Baumer N 142 User Manual

Operating instructions

Interface Description
N 142 Spindle Positioning Display (SPA)
Software 01 Version 3.20 and up

Contents Page

1. General information 2

1.1. Safety precautions 2

1.2. SPA description and explanation 3

2. Terminal assignment 4

3. Interface 6

3.1. Interface data 6

3.2. Protocol 6

3.3. Redundancy check (CRC byte) 6

3.4. Broadcast commands 7

3.5. Data saving 7

3.6. Transmitting and reading negative values 7

3.7. Transmitting and reading position values (decimal point) 7

4. Command explanations 8

4.1. General information 8

4.2. Operating parameters 8

4.3. Parameter commands 15

4.4. Identifier (address) commands 25

4.5. Specific commands 27

4.6. CRC error 29

4.7. Format error 29

5. Overview on commands 29

6. Error warnings 30

7. Technical data 31

7.1. Dimensions 32

8. Part number 32

Baumer IVO GmbH & Co. KG 05.11

Dauchinger Strasse 58-62 • DE-78056 Villingen-Schwenningen Subject to modification
Phone [phone] • Fax [phone] in technic and design.
www.baumer.com • [e-mail]

• 171.02.292/10

N 142

1. General information

1.1. Safety precautions

General remarks

The equipment is designed and assembled according to the prevailing regulations of technology. The
equipment left the manufacturer in perfect working order and in line with all safety-relevant conditions. To
maintain this status of the equipment, it is imperative to stick to the following when installing and using the
device:

- use only according to the intended purpose,

- observation of any precautions regarding safety and hazards,

- observe the present manual and especially the relevant safety precautions!

Make sure that the operating manual and especially the chapter describing the safety precautions is read and
well understood by the staff in charge. Supplementary to the operating instructions, ad other generally or legally
relevant regulations regarding accident prevention and environmental care are to be considered and observed.
This manual is a supplement to already existing documentation (product information, mounting instructions,
catalogues).

Intended purpose of the equipment

Intended purpose of the equipment is industrial process monitoring and control in metal, wood, plastic, paper,
glass and textile etc. industry.
It is imperative that the equipment is applied only

- in properly installed condition and

- in line with the relevant technical data !

Any operation outside the technical specifications/parameters is improper use and in conjunction
with the equipment/processes/machines to be monitored/controlled might lead to

- fatal injuries

- serious damage to health,

- damage to property or corporate equipment or

- damage to the device!

Any overvoltage the device might be exposed to at its connecting terminals has to be limited to the values
stipulated in overvoltage category II (see technical data).

The device must not be operated

- in hazardous areas where is danger of explosion,

- as medical equipment or in medical areas,

- or in any applications expressly named in EN 61010!

If the device is utilized for control/monitoring of machines or processes where as the result of a
failure/malfunction or incorrect operation of the device might occur

- any threats to life,

- risks of damage to health or

- any risk of damage to property or environment
The corresponding appropriate safety precautions must be taken!

Do not open the housing of the device or proceed any modifications! Tampering with the device can affect
operating safety and result in danger!
Do not proceed any repairs but return defective devices to the manufacturer!

Installation/Commissioning

In case of any extraordinary incidents (including in the operating behaviour) that impair safety switch off the
device immediately.
Installation must be carried out by suitably trained experts only. After proper mounting and installation the
device is ready for operation

Maintenance/repairs

Always disconnect the power supply of all appliances involved. Maintenance and repair work must only be
carried out by suitably trained experts.
If troubleshooting is unsuccessful, do not continue using the device but contact the manufacturer.

.

www.baumer.com 2

N 142

1.2. SPA description and explanation

Mounting the spindle position display (SPA) is by docking the hollow shaft to the end of the spindle shaft. The
hollow shaft is fixed by hexagon screw to the spindle shaft and secured by power grip.
This way, the SPA is mounted over-hung and secured against torsion at rear of the housing by the attached
spreader pin. The spindle position display features an absolute multiturn sensing system allowing to capture the
position after several turns of the spindle even in powerless status. The position data will be retained even in
case of power failure (min. 10 years).
The current position value is displayed in the two-line backlit LCD display (2x 6 digits, numeric). Simultaneously,
in the same display the target transmitted by the control (master) is indicated. Two arrows show the editing
engineer the direction the spindle is to be turned in order to align the current value with the target. As soon as
the current value equals the target and is within the allowable tolerance, the target will disappear.
The SPAs are networked by cable cut to length providing male and mating connector. Power supply for all
connected SPAs is by the same cable.

Upper line of the display “target“

Arrows indicating the direction of rotation for target/current value alignment

Bottom line of the display „current value“

N 142 enables motor connection using the 12-core cable. Two softkeys on the
keypad serve for manual motor trigger. Automatic motor trigger by master is also
possible by separate motor supply.

www.baumer.com 3

2. Terminal assignment

Spindle position display

Pin Assignment Core colour DIN47100

Pin 1 Sensor supply +24 V yellow red

Pin 2 Sensor supply 0 V green black

Pin 3 -- -- --

Pin 4 Tx/Rx+, RS485 brown brown

Pin 5 Tx/Rx-, RS485 white orange

Male connector M16 Female connector M16

3

4

2

1

5

Terminal assignment of motor connection to N142 SPA

SPA N142 is connected to motor using the 12-pin female connector.

Pin Assignment Significance Core colour

Pin A -- -- --

Pin B IN 1 motor ccw yellow

Pin C IN 2 motor cw blue

Pin D IN 4* speed green

Pin E +24 V -- red

Pin F external softkey 1 softkey position orange

Pin G external softkey 2 softkey position violet

Pin H -- n.c. --

Pin J -- n.c. --

Pin K OUT 3 error signal white

Pin L IN 3* speed brown

Pin M GND GND black

IN 3* IN 4* Rotation speed rpm. Dunker
1 0 slow 200
0 1 average -­1 1 fast 3600

IEC757

B

A

L

C

D

M

E

F

3

2

1

4

5

K

J
H

G

N 142

www.baumer.com 4

Connecting the motor supply

Motor supply is by the 8-pin connector provided at the motor.

Pin Assignment Significance Core colour

Pin 1 Ue + 24 V motor supply red

Pin 2 GND 0 V reference ground for Ue blue

6

1

Pin 3 OUT ccw start ccw run white

Pin 4 IN ccw start ccw run brown

Pin 5 OUT clockwise start cw run green

Pin 6 IN clockwise start cw run yellow

Pin 7 Enable logic +24 V grey

Pin 8 n.c. n.c. pink

Switching diagram

Versorgung

Freigabe

Linkslauf

Freigabe

Rechtslauf

Enable

Klemmung

1

24 V

2

0 V

3

IN 1 Ausgang

4

IN 1 Eingang

5

IN 2 Ausgang

6

IN 2 Eingang

7

(Logik 24 V)

8

Motor – BG650

M

OUT 1

IN 1 (links)
IN 2 (rechts)
IN 4 (speed)

AI- (0...10 V)

AI+ (0...10 V)

OUT 3 (fault)

IN 3 (speed)

24 V

n.c.
n.c.

0 V

A
B
C
D
E
F
G
H
J
K
L
M

Error

Linkslauf
Rechtslauf
Drehzahl
intern nicht beschaltet
Taste 1 extern
Taste 2 extern
nicht belegt
nicht belegt
Motorstörung
Drehzahl
GND

Connect power supply that is free from interference emission. The supply must not be used as
parallel supply of drives, shields, magnetic valves, etc.
Apply DC according to the terminal assignment
Power supply: 24 VDC ±10 %

7

8

3

5

4

2

SPA – N 142

N 142

Shield

Use shielded cables only. Ground of the shield must be provided at the machine.
(two examples corresponding to the cable applied, see drawings).

Abschirmungsanschluss

www.baumer.com 5

N 142

3. Interface

3.1. Interface data

Type: RS485

Baudrate: 19200

Parity: no

Data bits: 8

Stop bits: 1

Handshake: no

Redundancy check: yes (CRC)

Timeout reply*: 0,1...60 ms

BUS switching time**: <0,1 ms

3.2. Protocol

The spindle position display operates with ASCII protocol (clear text protocol). Depending on the command, the
protocol data package varies between 5 and 17 bytes.

Byte Hex-Code Significance Parameters

1 01H SOH = start of heading permanent on 01h
2 XXh Adr = address 00...31dez + 20h Offset (address 00 = 20h)
3 XXh Cmd = command specific commands

4-n [XXh..XXh] [Data] = data 20h-7Fh
n+1 04h EOT = end of transmission permanent 04h
n+2 XXh CRC = cyclic redundancy check 00h...FFh

3.3. Redundancy check (CRC byte)

For optimized error-free data transmission the CRC byte is added after the footer token (EOT, end of
transmission) to the string to be transferred. Upon receiving a command the CRC byte transmitted is
crosschecked with the auto-calculated CRC byte.

Algorithm:

1) Reset CRC byte.

2) Rotate CRC byte by 1 bit to the left.

3) Link result to first data byte XOR.

4) Rotate result by 1 bit to the left.

5) Link result to the second data byte XOR.
:
x) Rotate result by 1 bit to the left.
y) Link result to the last data byte (ever 04H) XOR.
z) Add result as CRC after the footer token (04H) to the transmitted string.

Note:

Example:

String less CRC = 01h 20h 43h 04h
CRC-Byte = 0Ah

0000 0000 RL 0000 0000 XOR 0000 0001 (01h) = 0000 0001

0000 0001 RL 0000 0010 XOR 0010 0000 (20h) = 0010 0010

0010 0010 RL 0100 0100 XOR 0100 0011 (43h) = 0000 0111

0000 0111 RL 0000 1110 XOR 0000 0100 (04h) =

Legend: RL = rotate left; XOR = antivalence link

1101 0000 RL 1010 0001 Important: Bit 7 is shifted in bit 0 during rotation

* To avoid bus collisions a minimum timeout reply of 1 ms (default parameter)

is to be kept, i.e. the time elapsed between transmitting the last bit of the
query until start transmitting the 1st bit of the SPA response.
The operator should see that due to the minimized timeout reply of 1 ms
the bus switching time after having transmitted the last bit must not exceed
1 ms.
The default parameter of 1 ms can optionally be altered by serial interface
in steps of 0,1 ms within the range of 0,1 ... 60 ms. Refer to command „x“
(78h).

** The BUS switching time is the time the SPA requires to be ready again for

reception after having replied to the host

0000 1010

= CRC

www.baumer.com 6

N 142

3.4. Broadcast commands

Some specific commands are designated so-called broadcast commands. As soon as the master broadcasts a
command to identifier 99, the command is addressed to all N 142 in the network. Every individual spindle
position display will accomplish the respective command but will not respond any confirmation to master.

3.5. Data saving

Specific parameters are saved in EEPROM (1.000.000 writing cycles). Data saving is via interface upon every
parameter transmission to the SPA.

Important:

These parameters should not be transmitted to SPA cyclic but only if necessary, for example in case of any
parameter alteration. The relevant parameters that are saved in EEPROM are listed in the charts in chapter
“Command explanations” or “Overview on commands”.

3.6. Transmitting and reading negative values

The minus sign (2DHex) is always transmitted by digit 6 of the data field.
Example: Taking for granted a negative target of –1,5 and a programmed resolution of 1/10, the transmitted
value is –00015.

3.7. Transmitting and reading position values (decimal point)

Position values as for example target (command „S“), offset (command „U“) or end positions (command “g”) are
generally transmitted and read without decimal point. The visualization on the display corresponds to the format
in the data field of the interface command.

Example 1: target = 278.50; actual value = 1.00 Display

SOH Adr Cmd Profil-Nr=17

01h 20h 53h 31h 37h

Sollwert = 278,50

30h 32h 37h 38h 35h 30h

EOT CRC

04h 29h

2 7 8.5 0

1.0 0

www.baumer.com 7

4. Command explanations

4.1. General information

The following is describing the individual interface commands broken down into the four groups below:

- operating commands [ commands required during operation ]

- parameter commands [ commands for SPA parameterization ]

- identifier commands [ commands to indicate or alter the device identifier (address)]

- specific commands [ commands for specific functions as device reset or version number readout]

The following abbreviations are applied:

SOH = Start of heading (header token)
EOT = End of transmission (footer token)
Adr = Device address, including offset 20h
Cmd = Command
SCmd = Sub command
Data = data transmitted or received
CRC = Cyclic redundancy check

4.2. Operating parameters

Command Data amount

in bytes

C (43h) 3 / 11 X - - - Check if current value = target
D (44h) 1 X X X - Start motor
F (46h) 4 X - - - Readout device status and error
R (52h) 6 X - - - Read current value
S (53h) 8 X X - X Read/write target
U (55h) 6 X X - - Offset
V (56h) 2 X X X X Read/write profile number
Z (5Ah) 6 X X X X Set preset

t (74h) 6 - X - - Transmit tool number

u (75h) 6 - X - - Transmit any optional number sequence

read write Broad-

cast

Save in

EEPROM

Significance

N 142

www.baumer.com 8

N 142

4.2.1. Check Position, command „C“ (43h)

This command provides the alignment status of target versus current value. If the current value is within the
target tolerance window, the response will be „o“ (6Fh) for OK together with the current profile number. If the
current value is outside the tolerances, „x“ (78H) followed by the current profile number will be replied. In case
of any error occurred at the SPA the response will be “e” together with the current profile number.

Example: (active profile number = 05)

Transmission

Response if current value within tolerance window: (Status = 6Fh = „o“)

Response

Response in case of current value outside the tolerance window: (Status = 78h = „x“)

Response

SOH Adr Cmd EOT CRC

01h 20h 43h 04h 0Ah

SOH Adr Cmd Stat. Profile no.=05EOT CRC

01h 20h 43h

SOH Adr Cmd Stat. Profile no.=05EOT CRC

01h 20h 43h

6Fh 30h 35h

78h 30h 35h

04h A5h

04h 1D

Following status parameters are possible:

Status Significance
o (6Fh) Current value = target
x (78h) Current value ≠ target
e (65h) SPA error

Extended command Check Position „CX“

The extended command „Check Position CX “provides besides the alignment status target versus current value
also the contents of the status and error register as well as the current value. The profile number is not
transmitted.
For the relevant status parameters refer to the table above, the significance of the individual bits in the status
and error register is explained under command readout device status „F“.

Example:

Transmission

Response

SOH Adr Cmd

01h 20h 43h 58h 04h A8h

SOH Adr Cmd Stat. Status-Reg Error-Reg Curent value = -12,50 EOT CRC

01h 20h 43h

SCmd

EOT CRC

6Fh 80h 80h 80h 80h 2Dh 30h 31h 32h 35h 30h

04h B7h

4.2.2. Read parameter start motor, command „D“ (44h)

This command is utilized to read the current SPA status parameter respectively to program or delete the motor
start parameter.
The following modes are available:

Status Significance

0 (30h) abort start, motor stop
1 (31h) start SPAs of group 1
2 (32h) start SPAs of group 2
3 (33h) start SPAs of group 3

Start is also released by broadcast command (identifier = 99) to all SPAs at the same time. Refer to example 3.

: : :

www.baumer.com 9

N 142

Example 1: Readout current status (Status = 0 = not released)

Transmission

Response

Example 2: Start a specific motor

Transmission

Response

SOH Adr Cmd EOT CRC

01h 20h 44h 04h 04h

SOH Adr Cmd Stat. EOT CRC

01h 20h 44h

SOH Adr Cmd Stat. EOT CRC

01h 20h 44h

SOH Adr Cmd Stat. EOT CRC

01h 20h 44h

30h

31h

31h

04h 64h

04h 66h

04h 66h

Example 3: Start all motors by broadcast command (identifier = 99)

Transmission

Response Not confirmed

SOH Adr Cmd Stat. EOT CRC

01h 83h 44h

31h

04h 7Bh

Motor holding torque off / on, command „DB“ (44h, 42h)

Prior to utilizing the “DB” command to disable / enable the holding torque it must be activated first in command
„m“ since otherwise command „DB“ remains ineffective.
Holding torque always enable means that only motive shaft positioning operations are possible - either by aid of
the two keys provided or by a corresponding command via interface. The holding torque is automatically
disabled as soon as the motor is getting a start command and will later automatically be re-enabled. Manual
positioning operations by hand cranks etc require disabling the holding torque first by command “DB”.

Following modes are available:

Status Function

0 (30h) holding torque disable
1 (31h) holding torque enable

Example 1: Read out current status (status = 0 : without holding torque)

transmitted

response

SOH Adr Cmd

01h 20h 44h 42h 04h 80h

SOH Adr Cmd

01h 20h 44h 42h

SCmd

EOT CRC

SCmd

Stat. EOT CRC

30h

04h 6Dh

Example 2: Disable holding torque (status = 0 : unblock holding torque)

transmitted

response

SOH Adr Cmd

01h 20h 44h 42h

SOH Adr Cmd

01h 20h 44h 42h

SCmd

Stat. EOT CRC

30h

SCmd

Stat. EOT CRC

30h

04h 6Dh

04h 6Dh

Example 3: Disable holding torque for all motors by broadcast-command (ID=99)

transmitted

response not confirmed

SOH Adr Cmd

01h 83h 44h 42h

SCmd

Stat. EOT CRC

30h

04h 57h

Note: If the holding torque is enabled (command „m“), clamping will always be activated upon power on, reason
why holding torque OFF by command „DB0“ remains only effective whilst device is under power supply.

www.baumer.com 10