Operating instructions Interface description N 152 spindle position display (SPA) Firmware 01 Version 1.10 and up Contents 1. 1.1. 1.2. 2. 3. 3.1. 3.2. 3.3. 3.4. 3.5. 3.6. 3.7. 3.8. 4. 4.1. 4.2. 4.3. 4.4. 4.5. 5. 5.1. 5.2. 5.3. 6. 7. 7.1. 8.
N 152 1. General information 1.1. Safety precautions General remarks The equipment is designed and assembled according to the prevailing regulations of technology. The equipment left the manufacturer in perfect working order and in line with all safety-relevant conditions.
N 152 1.2. SPA description and explanation Mounting the spindle position display (SPA) is by docking hollow shaft onto spindle shaft (max.14 mm in diameter).The hollow shaft is fixed to the spindle shaft by hexagon screw and secured by power grip. This way, the SPA is mounted in an overhung position and secured against torsion by torque support provided at rear of the housing.
N 152 Connecting motor to SPA N152 Motor connection to SPA is provided by 12-pin female connector. Pin Assignment Significance Core colour Pin A -- n.c. -- Pin B IN 1 motor ccw yellow Pin C IN 2 motor cw blue Pin D IN 4* speed green Pin E -- n.c. -- Pin F -- n.c. -- Pin G -- n.c. -- Pin H -- n.c. -- Pin J -- n.c.
N 152 Circuit diagram 1 2 3 4 5 6 7 8 Betriebsspannung Freigabe Linkslauf Freigabe Rechtslauf Enable n.c. 24 V 0V IN 1 Ausgang IN 1 Eingang IN 2 Ausgang IN 2 Eingang (Logik 24 V) M Motor OUT 1 IN 1 (links) IN 2 (rechts) IN 4 (speed) 24 V n.c. n.c. AI- (0...10 V) AI+ (0...
N 152 3.2. Protocol The spindle position display operates with ASCII protocol (clear text protocol). Depending on the command, the protocol data package varies between 5 and 17 bytes. Byte 1 2 3 4-n n+1 n+2 Hex code 01H XXh XXh [XXh..XXh] 04h XXh Significance SOH = start of heading Adr = identifier Cmd = command code [Data] = data EOT = end of transmission CRC = checksum Values permanent 01h 00...31dez + 20h offset (identifier 00 = 20h) specific commands 20h-7Fh permanent 04h 00h...FFh 3.3.
N 152 3.6. Data saving Specific parameters are saved in EEPROM (1.000.000 writing cycles). Data saving is via interface upon every parameter transmission to SPA. Important: There should not be a cyclic transmission of these parameters to SPA but only if necessary, for example in case of parameter alteration. The relevant parameters saved in EEPROM are listed in the charts in chapter “Command explanations” or “Overview on commands”. 3.7.
N 152 4. Command explanations 4.1.
N 152 Command extension Check Position „CX“ Command extension „Check Position CX “provides besides the alignment status target versus current value also the contents of the status and error register as well as the current value. The profile number is not transmitted. For the relevant status parameters (status) refer to the table above, the significance of the individual bits in the status and error register is explained under command readout device status „F“.
N 152 Motor holding torque on / off „DB“ (44h, 42h) Prior to utilizing “DB” command to activate / deactivate the holding torque it must be enabled first in command „m“ since otherwise command „DB“ remains ineffective. Holding torque ever ON means that only motive shaft positioning operations are possible - either by aid of the two keys provided or by a corresponding command via interface.
N 152 4.2.3. Read device status „F“ (46h) This command provides the device statii Stat1 and Stat2 together with error flags Err1, Err2. In case of error check command “C” will come with an “e” in reply.
N 152 4.2.5. Read / write target profile „S“ (53h) This command is utilized to read the presently active target (profile value) respectively to read or write a specific target. Data are composed by profile number (2 bytes) and target (6 bytes). Note: Negative targets are transmitted as 5-digit number (see example 3). Please consider that SPA targets comprise 5 digits only. Example 1: Read active target (profile number = 12; target = 12.
N 152 Transmitting targets with simultaneous motor start signal Specific applications require autonomous re-alignment of shafts to the new target when it is received without prior enable signal by command „D“.
N 152 4.2.8. Set actual value as preset „Z“ (5Ah) Command “Z” is utilized to set the actual value at any optional value. The required position value is transmitted to SPA. The SPA will calculate a so-called “preset offset” value relating to the true absolute encoder position. When calculating the preset offset, any programmed offset transmitted by command “U” will be considered, so that after having accomplished command “Z” the current value always equals the preset.
N 152 4.2.9. Indicate optional column of figures in upper line „t“ (74h) This command is utilized to indicate a 5-digit number in the upper line of the display. The numerical column is indicated less dot respectively comma. Preceding zeroes as well as both arrows are suppressed. The bottom line still indicates the actual value. The numerals are indicated in the display until any command except „t“, „u“ or „R“ is received. The number will be retained after power failure.
N 152 4.3.1.
N 152 Counting mode This parameter assigns either „ascending“ or „descending” counted values in relation to the shaft’s direction of rotation. Following parameters are available: 00 = Up 01 = Down Clockwise rotation, ascending counted values Clockwise rotation, descending counted values Arrows This parameter relates to the arrows in the display that indicate the operator the direction (to the right or to the left) of the new positioning operation.
N 152 Resolution This parameter defines the resolution of the actual value. Upon altering the resolution the decimal point is shifted correspondingly by one digit to the right or left, same applies also to actual value and target. The target values however are not converted correspondingly but only the decimal point is shifted. When editing the machine please pay attention to defining the resolution first so that the target values are transmitted to the SPAs with the corresponding resolution.
N 152 Significance of parameter „m“ Key assignment This parameter assigns a specified direction of rotation to a certain key.
N 152 Holding torque This parameter is utilized to enable respectively disable the motor holding torque. Both directional signals “motor ccw” and “motor cw” are activated by the spindle position display (SPA). Thus, the motor is hold at its actual position. Refer also to command „DB“ for temporary holding torque disabled. 0 = Off 1 = On holding torque disabled holding torque enabled 4.3.3.
N 152 Response SOH Adr Cmd MIN limit position = 0015.00 01h 20h 67h 30h 30h 31h 35h 30h 30h MAX limit position = 0850.25 EOT CRC 30h 38h 35h 30h 32h 35h 04h 1Fh Example 2: Write limit positions (MIN = -33.22; MAX = 1234.56) Transmission Response SOH Adr Cmd MIN limit position = -033.22 01h 20h 67h 2Dh 30h 33h 33h 32h 32h MAX limit position = 1234.56 EOT CRC 31h 32h 33h 34h 35h 36h 04h 92h SOH Adr Cmd MIN limit position = -033.22 01h 20h 67h 2Dh 30h 33h 33h 32h 32h MAX limit position = 1234.
N 152 4.3.8. Read / write timeout at bus error RS485 „j“ (6Ah) This command is utilized to read or write the system time: timeout at bus error. Value range is within 00,1 s to 99,9 s. Tolerance: ±7% at minimum time; < 1‰ at maximum time, approx. 1% at 1. Function: RS485 bus monitoring during motive shaft positioning operations. If there is no interface activity within the programmed timeout the motor will stop (EMERGENCY OFF) upon occurring a bus error or in case of an inactive control.
N 152 Example 2: Write jog step Transmission SOH Adr Cmd SCmd Jog step = 50 01h 20h 6Ch 53h 30h 30 35 30 EOT CRC 04h 52h Response SOH Adr Cmd SCmd Schrittweite = 50 01h 20h 6Ch 53h 30h 30 35 30 EOT CRC 04h 52h Example 3: Value transmitted is too high (4 digits) Transmission SOH Adr Cmd SCmd Jog step = 2345 01h 20h 6Ch 53h 32h 33 34 35 EOT CRC 04h 64h Response SOH Adr Cmd SCmd Jog step = 0345 01h 20h 6Ch 53h 30h 33 34 35 EOT CRC 04h 44h SPA adopts only 3-digit values, the 4th digit is automatica
N 152 4.4.1. Assigning device identifiers in the network „A“ (41h) This command is creating an automated process assigning the device identifier in successive order to every single SPA upon commissioning of the system. The first identifier to be assigned is broadcasted to all networked SPAs as follows: Transmission SOH 01h Adr 83h Cmd 41h identifier = 01 30h 31h EOT 04h CRC B4h All SPAs now show the identifier just transmitted and that is to be assigned in the upper display.
N 152 4.5. Specific commands Command Data amount code in bytes K (4Bh) Q (51h) X (58h) read write Broadcast X X X - X X - 1 2/4/8 Saved in Significance EEPROM X X - Specific command: profile reset (clear) Specific command: SPA reset Specific commands 4.5.1. SPA profile reset „K“ (4Bh) This command is clearing all previously programmed profiles.
N 152 4.5.3. Read version, type or serial number „X“ (58h) This command is utilized to read version number, device type or serial number. The following sub-commands are available: Data = V (56h) = read version Data = T (54h) = read device type Data = S (53h) = read serial number Example 1 : Read version number Transmission SOH 01h Adr 20h Cmd 58h Data 56h EOT 04h CRC D8h Response SOH 01h Adr 20h Cmd 58h Data 56h Version number = 2.
N 152 5. Error warnings 5.1. CRC error Upon recognizing a CRC error in a transmitted command the SPA will respond as follows: Response SOH 01h Adr 20h Error 65h EOT 04h CRC 46h Error = „e“ (65h) = CRC error 5.2. Format error Upon recognizing a format error (incorrect length of protocol or void command (Cmd) in a command transmitted the SPA will respond as follows: Response SOH 01h Adr 20h Error 66h EOT 04h CRC 40h Error = „f“ (66h) = format error 5.3.
N 152 Target transmitted respectively DIM parameter is above the MAX limit. Note: Take loops into consideration. Troubleshooting: Transmit new admissible position value. Target transmitted respectively DIM parameter is below the MIN limit. Note: Take loops into consideration. Troubleshooting: Transmit new admissible position value. 6. Overview on commands The following chart shows in alphabetical order all available commands (Cmd) as well as options regarding read and write (parameterization).
N 152 7. Technical data Technical data – electrical ratings Supply voltage 24 VDC ±10 % Power consumption <40 mA Display LCD, 7segment, 2 lines, backlit Sensing principle Absolute multiturn sensing Sensing range -99.99...+999.99 mm -9.999...+99.
N 152 7.1. Dimensions Optional display position 75 ° 4.8 Torque pin 6 28 2:1 ø6h9 ø14H7 20.5 ø20 22 75 0.5x 45° Pin M4 Seal 6.5 M16 male connector / motor 37 31.8 1 30.15 12.5 45 M8 mal e connector 8. Part number Reference 1 Interface RS485 E-connection 1 2 Connector output M8, motor cable 0.5 m Cable output M8, motor cable 1.5 m Supply voltage 3 24 VDC Display A B At slope At face Hollow shaft A N 152.1 3 ø14 mm A01 www.baumer.
