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NDRA91-92

 Manual

Interface description 

NADO

Page 47 

Seite 47 

5.7

 

Profibus Interface of 

NDRA91

P

General 

DNRA91

P supports the Encoder-Profile of the Profibus (No. 3062 of the PNO).

The 

NDRA91

P is used here as a linear encoder. As part of the encoder profile,

the 

NDRA91

P  can  work  as  Class1  or  Class2  (recommended)  encoder.  All

variants  are  implemented  via  the  GSD  file.  In  addition  to  the  specific  profile 
data the 

NDRA91

P provide specific settings. These relate to the control of the

laser and the diagnostic data. The 

NDRA91

P has the ID number 0AA2 (HEX).

Installation conditions 

The 

NDRA91

 can  be  connected  to  each  Profibus-DP  structure.  The

corresponding Profibus DP Master must be able to send a  parameterization 
telegram. The corresponding development tool (usually development 
software) must be able to support the display of the parameters in the device 
master file (GSD). 

Parameters entered via the serial port are overwritten by the master at start-
up by parameters of the field bus interface!  

If the  master does not  send  parameters the 

NDRA91

P starts with  the  stored

parameters. 

GSD File 

The  GSD-file  has  the  name 

NDRA91

P2.GSD.  The  files 

NDRA91

P.dib  and

NDRA91

P.bmp belong to the GSD-file and serve for the display of the 

NDRA91

in  the  projection  tool.  The  integration  of  the  files  is  described  in  the 
documentation of the projecting tool. 

Slave Address 

The Profibus slave address is adjustable subject to the other device in the 
range of 0 ... 125. The address is done by SSA-command of the Profibus. For 
information on how to change the slave address via the editing tool, you 
should consult the special editing tool documentation. 

On delivery the address is 4  (alternatively, a label with the given address 
exists). The slave address is permanently stored in EEPROM and retained even 
after power failure. 

Summary of Contents for NDRA91

Page 1: ...Manual NDRA91 92 Firmware Version from 1 5 Version 2 0 ...

Page 2: ...chase This product is subject to ongoing technological developments Editorial deadline Firmware version Manual version File June 2018 1 5 V 2 0 Manual_NDRA91 92_EN_V2 0 d ocx Note Proper care has been used in compiling this document No liability will be accepted in the event of damage resulting from the failure to comply with the information contained herein Yantai NADO Intelligent Technology CO L...

Page 3: ...Revision history Manual Version Date Changes 2 0 25 06 2018 Laser divergence 1 9 18 10 2016 Laser divergence 1 8 26 02 2016 MTBF 1 7 01 06 2014 New design ...

Page 4: ...ral device description 20 4 2 Technical Data 22 4 3 Device Types 25 4 4 Technical Data NDRA92 26 4 5 Laser divergence 28 4 6 Functional Elements 31 4 7 Mechanical Integration Requirements 32 4 8 Connector pin assignments 33 4 9 Status Display 36 4 10 Pilot Laser 37 5 Interface description 38 5 1 RS 232 interface 38 5 2 RS 422 interface 39 5 3 Q1 Q2 Digital switching output 40 5 4 QA Analog output ...

Page 5: ...by the user 80 8 2 Firmware update 80 8 3 Repair 80 9 Malfunction and error messages 81 9 1 Malfunction 81 9 2 Error Codes 81 9 3 Error Status 81 10 Accessories Options 82 10 1 RS 232 cable 82 10 2 Connection box TCBNDRA 83 10 3 Adjustment bracket 83 10 4 Dot Sight AD30 83 10 5 Adapter plate 84 10 6 Dust protection tube 85 10 7 Protection Case 86 10 8 Software NDRATool 87 11 Part numbers 88 12 EG ...

Page 6: ...ring RS 232 to D Sub 9 38 Figure 15 Wiring RS 422 to RS 422 unit 39 Figure 16 Switching behavior of digital outputs 40 Figure 17 Example of switching output wiring 41 Figure 18 Signal diagram of NDRA91 analog output 42 Figure 19 Behavior of analog current output 42 Figure 20 Wiring analog output QA of NDRA91 43 Figure 21 Example for the external wiring of the trigger input 45 Figure 22 Interconnec...

Page 7: ...rofibus diagnostic data length 52 Table 15 Profibus diagnostic data 53 Table 16 Profibus Input 54 Table 17 Profibus Output 54 Table 18 Installation of NDRA91 56 Table 19 Overview of commands 58 Table 20 Standard deviation for speed measurement 65 Table 21 Description for hardware diagnosis 66 Table 22 Pilot laser PLx x value 68 Table 23 Spread of distance measurement 72 Table 24 Error Mode SEx val...

Page 8: ...r and of electric shock Sign warns against danger Sign shows information for use in hazardous environments Sign indicates important information regarding device use of the device The sign shows protection class 3 protective extra low voltage Sign indicates degree of protection IP of the device Sign informs that special guidelines had to be applied for device disposal ...

Page 9: ...and rugged design the easy installation low current consumption adjustable switching outputs and the possibility to set user specific parameters are important features of the NDRA91 The features of the device enable a number of applications in industrial environment Process surveillance in steel and roller plants Fill level measurement Surveillance of object movements Positioning of cranes and loa...

Page 10: ...basis of time of flight measurement Short laser pulses are transmitted The light pulse reflected from the target is detected by the receiver The distance can be determined by the time shift The measurement range depends on the reflectivity and the surface of the measuring target ...

Page 11: ...is opened arbitrarily without authorization all warranty claims will expire The operating and storage conditions have to be observed see chapter 3 The inobservance of this advice and the adverse use of the device can lead to injuries of the user or to damage of the device Connectors may not be plugged or unplugged when voltage is applied All installation work may only be carried out when no voltag...

Page 12: ...vice is delivered in a solid cardboard box which is suited for the transport of the device The device may not be used in explosive environments otherwise there is the danger of damage to the NDRA9x and the surrounding equipment and of injuries of the user Laser Class 1 Laser Class 2 2 2 Safety advice for operating the laser The NDRA9x is equipped with two lasers Laser for measurement invisible Pil...

Page 13: ...s visible A short term exposure duration up to 0 25 s is harmless to the eye Users are instructed by Laser warning sing see VERWEIS to do not stare into the beam They have to protect themselves by turn the head and or the closing the eyes and by avoid a long look into the beam The sensor can be used without any additional safety protection Danger Laser radiation Class 2 do not stare into the Laser...

Page 14: ...allowed The device must be protected against overheating The device will not be switched off automatically when the operating temperatures are exceeded The persisting overheating of the device will lead to a reduced lifetime of the laser diode The device must be protected from impact The device must be protected from extreme temperature 1 The devices of the NDRA91 series can vary with regard to th...

Page 15: ...sting driving rain or high temperature variations If the device is exposed to humidity the temperature difference between the device and the environment may be 5K maximum It is necessary to observe the operating and storage conditions Use only a supply voltage of 10 V 30 V DC direct current voltage For using the heating direct current voltage of 24 V is recommended The limit values for the input v...

Page 16: ...ment Laser Laser Class 2 Pilot Laser IEC 61010 1 2001 Safety requirements for electrical equipment for measurement control and laboratory use General requirements IEC 61010 1 2001 German version EN 61010 1 2001 2 5 Disposal For the disposal of the device special environmental protection guidelines apply Do not dispose the device with the usual domestic refuse The manufacturer offers to take back t...

Page 17: ...rge ESD is 4 kV according to EN 61326 1 Table 1 Electrical installation conditions Electrical installation conditions Supply voltage 10 V 30 V DC direct current voltage 3 Power consumption 5 W without heating 11 5 W with heating 24 V 3 2 Operating and storage conditions Operating temperature 40 C 60 C Stroage temperature 40 C 70 C Air humidity 15 90 not condensing The mentioned operating and stora...

Page 18: ...ically transparent materials such as glass optical filters acrylic glass etc can lead to erroneous measurement results When measuring through optically transparent material use the function measurement window By defining a fixed measurement range using this function the display of an erroneous measurement value caused by the optical medium in front of the laser can be avoided Please take care that...

Page 19: ... mirror Rapidly changing measurement conditions rapid distance changes Two or more NDRA91 may not be frontal view because the devices interact To avoid false readings the devices must be successively raised Use the trigger generator TPG1 accessory or the trigger function according to item 2 in chapter 5 5 Interconnection of several NDRA91 Operation and storage of the device under conditions that d...

Page 20: ...asuring distances 300 m the use of glass reflectors triple mirrors is not recommended as a distortion of measurement values can be caused by overload Pilot Laser With the red laser measurement spot pilot laser the measurement target can be clearly identified The range depends on the reflectivity and the surface properties of the measurement target Serial interfaces The NDRA91 is equipped either wi...

Page 21: ...en certain temperature thresholds are exceeded the heating is swichted on or off automatically Values preset in the factory 4 C heating is switched on and 10 C heating is switched off The values can be specifically configured by the user refer to REF HE ...

Page 22: ...nt value resolution distance 1 mm Measurement time for distance Standard 0 5 ms Special version 0 1 ms Measurement range for speed 7 0 ms 1 100 ms 1 Measurement time for speed 0 1 s 0 5 s Laser Laser for measurements Laser class 1 infrared invisible Laser beam divergence Standard 1 7 mrad Option 10 mrad Wavelength 905 nm 4 depends on the reflection properties of the target ambient light influence ...

Page 23: ...CII Profibus NDRA91P DP V0 Slave IEC 61158 IEC 61784 9 6 kBaud 12 Mbaud auto detect termination resistor extern slave address can be set via Profibus SSI NDRA91S 50 kHz 1 MHz 25 µs pause 24 bit binary or gray coded can be set Switching output 2 x High Side switch load up to 0 2 A Permanent short circuit protected Adjustable window function Analog output 4 mA 20 mA 9 Trigger for device synchronizat...

Page 24: ... field suppression and window function Environmental and application conditions Operating temperature 40 C 60 C Storage temperature 40 C 70 C Air humidity 15 90 Dimensions LxWxH 136 mm 57 mm 104 mm Weight Approx 800 g Protection degree IP 67 EMC IEC 61326 1 2005 MTBF 13 000 hours MIL HDBK 217 F N2 ...

Page 25: ...232 NDRA91A RS422 LNDRA91P NDRA91S Serial Interface RS 232 RS 422 RS 232 RS 232 Analog output Yes Yes Yes Yes Profibus Yes SSI Yes In addition the devices can be ordered depending on the measurement task with the following features 10 Increased maximum measurement frequency 10 kHz instead of the standard of 2 kHz Laser with increased divergence 10 mrad instead of standard 1 7 mrad 10 not with NDRA...

Page 26: ... 10 onto target board 12 0 5 m 300 m 300 m 3000 m Measurement precision 14 mm at 100 Hz measuring rate and 10 Hz output range Measurement value resolution distance 1 mm Measurement time for distance 100 ms Measurement range for speed 13 0 ms 1 100 ms 1 Measurement time for speed 0 1 s 0 5 s Laser Laser for measurements Laser class 1 infrared invisible Laser beam divergence 1 7 mrad Wavelength 905 ...

Page 27: ...t circuit protected Adjustable window function Analog output 4 mA 20 mA 14 Trigger for device synchronization 1 x Trigger IN OUT edge and delay adjustable trigger level 3 VDC 30 VDC Operating modes Single measurement continuous measurement mean value external triggering adjustable near field suppression and window function Environmental and application conditions Operating temperature 40 C 60 C St...

Page 28: ...am diagram for NDRA91 with 1 7 mrad The divergence of the laser is 1 7 mrad x 0 08 mrad rectangle The receiver divergence is 2 9 mrad circle Table 5 Beam size for NDRA91 with 1 7 mrad Distance Width mm Height mm Footprint 0 m 40 19 1 m 40 20 5 m 41 27 10 m 43 36 15 m 45 45 20 m 47 55 30 m 53 72 50 m 65 109 100 m 100 199 200 m 169 379 500 m 378 920 1000 m 730 1821 1500 m 1080 2723 2000 m 1432 3645 ...

Page 29: ...divergence of the laser is 7 mrad x 4 mrad rectangle The receiver divergence is 14 3 mrad circle Table 6 Beam size for NDRA91 with 10 mrad Distance Width mm Height mm Footprint 0 m 6 15 1 m 12 13 5 m 39 14 10 m 74 25 15 m 108 46 20 m 142 65 30 m 210 106 50 m 346 187 100 m 688 389 200 m 1370 794 500 m 3416 2006 1000 m 6828 4028 ...

Page 30: ...gure 5 Beam diagram for NDRA92 The divergence of the laser is 3 7 mrad x 3 7 mrad square The receiver divergence is 6 3 mrad circle Table 7 Beam size for NDRA92 Distance 0 m 1 m 5 m 10 m 50 m 100 m Transmitter width mm 30 33 48 70 215 400 Transmitter heigth mm 30 33 7 48 70 215 400 ...

Page 31: ...ach lateral side and on the underside of the NDRA91 casing there are three support pads with mounting holes M4 for mechanical attachment of the NDRA91 see Figure 7 1 Front tube 8 11 mm rail 2 Transmitter optics 10 Status display 3 Receiver optics 11 Main connector M18 4 Front cover plate 12 Service screw 5 Casing 13 Support pads with M4 x 6 6 Back cover plate 14 optional connectors 7 Pilot Laser P...

Page 32: ...es the NDRA91 provides three support pads Figure 7 with mounting holes M4 x 6 2 Attachment to casing bottom Likewise the NDRA91 provides three support pads Figure 7 with mounting holes M4 x 6 for attachment to the bottom face of its casing 3 Attachment via adapter plate replacement of NDRA90C To replace an NDRA90C with an NDRA91 an adapter plate is required This plate must be screwed to the bottom...

Page 33: ...lable for connections All models share the same type of main connector port Main Connector Port M18 The main connector port see Figure 6 Functional Elements no 11 includes the terminal points for voltage supply for serial data communication RS 232 or RS 422 for the two switching outputs Q1 and Q2 one analog output QA and for one trigger port TRIG A shielded cable must be used for connection This c...

Page 34: ...reen TRIG TRIG Trigger port D Yellow QA QA Analog output 4 20 mA E Grey TX TX RS 422 send data F Pink TX TX RS 422 send data G Blue VCC VCC Supply voltage H Red n c n c not connected J Black GND GND GND K Violet Q2 Q2 Switching output Q2 L Grey pink GND GND GND M Red blue Q1 Q1 Switching output Q1 SSI Port of NDRA91S M12 The connection to the SSI interface of the NDRA91S is accomplished via a 5 po...

Page 35: ...rofibus Port of NDRA91P M12 For Profibus connection there are 3 B encoded 5 pole M12 connectors The connection must be made with Profibus conform cables Figure 10 Connection diagram NDRA91P Profibus IN Figure 11 Connection diagram NDRA91P Profibus OUT ...

Page 36: ...l 600 1000 Signal available 1000 1500 Good signal 1500 3400 Very good signal 3400 Status Readiness for action Off Red Green No operating voltage Technical defect Voltage supplied Ready for action Q1 Switching output 1 Off Yellow Off Operating voltage supplied Q2 Switching output 2 Off Yellow Off Operating voltage supplied Link Status interface Off Red Yellow Green No field bus Profibus error Opera...

Page 37: ...t 635 nm red in the visible range The pilot laser is not aligned to emit in a direction parallel with the measurement Laser Instead its beam intersects with that of the measurement Laser at a distance of 75 m Figure 13 shows the tolerance on pilot laser position in relation to the invisible measurement laser as a function of the distance to an object being measured 10 m 75 m 125 m Figure 13 Pilot ...

Page 38: ...es different connectors depending on the type see chapter 4 3 Device Types A main connector port Figure 7 is used for RS 232 or RS 422 interface and analog output and additional connectors provide SSI interface Figure 8 no 3 or Profibus interface Figure 8 5 1 RS 232 interface Figure 14 Wiring RS 232 to D Sub 9 ...

Page 39: ... RS 422 interface Figure 15 Wiring RS 422 to RS 422 unit The RS232 RS422 interface of devices which are equipped with a Profibus interface should only be used for test purposes Measurement via RS232 RS422 interface is not recommended for these device types ...

Page 40: ...rdingly they are perfectly suited for direct reprocessing of monitored quantities such as filling level or for detection of objects Parameter settings are made via the serial interface The command to achieve this is Q1w_x_y_z where _ is equivalent to space 0x20 Value Description Specification w Switching threshold 9999 99 9999 99 x Switching range x 0 x y y Hysteresis y 0 z Switching state z 0 or ...

Page 41: ...NDRA91 92 Manual Interface description NADO Page 41 Figure 17 Example of switching output wiring ...

Page 42: ...value output range 4 mA 20 mA Indication in case of an error 3 mA or 21 mA selectable via the parameter SE Resolution 16 bit DA converter Load 500 Ohm 0 5W The command to achieve this is QAx_y where _ is equivalent to space 0x20 Parameter settings for current output in the event of measurement failure can be made using the command SEx Figure 18 Signal diagram of NDRA91 analog output The value of o...

Page 43: ...NDRA91 92 Manual Interface description NADO Page 43 Figure 20 Wiring analog output QA of NDRA91 ...

Page 44: ...er input They will start a measurement after the first NDRA91 By a temporal delay between the measurements which is adjustable with the trigger delay interference between the devices can be excluded The trigger frequency corresponds to the set frequency MF of the first NDRA91 Parameter TD z 0 mandatory x delay is necessary15 interference between the different NDRA91 is avoided The parameterization...

Page 45: ...NDRA91 92 Manual Interface description NADO Page 45 Figure 21 Example for the external wiring of the trigger input Figure 22 Interconnection of several NDRA91 devices ...

Page 46: ...gth and quality of the data cable transfer rates of 50 kHz to 1 MHz at 25 microseconds interval time between two bit streams are possible The data length is 24 bits plus one validity bit The format can be binary or gray encoded For parameter settings via the serial interface the SCx command is available SCx x 0 binary 25 bits 24 bits plus 1 validity bit x 1 gray 25 bits 24 bits plus 1 validity bit...

Page 47: ...port the display of the parameters in the device master file GSD Parameters entered via the serial port are overwritten by the master at start up by parameters of the field bus interface If the master does not send parameters the NDRA91P starts with the stored parameters GSD File The GSD file has the name NDRA91P2 GSD The files NDRA91P dib and NDRA91P bmp belong to the GSD file and serve for the d...

Page 48: ...nt load up to 100 mA The terminating resistor is available as an accessory item Baud Rate The NDRA91 provides automatic detection of the following baud rates 9 6 19 2 93 75 187 5 500 k baud and 1 5 3 6 12 MBaud Segment Length The maximum allowed segment length between to Profibus participants depends on the selected baud rate The following rules on segment lengths must be fulfilled Table 10 Profib...

Page 49: ...lectrical Connection Profibus IN 2 Profibus OUT 3 Figure 24 Profibus connection diagram NDRA91P M12 connector Profibus Parameter With the help of a GSD file a PB master creates parameters for the slave and has to send these data at least once to the slave before the slave can be used for the cyclical data exchange The slave is programmed with sufficient tolerance for being usable only with the 7 b...

Page 50: ... 0 10 0 Up to 5 decimal places are processed Error mode Selection of the distance value in the event of an error Pilot Laser The pilot laser can be set to On Off or Blinking Measurement window Set the start and the end of the measurement window Diagnostic interval 0 send diagnosis data only in case of alarm 1 10000 send diagnosis data every n x 100ms Alarm 1 2 Switching threshold for the output n ...

Page 51: ...mode 0 DF 1 DT 2 VT 27 28 short measure frequency MFnn 1 10000 29 32 signed 32 trigger delay TDx 0 1000 33 36 signed 32 display offset OFnnnn 1000000 37 40 signed 32 output 1 switch limit 0 5000000 Q1w 41 44 signed 32 output 2 switch limit 0 5000000 Q2w 45 48 signed 32 output 1 hysterese 5000000 5000000 Q1 y 49 52 signed 32 output 2 hysterese 5000000 5000000 Q2 y 53 54 word diag update time in 0 1...

Page 52: ...ich contains all diagnosis data To see the current temperature and operating time the diagnosis interval has to be set 0 A diagnostic Interval of 100 leads to a data update every 10 sec Please observe that the laser has to capture and transmit a value in the DF modes i e temperatures are only transferred if values are captured Diag Alarm Error messages of the laser are sent as unique Ext Diag The ...

Page 53: ...r operation status para byte 9 class 2 diagnostic 10 byte encoder type 7 absolute linear encoder 11 14 unsigned 32 single turn resolution 100000nm 0 1mm 15 16 unsigned 16 no of distinguishable revolutions unused 0 17 0 1 bool bool E98 Timeout SIO E99 Unknown Error 18 19 0 1 bool bool E02 No Target E04 Laser defect 20 21 word warnings unused 0 22 23 word warnings unused 0 24 25 word profile version...

Page 54: ... 1 4 signed 32 distance value 5 8 signed 32 speed value Cyclic data exchange Output Master Slave The most significant bit in the preset value 32 bit determines the validity of the preset Table 17 Profibus Output Octet Type Output 1 4 signed 32 Preset Value Normal Mode MSB 0 bit 31 Preset Mode MSB 1 bit 31 With the preset value the actual value can be set to a desired value This offset is used inte...

Page 55: ...permanently stored in NDRA91P it will get lost if you disconnect the device The offset can be written directly as a parameter Octet 32 35 If the Bit 31 of MPreset is set the new MOffset is calculated so the following formula is valid MPreset MLaser MOffset The offset value can be read in the diagnostic data as an octet 30 33 ...

Page 56: ... especially the Slave address Table 18 Installation of NDRA91 Nr Work step 1 Unpack the NDRA91 and check for damages 2 Install the NDRA91 at the target location and use the 3 M4 tapped holes at one of the 3 possible surfaces of support of the NDRA91 see chapter 4 7 3 Plug the interface cable only when there is no voltage impressed bolt the cables tightly 4 Plug the Profibus or SSI connections and ...

Page 57: ...equired for the particular operating mode To prevent short circuits seal unused cable ends For starting up a PC with RS 232 or RS 422 data interface and a terminal program are required We recommend the Windows program NDRATool Version 4 8 or higher see Figure 17 Program NDRATool RS 232 to USB converter are available NDRATool NDRA71 LUMOS optionally Figure 25 Program NDRATool ...

Page 58: ...nce measurement with external triggering VM Single speed measurement VT Continuous speed measurement Status TP Internal device temperature in C PA All parameter display HW Hardware diagnosis Setup Parameter PR Reset to factory settings DR Triggers a cold start ASs Auto start function DT ID ID DM DT DF VM VT TP HW PA MF TD SA SF MW OF SE Q1 Q2 QA BR SD TE BB AB SC PL AS MFx Measuring frequency Hz 2...

Page 59: ...mode for Q1 Q2 and QA 1 0 2 QAx y Analogue output with lower and upper limit 0 50 000 float 32 float 32 Q1w x y z Q1 switching output with trigger threshold switching range hysteresis and switching state 2 000 5000 0 100 1 float 32 float 32 float 32 0 or 1 Q2w x y z Q2 switching output with trigger threshold switching range hysteresis and switching state 4 000 5000 0 100 1 float 32 float 32 float ...

Page 60: ...Description of commands NDRA91 92 Manual Page 60 NADO Command Class Command Description Standard s Range s serial interface SCx SSI format 0 0 1 PLx Pilot Laser 0 0 3 HEx y Heating 4 10 60 40 60 45 x y ...

Page 61: ...en each two values A parameterization command with new parameters triggers a response command with these parameters A parameterization command without new parameters triggers a response command with most recent parameters A parameterization command with parameters out of valid setting ranges triggers a response command with most recent parameters An unknown command and a faulty parameter format ar...

Page 62: ...set device SF Enter SFx Enter display set scale factor OF Enter OFx Enter display set user offset SO Enter set current distance to offset MW Enter MWx y Enter display set measure window MF Enter MFx Enter display set measure frequency SA Enter SAx Enter display set average value TD Enter TDx y Enter display set trigger delay level SE Enter SEx Enter display set error mode Q1 Enter Q1w x y z Enter ...

Page 63: ...pends on the number of the set measurement values SA and the set measurement frequency MF DF Measure single distance with external triggering The operating mode DF must be set for the NDRA91 When an external trigger signal is received the device carries out exactly one measurement and waits afterwards for the next trigger event in the operating mode DF The operating mode must be terminated with th...

Page 64: ...ements the speed value is calculated The continuous speed measurement can be stopped with the command RS 232 RS 422 Escape 0x1B The interval between the single measurements depends on the set measurement value SA and the set measurement frequency MF The precision of the speed measurement is derived from the following formula 𝜎𝑣 𝜎𝑑 𝑓 𝑁 𝑁 1 1300 The following parameters apply f Measurement frequency...

Page 65: ... C PA Display of all parameters A list of all parameters is output via the serial interface Example measure frequency MF 2000hz trigger delay level TD 0 00msec 0 0 average value SA 20 scale factor SF 1 000000 measure window MW 1 000 300 000 distance offset OF 0000 error mode SE 1 digital out Q1 20 000 10 000 1 000 1 digital out Q2 1 000 30 000 0 500 1 analog out QA 1 000 300 000 RS 232 422 baud ra...

Page 66: ... hardware diagnosis Item Description TCB Temperature controller board TRE Temperature receiver VUV Supply voltage VDD Internal voltage digital 5 V VCC Internal voltage digital 3 V VTDC Control voltage timer measurement circuit VCP Detection threshold receiver signal VHV High voltage laser VPT Output voltage transmitter identification VREF Input voltage transmitter identification QCLK Deviation qua...

Page 67: ...rated by a blank space 0x20 AS Auto start function The auto start function defines the behaviour of the NDRA91 after a cold start After the start the NDRA91 carries out the commands automatically and sends the data via the serial interface Query AS Set ASs Parameter value range s ID ID DM DT DF VM VT TP HW PA MF TD SA SF MW OF SE Q1 Q2 QA BR SD TE BB AB SC PL AS Standard DT PL Pilot Laser With the...

Page 68: ...ode TD 0 00msec 0 0 average value SA 20 scale factor SF 1 000000 measure window MW 5000 000 5000 000 distance offset OF 0 000 error mode SE 1 digital out Q1 0 000 0 000 0 000 1 digital out Q2 0 000 0 000 0 000 1 analog out QA 1 000 300 000 RS 232 422 baud rate BR 115200 RS 232 422 output format SD dec 0 value 0 RS 232 422 output terminator TE 0Dh 0Ah 0 SSI format SC bin 0 pilot laser PL 2 autostar...

Page 69: ...range x float32 resolution 0 001 Standard 0 000 No plausibility test of the set offset is carried out within the NDRA91 the user is responsible to set the correct parameterization SO Set offset With the parameter SO a single distance measurement is carried out and set as OF Offset SO can only be executed in this way it is not a parameter in the strict sense SO is used for the zero adjustment of ap...

Page 70: ...alue range y float32 resolution 0 001 Standard 0 000 5000 000 No plausibility test for the set measurement window will be carried out in the NDRA91 the user is responsible for carrying out the correct parameterization MF Measurement frequency Hz With the command MF the number x of the single impulses to be sent per second can be parameterized Query MF Set MFx Parameter value range x 1 2000 resolut...

Page 71: ...lue With the command SA the number x of the single measurement values are parameterized From these values a mean value will be calculated for a measurement SA is directly dependent from the parameter MF see also page 70 Query SA Set SAx Parameter value range x 1 30000 resolution 1 Standard 200 The dispersion of the measurement values can be reduced by calculating the mean value 𝜎𝑆𝐴 𝜎1 𝑆𝐴 Where σSA...

Page 72: ...ring 0 the trigger is released at a falling edge from High to Low 1 the trigger is released at a rising edge from Low to High z sets the mode with respect to SA 0 each trigger pulse causes one single laser pulse and after SA measurements one output will follow 1 each trigger pulse causes a number of SA laser pulses and after that one output Query TD Set TDx y z Parameter value range x 0 300 00 mse...

Page 73: ...rement Standard 1 Table 24 Error Mode SEx values for x x Q1 Q2 z 0 Q1 Q2 z 1 QA 0 Last value Last value Last value 1 High Low 3 mA 2 Low High 21 mA No plausibility test for the set error mode is carried out in the NDRA91 the user is responsible to set the correct parameterization Q1 Q2 Switching output Commands Q1 Q2 parameterizes the behaviour of the switching outputs Q1 or Q2 see text and diagra...

Page 74: ... of Q1 resp Q2 are carried out the user is responsible for setting the correct parameterization When carrying out speed measurement using an NDRA91P with the Profibus interface please observe that the switching threshold w for Q1 can only be set with positive numbers target departs from the NDRA91P QA Analogue output The command QA parameterizes the behaviour of the analogue output QA see 5 4 Avai...

Page 75: ...ary after changing the baud rate Query BR Set BRx Parameter value range x 9600 19200 38400 57600 115200 230400 or 460800 Standard 115200 Setting a very high baud rate implies a risk Some computers for example cannot support a baud rate of 460800 or higher If the baud rate is set by the command BR460800 communication is no longer possible without a compatible interface i e the baud rate cannot be r...

Page 76: ...ement value Measurement value Measurement value 1 Measurement value Signal strength Measurement value Signal strength Measurement value Signal strength 2 Measurement value Temperature Measurement value Temperature Measurement value Temperature 3 Measurement value Signal strength Temperature Measurement value Signal strength Temperature Measurement value Signal strength Temperature Explanation bina...

Page 77: ...cimal values 1 10 Speed 3 Byte 2 Byte for distance MSB Bit 7 MSB of Byte 2 always 1 MSB of Byte 1 and 0 always 0 Measurement data Byte Bit 6 Bit 0 Coding Two s compliment Scaling factor binary values to decimal values 1 1000 TE Terminator for the serial interface The command TE parameterizes the termination for the serial interface data when carrying out distance and speed measurement The output f...

Page 78: ...erizes the format x of the SSI codes see 5 6 Query SC Set SCx Parameter value range x 0 or 1 Standard 0 SCx x 0 binary 25 bit 24 bit and1 bit valid x 1 gray 25 bit 24 bit plus 1 bit valid Bitfolge 24 23 2 1 0 MSB Bit 1 24 Distance depending from the scaling factor SF LSB Bit 0 Valid bit HE Threshold heating HE parameters set thresholds for the switching on and off the internal heating Query HE Set...

Page 79: ...e switching of the heating the internal temperature measured with the set parameters is compared Internal temperature x HeatON heating is switched on Internal temperature y HeatOFF heating is switched off For the parameters must be considered x HeatON y HeatOFF ...

Page 80: ... the manufacturer Isopropyl alcohol is suitable for cleaning the device Do not use any solvents Do not open the device otherwise the warranty obligations shall cease to apply Do not lose any screws of the device 8 2 Firmware update Firmware updates of the sensor electronics of the NDRA91 may only be done by the manufacturer 8 3 Repair In case of necessary repair send the device to your dealer or t...

Page 81: ...problems Send NDRA91P for repair Contact technical support 9 2 Error Codes Table 29 Error codes Code Cause Action for removal DE02 No target Observe measurement distance reflectivity of the target is too low DE04 Laser defect Send NDRA91 for repair Contact technical support 9 3 Error Status Table 30 Error Status Error status Cause Action for removal Red status LED of status display lights Read err...

Page 82: ...RATool is recommended Figure 29 PC Interface cable with power supply Table 31 Connection of programming cable PC sided Nr SUB D 9 F Colour code Name SUB D 9 F RS 232 PC COM Shield Cable shield 3 brown TxD 2 white RxD 5 blue GND Table 32 Connection of programming cable NDRA91 sided Pin NDRA91 Colour code Name NDRA91 Shield Cable shield A white TxD B brown RxD J black GND G blue VCC 10 V 30 V DC L g...

Page 83: ...tation of 5 in two axes 10 4 Dot Sight NDRA ST6X32 The AD30 is designed to facilitate alignment of the measuring object The sight is attached with its 11 mm guide with the rail on the top of the NDRA91 The sight must be adjusted after assembly and before use Figure 30 Red dot sight It is recommended to carry out the adjustment of the dot sight to the measurement beam of the NDRA91 in the following...

Page 84: ...d laser beam on the target results in strong signal Red dot and laser beam near the target signal strength is lower than before 10 5 Adapter plate NDRA911911060 AP An adapter plate can be delivered for attaching the NDRA91 This adapter plate is bolted to the case back of the NDRA91 and offers different options for adapting the device e g a tripod thread 20 UNC When replacing the NDRA500C by an NDR...

Page 85: ...ater plate 10 6 Dust protection tube NDRA91 DPT105 The dust tube protects the receiver channel against soiling and against lateral d c light which can limit the measurement capabilities The dust tube can be mounted in front of the receiver optics Thread data NDRA91 ...

Page 86: ...ceiver optics M52 x 0 75 thread depth 5 mm NDRA91 receiver optics M41 x 0 5 thread depth 5 mm Figure 32 Dust protection tube 10 7 Protection Case A protection stainless steel housing with integrated terminal block is optional available Figure 33 Protection Case ...

Page 87: ... NDRATool A demo version of the software NDRATool is included By purchasing a license number this will become the full version Parameterization and numerical display of measured values can be used indefinitely also in the demo version see Figure 25 Program NDRATool ...

Page 88: ... N Protective Housing for NDRA91A and NDRA92 A NDRA911911060 AB Adjustment bracket for NDRA91A NDRA91 DPT105 Dust Protection Tube 100mm for NDRA91A NDC1911060 A RS232 programming cable D SUB9F Lüsterkl 1 5m NADR91 CB02 Connection cable NDRA91A 2m NADR91 CB05 Connection cable NDRA91A 5m NADR91 CB10 Connection cable NDRA91A 10m Cable Connector plug NDRA91A and NDRA92 A Connector Set for Profibus NDR...

Page 89: ...uct Laser distance sensor NDRA91 and NDRA92 agrees with the Directive of Electromagnetic Compatibility 2004 108 EG The following harmonized standards were considered IEC 61326 1 2005 Electrical equipment for measurement control and laboratory use EMC requirements Part1 General requirement IEC 61326 1 2005 German Version EN 61326 1 2006 Yantai NADO Intelligent Technology Co LTD ...

Page 90: ...Notice NDRA91 92 Manual Page 90 NADO ...

Page 91: ...NDRA91 92 Manual Notice NADO Page 91 ...

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