POSIROT® - PRDS - Digital Angle Sensors

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
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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.
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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
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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
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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
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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
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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
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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.
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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
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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.
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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
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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.
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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
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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.
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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
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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
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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
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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
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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
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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
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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
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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.
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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
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© 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
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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
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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
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© 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
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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
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© 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
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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
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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
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© 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
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© 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
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© 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
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© 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
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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
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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.
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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)
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© 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. Peter Wirth
Head of Development
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© by ASM GmbH
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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 !