Kübler Sendix 58 Series Manual
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Kübler Sendix 58 Series Manual

Encoders with profibus interface
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R67068.0002 - 1
Manual
Encoders with
PROFIBUS interface

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Summary of Contents for Kübler Sendix 58 Series

  • Page 1 R67068.0002 - 1 Encoders with Manual PROFIBUS interface...

  • Page 2: Table Of Contents

    Table of Contents Kübler Group Table of Contents Document ........................General Information......................Target Group......................Symbols used / Warnings and Safety instructions ..........Transport / Storage ....................Product Description ....................... Technical Data Sendix 58xx ................... Technical Data Sendix 70xx ................... PROFIBUS Interface Description................Supported Standards and Protocols ...............
  • Page 3 Kübler Group Table of Contents Service Access Point (SAP)..................Decimal / Hexadecimal conversion table ..............Contact ..........................Glossary .......................... HB Profibus Interface - R67068.0002 - 01 EN - 3...

  • Page 4: Document

    1 Document Kübler Group 1 Document This document is the English translation of the original German version. Publisher Kübler Group, Fritz Kübler GmbH Schubertstraße 47 78054 Villingen-Schwenningen Germany www.kuebler.com Issue date 01/2020 Language version German is the original language © Copyright 2020, Kübler Group, Fritz Kübler GmbH Image sources...

  • Page 5: General Information

    Kübler Group 2 General Information 2 General Information Please read this document carefully before working with the product, mounting it or starting it up. 2.1 Target Group The device may only be planned, mounted, commissioned and serviced by persons having the following qualifications and fulfilling the following conditions: •...

  • Page 6: Transport / Storage

    2 General Information Kübler Group ATTENTION Classification: The non-compliance with the ATTENTION note may lead to material damage. NOTICE Classification: Additional information relating to the operation of the product, and hints and recommendations for efficient and trouble-free operation. 2.3 Transport / Storage Inspect the delivery immediately upon receipt for possible damages due to the transport.

  • Page 7: Product Description

    Kübler Group 3 Product Description 3 Product Description 3.1 Technical Data Sendix 58xx Mechanical characteristics for the Sendix 58xx encoders Maximum rotational speed    IP65 up to 70°C 9000 min-1, 7000 min-1 (continuous operation)    IP65 up to Tmax 7000 min-1, 4000 min-1 (continuous operation)    IP67 up to 70°C 8000 min-1, 6000 min-1 (continuous operation)

  • Page 8: Technical Data Sendix 70Xx

    3 Product Description Kübler Group Interface PROFIBUS PROFIBUS DP V0 Encoder profile Class 2 Encoder profile 3062 V1.1 Resolution    Singleturn (MUR) Max. 28 bits (default 25 bits)    Multiturn (NDR) Max. 12 bits    Total resolution (TMR) Max. 28 bits (default 25 bits) Type of connection 3 x M12 connector 3.2 Technical Data Sendix 70xx...

  • Page 9: Profibus Interface Description

    Kübler Group 3 Product Description 3.3 PROFIBUS Interface Description The main task of PROFIBUS DP is the cyclic transmission of process data from the control sys- tem to the peripheral devices and vice versa. The access procedure uses the master-slave prin- ciple.
  • Page 10 3 Product Description Kübler Group Version Series GSD file Singleturn 5858 KUEB5868ST.gsd 5878 KUEB5868ST.gsd 7058 KUEB7058.gsd 7078 KUEB7058.gsd 7158 KUEB7158.gsd 7178 KUEB7158.gsd Multiturn 5868 KUEB5868.gsd 5888 KUEB5868.gsd 7068 KUEB7068.gsd 7088 KUEB7068.gsd 7168 KUEB7168.gsd 7188 KUEB7168.gsd 10 - EN HB Profibus Interface - R67068.0002 - 01...

  • Page 11: Installation

    Kübler Group 4 Installation 4 Installation 4.1 Electrical Installation 4.1.1 General Information for the Connection ATTENTION Destruction of the device Before connecting or disconnecting the signal cable, always discon- nect the power supply and secure it against switching on again. NOTICE Current limitation Use a suitable external fuse for encoder protection, for a maximum...
  • Page 12 4 Installation Kübler Group Inter- Type of Cable (isolate unused wires individually before Connector face connec- commissioning) tion Connector Bus IN Signal – PB_A – PB_B Shield Bus OUT Signal BUS_ PB_A BUS_ PB_B Shield Voltage supply Signal – – Terminal strip Bus IN Signal...

  • Page 13: Terminal Assignment 70Xx

    Kübler Group 4 Installation Supply voltage a) Guide the encoder supply voltage through the central screwed cable fitting and connect it to the left terminals (+V) and terminal (0 V). b) Apply the cable shield on the cable fitting. NOTICE Duplicated signals All signal inputs/outputs are duplicated and connected internally.

  • Page 14: Termination

    4 Installation Kübler Group 4.1.4 Termination If a device is the last participant on the bus, the looped-through PROFIBUS must be terminated actively at both ends with a bus termination resistor between A and B. For closed devices, the termination must be specified in the order or provided by means of en external resistor. For good signal transmission, PROFIBUS segments must be terminated with a bus termination.

  • Page 15: Network Topology

    Kübler Group 4 Installation NOTICE Bus termination with closed devices For closed devices, the termination is either activated at the factory or it must be provided externally with a resistor. • Connect the terminating resistors with wires 8 and 9 (BUS_A) and (BUS_B), and, for the active current lines, with wires 6 and 7.

  • Page 16: Commissioning And Operation

    5 Commissioning and Operation Kübler Group 5 Commissioning and Operation 5.1 Function and Status LED • Red LED = DIAG • Yellow LED = BUS • Green LED = PWR Display Meaning Error cause Addition PWR off No bus voltage present No voltage on Check the voltage the device supply...

  • Page 17: Quick Start Guide

    Kübler Group 5 Commissioning and Operation Error display after powering Display Meaning Error cause Addition Red LED flashing Data connection with Device must be sent +Diag 1 x briefly sensor faulty back to manufacturer for check flashing Pause 1.6 sec. Sensor faulty Red LED flashing Wrong...
  • Page 18 5 Commissioning and Operation Kübler Group Designa- Default Switch Product tion Baud rate Automatic Not available Node ad- 63 – Switch setting 0x3F Sendix 58xx dress without 125 - with For devices without removable bus Sendix 70xx cover setting 0xFF (node address via software change Set Slave Ad- dress (SSA) [} 31]) Termina-...

  • Page 19: Configuring The Modules

    Kübler Group 5 Commissioning and Operation NOTICE Reset via the SET key Note that, for devices with external SET key, all programmed para- meters are lost (except the station address, which has been assigned by SSA). See Set Slave Address (SSA) [} 31]. A reset with the SET key is only possible for devices with external SET key.
  • Page 20 5 Commissioning and Operation Kübler Group Then a Module of the GSD file must be selected for the configuration. 8 different modules are available : • Universal module • 32-bit input/output, consistent • 32-bit input, consistent • 16-bit input/output, consistent •...
  • Page 21 Kübler Group 5 Commissioning and Operation • Rotational speed (RPM) 16 bits • Speed (units/s) 32 bits The modules describe the structure of the input and output data. Input data is data sent by the encoder. Output data is sent from the control to the encoder. At the maximum 2 modules can be used simultaneously.

  • Page 22: Protocol Features

    5 Commissioning and Operation Kübler Group The Offset between the physical zero position of the disk and the electronic zero point resulting from this can be queried through the extended diagnostic header. Performing an external preset a) Press the SET key on the cover of the device. ð...

  • Page 23: The Requirements Profile

    Kübler Group 5 Commissioning and Operation Physical position Basic function Class C1 Absolute position Class C2 Scaling function Class C2 Preset function Output position value • Class C1 describes all basic functions the encoder is to offer. • Class C2 includes a wide range of extended functions, which have to be supported by the encoders of this class (mandatory) or which are optional.

  • Page 24: Encoder Start-Up Phase On The Profibus

    5 Commissioning and Operation Kübler Group 5.3.4 Encoder Start-up Phase on the PROFIBUS When starting up, the encoder is in the BAUD SEARCH state. After having detected the baud rate, it switches to the WAIT_PRM state and waits for the parameterizing data from the DP mas- ter.
  • Page 25 Kübler Group 5 Commissioning and Operation The described parameters also depend on the target configuration. The GSD device file (e. g. KUEB7068.GSD) contains five target configurations for PNO Class1 and 2, respectively with 16-bit and 32-bit resolution. The configuration program allows setting sensor parameters such as e.g. the input of the resol- ution and counting direction data.
  • Page 26 5 Commissioning and Operation Kübler Group Class 2 functionality on If scaling is active, class 2 must be switched on. Scaling function control on When scaling is switched on – the position depends on the MUR and TMR values. 26 - EN HB Profibus Interface - R67068.0002 - 01...
  • Page 27 Kübler Group 5 Commissioning and Operation Scaling type MUR + TMR Scaling type (MUR + TMR) Value for resolution per revolution MUR Example: 3600 steps per revolution HB Profibus Interface - R67068.0002 - 01 EN - 27...

  • Page 28: Speed

    5 Commissioning and Operation Kübler Group Value for total resolution Example: Value for total resolution 36000 Position range: 0…36000 Revolutions 10 5.4.2 Speed All modules can be combined with the configuration of an additional speed value. The input words are extended, depending on the configuration of the speed value, up to a maximum length of 8 bytes (64 bits).

  • Page 29: Station Address

    Kübler Group 5 Commissioning and Operation Input word Input word Format Max. Byte 0 Byte 1 Byte 2 Byte 3 6000 -6000 Unit/s 6553500 Unit/s -6553500 Rotational speed limitations NOTICE Calculation basis for the speed (steps/s). The physical singleturn is always assumed as the calculation basis (65536 steps/revolution) when setting the speed (steps/s).
  • Page 30 5 Commissioning and Operation Kübler Group Switch Values range Ex. for address 3F Least significant address rotary switch x1 Values range 1..F * Most significant address rotary switch x10 Values range 1..7 * Station address 0 is reserved and shall not be used for any node. The resulting node numbers are in the range 1...7Dh hexadecimal (1...

  • Page 31: Scaling

    Kübler Group 5 Commissioning and Operation 5.4.3.1 Set Slave Address (SSA) SSA allows setting the station addresses by software. To allow this, the 2 rotary switches must be set to position 0xF. Default setting after booting is address 125 (0x7D). This allows setting the node number also with a Class 2 master in the Profibus start sequence via the service ac- cess point SAP 55 Set_Slave_Address.

  • Page 32: Preset

    5 Commissioning and Operation Kübler Group 5.4.5 Preset In the 'Class 2' mode, the encoder can be preset via PROFIBUS to any position value within the values range of 27 bits or 15 bits. This is done by setting the most significant bit (MSB) of the output data (4 bytes for Class 2 configuration - 32 bits or 2 bytes for Class 1 configuration - 16 bits).
  • Page 33 Kübler Group 5 Commissioning and Operation b) Put the bus cover back in place and connect the voltage supply. c) Set the station address to 0x7D (125 decimal). Writing the configuration in the control. ü Master / slave connection The device is now recognized under station address 125. HB Profibus Interface - R67068.0002 - 01 EN - 33...

  • Page 34: Performing A Preset

    5 Commissioning and Operation Kübler Group a) Disconnect the master / slave connection and change the station address to 0x0A (10 decimal). b) Write the configuration in the control. ð Mater / slave connection with new station address 10. The device is now recognized under station address 10.
  • Page 35 Kübler Group 5 Commissioning and Operation b) Enter trigger bit 1 in the MSB of the output word in byte 0. c) Perform the preset ð The current position value changes to 100 decimal. ð The device outputs a warning message. NOTICE Warning message when performing the preset.

  • Page 36: Annex

    6 Annex Kübler Group 6 Annex 6.1 Extended Diagnostic Device profile Encoder Class 1 mandatory for all DP encoders Function Byte no. Data Type Name Data_Exchange Unsigned 32 Position Value (input) Data_Exchange Unsigned 32 Preset value (output) Data_Exchange Unsigned 32 Speed Value (input) (units/s) RD_inp Unsigned 32...

  • Page 37: Service Access Point (Sap)

    Kübler Group 6 Annex 6.2 Service Access Point (SAP) PROFIBUS defines various services, which must not mandatorily be implemented. The SAPs are defined with their respective number. SAP (Decimal) SERVICE Default 0 Cyclical Data Exchange (Write_Read_Data) Master-to-Master SAP (M-M Communication) Change Station Address (Set_Slave_Add) Read Inputs (Rd_Inp) Read Outputs (Rd_Outp)

  • Page 38: Decimal / Hexadecimal Conversion Table

    6 Annex Kübler Group 6.3 Decimal / Hexadecimal conversion table 38 - EN HB Profibus Interface - R67068.0002 - 01...
  • Page 39 Kübler Group 6 Annex HB Profibus Interface - R67068.0002 - 01 EN - 39...

  • Page 40: Contact

    7 Contact Kübler Group 7 Contact You want to contact us: Technical support Kübler's worldwide applications team is available on site all over the world for technical advice, analysis or installation support. International support (English-speaking) +49 7720 3903 952 support@kuebler.com Kübler Germany +49 7720 3903 849 Kübler France +33 3 89 53 45 45 Kübler Italy...

  • Page 41: Glossary

    Kübler Group Glossary Glossary counterclockwise, counting direction Set Slave Address clockwise, counting direction Total Measuring Range Data Terminal Equipment Hexadecimal Least Significant Bit Most Significant Bit Measuring Units per Revolution Number of Distinguishable Revolutions Profibus Nutzerorganisation (Profibus Users Organization) Profibus DP Profibus Decentralized Periphery Profibus FMS Profibus Fieldbus Message Specifica-...
  • Page 42 Kübler Group Fritz Kübler GmbH Schubertstr. 47 D-78054 Villingen-Schwenningen Germany Phone +49 7720 3903-0 Fax +49 7720 21564 info@kuebler.com www.kuebler.com...

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