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Manual

R67048.0002 - 2

Encoders with Modbus interface

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Summary of Contents for Sendix F58 Series

Page 1: ...Manual R67048 0002 2 Encoders with Modbus interface ...

Page 2: ... Changing the parameters 11 5 2 2 Not supported Modbus function codes 12 5 2 3 Default settings 12 5 3 Protocol Features 13 5 3 1 Structure of the Modbus RTU frames 13 5 3 2 Function codes 14 5 3 3 LRC check 16 5 3 4 Data Addresses 16 5 4 Function code 03 Reading the Holding Register 16 5 5 Function Code 16 Writing the Holding Register 18 5 6 Function code 17 Query of Device Specific Information 2...

Page 3: ...Kübler Group Table of Contents HB Modbus Interface R67048 0002 02 EN 3 Glossary 38 ...

Page 4: ...ll of the contents of this document are protected by the rights of use and copyrights of Fritz Kübler GmbH Any duplication modification further use and publications in other electronic or printed media as well as their publication in the Internet even partially is subject to the previ ous written authorization of Fritz Kübler GmbH The brand names and product brands mentioned in this document are t...

Page 5: ...ply with the applicable country specific regulations 2 2 Symbols used Warnings and Safety instructions DANGER Classification This symbol together with the signal word DANGER warns against immediately imminent threat to life 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 s...

Page 6: ...mation Kübler Group 6 EN HB Modbus Interface R67048 0002 02 NOTICE Classification Additional information relating to the operation of the product and hints and recommendations for efficient and trouble free operation ...

Page 7: ...stem Singleturn with optical disk Multiturn with backup battery Interface Modbus protocol RTU Communication Default 9600 bauds 8 data bits no parity 1 stop bit Display LED Interface RS485 for Modbus Type of connection 1 x or 2 x M12 Sensor contactless optical interface Singleturn resolution MUR Max 16 bits default 16 bits 65536 steps per revolution Multiturn resolution NDR Max 16 bits 65536 revolu...

Page 8: ...f Always mount all cables with traction relief NOTICE Interference susceptibility Proceed as follows Connect the shield to the device housing Comply with the maximum cable length for stub lines and for the total length of the bus network Check the maximum supply voltage on the device ATTENTION Wear of the memory module Avoid too frequent writing of the EEPROM It is used e g when set ting a preset ...

Page 9: ... this purpose Pay attention to proper cable shield fastening Preferably connect the shield on both sides with low impedance to the protective earth PE e g on the device and or on the evaluation unit In the event of potential differences the shield must only be applied on one side If shielding is not possible appropriate filtering measures must be taken If the protective earth should be connected t...

Page 10: ...ssion rate reaching 19 2 kBd Thee address range theoretical maximal number of network participants is 0 247 In order to prevent reflections the bus must be terminated at each end with a 120 or 121 ohm terminating resistor This is necessary even in case of very short line lengths Termination at both ends of the main line D R D R Common D0 D1 Slave 1 Slave n Pull Down 650 Ω Pull Up 650 Ω 5 V Line Te...

Page 11: ... operates error free RUN flash ing 1 ms Modbus transmission active Combination with Bus state RUN LED flashing green Transmission in progress ERR flash ing Error Modbus signaled a system error Can also alternate with the green LED when transmission is in pro gress 5 2 Quick Start Guide 5 2 1 Changing the parameters Modifying and reading device specific parameters requires commands that are can be ...

Page 12: ...egisters 24 0x18 Read FIFO Queue 5 2 3 Default settings The default values are listed in the following table NOTICE Serial Number Serial Update Sensor Diagnosis All additional holding registers have an additional functionality and are not intended for general use Register Int register Data name Sequence Default 40257 256 Baud Rate MSB 0x01 40258 257 Number Data MSB 0x02 40259 258 Parity MSB 0x01 4...

Page 13: ...rate set in the network this interval is easiest implemented as a multiple of the duration of a character The first field subsequently transmitted is the device address in the range of 01 0xF7 247 248 255 are reserved for Modbus Characters permissible for all fields hexadecimal 0 9 A F The networked devices constantly monitor the network bus also during the silent intervals When the first field ad...

Page 14: ...rip tion Slave address sensor Function code Read hold ing register Number of the following data bytes 2 registers with each 2 bytes 4 bytes Content of the register e g register 40002 Content of the register e g 40002 to 40003 For error detection Example 0x3F 0x03 0x02 Preset multiple registers function code 0x10 Request Address Function Data CRC Bytes 1 byte 1 byte 2 bytes 2 bytes 1 byte 2 bytes 2...

Page 15: ...fies the sensor type Function code 17 Query of Device Specific Information 22 Request Address Function CRC Bytes 1 byte 1 byte 2 bytes Description Slave address sensor Function code preset multiple registers For error detection Example 0x3F 0x11 Response Ad dress Func tion Data CRC Bytes 1 byte 1 1 byte 2 1 byte 3 1 byte 4 1 byte 5 23 bytes 6 2 bytes 7 2 bytes 8 Ex ample 0x3F 0x11 0x1A 0x02 0xFF 0...

Page 16: ...at the beginning of the message nor the two CRLF characters at its end 5 3 4 Data Addresses Modbus bases its data model on a series of tables with characteristic features The four primary tables are Main tables Object type Type Description Discrete input Single bit Read only This data type can be provided by an I O system Coils Single bit Read write This data type can be modified by an application...

Page 17: ...SB U16 Current battery voltage in VDC 3 50 3 65 dec No 40009 8 SENSOR TEM PERATURE MSB U16 Current sensor temper ature C No 40010 9 MEASURING UNITS MUR MSB U16 Measuring steps revolution 0x0002 No 40011 10 MEASURING UNITS MUR LSB U16 Measuring steps revolution 0x0000 No 40012 11 TOTAL MEASUR ING RANGE MSB U16 Total measuring range 0x0002 No 40013 12 TOTAL MEASUR ING RANGE LSB U16 Total measuring r...

Page 18: ...ry register the first byte contains the high order bits and the second byte the low order bits The response is transmitted when the data is fully compiled Example of a response to the above read query 58519179 5 5 Function Code 16 Writing the Holding Register Write Holding Register function code 16 0x10 Function code 16 0x10 allows modifying the parameters Writing of the values in a sequence of ho...

Page 19: ...over the encoder memory pro tection state The programmed values remain valid in the registers during the whole duty cycle and some functions are immediately taken over Other require restarting the device The register values are saved in a non volatile memory regardless of whether they are programmed in the PLC logic or not ...

Page 20: ...tion update 1 Carry out 0x00 Yes 40262 261 Node Address MSB Node ID 1 247 1 0xF7 0x3F Yes 40263 262 Node Update MSB Node ID update 1 Carry out 0x00 Yes 40264 263 Preset Value MSB Preset high word MSB 40265 264 Preset Value LSB Preset low word LSB 40266 265 Preset Update MSB Preset update 1 Carry out 0x00 40267 266 Count Direct MSB Counting direction 1 CCW 2 CW 0x02 40268 267 Count Update MSB Count...

Page 21: ...0279 278 MUR LSB Measuring units revolution LSB word 0x0000 40280 279 TMR MSB Total measuring range MSB word 0x1000 40281 280 TMR LSB Total measuring range LSB word 0x0000 40282 281 Scaling Function MSB Scaling 0 off 1 on 0x00 40283 282 Delay Prescaler MSB Delay after t3 5 1 32 t3 5 0x01 NOTICE Updating the register values Holding register 40257 40263 require a switch off switch on cycle NOTICE Pl...

Page 22: ...ith 40002 in the slave device 17 0x11 to 00 0A and 01 02 hex 58524939 Response The normal response contains the slave address the function code the starting address and the number of registers set Example of a response to the above query 58526859 5 6 Function code 17 Query of Device Specific Information Report slave ID function code 17 ...

Page 23: ...OTICE Broadcast function Broadcast is not supported Example The ID and the state of the device with node ID 20 0X14 are queried Command 14 11 CE BC 58521099 Response The format of a response is represented below The data content depends on the respective sensor type The data is visible below 58523019 Summary of the slave IDs 1 singleturn encoder 2 multiturn encoder Slave ID codes returned by the K...

Page 24: ...Holding Register 5 7 1 1 Register 1 2 Position Value Position values depending on the scaling set Singleturn resolution 16 bits 0 0xFFFF 0 65535 CW 0xFFFF 0 CCW Multiturn resolution 16 16 bits 0 2ˆ32 CW 2ˆ32 0 CCW Deterministic position delay 40μs Position jitter 1μs Total response delay for position values 40μs response frame processing time Estimated response delay for the position 100μs Minimum...

Page 25: ...on update 2ms 5 7 1 3 Register 4 Actual Bus Termination State Permissible bus termination values Bus termination off 0 Bus termination on 1 Estimated response delay for the termination 10μs response frame processing time Minimum cycle time for actual termination update 2ms 5 7 1 4 Register 5 Actual Commissioning Diag State Saved values Actual result of the internal diagnosis test routines COMM_NUL...

Page 26: ...Register 9 10 MUR Measuring Steps per Revolution Position values depending on the scale factor set MUR 16 bits 0 0xFFFF 0 65535 CW 0xFFFF 0 CCW Deterministic position delay 40μs Position jitter 1μs Total response delay for position values 40μs response frame processing time Estimated response delay for the position 100μs Minimum cycle time for position update 2ms timeout t3 5 300μs 5 7 1 9 Registe...

Page 27: ...ter 16 Firmware Saved values Actual checksum of the firmware version Default 0xXXXX Response delay after Firmware execution command 200μs 5 7 2 Writing the Holding Register 5 7 2 1 Register 256 259 Write Communication Parameters After a communication update all communication parameters will be taken over only after com pletion of a switch off switch on cycle The new values are saved but they will ...

Page 28: ...er Preset update execution command 20ms required for the saving process 5 7 2 4 Register 266 Write Count Direction Update Permissible count direction values 1 counter clockwise CCW 2 clockwise CW The value is taken over with Write count direction update register 40268 Response delay after Reverse update execution command 15 ms required for the saving process 5 7 2 5 Register 268 Write Termination ...

Page 29: ...f 1 on Delay 100μs Position check after preset yes internal Response delay after Preset update execution command 15 ms required for the saving process 5 7 2 10 Registers 277 278 Write MUR Value The actual position of the encoder is compared with the programmed limit value immediately after a valid update command This allows for example comparing the encoder position with the position of the applic...

Page 30: ...s Default setting 33554432 25 bits 5 7 2 12 Register 281 Scaling Function Scaling active 0 off 1 on Default off Preset delay 100μs Position check after preset yes internal Response delay after Preset update execution command 15 ms required for the saving process 5 7 2 13 Register 282 Write Delay Prescaler After Request From PLC Permitted prescaler delay values 1 32 Preset delay 1 1 t3 5 1750μs 2 2...

Page 31: ...essage to determine whether processing is finished 06 Slave Device Busy The slave is processing a program command that requires much time The master must re send the message later when the slave will be free 07 Negative Acknowledge The slave cannot perform the programming functions The master should request diagnosis or error information from the slave 08 Memory Parity Error The slave detected a p...

Page 32: ...byte 2 bytes 2 bytes Address of the first register Number of registers Number of bytes to be written Data re gister 40278 Data register 40279 3F 10 0117 0002 04 01FF FFFF Scaling Function enable Address Function Data 1 byte 1 byte 2 bytes 2 bytes 1 byte 2 bytes Address of the first register Number of registers Number of bytes to be written Data register 40278 3F 10 0119 0001 02 0001 5 9 2 Count Di...

Page 33: ...ter Value Note Position Preset Value 263 264 0x0000 0x0000 0 Preset value Position Preset Value Up date 265 0x01 1 Carry out Position Preset Value Address Function Data 1 byte 1 byte 2 bytes 2 bytes 1 byte 2 bytes 2 bytes Address of the first register Number of registers Number of bytes to be written Data register 40264 Data register 40265 3F 10 0107 0002 04 0000 0000 Position Preset Value Update ...

Page 34: ... and possible dam ages at the device Repair work may only be carried out by the manufacturer see chapter Con tact 37 Prior to the work Switch off the power supply and secure it against switching on again Then disconnect the power supply lines physically Remove operating and auxiliary materials and remaining processing materials from the measuring system ...

Page 35: ... 70 163 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 76 169 A9 220 DC 17 11 68 44 119 77 170 AA 221 DD 18 12 69 45 120 78 171 AB 222 DE 19 13 70 46 121 79 172 AC 223 DF 20 14 71 47 122 7A 173 AD 224 E0 21 15 72 48 123 7B 174 AE 225 E1 22 16 73 49 124 7C ...

Page 36: ...A 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 90 195 C3 246 F6 43 2B 94 5E 145 91 196 C4 247 F7 44 2C 95 5F 146 92 197 C5 248 F8 45 2D 96 60 147 93 198 C6 249 F9 46 2E 97 61 148 94 199 C7 250 FA 47 2F 98 62 149 95 200 C8 251 FB 48 30 99 63 150 96 20...

Page 37: ...9 Kübler France 33 3 89 53 45 45 Kübler Italy 39 0 26 42 33 45 Kübler Poland 48 6 18 49 99 02 Kübler Turkey 90 216 999 9791 Kübler China 86 10 8471 0818 Kübler India 91 8600 147 280 Kübler USA 1 855 583 2537 Repair service RMA form In case of returns please package the product sufficiently and attach the completed Returns form www kuebler com rma Please send your return to the address below Kübler...

Page 38: ...ace R67048 0002 02 Glossary CRC Cyclic Redundancy Check CRLF Carriage Return Line Feed ERR Error HEX Hexadecimal LRC Longitudinal Redundancy Check LSB Least Significant Bit MSB Most Significant Bit PDU Protocol Data Unit RTU Remote Terminal Unit ...

Page 39: ...Kübler Group Fritz Kübler 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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