Magnetic Absolute Encoder CANopen MCANOP CANopen Communication profile Encoder profile Configuration services Bus connection Integrated bus terminating resistor Bus, galvanic isolated 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 Adjustable via LSS; default: 127 3 TxPDO, 0 RxPDO, no linking, static mapping Event-/Time triggered, Remote-request, Sync cyclic/acyclic 1 server, 0 client 8 cams Yes 50 kbit to 1 Mbit, adjustable via LSS; default: 125 kbit M12 connector, 5 pins 120Ω (adjustable by the customer) No Excitation voltage Excitation current Measuring rate Stability (temperature) Repeatability Operating temperature Protection EMC 8 ... 36 V DC Typ. 20/40 mA for 24/12 V, max. 80 mA 1 kHz (asynchronous) ±50 x 10-6 / °C f.s. 1 LSB -20 ... +85 °C Reverse polarity, short circuit According to EN 61326-1:2013 Error Control Node ID PDO PDO Modes SDO CAM Certified Transmission rates Specifications Signal wiring 38 Signal Shield Excitation + GND CAN-H CAN-L Plug connection 1 2 3 4 5 MAN-WS-E-15 www.asm-sensor.com View to soldering side of mating connector CONN-M12-5F A codification © by ASM GmbH POSIWIRE® with Magnetic Absolute Encoder 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. © by ASM GmbH www.asm-sensor.com MAN-WS-E-15 39 POSIWIRE® with Magnetic Absolute Encoder 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 Byte7 Data Frame max 8 Byte 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). 40 MAN-WS-E-15 www.asm-sensor.com © by ASM GmbH POSIWIRE® with Magnetic Absolute Encoder 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 © by ASM GmbH www.asm-sensor.com MAN-WS-E-15 41 POSIWIRE® with Magnetic Absolute Encoder CANopen Device profile „Linear Encoder“ CiA 406 Single and 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 lsb md = 0/1 sfc = 0/1 42 Measuring direction in / out Scaling function disabled/enabled MAN-WS-E-15 www.asm-sensor.com © by ASM GmbH POSIWIRE® with Magnetic Absolute Encoder 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 Baud Rate [kbit/s] 1000 800 500 250 125 50 © by ASM GmbH www.asm-sensor.com MAN-WS-E-15 43 POSIWIRE® with Magnetic Absolute Encoder 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 44 MAN-WS-E-15 www.asm-sensor.com © by ASM GmbH POSIWIRE® with Magnetic Absolute Encoder 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 © by ASM GmbH www.asm-sensor.com MAN-WS-E-15 45 POSIWIRE® with Magnetic Absolute Encoder CANopen Configuration Example 2 - screenshot 46 MAN-WS-E-15 www.asm-sensor.com © by ASM GmbH POSIWIRE® with Magnetic Absolute Encoder 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 ... ... ... ... ... ... ... © by ASM GmbH www.asm-sensor.com MAN-WS-E-15 47 POSIWIRE® with Magnetic Absolute Encoder CANopen CAM function CAM Status activ Hysteresis Hysteresis 1 inactive 0 High Limit Signal wiring / connection CAN bus wiring Signal Shield Excitation + GND CAN-H CAN-L Low Limit Plug connection Cable connection 1 2 3 4 5 braid brown white blue black Position 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 48 MAN-WS-E-15 www.asm-sensor.com © by ASM GmbH POSIWIRE® with Magnetic Absolute Encoder CAN SAE J1939 MCANJ1939 CAN SAE J1939 NAME Fields Parameter Group Numbers (PGN) Specifications Signal wiring 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 (adjustable by the customer) 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 EF00h Process data PGN FFnnh Excitation voltage Excitation current Measuring rate Stability (temperature) Repeatability Operating temperature Protection Dielectric strength EMC 8 ... 36 V DC Typ. 20/40 mA for 24/12 V, max. 80 mA 1 kHz (asynchronous) ±50 x 10-6 / °C f.s. 1 LSB -20 ... +85 °C Reverse polarity, short circuit 1 kV (V AC, 50 Hz, 1 min.) EN 61326-1:2013 Signal Plug connection Shield Excitation + GND CAN-H CAN-L 1 2 3 4 5 © by ASM GmbH www.asm-sensor.com Yes Global Non specific Non specific Manufacturer ID Serial number 21 bit Proprietary-A (PDU1 peer-to-peer) Proprietary-B (PDU2 broadcast); nn Group Extension (PS) configurable View to soldering side of mating connector CONN-M12-5F A codification MAN-WS-E-15 49 POSIWIRE® with Magnetic Absolute Encoder 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 50 cc MAN-WS-E-15 www.asm-sensor.com © by ASM GmbH POSIWIRE® with Magnetic Absolute Encoder 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 © by ASM GmbH www.asm-sensor.com MAN-WS-E-15 51 POSIWIRE® with Magnetic Absolute Encoder 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 Read / Write Unit rd/wr ms rd/wr rd/wr rd/wr steps 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 *) *) B5 B4 B3 MSB B2 B1 Position value B0 LSB Error codes: 0 = no error, 1 = error 52 B6 MAN-WS-E-15 www.asm-sensor.com © by ASM GmbH POSIWIRE® with Magnetic Absolute Encoder 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 © by ASM GmbH www.asm-sensor.com MAN-WS-E-15 53 POSIWIRE® with Magnetic Absolute Encoder CAN SAE J1939 Interface HCAN/HCANOP Absolute encoder CANopen/CAN Layer 2 Excitation voltage Excitation current Interface Protocol Resolution Output code Data refresh Baud rate Base identifier Programmability Integrated special functions Connection EMC Signal wiring Signal 10 ... 30 V DC 250 mA CAN highspeed according to ISO/DIS 11898 CANopen according DS301 with encoder profile DSP406, programmable encoder according class C2 12 (10 ... 14) + 12 bit Binary Every millisecond (selectable), on request Selectable 10 up to 1000 kbit/s Selectable via DIP switch CANopen: direction, resolution, preset, offset CAN L2: direction, limit values CANopen: velocity, acceleration, rotary axis, limit values CAN L2: direction, limit values Bus cover with T manifold EN 61326-1:2013 Cable terminal no. (bus cover) UB in 0V in CAN in – CAN in + CAN GND in CAN GND out CAN out + CAN out – 0V out UB out 1 2 3 4 5 6 7 8 9 10 Notes: Download of the manual and the configuration file of the encoder at the ASM website www.asm-sensor.com in the “Downloads” section (hcanop_de_en.zip). The encoder parameters must be set before operation! In the subsequent electronics the 12 bit LSB resolution of the data sheet must be considered as a scaling factor. If the encoder is set to another single turn resolution, the scaling factor is the result of the resolution of the cable drum of the WS sensor per r evolution and the resolution of the encoder. Example: WS19KT-15000 with angle encoder 13 bit/revolution, distance/revolution 600 mm Scaling factor: 600 mm / 2^13 = 600 mm / 8192 = 0,073242 mm / Bit (= LSB resolution) 54 MAN-WS-E-15 www.asm-sensor.com © by ASM GmbH POSIWIRE® with Optical Absolute Encoder DeviceNet Interface HDEV Absolute encoder DeviceNet Excitation voltage Excitation current Interface Protocol Resolution Output code MAC-ID Date refresh Baud rate Programmability Bus terminating resistor Connection EMC Recommended transmission Transmission rate Signal wiring Characteristic impedance Operating capacity Loop resistance Wire diameter Wire width Segment length 10 ... 30 V DC 250 mA CAN highspeed according to ISO/DIS 11898 CAN specification 2.0 A (11 bit identifier) DeviceNet according rev. 2.0, programmable encoder 12 (10 ... 14) + 12 bit Binary Selectable via DIP switch Every 5 ms Selectable via DIP switch: 125 kBaud, 250 kBaud, 500 kBaud Resolution, preset, direction Selectable via DIP switch Bus cover with T manifold EN 61326-1:2013 135 ... 165 Ω (3 ... 20 MHz) < 30 pF < 110 Ω/km > 0.63 mm > 0.34 mm2 Kbit/s 500 m 250 m 100 m 125 250 500 Signal Cable terminal no. (bus cover) UB in 0V in CAN-L CAN-H Drain Drain CAN-H CAN-L 1 2 3 4 5 6 7 8 Notes: Download of the manual and the configuration file of the encoder at the ASM website www.asm-sensor.com in the “Downloads” section (hdev_de_en.zip). The encoder parameters must be set before operation! In the subsequent electronics the 12 bit LSB resolution of the data sheet must be considered as a scaling factor. If the encoder is set to another single turn resolution, the scaling factor is the result of the resolution of the cable drum of the WS sensor per r evolution and the resolution of the encoder. Example: WS19KT-15000 with angle encoder 13 bit/revolution, distance/revolution 600 mm Scaling factor: 600 mm / 2^13 = 600 mm / 8192 = 0,073242 mm / Bit (= LSB resolution) © by ASM GmbH www.asm-sensor.com MAN-WS-E-15 55 POSIWIRE® with Optical Absolute Encoder Profibus DP Interface HPROF Absolute encoder Profibus Excitation voltage Excitation current Interface Protocol Resolution Output code Baud rate Programmability Integrated special functions Bus terminating resistor Connection EMC Signal wiring 10 ... 30 V DC 250 mA RS485 Profibus DP with encoder profile C2 12 (10 ... 14) + 12 bit Binary Automatically selected between 9,6 kBaud and 12 MBaud Resolution, preset, direction Velocity, acceleration, operating time Selectable via DIP switch Bus cover with T manifold EN 61326-1:2013 Signal Cable terminal no. (bus cover) UB in 0V in UB out 0V out B in A in B out A out 1 2 3 4 5 6 7 8 Notes: Download of the manual and the configuration file of the encoder at the ASM website www.asm-sensor.com in the “Downloads” section (hprof_de_en.zip). The encoder parameters must be set before operation! In the subsequent electronics the 12 bit LSB resolution of the data sheet must be considered as a scaling factor. If the encoder is set to another single turn resolution, the scaling factor is the result of the resolution of the cable drum of the WS sensor per r evolution and the resolution of the encoder. Example: WS19KT-15000 with angle encoder 13 bit/revolution, distance/revolution 600 mm Scaling factor: 600 mm / 2^13 = 600 mm / 8192 = 0,073242 mm / Bit (= LSB resolution) 56 MAN-WS-E-15 www.asm-sensor.com © by ASM GmbH POSIWIRE® with Optical Absolute Encoder Interbus Interface HINT Absolute encoder Interbus Excitation voltage Excitation current Interface Output code Baud rate Data refresh Resoution Programmability Connection EMC Differential signals (RS485) ENCOM profile K3, K2, 32 Bit, binary process data Data format Interbus K2/K3 DT-Format (according to the Phoenix company) ID code K2 ID code K3 Signal wiring 10 ... 30 V DC 250 mA Interbus, ENCOM profile K3 (configurable), K2 32 Bit binary 500 kBaud Every 600 µs 12 (10 ... 14) + 12 bit Direction, preset, offset, resolution Bus cover with T manifold EN 61326-1:2013 Sµpi address 0 Byte No. 3 36 H (= 54 dec.) 37 H (= 55 dec.) 1 2 2 1 Signal Cable terminal no. (bus cover) UB + GND DI1 DI1 DO1 DO1 DO2 DO2 DI2 DI2 RBST GND 1 2 3 4 5 6 7 8 9 10 11 12 © by ASM GmbH www.asm-sensor.com MAN-WS-E-15 3 0 57 POSIWIRE® Appendix – Output Information Voltage divider R1K Potentiometer The metal wiper of the potentiometer must be protected against current load! Electrical current flow impact on the wiper causes linearity errors and shortens the lifetime of the potentiometer. The output signal is the ratiometric voltage of a potentiometer. The potentiometer is supplied by a reference voltage source. The ratio of the output signal to the reference voltage is proportional to the measuring cable extension. For optimum performance of the sensor 94% (3% to 97%) of the potentiometers total span is used for the specified measurement range. Provision for setting the electrical zero and voltage amplification must be made in the subsequent signal processing circuit. Suggested output circuit Voltage output 0 ... 10 V (10V) (Reference voltage) This output signal is 0 to 10 Volts proportional to the measuring cable extension of 0 to 100%. This is an industry standard output which is widely accepted because of its simple signal processing and suitability for all display, recording and automation systems. For analog signal processing the voltage output is the proven best choice, e.g. for Waveform Analyzers, Data Loggers and for analog and digital Oscilloscopes. ASM´s 0...10 V output supports a wide range of excitation voltages and is well protected against electromagnetic interference. Suggested output circuit 10V 3 wire 10V 4 wire 58 MAN-WS-E-15 www.asm-sensor.com © by ASM GmbH POSIWIRE® Appendix – Output Information Current output 4 ... 20 mA (420A) (2 wire) This output signal is a 4 to 20 mA current loop proportional to the measuring cable extension of 0 to 100%. It is an industry standard two-wire system for the transmission of measured values. The current loop is both measurement signal and sensor excitation current. The measured value is represented as a voltage drop across a load resistor RM. The current is constant and the signal cable resistance (RL) will have no effect on the measured value. Therefore long signal cables can be used, limited only by the cable resistance (impedance). Signal cable disconnection or failure can be detected by a 0 mA current signal. RL (cable resistance) Suggested output circuit 420A Current output 4 ... 20 mA (420T) (3 wire) This output signal is a 4 to 20 mA current loop (alternatively 0 to 20 mA) proportional to the measuring cable extension of 0 to 100%. The 3 wire current loop system is especially resistant to electromagnetic interference because of the separate sensor excitation and the low resistance (impedance) of the signal processing electronics. As in the two-wire system the measured value is represented as a voltage drop across a load resistor RM and is, within limits, independent of the cable resistance (impedance). Suggested output circuit 420T © by ASM GmbH www.asm-sensor.com MAN-WS-E-15 59 POSIWIRE® Appendix – Output Information Programming of the start and end value by the customer Option -PMUI, -PMUV Two-wire programming Teach-In of start and end value for the options PMUI and PMUV is provided by two binary signals ZERO and END. At the start position connect signal ZERO for a short period to GND via push button. At the end position connect signal END for a short period to GND. The teached positions will be stored non-volatile. To reset the sensor to factory default both signals ZERO and END must be connected to ground while powering up the sensor. Excitation + Signal + PMUI PMUV ZERO END Signal GND Excitation GND Option –U2/PMU, -I1/PMU, -U8/PMU Single-wire programming Teach-In of start and end value for the options U2/PMU, I1/PMU, U8/PMU is provided by a binary signal ZERO/END. At the start position connect signal ZERO/END for a period of 2 … 3 seconds to GND via push button. At the end position connect signal ZERO/END 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. Excitation + Signal U2/PMU I1/PMU U8/PMU ZERO/END GND 60 MAN-WS-E-15 www.asm-sensor.com © by ASM GmbH POSIWIRE® Appendix – Output Specifications SSI Interface The data is transmitted with the use of both the CLOCK and DATA signals. The system controller (PLC, microcomputer) sends the CLOCK signal which also determines the data transmission rate. With the first falling edge of the CLOCK signal, the position data is captured. The next rising edges control the A/D conversion, encoding and release of data word. After a time delay, the next new position data will be transmitted. Warning Note: If the GND (0V) signal connection is missing the signals DATA and DATA will rise to the potential of the excitation voltage. This may damage the input circuit of the subsequent processing unit if this unit is not connected with galvanic isolation (e.g. opto-coupling devices). This will happen especially when the mating connector is disconnected while power is on. Wiring Sensor Subsequent processing unit DATA DATA CLOCK CLOCK © by ASM GmbH www.asm-sensor.com MAN-WS-E-15 61 POSIWIRE® Appendix Reliability Characteristics Models with magnetic encoder WS7.5, WS10, WS12, WS61, WS85, WS21, WS100M Outputs single-channel (with magnetic encoder) 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 (with magnetic encoder) 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 UBREF= 24 V, Reference Temperature ϑREF= 60 °C 62 MAN-WS-E-15 www.asm-sensor.com © by ASM GmbH POSIWIRE® Appendix Declaration of Conformity Declaration of Conformity WeASM GmbH Am Bleichbach 18 - 24 85452 Moosinning Germany declare under our sole responsibility that the product Name:Position sensor Type:WS7.5, WS10, WS12, WS17KT, WS19KT, WS31, WS42, WS58C, WS60, WS61, WS85, WS21, WS100M to which this declaration relates is in conformity with the following standards or other normative documents: Directives: 2014 96/79 Standards: EN 61326-1:2013 (EMV) Moosinning, 8th 07.2015 p.p. Peter Wirth Head of Development © by ASM GmbH www.asm-sensor.com MAN-WS-E-15 63 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 2.0.0 / 07.2015 Subject to change without notice. See protection note DIN 34 !