Operating instructions Interface description N 153 spindle position display (SPA) Firmware 01 version 1.11 and up Contents 1. General information 1.1. Safety precautions 1.2. SPA description and explanation 1.3. Betriebsarten 2. Terminal assignment 3. Interface 3.1. Interface data 3.2. Protocol 3.3. Checksum (Cyclic Redundancy Check) 3.4. Data transmission properties 3.5. Broadcast commands 3.6. Data saving 3.7. Transmitting and reading negative values 3.8.
N 153 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 153 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 153 2. Terminal assignment Pin Assignment Core colour DIN47100 IEC757 Pin 1 Tx/Rx-, RS485 white orange Pin 2 Tx/Rx+, RS485 brown brown Pin 3 Sensor supply +24 V yellow red Pin 4 Sensor supply 0 V green blackk male connector M8 female connector M8 1 3 2 2 4 4 1 3 Connect power supply that is free from interference emission. The supply must not be used as parallel supply of drives, shields, magnetic valves, etc.
N 153 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 153 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 “Comand explanations” or “Overview on commands”. 3.7.
N 153 4. Command explanations 4.1.
N 153 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 153 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 153 4.2.4. Read actual value „R“ (52h) This command is for reading the 5-digit actual value (bottom display). Data amount is always 6 bytes. In case of a negative value, the minus sign (2Dh) together with 5 data bytes is replied. Positive values are represented by 6 data bytes without sign. Values inferior to 5(4) digits will come with preceding zeroes. Please note that N 153 provides a 5-digit actual value. Example: Actual value = -32.
N 153 Direct positioning „SD“ This command may be utilized for direct positioning operations. Only the target less any profile number is transmitted to SPA. The profile number after the command “S” is replaced by sub command “D” ( = dimension). Motor start enable requires transmitting in addtion motor start command “D”. Example 4: Write position value for direct positioning operation (less profile) Transmission SOH Adr Cmd Sub 01h 20h 53h 44h 30h Position value = 278.
N 153 Example 2: Transmit new profile (new profile number = 17) Transmission SOH 01h Adr 20h Cmd Profile no. = 17 EOT 56h 04h 31h 37h CRC 3E Response SOH 01h Adr 20h Cmd Profile no. = 17 EOT 56h 04h 31h 37h CRC 3E Example 3: New profile by broadcast command to all SPAs (identifier = 99 (83h); new profile number = 17) Transmission SOH 01h Response Adr 83h Cmd Profile no.
N 153 4.2.1. 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 153 4.3.1.
N 153 Significance of parameter „a“ Positioning direction This parameter defines the direction the target is aimed for. Tolerances that occur for example at cogwheels, joints, shafts etc during a precise positioning operation requires a tolerance compensation. The tolerance compensation is proceeded by aiming for the target position always from the same direction utilizing so-called loops.
N 153 Offset Command „U“ is utilized for programming the offset that is added to actual value and actual target. This parameter defines whether the offset is considered in the calculation. 0 = Off 1 = On Offset disabled. Any offset previously transmitted is NOT added neither to actual value nor taget. Offset enabled. Offset is added to actual value and actual target. Suppress target This parameter defines when to indicate the target in the upper line of the display.
N 153 4.3.2.
N 153 Significance of parameter „m“ Key assignment This parameter assigns a specified direction of rotation to a certain key.
N 153 4.3.4. Read / write spindle pitc (scaling factor) „c“ (63h) This command is utilized to read or write the scaling factor relating to the spindle pitch within the range from 0,0000001...9,9999999. The decimal point is not transmitted. Resolution per turn is 1440 steps. A scaling factor of 1.000000 will increase respectively decrease the indicated value by 14.4 mm. How to calculate the scaling factor: Resolution per turn: 14.40 mm Spindle pitch: (corresponding to length with scaling factor 1.
N 153 Example 2: Write parameter (precision speed = 0.50; switch off point = 0.01) Transmission SOH Adr Cmd 01h 20h 68h 30h reserved 30h 30h 30h Precision speed =0.50 30h 30h 35h 30h Switchoff point =0.01 EOT CRC 30h 30h 30h 31h 04h E0h SOH Adr Cmd 01h 20h 68h 30h reserved 30h 30h 30h Precision speed =0.50 30h 30h 35h 30h Switchoff point =0.01 EOT CRC 30h 30h 30h 31h 04h E0h 00 Response 4.3.7.
N 153 4.3.9. Read / write motor system times „k“ (6Bh) This command is utilized to read or write the individual motor system times within the range of 0,1 s to 99,9 s. Tolerance: ±7% at minimum time; < 1‰ at maximum time, approx. 1% at 1 s. The following parameter is available: Loop: Waiting time at turning point during loop operation Example 1: Read parameter (loop = 1.0s) Transmission Response SOH Adr Cmd EOT CRC 01h 20h 6Bh 04h 5Ah SOH Adr Cmd Loop=1.
N 153 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 153 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 153 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 153 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 153 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 153 7. Technical data Technical data – electrical ratings Supply voltage 24 VDC ±10% Power consumption <40 mA Display LCD, 7 segment, 2 lines, backlit Sensing principle Absolute multiturn sensing Sensing range -99.99...+999.99 mm -9.999...+99.
N 153 7.1. Dimensions Connect or output 4.8 Torque pin 6 ° ø14H7 300 A Seal 14 6.5 A 1 45 M8 female connector 13 52 31.8 M8 connector 12.5 30.15 10 ø6h9 28 2:1 60 16 Pin M4 13 26 37 StatusLED IR-Diode ø20 22 20.5 75 0.5x 45° Cable output 150 75 Connector Female connector ø12 ø12 8. Part number Reference 1 Interface RS485 E-connection 0 1 Connector output Cable output 4-pin M8 connector Supply voltage 3 24 VDC Display A At slope Hollow shaft A N 153.
