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Object Dictionary Communication Profile CiA 301

Object

Index

[hex]

Sub-

index Access

Type

Default

Value Range /

Note

Device type

1000

U32

80196h

encoder profile ‚406‘

Error register

1001

COB-ID-Sync

1005

U32

Manufacturer device name

1008

String

Manufacturer hardware

version

1009

String

Manufacturer software

version

100A

String

Guard time

100C

U16

0 .. 7FFFh

Life time factor

100D

0 .. FFh

Save Settings

1010

U32

„save“ (65766173h)

Load Manufacturer Settings

1011

U32

„load“ (64616F6Ch)*

COB-ID-EMCY

1014

U32

FFh

80h

Producer heartbeat time

1017

U16

0 .. 7FFFh

Idendity Object VendorID

1018

U32

252h

Idendity Object Product Code

U32

Idendity Object Revision

number

U32

Idendity Object Serial number

U32

COB-ID Server->Client

1200

U32

67Fh

SOD

COBID Client-> Sever

1200

U32

5FFh

SDO

PDO1 COB-ID

1800

U32

1FFh

181h .. 1FFh

PDO1 Transmission-Type

FEh

0 .. FFh

PDO1 Inhibit time

U16

0 .. 7FFFh

PDO1 Event timer

U16

64h

0 .. 7FFFh

PDO2 COB-ID

1801

U32

2FFh

281h .. 2FFh

PDO2 Transmission-Type

0 .. FFh

PDO2 Inhibit time

U16

0 .. 7FFFh

PDO2 Event timer

U16

0 .. 7FFFh

PDO4 COB-ID

1803

U32

4FFh

381h .. 3FFh

PDO4 Transmission-Type

FEh

0 .. FFh

PDO4 Inhibit time

U16

0 .. 7FFFh

PDO4 Event timer

U16

0 .. 7FFFh

TPDO1-Mapped Object

1A00

U32

60040020h

TPDO2-Mapped Object

1A01

U32

60040020h

TPDO4-Mapped Object

1A03

U32

63000108h

NMT-Startup

1F80

U32

0, 8

0: OFF, 8: ON

SDO
SDO

MAN-PH-E-16 23

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

*) Reset to Manufacturer Default Setting, Bitrate und Node ID not affected

POSIHALL

Digital output CANopen

Содержание Posihall PH36

Страница 1: ...POSIHALL Magnetic Multiturn Angle Sensors Installation and operation manual Please read carefully before installation and operation ...

Страница 2: ...ounting plate PRPT BPL 3 8 Mounting clamp bracket 9 Electrical connection 10 Characteristics for multiturn angle sensors 11 Calibration 12 Electromagnetic compatibility EMC 12 Repair and disposal 12 Output specifications 13 Analog output 13 Analog output programmable 15 Analog output redundant 17 Digital output MSSI 19 Digital output CANopen 20 Digital output CAN SAE J1939 31 Accesories Connector ...

Страница 3: ...lead to malfunctions damage to property or personal injury and releases the manufacturer from product liability POSIHALL Safety instructions 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...

Страница 4: ...er maintenance comprises the visual examination of parts e g inte grity of housing connectors and cables Maintenance intervals depend on the specific application and should be defined by the user in dependence of operating conditions The following maintenance steps are recommended Maintenance interval The intended use is when the sensor is used in the properly rated ambient atmospheric and technic...

Страница 5: ...ntact 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 service a...

Страница 6: ...surement results of the PH sensors of the POSIHALL product family Therefore the angle sensors should be mounted solely with nonmagnetic non magnetisable screws and washers The POSIHALL multiturn angle sensors PH36 PH58 and PH68 PH68R are equipped with an integrated magnetic shield which minimizes the sensitivity against external magnetic fields The POSIHALL multiturn angle sensors can be mounted w...

Страница 7: ...ounting Mounting plate PRPT BPL2 welding assembly Dimensions in mm inch Dimensions informative only For guaranteed dimensions consult factory In combination with the mounting clamps PRPT BFS1 3 x M2 5 or in combination with the mounting 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...

Страница 8: ...16 by ASM GmbH www asm sensor com USA www asmsensors com Mounting possibilities PH36 Mounting plate PRPT BPL3 frontal mounting Weight approx 30 g POSIHALL Mounting of PH36 Dimensions in mm inch Dimensions informative only For guaranteed dimensions consult factory Mounting plate only for PH36 ...

Страница 9: ...p bracket for PH36 Mounting clamp BFS1 Mounting bracket BFS2 Prevent the sensor shaft from binding Use flexible coupling or torque arms to avoid misalignment errors Observe the specified torques for fixing screws see table p 10 Avoid impact or shocks on the shaft and the shaft coupling Mechanical information ...

Страница 10: ...m M2 5 screws for mounting brackets Aluminium 0 8 M3 screws for mounting flange Aluminium 1 0 Screws M4 Aluminium 1 8 Observe different color code for pre assembled accessory cables refer to accessories pages The protection class of sensors with connector output is valid only if the electrical plug is connected Do not twist the M12 connector insert Cable outputs must be installed in such a way tha...

Страница 11: ...Clockwise increasing signal CW view to sensor measuring area shaft Counterclockwise increasing signal CCW view to sensor measuring area shaft Example for angle range 90 Example for angle range 360 POSIHALL Characteristics for multiturn angle sensors A angle position at delivery ...

Страница 12: ...eassembled sensor cables the shield is not connected to the sensor housing Keep sensor signal well separated from power wiring e g AC wiring motor or relay Use separate conduit or ducts for each If application includes highly electromagnetic interference emitting equip ment like switch converter drives additional measures are recommended Use a twisted pair cable shielded per pair and common Use sh...

Страница 13: ...ard Stability temperature 50 x 10 6 C f s typical Protection Reverse polarity short circuit Operating temperature 40 85 C EMC DIN EN 61326 1 2013 U2 Voltage output 0 5 10 V Excitation voltage 8 36 V DC Excitation current typical 20 mA at 24 V DC typical 38 mA at 12 V DC max 50 mA Output voltage 0 5 10 V DC Output current 2 mA max Measuring rate 1 kHz standard Stability temperature 50 x 10 6 C f s ...

Страница 14: ...sensors com Output signals Excitation GND Signal Signal Wiring Signal Plug connection Cable connection Excitation 1 brown Signal 2 white GND 3 blue Do not connect 4 black Do not connect 5 grey Connection View to the sensor connector A Codification POSIHALL Analog output ...

Страница 15: ...max Measuring rate 1 kHz standard Stability temperature 50 x 10 6 C f s typical Protection Reverse polarity short circuit Operating temperature 40 85 C EMC DIN EN 61326 1 2013 U2 PMU U2 PMZ Voltage output 0 5 10 V Excitation voltage 8 36 V DC Excitation current typical 20 mA at 24 V DC typical 38 mA at 12 V DC max 50 mA Output voltage 0 5 10 V DC Output current 2 mA max Measuring rate 1 kHz standa...

Страница 16: ...hed positions will be stored non volatile To reset the sensor to factory default signal ZERO END must be connected to ground while powering up the sensor for 2 3 seconds A Codification Option PMZ Programming of the start value by the customer Programming of the start value of the output range for the outputs U2 U8 and I1 is provided by a pro gramming signal ZERO available at the connector This Sig...

Страница 17: ...x Measuring rate 1 kHz standard Stability temperature 50 x 10 6 C f s typical Protection Reverse polarity short circuit Operating temperature 40 85 C EMC DIN EN 61326 1 2013 U2R Voltage output 0 5 10 V Excitation voltage 8 36 V DC Excitation current typical 20 mA at 24 V DC typical 38 mA at 12 V DC max 50 mA per channel Output voltage 0 5 10 V DC Output current 2 mA max Measuring rate 1 kHz standa...

Страница 18: ...ct Output signals POSIHALL Analog output redundant Signal wiring redundant version with 2 channels and 1 connector Channel Signal Connector M12 8 pins Cable connection 1 Excitation 1 white 1 Signal 2 brown 1 GND 3 green 1 Do not connect 4 yellow 2 Excitation 5 grey 2 Signal 6 pink 2 GND 7 blue 2 Do not connect 8 red View to sensor connector A Codification ...

Страница 19: ...85 C Protection Short circuit EMC DIN EN 61326 1 2013 POSIHALL Digital output MSSI DATA DATA CLOCK CLOCK Recommended processing circuit Note Extension of the cable length will reduce the maximum transmission rate View to sensor connector Transmission rate Cable length Baud rate 50 m 100 400 kHz 100 m 100 300 kHz Data format train of 26 pulses Signal wiring Connection Signal Connector Pin Cable wir...

Страница 20: ...le via LSS or SDO Bus connection M12 connector 5 pins Integrated terminating resistor RT 120 Ω user programmable Bus galvanic isolated No Description CANopen Interface according to CANopen Standards CiA DS301 DS406 for WB Linear Position Sensors Prozess data objects for Position und CAM switches Programmable parameters include Preset Offset Resolution CAM switches Transmission mode Specifications ...

Страница 21: ...d send a boot 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 messag...

Страница 22: ...e max 8 Byte Transmission behaviour of TPDO 1 2 4 is configurable by object PDO Communication Parameter 1800 1801 1803 sub indices 1 2 3 and 5 Transmission type example for TPDO 1 COB Id 1800 1 Transmission Type 1800 2 Inhibit Time 1800 3 Event Timer ms 1800 5 Cyclic Asynchronous FEh 1 07FFFh 1 07FFFh Change of State FEh 1 07FFFh 0 Synchronous N 1 240 Disable TPDO Enable TPDO 80 00 xx xx 00 00 xx ...

Страница 23: ...Idendity Object Serial number 4 ro U32 COB ID Server Client 1200 1 ro U32 67Fh SOD COBID Client Sever 1200 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 rw U32 2FFh 281h 2FFh PDO2 Transmission Type 2 rw U8 1 0 FFh PDO2 Inhibit time 3 rw U16 0 0 7FFFh P...

Страница 24: ...10 7FFFh Profile SW Version 6507 0 ro Serial Number 650B 0 ro CAM CiA406 Cam state register 6300 0 ro 0 Cam enable register 6301 0 rw 0 Cam polarity register 6302 0 rw 0 Cam 1 8 low limit 6310 6317 1 rw 0 Cam 1 8 high limit 6320 6327 1 rw 0 Cam 1 8 hysteresis 6330 6337 1 rw 0 For dual redundant devices Always configure Baud Rates to the same value and the Node Ids to different values Operating Par...

Страница 25: ... b2 b1 b0 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 Baud Rate Object 2010 Baud Rate Index Baud Rate kbit s 0 1000 1 800 2 500 3 250 4 125 6 50 by ASM GmbH MAN PH E 16 25 w...

Страница 26: ...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 Example 1 screenshot POSIHALL Digital output CANopen ...

Страница 27: ...nd the baud 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 baud rate will become effective on next POWER ON sequence So the SAVE command has to address the old SDO COB Id Screen Shot Explanation Boot Up message Set node Id to 7E Response Set baud rate to 1000kbit s Response SAVE Response POSIHALL D...

Страница 28: ...28 MAN PH E 16 by ASM GmbH www asm sensor com USA www asmsensors com Configuration Example 2 screenshot POSIHALL Digital output CANopen ...

Страница 29: ...B Id to 1F1 Response Set Autostart Response SAVE Response POWER OFF Boot Up on POWER ON Cyclic PDO Transfer on Power On Configuration Example 2 detailed explanation The message window shows the slave responding on POWER ON with the Boot Up message on new node id 7Eh Event timer of PDO1 is changed to 500ms and COB Id of PDO1 is changed to 1F1h Finally Autostart is activated automatic transition to ...

Страница 30: ...Signal Plug connection Shield 1 Excitation 2 GND 3 CAN H 4 CAN L 5 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 Termination Resistor T Piece CAN cable Sensor A Codification POSIHALL Digital output CANo...

Страница 31: ... Proprietary A PDU1 peer to peer dd Sensor Node ID Process data PGN FFnnh Proprietary B PDU2 broadcast nn Group Extension PS configurable by ASM GmbH MAN PH E 16 31 www asm sensor com USA www asmsensors com Description Angle encoder according to standard SAE J1939 Customer configuration of operating parameters by Peer to Peer Process data exchange by Broadcast message Specifications Excitation vol...

Страница 32: ... 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 acknowledge code Para...

Страница 33: ...ters permanently Index 28 0EFh F7h 1Ch 01h 00 00 65h 76h 61h 73h 0EFh cc 1Ch 01h 00 00 65h 76h 61h 73h 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 Example Broadcast PGNLow 0FFh Reload factory defaults of all sensors Index 29 0EFh 0FFh 1Dh 01h 00 00 64h 61h 6Fh 6Ch 0EFh cc 1Dh 01h 00 00 64h 61h 6Fh 6Ch by ASM GmbH MAN PH E 16 33 www ...

Страница 34: ...aude rate 21 3 250kB rd Termination resistor 22 0 0 1 off on rd wr 2 Store parameters 28 save 3 wr Reload factory defaults 29 load 3 wr 2 Communication Transmit mode 30 0 0 timer 1 request 2 event rd wr Transmit cycle 31 100 10 65535 ms rd wr PGN Group Extension 32 0 0 255 rd wr Event mode hysteresis 38 0 0 16383 steps rd wr Process data byte order 39 0 0 little 1 big endian rd wr Measurement Code...

Страница 35: ...2 GND 3 CAN H 4 CAN L 5 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 POSIHALL Digital output CAN SAE J1939 Termination Resistor T Piece CAN cable Sensor A Codification ...

Страница 36: ...s supplied with a mating 4 pin 90 M12 connector at one end and 4 wires at the other end Available lengths are 2 m 5 m and 10 m Wire cross sectional area 0 34 mm2 Order code Length in m Connector cable M12 4 pin Suitable for 5 pin sensor connectors shielded The 4 lead shielded cable is supplied with a mating 4 pin M12 connector at one end and 4 wires at the other end Available lengths are 2 m 5 m a...

Страница 37: ...pplied with a mating 5 pin 90 M12 connector at one end and 5 wires at the other end Available lengths are 2 m 5 m and 10 m Wire cross sectional area 0 34 mm2 Order code Length in m Connector cable M12 5 pin shielded connector The 5 lead shielded cable is supplied with a mating 5 pin M12 connector at one end and 5 wires at the other end Available lengths are 2 m 5 m and 10 m Wire cross sectional ar...

Страница 38: ...es at the other end Available lengths are 2 m 5 m and 10 m Wire cross sectional area 0 25 mm Order code Length in m Signal wiring M12 8 pin Connector pin cable color 1 2 3 4 5 6 7 8 white brown green yellow grey pink blue red Connector cable M12 8 pin shielded connector The 8 lead shielded cable is supplied with a mating 8 pin M12 connector at one end and 8 wires at the other end Available lengths...

Страница 39: ...m Connector bus cable M12 5 pin CAN bus shielded connector 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 0 3 2 5 and 10 m Order code Length in m Terminating resistance 5 pin M12 CAN bus T piece for bus cable M12 5 pin CAN bus Order code Order code POSIHALL Accessories Connector cables ...

Страница 40: ...s 3000 h per 6000 r p m Outputs single channel U2 U2 PMU U2 PMZ Voltage output 0 5 10 V U6 U6 PMU U6 PMZ Voltage output 0 5 4 5 V U8 U8 PMU U8 PMZ Voltage output 0 5 4 5 V I1 l1 PMU l1 PMZ Current output 4 20 mA MCANOP MCAN SAE J1939 CAN CANopen CAN SAEJ1939 dual channel U2R Voltage output 0 5 10 V redundant U6R Voltage output 0 5 4 5 V redundant U8R Voltage output 0 5 4 5 V redundant I1R Current ...

Страница 41: ...Bleichbach 18 24 85452 Moosinning Germany declare under our sole responsibility that the product Name POSIHALL Magnetic Multiturn Angle Sensor Type PH36 PH58 PH68 PH68R 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 22nd February 2016 Head of Development ...

Страница 42: ... 42 MAN PH E 16 by ASM GmbH www asm sensor com USA www asmsensors com ...

Страница 43: ... by ASM GmbH MAN PH E 16 43 www asm sensor com USA www asmsensors com ...

Страница 44: ...Messtechnik GmbH Am Bleichbach 18 24 85452 Moosinning Germany Tel 49 8123 986 0 Fax 49 8123 986 500 info asm sensor de 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 ...

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