MTS Sensors Temposonics T-Series Operation Manual Download

Page: 36 / 52

Temposonics

TH CANbus ATEX / IECEx / CEC / NEC / KCs / EAC Ex certified / Japanese approval

Operation Manual

COB-ID

Request /

Respond

DLC

Byte

Description

0x580 + Node-ID

0x80

Index

Sub-index

Abort code

0x06

0x09

0x00

0x11

Sub-index does not exist

0x06

0x09

0x00

0x30

Value exceeded

0x06

0x02

0x00

Object does not exist in the object dictionary

0x06

0x01

0x00

0x01

Object is write only

0x06

0x01

0x00

0x02

Attempt to write a read only object

0x08

0x00

0x20

Data transport error

0x08

0x00

General error

0x08

0x00

0x22

Wrong state

0x06

0x01

0x00

Unsupported access to an object

0x06

0x07

0x00

0x01

Data type does not match

5.7.4 SDO TPDO communication parameter: Index 1800 (PDO1) to index 1803 (PDO4)

Example

COB-ID

Request /

Respond

DLC

Byte

Description

Sub-index 1 COB-ID of the TPDO

600 +

Node-ID

0x23

0x00

0x18

0x01

0x00000180

Node-ID

0x01

0x00

0x40

Set transmission types example

(11-bit CAN-ID 1FFh, no RTR allowed, valid:

yes)

580 +

Node-ID

0x60

0x00

0x18

0x01

0x00

600 +

Node-ID

0x40

0x00

0x18

0x01

0x00

Readout transmission types example

580 +

Node-ID

0x43

0x00

0x18

0x01

0x00000180

Node-ID

0x01

0x00

0x40

Sub-index 2 transmission character

0x67F

0x2F

0x00

0x18

0x02

0xFE

0x00

Set transmission character

“FE event-driven (manufacturer-specific)”

0x5FF

0x60

0x00

0x18

0x02

0x00

0x67F

0x40

0x00

0x18

0x02

0x00

Readout transmission character example

“FE”

0x5FF

0x4F

0x00

0x18

0x02

0xFE

0x00

Sub-index 5 contains the event-timer

(The value is defined as multiple of 1 msec. A value of “0” disables the event-timer.)

0x67F

0x2B

0x00

0x18

0x05

0x01

0x00

Set event timer example “1 ms”

0x5FF

0x60

0x00

0x18

0x05

0x00

0x67F

0x40

0x00

0x18

0x05

0x00

Readout event timer example “1 ms”

0x5FF

0x4B

0x00

0x18

0x05

0x01

0x00

Example 4: Configuration of index 1800 (PDO1)

Table 12: SDO abort codes

5.7.3 SDO abort

If SDO download or SDO upload service fails for any reason the T-Series CAN sensor does not respond with the corresponding SDO message,
but with a SDO abort protocol.

Summary of Contents for Temposonics T-Series

Page 1: ...TH CANbus ATEX IECEx CEC NEC KCs EAC Ex certified Japanese approval Operation Manual Temposonics Magnetostrictive Linear Position Sensors ...

Page 2: ...guration of process parameters 28 5 5 CANopen Network Management NMT 29 5 6 Configuration 31 5 6 1 Layer Setting Service LSS 31 5 6 2 Error control service 34 5 7 Programming parameter 35 5 7 1 SDO download 35 5 7 2 SDO upload 35 5 7 3 SDO abort 36 5 7 4 SDO TPDO communication parameter Index 1800 PDO1 to index 1803 PDO4 36 5 7 5 SDO PDO mapping Index 1A00 to index 1A03 37 5 7 6 SDO store paramete...

Page 3: ...er item 1 to item 4 and only in conjunction with the third party devices and components recommended or approved by MTS Sensors As a prerequisite of proper and safe operation the product requires correct transport storage mounting and commissioning and must be operat ed with utmost care 1 The sensor systems of all Temposonics series are intended exclusively for measurement tasks encountered in indu...

Page 4: ...and protect it against accidental operation Safety instructions for commissioning To maintain the sensor s operability it is mandatory to follow the instructions given below 1 Follow the specifications given in the technical data 2 Ensure that equipment and associated components used in a hazardous environment are selected and installed in compliance with regulations governing the geographical loc...

Page 5: ...on the rod This could cause damage to the magnet and the sensor rod If there is contact between the moving magnet including the magnet holder and the sensor rod make sure that the maximum speed of the moving magnet is less or equal 1 m s 14 Ground the sensor via one of the two ground lugs Both the sensor and the moving magnet including magnet holder must be connected to protective ground PE to avo...

Page 6: ...tress of the product as well as for wear parts Under no circumstances will MTS Sensors accept liability in the event of offense against the warranty rules no matter if these have been assured or expected even in case of fault or negligence of the company MTS Sensors explicitly excludes any further warranties Neither the company s representatives agents dealers nor employees are authorized to incre...

Page 7: ...x tb A F 55 G Ex db and Ex tb A F 60 US CA approval Explosionproof XP Note Group A is not available for Canada N Not approved d Connection type C 0 1 Side connection with thread 14 NPT All versions C 1 0 Top connection with thread 14 NPT All versions M 0 1 Side connection with thread M16 1 5 6H Version E N M 1 0 Top connection with thread M16 1 5 6H Version E N N 0 1 Side connection with thread M2...

Page 8: ...Bit s Resolution box no 21 1 5 μm 2 2 μm Performance box no 22 1 Standard Optional j Magnet number for multi position measurement 4 Z 0 2 2 magnets Z 0 3 3 magnets Z 0 4 4 magnets 3 Please contact MTS Sensors if you are interested in further CAN protocols 4 Note Specify magnet numbers for your sensing application and order separately NOTICE Use magnets of the same type e g 2 ring magnets with part...

Page 9: ... mA YofC 31 2016 Out CAN 500 kBit s Enclosure type 3 S N 16310255 CML 16 ATEX 1090X IECEx CML 16 0039X II 1 2G Ex db IIC T4 Ga Gb II 1G 2D Ex tb IIIC T 130 C Ga Db Class I Div 1 Groups A B C D T4 Class II III Div 1 Groups E F G T130 C Class I Zone 0 1 AEx d Ex d IIC T4 Class II III Zone 21 AEx tb Ex tb IIIC T130 C Group A is not approved for Canada 40 C Ta 75 C IP66 IP67 Датчик серии Т ОС ВО ЗАО Т...

Page 10: ...onal strain on the waveguide The momentary interaction of the magnetic fields releases a torsional strain pulse that propagates the length of the waveguide When the ultrasonic wave reaches the end of the waveguide it is converted into an electrical signal Since the speed of the ultrasonic wave in the waveguide is precisely known the time required to receive the return signal can be converted into ...

Page 11: ...ded flange with flat face Version D G Null zone 51 2 01 Sensor electronics housing 132 5 5 22 83 8 3 29 55 2 17 73 2 87 Sensor electronics housing 112 5 4 43 Null zone 51 2 01 Refer to Table 1 for TH rod sensor threaded flange type references Refer to Table 1 for TH rod sensor threaded flange type references Ø 10 0 13 Ø 0 39 0 01 Ø 10 0 13 Ø 0 39 0 01 A B C Version D 77 3 03 83 8 3 29 55 2 17 Vers...

Page 12: ...e Stainless steel 1 4305 AISI 303 M18 1 5 6g S Threaded flange with flat face Stainless steel 1 4305 AISI 303 16 UNF 3A T Threaded flange with raised face Stainless steel 1 4305 AISI 303 16 UNF 3A W Threaded flange with flat face Stainless steel 1 4404 AISI 316L M18 1 5 6g Side connection C01 N01 NF1 with adapter M01 without adapter Magnet Connection length 22 mm 0 87 in for version D G 18 mm 0 7 ...

Page 13: ...e five hexagonal screws M4 A F 3 and remove the upper lid Fig 6 Then loosen the six hexagonal screws M4 A F 3 of the connection adapter Fig 6 Change the orientation of the connector on six different positions at 60 each Note the example on page 21 ff Part Fastening torque 1 Screw M4 10 1 2 Nm 2 Screw M4 40 1 2 Nm 3 Earthing connection M5 8 for mounting 2 5 Nm Version D G 3 Connection adapter 2 1 O...

Page 14: ...n D G example Threaded flange with raised face Flameproof explosionproof housing with flameproof explosionproof connection chamber Version D ATEX IECEx KCs EAC Ex Japanese Approval Version G ATEX IECEx CEC NEC KCs EAC Ex Japanese Approval Zone 1 Zone 0 Magnet Version E example Threaded flange with raised face Flameproof housing with increased safety connection chamber ATEX IECEx KCs EAC Ex Japanes...

Page 15: ...hread 14 NPT Top connection with thread 14 NPT Side connection with thread 14 NPT Top connection with thread 14 NPT N01 N10 M01 M10 M20 1 5 6H M20 1 5 6H M16 1 5 6H M16 1 5 6H Side connection with thread M20 1 5 6H Top connection with thread M20 1 5 6H Side connection with thread M16 1 5 6H Top connection with thread M16 1 5 6H N01 N10 M20 1 5 6H M20 1 5 6H Side connection with thread M20 1 5 6H T...

Page 16: ...r information Fig 11 Possibility of sealing for threaded flange with raised face Hydraulics sealing for threaded flange with flat face There are two ways to seal the flange contact surface Fig 12 1 A sealing by using an O ring e g 22 4 2 65 mm 0 88 0 1 in 25 07 2 62 mm 0 99 0 1 in in a cylinder end cap groove 2 A sealing by using an O ring in the undercut For threaded flange 16 UNF 3A F S O ring 1...

Page 17: ...f the position magnet aligns with the drilled piston rod B If the position magnet is set further into the drilled piston rod install another non magnetic spacer e g part no 400 633 above the magnet Fig 16 Installation with magnetic material Controlling design dimensions are in millimeters and measurements in are in inches Magnet Benefits Ring magnets Rotationally symmetrical magnetic field U magne...

Page 18: ...ws Mounting floats A stop collar is ordered separately with a float The stop collar consists of material which is below the specific gravity of the fluid It is designed to keep the float out of the dead zone The placement of the stop collar is dependent on the float and placement of the magnet within the float If your application requires measuring to the bottom of your vessel ask MTS Sensors abou...

Page 19: ...ectrical ratings NOTICE 1 Do not mount the sensors in the area of strong magnetic or electric noise fields 2 Never connect disconnect the sensor when voltage is applied NOTICE The contactable cross section is 0 2 2 5 mm and 0 2 1 5 mm Only 1 wire per clamping point is allowed Connector wiring Connect the sensor directly to the control system indicator or other evaluating systems as follows Version...

Page 20: ...proval Operation Manual Fig 25 Installation wiring diagram for side connection and top connection example Side connection CAN_L CAN_H Not connected Not connected 24 VDC 15 20 DC Ground 0 V Hazardous area Non hazardous area Ground External fuse Ground Note chapter 2 4 on page 5 ...

Page 21: ...1 Cable connection via disassembly of connection adapter see page 22 Option 2 Cable connection without disassembly of connection adapter see page 23 The figures are examples Variations are possible e g different cable colors NOTICE The example Cable connection is only valid for versions E and N of the TH sensor Refer to the corresponding installation requirements and local regulations if you like ...

Page 22: ...e Check the position of O ring between upper lid and connection adapter Tighten the screws of the upper lid crosswise with a fastening torque of 1 2 Nm see figure for right sequence 1 2 3 4 5 3 Connect the cable to the sensor Note the connection wiring on page 19 4 Inspect surfaces and O ring for damage Wipe surfaces clean and apply O ring lube Tighten the screws of the connection adapter with a f...

Page 23: ...e 19 4 Inspect surfaces and O ring for damage Wipe surfaces clean and apply O ring lube Check the position of O ring between upper lid and connection adapter Tighten the screws of the upper lid crosswise with a fastening torque of 1 2 Nm see figure for right sequence 1 2 3 4 5 The figures are examples Variations are possible e g different cable colors NOTICE The example Cable connection is only va...

Page 24: ...x 14 g Surface pressure Max 40 N mm2 Fastening torque for M4 screws 1 Nm Operating temperature 40 105 C 40 221 F Material PA ferrite Weight Approx 10 g Surface pressure Max 40 N mm2 Operating temperature 40 105 C 40 221 F Material PA ferrite GF20 Weight Approx 11 g Surface pressure Max 40 N mm2 Fastening torque for M4 screws 1 Nm Operating temperature 40 105 C 40 221 F Material PA 66 GF30 magnets ...

Page 25: ...C 40 257 F Material Stainless steel 1 4571 AISI 316 Ti Weight offset Yes Pressure 4 bar 60 psi Magnet offset Yes Specific gravity 0 93 0 01 Operating temperature 40 125 C 40 257 F Material Stainless steel AISI 316L Weight offset Yes Pressure 29 3 bar 425 psi Magnet offset No Specific gravity 0 93 0 01 Operating temperature 40 125 C 40 257 F Material Stainless steel AISI 316L Weight offset Yes Pres...

Page 26: ...O ring for threaded ﬂange M18 1 5 6g Part no 401 133 O ring for threaded ﬂange 16 UNF 3A Part no 560 315 Material Fluoroelastomer Durometer 75 5 Shore A Operating temperature 40 204 C 40 400 F Material Fluoroelastomer Durometer 75 5 Shore A Operating temperature 40 204 C 40 400 F Controlling design dimensions are in millimeters and measurements in are in inches ...

Page 27: ...be configured via SDO messages Special Function Object SFO sync object The sync object is broadcasted periodically by the synchronisation device to all application devices Synchronous PDOs will be transmitted to the controller after receiving the sync message Emergency message EMCY Emergency messages are triggered by the occurrence of a device internal fatal error situation and are transmitted fro...

Page 28: ...stor 120 Ω can be switched on by writing 1 to object 2101 sub index 0 and off by writing 0 EDS Electronic Data Sheet file The EDS file is the standardized format for the description of devices It contains information about File properties name version release date General device information manufacturer name and code Device name and type version LSS address Supported baud rates and boot up options...

Page 29: ... 0x02 Stop remote node 5 8 Through this service the NMT master sets the state of the selected NMT slave s to stopped 0x80 Enter pre operational state 4 7 Through this service the NMT master sets the state of the selected NMT slave s to pre operational 0x81 Reset node 9 10 11 Through this service the NMT master sets the state of the selected NMT slave s from any state to the reset application sub s...

Page 30: ...y enters the NMT pre operational state Network pre operational state In the pre operational state communication via SDOs chapter 5 7 is possible while PDO communication is not allowed Configuration of PDOs and device parameters may be performed Also the emergency objects and error control service like the CANopen sensors heartbeat message occur in this state The node will be switched into the oper...

Page 31: ...rmation 0x11 0x01 0x7F Set node ID 1 127 0x13 0x00 0x00 Set baud rate 1000 kbit s 0x00 0x01 Set baud rate 800 kbit s 0x00 0x02 Set baud rate 500 kbit s 0x00 0x03 Set baud rate 250 kbit s 0x00 0x04 Set baud rate 125 kbit s 0x15 Switch delay Activate bit timing parameter Switch delay Timing in ms internal multiplied by 2 when the new bit timing parameters become active 0x17 Store configuration in EE...

Page 32: ...lobal without confirmation 0x7E5 Rx 8 0x13 0x00 0x02 Set baud rate 500 kbit s 0x7E4 Tx 8 0x13 Protocol successfully completed 0x7E5 Rx 8 0x17 Store configuration in EEPROM 0x7E4 Tx 8 0x17 Protocol successfully completed 0x7E5 Rx 8 0x04 0x00 Normal mode without confirmation Example How to configure a new node ID COB ID Request Respond DLC Byte Description 0 1 2 3 4 5 6 7 0x7E5 Rx 8 0x04 0x01 Config...

Page 33: ...c i f i c e r r o r f i e l d 0x0000 Error reset or no error 0x3100 Main voltage generic 0x5000 CANopen device hardware generic error 0x6300 Data set generic 0x8100 Communication generic 0x8110 CAN overrun objects lost 0x8120 CAN in error or heartbeat error 0x8130 Life guarding error or heartbeat error 0x8140 Recovered from bus off 0x8150 CAN ID collision 0x8210 PDO not processed due to length err...

Page 34: ...beat consumers receive the indication The relationship between producer and consumer is configurable via the object dictionary by SDOs By default the heartbeat is disabled The data byte of the heartbeat message contains the current network management state of the T Series CAN sensor Consider the change of the node ID takes place after a restart of the device or immediately COB ID Request Respond D...

Page 35: ...Write bytes without explicit length specification 0x23 Write 4 bytes 0x2B Write 2 bytes 0x2F Write 1 byte D0 Description 0x43 Upload of 4 bytes 0x4B Upload of 2 bytes 0x4F Upload of 1 byte 5 7 2 SDO upload The SDO upload service is used to read the communication device and manufacturer specific parameters of the T Series CANbus sensor COB ID Request Respond DLC Data D0 D1 D2 D3 D4 D5 D6 D7 0x600 N...

Page 36: ...o RTR allowed valid yes yes 580 Node ID Tx 8 0x60 0x00 0x18 0x01 0x00 0x00 0x00 0x00 600 Node ID Rx 8 0x40 0x00 0x18 0x01 0x00 0x00 0x00 0x00 Readout transmission types example 580 Node ID Tx 8 0x43 0x00 0x18 0x01 0x00000180 Node ID 0x01 0x00 0x40 Sub index 2 transmission character 0x67F Rx 8 0x2F 0x00 0x18 0x02 0xFE 0x00 0x00 0x00 Set transmission character FE event driven manufacturer specific 0...

Page 37: ... 0x01 0x00 0x00 0x00 0x00 0x67F Rx 8 0x40 0x00 0x1A 0x01 0x00 0x00 0x00 0x00 Readout of the mapping PDO1 to Position1 0x60200120 0x5FF Tx 8 0x43 0x00 0x1A 0x01 0x20 0x01 0x20 0x60 Sub index 2 PDO mapping for the 2nd application object 0x67F Rx 8 0x23 0x00 0x1A 0x02 0x10 0x01 0x30 0x60 Set the mapping PDO1 to Velocity1 Object Index 6030 sub index 1 length bits 10h 0x5FF Tx 8 0x60 0x00 0x1A 0x02 0x0...

Page 38: ...ue Comment 1005 COB ID sync Unsigned 32 rw 0x080 1008 Device name String ro C304 1009 Hardware version release String ro 1 00 100A Software version release String ro 1 01 100B Node ID Unsigned 32 ro 0x7F 100C Guard time Unsigned 16 rw 0 100D Life time factor Unsigned 8 rw 0 100E COB ID Guarding Protocol Unsigned 32 rw 0x700 Node ID 100F Number of SDOs supported Unsigned 32 ro 0x01 1014 COB ID EMCY...

Page 39: ...lication object Unsigned 32 rw 0x60200220 Position 2 2nd application object Unsigned 32 rw 0x60300210 Velocity 3 3rd application object Unsigned 32 rw 0x63000208 Cam state register Process Data Object PDO3 1802 0 Transmit 3rd PDO Unsigned 8 ro 5 Number of largest sub index 1 COB ID used by PDO3 Unsigned 32 rw 0x80000380 Node ID PDO disabled 2 Transmission type Unsigned 8 rw 0xFE 254 async 5 Event ...

Page 40: ...red Unsigned 16 ro 0x0000 Missing magnet 6504 Alarms supported Unsigned 16 ro 0x0001 6505 Warning occured Unsigned 16 ro 0x0000 6506 Warning supported Unsigned 16 ro 0x0004 6507 Profile and software version Unsigned 32 ro 0x03010401 650A 0 Module identification Unsigned 8 ro 1 Manufacturer offset value Integer 32 ro 2 Manufacturer min position value Integer 32 ro Min position Sensor units 3 Manufa...

Page 41: ...o 6401 1 Work area low limit channel 1 Integer 32 rw Min position Sensor units 6402 1 Work area high limit channel 1 Integer 32 rw Max position Sensor units Cam channel 2 6010 2 Preset value channel 2 Integer 32 rw 0 Sensor units 6020 2 Position value channel 2 Integer 32 ro Current position in sensor units 6030 2 Velocity value channel 2 Integer 16 ro Current velocity in sensor units 6300 2 Cam s...

Page 42: ...signed 8 ro 6401 3 Work area low limit channel 3 Integer 32 rw Min position Sensor units 6402 3 Work area high limit channel 3 Integer 32 rw Max position Sensor units Cam channel 4 6010 4 Preset value channel 4 Integer 32 rw 0 Sensor units 6020 4 Position value channel 4 Integer 32 ro Current position in sensor units 6030 4 Velocity value channel 4 Integer 16 ro Current velocity in sensor units 63...

Page 43: ...OB ID of the sync object message can be programmed individually with index 1005 So the COB ID of the sync message may be different depending on the configuration of the sensor NOTICE For the PDO message the measuring steps for the position Pos and velocity values can be read with object linear encoder measuring step settings index 6005 5 8 2 Asynchronous mode When the CANopen sensor is in NMT oper...

Page 44: ...n In case of default PDO mapping hosting 1 PDO with 4 byte position 2 byte velocity and 1 byte for status data the CAN message becomes 103 126 bits depending on stuff bit count Baud rate Time 125 kBit s 824 1004 µs 250 kBit s 412 502 µs 500 kBit s 206 251 µs 1000 kBit s 103 125 5 µs Data transmission times depends on the baud rate in the network assuming default PDO mapping 5 8 5 Cam switch The se...

Page 45: ...surements Visual inspection Optical inspection of product aims at the recognition of visible defects like missing bolts without using auxiliary equipment and tools Fig 28 Schedule of inspection Type of inspection Visual inspection every 3 months Close inspection every 6 months Detailed inspection every 12 months Visual inspection of the sensor for intactness removal of dust deposits Check of elect...

Page 46: ...rature coefficient 15 ppm K typical Operating conditions Operating temperature 40 75 C 40 167 F Humidity 90 relative humidity no condensation Ingress protection Version D G and E IP66 IP67 if properly connected by means that support IP66 IP67 pipe gland etc Version N IP66 IP67 IP68 IP69K NEMA 4X depending on cable gland Shock test 100 g single shock IEC standard 60068 2 27 Vibration test 15 g 10 2...

Page 47: ...n Any Mounting instruction Please consult the technical drawings on page 11 Electrical connection Connection type T Series terminal Operating voltage 24 VDC 15 20 Ripple 0 28 VPP Current consumption 90 mA typical Dielectric strength 700 VDC DC ground to machine ground Polarity protection Up to 30 VDC Overvoltage protection Up to 36 VDC ...

Page 48: ...ss II III Div 1 Groups E F G T130 C 40 C Ta 75 C Flameproof Class I Zone 0 1 Ex d IIC T4 Ga Gb Class II III Zone 21 Ex tb IIIC T130 C Db 40 C Ta 75 C No hazardous area approval EAC Ex Russian market Ga Gb Ex db eb IIC T4 X Da Db Ex tb IIIC T130 C X Zone 0 1 Zone 21 40 C Ta 75 C Ga Gb Ex db IIC T4 X Da Db Ex tb IIIC T130 C X Zone 0 1 Zone 21 40 C Ta 75 C Ga Gb Ex db IIC T4 X Da Db Ex tb IIIC T130 C...

Page 49: ...gnétique 2014 34 EU Equipment and protective systems for use in potentially explosive atmospheres Geräte und Schutzsysteme zur Verwendung in explosionsgefährdeten Bereichen Appareils et systèmes de protection à être utilisés en atmosphères explosibles 2011 65 EU Restriction of the use of hazardous substances in electrical and electronic equipment Beschränkung der Verwendung gefährlicher Stoffe in ...

Page 50: ...s capteurs position de type Temposonics TH x xxxxx xxx 1 N N N Cxxxxxx xxx C output type CANbasic CANopen TH x xxxxx xxx x N N N Sxxxxxx xxx S output type SSI comply with the regulations of the following European Directives den Vorschriften folgender Europäischen Richtlinien entsprechen sont conformes aux prescriptions des directives européennes suivantes 2014 30 EU Electromagnetic Compatibility E...

Page 51: ...don Drive Cary N C 27513 USA Tel 1 919 677 0100 Fax 1 919 677 0200 info us mtssensors com www mtssensors com Safety Declaration Dear Customer If you return one or several sensors for checking or repair we need you to sign a safety declaration The purpose of this declaration is to ensure that the returned items do not contain residues of harmful substances and or that people handling these items wi...

Page 52: ...415 1001 E mail info cn mtssensors com JAPAN Branch Office Phone 81 3 6416 1063 E mail info jp mtssensors com www mtssensors com MTS Temposonics and Level Plus are registered trademarks of MTS Systems Corporation in the United States MTS SENSORS and the MTS SENSORS logo are trademarks of MTS Systems Corporation within the United States These trademarks may be protected in other countries All other...

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