POSITILT® - PTAM / PTDM Analog and Digital Inclination Sensors Instruction Manual Please read carefully before installation and operation! POSITILT® Contents Contents 2 Safety instructions 3 Intended use 4 Unintended use 4 Maintenence, service, deinstallation, disposal 4 Description5 Electrical installation 6 Mounting6 Torque for the mounting screws 6 Outline drawings 6 Accessories11 Mounting plates 11 PTAM - Analog output specification 12 PTDM - CANopen output specification 14 PTDM - CANopen output - set up procedure 15 PTDM - CAN SAE J1939 output specification 25 PTDM - CAN SAE J1939 output - set up procedure 26 Output characteristics 34 Response time 36 Service, calibartion, disposal 37 Reliability characteristics 38 Declaration of conformity 39 MAN-PT-E-15 www.asm-sensor.com ASM GmbH POSITILT® Warranty reference Safety instructions Do not use POSIROT® position sensors in safety critical applications where malfunction or total failure of the sensor may cause danger for man or machine. For safety related applications additional mechanisms (devices) are necessary to maintain safety and to avoid damage. Disregard of this advice releases the manufacturer from product liability. The sensor must be operated only within values specified in the catalog or datasheet. Connection to power supply must be performed in accordance with safety instructions for electrical facilities and performed only by trained staff. 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. ASM GmbH www.asm-sensor.com MAN-PT-E-15 3 POSITILT® Instruction Manual 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 od 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 PTAM2/PTDM2 X X PTAM5/PTDM5 X X PTAM27/PTDM27 X X CAUTION Measures Damaged parts: put sensor out of service, replace damaged parts resp. send sensor to ASM for repair Loose mounting parts: Screw tight mounting parts with recommended torque, if applicable use screw protections Deinstallation Disconnect electrical connections. Loosen fixing screws. Disposal Disposal according to applicable government regulations. 4 MAN-PT-E-15 www.asm-sensor.com ASM GmbH POSITILT® Description Description Tilt sensors of the POSITILT product family measure the angle of inclination for one or two axes. Measuring range can be specified from ±15 up to ±180 degree. Output configuration comprises high resolution voltage or current output and CAN interface. A wide variety of package and mounting options provide flexibility for many applications. Home position (optional) The home (center) position of the inclinometers POSITILT can be configurated not only via the mechanical adjustment but also via a switching input (Teach-In) when the connector pin ZERO is connected to 0 V (GND) for 2 seconds. Mounting options ASM GmbH www.asm-sensor.com MAN-PT-E-15 5 POSITILT® Electrical installation 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 „Output specification“. Cable screen has to be connected to protective earth. Caution: Observe different color code for pre-assembled accessory c ables - 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. Cable outputs must be installed in such a way that no moisture can get into the cable. Crossing the dew point must be avoided. Mounting Torque Mounting method Torque [Nm] M2,5 screws for mounting brackets (PTAM2) 0.8 M8 screws (PTAM5) <10 Screws M4 with washer (PTAM27) <2 Mechanical information PTAM27, PTDM27 6 • Mount the sensor on a flat surface. • Do not deform the sensor housing! • Lateral inclination sensitivity: • Up to 30° lateral inclination the resulting error is ≤1°. MAN-PT-E-15 www.asm-sensor.com ASM GmbH POSITILT® Mounting, Outline drawings Outline drawing PTAM2/PTDM2 Connector version M12 axial Marking Connector M12 Dimensions in mm [inch] Dimensions informative only. For guaranteed dimensions consult factory. ASM GmbH www.asm-sensor.com MAN-PT-E-15 7 POSITILT® Outline drawings Outline drawing PTAM2/PTDM2 Connector version M12 radial Connector M12 Marking Dimensions in mm [inch] Dimensions informative only. For guaranteed dimensions consult factory. 8 MAN-PT-E-15 www.asm-sensor.com ASM GmbH POSITILT® Outline drawings Outline drawing PTAM5/PTDM5 Connector version M12 axial 6 6 48 0,05 +0 -0 ,1 [ 2.598 +0 - .0 04 [1.8 90 .0 02] ] Markierung Marking 34 [1.339] 20 [.787] 10 [.394] 15 [.591] Ø9 [.354] Connector M12 M12-Stecker Dimensions in mm [inch] Outline drawing PTAM5/PTDM5 Connector version M12 radial .00 4 Markierung Marking 5 [ 1. +0 66 - 0,1 8 [2.598 2] +0 4 - .00 ] Ø15 [.591] M12-Stecker Connector M12 10 [.394] 20 [.787] 10 [.394] 8 0,0 90 Ø9 [.354] ASM GmbH www.asm-sensor.com 13 [.512] MAN-PT-E-15 9 POSITILT® Outline drawings Outline drawing PTAM27 49,5 0,1 [1.949 .004] 38 [1.496] 10 [.394] Ø5 [.197] DIN 7984-M4 ] 18,2 [.717] [.2 48 for screws according DIN 912-M4 (ISO 4762) or DIN 6912-M4 or Ø7,8 [.307] 60° R6 ,3 30 [1.181] 45,5 [1.791] 5,2 [.205] Kabel / cable 5 [.197] 22 [.866] Dimensions in mm [inch] Dimensions informative only. For guaranteed dimensions consult factory. Reference position Strain relief For all sensors with cable: Cable diameter Min. bending radius Ø 5,2 mm in motion, 10 million cycles not in motion 10 x cable diameter, 5 x cable diameter 10 MAN-PT-E-15 www.asm-sensor.com ASM GmbH POSITILT® Mounting plates Mounting plate PRPT-BPL1 (screw mounting) for PTAM2/PTDM2 40 [1.575] Ø33 [1.299] 40 [1.575] 90 ] 17 [.2 5 [.197] ,5 5 ° 11 0° 4 8 [1 .890 ] 4 2[ 4] 3x M2,5 4 [.157] 55 [2.165] 4 [.157] 1.6 5 Mounting plate PRPT-BPL2 (welding assembly) for PTAM2/PTDM2 3x M4 Ø33 [1.299] 90 ° 11 0° 4 4 8 [1 2[ 4 [.157] 4 [.157] .89 0 1.6 5 ] 4] 3x M2,5 55 [2.165] 3x M4 Dimensions in mm [inch] Dimensions informative only. For guaranteed dimensions consult factory. ASM GmbH www.asm-sensor.com MAN-PT-E-15 11 POSITILT® - PTAM Analog Output U2 Voltage Output 0.5 ... 10 V U6 Voltage Output 0.5 ... 4.5 V DC U8 Voltage output 0.5 ... 4.5 V I1 Current Output 4 ... 20 mA 12 Excitation voltage Excitation current Output voltage Output current Measuring rate Stability (temperature) Operating temperature Protection EMC 18 ... 36 V DC 12 mA typ., 16 mA max. 0.5 ... 10 V DC 2 mA max. 1 kHz standard ±100 x 10-6 / °C f.s. (typ.) -40 ... +85 °C Reverse polarity, short circuit EN 61326-1:2013 Excitation voltage Excitation current Output voltage Output current Measuring rate Stability (temperature) Operating temperature Protection EMC 5V DC ±5 % 13 mA typ., 16 mA max. 0.5 ... 4.5 V DC 2 mA max. 1 kHz standard ±100 x 10-6 / °C f.s. (typ.) -40 ... +85 °C Reverse polarity, short circuit EN 61326-1:2013 Excitation voltage Excitation current Output voltage Output current Measuring rate Stability (temperature) Operating temperature Protection EMC 18 ... 36 V DC 12 mA typ., 16 mA max. 0.5 ... 4.5 V DC 2 mA max. 1 kHz standard ±100 x 10-6 / °C f.s. (typ.) -40 ... +85 °C Reverse polarity, short circuit EN 61326-1:2013 Excitation voltage Excitation current Load resistor Output current Measuring rate Stability (temperature) Operating temperature Protection EMC 18 ... 36 V DC 32 mA typ., 36 mA max.. 500 Ω max. 4 ... 20 mA 1 kHz standard ±100 x 10-6 / °C f.s. (typ.) -40 ... +85 °C Reverse polarity, short circuit EN 61326-1:2013 MAN-PT-E-15 www.asm-sensor.com ASM GmbH POSITILT® - PTAM Analog Output, programmable U2/PMZ Voltage Output 0.5 ... 10 V U8/PMZ Voltage output 0.5 ... 4.5 V I1/PMZ Current Output 4 ... 20 mA Function ZERO (Option) U2/PMZ U8/PMZ I1/PMZ Excitation voltage Excitation current Output voltage Output current Measuring rate Stability (temperature) Operating temperature Protection EMC 18 ... 36 V DC 12 mA typ., 16 mA max. 0.5 ... 10 V DC 2 mA max. 1 kHz standard ±100 x 10-6 / °C f.s. (typ.) -40 ... +85 °C Reverse polarity, short circuit EN 61326-1:2013 Excitation voltage Excitation current Output voltage Output current Measuring rate Stability (temperature) Operating temperature Protection EMC 18 ... 36 V DC 12 mA typ., 16 mA max. 0.5 ... 4.5 V DC 2 mA max. 1 kHz standard ±100 x 10-6 / °C f.s. (typ.) -40 ... +85 °C Reverse polarity, short circuit EN 61326-1:2013 Excitation voltage Excitation current Load resistor Output current Measuring rate Stability (temperature) Operating temperature Protection EMC 18 ... 36 V DC 32 mA typ., 36 mA max.. 500 Ω max. 4 ... 20 mA 1 kHz standard ±100 x 10-6 / °C f.s. (typ.) -40 ... +85 °C Reverse polarity, short circuit EN 61326-1:2013 Programming the zero point by the customer: The function „ZERO“ allows to program the zero point of the output range by using a signal ZERO available at the connector. This Signal ZERO must be connected with GND via a push button (Teach-In). At first the sensor must be brought into the zero position. Pushing the button 2 seconds sets the actual position as the zero point. The values are available as well after switching off the sensor. ASM GmbH www.asm-sensor.com MAN-PT-E-15 13 POSITILT ® - PTAM Analog Output Specification The output signals of sensors with 2 analog outputs mustn´t be connected to one another! NOTICE Wire color Cable output Brown White Blue Black Grey 1 axis Wire color Cable output Brown White Blue Black Grey 2 axes 5-pin connector 1 axis 5-pin connector 2 axes 14 Pin no. 1 2 3 4 5 Pin no. 1 2 3 4 5 Signal +UB (excitation voltage) Analog output X GND Do not connect ZERO Signal Signal +UB (excitation voltage) Analog output X GND Do not connect! ZERO (option) Signal +UB (excitation voltage) Analog output X GND Analog output Y ZERO (option) View to sensor connector M12A5 / M12R5 +UB (excitation voltage) Analog output X GND Analog output Y ZERO MAN-PT-E-15 www.asm-sensor.com ASM GmbH POSITILT® - PTDM CANopen Output Specification Description CANopen Interface Inclination sensor with CANopen interface according to CiA 410. Communication profile Device profile Configuration services Error Control Node ID PDO PDO Modes SDO Certified Bit rate Bus connection Integrated Bus termination resistor Bus, galvanic isolation Specifications Excitation voltage Excitation current Measuring rate Stability (temperature) Repeatability Operating temperature Protection EMC CANopen CiA 301 V 4.02, Slave Inclinometer CiA 410 V 1.2 LSS, CiA Draft Standard 305 (transmission rate, node ID) Node Guarding, Heartbeat, Emergency Message Adjustable via LSS or via object dictionary; default: 127 1 TxPDO, 0 RxPDO, static mapping Event-/Time triggered, Remote-request, Sync cyclic/acyclic 1 Server, 0 Client Yes 50 kBaud to 1 MBaud, adjustable via LSS or via object dictionary, default: 125 kBaud M12 connector, 5 pin PTDM27 only, configurable No 8 ... 36 V DC 15 mA typical at 24 V DC, 30 mA typical at 12 V DC, 100 mA max. 1 kHz standard ±100 x 10-6 / °C f.s. 1 LSB -40 ... +85 °C Reverse polarity, short circuit EN 61326-1:2013 ASM GmbH www.asm-sensor.com MAN-PT-E-15 15 POSITILT® - PTDM 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. 16 MAN-PT-E-15 www.asm-sensor.com ASM GmbH POSITILT® - PTDM 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). ASM GmbH www.asm-sensor.com MAN-PT-E-15 17 POSITILT® - PTDM 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 2019Ah inclinometer profile‚ 410 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 0 0 .. 7FFFh 1 ro U32 60100010h 2 ro U32 60200010h 0 rw U32 0 TPDO1-Mapped Object 1 1A00 TPDO1-Mapped Object 2 NMT-Startup 1F80 0, 8 *) Reset into default settings except Node ID. 18 MAN-PT-E-15 www.asm-sensor.com ASM GmbH POSITILT® - PTDM CANopen Output Specification Device Profile 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 Bus termination 2050 0 0: OFF , 1: ON (PTDM27 only) Filter (NFilter) Response Time (90%): TR = NFilter* 5 ms 2102 rw 0* 0 ... 65535 6000 rw 100 10 ... 10000 Inclinometer CiA410 Resolution (in 0,001°) Slope long16 inclination angle round x axis Oper. parameters slope long16, 1 or 2 axes Slope long16 preset value Slope lateral16 inclination angle round y axis Oper. parameters slope lateral16, 2nd axis Slope lateral16 preset value 6010 6011 0 6012 0 6020 6021 0 6022 0 *) Preconfigured to 16 Operating Parameters Bit Code 7 m MSB ... cs = 0/1 s = 0/1 m = 0/1 2 1 s 0 cs LSB Code sequence CW/CCW Scaling function enabled/disabled Operating mode: 1 axis x ±180°/2 axes x,y ±60° ASM GmbH www.asm-sensor.com MAN-PT-E-15 19 POSITILT® - PTDM CANopen Output Specification Process Data Object (TPDO) Mapping TPDO COB-Id DLC TPDO-01 180h +Node-Id 4 Byte0 4 Byte Inclination Data LSBX MSBX LSBY Data Frame Byte7 MSBY TPDO Default Settings TPDO Default COB-Id TPDO-01: Position Data, 4 Byte 1FFh Default Transmission Type Event Mode (FE) Baud Rate (Object 2010) Bitrate Index 0 1 2 3 4 6 Bitrate [kbit/s] 1000 800 500 250 125 50 20 MAN-PT-E-15 www.asm-sensor.com ASM GmbH POSITILT® - PTDM 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 ASM GmbH www.asm-sensor.com MAN-PT-E-15 21 POSITILT® - PTDM 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. Screen Shot Explanation: Boot-Up message Set node Id to 7Eh Response Set baud rate to 1000 kbit/s Response SAVE Response Configuration Example 2 - screenshot 22 MAN-PT-E-15 www.asm-sensor.com ASM GmbH POSITILT® - PTDM 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 ... ... ... ... ... ... ... ASM GmbH www.asm-sensor.com MAN-PT-E-15 23 POSITILT® - PTDM CANopen Output Specification Signal wiring / connection CAN bus wiring Signal Shield Excitation + GND CAN-H CAN-L Plug connection Cable connection 1 2 3 4 5 braid brown white 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 bus cable Sensor 24 MAN-PT-E-15 www.asm-sensor.com ASM GmbH POSITILT® - PTDM CAN SAE J1939 Output Specification Description Interface J1939 NAME Fields Parameter Group Numbers (PGN) Specifications Inclination sensor according to standard SAE J1939. Configuration of operating parameters by proprietary-A- Message (peer-to-peer connection). Process data exchange by proprietary-B-Message (broadcast). 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 PTDM27 only, configurable 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. 1 kHz standard ±100 x 10-6 / °C f.s. 1 LSB -40 ... +85 °C Reverse polarity, short circuit EN 61326-1:2013 Measuring rate Stability (temperature) Repeatability Operating temperature Protection EMC 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-PT-E-15 25 POSITILT® CAN-SAE J1939 Output - set up procedure Setup procedure 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 26 cc MAN-PT-E-15 www.asm-sensor.com ASM GmbH POSITILT® CAN-SAE J1939 Output - set up procedure 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 ASM GmbH www.asm-sensor.com MAN-PT-E-15 27 POSITILT® CAN SAE J1939 Output Specification Configurable parameters Index [dec] Default Range / Selection 20 21 247 3 (250kB) Termination resistor 22 0 Store parameters Reload factory defaults Communication 28 29 - 128 ... 247 0 (OFF) 1 (ON) PTDM27 only ”save” 2) ”load” 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 69 1 Code sequence_X 70 0 Code sequence_Y 71 0 Resolution (in 0.001°) Preset 1 axis X/Y Preset 2 axes X Preset 2 axes Y 73 74 75 76 100 0 0 0 0: 1 axis 80h: 2 axis 0 CW 1 CCW 0 CW 1 CCW 10 ... 10000 ±0,1.. ±0,1.. ±0,1.. 77 1 1...2553) 198 199 200 - 4 bytes 4 bytes 21 bit Parameter Control Node ID Bit rate Measurement 1 axis ±180° 2 axes ±60° 0 timer 1 request 2 event 10..65535 0..255 0..16383 0 little / 1 big endian Unit Read / Write rd/wr 1) rd/wr 1) rd/wr 1) wr wr rd/wr ms steps rd/wr rd/wr rd/wr rd/wr rd/wr rd/wr rd/wr deg deg deg deg rd/wr rd/wr rd/wr rd/wr Averaging Filter (NFilter) Response Time (90%): TR = NFilter* 5 ms Identification SW Version Serial number Identity number - rd/wr number number number rd rd rd Effective on next power-up „save“ MSB...LSB: 73h, 61h, 76h, 65h „load“ MSB...LSB: 6Ch, 6Fh, 61h, 64h 3) average on number of samples 1) 2) Depending on configuration ordered default settings may be different, refer to ASM homepage. 28 MAN-PT-E-15 www.asm-sensor.com ASM GmbH POSITILT® CAN SAE J1939 Output Specification 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 *) *) B6 B5 B4 B3 B2 Inclination Y MSB LSB B1 B0 Inclination X MSB LSB Error codes: 0 = no error, 1 = error, internal error ASM GmbH www.asm-sensor.com MAN-PT-E-15 29 POSITILT® CAN SAE J1939 Output Specification Signal wiring / connection CAN bus wiring Signal Plug connection Shield Excitation + GND CAN-H CAN-L View to sensor connector 1 2 3 4 5 Connect the device by a T-connector to the CAN trunk line. Total length of stubs should be minimized. Connect terminating resistors 120 Ohm at both ends of the trunk line. Termination Resistor T-Piece CAN bus cable Sensor 30 MAN-PT-E-15 www.asm-sensor.com ASM GmbH POSITILT® Accessoires Connector cable M12, 4 pin Suitable for 5-pin sensor connectors shielded* The 4-lead shielded cable is supplied with a mating 4-pin 90° M12 connector at one end and 4 wires at the other end. Available lengths are 2 m, 5 m and 10 m. Wire: cross sectional area 0.34 mm2. Order code: KAB - XM - M12/4F/W - LITZE IP69K: KAB - XM - M12/4F/W/69K - LITZE Length in m Connector cable M12, 4 pin Suitable for 5-pin sensor connectors shielded* The 4-lead shielded cable is supplied with a mating 4-pin M12 connector at one end and 4 wires at the other end. Available lengths are 2 m, 5 m and 10 m. Wire: cross sectional area 0.34 mm2. Order code: KAB - XM - M12/4F/G - LITZE IP69K: KAB - XM - M12/4F/G/69K - LITZE Length in m Signal wiring M12, 4 pin Connector pin / cable color 1 brown 2 white 3 blue 4 black * = Shielded connector ASM GmbH www.asm-sensor.com MAN-PT-E-15 31 POSITILT® Instruction Manual Connector cable M12, 5 pin shielded* The 5-lead shielded cable is supplied with a mating 5-pin 90° M12 connector at one end and 5 wires at the other end. Available lengths are 2 m, 5 m and 10 m. Wire: cross sectional area 0.34 mm2. Order code: KAB - XM - M12/5F/W - LITZE IP69K: KAB - XM - M12/5F/W/69K - LITZE Length in m Connector cable M12, 5 pin shielded* The 5-lead shielded cable is supplied with a mating 5-pin M12 connector at one end and 5 wires at the other end. Available lengths are 2 m, 5 m and 10 m. Wire: cross sectional area 0.34 mm2. Order code: KAB - XM - M12/5F/G - LITZE IP69K: KAB - XM - M12/5F/G/69K - LITZE Length in m Signal wiring M12, 5 pin Connector pin / cable color 1 brown 2 white 3 blue 4 black 5 grey * = Shielded connector 32 MAN-PT-E-15 www.asm-sensor.com ASM GmbH POSITILT® Instruction Manual Connector/bus cable M12, 5 pin CAN bus shielded* 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 0.3, 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 M12, 5 pin 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 * = Shielded connector ASM GmbH www.asm-sensor.com MAN-PT-E-15 33 POSITILT® Output characteristics Output signal Option: Teach-in of home (center) position by PMZ function Range [°] – θx min 0° + θx max Marking PTAM2/PTDM2 Radial, 1 axis Marking (at the back) PTAM2/PTDM2 X Radial, 2 axes Y PTAM2/PTDM2 Axial, 1 axis Marking (at the back) PTAM2/PTDM2 Axial, 2 axes X Y 34 Marking MAN-PT-E-15 www.asm-sensor.com ASM GmbH POSITILT® Output characteristics Output signal Option: Teach-in of home (center) position by PMZ function Range [°] – θx min 0° + θx max PTAM5/PTDM5 1 axis PTAM5/PTDM5 X 2 axes Y PTAM27/PTDM27 1 axis PTAM27/PTDM27 X 2 axes Y ASM GmbH www.asm-sensor.com MAN-PT-E-15 35 POSITILT® Response time Response time 45° / 100% 90% Inclination Response signal TR [s] 36 MAN-PT-E-15 www.asm-sensor.com ASM GmbH POSITILT® 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. ASM GmbH www.asm-sensor.com MAN-PT-E-15 37 POSITILT® Reliability characteristics Reliability characteristics Models PTAM2/PTDM2, PTAM5/PTDM5, PTAM27/PTDM27 Outputs U2 U6 U8 I1 Characteristics Standards Voltage output 0.5 ... 10 V Voltage output 0.5 ... 4.5 V Voltage output 0.5 ... 4.5 V Current output 4 ... 20 mA Probability of failure 1 x 10-6/h Life period MTTF 110 years Working life 10 years SN29500 Failure rate electronic components (Siemens) 38 MAN-PT-E-15 www.asm-sensor.com ASM GmbH POSITILT® Declaration of conformity Declaration of conformity The inclination sensor Manufacturer: ASM GmbH Am Bleichbach 18-24 85452 Moosinning / Germany Model: PTAM2/PTDM2, PTAM5/PTDM5, PTAM27/PTDM27 complies with the following standards and directives: Directives: 2004/108/EG (EMC) Standards: EN 61326-1:2013 (EMC) Moosinning, 2nd 09.2013 i.A. Peter Wirth Head of Development ASM GmbH www.asm-sensor.com MAN-PT-E-15 39 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 3.0.0/06.2015 Subject to change without notice. See protection note DIN 34 !