Kübler M36 Series Manual
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Kübler M36 Series Manual

Encoders with io-link interface
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R67071.0002 - 2
Encoders with IO-Link interface
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  • Page 1 R67071.0002 - 2 Encoders with IO-Link interface Manual...

  • Page 2: Table Of Contents

    Table of Contents Kübler Group Table of Contents Document ........................General Information......................Target Group......................Symbols used / Warnings and Safety instructions ..........Product Description ....................... Scope of the Delivery ....................Technical Data Sendix M36xx, M58xx ..............Supported Standards and Protocols ............... Interface Description ....................
  • Page 3 Kübler Group Table of Contents 5.4.16 ISDU 225 - Process Data Switch .............. 5.4.17 ISDU 230 - Pin2 Configuration..............Functionalities ......................5.5.1 Velocity Events..................46 5.5.2 Acceleration Events .................. 47 5.5.3 Temperature Events.................. 48 5.5.4 Position Scaling ..................48 5.5.5 Firmware Update..................

  • 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 08/2020 Language version German is the original language © Copyright 2020, Kübler Group, Fritz Kübler GmbH Text 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: Product Description

    3 Product Description Kübler Group 3 Product Description 3.1 Scope of the Delivery • Encoder • Operation Manual 3.2 Technical Data Sendix M36xx, M58xx Singleturn technology Magnetic Multiturn technology Magnetic, electronic counter, Energy Harvesting Max. 14 bits (default 14 bits) Singleturn resolution (MUR) Max.

  • Page 7: Supported Standards And Protocols

    Kübler Group 3 Product Description Mechanical characteristics for the Sendix M58xx encoders Maximum rotary speed    IP65 6000 min-1, 3000 min-1 (continuous operation) Starting torque (at 20°C)    IP65 < 0.01 Nm Permissible shaft load    radial 80 N    axial 40 N Protection level acc. to EN 60529 IP65 Working temperature range -40 °C ...

  • Page 8: Interface Description

    3 Product Description Kübler Group • IO-Link Common Profile V1.0 • IO-Link BLOB Transfer & Firmware Update V1.1 The device description file (IODD) can be downloaded from the website of the device manufac- turer (Contact) or by means of the IODD finder on the IO-Link website.
  • Page 9 Kübler Group 3 Product Description Usual field bus or Ethernet software tools can be used for parameterizing and centralized data storage of the IO-Link devices. There are also dedicated IO-Link tools. The corresponding de- scription files of the IO-Link devices (IODD) are stored centrally on the so-called IODD finder. IO-Link has two logical data channels, which separate the cyclic and the acyclic data.

  • Page 10: Installation

    4 Installation Kübler Group 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 General safety instructions Make sure that the whole plant remains switched off during the elec-...

  • Page 11: Network Topology

    Kübler Group 4 Installation NOTICE Use of pin 2 The IO-Link signal I/Q, which represents an optional and currently not realized digital In/Output, is applied on pin 2, in compliance with the standard. The use of this pin is currently not planned (marked ac- cordingly as Reserved in the table).
  • Page 12 4 Installation Kübler Group 132123403 Description Characteristics Power supply unit Rated voltage: 24 V DC ±1% tolerance Control line: Length: 10 m Wire cross-section: 0.75 mm² Power supply unit – IO-Link Master IO-Link Master Voltage drop: 0,5 V Rated current: 100 mA Control line: Length: 15 m Wire cross-section: 0.35 mm²...

  • Page 13: Commissioning And Operation

    Kübler Group 5 Commissioning and Operation 5 Commissioning and Operation 5.1 Function and Status LED A two-color LED shows the different operating states. Green = Run Red = Error Blinking behavior in the Run operating state Display Meaning Cause Note LED off Device switched off Program/...
  • Page 14 5 Commissioning and Operation Kübler Group 132131211 All other flash codes comply with CiA 303: LED flash codes Description LED off The LED must be continuously off. LED blinking This flash code shows the switch-on and switch-off phase with a frequency of approximately 2.5 Hz: ON for approx.

  • Page 15: Quick Start Guide

    Kübler Group 5 Commissioning and Operation 132146443 5.2 Quick Start Guide 5.2.1 Connection Setup A tool of the IO-Link master manufacturer is required for operating the device. The screenshots in this manual refer to the tool IO-Link Master Control Tool of the manufacturer TEConcept. The IODD is required for general commissioning.
  • Page 16 5 Commissioning and Operation Kübler Group 131388043 b) Switch the voltage supply on 131386123 c) Set up the IO-Link communication 131384203 d) Display the state 16 - EN Manual IO-Link interface - R67071.0002 - 02...
  • Page 17 Kübler Group 5 Commissioning and Operation 138697995 The device state and the green LED (flash code IO-Link) signal the IO-Link communication when communication setup has been successful. Manual IO-Link interface - R67071.0002 - 02 EN - 17...

  • Page 18: Default Settings

    5 Commissioning and Operation Kübler Group 5.2.2 Default Settings Object name Values Remark (bold -> standard) (hex) (dec) 0041 65 Position format 0: Counts Is always Counts 0043 67 Position upper limit 0 ... (TMR-1) Position upper limit >= Position lower limit 0045 69 Position limit control 0: Position limit control If enabled:...
  • Page 19 Kübler Group 5 Commissioning and Operation Object name Values Remark (bold -> standard) (hex) (dec) 0071 113 Velocity filter 0...500 [Hz] Bandwidth of the first-order low- bandwidth 100 [Hz] pass filter 0 = disabled 0072 114 Velocity lower limit -6,000 [turns/min] Velocity lower limit <= Velocity upper limit The unit changes with the...

  • Page 20: Changing The Parameters

    5 Commissioning and Operation Kübler Group Object name Values Remark (bold -> standard) (hex) (dec) point value without loss of accuracy. The unit changes with the acceleration format. The limit values must then be converted accordingly, e. g. 2 counts/ms = 2,000,000 counts/ 0083 131 Acceleration 0..
  • Page 21 Kübler Group 5 Commissioning and Operation 132178699 Block parameterizing Modify, mark and write collectively several parameters. 131380363 NOTICE Error behavior The device checks the access rights, structure, validity and consist- ency of the data and answers if necessary with an error code. In the event of an error, the new data is not taken over and operation con- tinues with the previous values.

  • Page 22: Protocol Features

    5 Commissioning and Operation Kübler Group 132201227 Restoring the standard values With system command 0x82 (130): RESTORE FACTORY SETTINGS all settings are reset to standard values. 132198795 5.3 Protocol Features 5.3.1 Data Transmission Data transmission takes place with the help of so-called M sequence types. The device uses 3 of 11 possible M sequence types.

  • Page 23: Input Process Data (Pdin)

    Kübler Group 5 Commissioning and Operation 132206347 OPERATE: Type 2_V • Output process data (Master -> Device): 0 byte • On-request data: 1 byte • Input process data (Device -> Master) – Standard Profile: 8 bytes – Smart Sensor profile (PDI48) 6 bytes 132208011 5.3.2 Input Process Data (PDIN) NOTICE...
  • Page 24 5 Commissioning and Operation Kübler Group 152806027 Data length is 8 bytes. The example below shows the data in 8-byte blocks: 152800267 5.3.2.2 Smart Sensor Profile (PDI48) The following data is transmitted cyclically from the device to the master: 152807947 Data length is 6 bytes.
  • Page 25 Kübler Group 5 Commissioning and Operation The number of turns is output as "Measurement value". • Unit: "revolution" (unit code 1009) • Scaling factor – Multiturn devices: 10 Position Position Position as PDI48 Measurement value Scale Vendor-specific [counts] [revolution] 0..16 0.000 17..32 0.001...

  • Page 26: Service Data (Isdu)

    5 Commissioning and Operation Kübler Group 152809867 5.3.3 Service Data (ISDU) Service data (ISDU) is used for the acyclic transmission of parameters. 26 - EN Manual IO-Link interface - R67071.0002 - 02...
  • Page 27 Kübler Group 5 Commissioning and Operation Object Lengt Data Values Remark bind name cess type (hex) (dec) 0000 0 Direct RecordT IO-Link parameter specification Page 1 Master 1 byte IO-Link Master command command specification to switch to operat- ing states Master 1 byte depending on...
  • Page 28 5 Commissioning and Operation Kübler Group Object Lengt Data Values Remark bind name cess type (hex) (dec) Device ID 1 byte Sensor profile): Device ID is modi- 3 (byte 0, 0x201010 fied to display the LSB) (2101264) bootloader mode. ST (standard profile): 0x200800 (2099200)
  • Page 29 Kübler Group 5 Commissioning and Operation Object Lengt Data Values Remark bind name cess type (hex) (dec) 0x50 (80): BM_UN- LOCK_S (Start unlock se- quence) 0 x51 (81): BM_UN- LOCK_F (Un- lock command 0x52 (82): BM_UN- LOCK_T (Un- lock command 0x53 (83): BM_ACTIVATE (Terminate...
  • Page 30 5 Commissioning and Operation Kübler Group Object Lengt Data Values Remark bind name cess type (hex) (dec) Profile uint16 0x0030 (48): identifier BLOB transfer (Common support application profile ID) Profile uint16 0x0031 (49): identifier Firmware up- (Common grade support application profile ID) Profile uint16...
  • Page 31 Kübler Group 5 Commissioning and Operation Object Lengt Data Values Remark bind name cess type (hex) (dec) Type length (32 bits) 0x20: Bit offset (32 bits) Smart Sensor profile: Scale 0x03: Data type IntegerT 0x08: Type length (8 bits) 0x08: Bit offset (8 bits) Smart Octet-...
  • Page 32 5 Commissioning and Operation Kübler Group Object Lengt Data Values Remark bind name cess type (hex) (dec) 0015 21 Serial max. StringT Manufacturer- Number specific bytes serial number 0016 22 Hardware max. StringT Manufacturer- revision (bootloader specific bytes mode: vx) format 0017 23 Firmware...
  • Page 33 Kübler Group 5 Commissioning and Operation Object Lengt Data Values Remark bind name cess type (hex) (dec) Octet- ror_Warn- bytes StringT3 ing_2 … Octet- ror_Warn- bytes StringT3 ing_12 0028 40 Process Device- Last valid pro- Data type and data input length specific cess data...
  • Page 34 5 Commissioning and Operation Kübler Group Object Lengt Data Values Remark bind name cess type (hex) (dec) BLOB_ID. (Only available in bootloader mode.) Manufacturer-specific Object name Length Data Values Remark cess type (default bold) (hex) (dec) 0040 64 Position value 4 bytes uint32 0..(TMR-1) 0041 65...
  • Page 35 Kübler Group 5 Commissioning and Operation Object name Length Data Values Remark cess type (default bold) (hex) (dec) 0051 81 Do position preset W 1 byte uint8 1: Set preset Sets the position position value at the preset value 0052 82 Offset 8 bytes int64...
  • Page 36 5 Commissioning and Operation Kübler Group Object name Length Data Values Remark cess type (default bold) (hex) (dec) 3: Turns/min (for turns/min & 4: Turns/s turns/h -> Acceler- 5: Turns/h ation turns/s 0070 112 Velocity filter 2 bytes uint16 0...128 Moving average fil- integration time ter (number of...
  • Page 37 Kübler Group 5 Commissioning and Operation Object name Length Data Values Remark cess type (default bold) (hex) (dec) 007E 126 Acceleration 1 byte uint8 Acceleration format unit: 1: Counts/s² 2: Counts/ms² 3: Turns/s² 007F 127 Acceleration filter 2 bytes uint16 0...128 Moving average fil- integration time ter (number of...
  • Page 38 5 Commissioning and Operation Kübler Group Object name Length Data Values Remark cess type (default bold) (hex) (dec) 0083 131 Acceleration 4 bytes uint32 0…27,852 Hysteresis for the hysteresis [turns/s acceleration limits. The unit depends on the acceleration format. 0084 132 Acceleration limit 1 byte uint8...
  • Page 39 Kübler Group 5 Commissioning and Operation Object name Length Data Values Remark cess type (default bold) (hex) (dec) 0093 147 Temperature min R 2 bytes int16 –40 ... +100 Lowest temperat- [°C] ure value since the last reset by the user.
  • Page 40 5 Commissioning and Operation Kübler Group Object name Length Data Values Remark cess type (default bold) (hex) (dec) 00FB 251 Firmware max. String 0xABCD1234 checksum bytes 40 - EN Manual IO-Link interface - R67071.0002 - 02...

  • Page 41: Data Storage (Ds)

    Kübler Group 5 Commissioning and Operation Profile-specific Index Index Object Length Data Values Remark (hex) (dec) index name cess type (default bold) 4080 1651 RecordT Smart Sensor Descr bytes profile Lower int32 Lower value limit limit bytes of the measuring range Upper int32...
  • Page 42 5 Commissioning and Operation Kübler Group Position • Position format • Position lower limit • Position upper limit • Position limit control • Counting direction • Preset value • Scaling control • Measuring units per revolution (MUR) • Total measuring range (TMR) •...

  • Page 43: Configuration Parameters Description

    Kübler Group 5 Commissioning and Operation Others • Process data switch • Pin2 configuration • Device access locks • Application-specific tag • Function tag • Location tag 5.4 Configuration Parameters Description 5.4.1 ISDU 66 / 67 - Position Lower / Upper Limit Setting of the "Position lower limit"...

  • Page 44: Isdu 81 - Do Position Preset

    5 Commissioning and Operation Kübler Group NOTICE Preset outside of the allowable positions range If, when the position events are enabled, a preset value is selected outside of the defined positions range, an event takes place when the preset is performed. 5.4.5 ISDU 81 - Do Position Preset The value set by ISDU 80 is taken over.

  • Page 45: Isdu 128 - Acceleration Filter Bandwidth

    Kübler Group 5 Commissioning and Operation NOTICE Note the filter chain The average value filtering takes place before the low-pass filter. 5.4.10 ISDU 128 - Acceleration Filter Bandwidth This parameter defines the limit frequency of the low-pass filter. The values range is 0 … 500 Hz, the value 0 disables the low-pass filter. NOTICE Note the filter chain The low-pass filtering takes place after the average value filtering.

  • Page 46: Isdu 230 - Pin2 Configuration

    5 Commissioning and Operation Kübler Group • Restoring the factory setting – the scaling parameters are reset. • Device reset – the change is taken into account after device restart. The device logs in with the new device ID and outputs the process data according to the selected profile. NOTICE Profile change Process data length is different for profiles "Standard Profil"...

  • Page 47: Acceleration Events

    Kübler Group 5 Commissioning and Operation Unit Values range counts/s -1,638,400 … 1,638,400 counts/ms -1,638 … 1,638 turns/min -6,000 … 6,000 turns/s -100 ... 100 turns/h -360,000 ... 360,000 Over or underrun of the set event limits is signaled by event "Velocity out of range". The event limits are configured by the user, "Velocity lower limit"...

  • Page 48: Temperature Events

    5 Commissioning and Operation Kübler Group Conditions: • Acceleration upper limit ≤ maximum acceleration in the corresponding unit. • Acceleration lower limit ≥ minimum acceleration in the corresponding unit. The setting of the acceleration events always is performed in the set unit, parameter "Accelera- tion format".
  • Page 49 Kübler Group 5 Commissioning and Operation NOTICE Possible position differences When it is switched off, the encoder may move at the maximum 1/4 of the physical total measuring range in one direction (65535 revolu- tions). Otherwise, position errors may occur when switching the encoder on again! Binary scaling •...

  • Page 50: Firmware Update

    5 Commissioning and Operation Kübler Group • The endless shaft function uses rational scaling, parameters "Numerator" and "Denominator" allow setting the correct number of revolutions. • TMR gives the valid measuring range. Example TMR = 2,097,152; Nominator = 125; Divisor = 10 | Number of revolutions = 12.5 TMR = 10,000,000;...
  • Page 51 Kübler Group 5 Commissioning and Operation • On-request data: 32 bytes • Input process data (Device -> Master): 0 bytes 132705675 Perform the firmware update with the IO-Link master control tool (TEConcept): ü Set up the connection with the device ü...
  • Page 52 5 Commissioning and Operation Kübler Group e) Check the compatibility                     f) Start the firmware download ð The success of the download of the firmware is displayed accordingly and the IO-Link com- munication continues with the new firmware.           NOTICE Bootloader mode The firmware update file is transferred by BLOB transfer.

  • Page 53: Status Messages

    Kübler Group 5 Commissioning and Operation • Product name • Product ID • Product text • Serial number • Hardware revision • Firmware revision • HW_ID_Key BLOB transfer The BLOB transfer is used for transferring a firmware update file, as soon as the device is in bootloader mode.

  • Page 54: Isdu Error Codes

    5 Commissioning and Operation Kübler Group Manufacturer-specific Event Status text Device Type Mode Note code status 0x8CA0 Position outside of 2:Out of spe- Warning Appear/ Requires activ- the valid range cification Disappear ated position lim- 0x8CA1 Velocity outside 2:Out of spe- Warning Appear/ Requires activ-...
  • Page 55 Kübler Group 5 Commissioning and Operation Error Error Addi- Description code tional code Device application 0x80 0x00 The requested service has been refused by the error – no details device application, and no detailed information on the event is available. Index not available 0x80 0x11...

  • Page 56: Annex

    6 Annex Kübler Group 6 Annex 6.1 Dependence on the position parameters Direc- Scal- End- Range Resol- Pre- Posi- Posi- Posi- tion less mer- (TMR) ution tion tion tion shaft ator (MUR) value limit limit limit able high con- able trol Direction Scaling...
  • Page 57 Kübler Group 6 Annex Individual parameterizing Block parameterizing If the TMR is modified, the preset is set to 0 if If the TMR is modified, the preset is set to 0 if it is larger than or equal to TMR. it is larger than or equal to TMR, provided the preset did not change.

  • Page 58: Decimal / Hexadecimal Conversion Table

    6 Annex Kübler Group 6.2 Decimal / Hexadecimal conversion table 58 - EN Manual IO-Link interface - R67071.0002 - 02...
  • Page 59 Kübler Group 6 Annex Manual IO-Link interface - R67071.0002 - 02 EN - 59...

  • Page 60: 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 61: Glossary

    Kübler Group Glossary Glossary BLOB Binary Large Object - Larger volume of data to be transferred counterclockwise, counting direction clockwise, counting direction Data Storage Hubs Abbreviated designation Hub for Re- peating Hub. Node point IODD Device description file IO-Link ISDU Indexed Service Data Unit M sequence Message type used between master...
  • Page 62 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...

This manual is also suitable for:

M58 series

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