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TWK Elektronik IO-Link NOCIO User Manual

Switching cam encoder
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Switching cam encoder NOCIO with IO-Link interface
Data sheet NOC 15893
TWK-ELEKTRONIK GmbH
Bismarckstraße 108
User manual
40210 Düsseldorf
Tel.: +49 211 961170
Document no.: NOC 15597 EE
Date: 16 Mar 2022
info@twk.de
visit us at | twk.de

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Summary of Contents for TWK Elektronik IO-Link NOCIO

  • Page 1 Switching cam encoder NOCIO with IO-Link interface Document no.: NOC 15597 EE Date: 16 Mar 2022 Data sheet NOC 15893 User manual TWK-ELEKTRONIK GmbH 40210 Düsseldorf info@twk.de Bismarckstraße 108 Tel.: +49 211 961170 visit us at | twk.de...
  • Page 2 NOCIO - Cam encoder with IO-Link interface COPYRIGHT: The Operating Instructions NOC 15597 is owned by TWK-ELEKTRONIK GMBH and is protected by copyright laws and international treaty provisions. © 2020 by TWK-ELEKTRONIK GMBH POB 10 50 63 ■ 40041 Düsseldorf ■ Germany Tel.

  • Page 3: Table Of Contents

    NOCIO - Cam encoder with IO-Link interface Table of contents 1 Safety instructions ........................... 4 1.1 Scope ................................. 4 1.2 Documentation ............................4 1.3 Proper use ..............................4 1.4 Commissioning ............................4 2 General information ......................... 5 3 Installation instructions ........................6 3.1 General...............................

  • Page 4: Safety Instructions

    NOCIO - Cam encoder with IO-Link interface 1 Safety instructions 1.1 Scope This user manual is valid exclusively for the following absolute switching cam encoder with IO-Link interface: • NOCIO79-xxxx-xxxxRxxxxSxxxLxx 1.2 Documentation The following documents must be observed: • The owner's system-specific operating instructions •...

  • Page 5: General Information

    NOCIO - Cam encoder with IO-Link interface 2 General information General functional principle Switching outputs (→ cams) NOCIO is a backlash-free electronic switching cam encoder Thesafetyswitchingoutputsarepotential-freeandgalvanically with up to two galvanically separated safety switching outputs. separated. They are controlled by electronic cams which The NOCIO is a safety device and certified according to IEC can be configured according to the customers application.

  • Page 6: Installation Instructions

    NOCIO - Cam encoder with IO-Link interface 3 Installation instructions 3.1 General For the planning of the cabling and installation please note the "IO-Link Design Guideline, Order No. 10.912" from the IO-Link community (https://io-link.com/en/). 3.2 Electrical connection The NOCIO79 has two connectors M12 A-coded: Connection name connector...

  • Page 7: Status Leds

    NOCIO - Cam encoder with IO-Link interface 3 Installation instructions 3.3 Status LEDs The NOCIO is equipped with one bi-colour device status LED, and up to two LEDs for the relay status (yellow LED for safety contacts, green for non-safety contacts). Relay 1 Device Relay 2...

  • Page 8: System Description

    NOCIO - Cam encoder with IO-Link interface 4 System description 4.1 Principle function diagram of cams and relays NOCIO provides 4 cams. A cam is a software module which compares the input signal (source) with limits which are deposit as a parameter set for each cam. For each different source (e.g. position, speed and acceleration) a set of limits is valid. Therefore these limits have to be adapted to the chosen source.
  • Page 9 NOCIO - Cam encoder with IO-Link interface 4 System description Function The function of the switching outputs is implemented by means of relays. Each relay (safety or non-safety) provides a normally open (NO) contact. It is open when NOCIO is not under power or in the error state (error detected due to internal diagnosis routines).

  • Page 10: Cam Setting For Position Trip

    NOCIO - Cam encoder with IO-Link interface 5 System description 4.2 Cam setting for position trip Cam diagram (for position triggering) First possibility for realising limit switch in CW and CCW direction by using one cam (here cam1). In this case only statusbit 0 (cam1) is used/active. Working area is within low- and high-limit. Alarm area is outside limits TRUE →...
  • Page 11 NOCIO - Cam encoder with IO-Link interface 4 System description Cam diagram (for position triggering - circular presentation) For better understanding in the following presentations the measuring range of position of a rotary encoder (here NOCIO) is displayed as a circle. Due to the fact that after the highest position value of an encoder follows "zero", the scale of posi- tion can be displayed like this.

  • Page 12: Speed And Acceleration Calculation

    NOCIO - Cam encoder with IO-Link interface 4 System description 4.3 Speed and acceleration calculation NOCIO provides the possibility to use the switching output for shaft speed and/or shaft acceleration surveillance. A related limit can be defined for a cam triggering. This function allows to trigger the relay contact (it opens) when the limit is exceeded.
  • Page 13 NOCIO - Cam encoder with IO-Link interface 4 System description Block diagram for speed and acceleration calculation Time schedule Calc. accel. Cam task Relay trip (every 1 ms) Acc. > limit ? time T → with T ~ < → < 3ms →...
  • Page 14 NOCIO - Cam encoder with IO-Link interface 4 System description Acceleration Acceleration Speed multiplier Speed divider Scaling unit S multiplier divider ≤ 65535 ≤ 65535 ≤ 65535 ≤ 65535 [steps/10ms] * (= time base t (= time base t → = T [ms] x f →...
  • Page 15 NOCIO - Cam encoder with IO-Link interface 4 System description The scalings of the page before refer to the rotating speed v of the encoder shaft. When a gear is used with the encoder with a ratio of i = rim / pinion (usually number of teeth rim > number of teeth pinion → i > 1) the speed values can be scaled to the speed of main shaft v by: v / i.
  • Page 16 NOCIO - Cam encoder with IO-Link interface 4 System description Example for speed and acceleration Position calculation In the diagrams on the right side are to see the results of the calculation of speed v acceleration a by means of the position signal P and gate time T and different gate times T = (P...

  • Page 17: Cam Setting For Speed And Acceleration Trip

    NOCIO - Cam encoder with IO-Link interface 4 System description 4.4 Cam setting for speed and acceleration trip Cam diagram (for speed triggering, code path CCW) Absolute speed value for source of cam3 (Cam3 source (1330/01) = 3). Direction of shaft turning is not distinguished. In this case the status bits 2 (Cam3) is used/active.
  • Page 18 NOCIO - Cam encoder with IO-Link interface 4 System description The settings for acceleration trip are the same as for speed trip. Working area is within low- and high-limit of a cam. Alarm area is outside limits (the other way around is possible as well like position trip). When speed and acceleration trip is required simultaneously, a diagram can look like shown below.

  • Page 19: Slewing Ring Functionality

    NOCIO - Cam encoder with IO-Link interface 4 System description 4.5 Slewing ring functionality In some applications it is necessary to get directly the angle of the slewing unit (gear rim). A rotary encoder is coupled via a gear to a toothed gear (pinion) or with a worm gear (rim) / gear units mounted on the worm shaft.

  • Page 20: Block Diagram For Scaling Factors

    NOCIO - Cam encoder with IO-Link interface 4 System description 4.6 Block diagram for scaling factors Date: 16 Mar 2022 Page 20 of 38 Document no. NOC 15597 EE...

  • Page 21: Process Data Exchange

    NOCIO - Cam encoder with IO-Link interface 5 Process data exchange 5.1 Overview Input data: Encoder → Master Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8 Byte 9 Byte 10 Byte 11 Byte 12 Position Speed...

  • Page 22: Acceleration Data Format

    NOCIO - Cam encoder with IO-Link interface 5 Process data exchange 5.2.3 Acceleration data format The acceleration value is the speed difference within the acceleration gate time. The measurement unit is steps per gating time. The gating time (time interval for determining the change of position) is adjustable in the range of 1 - 1000 ms (see chapter 8).

  • Page 23: Output Data

    NOCIO - Cam encoder with IO-Link interface 5 Process data exchange Description IO-Link def. Cam1 limit status. Bit = 1 (TRUE): Low limit ≤ value < high limit. Bit = 0 else. (If cam is not inverted) Cam2 limit status. Bit = 1 (TRUE): Low limit ≤ value < high limit. Bit = 0 else.

  • Page 24: Position Preset

    NOCIO - Cam encoder with IO-Link interface 5 Process data exchange 5.3.2 Position preset To adapt the position of the encoder to the machine position, the encoder can be preset to any value within the measuring range. The preset value can be specified via the Reference position object 0x1100/2 (see chapter The preset is executed by setting bit 3 in the control byte or by using the button Position preset (write 0xA1 to object 0x02/0).

  • Page 25: Setting-Up Operation

    NOCIO - Cam encoder with IO-Link interface 6 Setting-up operation This documentation is based on the Lumberg LioN-P PROFINET IO-Link Master, with IO-Link Control Tool V5.1 and TIA Portal V16. 6.1 Prerequisites The PLC project is set up and the master is installed via its GSD file in the Profinet of the PLC. 6.2 Inserting the NOCIO Open the master module in the device view and open the tree of the available submoduls in the hardware cata- logue.

  • Page 26: Changing Parameters

    NOCIO - Cam encoder with IO-Link interface 6 Setting-up operation 6.3 Changing parameters To setup the encoder and cam switch parameter you have to use a IO-Link Device Tool. This tool allows you to install the IO-Link Device Description file (IODD) for every device connected to the master and to setup the device specific parameter.
  • Page 27 NOCIO - Cam encoder with IO-Link interface 6 Setting-up operation If you are connected to the Profinet you can now search the master. When the master is found, the masters configuration window will appear: Now every device which is in the hardware catalogue can be inserted via drag and drop into the ports Date: 16 Mar 2022 Page 27 of 38 Document no.
  • Page 28 NOCIO - Cam encoder with IO-Link interface 6 Setting-up operation Via a double click on the module you have access to the NOCIO information and parameter: After changing one of the parameter you have to download the new configuration via the download button on the top.

  • Page 29: Encoder And Cam Parameters

    NOCIO - Cam encoder with IO-Link interface 7 Encoder and cam parameters This chapter describes how the parametes of the NOCIO can be adjusted. Before changing parameters, ensure that the overall system is in a safe state and deactivation and adjustment of NOCIO functions can be done without danger for personnel and equipment .
  • Page 30 NOCIO - Cam encoder with IO-Link interface 7 Encoder and cam parameter Interdependence of Process data End of Pos. / Speed / Acc. = 0 Parameterization / Valid flags / Process-Data Parameterization Status-byte 1 = 0 Status-byte 2 = significant 1100/xx Parameterization Valid Flag...
  • Page 31 NOCIO - Cam encoder with IO-Link interface 7 Encoder and cam parameter Parameter Value range Parameter description (object/sub) - access (data length / default) Provides adjustment / calibration of speed value output (e.g. [steps/10 ms], [0,1 °/s], [1 °/s], [rad/s]) disregarding the resolu- Speed multiplier (sm) 1 ...
  • Page 32 NOCIO - Cam encoder with IO-Link interface 7 Encoder and cam parameter Parameter Value range Parameter description (object/sub) - access (data length / default) When parameters of objects 1100/xx shall be modified, cam Safety config. valid flag 0 / 0xA5 valid flag has to be set to 0 first.
  • Page 33 NOCIO - Cam encoder with IO-Link interface 7 Encoder and cam parameter Parameter Value range Parameter description (object/sub) - access (data length / default) Enables or disables cam1 condition change due to exceeding Cam1 enable 0 ... 1 limits (0 = cam disabled, 1 = cam enabled). A disabled cam is (0x1310/05) - rw (1 / 1) always FALSE even it is inverted.
  • Page 34 NOCIO - Cam encoder with IO-Link interface 7 Encoder and cam parameter Parameter Value range Parameter description (object/sub) - access (data length / default) Resets relay to condition TRUE when acknowledgement Relay1 acknowledge function is activated via "relay acknow. config" and all related 0 ...
  • Page 35 NOCIO - Cam encoder with IO-Link interface 7 Encoder and cam parameter Parameter Value range Parameter description (default) (object/sub) - access (data length: octet) Vendor ID 2 octets 0x0159 (0x00) - read only (ro) 0x00 xxxx Device ID (00 = Serial device, 01 = Prototype, xxxx →...

  • Page 36: Diagnosis Overview

    NOCIO - Cam encoder with IO-Link interface 8 Diagnosis overview 8.1 Error types Encoder errors are indicated by a red device LED (see data sheet 15893 for status LEDs description). There are two different error modes with different behaviour of the device. 8.1.1 Device error Examples: relay error, supply voltage error, internal sensor system error): •...

  • Page 37: Led Flashing Code

    NOCIO - Cam encoder with IO-Link interface 8 Diagnosis overview The error bit recorded in case of an encoder fault is associated with the following sources: Error source Error source bit Sensor chip error 0x80 Supply voltage/current error 0x40 CRC Error (EEPROM, FLASH) 0x20 Cam error 0x10...

  • Page 38: Appendix

    NOCIO - Cam encoder with IO-Link interface Appendix A.1 Calculation of the cam and encoder checksums The program SafetyCRC is a universal CRC calculation program for different types of devices. Use Version 2.0.7 or higher for calculating NOCIO CRC checksums. The latest program version can be obtained from the TWK webpage via www.twk.de/files/CRC-Calculator20.zip.

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