ASM POSIROT Series Installation And Operation Manual Download Page 25

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Process Data Object (TPDO) Mapping

TPDO

COB-Id

DLC

Byte0

Data Frame

Byte7

TPDO-01

180h

+Node-Id

4 Byte Position Data

(LSB)

...

(MSB)

TPDO-02

280h

+Node-Id

4 Byte Position Data

(LSB)

...

(MSB)

TPDO-04

480h

+Node-Id

CAM

State

CAM State Data Format

8 Bit CAM State Register

CAM 8

CAM 7

CAM 6

CAM 5

CAM 4

CAM 3

CAM 2

CAM 1

TPDO Default Settings

TPDO

Default COB-Id

Default Transmission Type

TPDO-01: Position Data, 4 Byte

1FFh

Event Timer 100ms (FE, T!=0)

TPDO-02: Position Data, 4 Byte

2FFh

Sync Mode

TPDO-04: CAM Status, 1 Byte

4FFh

Change of State Mode

Bit rates

Index

Bit rate

1 MBit/s

800 kBit/s

500 kBit/s

250 kBit/s

125 kBit/s

reserved

50 kBit/s

MAN-PRDS-E-17 25

www.asm-sensor.com / USA: www.asmsensors.com

POSIROT

– PRDS

Output CANopen

Summary of Contents for POSIROT Series

Page 1: ...POSIROT PRDS Please read carefully before installation and operation Digital Magnetic Angle Sensors Installation and operation manual ...

Page 2: ...r the mounting screws 7 Electrical installation 9 Reference position 10 PRDS27 10 PRDS1 11 PRDS2 12 PRDS3 12 PRDS5 13 PRDS6 14 PRDS7 15 Specification of the outputs 16 RS422 16 HTL 17 SSI 18 CANopen 19 CAN SAE J1939 30 Accessories 35 Accessory cables 35 Position magnets 37 Assembly of the magnets 45 Mounting plates for PRDS2 PRDS3 46 Mounting possibilities PRDS2 PRDS3 47 Coupling MK4 48 Service ca...

Page 3: ...isregard of this advice can lead to malfunctions damage to property or personal injury and releases the manufacturer from product liability Explanation of used safety signs and signal words WARNING Risk of Injury Indicates a potentially hazardous situation which if not avoided could result in serious injury or property damage WARNING Risk of Personal Injury or Death Indicates a situation that can ...

Page 4: ...al connections Loosen fixing screws Disposal Disposal according to applicable government regulations 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 The unintended use is when the sensor is used outside its specified technical and ambient atmospheric condit...

Page 5: ... contact supplier or ASM GmbH Moosinning To avoid shipment damages use original packing for further shipment Return consignment for calibration or repair only with the RMA number Return Material Authorization Please contact ASM and request the RMA number ASM Automation Sensorik Messtechnik GmbH Service Repair Am Bleichbach 18 24 85452 Moosinning Germany Tel 49 8123 986 0 Fax 49 8123 986 500 servic...

Page 6: ...agnetizing in case the sensor has to be mounted on a ferromagnetic material see page 9 It is however not possible to exclude the effect of lateral external magnetic fields Description The angle sensors PRDS of the POSIROT product family perform touch less or shaft based angle measurement A position magnet rotates in front of the sensing area of the sensor head The angular position is converted int...

Page 7: ... If both markings match the reference output Z Z will be activated Reference position SSI output The zero point of the characteristic is given when markings on magnet and housing match Reference position CAN output CANopen J1939 The average value of the characteristic is given when markings on magnet and housing match The characteristic can be defined by configuration via CAN bus POSIROT PRDS Moun...

Page 8: ...8 2 2 5 0 PRMAG21 0 4 0 5 0 2 0 4 1 3 8 10 PRMAG22 0 9 5 0 5 0 1 0 4 1 2 2 4 5 8 PRMAG M10 0 5 0 5 0 1 0 1 0 5 2 0 7 PRDS2 PRMAG2 Z VA 0 9 0 5 0 1 0 2 0 6 1 5 4 5 8 5 PRMAG20 0 6 0 5 0 15 0 4 0 8 2 2 5 PRMAG21 0 3 5 0 5 0 2 0 4 1 3 8 10 PRMAG22 0 9 0 5 0 1 0 4 1 2 2 4 5 8 0 PRDS5 PRDS6 PRDS7 PRMAG2 Z VA 0 8 5 0 5 0 1 0 2 0 6 1 5 4 5 8 5 PRMAG5 Z VA 0 7 5 0 5 0 1 0 2 0 6 1 5 4 5 8 5 PRMAG6 Z VA 0 7...

Page 9: ...rque Nm PRDS1 M12x1 2 5 PRDS2 PRDS3 M2 5 screws for moun ting brackets 0 8 PRDS3 M3 screws for mounting flange 1 2 PRDS27 M4 1 PRDS5 M8 steel 10 PRDS6 M6 steel 6 PRDS7 M6 steel 6 Supply voltage current consumption NOTICE Electrical installation Observe different color code for pre assembled accessory cables refer to accessories pages The protection class of sensors with connector output is valid o...

Page 10: ...ng radius in motion not in motion 10 x cable diameter 10 million cycles 5 x cable diameter For all sensors with cable POSIROT PRDS Reference position PRDS27 Reference position PRDS27 A zero imlpuls Z Z see pages 15 16 is generated at the reference position Fixing of the PRDS27 with a shield plate optional PRDS27 Marking Strain relief Shield plate PRAS27 MSHIELD Marking ...

Page 11: ... GmbH MAN PRDS E 17 11 www asm sensor com USA www asmsensors com Marking Marking Reference position PRDS1 Mounting PRDS1 Flush mounted Non magnetic material Surface mounted Magnetic material A zero imlpuls Z Z see pages 15 16 is generated at the reference position POSIROT PRDS Reference position PRDS1 ...

Page 12: ...or com USA www asmsensors com Marking POSIROT PRDS Reference position PRDS2 PRAS3 Flat area Marking Marking back side Marking back side Marking Marking Marking Marking Marking Reference position PRDS2 Reference position PRDS3 Shaft Hollow shaft A zero imlpuls Z Z see pages 15 16 is generated at the reference position Allowable shaft load 100 N radial 100 N axial ...

Page 13: ... ASM GmbH MAN PRDS E 17 13 www asm sensor com USA www asmsensors com Reference position PRDS5 Marking Marking A zero imlpuls Z Z see pages 15 16 is generated at the reference position POSIROT PRDS Reference position PRDS5 Marking Marking Marking Marking Allowable shaft load 120 N radial 120 N axial Flat area Marking Reference position PRDS5 V Shaft ...

Page 14: ...6 M12A PRMAG6 Z PRDS6 M12R PRMAG6 Z 14 MAN PRDS E 17 by ASM GmbH www asm sensor com USA www asmsensors com Marking Marking POSIROT PRDS Reference position PRDS6 Reference position PRDS6 Marking Marking Marking Marking A zero imlpuls Z Z see pages 15 16 is generated at the reference position ...

Page 15: ... Z PRDS7 M12R PRMAG7 Z by ASM GmbH MAN PRDS E 17 15 www asm sensor com USA www asmsensors com Reference position PRDS7 Marking Marking Marking Marking A zero imlpuls Z Z see pages 15 16 is generated at the reference position POSIROT PRDS Reference position PRDS7 ...

Page 16: ...perating temperature 40 85 C Protection Short circuit EMC EN 61326 1 2013 Output signals Excitation Excitation GND Signal A Signal A Signal B Signal B Signal Z ref pulse Signal Z Signal wiring Signal Connector pin no Cable color Excitation 1 white GND 2 brown A 4 yellow A 6 pink B 3 green B 5 grey Z 7 blue Z 8 red View to sensor connector Pulse sequence for clockwise rotation CW in view of shaft o...

Page 17: ...ection Short circuit EMC EN 61326 1 2013 Output signals Signal wiring Signal Connector pin no M12A5 M12R5 Connector pin no M12A8 M12R8 Cable color Excitation 1 1 white GND 3 2 brown A 2 4 yellow A 6 pink B 4 3 green B 5 grey Z 5 7 blue Z 8 red View to sensor connector Pulse sequence for clockwise rotation CW in view of shaft or active front of the sensor The subsequent counting device must be able...

Page 18: ...e 40 85 C Protection Short circuit EMC EN 61326 1 2013 Data format Train of 13 pulses Recommended processing input circuit Cable length Baud rate 50 m 100 1000 kHz 100 m 100 300 kHz Note Extension of the cable length will reduce the ma ximum transmission rate The signals CLOCK CLOCK and DATA DATA must be connected in a twisted pair cable shielded per pair and common Signal wiring Signal name Conne...

Page 19: ... LSS or SDO Bus connection M12 connector 5 pins Integrated bus terminating resistor Adjustable by the customer Bus galvanic isolated No Description Magnetic angle sensor with CANopen interface according to CiA 406 Specifications Excitation voltage 8 36 V DC Excitation current 20 mA typical at 24 V DC 40 mA typical at 12 V DC 80 mA max Resolution 0 05 max Linearity 1 0 25 as option Measuring rate 1...

Page 20: ...t up message being ready for configuration by Service Data Objects Para meters 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 sen sor will automatically transit to operational after boot up without a need for the Node Start message Node monit...

Page 21: ...s 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 Transmission behaviour of TPDO 1 2 4 is configurable by Communication Parameter PDO COB Id 1800 1801 sub indices 1 2 3 and 5 Tran...

Page 22: ...orID 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 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 64h 0 7FFFh PDO2 COB ID 1801 1 r...

Page 23: ...TPDO1 Mapped Object1 1A00 1 ro U32 60040020h TPDO2 Mapped Object1 1A01 1 ro U32 60040020h TPDO4 Mapped Object1 1A03 1 ro U32 63000108h NMT Startup 1F80 0 rw U32 0 0 8 by ASM GmbH MAN PRDS E 17 23 www asm sensor com USA www asmsensors com POSIROT PRDS Output CANopen ...

Page 24: ... Position Value 6004 0 ro Cyclic Timer 6200 0 rw 100 Profile and SW Version 6507 0 ro Serial Number 650B 0 ro CAM CiA406 Cam state register 6300 1 4 ro Cam enable register 6301 1 4 rw 0 Cam polarity register 6302 1 4 rw 0 Cam 1 8 low limit 6310 6317 1 4 rw 0 Cam 1 8 high limit 6320 6327 1 4 rw 0 Cam 1 8 hysteresis 6330 6337 1 4 rw 0 Operating Parameters Bit Code 15 4 3 2 1 0 sfc cs MSB LSB cs 0 Co...

Page 25: ... CAM 8 CAM 7 CAM 6 CAM 5 CAM 4 CAM 3 CAM 2 CAM 1 TPDO Default Settings TPDO Default COB Id Default Transmission Type TPDO 01 Position Data 4 Byte 1FFh Event Timer 100ms FE T 0 TPDO 02 Position Data 4 Byte 2FFh Sync Mode TPDO 04 CAM Status 1 Byte 4FFh Change of State Mode Bit rates Index Bit rate 0 1 MBit s 1 800 kBit s 2 500 kBit s 3 250 kBit s 4 125 kBit s 5 reserved 6 50 kBit s by ASM GmbH MAN P...

Page 26: ...mi niMon IXXAT Automation GmbH D 88250 Weingarten These examples enable the user to con figure 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 POSIROT PRDS Output CANopen ...

Page 27: ...Id and the bit rate will be changed to 7Eh and 1000kbit s Finally the host sends an SDO SAVE to store the configuration nonvolatile Note Changes of of node Id and bit rate will become effective on next POWER ON sequence So the SAVE command has to address the old SDO COB Id screenshot explanation Boot Up message Set node Id to 7Eh Response Set baud rate to 1000 kbit s Response SAVE Response POSIROT...

Page 28: ...s 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...

Page 29: ...nector pin Wire color Shield 1 Braid Excitation 2 White GND 3 Brown CAN H 4 Blue CAN L 5 Black CAN bus wiring CAM function Connect the device by a T connector to the CAN trunk line Total length of stubs should be minimized Do not use single stub lines longer than 0 5 m Connect terminating resistors 120 Ohm at both ends of the trunk line Terminating resistor T Connector CAN bus cable Sensor POSIROT...

Page 30: ... nn Group Extension PS configurable M12A5 M12R5 30 MAN PRDS E 17 by ASM GmbH www asm sensor com USA www asmsensors com Description Angular encoder according to standard SAE J1939 Customer configuration of operating parameters by Peer to Peer Process data exchange by Broadcast message Specifications Excitation voltage 8 36 V DC Excitation current 20 mA typical at 24 V DC 40 mA typical at 12 V DC 80...

Page 31: ...n 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 peer to 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 acknowl...

Page 32: ...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 32 MAN PRDS E 17 by ASM GmbH www asm sensor com USA www asmsensors com POSIROT PRDS Output CAN SAE J1939...

Page 33: ...dec Default Range Selection Unit Read Write Control Node ID 14 247 128 247 r w 1 Store parameters 1C save wr 2 Reload factory defaults 1D load wr 2 Communication Transmit cycle 1F 100 10 10000 ms r w PGN Group Extension PS 20 0 0 255 r w Measurement Code sequence 46 0 0 CW 1 CCW r w Measuring steps per turn 49 214 2 214 steps r w Preset 4A 0 0 214 1 steps r w 3 Averaging filter 4D 1 1 255 r w Iden...

Page 34: ...le color Shield 1 Braid Excitation 2 White GND 3 Brown CAN H 4 Blue CAN L 5 Black CAN bus wiring 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 Device 1 Device 2 Device n Terminating resistor T Stück CAN bus cable Sensor ...

Page 35: ...ened cable is supplied with a mating 8 pin 90 M12 connector at one end and 8 wires at the other end Available lengths are 2 5 and 10 m Order code Length in m Connector cable for POSIROT sensors 8 pins M12 The 8 core screened cable is supplied with a mating 8 pin M12 connector at one end and 8 wires at the other end Available lengths are 2 5 and 10 m Order code Length in m Signal wiring M12 8 pin C...

Page 36: ...om POSIROT PRDS Accessories Connector cables Connector bus cable for POSIROT sensors 5 pin M12 CAN bus The 5 lead shielded cable is supplied with a female 5 pin M12 connector at one end and a male 5 pin M12 connector at the other end Available lengths are 2 5 and 10 m Order code Length in m Terminating resistance 5 pin M12 CAN bus T piece for bus cable 5 pin M12 CAN bus Order code Order code ...

Page 37: ... mm inch Position magnet PRMAG20 POSIROT PRDS Accessories Position magnets Dimensions informative only For guaranteed dimensions consult factory A misalignment of the position magnet has an effect on the linearity Dimensions in mm inch Order code Weight Material Moment of inertia PRMAG20 approx 12 g zinc coated steel plastic 1 3 kgmm2 Marking Sensor Sensor ...

Page 38: ...om Position magnet PRMAG21 POSIROT PRDS Accessories Position magnets Dimensions informative only For guaranteed dimensions consult factory A misalignment of the position magnet has an effect on the linearity Dimensions in mm inch Order code Weight Material Moment of inertia PRMAG21 approx 3 g zinc coated steel plastic 0 1 kgmm2 Marking Sensor ...

Page 39: ...et PRMAG22 POSIROT PRDS Accessories Position magnets Dimensions informative only For guaranteed dimensions consult factory A misalignment of the position magnet has an effect on the linearity Dimensions in mm inch Sensor Order code Weight Material Moment of inertia PRMAG22 approx 19 g zinc coated steel plastic 3 kgmm2 Marking ...

Page 40: ...ories Position magnets Dimensions informative only For guaranteed dimensions consult factory A misalignment of the position magnet has an effect on the linearity Dimensions in mm inch Position magnet PRMAG2 Z PRMAG2 Z VA Order code Weight Material Moment of inertia PRMAG2 Z approx 30 g AIMgSi1 4 9 kgmm2 PRMAG2 Z VA approx 67 g stainless steel 1 4404 10 9 kgmm2 Marking Sensor Notch Sensor ...

Page 41: ...tive only For guaranteed dimensions consult factory A misalignment of the position magnet has an effect on the linearity Dimensions in mm inch POSIROT PRDS Accessories Position magnets Sensor Position magnet PRMAG5 Z PRMAG5 Z VA Marking Sensor Notch Order code Weight Material Moment of inertia PRMAG5 Z approx 110 g AIMgSi1 59 9 kgmm2 PRMAG5 Z VA approx 275 g stainless steel 1 4404 149 7 kgmm2 ...

Page 42: ...ormative only For guaranteed dimensions consult factory A misalignment of the position magnet has an effect on the linearity Dimensions in mm inch Position magnet PRMAG6 Z PRMAG6 Z VA Order code Weight Material Moment of inertia PRMAG6 Z approx 110 g AlMgSi1 65 kgmm2 PRMAG6 Z VA approx 315 g stainless steel 1 4404 190 kgmm2 Marking POSIROT PRDS Accessories Position magnets Notch Sensor ...

Page 43: ...m POSIROT PRDS Accessories Position magnets Sensor Position magnet PRMAG7 Z VA Order code Weight Material Moment of inertia PRMAG7 Z VA approx 146 g stainless steel 1 4404 68 kgmm2 Markig Dimensions informative only For guaranteed dimensions consult factory A misalignment of the position magnet has an effect on the linearity Dimensions in mm inch ...

Page 44: ...imensions in mm inch Mounting of the magnets Magnet Mounting method Material PRMAG20 Screw s M4 A4 PRMAG21 Screw s M2 5 A4 PRMAG22 Screw s M4 or M6 A4 PRMAG5 Z Screws M8 A2 PRMAG6 Z Screws M6 A2 PRMAG7 Z Screws M6 A2 Anti rotation element A2 or non magnetic Position magnet PRMAG M10 Order code Weight Material Moment of inertia PRMAG M10 approx 30 g stainless steel A2 1 3 kgmm2 Marking Thread M10 S...

Page 45: ...com POSIROT PRDS Assembly of the position magnets Assembly of the position magnets flush mounted surface mounted flush mounted surface mounted Non magnetic material e g Al POM etc Magnetic material e g St Ck etc Usually it is not admissible to countersink a position magnet into ferromagnetic material because this would have a negative influence on the performance of the position magnet and could l...

Page 46: ...ssembly Dimensions in mm inch Dimensions informative only For guaranteed dimensions consult factory POSIROT PRDS Accessories Mounting plates In combination with the mounting clamps PRPT BFS1 3 x M2 5 or in combination with the moun ting bracket PRPT BFS2 3 x M4 Weight approx 30 g In combination with the mounting clamps PRPT BFS1 3 x M2 5 or in combination with the mounting bracket PRPT BFS2 3 x M4...

Page 47: ...FS2 PRPT BPL2 PRPT BFS2 by ASM GmbH MAN PRDS E 17 47 www asm sensor com USA www asmsensors com POSIROT PRDS Mounting possibilities PRDS2 PRDS3 Mounting possibilities PRDS2 PRDS3 Mounting clamp BFS1 Mounting bracket BFS2 Mounting clamp bracket for PRDS2 PRDS3 ...

Page 48: ...ngs Model MK4 Rated torque 2 Nm Total length inserted 37 mm Axial misalignment a 0 7 mm Angular misalignment b 2 Lateral misalignment c 0 25 mm Dimensions in mm inch Order code A B MK4 37 6 6 Ø6H7 236 0005 Ø6H7 236 0005 MK4 37 6 10 Ø6H7 236 0005 Ø10H7 394 0006 MK4 37 6 12 Ø6H7 236 0005 Ø12H7 472 0007 Dimensions in mm inch Maximum misalignment pluggable side axially pluggable Screws ISO4029 2 x M4 ...

Page 49: ...ensors and accessories have to be repaired and adjusted at ASM head quarters in Moosinning Germany In order to avoid risk of injury and improper handling do not try to repair No warranty or liability will be granted for opened sensors Send metal parts for recycling Disposal according to applicable government regulations Calibration The recommended calibration interval is 1 year Test protocol is av...

Page 50: ...Characteristics Device type B Probability of failure PFH λDU 877 Fit Life period MTTFd 130 years Working life 10 years Mechanical life period L10 400 x 106 revolutions PRDS1 PRDS2 PRDS3 PRDS5 PRDS6 PRDS7 PRDS27 RS422 Output HTL Output SSI Output CAN Output Standards Failure rate of electronic components Siemens SN 29500 ...

Page 51: ...ach 18 24 85452 Moosinning Germany declare under our sole responsibility that the product Name POSIROT Angle Sensor Type PRDS1 PRDS2 PRDS3 PRDS5 PRDS6 PRDS7 PRDS27 to which this declaration relates is in conformity with the following standards or other normative documents Directives 2014 30 EU EMC Standards EN 61326 1 2013 EMC Moosinning 28th September 2017 p p Peter Wirth Head of Development ...

Page 52: ...ASM Sensors Inc 650 W Grand Ave 205 Elmhurst IL 60126 USA Tel 1 630 832 3202 Fax 1 630 832 3204 info asmsensors com ASM Sales Office UK Tanyard House High Street Measham Derbs DE12 7HR United Kingdom Tel 44 845 1222 123 Fax 44 845 1222 124 info asm sensor com ASM Automation Sensorik Messtechnik GmbH 2017 All rights reserved 2 2 3 10 2017 Subject to change without notice See protection note DIN 34 ...

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