Kübler Sendix M36 Series Manual
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Kübler Sendix M36 Series Manual

Encoders with io-link interface
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R67071.0002 - 4
Encoders with IO-Link interface
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  • Page 1 R67071.0002 - 4 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 / Classification of the 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..................47 5.5.2 Acceleration Events .................. 48 5.5.3 Temperature Events.................. 49 5.5.4 Position Scaling ..................49 5.5.5 Firmware Update..................

  • Page 4: Document

    1 Document Kübler Group 1 Document This is the English translation of the original manual in German language. Publisher Kübler Group, Fritz Kübler GmbH Schubertstraße 47 78054 Villingen-Schwenningen Germany www.kuebler.com Issue date 08/2021 © Copyright 2021, Kübler Group, Fritz Kübler GmbH Text sources IO-Link_Planungsrichtlinie_10911_V11_Jan18 IO-Link_Interface_and_System_Specification_Version 1.1.2...

  • 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 Manual IO-Link interface - R67071.0002 - 04...

  • Page 7: Product Description

    Kübler Group 3 Product Description 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 8: Supported Standards And Protocols

    3 Product Description Kübler Group Mechanical characteristics for the Sendix M58xx encoders Maximum rotary speed    IP65 6000 min 3000 min (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 9: Interface Description

    Kübler Group 3 Product Description 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. 3.4 Interface Description IO-Link is a brand name. The original designation of this communication system is SDCI and is described in Section 9 of European Standard EN 61131 (Single-drop digital communication in- terface for small sensors and actuators).
  • Page 10 3 Product Description Kübler Group 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 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 General safety instructions Make sure that the whole plant remains switched off during the elec-...

  • Page 12: Network Topology

    4 Installation Kübler Group 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 13 Kübler Group 4 Installation IMG-ID: 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 14: Commissioning And Operation

    5 Commissioning and Operation Kübler Group 5 Commissioning and Operation Risk of injury due to rotating shafts DANGER Hair and loose clothing can be caught by rotating shafts. • Prior to any work, proceed as follows: ð Switch the operating voltage off and stop the drive shaft. ð...
  • Page 15 Kübler Group 5 Commissioning and Operation Display Meaning Error cause Note LED off No error Device ready for opera- LED off relates here tion / only to the red color. in operation Error IO-Link error The IO-Link event code blinking shows the reason of the IO-Link error.

  • Page 16: Quick Start Guide

    5 Commissioning and Operation Kübler Group IMG-ID: 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 17 Kübler Group 5 Commissioning and Operation IMG-ID: 131388043 b) Switch the voltage supply on IMG-ID: 131386123 c) Set up the IO-Link communication IMG-ID: 131384203 d) Display the state Manual IO-Link interface - R67071.0002 - 04 EN - 17...
  • Page 18 5 Commissioning and Operation Kübler Group IMG-ID: 138697995 The device state and the green LED (flash code IO-Link) signal the IO-Link communication when communication setup has been successful. 18 - EN Manual IO-Link interface - R67071.0002 - 04...

  • Page 19: Default Settings

    Kübler Group 5 Commissioning and Operation 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 20 5 Commissioning and Operation Kübler Group 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 21: Changing The Parameters

    Kübler Group 5 Commissioning and Operation 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 22 5 Commissioning and Operation Kübler Group IMG-ID: 132178699 Block parameterizing Modify, mark and write collectively several parameters. IMG-ID: 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 23 Kübler Group 5 Commissioning and Operation IMG-ID: 132201227 Restoring the standard values With system command 0x82 (130): RESTORE FACTORY SETTINGS all settings are reset to standard values. IMG-ID: 132198795 Manual IO-Link interface - R67071.0002 - 04 EN - 23...

  • Page 24: Protocol Features

    5 Commissioning and Operation Kübler Group 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. STARTUP: Type_0 IMG-ID: 132204683 PRE-OPERATE: Type 1_V •...

  • Page 25: Input Process Data (Pdin)

    Kübler Group 5 Commissioning and Operation IMG-ID: 132208011 5.3.2 Input Process Data (PDIN) NOTICE Configuration Parameter "ISDU 225: PROCESS DATA SWITCH" allows switching between the profiles. 5.3.2.1 Standard Profile The following data is transmitted cyclically from the device to the master: IMG-ID: 152806027 Data length is 8 bytes.
  • Page 26 5 Commissioning and Operation Kübler Group IMG-ID: 152800267 5.3.2.2 Smart Sensor Profile (PDI48) The following data is transmitted cyclically from the device to the master: IMG-ID: 152807947 Data length is 6 bytes. The number of turns is output as "Measurement value". •...
  • Page 27 Kübler Group 5 Commissioning and Operation Position Position Position as PDI48 Measurement value Scale Vendor-specific [counts] [revolution] 0..16 0.000 17..32 0.001 (not used) 33..49 0.002 … 16,384..16,400 1.000 1000 … 4,294,967,295 – Singleturn devices: 10 Position Position Position as PDI48 Measurement value Scale Vendor-specific...
  • Page 28 5 Commissioning and Operation Kübler Group IMG-ID: 152809867 28 - EN Manual IO-Link interface - R67071.0002 - 04...

  • Page 29: Service Data (Isdu)

    Kübler Group 5 Commissioning and Operation 5.3.3 Service Data (ISDU) Service data (ISDU) is used for the acyclic transmission of parameters. Index Index Sub- Object Length Data type Values Remark (hex) (dec) index name cess 0000 Direct parameter RecordT IO-Link specification Page 1 Master command 1 byte...
  • Page 30 5 Commissioning and Operation Kübler Group Index Index Sub- Object Length Data type Values Remark (hex) (dec) index name cess Device ID 1 1 byte MT (Standard profile): Unique device identification as- (byte 2, MSB) 0x201000 (2101248) signed by a manufacturer. In boot- MT (Smart Sensor profile): loader mode, the Device ID is Device ID 2 (byte 1)
  • Page 31 Kübler Group 5 Commissioning and Operation Index Index Sub- Object Length Data type Values Remark (hex) (dec) index name cess BM_UNLOCK_S (Start un- lock sequence) 0 x51 (81): BM_UNLOCK_F (Unlock command 1) 0x52 (82): BM_UNLOCK_T (Unlock command 2) 0x53 (83): BM_ACTIVATE (End communication and activate new firmware)
  • Page 32 5 Commissioning and Operation Kübler Group Index Index Sub- Object Length Data type Values Remark (hex) (dec) index name cess Profile identifier uint16 0x0031 (49): (Common application Firmware upgrade support profile ID) Profile identifier uint16 0x4000 (16384): (Common application Identification & Diagnosis profile ID) (ID) Smart Sensor profile:...
  • Page 33 Kübler Group 5 Commissioning and Operation Index Index Sub- Object Length Data type Values Remark (hex) (dec) index name cess 0010 Vendor name max. StringT Fritz Kuebler GmbH Vendor information 64 bytes 0011 Vendor text max. StringT Homepage:kuebler.com Additional vendor information bytes 0012 Product name...
  • Page 34 5 Commissioning and Operation Kübler Group Index Index Sub- Object Length Data type Values Remark (hex) (dec) index name cess 0024 Device status 1 byte UIntegerT 0: Device operates prop- Device status information (dia- erly gnostic) 1: Maintenance required 2: Out of specification 3: Functional check 4: Failure 5 –...
  • Page 35 Kübler Group 5 Commissioning and Operation Index Index Sub- Object Length Data type Values Remark (hex) (dec) index name cess Position 4bytes uint32 See ISDU 0x0040 PVinD 1 (Position value) Smart Sensor profile: 1 byte int8 Scale value PVinD 2 Scale Smart Sensor profile: 1 byte...
  • Page 36 5 Commissioning and Operation Kübler Group Index Index Object name Access Length Data type Values (default bold) Remark (hex) (dec) 0045 Position limit control 1 byte uint8 0: Position limit control disabled When enabled: 1: Position limit control en- When the position value drops abled below/exceeds the limit values, the warning flag is set...
  • Page 37 Kübler Group 5 Commissioning and Operation Index Index Object name Access Length Data type Values (default bold) Remark (hex) (dec) 005C Number of turns, nu- 4 bytes uint32 1...262,144 Counter for the number of turns merator ST: not used 005D Number of turns, de- 4 bytes uint32...
  • Page 38 5 Commissioning and Operation Kübler Group Index Index Object name Access Length Data type Values (default bold) Remark (hex) (dec) 0074 Velocity hysteresis 4 bytes uint32 0...6,000 [turns/min] Hysteresis for the acceleration limits. The unit depends on the velo- city format. 0075 Velocity limit control 1 byte...
  • Page 39 Kübler Group 5 Commissioning and Operation Index Index Object name Access Length Data type Values (default bold) Remark (hex) (dec) 0082 Acceleration 4 bytes int32 27,852 [turns/s Acceleration upper limit >= Ac- upper limit celeration lower limit The closest to the signed min- imal 32-bit integer and the 32- bit floating-point value without loss of accuracy.
  • Page 40 5 Commissioning and Operation Kübler Group Index Index Object name Access Length Data type Values (default bold) Remark (hex) (dec) 008F Temperature 2 bytes int16 100 [°C] Temperature upper limit >= upper limit Temperature lower limit The unit changes with the tem- perature format.
  • Page 41 Kübler Group 5 Commissioning and Operation Index Index Object name Access Length Data type Values (default bold) Remark (hex) (dec) Bit_14 = Memory error - invalid communication to device Bit_15 = Memory error - check- 00A5 Operating hours 4 bytes uint32 Operating hours counter (is incremented as soon as the...
  • Page 42 5 Commissioning and Operation Kübler Group Index Index Object name Access Length Data Values (default Remark (hex) (dec) index type bold) 43BE 17,342 HW_ID_Key max. StringT m36-v0 Identifier inside of a device and in a FW 64 bytes Bootloader Mode: update file, to make sure that both match.

  • Page 43: Data Storage (Ds)

    Kübler Group 5 Commissioning and Operation 5.3.4 Data Storage (DS) The following ISDUs are stored by the Data Storage mechanism: Position • Position format • Position lower limit • Position upper limit • Position limit control • Counting direction • Preset value •...

  • Page 44: Configuration Parameters Description

    5 Commissioning and Operation Kübler Group • Temperature hysteresis • Temperature limit control 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 45: Isdu 81 - Do Position Preset

    Kübler Group 5 Commissioning and Operation 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 46: Isdu 128 - Acceleration Filter Bandwidth

    5 Commissioning and Operation Kübler Group 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 47: Isdu 230 - Pin2 Configuration

    Kübler Group 5 Commissioning and Operation • 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 48: Acceleration Events

    5 Commissioning and Operation Kübler Group 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 49: Temperature Events

    Kübler Group 5 Commissioning and Operation 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 50 5 Commissioning and Operation Kübler Group 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.

  • Page 51: Firmware Update

    Kübler Group 5 Commissioning and Operation • 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 = 10,000,000; Numerator = 1,950; Denominator = 3 TMR = MUR x (numerator / denominator) Number of revolutions MUR = 15.384,615384 Validity ranges...
  • Page 52 5 Commissioning and Operation Kübler Group • Output process data (Master -> Device): 0 bytes • On-request data: 32 bytes • Input process data (Device -> Master): 0 bytes IMG-ID: 132705675 Perform the firmware update with the IO-Link master control tool (TEConcept): ü...
  • Page 53 Kübler Group 5 Commissioning and Operation           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.          ...
  • Page 54 5 Commissioning and Operation Kübler Group Only a minimized IO-Link range of functions is available in bootloader mode. For the following ISDUs, generalized values are issued, which are different from the values in normal mode. • Device ID • Product name •...

  • Page 55: Status Messages

    Kübler Group 5 Commissioning and Operation 5.6 Status messages Events are signaled by the event flag in the cyclic data. IO-Link-specific Event Status text Device Type Mode code status 0x1000 General error function 4:error Error Appear/ - Unknown error Disappear 0x4210 Device temperature overshoot 2:Out of specification...

  • Page 56: Isdu Error Codes

    5 Commissioning and Operation Kübler Group 5.7 ISDU Error Codes The error code follows a failed ISDU read or write access. Error Error Addi- Description code tional code Device application 0x80 0x00 The requested service has been refused by the error –...

  • Page 57: Annex

    Kübler Group 6 Annex 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 58 6 Annex Kübler Group 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 59: Decimal / Hexadecimal Conversion Table

    Kübler Group 6 Annex 6.2 Decimal / Hexadecimal conversion table Manual IO-Link interface - R67071.0002 - 04 EN - 59...
  • Page 60 6 Annex Kübler Group 60 - EN Manual IO-Link interface - R67071.0002 - 04...

  • Page 61: Contact

    Kübler Group 7 Contact 7 Contact You want to contact us: Technical advice 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 62: Glossary

    Glossary Kübler Group 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 63 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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Sendix m58 series

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