CONTACTLESS ENCODERS WITH SSI INTERFACE USER INFORMATION

Transcription

1 CONTACTLESS ENCODERS WITH SSI INTERFACE USER INFORMATION Sense it! Connect it! Bus it! Solve it!

2 General information 1 General information Please read this section carefully. Safety aspects cannot be left to chance when dealing with electrical equipment. These directions of use contain the information necessary for use of the inductive encoders Ri-QR4 from TURCK and is intended for personnel with the necessary qualifications. Prescribed use Notes concerning planning / installation of this product Attention All respective safety measures and accident protection guidelines must be considered carefully and without exception. Safety note WARNING Attention The devices described hereafter must only be used in the prescribed way and only with certified components and devices from third party manufacturers. Appropriate transport, storage, deployment and mounting as well as careful operating and thorough maintenance guarantee the troublefree and safe operation of these devices. Due to improper fastening, the positioning element may loosen from mounting position Possible danger to life caused by loose parts! ӹӹ Follow the mounting instructions carefully ӹӹ Check tightness, tightening torque: M = Nm Hans Turck GmbH & Co. KG Tel Fax

3 Contents Contactless encoders Ri-QR4 with SSI Interface 1 General information... Type code SSI interface description Commissioning Mounting SSI process data Parametrization via teach function Parametrization via PACTware and IODD Mounting accessories and positioning elements Technical data more@turck.com 014/11 3

4 Type code Type code Ri 360 P1 QR4 M1 H E S G 5 X3 H Ri 360 P1 Operating principle Positioning element/ shaft diameter P0 without positioning element P1 P1-Ri-QR4/0 mm* P P-Ri-QR4/14 mm* P3 P3-Ri-QR4/1 mm* P4 P4-Ri-QR4/ mm* P5 P5-Ri-QR4/6 mm* P6 P6-Ri-QR4 / 3/8"* P7 P7-Ri-QR4 / 1/4"* P8 P8-Ri-QR4 / - Measuring range Operating principle Ri Rotatory inductive * Positioning elements with hollow shaft H Electrical connection Assignment (digit 5) 1 Standard assignment Number of contacts (digit 4) 8 8-pin M1 x 1 Connector type (digit 3) 1 straight Connector type (digit 1 and ) H1 Male connector M1 x 1 QR4 M1 Housing style Alu protective unit M0 without alu protective unit M1 with alu protective unit M Set M-QR4 (M1-QR4 + SP1-QR4) M3 Set M3-QR4 (M1-QR4 + SP-QR4) M4 Set M4-QR4 (M1-QR4 + SP3-QR4) Housing style QR4 H E S G 5 X3 Electrical version Number of LEDs X3 3 x LEDs Number of bits 5 Number of bits (default setting, other values can be set by the customer) Code G Gray (default setting, binary can be set by the customer) SSI interface S SSI interface Resolution E Higher resolution Scan rate H Higher scan rate Note The sensor, mounting accessories and positioning elements are individually available or as a kit. 4 Hans Turck GmbH & Co. KG Tel Fax

5 SSI interface Description 3 SSI interface The encoders provide an absolute signal of a guided or free positioning element. The sensor is contactlessly coupled with the positioning element via a stable inductive RLC circuit. In addition to the indication of process values via current and voltage outputs, the SSI interface (Synchronous Serial Interface) has become an established alternative in the field of industrial automation. The process value is transmitted either directly to the higher-level controller (with SSI-card) or to an appropriate fieldbus participant that connects to all standard fieldbuses, such as piconet, BL67, BL0 or BLcompact. The advantage of the SSI-interface is that signals are directly and digitally transmitted via the SSI telegram and are therefore more precise and immune to interferences. Not only process data is transmitted via SSI telegram but also diagnostic bits. The fieldbus device is the master commanding a clock signal to which the sensor responds synchronously via the SSI telegram. The clock rate and the data frame length are specified by the master. Depending on the length of the connection cable different clock rates are recommended (see section "Commissioning" on page 6). In order to adapt the clock rate to the cable length, it is adjustable on the master side. The data frame length and the process value displayed as Gray or binary code must be the same on the master and sensor side. The encoder position can be captured in the SSI synchronous as well as in asynchronous mode. You can toggle between both modes with a DIP switch (see section "Parametrization via teach function ", page 8). The asynchronous mode is factory set. This makes the SSI encoder compatible with virtually all major SSI masters. more@turck.com 014/11 5

6 Commissioning 4 Commissioning Sensor and SSI-master are linked with a connection cable. In order to ensure proper data traffic, it is recommended that you always use shielded twisted-pair lines. Make sure that the SSI-master and the sensor have the same settings. The sensor's type code contains the factory-set data frame length of 5 bits as well as the Gray code. The encoder adjusts itself automatically to the specified master clock frequency (6.5 khz to 1 MHz). In dependence on the transmission frequencies, the following line lengths are recommended: Cable length Clock frequency < 5 m < 00 khz < 50 m < 500 khz < 0 m < 400 khz < 00 m < 00 khz < 400 m < 0 khz If the selected SSI-master doesn't provide the request packets on time, operate the sensor in the factory-set asynchronous mode. This mode also works with an accurately functioning master. In time-critical applications, such as in the control technology or motor commutation, it is necessary that the encoder provides extremely short and, in particular, constant (synchronous) signal propagation times. Here, the sensor must be operated in synchronous mode together with a suitable master. The sensor's sampling rate depends on the master's SSI-cycle time, allowing synchronous operation with SSI-cycle times of 700 Hz to 5 khz. In synchronous mode, the signal propagation delay is 00 µs, regardless of the cycle time. On selecting the SSI master, note that a jitter of < 5 µs is required in synchronous mode. The nominal distance between positioning element and sensor is 1.5 mm. Use the included mounting aid MT-QR4 to adjust the distance. If positioning element and encoder are mounted too far away from each other, the signal will be weak. This status is indicated by a steady yellow LED. If the distance between positioning element and encoder is too large, i.e. RLC coupling is not given. This status is indicated by a flashing yellow LED. In addition, status bits within the SSI-process data deliver diagnostic messages for proper RLC coupling. If the encoder is moved during a power cut, this is after reconnecting power indicated by a red LED and a status bit. The encoder is factory set to a data frame length of 5 bit. In this case, the singleturn process data are found in bits 0 to 15 and the multiturn process data in bits 16 to 1. Bits to 4 contain the diagnostic data. You can apply further settings with the software tool PACTware, the TURCK programming box USB--IOL-000 (ident no ) and the associated adapter cable RKC8.30T-1.5-RSC4T/TX30 (ident no ) as well as the IODD-file "IODD_ IOL_Ri-QR4.zip". (PACTware and IODD-file can be downloaded from You can change the data frame length (4, 5 or 6 bit), the coding (Gray/binary) or the distribution of the process data for example. You can also disable the diagnostic data and use the vacant bits for multiturn or singleturn resolution instead. Only the singleturn bits have to be set the remaining bits in the data packet are filled with the multiturn and status bits accordingly (if these are enabled). Status displayed via LED green steady on: Sensor is supplied properly, asynchronous mode green flashes: Sensor is supplied properly, synchronous mode green flashes rapidly: Sensor is supplied properly but is not receiving CLK pulses from the SSI master yellow steady on: Positioning element has reached the end of the measuring range. This is indicated by a weaker signal, see status bit 3. yellow flashing: Positioning element is outside the measuring range, see status bit 4. Multiturn error red steady on: Position was changed during power loss, see status bit 6 Hans Turck GmbH & Co. KG Tel Fax

7 Mounting SP-QR Nm 5 Mounting Extensive range of mounting accessories (see section "Mounting accessories" on page 11) for easy adaptation to many different shaft diameters. Based on the functional principle of oscillation circuit coupling, the sensor operates absolutely wear-free and is immune to magnetized metal splinters and other interference fields. Wrong installation is hardly possible. In order to increase the allowed distance between the positioning element and the sensor you can optionally use the shields SP1-QR4, SP-QR4 or SP3-QR4. The figures A, B, and C below show three different ways of mounting the sensor and the positioning element. Warning. Due to improper fastening, the positioning element may loosen from mounting position Possible danger to life caused by loose parts! ӹӹ Follow the mounting instructions carefully ӹӹ Check tightness, tightening torque: M = Nm A B C 1 SP-QR Nm M4 x 0.5 x Nm SP3-QR Nm Nm SP1-QR Nm Use shielding plate SP-QR4 optionally Use mounting aid for optimal alignment of positioning element 3 Place positioning element on the shaft and make sure that the active face is correctly aligned (see side label of positioning element) 4 Tighten the monting bracket with Allen key 5 Remove mounting aid 6 Place encoder and protective ALcover on the rotating part. Screw tight with the three screws until you get a stable and protected unit 6 more@turck.com 014/11 6 Default: 0 1 Push the encoder from the rear on the shaft and fasten it Use mounting aid for optimal alignment of positioning element 3 Interconnect positioning element and rotatable shaft. Make sure 0 that the active face is correctly aligned (see side la bel of positioning element) 4 Tighten the clamping bracket with Allen key 5 Remove mounting aid 6 The protective Al cover and the shielding plate SP1-QR4 can be used optionally If positioning element is to be screwed on a rotating machine part: 1 Use the RA8-QR4 plug which is included in the delivery Tighten the clamping bracket with Allen key 3 Use shielding plate SP3-QR4 optionally 4 Fixate positioning element with three M3 countersunk head screws Mount encoder as required 7

8 SSI process data/parametrization 6 SSI-Prozess data 6.1 Process data mapping, diagnostic data active Position Singleturn Bit 0... Bit [ singleturn bit length 1] LSB Multiturn counter (SSI bit length 5 bit) Bit [singleturn bit length] Bit [SSI word length 3] Multiturn counter (SSI bit length 6 bit) Bit [singleturn bit length] Bit [SSI word length 4] 1 Multiturn error Bit (see note below) Amplitude weak Bit 3 (see note below) 3 Amplitude error Bit 4 (see note below) MSB Note If the SSI word length is less than 5 bits, the diagnostic data 1 to 3 automatically become inactive. Note that the SSI word length can be modified via PACTware (see parameter" SSI bit length", page )! 6. Process data mapping, diagnostic data inactive Position Singleturn Bit 0... Bit [ singleturn bit length 1] Multiturn counter Bit [singleturn bit length] Bit [SSI word length 1] Definitions Bit 0: LSB (least significant bit) Singleturn bit length = parametrized resolution for a full revolution ( 18 bit) SSI word length = parametized SSI bit length (4 6 bit) 7 Parametrization via easy teach function The encoder can be adjusted via "easy teach function". Pin 8 is used as teach input (see wiring diagram on page 13). The parameters are adjusted by bridging Pin 8 and Pin 1 (GND) or Pin 8 and Pin (U B ). For simple teaching with DIP switch use the optionally available teach adapter TX- Q0L60 with the ident no Parameters Teach input LED display Description Zero point bridge Pin 1 (GND) and status LED flashes, after s steady the encoder's position is set as zero point Pin 8 for s Switching between sync/async mode Direction mode Multiturn error flag Switching between singleturn/multiturn mode 8 bridge Pin (U B ) and Pin 8 for s bridge Pin (U B ) and Pin 8 for s bridge Pin 1 (GND) and Pin 8 for s bridge Pin 1 (GND) and Pin 8 for 15 s bridge Pin (U B ) and Pin 8 for 0 s Easy teach reset bridge Pin (U B ) and Pin 8 for 15 s status LED flashes, after s steady power LED steady green: async mode, power LED flashes green: sync mode after s status LED flashes for s after s status LED flashes for s after 15 s, power and status LED flash alternately after s, the red LED flashes after 15 s, power and status LED flash alternately async mode default set; encoder switches between async/sync mode by means of a teach pulse encoder rotates in CW direction (factory setting) encoder rotates in CCW direction multiturn error flag is deleted Validity depends on revision status the following parameter are restored: CW rotation, zero point, multiturn error (delete), multiturn counter (zero) Hans Turck GmbH & Co. KG Tel Fax

9 Parametrization 8 Parametrization via PACTware and IODD 8.1 Software download and install You can download PACTware, the IODDinterpreter and the encoder IODD-file from Once you have installed PACTware, activate the "IODD_IOL_Ri- QR4..zip" file with the IODD-interpreter and update the device catalog in PACTware. 8. Set Parameters The following encoder parameters can be set in PACTware : more@turck.com 014/11 9

10 Parametrization 8.3 Detailed list of adjustable parameters Parameters Multiturn reset SSI bit length SSI singleturn bit length 1 ) SSI Code (Gray/binary) 1 ) SSI mode (async/auto-sync/sync) SSI flags enabled 1 ) zero point Direction mode factory setting 1 ) Description In multiturn mode multiturn process data is stored in the encoder even after power loss. This means that the device continues to count with the stored multiturn value after power recovery. If the positioning element was relocated during a power loss, this is indicated by a status bit (multiturn error flag) and a red LED. This incident and the multiturn data are reset with this command. 3, 4, 5, or 6 bit are parametrizable (factory setting "5 Bit") to 18 bit are parametrizable. Depending on the setting, the following assignments for singleturn process data are used: bits 0 to 9 ( bit), or bits 0 to 17 (18 bit). (factory setting "16 Bit ) Bit coding (Gray, binary) parametrizable (factory setting "Gray") Parametrization of the encoder for operation with sync (deterministic) SSI-master (jitter < 5 µs) or async SSI-master. In sync mode the signal propagation time is optimal. (Factory setting "Async") Bits, 3, 4 provide status information. These status bits can be disabled in this command. The vacated bits are used in this case for the multiturn process data. If 3 or 4 bit are parametrized under SSI bit length, the SSI flags will automatically be disabled. (Factory setting "SSI Flags On") Both singleturn as well as multiturn process data and the multiturn error flag will be reset. The direction can be parametrized from clockwise to counterclockwise as appropriate. (Factory setting "CW Clockwise" in plan view on the positioning element) All parameters are reset to factory setting. 1 ) This parameter is not adjustable via "Easy teach function". 8.4 Factory setting SSI-Process data MSB LSB Error Multiturn Singleturn Bit 4 Bit Bit 1 Bit 16 Bit 15 Bit 0 Hans Turck GmbH & Co. KG Tel Fax

11 Mounting accessories 9 Accessories 9.1 Mounting accessories For accessories, see the table below. 9. Standard mounting accessories For each device type a suitable mounting kit is available (see Type Code, Design, page 4. The mounting kits contain the M1-QR4 aluminium ring for protection and a shielding plate (either SP1-QR4 or SP-QR4 orsp3-qr4). Dimension drawing Type Description TX-Q0L60 Teach adapter for easy programming Set M1-QR4 Description Protective ring, aluminium 8 ø 4.5 ø 15 M1 x 1 50 M1 x 1 ø 4.5 ø 74 ø 57 ø LED: CH1 (C/Q) CH (DI/DO) Error USB-Mini LED: PWR IN-DC 4 USB--IOL-000 IO-Link master with integrated USB interface for parametrizing the IO-Link-capable encoders via a PC M-QR4 M1-QR4 + SP1-QR4 shielding plate Ø 74 mm, aluminium M1 x 1 16 without figure RKC8.30T-1,5- RSC4T/TX30 Adapter cable for connection of SSI sensor to USB--IOL-000 parametrizing unit; female M1, straight, 8-pin - male M1, straight, 3-pin; cable length: 1.5 m; sheath material: PVC; sheath color: black; culus approved, RoHS conform, IP67 rated ø 4.5 ø 74 ø 65 M3-QR4 M1-QR SP-QR4 shielding plate Ø 74 mm with bore with shaft guidance, aluminium ø 8 ø 4 ø 8 ø 4 ø RA1-QR4 RA-QR4 RA3-QR4 RA4-QR4 RA5-QR4 RA6-QR4 RA7-QR4 RA8-QR4 Reducing bushing, for Ø 0 mm shafts Reducing bushing, for Ø 14 mm shafts Reducing bushing, for Ø 1 mm shafts Reducing bushing, for Ø mm shafts Reducing bushing, for Ø 6 mm shafts Reducing bushing, for Ø 3/8" shafts Reducing bushing, for Ø 1/4" shafts Blanking plug for positioning element ø 4.5 ø 74 ø ø 65 M4-QR4 M1-QR SP3-QR4 shielding plate Ø 5 mm, aluminium 10 MT-QR4 Mounting aid for optimal alignment of positioning element 1.5 more@turck.com 014/11 11

12 Accessories positioning elements 9.3 Positioning elements Different positioning elements are available. The positioning elements are connected to the movable parts of the machine. They "float" freely above the active face of the sensor. Dimension drawing Type Description ø 0 P1-Ri-QR4 Positioning element, for Ø 0 mm shafts ø 14 P-Ri-QR4 Positioning element, for Ø 14 mm shafts ø 1 P3-Ri-QR4 Positioning element, for Ø 1 mm shafts ø P4-Ri-QR4 Positioning element, for Ø mm shafts ø 6 P5-Ri-QR4 Positioning element, for Ø 6 mm shafts ø 3/8 P6-Ri-QR4 Positioning element, for Ø 3/8" shafts ø 1/4 P7-Ri-QR4 Positioning element, for Ø 1/4" shafts P8-Ri-QR4 Positioning element with blanking plug 1 Hans Turck GmbH & Co. KG Tel Fax

13 Technical data Technical data LED ø 65 M1 x 1 ø 78 ø ø Wiring diagram SSI 1 GND 4 VDC 3 CLK + 4 CLK 5 Data + 6 Data 7 n.c. 8 Teach / Progr. Measuring range Measuring range single or multiturn mode System Resolution Repeatability Linearity tolerance Temperature drift Ambient temperature Electrical data Operating voltage Ripple Rated insulation voltage Reverse polarity protection Output function Process data range Diagnostic bits Sampling rate Current consumption Housing Dimensions Housing material Connection Vibration resistance Shock resistance Degree of protection MTTF LEDs Operating voltage indication Measuring range indication Fault indication Miscellaneous Included in scope of supply 16-bit 0.01 % 0.05 % full scale. ± %/K C VDC % U ss 0.5 kv yes (power supply) 8-wire, SSi, 5-bit, gray coded parametrizable Bit : Position changed during a power loss Bit 3: Positioning element is in the measuring range, reduced signal quality (e.g. distance too large) Bit 4: Positioning element is outside of measuring range data telegram parametrizable as multiturn or singleturn process data or as error bits 5000 Hz/the sensor's sampling rate depends on the master's SSI cycle time. It is 1 to 5 khz (signal propagation delay 00 μs) in sync mode < 0 ma mm metal/plastic, ZnAlCu1/PBT-GF30-V0 male connector, M1 1 EN , 55 Hz EN , 30 g IP67/IP69K 138 years to SN 9500 (Ed. 99) 40 C LED green LED, yellow, yellow flashing LED red mounting aid MT-QR4 more@turck.com 014/11 13

14 Your Global Automation Partner! WORLDWIDE HEADQUARTERS Hans Turck GmbH & Co. KG Witzlebenstr Muelheim an der Ruhr Germany Tel Fax more@turck.com Internet D /11 *D003ßß1411*