Operating instructions Interface description N 153 spindle position display (SPA) Firmware 01 version 1.11 and up Contents 1. General information 1.1. Safety precautions 1.2. SPA description and explanation 1.3. Betriebsarten 2. Terminal assignment 3. Interface 3.1. Interface data 3.2. Protocol 3.3. Checksum (Cyclic Redundancy Check) 3.4. Data transmission properties 3.5. Broadcast commands 3.6. Data saving 3.7. Transmitting and reading negative values 3.8. Transmitting and reading position values (decimal point) 4. Command explanations 4.1. General information 4.2. Operating commands 4.3. Parameter commands 4.4. Identifier (address) commands 4.5. Specific commands 5. Error warnings 5.1. CRC error 5.2. Format error 5.3. Display error indication 6. Overview on commands 7. Technical data 7.1. Dimensions 8. Part number Baumer IVO GmbH & Co. KG Dauchinger Strasse 58-62 • DE-78056 Villingen-Schwenningen Phone +49 (0)7720 942-0 • Fax +49 (0)7720 942-900 www.baumer.com • [email protected] Page 2 2 3 3 4 4 4 5 5 5 5 6 6 6 7 7 7 13 21 23 25 25 25 25 26 27 28 28 12.10 • 171.02.314/5 Subject to modification in technic and design. N 153 1. General information 1.1. Safety precautions General remarks The equipment is designed and assembled according to the prevailing regulations of technology. The equipment left the manufacturer in perfect working order and in line with all safety-relevant conditions. To maintain this status of the equipment, it is imperative to stick to the following when installing and using the device: - use only according to the intended purpose, - observation of any precautions regarding safety and hazards, - observe the present manual and especially the relevant safety precautions! Make sure that the operating manual and especially the chapter describing the safety precautions is read and well understood by the staff in charge. Supplementary to the operating instructions, ad other generally or legally relevant regulations regarding accident prevention and environmental care are to be considered and observed. This manual is a supplement to already existing documentation (datasheet, mounting instructions, catalogues). Intended purpose of the equipment Intended purpose of the equipment is industrial process monitoring and control in metal, wood, plastic, paper, glass and textile etc. industry. It is imperative that the equipment is applied only - in properly installed condition and - in line with the relevant technical data! Any operation outside the technical specifications/parameters is improper use and in conjunction with the equipment/processes/machines to be monitored/controlled might lead to - fatal injuries - serious damage to health, - damage to property or corporate equipment or - damage to the device! Any overvoltage the device might be exposed to at its connecting terminals has to be limited to the values stipulated in overvoltage category II (see technical data). The device must not be operated - in hazardous areas where is danger of explosion, - as medical equipment or in medical areas, - or in any applications expressly named in EN 61010! If the device is utilized for control/monitoring of machines or processes where as the result of a failure/malfunction or incorrect operation of the device might occur - any threats to life, - risks of damage to health or - any risk of damage to property or environment the corresponding appropriate safety precautions must be taken! Do not open the housing of the device or proceed any modifications! Any modifications of the device can affect operating safety and result in danger! Do not proceed any repairs but return defective devices to the manufacturer! Installation/commissioning In case of any extraordinary incidents (including in the operating behaviour) that impair safety switch off the device immediately. Installation must be carried out by suitably trained experts only. After proper mounting and installation the device is ready for operation. Maintenance/repairs Always disconnect the power supply of all appliances involved. Maintenance and repair work must only be carried out by suitably trained experts. If troubleshooting is unsuccessful, do not continue using the device but contact the manufacturer. www.baumer.com 2 N 153 1.2. SPA description and explanation Mounting the spindle position display (SPA) is by docking hollow shaft onto spindle shaft (max.14 mm in diameter).The hollow shaft is fixed to the spindle shaft by hexagon screw and secured by power grip. This way, the SPA is mounted in an overhung position and secured against torsion by torque support provided at rear of the housing. The SPA features an absolute multiturn sensing system capable of detecting the position after several spindle turns even in powerless state. Position data will be retained even in case of power failure (min. 10 years). The current position value is indicated in the two-line backlit LCD display (2x 5 digits, numeric), optionally together with the target transmitted by the control (master). Two arrows indicate the editing engineer the direction the spindle must be turned to for aligning actual value with target. As soon as actual value is in alignment with target and within the permitted tolerances, the target will disappear. By corresponding master parameterization the display can be turned by 180° enabling vertical respectively horizontal installation. SPAs are networked by M8 connector, power supply is by the same cable directly by master. SPA parameterization by master only. indication „target“ arrows indicating the required direction for target/actual value alignment indication „actual value“ 1.3. Betriebsarten Two operating modes are available to define the order of SPA alignment within the network. Direct mode: Interactive mode: The master will enable the SPAs in successive order for the positioning operation. The master will enable all SPAs respectively all SPAs in one group. The processing order in the alignment operation must be defined by the operator. a) Direct mode: In „direct mode“ the master will transmit the motor start signal (command „D“) to a specific SPA which is first to be aligned by power tool. The red status LED is flashing fast (at approx. 2 Hz) while the relevant IR positioning data are being transmitted to the power tool. After the positioning operation the LED switches to green continuous what is recognized by the master when reading out the status flag (command „CX“ or „F“). Now the master will transmit the motor start signal to the next SPA. This procedure will repeat until all SPAs have been aligned. The order allows for individual alteration upon every profile change. b) Interactive mode: In „interactive mode“, the operator defines the order of SPA alignment. Instead of transmitting the motor start signal (command „D“) to a specific SPA, the master will address all SPAs in one group by broadcast command (address 99). The red status LEDs of all addressed SPAs is flashing slowly (at approx. 1 Hz). Now the SPAs are enabled for alignment but so far no positioning data have been transmitted to the power tool via the IR interface. The operator chooses one of the slowly flashing SPAs and pushes one of its buttons. The red LED is now flashing rapidly (at approx 2 Hz) while this SPA is transmitting the IR data. Once the aligning operation has been completed, the LED switches to green continuous. The operator turns to the next SPA with a slowly flashing LED and will repeat the procedure until all SPAs have been aligned. An already activated SPA (LED flashing fast) is set back to stand-by when pressing the button anew. The LED is flashing slowly again and IR data transmission is aborted. In group alignment operations, both modes can be combined. Example: Firstly all Multicon AccuDrive devices are enabled for positioning by broadcast command, the order of alignment is up to the operator .As soon as each SPA of group 1 is „in position“, the master will proceed with the next group in direct mode. www.baumer.com 3 N 153 2. Terminal assignment Pin Assignment Core colour DIN47100 IEC757 Pin 1 Tx/Rx-, RS485 white orange Pin 2 Tx/Rx+, RS485 brown brown Pin 3 Sensor supply +24 V yellow red Pin 4 Sensor supply 0 V green blackk male connector M8 female connector M8 1 3 2 2 4 4 1 3 Connect power supply that is free from interference emission. The supply must not be used as parallel supply of drives, shields, magnetic valves, etc. Apply DC according to the terminal assignment Power supply: 24 VDC ±20 % Shield Use shielded cables only. Ground of the shield must be provided at the machine (two examples corresponding to the cable applied, see drawings). Abschirmungsanschluss 3. Interface 3.1. Interface data Type: RS485 Baudrate: 19200 Parity: No Data bits: 8 Stop bits: 1 Handshake: No Checksum: Yes (CRC) Timeout reply*: 0,1...60 ms BUS switching time**: <0,1 ms * To avoid bus collisions a minimum timeout reply of 1 ms (default parameter) is to be kept, i.e. the time elapsed between transmitting the last bit of the query until start transmitting the 1st bit of the SPA response. The operator should see that due to the minimized timeout reply of 1 ms the bus switching time after having transmitted the last bit must not exceed 1 ms. The default parameter of 1 ms can optionally be altered by serial interface in steps of 0,1 ms within the range of 0,1 ... 60 ms. Refer to command „x“ (78h). ** The BUS switching time is the time the SPA requires to be ready again for transmission receipt after having replied to host. www.baumer.com 4 N 153 3.2. Protocol The spindle position display operates with ASCII protocol (clear text protocol). Depending on the command, the protocol data package varies between 5 and 17 bytes. Byte 1 2 3 4-n n+1 n+2 Hex code 01H XXh XXh [XXh..XXh] 04h XXh Significance SOH = start of heading Adr = identifier Cmd = command code [Data] = data EOT = end of transmission CRC = checksum Values permanent 01h 00...31dez + 20h offset (identifier 00 = 20h) specific commands 20h-7Fh permanent 04h 00h...FFh 3.3. Checksum (Cyclic Redundancy Check) For optimized error-free data transmission the CRC byte is added after the footer token (EOT, end of transmission) to the string to be transmitted. Upon receiving a command the CRC byte transmitted is crosschecked with the auto-calculated CRC byte. Algorithm: 1) Reset CRC byte. 2) Rotate CRC byte by 1 bit to the left. 3) Link result to first data byte XOR. 4) Rotate result by 1 bit to the left. 5) Link result to the second data byte XOR. : x) Rotate result by 1 bit to the left. y) Link result to the last data byte (ever 04H) XOR. z) Add result as CRC after the footer token (04H) to the string transmitted. 1101 0000 RL 1010 0001 Important: Bit 7 is shifted in bit 0 during rotation Note: Example: Transmitted string less CRC = 01h 20h 43h 04h CRC-Byte = 0Ah 0000 0000 RL 0000 0000 XOR 0000 0001 (01h) = 0000 0001 0000 0001 RL 0000 0010 XOR 0010 0000 (20h) = 0010 0010 0010 0010 RL 0100 0100 XOR 0100 0011 (43h) = 0000 0111 0000 0111 RL 0000 1110 XOR 0000 0100 (04h) = 0000 1010 = CRC Legend: RL = rotate left; XOR = antivalence link 3.4. Data transmission properties For reasons of compatibility, within the complete multicon system the amount of data is always the same (see table in chapter 6), no matter how many digits are in the display. For example, command “R” (read actual value) comprises a transmitted data amount of 6 bytes, but only 5 digits are indicated in the display. If it is a negative value, digit 6 respectively digit 5 is always 0 (30h). 3.5. Broadcast commands Some specific commands are designated so-called broadcast commands. As soon as the master broadcasts a command to identifier 99, the command is addressed to every multicon device in the network. Each individual SPA will accomplish the respective command but will not respond any confirmation to master. www.baumer.com 5 N 153 3.6. Data saving Specific parameters are saved in EEPROM (1.000.000 writing cycles). Data saving is via interface upon every parameter transmission to SPA. Important: There should not be a cyclic transmission of these parameters to SPA but only if necessary, for example in case of parameter alteration. The relevant parameters saved in EEPROM are listed in the charts in chapter “Comand explanations” or “Overview on commands”. 3.7. Transmitting and reading negative values The minus sign (2DHex) is always transmitted by digit 6 of the data field. Example: Taking for granted a negative target of –1.5 and a programmed resolution of 1/10, the transmitted value is –00015. 3.8. Transmitting and reading position values (decimal point) Position values as for example target (command „S“), offset (command „U“) or end positions (command “g”) are generally transmitted and read without decimal point. Visualization in the display corresponds to the format in the data field of the interface command. Thus, the transmission format depends on the resolution (see command „a“). Example 1: resolution = 1/100; target = 278.50; actual value = 1.00 SOH Adr Cmd Profile no=17 Target = 278.50 01h 20h 53h 31h 37h 30h 32h 37h 38h 35h 30h EOT CRC 04h 29h Display 2 7 8.5 0 1.0 0 Example 2: resolution = 1/10; target = 278.5; actual value = 1.0 SOH Adr Cmd Profile no=17 Target = 278.5 01h 20h 53h 31h 37h 30h 30h 32h 37h 38h 35h EOT CRC 04h 29h www.baumer.com 2 7 8.5 1.0 6 N 153 4. Command explanations 4.1. General information The following is describing the individual interface commands broken down into the four groups below: operating commands parameter commands identifier commands specific commands - [ commands required during operation ] [ commands for SPA parameterization ] [ commands to indicate or alter the device identifier (address)] [ commands for specific functions as device reset or version number readout] The following abbreviations are applied: SOH EOT Adr Cmd Sub Data CRC = = = = = = = start of heading (header token) end of transmission (footer token) device identifier, including offset 20h command sub-Command data transmitted or received checksum (cyclic redundancy check) 4.2. Operating commands Command Data amount code in bytes C D F R S U V Z t u (43h) (44h) (46h) (52h) (53h) (55h) (56h) (5Ah) (74h) (75h) 3 / 11 1 4 6 8 6 2 6 6 6 read write Broadcast X X X X X X X X - X X X X X X X X X X - Saved in Significance EEPROM X X X - Check if actual value = target Start motor Read device status and error Read actual value Read / write target Offset Read / write profile number Set preset Transmit tool number Transmit optional column of figures 4.2.1. Check Position „C“ (43h) This command provides the alignment status of target versus actual value. If the actual value is within the target tolerance window, the response will be „o“ (6Fh) for OK together with the current profile number. If the actual value is outside the tolerances, „x“ (78H) followed by the current profile number will be replied. In case of any SPA error occurred, the response will be “e” together with the active profile number. Example: (active profile number = 05) Transmission SOH 01h Adr 20h Cmd 43h EOT 04h CRC 0Ah Response if actual value within the tolerances: Response SOH 01h Adr 20h Cmd 43h Status Profile no. = 05 EOT 04h 6Fh 30h 35h CRC A5h Response if actual value is outside the tolerances: Response SOH 01h Adr 20h Cmd 43h Status Profile no. = 05 EOT 04h 78h 30h 35h CRC 1D Following values relating to status are possible: Status o (6Fh) x (78h) e (65h) Significance Actual value = target Actual value ≠ target SPA error www.baumer.com 7 N 153 Command extension Check Position „CX“ Command extension „Check Position CX “provides besides the alignment status target versus current value also the contents of the status and error register as well as the current value. The profile number is not transmitted. For the relevant status parameters (status) refer to the table above, the significance of the individual bits in the status and error register is explained under command readout device status „F“. Example: Transmission Response SOH Adr Cmd SCmd EOT CRC 01h 20h 43h 58h 04h A8h SOH Adr Cmd Status Status-Reg Error-Reg 01h 20h 43h 78h 80h 80h 80h 80h 2Dh Actual value = -12.50 30h 31h 32h 35h 30h EOT CRC 04h 0Fh 4.2.2. Motor start enable „D“ (44h) This command is utilized to read the actual SPA enable status or to set respectively clear motor start enable. The following modes are available: Status 0 1 2 3 : Significance (30h) abort motor start enable, motor stops (31h) start enable SPAs of group 1 (32h) start enable SPAs of group 2 (33h) start enable SPAs of group 3 : : There are two separate options regarding start enable. First, every SPA can be started individually. The order is determined by host and might also relate to SPAs of other groups. Start command “D” is transmitted to the respective device identifier including group number. The status LED is flashing rapidly, indicating that the SPA is transmitting motor control data (see also examples 1 and 2). Second, all SPAs of one group can be started at the same time by broadcast command (ID = 99). In this case, the status LEDs of the SPAs belonging to the respective group are flashing at the frequency of 1 Hz, but the SPAs have not yet been transmitting any motor control data. By key actuation the operator starts control data transmission and now the status LED is flashing rapidly (see example 3). Upon another key actuation the control data transmission is deactivated what is visualized by the status LED flashing slowly. Example 1: Read actual motor start enable status (status = 0 = disable) Transmission Response SOH Adr Cmd EOT CRC 01h 20h 44h 04h 04h SOH Adr Cmd Stat. EOT CRC 01h 20h 44h 30h 04h 64h Example 2: enable motor start in group 1 Transmission SOH Adr Cmd Stat. EOT CRC 01h 20h 44h 31h 04h 66h Response SOH Adr Cmd Stat. EOT CRC 01h 20h 44h 31h 04h 66h Example 3: start enable for all motors by broadcast command (identifier=99) in group 2 Transmission Response SOH Adr Cmd Stat. EOT CRC 01h 83h 44h 32h 04h 7Dh not confirmed Example 4: abort start enable for all motors by broadcast command (identifier=99) (stop command) Transmission Response SOH Adr Cmd Stat. EOT CRC 01h 83h 44h 30h 04h 79h not confirmed www.baumer.com 8 N 153 4.2.3. Read device status „F“ (46h) This command provides the device statii Stat1 and Stat2 together with error flags Err1, Err2. In case of error check command “C” will come with an “e” in reply. Example: Transmission Response Stat1: Stat2: Err1: Err2: SOH Adr Cmd EOT CRC 01h 20h 46h 04h 00h SOH Adr Cmd Stat1 Stat2 Err1 Err2 EOT CRC 01h 20h 46h 80h 80h 80h 80h 04h 4Bh 1 0 0 0 0 0 0 X ┬ ─────┬───── ┬ │ │ └── │ │ │ │ │ │ │ │ │ │ │ │ │ │ │ │ │ │ │ └───────── └──────────────── Motor on standby for transmission 0 = No motor start signal. SPA does not transmit any IR data 1 = Motor start signal. Interactive mode (motor start by broadcast command): SPA is enabled for alignment by power tool, however so far there has not been any IR data transmission. LED is flashing slowly. Motor start is enabled using the key. Direct mode (motor start signal via device address): SPA is enabled for alignment by power tool, IR data are being transmitted. LED is flashing. reserved ever 1 1 0 0 0 0 0 0 X ┬ ─────┬───── ┬ │ │ └── │ │ │ └───────── └──────────────── 1 = Motor is running (Moving Bit). The bit is set during motor start enable. LED is flashing rapidly. reserved ever 1 1 0 0 0 0 0 X X ┬ ──┬── ┬ ┬ ┬ ┬ │ │ │ │ │ └── │ │ │ │ └──── │ │ └────── │ │ │ └──────── │ └──────────── └──────────────── 1 = Err 8 - target > MAX limit position (motor does not start) 1 = Err 9 - target < MIN limit position (motor does not start) reserved reserved reserved ever 1 1 0 0 X 0 0 X X ┬ ┬ ┬ ┬ ┬ ┬ ┬ ┬ │ │ │ │ │ │ │ └── │ │ │ │ │ │ └──── │ │ │ │ │ └────── │ │ │ │ └──────── │ │ │ └────────── │ │ └──────────── │ └────────────── └──────────────── 1 = Err 1 - hurt MAX limit position 1 = Err 2 - hurt MIN limit position reserved reserved 1 = Err 5 – target not achieved reserved reserved ever 1 www.baumer.com 9 N 153 4.2.4. Read actual value „R“ (52h) This command is for reading the 5-digit actual value (bottom display). Data amount is always 6 bytes. In case of a negative value, the minus sign (2Dh) together with 5 data bytes is replied. Positive values are represented by 6 data bytes without sign. Values inferior to 5(4) digits will come with preceding zeroes. Please note that N 153 provides a 5-digit actual value. Example: Actual value = -32.50 Transmission SOH 01h Adr 20h Cmd 52h EOT 04h CRC 40h Response SOH 01h Adr 20h Cmd 52h 2Dh Actual value = –32.50 30h 33h 32h 35h 30h EOT 04h CRC 54h 4.2.5. Read / write target (profile) „S“ (53h) This command is utilized to read the presently active target (profile value) respectively to read or write a specific target. Data are composed by profile number (2 bytes) and target (6 bytes). Note: Negative targets are transmitted as 5-digit number (see example 3). Please consider that SPA targets comprise 5 digits only. Example 1: Read active target (profile number = 12; target = 12.50) Transmission SOH 01h Adr 20h Cmd 53h EOT 04h CRC 2A Response SOH 01h Adr 20h Cmd Profile no. = 12 53h 31h 32 30h 30h 3Fh 3Fh Target = 12.50 31h 32h 35h 30h EOT 04h CRC 3E Target = FFFFFFh 3Fh 3Fh 3Fh 3Fh EOT 04h CRC 2Ah 35h 30h EOT 04h CRC BCh Response upon clearing all targets: Response SOH 01h Adr 20h Cmd Profile no= FFh 53h 3Fh 3F Example 2: Read specific target (profile number = 17; target = 12.50) Transmission SOH 01h Adr 20h Cmd Profile no. = 17 EOT 53h 04h 31h 37h CRC 16h Response SOH 01h Adr 20h Cmd Profile no. = 17 53h 31h 37h 30h 30h Target = 12.50 31h 32h Example 3: Write specific target (profile number = 17; target = -12.50) s Transmission SOH 01h Adr 20h Cmd Profile no. = 17 53h 31h 37h 2Dh 30h Target = -12.50 31h 32h 35h 30h EOT 04h CRC FBh Response SOH 01h Adr 20h Cmd Profile no. = 17 53h 31h 37h 2Dh 30h Target = -12.50 31h 32h 35h 30h EOT 04h CRC FBh Note: Instead of command „S“ also command „SP“ may be utilized. The function is fully identical to command “S”. In case command SD is utilized it might be easier to apply command SP due to their identical protocol length. Please consider that with anterior or other multicon devices command „SP“ maybe is not available. Example 4: As in example 3 but utilizing command „SP“ Transmission SOH Adr Cmd Sub Profile no.=17 Target = -12.50 01h 20h 53h 50h 31h 37h 2Dh 30h 31h 32h 35h 30h EOT CRC 04h 29h Response SOH Adr Cmd Sub Profile no.=17 Target = -12.50 01h 20h 53h 50h 31h 37h 2Dh 30h 31h 32h 35h 30h EOT CRC 04h 29h www.baumer.com 10 N 153 Direct positioning „SD“ This command may be utilized for direct positioning operations. Only the target less any profile number is transmitted to SPA. The profile number after the command “S” is replaced by sub command “D” ( = dimension). Motor start enable requires transmitting in addtion motor start command “D”. Example 4: Write position value for direct positioning operation (less profile) Transmission SOH Adr Cmd Sub 01h 20h 53h 44h 30h Position value = 278.25 32h 37h 38h 32h 35h EOT CRC 04h 6Bh Response SOH Adr Cmd Sub 01h 20h 53h 44h 30h Position value = 278.25 32h 37h 38h 32h 35h EOT CRC 04h 6Bh Note: The position value is saved in the non-volatile memory and will be retained in case of power failure. In this case the previously selected profile is utilized again. Transmitting targets with simultaneous motor start signal Specific applications require autonomous re-alignment of shafts to the new target when it is received without prior enable signal by command „D“. For this intention the following commands are available: SPF transmits to SPA profile number together with motor start signal for automated positioning operations SDF transmits to SPA position value together with motor start signal for automated positioning operations The addressed SPA is enabled by adding sub-command „F“ to the respective basic command. Since it is a pure individual positioning operation, defined groups are not affected. Collision prevention is up to the operator. Example: Write specific target utilizing command „SPF“ (profile number = 17; target = -12.50) Transmission SOH Adr Cmd Sub1 Sub2 Profile=17 01h 20h 53h 50h 46h 31h 37h 2Dh 30h Target = -12.50 31h 32h 35h 30h EOT CRC 04h A0h Response SOH Adr Cmd Sub1 Sub2 Profile=17 01h 20h 53h 50h 46h 31h 37h 2Dh 30h Target = -12.50 31h 32h 35h 30h EOT CRC 04h A0h 4.2.6. Read / write offset „U“ (55h) This command is utilized to read or write the offset that is added to the true actual value. First however the function must be enabled in command bit parameter ‚a’ (61h). Example 1: Read offset Transmission SOH 01h Adr 20h Cmd 55h EOT 04h CRC 26h Cmd 55h 2Dh Data (offset = –20.00) 30h 32h 30h 30h 30h EOT 04h CRC C3h 2Dh Data (offset = –20.00) 30h 32h 30h 30h 30h EOT 04h CRC C3h Example 2: Write offset Transmission SOH 01h Adr 20h Response in both examples: Response SOH 01h Adr 20h Cmd 55h 4.2.7. Read / write profile number „V“ (56h) This command is utilized to read the number of the presently active profile respectively for profile alteration. Example 1: Read active profile (active profile number = 38) Transmission SOH 01h Adr 20h Cmd 56h EOT 04h CRC 20h Response SOH 01h Adr 20h Cmd Profile no. = 38 EOT 56h 04h 33h 38h CRC 28h Response after reset upon having cleared all profiles: Response SOH 01h Adr 20h Cmd Profile no. = FF EOT 56h 04h 3Fh 3Fh CRC 16h www.baumer.com 11 N 153 Example 2: Transmit new profile (new profile number = 17) Transmission SOH 01h Adr 20h Cmd Profile no. = 17 EOT 56h 04h 31h 37h CRC 3E Response SOH 01h Adr 20h Cmd Profile no. = 17 EOT 56h 04h 31h 37h CRC 3E Example 3: New profile by broadcast command to all SPAs (identifier = 99 (83h); new profile number = 17) Transmission SOH 01h Response Adr 83h Cmd Profile no. = 17 EOT 56h 04h 31h 37h CRC 04 Not confirmed To check whether the new profile has been adopted by all SPAs utilize check command „C“ (43h). 4.2.8. Set actual value as preset „Z“ (5Ah) Command “Z” is utilized to set the actual value at any optional value. The required position value is transmitted to the SPA. The SPA will calculate a so-called “preset offset” value relating to the true absolute encoder position. When calculating the preset offset, any programmed offset transmitted by command “U” will be considered, so that after having accomplished command “Z” the current value always equals the preset. Note: If the resolution is altered (see command “a”) from 1/100 to 1/10 or vice-versa, the previously programmed preset has to be set anew. The auto-calculated offset is provided in the previously selected resolution. The actual value displayed is composed as follows: actual valuedisplz = actual valueabs + preset offset + Offset Immediately after having accomplished command „Z“ applies preset value = current valuetCurrent valuedispl Current valueabs Preset offset Offset displ actual value indicated in the display and read out by interface internal absolute actual value (not corresponding to the transmitted preset value). offset generated by command „Z“. Additional offset enabled by command „U“. This function must be enabled first in command bit parameter ‚a’ (61h), otherwise the offset is 0. Example 1: Read out presently active preset value Transmission Response SOH Adr Cmd EOT CRC 01h 20h 5Ah 04h 38h SOH Adr Cmd 01h 20h 5Ah 30h Preset value = 2.50 30h 30h 32h 35h 30h EOT CRC 04h 27h Example 2: Set actual value as preset value (preset value = 17.25) Transmission SOH Adr Cmd 01h 20h 5Ah 30h Preset value = 17.25 30h 31h 37h 32h 35h EOT CRC 04h 09h Response SOH Adr Cmd 01h 20h 5Ah 30h Preset value = 17.25 30h 31h 37h 32h 35h EOT CRC 04h 09h Example 3: Set actual value as preset at all SPAs by broadcast command Transmission SOH Adr Cmd 01h 83h 5Ah 30h Response Not confirmed Preset value = 17.25 30h 31h 37h 32h 35h EOT CRC 04h AAh www.baumer.com 12 N 153 4.2.1. Indicate optional column of figures in upper line „t“ (74h) This command is utilized to indicate a 5-digit number in the upper line of the display. The numerical column is indicated less dot respectively comma. Preceding zeroes as well as both arrows are suppressed. The bottom line still indicates the actual value. The numerals are indicated in the display until any command except „t“, „u“ or „R“ is received. The number will be retained after power failure. Example: (Column of figures = 054321) Transmission SOH 01h Adr 20h Cmd 74h 30h Column of figures = 054321 35h 34h 33h 32h 31h EOT 04h CRC C6h Response SOH 01h Adr 20h Cmd 74h 30h Column of figures = 054321 35h 34h 33h 32h 31h EOT 04h CRC C6h 4.2.2. Indicate optional column of figures in bottom line „u“ (75h) The command utilized to indicate a 5-digit column of figures in the bottom line of the display. The number is indicated less dot respectively comma. Preceding zeroes as well as both arrows are suppressed. The upper line still indicates actual target or the column of figures. The column is indicated until any optional command except „t“, „u“ or „R“ is received by the interface. The number will be retained after power failure. Example: (Column of figures = 012345) Transmission SOH 01h Adr 20h Cmd 75h 30h Column of figures = 012345 31h 32h 33h 34h 35h EOT 04h CRC B6h Response SOH 01h Adr 20h Cmd 75h 30h Column of figures = 012345 31h 32h 33h 34h 35h EOT 04h CRC B6h Note: Command “t” in conjunction with command “u” enables indication of a 10-digit number. Both columns are not saved in EEPROM. 4.3. Parameter commands Command Data amount clode in bytes a b c g h i j k m (61h) (62h) (63h) (67h) (68h) (69h) (69h) (6Bh) (6Dh) 5 8 8 12 12 1 3 9 5 read write Broadcast X X X X X X X X X X X X X X X X X X X X - Saved in Significance EEPROM X X X X X X X X X www.baumer.com Read / wriete parameters Parameter: tolerance compensation, window Parameter: scaling factor of spindle pitch Parameter: limit positions MIN, MAX Parameter: Motor speed switching points Parameter: mm / inch Parameter: timeout window bus error Parameter: motor system times Read / write general parameters 13 N 153 4.3.1. Read / write bit parameters „a“ (61h) To exploit maximum memory capacity, several parameters are put together and transferred as “data pack” under the following parameter codes: Data1: Data2: Data3: 1 0 X X 0 X 0 X ┬ ──┬── ─┬─ ─┬─ │ │ │ └─── │ │ └─────── │ └──────────── └──────────────── positioning direction 0/1 counting direction 0/1 arrows 0/1/2/3 1 (UP/DOWN) (UP/DOWN) (UP/DOWN/UNI/OFF) 1 0 0 X X X 0 X ┬ ┬ ─┬─ ┬ ┬ ─┬─ │ │ │ │ │ └─── │ │ │ │ └────── │ │ │ └──────── │ │ └─────────── │ └────────────── └──────────────── round actual value turn display dimension offset reserved 1 (OFF/ON) (OFF/ON) (OFF/ON) (OFF/ON) 1 0 0 0 0 X X X ┬ ───┬─── ┬ ─┬─ │ │ │ └─── │ │ └────── │ └─────────── └──────────────── hide target resolution reserved 1 0/1 0/1 0/1 0/1 0/1/2 0/1 (ON/OFF/EVER) (1/100;1/10) Data4/5: 0 0 1 1 0 0 0 0 ───┬─── └───── reserved Important: Only bits marked ‘X’ may be altered. The permanent parameters „1“ and „0“ must not be altered since this might create a control token ( tokens <20h) what is not permitted in ASCII protocol. Example 1: read bit parameter (data1 to data3 = 80h; data4 to data5 = 30h) Transmission SOH 01h Adr 20h Cmd 61h EOT 04h CRC 4E Response SOH 01h Adr 20h Cmd 61h Data1 Data2 Data3 Data4 Data5 80h 80h 80h 30h 30h EOT 04h CRC F1 bit parameter default Example 2: write bit parameter (positioning direction = down; turn display = On) Transmission SOH 01h Adr 20h Cmd 61h Data1 Data2 Data3 Data4 Data5 81h 84h 80h 30h 30h EOT 04h CRC 91h Response SOH 01h Adr 20h Cmd 61h Data1 Data2 Data3 Data4 Data5 81h 84h 80h 30h 30h EOT 04h CRC 91h www.baumer.com 14 N 153 Significance of parameter „a“ Positioning direction This parameter defines the direction the target is aimed for. Tolerances that occur for example at cogwheels, joints, shafts etc during a precise positioning operation requires a tolerance compensation. The tolerance compensation is proceeded by aiming for the target position always from the same direction utilizing so-called loops. Loops mean that the target position is first crossed by a defined distance and then aimed for again from the opposite direction. The parameter for the crossing distance is programmed by command “b”. Whether a loop is required or not is indicated by the arrows in the display. A flashing arrow means tolerance compensation required. Upon reaching the turning point the direction changes and the arrow stops flashing. Targets allowing direct positioning are marked by a non-flashing arrow. Upon achieving the target within the programmed tolerances (see command “b”) the arrows will not disappear until the required tolerance compensation has been completed. 00 = Up 01 = Down 00 = Up 01 = Down Counting mode This parameter assigns either „ascending“ or „descending” counted values in relation to the shaft’s direction of rotation. Following parameters are available: 00 = Up 01 = Down Clockwise rotation, ascending counted values Clockwise rotation, descending counted values Arrows This parameter relates to the arrows in the display that indicate the operator the direction (to the right or to the left, up/down) of the new positioning operation. Following parameters are available: 00 = Up 01 = Down 10 = Uni 11 = Off If actual value < target = arrow to the right; actual value > target = arrow to the left As „Up“, but inverted arrows direction If actual value ≠ target arrows ever indicated Arrows ever hidden Note: A loop operation (as backlash compensation) is only performed with settings Up and Down. Uni and Off always implicate a direct movement to the target without backlash compensation. Rounding the actual value This means that the actual value being within the tolerances but still differing from the target is rounded up or down to the target value as soon as the shaft remains idle for approx. 3 seconds. The rounding operation is only visual, the true internal actual value remains unchanged. For actual value readout by serial interface (command “R”) the true, not rounded actual position value is provided. The true actual value will immediately reappear on the display upon actuating a key. If the position is still within the tolerance window the rounding operation will be repeated after 3 seconds. Note: In operating mode „Suppress target = Ever“ the target is deactivated and the SPA serves as pure actual value display with disabled rounding function. The following parameters are available: 0 = Off Round actual value disable 1 = On Round actual value enable Turn display This parameter is utilized to turn the display by 180°. 0 = Off 1 = On Display readout with standard mounting, i.e. display above keypad Display readout with inverted mounting, i.e. display below keypad Dimension Only in conjunction with N 242 master. By this parameter the master enables indication of actual value and direct positioning (so-called dimension). Refer also to N 242 user manual. Utilized with other controls (PLC or PC) this parameter may be assigned to general identifications. 0 = Off 1 = On Device not indicated in N 242 master Device indicated in N 242 master. Direct target input possible www.baumer.com 15 N 153 Offset Command „U“ is utilized for programming the offset that is added to actual value and actual target. This parameter defines whether the offset is considered in the calculation. 0 = Off 1 = On Offset disabled. Any offset previously transmitted is NOT added neither to actual value nor taget. Offset enabled. Offset is added to actual value and actual target. Suppress target This parameter defines when to indicate the target in the upper line of the display. 0 = On 1 = Off 2 = Ever Target indicated if target ≠ current value. Target ever indicated, also if target = current value. Indicate arrows too if target ≠ current value. Target and arrows ever suppressed. Resolution This parameter defines the resolution of the actual value. Upon altering the resolution the decimal point is shifted correspondingly by one digit to the right or left, same applies also to actual value and target. The target values however are not converted correspondingly but only the decimal point is shifted. When editing the machine please pay attention to defining the resolution first so that the target values are transmitted to the SPAs with the corresponding resolution. 0 1 Resolution 1/100 mm resp. 1/1000 inch visualized in display: 000.00 mm resp. 00.000 inch Resolution 1/10 mm resp. 1/100 inch visualized in display: 0000.0 mm resp. 000.00 inch www.baumer.com 16 N 153 4.3.2. Read / write bit parameter motor „m“ (6Dh) To exploit maximum memory capacity, several parameters are put together and transferred as “data pack” under the following parameter codes: Data1: Data2: Data3: Data4/5: 1 0 0 0 0 X 0 X ┬ ──┬── ─┬─ ─┬─ │ │ │ └─── │ │ └─────── │ └──────────── └──────────────── TASTE key assignment RICHTG motor direction reserved 1 1 0 X X 0 0 0 0 ┬ ──┬── ┬ ──┬── │ │ │ └──── │ │ └──────── │ └──────────── └──────────────── reserved reserved shaft type 1 1 0 0 0 0 X X X ┬ ┬ ─┬─ ┬ ──┬── │ │ │ │ └──── │ │ │ └──────── │ │ └─────────── │ └────────────── └──────────────── GROUP reserved reserved reserved 1 0/1 0/1 (UP/DOWN) 0/1 (UP/DOWN) (R/A) 0 – 7 (group1/group2/…/group8) 0 0 1 1 X X X X 0 0 1 1 X X X X ───────┬─────── ───────┬─────── │ └──────── └─────────────────────────── reserved reserved Important: Only bits marked ‘X’ may be altered. The permanent values „1“ and „0“ must not be altered since thereby a control token ( tokens < 20h) might be created what is not permitted in ASCII. Example 1: read bit parameter (data 1 to data 3 = 80h; data 4 to data 5 = 30h) Transmission Response SOH Adr Cmd EOT CRC 01h 20h 6Dh 04h 56h SOH Adr Cmd Data1 Data2 Data3 Data4 Data5 EOT CRC 01h 20h 6Dh 80h 80h 80h 30h 30h 04h F2h Bit parameter default Example 2: write bit parameter (key assignment = down; motor direction = Down) Transmission SOH Adr Cmd Data1 Data2 Data3 Data4 Data5 EOT CRC 01h 20h 6Dh 81h 84h 80h 30h 30h 04h 92h Response SOH Adr Cmd Data1 Data2 Data3 Data4 Data5 EOT CRC 01h 20h 6Dh 81h 84h 80h 30h 30h 04h 92h www.baumer.com 17 N 153 Significance of parameter „m“ Key assignment This parameter assigns a specified direction of rotation to a certain key. For the mounting option “keypad below display” and the remaining default parameters applies the following: 0 = Up 1 = Down left/right key actuation = shaft rotation ccw/cw, counting mode UP/DOWN left/right key actuation = shaft rotation cw/ccw, counting mode UP/DOWN Motor direction of rotation The parameter “motor direction of rotation” enables inversion of the two output signals for motor ccw (pin B) and motor cw (pin C) provided at the motor cable. 0 = Up 1 = Down Standard direction of rotation Inverted direction of rotation Shaft type The shaft type parameter assigns the shaft type. Some applications may call for different treatment of radially and axially operated shafts what is already taken into consideration when utilizing the IVO master. For example, only certain shafts shall be displayed in DIM mode. Other controls (for example PLC or PC) may utilize this parameter for general assignments. 0=R 1=A Shaft type R Shaft type A Groups Parameter for division in groups. Individual SPAs can be bundled to 8 different groups to be started in successive order group by group (command „D“) in order to prevent collisions. 0 = group 1 1 = group 2 : : 7 = group 8 Start command „D“ must comprise the designated group number to start the respective group. 4.3.3. Read / write spindle tolerance compensation and window „b“ (62h) This command is utilized to read or write the parameters tolerance compensation and tolerance window. Example 1: Read parameter (tolerance compensation = 0.50; tolerance window = 0.25) Transmission SOH 01h Adr 20h Cmd 62h EOT 04h CRC 48h Response SOH 01h Adr 20h Cmd 62h tolerance compensation=0.5 30h 30h 35h 30h tolerance window =0.25 30h 30h 32h 35h EOT 04h CRC 0Bh Example 2: Write parameter (tolerance compensation = 1.30; tolerance window = 0.75) Transmission SOH 01h Adr 20h Cmd 62h tolerance compensation =1.30 30h 31h 33h 30h tolerance window =0.75 30h 30h 37h 35h EOT 04h CRC 1Eh Response SOH 01h Adr 20h Cmd 62h tolerance compensation =1.30 30h 31h 33h 30h tolerance window =0.75 30h 30h 37h 35h EOT 04h CRC 1Eh www.baumer.com 18 N 153 4.3.4. Read / write spindle pitc (scaling factor) „c“ (63h) This command is utilized to read or write the scaling factor relating to the spindle pitch within the range from 0,0000001...9,9999999. The decimal point is not transmitted. Resolution per turn is 1440 steps. A scaling factor of 1.000000 will increase respectively decrease the indicated value by 14.4 mm. How to calculate the scaling factor: Resolution per turn: 14.40 mm Spindle pitch: (corresponding to length with scaling factor 1.0000000) 4.00 mm Spindle pitch 4.00 scaling = ───────────────── = ───── = 0.2777777 resolution per revolution 14.40 Example 1: Read scaling (scaling factor = 1.000000) Transmission SOH 01h Adr 20h Cmd 63h EOT 04h CRC 4Ah Response SOH 01h Adr 20h Cmd 63h 31h 30h Scaling factor = 1.0000000 30h 30h 30h 30h 30h 30h EOT 04h CRC 4B Example 2: Write scaling (scaling factor = 0.2777777) Transmission SOH 01h Adr 20h Cmd 63h 30h 32h Scaling factor = 0.2777777 37h 37h 37h 37h 37h 37h EOT 04h CRC 30h Response SOH 01h Adr 20h Cmd 63h 30h 32h Scaling factor = 0.2777777 37h 37h 37h 37h 37h 37h EOT 04h CRC 30h 4.3.5. Read / write limit positions „g“ (67h) This command is utilized to read or write the MIN and MAX limit positions within the range from -999.99 to 9999.99. The decimal point is not transmitted. Example 1: Read limit positions (MIN = 15.00; MAX = 850.25) Transmission Response SOH Adr Cmd EOT CRC 01h 20h 67h 04h 42h SOH Adr Cmd MIN limit position = 0015.00 01h 20h 67h 30h 30h 31h 35h 30h 30h MAX limit position = 0850.25 EOT CRC 30h 38h 35h 30h 32h 35h 04h 1Fh Example 2: Write limit positions (MIN = -33.22; MAX = 1234.56) Transmission SOH Adr Cmd MIN limit position = -033.22 01h 20h 67h 2Dh 30h 33h 33h 32h 32h MAX limit position = 1234.56 EOT CRC 31h 32h 33h 34h 35h 36h 04h 92h Response SOH Adr Cmd MIN limit position = -033.22 01h 20h 67h 2Dh 30h 33h 33h 32h 32h MAX limit position = 1234.56 EOT CRC 31h 32h 33h 34h 35h 36h 04h 92h 4.3.6. Read / write motor speed switching points „h“ (68h) This command is utilized to read or write the motor speed switching points. Prior to reaching the target the motor speed can be slowed down for high-precise target positioning. Furthermore it is possible to set the motor switch-off point at a designated value relating to the target. The following two parameters are defined: Precision speed: point where SPA changes from high speed to precision speed. Switch off point: Position where motor is stopped by SPA . The individual switching points are indicated in relation to the target. Example 1: Read parameter (precision speed = 0.70; switchoff point = 0.02) Transmission Response SOH Adr Cmd EOT CRC 01h 20h 68h 04h 5Ch SOH Adr Cmd 01h 20h 68h 30h reserved 30h 30h 30h Precision speed =0.70 30h 30h 37h 30h www.baumer.com Switchoff point =0.02 EOT CRC 30h 30h 30h 32h 04h 66h 19 N 153 Example 2: Write parameter (precision speed = 0.50; switch off point = 0.01) Transmission SOH Adr Cmd 01h 20h 68h 30h reserved 30h 30h 30h Precision speed =0.50 30h 30h 35h 30h Switchoff point =0.01 EOT CRC 30h 30h 30h 31h 04h E0h SOH Adr Cmd 01h 20h 68h 30h reserved 30h 30h 30h Precision speed =0.50 30h 30h 35h 30h Switchoff point =0.01 EOT CRC 30h 30h 30h 31h 04h E0h 00 Response 4.3.7. Read / write measuring unit „i“ (69h) The command is utilized to read or write the measuring unit in mm or inches. Data = 0 (30h) = mm Data = 1 (31h) = inch Example 1: Read parameter (setting = mm) Transmission SOH 01h Adr 20h Cmd 69h EOT 04h CRC 5E Response SOH 01h Adr 20h Cmd 69h Data 30h EOT 04h CRC D0h Example 2: Change measuring unit into inches Transmisison SOH 01h Adr 20h Cmd 69h Data 31h EOT 04h CRC D2 Response SOH 01h Adr 20h Cmd 69h Data 31h EOT 04h CRC D2 Example 3: Write measuring unit mm in all SPAs by broadcast command (identifier=99) Transmission Response SOH 01h Adr 83h Cmd 69h Data 30h EOT 04h CRC CDh not confirmed Important: Parameters are programmed in mm and auto-converted by SPA into inches upon displaying the position values. 4.3.8. Read / write timeout at bus error RS485 „j“ (6Ah) This command is utilized to read or write the system time: timeout at bus error. Value range is within 00,1 s to 99,9 s. Tolerance: ±7% at minimum time; < 1‰ at maximum time, approx. 1% at 1. Function: RS485 bus monitoring during motive shaft positioning operations. If there is no interface activity within the programmed timeout the motor will stop (EMERGENCY OFF) upon occurring a bus error or in case of an inactive control. A motor restart requires transmitting the profile (command „S“ or „V“) together with the start signal (command „D“). Setting 0.00 s means function disabled. Example 1: Read parameter (time= 2.5 s) Transmission Response SOH Adr Cmd EOT CRC 01h 20h 6Ah 04h 58h SOH Adr Cmd Time =2.5 s EOT CRC 01h 20h 6Ah 30h 32h 35h 04h C5h Example 2: Write parameter (time = 13.5 s) Transmission SOH Adr Cmd Loop =13.5 s EOT CRC 01h 20h 6Ah 31h 33h 35h 04h C9h Response SOH Adr Cmd Loop =13.5 s EOT CRC 01h 20h 6Ah 31h 33h 35h 04h C9h www.baumer.com 20 N 153 4.3.9. Read / write motor system times „k“ (6Bh) This command is utilized to read or write the individual motor system times within the range of 0,1 s to 99,9 s. Tolerance: ±7% at minimum time; < 1‰ at maximum time, approx. 1% at 1 s. The following parameter is available: Loop: Waiting time at turning point during loop operation Example 1: Read parameter (loop = 1.0s) Transmission Response SOH Adr Cmd EOT CRC 01h 20h 6Bh 04h 5Ah SOH Adr Cmd Loop=1.0 s 01h 20h 6Bh 30h 31h 30h 30h reserved 30h 30h 30h reserved EOT CRC 30h 30h 04h D9h Example 2: Write parameter (loop = 2.0s) Transmission SOH Adr Cmd Loop=2. s 01h 20h 6Bh 30h 32h 30h 30h reserved 30h 30h 30h reserved EOT CRC 30h 30h 04h DAh Response SOH Adr Cmd Loop=2.0 s 01h 20h 6Bh 30h 32h 30h 30h reserved 30h 30h 30h reserved EOT CRC 30h 30h 04h DAh 4.3.10. Read / write specific parameter „x“ (78h) The specific parameter „x“ comprises several sub-parameters enabling alteration of originally permanent parameters to adapt them to new circumstances. Presently the following sub-parameter is available: D (44h) = delaytime for minimized timeout reply of serial interface Sub-Parameter: Delaytime „D“ (44h) This parameter defines the minimum delay time (break) between the last bit received and the first bit of the response transmitted. Delay time is programmable in steps of 0,1 ms from 00.0 ... 60.0 ms, default is 1.0 ms. Example 1: Read actual delaytime Transmission Response SOH Adr Cmd Sub EOT CRC 01h 20h 78h 44h 04h 7Ch SOH Adr Cmd Sub 01h 20h 78h 44h Delaytime = 4.5 EOT CRC 30h 30h 34h 35h 04h BBh Example 2: Write new delaytime Transmission SOH Adr Cmd Sub 01h 20h 78h 44h Delaytime = 15.0 EOT CRC 30h 31h 35h 30h 04h BDh Response SOH Adr Cmd Sub 01h 20h 78h 44h Delaytime = 15.0 EOT CRC 30h 31h 35h 30h 04h BDh Please not that the true delaytime might be prolonged. It depends on the required processing time as well as on internal software cycles. Tolerance is approx. 8 ms. 4.4. Identifier (address) commands Command Data amount code in bytes A (41h) B (42h) 2 2 read write Broadcast X - X - X - Saved in Significance EEPROM X - www.baumer.com Assign or indicate device identifier SPA feedback in addressing mode 21 N 153 4.4.1. Assigning device identifiers in the network „A“ (41h) This command is creating an automated process assigning the device identifier in successive order to every single SPA upon commissioning of the system. The first identifier to be assigned is broadcasted to all networked SPAs as follows: Transmission SOH 01h Adr 83h Cmd 41h identifier = 01 30h 31h EOT 04h CRC B4h All SPAs now show the identifier just transmitted and that is to be assigned in the upper display. The bottom line indicates the device-specific identifier.To make the SPA adopt the new identifier, the shaft must be turned by half at least (direction does not matter). The identifier is now adopted and indicated in the bottom line of the display (as new device-specific identifier). Both identifiers are now identical. As soon as the shaft is in idle position again and after having elapsed 3 seconds, the SPA will transmit the following command „B“ (42h) as confirmation to master: Transmission to master SOH 01h Adr 21h Cmd 42h identifier = 01 30h 31h EOT 04h CRC 86h The Master can now transmit command „A“ with the next identifier to be assigned as previously described. This way, the different (successive) identifiers are automatically assigned to all networked SPAs, one after the other. Important: Confirmatory command „B“ transmitted by SPA to master will be repeated after 3 seconds provided the master has not previously transmitted another „A“ command. Indicate identifier in the display „A“ (41h) This command less parameters as a broadcast command (address/Identifier=99) will make every networked SPA indicate the device-specific identifier in the bottom line of the display. The upper line is blind. This command is a designated broadcast command. Transmission Response SOH 01h Adr 83h Cmd 41h EOT 04h CRC 80h Not confirmed SPA remains in this mode until being switched off and on again or until transmission of another command except „A“, „R“, „t“ or „u“. If this command is transmitted to a valid device identifier (except 99) without any parameters, the respective SPA will return to standard operating mode and reply the actual device identifier. Transmission SOH 01h Adr 21h Cmd 41h EOT 04h CRC 0Ah Response SOH 01h Adr 21h Cmd 41h Identifier =01 30h 31h EOT 04h CRC 9Eh Extended identifier command „AX“ (41h, 58h) This extended command is utilized to address individual SPAs in the bus network in a similar way as described above. By broadcast command the identifier to be assigned is transmitted to all networked SPAs as follows: Transmission SOH 01h Adr 83h Cmd 41h Cmd2 Identifier = 01 58h 30h 31h EOT 04h CRC 40h Similar to the standard command all SPAs now indicate the identifier just transmitted which is to be assigned in the upper display. Adopting the identifier is in the same way. However, contrary to the above there is not any acknowledgement „B“ in reply. Checking whether the new identifier has been adopted is up to master, for example utilizing command “R” (read actual value). The R-command with the corresponding identifier is transmitted to the SPA. If the addressed SPA confirms that the assignment was successful, the master can proceed with next identifier. Regarding other commands the display of the respective SPA switches to standard operation. www.baumer.com 22 N 153 4.5. Specific commands Command Data amount code in bytes K (4Bh) Q (51h) X (58h) read write Broadcast X X X - X X - 1 2/4/8 Saved in significance EEPROM X X - Specific command: profile reset (clear) Specific command: SPA reset Specific commands 4.5.1. SPA profile reset „K“ (4Bh) This command is clearing all previously programmed profiles. Example 1: profile reset of a specific SPA Transmission SOH 01h Adr 20h Cmd 4Bh Data 7Fh EOT 04h CRC C6h Response SOH 01h Adr 20h Data 6Fh EOT 04h CRC 52h SPA replies by standard response ‚o’ (6Fh) = OK Example 2: profile reset in all SPAs by broadcast command (identifier=99) Transmission SOH 01h Response Adr 83h Cmd 4Bh Data 7Fh EOT 04h CRC DBh Not confirmed Important: After profile reset all profile data are set to FFFFFFhex, the current profile number to FFhex. The SPA display now is indicating 5 hyphens instead of target. 4.5.2. SPA restore default „Q“ (51h) This command restores default either of individual or collective parameters. Data Data Data Data = = = = q t x ∆ (71h) (74h) (78h) (7Fh) = = = = Restore default parameters Device identifier = 98 Multiturn counter reset to 0. No singleturn reset possible. All above functions are accomplished. Note: No profile reset. Profile reset by command „R“. Example 1: Restore default in specific SPA Transmission SOH 01h Adr 20h Cmd 51h Data 7Fh EOT 04h Response SOH 01h Adr 20h Data 6Fh EOT 04h CRC 52h CRC AEh SPA replies by standard response ‚o’ (6Fh) = OK Example 2: Restore default in all SPAs by broadcast command (identifier=99) Transmisison Response SOH 01h Adr 83h Cmd 51h Data 7Fh EOT 04h CRC B3 Not confirmed 4.5.3. Read version, type or serial number „X“ (58h) This command is utilized to read version number, device type or serial number. The following sub-commands are available: Data = V (56h) = read version Data = T (54h) = read device type Data = S (53h) = read serial number www.baumer.com 23 N 153 Example 1 : Read version number Transmission SOH 01h Adr 20h Cmd 58h Data 56h EOT 04h CRC D8h Response SOH 01h Adr 20h Cmd 58h Data 56h Version number = 2.00 20h 32h 30h 30h EOT 04h CRC FAh Beispiel 2: Read device type (device type = N 153; firmware = 01) Transmission SOH 01h Adr 20h Cmd 58h Data 54h EOT 04h CRC DCh Response SOH 01h Adr 20h Cmd 58h Data 54h Type 93h 81h EOT 04h CRC 26h Code configuration of the transmitted device type: 1 0 0 1 0 0 1 1 1 0 0 0 0 0 0 1 ┬ ──────┬────── ┬ ───────┬───── │ │ │ └─────── │ │ └──────────────── │ └────────────────────────── └────────────────────────────────── = 93 81 hex software no. 01h = firmware 01 permanent 1 device type 13h = N 153 permanent 1 Example 3: Read serial number Transmission SOH 01h Adr 20h Cmd 58h Response SOH 01h Adr 20h Cmd 58h Data 53h Data 53h EOT 04h 30h CRC D2h 37h Coded serial number = 07090EA4 30h 39h 30h 3Eh 3Ah 34h EOT 04h CRC 20h Code configuration of the transmitted serial number: The Low-Nibble (lower 4 bits of a byte) of the 8 data bits received equal together a 4 byte value comprising the serial number. The serial number is composed by date and time of production. Since also the seconds are coded and by assigning only one number per second the serial number is unique. Example: Serial number for 01.06.2005 16:58:36 = 15 83 0E A4 hex X X X X X X X X X X X X X X X X X X X X X X X X X X X X X X X X J J J J J J M M M M T T T T T h h h h h m m m m m m s s s s s s 0 0 0 1 0 1 0 1 1 0 0 0 0 0 1 1 0 0 0 0 1 1 1 0 1 0 1 0 0 1 0 0 ─────┬───── ────┬──── ────┬──── ─────┬───── ──────┬────── ─────┬───── │ │ │ │ │ └─────── │ │ │ │ └──────────────────── │ │ │ └───────────────────────────────── │ │ └──────────────────────────────────────────── │ └────────────────────────────────────────────────────── └───────────────────────────────────────────────────────────────── www.baumer.com bit position content Example = 15 83 0E A4 hex 10 0100 = 24h = 36d 11 1010 = 3Ah = 58d 1 0000 = 10h = 16d 0 0001 = 01h = 01d 0110 = 06h = 06d 00 0101 = 05h = 05d │ 01.06.05 16:58:36 <──────┘ seconds minutes hours day month year 24 N 153 5. Error warnings 5.1. CRC error Upon recognizing a CRC error in a transmitted command the SPA will respond as follows: Response SOH 01h Adr 20h Error 65h EOT 04h CRC 46h Error = „e“ (65h) = CRC error 5.2. Format error Upon recognizing a format error (incorrect length of protocol or void command (Cmd) in a command transmitted the SPA will respond as follows: Response SOH 01h Adr 20h Error 66h EOT 04h CRC 40h Error = „f“ (66h) = format error 5.3. Display error indication Error warnings are visualized by a flashing upper display, indicating alternately both error signal and current value (usually target). MAX limit of SPA hurt by manual positioning operation (utilizing key) Troubleshooting: Set SPA to the admissible positioning range. MIN limit of SPA hurt by manual positioning operation (utilizing key) Troubleshooting: Set SPA to the admissible positioning range. SPA did not reach target window. Troubleshooting: Extend the tolerance window. Set switchover to precision speed at an earlier poit. Select a stop value that is inferior to the tolerance window. The target transmitted resp. DIM value is exceeding the MAX limit. Note: Take loops into consideration. Troubleshooting: Transmit new admissible position value. Target transmitted respectively DIM parameter is below the MIN limit. Note: Take loops into consideration.. Troubleshooting: Transmit new admissible position value. www.baumer.com 25 N 153 6. Overview on commands The following chart shows in alphabetical order all available commands (Cmd) as well as options regarding read and write (parameterization). Command Data amount code in bytes a (61h) b (62h) c (63h) g (67h) h (68h) i (69h) j (69h) k (6Bh) m (6Dh) t (74h) u (75h) x (78h) A (41h) B (42h) C (43h) D (44h) F (46h) K (4Bh) Q (51h) R (52h) S (53h) U (55h) V (56h) X (58h) Z (5Ah) 5 8 8 12 12 1 3 9 5 6 6 5 2 2 3 1 4 1 6 8 6 2 4 6 read write Broadcast Saved in EEPROM X X X X X X X X X X X X X X X X X X X X X X X X X X X X X X X X X X X X X X X X X X X X X X X X X X X X X X X X X X X X X X X X www.baumer.com Function Read / write general parameters Parameter: tolerance compensation, window Parameter: Scaling factor spindle pitch Parameter: limit positions MIN, MAX Parameter: motor speed switching points. Parameter: mm / inch Parameter: timeout bus error Parameter: motor system times Read / write general parameters Transmit tool number Transmit optional column of figures Read / write specific parameters Assign or display device identifier SPA response in addressing mode Check if current value = target Motor start enable Readout device status and error Specific command: Profile reset (clear) Specific command: SPA reset Read current value Read / write target Offset Read / write profile number Specific command: read version number Set preset 26 N 153 7. Technical data Technical data – electrical ratings Supply voltage 24 VDC ±10% Power consumption <40 mA Display LCD, 7 segment, 2 lines, backlit Sensing principle Absolute multiturn sensing Sensing range -99.99...+999.99 mm -9.999...+99.999 inch Number of steps/revolution 1440 Number of revolitions 4096 / 12 bit Spindle pitch ≤14 mm Interface RS485 (ASCI protocol) Data saving Parameter buffer: EEPROM Actual value buffer: >10 years by integrated 3 V Lithium battery Programmable parameter Display position horizontal / vertical Measuring unit mm/inch Counting direction Spindle pitch Spindle tolerances Positioning direction Arrows Tolerance window Rounding function Motive positioning Two softkeys with jog operation for format alignment connected to power tool by infrared interface Standard DIN EN 61010-1 Protection class II Overvoltage category II Pollution degree 2 Interference emission DIN EN 61000-6-3 Interference immunity DIN EN 61000-6-2 Approval UL/cUL Technical data – mechanical design Hollow shaft ø14 mm Operating speed ≤600 rpm (short-term) Protection DIN EN 60529 IP 65 Operating temperature -10...+50 °C Storage temperature -20...+70 °C Relative humidity 80 % not condensing Torque support Torque pin provided at housing E-connection - male/female 4-pin M8 connector - cable output (30/ 5 cm) with male/female 4-pin M8 connector User surface / keypad Keypad with two softkey Housing With hollow shaft for direct shaft mount Dimensions W x H x L 37 x 75 x 45 mm Mounting Hollow shaft mount Weight approx. 120 g Material Polyamide black, UL 94V-0 www.baumer.com 27 N 153 7.1. Dimensions Connect or output 4.8 Torque pin 6 ° ø14H7 300 A Seal 14 6.5 A 1 45 M8 female connector 13 52 31.8 M8 connector 12.5 30.15 10 ø6h9 28 2:1 60 16 Pin M4 13 26 37 StatusLED IR-Diode ø20 22 20.5 75 0.5x 45° Cable output 150 75 Connector Female connector ø12 ø12 8. Part number Reference 1 Interface RS485 E-connection 0 1 Connector output Cable output 4-pin M8 connector Supply voltage 3 24 VDC Display A At slope Hollow shaft A N 153.1 3 A ø14 mm A01 www.baumer.com 28