POSITILT® - PTAM/PTDM - Analog and Digital

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 !