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Kubler Sendix F58 Series Manual

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R67048.0002 - 2
Encoders with Modbus interface
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  • Page 1 R67048.0002 - 2 Encoders with Modbus 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 ....................... Technical Data Sendix F58xx ................. Installation ........................Electrical Installation ....................4.1.1 General Information for the Connection ............ 4.1.2 Information for EMC-Compliant Installation ..........
  • Page 3 Kübler Group Table of Contents Glossary .......................... HB Modbus Interface - R67048.0002 - 02 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 09/2020 Language version German is the original language © Copyright 2020, Kübler Group, Fritz Kübler GmbH Legal notices...

  • 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 2 General Information Kübler Group NOTICE Classification: Additional information relating to the operation of the product, and hints and recommendations for efficient and trouble-free operation. 6 - EN HB Modbus Interface - R67048.0002 - 02...

  • Page 7: Product Description

    Kübler Group 3 Product Description 3 Product Description 3.1 Technical Data Sendix F58xx Sendix F58xx The encoder Sendix F58 with the patented Intelligent Scan Technology™ is a high-resolution gearless optical multiturn encoder with 100 % insensitivity to magnetic interference. Absolute encoder system Singleturn with optical disk Multiturn with backup battery Interface...

  • Page 8: 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 9: Terminal Assignment

    Kübler Group 4 Installation EMC acc. to Criterion A Criterion B EN 61326-1 The device operates trouble-free, During a failure, a user data transmission proceeds disturbed transmission of the without disturbance, internally user data is allowed, internally stored data and configurations re- stored data and main preserved configurations remain preserved...

  • Page 10: Network Topology

    4 Installation Kübler Group 4.1.4 Network topology Modbus is a 2-wire bus system in which all participants are connected in parallel (that is to say with short stub lines up to 30 cm). MODBUS uses serial lines based on an electrical "two-wire" interface.

  • Page 11: Commissioning And Operation

    Kübler Group 5 Commissioning and Operation 5 Commissioning and Operation 5.1 Function and Status LED A 2-color LED signals the operating and error status of the Modbus. Display Meaning The RUN LED displays the current status of the Modbus sensor ERROR On in the event of a fault.

  • Page 12: Not Supported Modbus Function Codes

    5 Commissioning and Operation Kübler Group 5.2.2 Not supported Modbus function codes Code Decimal Code Hexadecimal Name (0x01) Read Coil Status (0x02) Read Input Status (0x04) Read Input Registers (0x05) Force Single Coil (0x06) Preset Single Register (0x07) Read Exception Status (0x0B) Fetch Comm Event Ctr (0x0C)

  • Page 13: Protocol Features

    Kübler Group 5 Commissioning and Operation 40271 Serial Number 40272 Serial Number 40273 Serial Update 0x00 40274 Sensor Diag 0x00 40275 Lower Limit 0x00 40276 Upper Limit 0x1C 40277 Compare Activ. 0x00 40278 0x0001 40279 0x0000 40280 0x1000 40281 0x0000 40282 Scaling Function 0x00...

  • Page 14: Function Codes

    5 Commissioning and Operation Kübler Group 5.3.2 Function codes Read Holding Register (function code 0x03) Request Address Function Data Bytes 1 byte 1 byte 2 bytes 2 bytes 2 bytes Descrip- Slave Function code Address of the Number of For error tion address (Read holding...
  • Page 15 Kübler Group 5 Commissioning and Operation Response Address Function Data Bytes 1 byte 1 byte 2 bytes 2 bytes 2 bytes Description Slave Function code Address of the Number of For error address (Read holding re- first register registers writ- detection (sensor) gister)

  • Page 16: Lrc Check

    5 Commissioning and Operation Kübler Group 5.3.3 LRC check In ASCII mode, the messages are subjected to an error check based on a longitudinal redund- ancy check. The check calculation (LRC) follows the content of the message without the initial 'colon' and the two final CRLF characters.
  • Page 17 Kübler Group 5 Commissioning and Operation Register Int. Data name Data Value Default Manda Reg. quen type (hex) -tory 40002 POSITION MSB I16 Position value UPPER VALUE Bit 17-32 40003 POSITION Position value LOWER VALUE Bit 1-16 40004 REVERSE STATE MSB I16 Count direction 0x02 1 = CCW...

  • Page 18: Function Code 16 - Writing The Holding Register

    5 Commissioning and Operation Kübler Group Example of a read query for registers 40108–40110 of the slave device: 58517259 LRC calculation LRC check [} 16] Response The response message contains the register data, two bytes per register. The binary content is right-justified in every byte.
  • Page 19 Kübler Group 5 Commissioning and Operation This function takes precedence over the encoder memory pro- NOTICE tection state. The programmed values remain valid in the registers during the whole duty cycle and some functions are immediately taken over. Other require restarting the device. The register values are saved in a non-volatile memory, regardless of whether they are programmed in the PLC logic or not.
  • Page 20 5 Commissioning and Operation Kübler Group Int. Data name Description Default Restart gister register quen (hex) required 40257 Baud Rate MSB 1 = 9600 0x01 2 = 19200 3 = 38400 4 = 57600 5 = 115200 40258 Number Data MSB Number of data bits 0x02 2 = 8 bits...
  • Page 21 Kübler Group 5 Commissioning and Operation Int. Data name Description Default Restart gister register quen (hex) required 40273 Serial Update MSB Serial no. update 0x00 1 = Carry out 40274 Sensor Diag MSB Sensor diagnosis 0x00 (internal register value) 40275 Lower Limit MSB Lower limit value 0x00...

  • Page 22: Function Code 17 - Query Of Device-Specific Information

    5 Commissioning and Operation Kübler Group Example of a query to set two registers beginning with 40002 in the slave device 17 (0x11) to 00 0A and 01 02 hex: 58524939 Response The normal response contains the slave address, the function code, the starting address and the number of registers set.
  • Page 23 Kübler Group 5 Commissioning and Operation NOTICE Slave ID Slave ID DOES NOT mean the node address of the sensor. In this case, slave ID means the sensor type. Description Returns a description of the type (at the slave address) and other device-specific information. NOTICE Broadcast function Broadcast is not supported...

  • Page 24: Description Of The Registers

    5 Commissioning and Operation Kübler Group Byte con- tents: Slave address Function code Byte length Slave ID Running indication status (0 = Modbus OFFline (diagnosis), 0xFF = Modbus ready for operation) 6 - 27 System information inclinometer type, company name, SW version (ASCII format) Example: For inclinometers: 02,FF, “IN88_MB_V103 IN88_V1.28”...
  • Page 25 Kübler Group 5 Commissioning and Operation Total number of steps in 100μs with a 14-bit resolution 0.0001667 * 16384 (14 bits) = 3 steps After the reading of the position value, the actual position has a deterministic delay that de- pends on the rotational speed of the encoder.
  • Page 26 5 Commissioning and Operation Kübler Group 5.7.1.6 Register 7 Read Actual Battery Voltage of Encoder Battery values: in volts DC Default: 350 … 365 ⇒ 3.50 … 3.65 V DC Singleturn: 0 Battery 1st warning level: 2,6 V DC Battery critical level: 2,2 V DC Singleturn value: 0 Update rate: 6 min.

  • Page 27: Writing The Holding Register

    Kübler Group 5 Commissioning and Operation 5.7.1.10 Register 13 Scaling Active State Scaling values: 0 = scaling off 1 = scaling on Estimated response delay for scaling: 10μs + response frame processing time Minimum cycle time for scaling update: 2ms 5.7.1.11 Registers 14 &...
  • Page 28 5 Commissioning and Operation Kübler Group 5.7.2.2 Register 261 Write Node ID Valid node IDs are in the range 0x01…0xF7 (0x00 is reserved for the PLC, 248...255 are re- served). The new node ID is taken over with Write Node ID Update (register 40263).. After a node ID update, the new node ID will be taken over only after completion of a switch off/ switch on cycle.
  • Page 29 Kübler Group 5 Commissioning and Operation Preset delay: 100μs Position check after preset: yes (internal) Response delay after Preset update execution command: 15 ms required for the saving process 5.7.2.7 Register 273 Sensor Diagnosis Register 273 is used exclusively for the internal diagnosis of the sensor inside the encoder. In the event of a fault, it allows the manufacturer to analyze the encoder.
  • Page 30 5 Commissioning and Operation Kübler Group This parameter configures the total number of singleturn and multiturn measuring steps. A factor is used for the maximum physical resolution This factor is always < 1. When reaching the defined number of measuring steps, the encoder resets itself back to zero (see Limitation). Values range: TMR 1 …...

  • Page 31: Modbus Exception Codes

    Kübler Group 5 Commissioning and Operation 5.8 Modbus Exception Codes Number Code Name Meaning Illegal Function The function code contained in the query does not correspond to a permitted action for the slave. If a Poll Program Complete command has been issued, this code indicates that this command has not been preceded by a program function.

  • Page 32: Count Direction Change Example

    5 Commissioning and Operation Kübler Group The written registers can be read back immediately through the READ registers. No update command is required. In particular the following commands are required (node address is default 36): Parameterizing MUR Address Function Data 1 byte 1 byte 2 bytes...

  • Page 33: Preset Setting Example

    Kübler Group 5 Commissioning and Operation Update Count Direction Address Function Data 1 byte 1 byte 2 bytes 2 bytes 1 byte 2 bytes Address of the Number of Number of Data register first register registers bytes to be 40278 written 010B 0001...

  • Page 34: Maintenance

    6 Maintenance Kübler Group 6 Maintenance In harsh environments, we recommend regular inspections for firm seating and possible dam- ages at the device. Repair work may only be carried out by the manufacturer, see chapter Con- tact [} 37]. Prior to the work •...

  • Page 35: Annex

    Kübler Group 7 Annex 7 Annex 7.1 Decimal / Hexadecimal conversion table HB Modbus Interface - R67048.0002 - 02 EN - 35...
  • Page 36 7 Annex Kübler Group 36 - EN HB Modbus Interface - R67048.0002 - 02...

  • Page 37: Contact

    Kübler Group 8 Contact 8 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 38 Glossary Kübler Group Glossary Cyclic Redundancy Check CRLF Carriage Return - Line Feed Error Hexadecimal Longitudinal Redundancy Check Least Significant Bit Most Significant Bit Protocol Data Unit Remote Terminal Unit 38 - EN HB Modbus Interface - R67048.0002 - 02...
  • Page 39 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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