POSIROT® / PRDS Digital Magnetic Angle Sensors Instruction Manual Please read carefully before installation and operation! POSIROT® – PRDS Instruction Manual Contents Contents 2 Safety instructions 3 Intended use 4 Unintended use 4 Description5 Mounting5 Placement and alignment of the position magnet 5 Reference position 6 Torque for the mounting screws 6 Electrical installation 7 Outline drawings 8 Fixing of the PRAS27 with a shield plate 18 Specification of the outputs 19 RS422 19 HTL 20 SSI 21 CANopen 22 CAN SAE J1939 26 Accessories31 Accessory cables 38 Position magnets 40 Assembly of the magnets 43 Mounting plates 44 Coupling MK4 46 Service, calibartion, disposal 47 Reliability Characteristics 48 Declaration of conformity 49 MAN-PRDS-E-15 www.asm-sensor.com © by ASM GmbH POSIROT® – PRDS Instruction Manual Safety instructions Safety instructions If total failure or malfunction of the sensor can cause danger or injury to the operator or damage to the machinery or equipment it is recommended that additional safety measures should be incorporated into the system. Any alteration, reconstruction or extension of the sensor is not allowed. Sensor must be operated only within values specified in the datasheet. Connection to power supply must be performed in accordance with safety instructions for electrical facilities and performed only by trained staff. Disregard of this advice can lead to malfunctions, damage to property or personal injury and releases the manufacturer from product liability. WARNING, Risk of Injury: Indicates a potentially hazardous situation, which, if not avoided, could result in serious injury or property damage. Explanation of used safety signs and signal words DANGER WARNING, Risk of Personal Injury or Death: Indicates a situation that can result in serious personal injury or death if not properly avoided. WARNING WARNING, Risk of Personal Injury or Death: Indicates a situation that can result in moderate personal injury or death if not properly avoided. CAUTION WARNING, Risk of Personal Injury: Indicates a situation that can result in minor personal injury if not properly avoided. NOTICE WARNING, Risk of Property Damage: Indicates a situation that can result in minor to major property damage if not properly avoided. © by ASM GmbH www.asm-sensor.com MAN-PRDS-E-15 3 POSIROT® – PRDS Instruction Manual Intended use Intended use The angle sensor was intended for angular position measurement, when properly mounted and used in the specified 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 incorrectly mounted. Maintenance and service Maintenanceinterval • In order to avoid risk of injury and improper handling the customer is not allowed to repair the sensor. No warranty or liability will be granted for opened sensors. • Damaged sensors must be shut down immediately and sent to the factory for repair. Proper maintenance comprises the visual examination of parts (e.g. integrity of housing, connectors and cables). Maintenance intervals depend on the specific application and should be defined by the user in dependance of operating conditions. The following maintenance steps are recommended: Integrity of housing, connector, cable Mounting elements PRDS2 X X PRDS3 X X PRDS5 X X PRDS5-V X X PRMAG20 X PRMAG21 X PRMAG22 X PRMAG5Z X Measures Damaged parts: Put sensor out of service and replace damaged parts resp. send sensor to ASM for repair Loose mounting parts: Screw tight mounting parts with recommended torque, if applicable use bolt adhesive Visual check of shaft sealing X X Damaged shaft sealing: Put sensor out of service and send it to ASM for repair Deinstallation Disconnect electrical connections. Loosen fixing screws. Disposal Disposal according to applicable government regulations. 4 MAN-PRDS-E-15 www.asm-sensor.com © by ASM GmbH POSIROT® – PRDS Instruction Manual Description / Mounting Description The angle sensors PRDS of the POSIROT® product family perform touchless or shaft based angle measurement. A position magnet rotates in front of the sensing area of the sensor head. The angular position is converted into a standardized incremental output. Resolutions up to 1024 pulses per revolution are available. Mounting For non-contact sensor models air gap and alignment of sensor and position magnet has to be observed. The linearity will degrade in case of misalignment. Adjacent magnetic fields or ferromagnetic materials can influence the measurement results of the PRDS sensors of the POSIROT® product family. Therefore the angle sensors should be mounted solely with nonmagnetic / non magnetisable shims and screws. The angle sensors PRDS2, PRDS3 and PRDS5 are equipped with an integrated magnetic shield which minimizes the sensitivity against external magnetic fields. Optional shield plates are available for the angle sensor PRDS27. They can decrease the effect of residual magnetizing in case the sensor has to be mounted on a ferromagnetic material (see page 18). It is however not possible to exclude the effect of lateral external magnetic fields. Mechanical information PRDS1, PRDS2, PRDS3, PRDS5 NOTICE • • Prevent the sensor shaft from binding. Use shaft couplings resp. torque arms (e.g. flexible ones) to avoid misalignment errors. Mechanical information PRDS27 NOTICE • Mount the sensor on a flat surface. • Do not deform the sensor housing! Placement and alignment of the position magnet © by ASM GmbH www.asm-sensor.com MAN-PRDS-E-15 5 POSIROT® – PRDS Instruction Manual Mounting Mounting (continuation) Reference position incremental output For ease of mounting there are reference markings at housing, position magnet or shaft. If both markings match, the reference output Z / Z will be activated. Reference position SSI output The zero point of the characteristic is given when markings on magnet and housing match. Reference position CAN output (CANopen, J1939) The average value of the characteristic is given when markings on magnet and housing match. The characteristic can be defined by configuration via CAN bus. Measuring error by misalignment of the position magnet Sensor PRDS1 PRDS2 PRDS5 PRDS27 Position magnet Air gap [mm] Parallelism [°] Error by axial misalignment [°] 0,2 mm 0,5 mm 1 mm 2 mm 3 mm 4 mm PRMAG20 0 ... 4,5 0 ... 5 0,15 0,4 0,8 2,2 5,0 – PRMAG21 0 ... 2,0 0 ... 5 0,2 0,4 1,0 3,8 10 – PRMAG22 0 ... 7,5 0 ... 5 0,1 0,4 1,0 2,2 4,5 8,0 PRMAG20 0 ... 4 0 ... 5 0,15 0,4 0,8 2,2 5,0 – PRMAG21 0 ... 1,5 0 ... 5 0,2 0,4 1,0 3,8 10 – PRMAG22 0 ... 7 0 ... 5 0,1 0,4 1,0 2,2 4,5 8,0 PRMAG5-Z 0 ... 5,5 0 ... 5 0,1 0,2 0,6 1,5 4,5 8,5 PRMAG20 0 ... 3,5 0 ... 5 0,15 0,4 0,8 2,2 5,0 – PRMAG21 0 ... 1 0 ... 5 0,2 0,4 1,0 3,8 10 – PRMAG22 0 ... 6,5 0 ... 5 0,1 0,4 1,0 2,2 4,5 8,0 PRMAG20 0 ... 4,5 0 ... 5 0,15 0,4 0,8 2,2 5,0 – PRMAG22 0 ... 7,5 0 ... 5 0,0 0,0 0,7 1,5 3,8 7,0 b b 6 c a a c MAN-PRDS-E-15 www.asm-sensor.com © by ASM GmbH POSIROT® – PRDS Instruction Manual Electrical installation Torque for fixing screws The specified torques and mounting methods are general recomendations and can differ according to application and operating conditions. Torque Mounting method Material Torque [Nm] Nuts M12x1 (PRDS1) – 2.5 M2,5 screws for mounting brackets (PRDS2, PRDS3) – 0.8 M3 screws for mounting flange (PRDS3) – 1.2 M4 screws (PRDS27) – 1 M8 screws (PRDS5) – <10 Electrical installation Supply voltage, current consumption, wiring For wiring of connector or cable outlet as well as supply voltage and current consumption refer to chapter „Specification of the outputs“ at the end of this manual.Cable screen has to be connected to protective earth. NOTICE Caution: Observe different color code for pre-assembled accessory cables - refer to accessories pages. The protection class of sensors with connector output is valid only if the electrical plug is connected! Caution: Do not twist the M12 connector insert. Do not strain the connection cable. A separate cord grip is recommended. Cable outputs must be installed in such a way that no moisture can get into the cable.Crossing the dew point must be avoided. Rotational speed limit by resolution and maximum pulse frequency Resolution [periods per turn] Rotational speed for maximum pulse frequency [rpm] 50 kHz 200 kHz 1024 1500 6000 512 3000 10000 *) 256 6000 10000 *) 128 10000 *) 10000 *) 64 10000 *) 10000 *) 32 10000 *) 10000 *) 16 10000 *) 10000 *) *) Speed limited by mechanical restrictions of the rotating magnet © by ASM GmbH www.asm-sensor.com MAN-PRDS-E-15 7 POSIROT® – PRDS Instruction Manual Outline drawings Outline drawing PRDS1 Connector version M12 connector Marking Position magnet Measuring area Position magnet Dimensions in mm [inch] Marking Outline drawing PRDS1 Cable version Marking Measuring area Position magnet Dimensions in mm [inch] Weight without cable 20 g approx. Dimensions informative only. For guaranteed dimensions consult factory. 8 MAN-PRDS-E-15 www.asm-sensor.com © by ASM GmbH POSIROT® – PRDS Instruction Manual Outline drawings >15 Mounting PRDS1 Flush-mounted bündig Non-magneticMaterial material nicht magnetisches Reference position Surface-mounted nicht bündig Magnetic material magnetisches Material Marking Markierung Markierung Marking A zero imlpuls Z, Z (see pages 19/20) is generated at the reference position. © by ASM GmbH www.asm-sensor.com MAN-PRDS-E-15 9 POSIROT® – PRDS Instruction Manual Outline drawings Outline drawing PRDS2 Cable version Marking Position magnet Measuring area Dimensions in mm [inch] Weight without cable 40 g approx. Dimensions informative only. For guaranteed dimensions consult factory. Marking Markierung Markierung Marking Reference position A zero imlpuls Z, Z (see pages 19/20) is generated at the reference position. 10 MAN-PRDS-E-15 www.asm-sensor.com © by ASM GmbH POSIROT® – PRDS Instruction Manual Outline drawings Outline drawing PRDS2 Connector version M12 axial Marking Connector M12 Position magnet Measuring area Dimensions in mm [inch] Weight without cable 50 g approx. Dimensions informative only. For guaranteed dimensions consult factory. Reference position Markierung Marking Marking Markierung A zero imlpuls Z, Z (see pages 19/20) is generated at the reference position. © by ASM GmbH www.asm-sensor.com MAN-PRDS-E-15 11 POSIROT® – PRDS Instruction Manual Outline drawings Outline drawing PRDS2 Connector version M12 radial Connector M12 Marking Position magnet Measuring area Dimensions in mm [inch] Weight without cable 50 g approx. Dimensions informative only. For guaranteed dimensions consult factory. Reference position Markierung Marking Markierung Marking A zero imlpuls Z, Z (see pages 19/20) is generated at the reference position. 12 MAN-PRDS-E-15 www.asm-sensor.com © by ASM GmbH POSIROT® – PRDS Instruction Manual Outline drawings Outline drawing PRDS3 Shaft Marking Connector M12 Connector M12 Dimensions in mm [inch] Weight without cable 250 g approx. Dimensions informative only. For guaranteed dimensions consult factory. Reference position Flat area Marking (back side) Marking Marking (back side) A zero imlpuls Z, Z (see pages 19/20) is generated at the reference position. © by ASM GmbH www.asm-sensor.com MAN-PRDS-E-15 13 POSIROT® – PRDS Instruction Manual Outline drawings Outline drawing PRDS3 Hollow shaft 7 [.276] Markierung Marking 63 [2.480] 3 [.118] Ø33 [1.299] 47 [1.850] 2,5 [.098] 7 [.276] 2,5 [.098] 33 [1.299] ,0 1 +0 -0 6 4 x M3-5 [.197] 2 5 00 + .0 -0 [ 6 . 23 ] 52 [2.047] Ø36 [1.417] 7 [.276] Connector M12 Markierung Marking 6 0 ,0 5 [1. 0 24 .0 02] Connector M12 Dimensions in mm [inch] Weight without cable 250 g approx. Dimensions informative only. For guaranteed dimensions consult factory. Reference position Flat area Marking (back side) Marking Marking (back side) A zero imlpuls Z, Z (see pages 19/20) is generated at the reference position. 14 MAN-PRDS-E-15 www.asm-sensor.com © by ASM GmbH POSIROT® – PRDS Instruction Manual Outline drawings Outline drawing PRDS5 Connector M12 axial 6 6 48 0,05 +0 -0 ,1 [ 2.598 +0 - .0 04 [1.8 90 .0 02] ] Marking Markierung Position magnet Positionsmagnet 15 [.591] Ø9 [.354] Connector M12 M12-Stecker 34 [1.339] 20 [.787] 10 [.394] Meßfläche Measuring area Dimensions in mm [inch] Dimensions informative only. For guaranteed dimensions consult factory. Reference position Marking Markierung Marking Markierung Markierung Marking Marking Markierung A zero imlpuls Z, Z (see pages 19/20) is generated at the reference position. © by ASM GmbH www.asm-sensor.com MAN-PRDS-E-15 15 POSIROT® – PRDS Instruction Manual Outline drawings Outline drawing PRDS5 Connector M12 radial Dimensions in mm [inch] 48 0,0 5 [1 +0 ,1 66 - 0 Markierung Marking 0 .8 9 .00 [2.598 2] +0 4 - .00 ] Ø15 [.591] Meßflächearea Measuring M12-Stecker Connector M12 10 [.394] 20 [.787] 10 [.394] Positionsmagnet Position magnet Ø9 [.354] 13 [.512] Dimensions informative only. For guaranteed dimensions consult factory. Reference position Marking Markierung Markierung Marking Markierung Marking Markierung Marking A zero imlpuls Z, Z (see pages 19/20) is generated at the reference position. 16 MAN-PRDS-E-15 www.asm-sensor.com © by ASM GmbH POSIROT® – PRDS Instruction Manual Outline drawings Outline drawing PRDS27 Position magnet Dimensions in mm [inch] 10 [.394] 49,5 0,1 [1.949 .004] 5,2 [.205] Position magnet for screws according DIN 912-M4 (ISO 4762) or DIN 6912-M4 or [.2 4 8] Ø7,8 [.307] ,3 Ø5 [.197] 60° R6 18,2 [.717] 30 [1.181] 45,5 [1.791] 38 [1.496] Marking DIN 7984-M4 Measuring area Cable 5 [.197] 22 [.866] For all sensors with cable: Cable diameter Min. bending radius Ø 5,2 mm in motion not in motion 10 x cable diameter, 10 million cycles 5 x cable diameter © by ASM GmbH www.asm-sensor.com MAN-PRDS-E-15 17 POSIROT® – PRDS Instruction Manual Fixing of the PRDS27 with a shield plate Reference position PRDS27 Markierung Marking Markierung Markierung Markierung Marking Strain relief Zugentlastung A zero imlpuls Z, Z (see pages 19/20) is generated at the reference position. Fixing of the PRDS27 with a shield plate (optional) PRDS27 PRDS27 Shield plate 18 MAN-PRDS-E-15 www.asm-sensor.com © by ASM GmbH POSIROT® – PRDS Instruction Manual Output RS422 RS422 Incremental Interface Excitation voltage Excitation current Pulse frequency Output signals Output current Stability (temperature) Operating temperature Protection EMC RS422 5 V ±10 % (RS5V); 12...36 V (RS24V) 100 mA max., depending on the load 50, 200, 800 kHz A, A, B, B, Z, Z Push-Pull 60 mA max. ±50 x 10-6 / °C f.s. (typ.) -40 ... +85 °C Short circuit EN 61326-1:2013 Output signals Excitation + Excitation GND Signal A Signal A RS422 Signal B Signal B Signal Z (ref. pulse) Signal Z Pulse sequence for clockwise rotation CW in view of shaft or active front of sensor. The subsequent counting device must be able to process the specified maximum pulse fequency of the sensor. Signal wiring Signal Plug connection Cable connection 1 2 4 6 3 5 7 8 white brown yellow pink green grey blue red Excitation + GND A A B B Z Z View to sensor connector M12A8 / M12R8 © by ASM GmbH www.asm-sensor.com MAN-PRDS-E-15 19 POSIROT® – PRDS Instruction Manual Output HTL HTL Incremental Interface Excitation voltage Excitation current Pulse frequency Output signals Output current Stability (temperature) Operating temperature Protection EMC HTL 12...36 V 100 mA max., depending on the load 50, 200, 800 kHz A, A, B, B, Z, Z Push-Pull 50 mA max. ±50 x 10-6 / °C f.s. (typ.) -40 ... +85 °C Short circuit EN 61326-1:2013 Output signals Excitation + Excitation GND Signal A Signal A HTL Signal B Signal B Signal Z (ref. pulse) Signal Z Pulse sequence for clockwise rotation CW in view of shaft or active front of sensor. The subsequent counting device must be able to process the specified maximum pulse fequency of the sensor. Signal wiring Signal Plug connection M12A5 / M12R5 Plug connection M12A8 / M12R8 Cable connection 1 3 2 1 2 4 6 3 5 7 8 white brown yellow pink green grey blue red Excitation + GND A A B B Z Z 4 5 View to sensor connector M12A5 / M12R5 20 MAN-PRDS-E-15 www.asm-sensor.com M12A8 / M12R8 © by ASM GmbH POSIROT® – PRDS Instruction Manual Output SSI SSI Synchronous serial Interface Excitation voltage Excitation current Clock frequency Code Resolution Delay between pulse trains Stability (temperature) Operating temperature Protection EMC EIA RS-422 5 V ±10 % (SSI5V); 12...36 V (SSI24V) 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 EN 61326-1:2013 Data format (Train of 13 pulses) Recommended processing input circuit DATA DATA CLOCK CLOCK Cable length 50 m 100 m Signal wiring Baud rate 100-1000 kHz 100-300 kHz 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 output 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 © by ASM GmbH www.asm-sensor.com MAN-PRDS-E-15 21 POSIROT® – PRDS Instruction Manual Output CANopen Description Interface CANOP Magnetic angle sensor 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 Excitation voltage Excitation current Resolution Linearity Measuring rate Stability (temperature) Repeatability Operating temperature Protection Dielectric strength EMC Automation 22 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 pins No No 11 ... 36 V DC 15 mA typical at 24 V DC 30 mA typical at 12 V DC, 100 mA max. 0.05° max. 1° (0.25° as option) 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.) EN 61326-1:2013 MAN-PRDS-E-15 www.asm-sensor.com © by ASM GmbH POSIROT® – PRDS Instruction Manual CANopen output - set up procedure 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 efore connecting the sensor to the CAN-Bus the devices have to be cheB cked 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-PRDS-E-15 23 POSIROT® – PRDS CANopen Output Specification 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 PDO COB-Id 1800-1, 1801-1, ... . 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 Communication Parameter PDO COBId 1800, 1801, ... 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 TPDO Disable 80 00 xx xx TPDO Enable 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 TPDO-transmission 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). 24 MAN-PRDS-E-15 www.asm-sensor.com © by ASM GmbH POSIROT® – PRDS CANopen Output Specification Object Dictionary Communication Profile CiA 301 Object Index [hex] Subindex Access Type Default Value Range / Note Device type 1000 0 ro U32 0A0196h 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 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 - 1 ro U32 67Fh - SOD 2 ro U32 5FFh - SDO 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 481h .. 4FFh 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 COB-ID Server->Client 1200 COBID Client-> Sever PDO1 COB-ID PDO2 COB-ID PDO4 COB-ID 1800 1801 1803 0 .. 7FFFh *) Reset into default settings except Bitrate and Node ID. © by ASM GmbH www.asm-sensor.com MAN-PRDS-E-15 25 POSIROT® – PRDS Instruction Manual Output CANopen Object Index [hex] Subindex Access Type Default TPDO1-Mapped Object1 1A00 1 ro U32 60040020h TPDO2-Mapped Object1 1A01 1 ro U32 60040020h TPDO4-Mapped Object1 1A03 1 ro U32 63000108h NMT-Startup 1F80 0 rw U32 0 26 MAN-PRDS-E-15 www.asm-sensor.com Value Range / Note 0, 8 © by ASM GmbH POSIROT® – PRDS Instruction Manual Output CANopen Device Profile CiA 406 Index [hex] Object Subindex Access Type Default Value Range / Note Manufacturer specific Node-ID 2000 rw 127 1…127 Bitrate 2010 rw 4 0..4, 6 Error 2030 ro Hysteresis 2040 rw Number of Positions 2080 rw 1 1..4 User Offset 2100 rw 0 0... 0FFFFh Filter 2102 rw 0 1...255 Angle Encoder CiA406 Operating Parameters 6000 0 rw 0 Measuring Units per Rev. 6001 0 rw 16383 Preset Value 6003 0 rw 0 Position Value 6004 0 ro Cyclic Timer 6200 0 rw Profile and SW Version 6507 0 ro 100 Serial Number 650B 0 ro Cam state register 6300 1...4 ro Cam enable register 6301 1...4 rw 0 Cam polarity register 6302 6310... 6317 6320... 6327 6330... 6337 1...4 rw 0 1...4 rw 0 1...4 rw 0 1...4 rw 0 CAM CiA406 Cam 1-8 low limit Cam 1-8 high limit Cam 1-8 hysteresis Operating Parameters Bit Code 15 ... ... ... 4 MSB cs = 0 cs = 1 sfc = 0 sfc = 1 3 2 sfc 1 0 cs LSB Code sequence CW Code sequence CCW Scaling function disabled Scaling function enabled © by ASM GmbH www.asm-sensor.com MAN-PRDS-E-15 27 POSIROT® – PRDS Instruction Manual CANopen Output Specification 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 Transmission Type 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 Bit rates 28 Default COB-Id TPDO-01: Position Data, 4 Byte Index Bit rate 0 1 2 3 4 5 6 1 MBit/s 800 kBit/s 500 kBit/s 250 kBit/s 125 kBit/s reserved 50 kBit/s MAN-PRDS-E-15 www.asm-sensor.com © by ASM GmbH POSIROT® – PRDS Instruction Manual CANopen Output Specification 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 Exemple 1 - screenshot © by ASM GmbH www.asm-sensor.com MAN-PRDS-E-15 29 POSIROT® – PRDS Instruction Manual CANopen Output Specification 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 bit 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 bit rate will become effective on next POWER ON sequence. So the SAVE command has to address the old SDO-COB-Id. screenshot explanation: Boot-Up message Set node Id to 7Eh Response Set baud rate to 1000 kbit/s Response SAVE Response 30 MAN-PRDS-E-15 www.asm-sensor.com © by ASM GmbH POSIROT® – PRDS Instruction Manual CANopen Output Specification 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-PRDS-E-15 31 POSIROT® – PRDS Instruction Manual Output CANopen CAM function CAM Status activ Hysteresis Hysteresis 1 inactive 0 High Limit Signal wiring / connection CAN bus wiring Signal name Shield Excitation + GND CAN-H CAN-L Low Limit Connector pin Wire color 1 2 3 4 5 Braid White Brown 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. Terminating resistor T-Connector CAN bus cable Sensor 32 MAN-PRDS-E-15 www.asm-sensor.com © by ASM GmbH POSIROT® – PRDS Instruction Manual Output CAN SAE J1939 Description Interface J1939 NAME Fields Parameter Group Numbers (PGN) Specifications ngular encoder according to standard SAE J1939. Customer configuration A of operating parameters by Peer-to-Peer. Process data exchange by Broadcast message. CAN specification Transceiver Communication profile Bit rate Internal temination resistor Address ISO 11898, Basic and Full CAN 2.0 B 24V-compliant, not isolated SAE J1939 250 kBit/s No Default 247d, configurable Arbitrary address capable Industry group Vehicle system Vehicle system instance Function Function instance ECU instance Manufacturer Identity number 1 0 7Fh (127d) 0 FFh (255d) 0 0 145h (325d) 0nnn Configuration data PGN EFddh Process data PGN FFnnh Excitation voltage Excitation current 8 ... 36 V DC 15 mA typical at 24 V DC 30 mA typical at 12 V DC, 100 mA max. 0.05° max. 1° (0.25° as option) 1 kHz (asynchronous) ±50 x 10-6 / °C f.s. 1 LSB -40 ... +85 °C Reverse polarity, short circuit 1 kV (V AC, 50 Hz, 1 min.) EN 61326-1:2013 Resolution Linearity Measuring rate Stability (temperature) Repeatability Operating temperature Protection Dielectric strength EMC Automation © 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) dd Sensor Node ID Proprietary-B (PDU2 broadcast); nn Group Extension (PS) configurable MAN-PRDS-E-15 33 POSIROT® – PRDS Instruction Manual Output CAN SAE J1939 Setup Warning notice • Changing the parameters can cause a sudden step of the instantaneous value and can result in unexpected machine (re)actions! WARNING • Precautions to prevent danger for man or machine are necessary! • Execute parametrizing at standstill of the machine only! NOTICE 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 34 cc MAN-PRDS-E-15 www.asm-sensor.com © by ASM GmbH POSIROT® – PRDS Instruction Manual Output 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 Example: 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 © by ASM GmbH www.asm-sensor.com MAN-PRDS-E-15 35 POSIROT® – PRDS Instruction Manual Output CAN SAE J1939 Encoder - Parameters Index [dec] Default Range / Selection 14 1C 1D 247 - 128 ... 247 ”save” ”load” 1F 20 100 0 10...10000 0...255 Code sequence 46 0 Measuring steps per turn Preset Averaging filter Identification SW Version Serial number Identity number 49 4A 4D 214 0 1 C6 C7 C8 - Parameter Control Node ID Store parameters Reload factory defaults Communication Transmit cycle PGN Group Extension (PS) Measurement 0 CW 1 CCW 2... 214 0... 214 - 1 1...255 4 bytes 4 bytes 21 bit - Read / Write Unit r/w 1) wr 2) wr 2) ms r/w r/w r/w steps steps r/w r/w 3) r/w number number number ro ro ro Effective on next power-up „save“ MSB...LSB: 73h, 61h, 76h, 65h „load“ MSB...LSB: 6Ch, 6Fh, 61h, 64h 3) Changing „Measuring Step“ will zero the preset value The maximum preset value accepted will be equal to the measuring steps per turn actually configured 1) 2) 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, internal error 36 B6 MAN-PRDS-E-15 www.asm-sensor.com © by ASM GmbH POSIROT® – PRDS Instruction Manual Output CAN SAE J1939 Signal wiring / connection CAN bus wiring Signal name Shield Excitation + GND CAN-H CAN-L Connector pin Wire color 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. Terminating resistor T-Stück Device 1 CAN bus cable Device 2 Device n Sensor © by ASM GmbH www.asm-sensor.com MAN-PRDS-E-15 37 POSIROT® – PRDS Instruction Manual Accessories Accessory Cables Connector cable for POSIROT®sensors 8 pins M12 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®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 Accessory cable M12, 8 pin 38 Connector pin / cable color 1 White 2 Brown 3 Green 4 Yellow MAN-PRDS-E-15 www.asm-sensor.com 5 Grey 6 Pink 7 Blue 8 Red © by ASM GmbH POSIROT® – PRDS Instruction Manual Accessories Accessory Cables Connector/bus cable for POSIROT®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 © by ASM GmbH www.asm-sensor.com MAN-PRDS-E-15 39 J 4,5 [.177] J K 8 [.315] 3,5 [.138] Clamp zone Marking K 5 [.197] 13 [.512] Markierung / marking Sensor / sensor Weight 11 g approx. Moment of inertia 1.2 kgmm2 2,7 [.106] 8 [.315] Position magnet PRMAG21 16 [.630] Sensor / sensor J K K J Sensor / sensor 6,6 [.260] 2,7 [.106] 5 [.197] Markierung / marking 3,7 [.146] 4,5 [.177] Ø30 [1.181] Position magnet PRMAG20 20 [.787] POSIROT® – PRDS Instruction Manual Accessories Ø5,4 [.213] Sensor / sensor Weight 3 g approx. Moment of inertia 0.1 kgmm2 Dimensions in mm [inch] Dimensions informative only. For guaranteed dimensions consult factory. 40 MAN-PRDS-E-15 www.asm-sensor.com © by ASM GmbH POSIROT® – PRDS Instruction Manual Accessories Position magnet PRMAG22 E 5 4, 5 6 ,5 F 22 6,4 36 26 F E 15 6,5 Markierung / marking Weight 17 g approx. Moment of inertia 3 kgmm2 Sensor / sensor Dimensions in mm [inch] Dimensions informative only. For guaranteed dimensions consult factory. © by ASM GmbH www.asm-sensor.com MAN-PRDS-E-15 41 G H 8,2 [.323] H 10 [.394] 15 [.591] Position magnet PRMAG5-Z 9 [.354] POSIROT® – PRDS Instruction Manual Accessories G 14 [.551] Ø48 0,05 [1.890 0.002] [ ] Ø66 +- 00,1 2.598 +- 00.004 Sensor / sensor 5 [.197] Nut / notch Weight 100 g approx. Moment of inertia 55 kgmm2 Markierung / marking Sensor / sensor Dimensions in mm [inch] Dimensions informative only. For guaranteed dimensions consult factory. Mounting of the magnets Magnet Mounting method Material PRMAG20 Screw(s) M4 A4 PRMAG21 Screw(s) M2,5 A4 PRMAG22 Screw(s) M4 or M6 A4 PRMAG5-Z Screws M8 A2 – A2 or non-magnetic Anti-rotation element 42 MAN-PRDS-E-15 www.asm-sensor.com © by ASM GmbH POSIROT® – PRDS Instruction Manual Accessories Assembly of the position magnets NOTICE Usually it is not admissible to countersink a position magnet into ferromagnetic material, because this would have a negative influence on the performance of the position magnet, and could lead to measurement errors of the PRDS angle sensors. PRMAG flush-mounted bündig surface-mounted nicht bündig Non magnetic unmagnetisches material Material (e.g. (z.B. Al, Al, POM POM etc.) usw.) flush-mounted bündig surface-mounted nicht bündig PRMAG5-Z PRMAG20/21/22 PRMAG Magnetic material magnetisches (e.g. St, Ck etc.) Material (z.B. St, Ck usw.) – © by ASM GmbH www.asm-sensor.com PRMAG5-Z PRMAG20/21/22 MAN-PRDS-E-15 43 POSIROT® – PRDS Instruction Manual Accessories Mounting plate PRPT-BPL1 40 [1.575] Ø33 [1.299] 40 [1.575] 90 ] 17 [.2 In combination with the mounting clamps PRPT-BFS1 (3 x M2.5) or in combination with the mounting bracket PRPT-BFS2 (3 x M4). 5 [.197] ,5 5 ° 11 0° 4 8 [1 4 2[ .890 ] 1.6 5 4] 3x M2,5 4 [.157] 4 [.157] 55 [2.165] Mounting plate PRPT-BPL2 (welding assembly) 3x M4 Ø33 [1.299] 90 ° 11 0° 4 4 8 [1 2[ 4 [.157] 4 [.157] .89 0 1.6 5 ] 4] In combination with the mounting clamps PRPT-BFS1 (3 x M2.5) or in combination with the mounting bracket PRPT-BFS2 (3 x M4). 3x M2,5 55 [2.165] 3x M4 Dimensions in mm [inch] Dimensions informative only. For guaranteed dimensions consult factory. 44 MAN-PRDS-E-15 www.asm-sensor.com © by ASM GmbH POSIROT® – PRDS Instruction Manual Accessories Mounting plate PRPT-BPL3 Dimensions in mm [inch] Dimensions informative only. For guaranteed dimensions consult factory. Mounting possibilities PRDS2/PRDS3 PRPT-BPL2 + PRPT-BFS2 PRPT-BPL1 + PRPT-BFS2 PRPT-BPL2 + PRPT-BFS1 PRPT-BPL1 + PRPT-BFS1 © by ASM GmbH www.asm-sensor.com MAN-PRDS-E-15 45 POSIROT® Instruction Manual Couplings Model MK4 2 Nm Rated torque Maximum misalignment Total length (inserted) 37 mm Axial misalignment (a) < 0.7 mm Angular misalignment (b) < 2° Lateral misalignment (c) < 0.25 mm 0,25 [.0098] 0,7 [.0276] 2° [ + .008 0,2 1.457 - 0 37 +- 0 ] 11 [.433] 11 [.433] a b c ØA ØB Dimensions in mm [inch] Order code A B MK4-37-6-6 Ø6 [.236 +.0005] Ø 6 [.236 +.0005] MK4-37-6-10 Ø6 [.236 +.0005] Ø10 [.394 +.0006] MK4-37-6-12 Ø6 [.236 +.0005] Ø12 [.472 +.0007] axially pluggable [ + .008 0,2 1.457 - 0 37 +- 0 ] 11 [.433] ØA ØB 11 [.433] pluggable side 46 Screws (ISO4029) 2 x M4 Torque 2,5 Nm MAN-PRDS-E-15 www.asm-sensor.com Dimensions in mm [inch] © by ASM GmbH POSIROT® – PRDS Instruction Manual Service, calibration, disposal Service Sensors and accessories have to be repaired and adjusted at ASM in Moosinning. In order to avoid risk of injury and improper handling the customer is not allowed to repair the sensor. No warranty or liability will be granted for opened sensors. Damaged sensors must be shut down immediately and sent to the factory for repair. Calibration The recommended calibration interval is 1 year. Test protocol is available on request. Disposal Disposal according to applicable government regulations. © by ASM GmbH www.asm-sensor.com MAN-PRDS-E-15 47 POSIROT® – PRDS Instruction Manual Reliability Characteristics Models PRDS1, PRDS2, PRDS3, PRDS5, PRDS27 RS422 HTL SSI CAN Characteristics Standards 48 Output Output Output Output Device type B Probability of failure PFH (λDU) 877 Fit Life period MTTFd 130 years Working life 10 years Mechanical life period L10 400 x 106 revolutions IEC 61508-1, -2, -6, Functional Safety ISO 13849-1, Safety of Machines SN29500 Failure rate electronic components (Siemens) MAN-PRDS-E-15 www.asm-sensor.com © by ASM GmbH POSIROT® – PRDS Instruction Manual Declaration of conformity Declaration of conformity The angle sensor Manufacturer: ASM GmbH Am Bleichbach 18-24 85452 Moosinning / Germany Model: PRDS1, PRDS2, PRDS3, PRDS5, PRDS27 complies with the following standards and directives: Directives: 2014 96/79 Standards: EN 61326-1:2013 (EMC) Moosinning, 08.07.2015 i.A. 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MAN-PRDS-E-15 51 ASM GmbH Automation • Sensorik • Messtechnik Am Bleichbach 18-24 Telephone: +49 8123 986-0 Internet: www.asm-sensor.de E-Mail: [email protected] 85452 Moosinning / Germany Telefax: +49 8123 986-500 www.asmsensors.com [email protected] © by ASM GmbH, Moosinning 2.0.0 / 07.2015 Subject to change without notice. See protection note DIN 34 !