Kübler M36 Series Manual Download Page 1

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Manual

R67071.0002 - 2

Encoders with IO-Link interface

Summary of Contents for M36 Series

Page 1: ...Manual R67071 0002 2 Encoders with IO Link interface...

Page 2: ...n Setup 15 5 2 2 Default Settings 18 5 2 3 Changing the Parameters 20 5 3 Protocol Features 22 5 3 1 Data Transmission 22 5 3 2 Input Process Data PDIN 23 5 3 3 Service Data ISDU 26 5 3 4 Data Storage...

Page 3: ...iguration 46 5 5 Functionalities 46 5 5 1 Velocity Events 46 5 5 2 Acceleration Events 47 5 5 3 Temperature Events 48 5 5 4 Position Scaling 48 5 5 5 Firmware Update 50 5 6 Status messages 53 5 7 ISDU...

Page 4: ...e_and_System_Specification_Version 1 1 2 July 2013 IO Link Master Control Tool TEConcept Next steps in fluid power connections Paul Heney April 21 2020 https www designworldonline com next steps in fl...

Page 5: ...and health of persons The non compliance with this safety instruction will lead to death or severe adverse health effects WARNING Classification This symbol together with the signal word WARNING warns...

Page 6: ...32 bits Accuracy 1 over the whole temperature range Repeatability 0 2 Mechanical characteristics for the Sendix M36xx encoders Maximum rotary speed IP65 IP67 6000 min 1 3000 min 1 continuous operatio...

Page 7: ...s2 6 ms Vibration resistance according to EN 60068 2 6 300 m s2 10 2000 Hz Electrical characteristics for the Sendix M36xx encoders Supply voltage 18 30 V DC Current consumption 18 30 V DC max 30 mA...

Page 8: ...IO Link configuration can be operated as a standalone installation for the communication between PLC and devices But it can also be integrated in other field bus networks such as e g ProfiNet EtherCA...

Page 9: ...c data is also accessible It is thus also possible to access to the actuators and sensors of a facility in dependently of the location and to perform a remote diagnostic IO Link uses an unshielded sta...

Page 10: ...ty instructions Make sure that the whole plant remains switched off during the elec trical installation Make sure that the operating voltage is switched on or off simultan eously for the device and th...

Page 11: ...ignal must be con nected to the corresponding contact of the IO Link master 4 1 3 Network Topology IO Link uses a point to point communication 132121483 IO Link provides for the use of an unshielded l...

Page 12: ...ink Master Length 10 m Wire cross section 0 75 mm 3 IO Link Master Voltage drop 0 5 V Rated current 100 mA 4 Control line IO Link Master IO Link Device 1 Length 15 m Wire cross section 0 35 mm 5 IO Li...

Page 13: ...No IO Link communication LED IO Link COMMUNICATE A short periodic inter ruption shows that the device is in the COMx communication state IO Link communication active Blinking behavior in the Error ope...

Page 14: ...quency of approximately 2 5 Hz ON for approx 200 ms followed by OFF for approx 200 ms LED single flash This flash code must show a short flash approx 200 ms followed by a long off phase approx 1000 ms...

Page 15: ...e screenshots in this manual refer to the tool IO Link Master Control Tool of the manufacturer TEConcept The IODD is required for general commissioning The device description file IODD can be download...

Page 16: ...Commissioning and Operation K bler Group 16 EN Manual IO Link interface R67071 0002 02 131388043 b Switch the voltage supply on 131386123 c Set up the IO Link communication 131384203 d Display the sta...

Page 17: ...Commissioning and Operation Manual IO Link interface R67071 0002 02 EN 17 138697995 The device state and the green LED flash code IO Link signal the IO Link communication when communication setup has...

Page 18: ...l measuring range TMR MT 4 4 294 967 296 ST 4 16 384 The Position value data type is uint32 therefore the maximum value is 232 1 005B 91 Endless shaft control Enables the endless shaft functionality a...

Page 19: ...evice depends on the speed format 0075 117 Velocity limit control 0 Velocity limit control disabled 1 Velocity limit control enabled If enabled When the velocity value drops below exceeds the limit va...

Page 20: ...e format The values are then automatic ally converted into the new unit 008F 143 Temperature upper limit 100 C Temperature upper limit Temperature lower limit The unit changes with the temperature for...

Page 21: ...e ISDU Error Codes 54 NOTICE Updating the values A data storage upload from the device to the master only takes place when the system command 0x05 5 ParamDownloadStore is used at the end of the block...

Page 22: ...INGS all settings are reset to standard values 132198795 5 3 Protocol Features 5 3 1 Data Transmission Data transmission takes place with the help of so called M sequence types The device uses 3 of 11...

Page 23: ...e On request data 1 byte Input process data Device Master Standard Profile 8 bytes Smart Sensor profile PDI48 6 bytes 132208011 5 3 2 Input Process Data PDIN NOTICE Configuration Parameter ISDU 225 PR...

Page 24: ...k interface R67071 0002 02 152806027 Data length is 8 bytes The example below shows the data in 8 byte blocks 152800267 5 3 2 2 Smart Sensor Profile PDI48 The following data is transmitted cyclically...

Page 25: ...0 001 1 33 49 0 002 2 16 384 16 400 1 000 1000 4 294 967 295 Singleturn devices 10 6 Position counts Position revolutions Position as PDI48 Measurement value Scale Vendor specific 0 0 000 000 0 6 0 no...

Page 26: ...5 Commissioning and Operation K bler Group 26 EN Manual IO Link interface R67071 0002 02 152809867 5 3 3 Service Data ISDU Service data ISDU is used for the acyclic transmission of parameters...

Page 27: ...4 M se quence capability R 1 byte 0x29 41 Information about the implemented options in connec tion with the M se quences and the physical configura tion 5 Revision ID R W 1 byte 0x11 17 ID of the prot...

Page 28: ...the bootloader mode 13 Function ID 1 MSB R 1 byte 0 Reserved 14 Function ID 2 LSB 1 byte 0 15 R 1 byte 0 Reserved 16 System command W 1 byte 0 Command inter face only for end user applications and de...

Page 29: ...d 2 0x53 83 BM_ACTIVATE Terminate communication and activate new firmware 0x80 128 Device reset 0x81 129 Application re set 0x82 130 Restore factory settings 0003 3 Data storage index R W vari able Re...

Page 30: ...file identifier Common application profile ID R uint16 0x4000 16384 Identi fication Dia gnosis ID 5 Smart Sensor profile Profile identifier Function class ID R uint16 0x800B 32779 Meas urement data ch...

Page 31: ...e length 32 bits 0x10 Bit offset 16 bits PVinD 3 0010 16 Vendor name R max 64 bytes StringT Fritz K bler GmbH Vendor information 0011 17 Vendor text R max 64 bytes StringT Homepage kuebler com Additio...

Page 32: ...R W min 16 max 32 bytes StringT User defined tag 0019 25 Function tag R W max 32 bytes StringT 001A 26 Location tag R W max 32 bytes StringT 0024 36 Device status R 1 byte UIn tegerT 0 Device operate...

Page 33: ...smitted in the process commu nication channel 1 Velocity Smart Sensor profile Measure ment value R 4 bytes int32 See ISDU 0x006E Velocity value Position PVinD 2 PVinD 3 2 Position Smart Sensor profile...

Page 34: ...on lower limit R W 4 bytes uint32 0 TMR 1 Position lower limit Position upper limit 0043 67 Position upper limit R W 4 bytes uint32 0 TMR 1 Position upper limit Position lower limit 0045 69 Position l...

Page 35: ...ange TMR R W 8 bytes uint64 MT 4 4 294 967 296 ST 4 16 384 The Position value data type is uint32 therefore the max imum value is 231 1 005B 91 Endless shaft control R W 1 byte uint8 Enables the endle...

Page 36: ...4 bytes int32 6 000 turns min Velocity lower limit Velocity upper limit The unit changes with the speed format The values are then automatic ally converted into the new unit 0073 115 Velocity upper li...

Page 37: ...h of the first order low pass filter 0 disabled 0081 129 Acceleration lower limit R W 4 bytes int32 27 852 turns s2 Acceleration lower limit Accelera tion upper limit The closest to the signed minimal...

Page 38: ...uracy 2 C 008D 141 Temperature format R W 1 byte uint8 Temperature unit 0 C Celsius 1 F Fahren heit 008E 142 Temperature lower limit R W 2 bytes int16 40 C Temperature lower limit Temperat ure upper l...

Page 39: ...x values 009B 155 Device status flags R 2 bytes uint16 Displays the encoder status Bit_0 Error position general fault at startup Bit_1 Warning position out of range Bit_4 Warning velocity out of range...

Page 40: ...nd Operation K bler Group 40 EN Manual IO Link interface R67071 0002 02 In dex hex In dex dec Object name Ac cess Length Data type Values default bold Remark 00FB 251 Firmware checksum R max 16 bytes...

Page 41: ...le R 1 byte int8 MT 3 ST 6 Area displace ment power of 10 43BD 1734 1 FW_ Password W max 64 bytes StringT unlock The password must be input before the un locking se quence can be performed in the curr...

Page 42: ...inator Number of revolutions divisor Velocity Velocity format Velocity filter integration time Velocity filter bandwidth Velocity lower limit Velocity upper limit Velocity hysteresis Velocity limit co...

Page 43: ...nge event is signaled as appear If the position moves back in the valid range the Position out of range event is signaled as disappear Event signaling is activated by ISDU 69 Position limit monitoring...

Page 44: ...n at 60 offset 40 The raw position can be called by means of ISDU 76 Raw position 5 4 7 ISDU 112 Velocity Filter Integration Time This parameter defines the number of values used to form an average va...

Page 45: ...nce resetting with ISDU 149 5 4 13 ISDU 148 Temperature Max Returns the highest temperature measured since resetting with ISDU 149 5 4 14 ISDU 149 Temperature Min Max Reset The values in ISDU 147 and...

Page 46: ...ce ID when restarting the device After the change the functionality can be enabled again 5 4 17 ISDU 230 Pin2 Configuration This parameter allows configuring the use of Pin2 of the IO Link interface V...

Page 47: ...ion of the velocity 9007199387424907 If the velocity exceeds the Velocity upper limit point the Velocity out of range event is is sued If it falls back below the Velocity upper limit point minus the h...

Page 48: ...ameter Temperature limit control Setting of the temperature events by the two parameters Temperature lower limit and Tem perature upper limit Hysteresis adjustable by parameter Temperature hysteresis...

Page 49: ...which always must correspond to the 2n ratio Example for multiturn TMR 16 777 216 224 MUR 16 384 214 Number of revolutions 1 024 210 TMR 1 073 741 824 230 MUR 4 096 212 Number of revolutions 262 144...

Page 50: ...0 000 000 Nominator 370 Divisor 21 Number of revolutions 17 619047 Validity ranges TMR 4 4 294 967 296 Nominator 1 262 144 Divisor 1 4 096 NOTICE Consider Endless shaft and the measuring range Endless...

Page 51: ...update with the IO Link master control tool TEConcept Set up the connection with the device Disable the data storage functionality in the master during the firmware update process a Select the menu i...

Page 52: ...com munication continues with the new firmware NOTICE Bootloader mode The firmware update file is transferred by BLOB transfer The BLOB transfer is started as soon as the device is in bootloader mode...

Page 53: ...ink specific Event code Status text Device status Type Mode 0x1000 General error function Unknown error 4 error Error Appear Disappear 0x4210 Device temperature overshoot Clear heat source 2 Out of sp...

Page 54: ...activ ated position lim its 0x8CA1 Velocity outside of the valid range 2 Out of spe cification Warning Appear Disappear Requires activ ated velocity lim its 0x8CA2 Acceleration outside of the valid r...

Page 55: ...ist of single values combination of values ranges and enumeration Parameter value overrun 0x80 0x33 The content of a write service for a parameter ex ceeds the indicated length of the parameter Parame...

Page 56: ...ble Nu mer ator Di vis or Range TMR Resol ution MUR Pre set value Posi tion limit low Posi tion limit high Posi tion limit con trol Direction Scaling enable z2 z3 z3 Endless shaft enable z2 z4 z4 z4 N...

Page 57: ...he position lower limit is set to 0 and the position upper is set to TMR 1 provided they did not change Otherwise the new value is taken over z1 Position upper limit Position lower limit z1 Position u...

Page 58: ...0 163 A3 214 D6 11 0B 62 3E 113 71 164 A4 215 D7 12 0C 63 3F 114 72 165 A5 216 D8 13 0D 64 40 115 73 166 A6 217 D9 14 0E 65 41 116 74 167 A7 218 DA 15 0F 66 42 117 75 168 A8 219 DB 16 10 67 43 118 76...

Page 59: ...8A 189 BD 240 F0 37 25 88 58 139 8B 190 BE 241 F1 38 26 89 59 140 8C 191 BF 242 F2 39 27 90 5A 141 8D 192 C0 243 F3 40 28 91 5B 142 8E 193 C1 244 F4 41 29 92 5C 143 8F 194 C2 245 F5 42 2A 93 5D 144 90...

Page 60: ...849 K bler France 33 3 89 53 45 45 K bler Italy 39 0 26 42 33 45 K bler Poland 48 6 18 49 99 02 K bler Turkey 90 216 999 9791 K bler China 86 10 8471 0818 K bler India 91 8600 147 280 K bler USA 1 855...

Page 61: ...breviated designation Hub for Re peating Hub Node point IODD Device description file IO Link ISDU Indexed Service Data Unit M sequence Message type used between master and device IO Link specifies 11...

Page 62: ...K bler Group Fritz K bler GmbH Schubertstr 47 D 78054 Villingen Schwenningen Germany Phone 49 7720 3903 0 Fax 49 7720 21564 info kuebler com www kuebler com...

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