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.

.

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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.

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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

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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

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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

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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

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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

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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.

: : :

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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.

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4.2.3. Readout device status, command „F“ (46h)

This command provides the device statii Stat1, Stat2 together with error flags Err1, Err2. In case of error check
command “C” will come with an “e” in reply.

Example:

Transmission

Response

Stat1: 1 0 0 0 0 0 0 0
┬ ──────┬──────

│ └──────── reserved
└──────────────── ever 1

Stat2: 1 0 0 0 0 0 X X
┬ ────┬──── ┬ ┬

│ │ │ └── 1 = Motor is running (Moving Bit). The bit is set with running motor

│ │ └──── 1 = Manual SPA abort. Bit is set upon actuating one of SPA keys during

│ └────────── reserved
└──────────────── ever 1

Err1: 1 0 0 0 0 0 0 0
┬ ──┬── ┬ ┬ ┬

│ │ │ │ │ └── 1 = Err 8 - target > limit MAX (no motor start)
│ │ │
│ │ │ └────── reserved
│ │ └──────── reserved
│ └──────────── reserved
└──────────────── ever 1

Err2: 1 0 0 0 0 X X X
┬ ┬ ┬ ┬ ┬ ┬ ┬ ┬

│ │ │ │ │ │ │ └── 1 = Err 1 – hurt limit MAX
│ │ │ │ │ │ └──── 1 = Err 2 – hurt limit MIN
│ │ │ │ │ └────── 1 = Err 3 – no shaft rotation
│ │ │ │ └──────── 1 = Err 4 – motor failure (overload current)
│ │ │ └────────── 1 = Err 5 – target window not achieved
│ │ └──────────── 1 = Err 6 – trailing error
│ └──────────────
└──────────────── ever 1

SOH Adr Cmd EOT CRC

01h 20h 46h 04h 00h

SOH Adr Cmd Stat1 Stat2 Err1 Err2 EOT CRC

01h 20h 46h

80h 80h 80h 80h

04h 4Bh

and during loop interval.

With active clipped connections the bit will remain set as
│ long as the connections are open.

an automated positioning operation.

│ └──── 1 = Err 9 - target < limit MIN (no motor start)

reserved

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4.2.4. Read current value, command „R“ (52h)

This command is for readout the 6-digit current value (bottom display line). The amount of data is always 6
bytes. In case of a negative value, the “-“ sign (2Dh) together with 5 data bytes is replied. Positive values are
represented by 6 data bytes without sign. Values of less than 6 (5) digits will come with preceding zeroes.

Example: Current value = -32,50

Transmission

Response

SOH Adr Cmd EOT CRC

01h 20h 52h 04h 28h

SOH Adr Cmd Current value = –32,50 EOT CRC

01h 20h 52h

2Dh 30h 33h 32h 35h 30h

04h 54h

4.2.5. Read / write target (profile), command „S“ (53h)

This command is for readout the presently active target or for programming respectively reading a specific
target. The data are composed of profile number (2 bytes) and target (6 bytes). Important: Negative targets
come by 5 digits only (see example no. 3).

Example 1: Read target of the active profile (current profile number = 12; target = 12,50)

Transmission

Response

Response upon deletion of all targets:

Response

Example 2: Read target of a specific profile (profile number = 17; target = 12,50)

Transmission

Response

Example 3: Write target of a specific profile (profile number = 17; target = -12,50)

Transmission

SOH Adr Cmd EOT CRC

01h 20h 53h 04h 2A

SOH Adr Cmd Profile no.=12 Target = 12,50 EOT CRC

01h 20h 53h

SOH Adr Cmd Profile=FFh Target = FFFFFFh EOT CRC

01h 20h 53h

SOH Adr Cmd Profile no=17 EOT CRC

01h 20h 53h

SOH Adr Cmd Profile no=17 Target = 12,50 EOT CRC

01h 20h 53h

SOH Adr Cmd Profile no.=17 Target = -12,50 EOT CRC

01h 20h 53h

31h 32 30h 30h 31h 32h 35h 30h

3Fh 3F 3Fh 3Fh 3Fh 3Fh 3Fh 3Fh

31h 37h

31h 37h 30h 30h 31h 32h 35h 30h

31h 37h 2Dh 30h 31h 32h 35h 30h

04h 16h

04h 3E

04h 2Ah

04h BCh

04h FBh

Response

SOH Adr Cmd Profile =17 Target = -12,50 EOT CRC

01h 20h 53h

31h 37h 2Dh 30h 31h 32h 35h 30h

04h FBh

Direct positioning „SD“

This command may be utilized for direct positioning operations. Only the target less any profile number is
transmitted to SPA. The profile number after the command “S” is replaced by sub command “D” (0 =
dimension). Motor start requires transmission of the additional motor start command “D”.

Example 4: Write position value for direct positioning (less profile)

Transmission

Response

SOH Adr Cmd Sub Position value = 278,25 EOT CRC

01h 20h 53h

SOH Adr Cmd Sub Position value = 278,25 EOT CRC

01h 20h 53h

44h 30h 32h 37h 38h 32h 35h

44h 30h 32h 37h 38h 32h 35h

04h 6Bh

04h 6Bh

Note: The position value is saved in the non-volatile memory and will be retained in case of power failure. In this
case the previously selected profile will be utilized again.

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4.2.6. Read / write profile number, command „V“ (56h)

This command is for readout the number of the presently active profile respectively for profile alteration.

Example 1: Read active profile (active profile number = 38)

Transmission

SOH Adr Cmd EOT CRC

01h 20h 56h 04h 20h

SOH Adr Cmd Profile no=38 EOT CRC

Response

Response after reset upon deletion of all profiles:

01h 20h 56h

33h 38h

04h 28h

SOH Adr Cmd Profile no=FF EOT CRC

Response

01h 20h 56h

3Fh 3Fh

04h 16h

Example 2: Transmit new profile (new profile number = 17)

SOH Adr Cmd Profile no=17 EOT CRC

Transmission

01h 20h 56h

31h 37h

04h 3E

SOH Adr Cmd Profile no=17 EOT CRC

Response

01h 20h 56h

31h 37h

04h 3E

Example 3: Transmit new profile by broadcast to all SPAs (identifier = 99 (83h); new profile number = 17)

SOH Adr Cmd Profile no=17 EOT CRC

Transmission

01h 83h 56h

31h 37h

04h 04

Response Not confirmed

To check whether the new profile has been accepted by SPAs utilize check command „C“ (43h).

4.2.7. Read / write offset, command „U“ (55h)

This command is to read or write the offset that is added to the true current value. First however the function
must be enabled in command bit parameter ‚a’ (61h).

Example 1: Read offset

Transmission

Example 2: Write offset

Transmission

Response in both examples:

Response

SOH Adr Cmd EOT CRC

01h 20h 55h 04h 26h

SOH Adr Cmd Data (offset = –20,00) EOT CRC

01h 20h 55h

2Dh 30h 32h 30h 30h 30h

04h C3h

SOH Adr Cmd Data (offset = –20,00) EOT CRC

01h 20h 55h

2Dh 30h 32h 30h 30h 30h

04h C3h

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4.2.8. Align current value with preset, command „Z“ (5Ah)

The Z command is for setting the current value to any optional position. The required position value is
transmitted to the SPA. The SPA will calculate a so-called “preset offset” -value relating to the true absolute
sensor position. When calculating the preset offset any programmed offset transmitted by command “U” will be
considered, so that after having accomplished the “Z” command the current value always equals the preset.

Note: For technical reasons there is no preset offset scaling what might result in misalignments due to rounding
operations. In this case, the current value displayed is by 1 LSB inferior or superior to the programmed preset
value.

The current value displayed is composed as follows:

Current value

Current value
Current value

current value display and readout by interface

Anz

internal absolute current value.

Abs

= current value

Anz

+ Preset offset + Offset

Abs

Preset offset Offset generated by command „Z“.
Offset Additional offset defined by command „U“. This function however must be enabled in

command bit parameter ‚a’ (61h), otherwise offset = 0.

Example 1: Readout the currently active preset

Transmission

Response

SOH Adr Cmd EOT CRC

01h 20h 5Ah 04h 38h

SOH Adr Cmd Preset = 2,50 EOT CRC

01h 20h 5Ah

30h 30h 30h 32h 35h 30h

04h 27h

Example 2: Align actual value with preset (preset = 17,25)

Transmission

Response

SOH Adr Cmd Preset = 17,25 EOT CRC

01h 20h 5Ah

SOH Adr Cmd Preset = 17,25 EOT CRC

01h 20h 5Ah

30h 30h 31h 37h 32h 35h

30h 30h 31h 37h 32h 35h

04h 09h

04h 09h

Example 3: Align actual value to preset by broadcast at all SPA´s

Transmission

Response Not confirmed

SOH Adr Cmd Preset = 17,25 EOT CRC

01h 83h 5Ah

30h 30h 31h 37h 32h 35h

04h AAh

4.2.9. Readout any optional number sequence in the upper line of display,
command „t“ (74h)

This command is for indicating a 6-digit number sequence in the upper line of the display. The sequence is
indicated without dot respectively comma. Preceding zeroes as well as both direction arrows are suppressed.
The bottom display line still indicates the current value.
The number is displayed until any command except „t“, „u“ or „R“ is received by interface. The number will be
retained after power failure.

Example: (number sequence = 654321)

Transmission

Response

SOH Adr Cmd Number sequence = 654321 EOT CRC

01h 20h 74h

SOH Adr Cmd Number sequence = 654321 EOT CRC

01h 20h 74h

36h 35h 34h 33h 32h 31h

36h 35h 34h 33h 32h 31h

04h 47h

04h 47h

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4.2.10. Readout any optional number sequence in the bottom line of display,
command „u“ (75h)

The command is for indicating a 6-digit number in the bottom line. The number is displayed without dot
respectively comma. Preceding zeroes as well as both direction arrows are suppressed. The upper line still
indicates the current target or number sequence.
The number sequence is displayed until any optional command except „t“, „u“ or „R“ is received by the interface.
The number will be retained after power failure.

Example: (number sequence = 123456)

Transmission

Response

SOH Adr Cmd Number sequence = 123456 EOT CRC

01h 20h 75h

SOH Adr Cmd Number sequence = 123456 EOT CRC

01h 20h 75h

31h 32h 33h 34h 35h 36h

31h 32h 33h 34h 35h 36h

04h BCh

04h BCh

Important:

Command “t” in conjunction with command “u” enables displaying a 12-digit number.
Both numbers are not saved in EEPROM.

4.3. Parameter commands

Command Amount of data

in Bytes

a (61h) 5 X X - X Read / write general parameters
b (62h) 8 X X - X Parameter: Tolerance compensation, window

c (63h) 8 X X - X Parameter: Scaling spindle pitch
g (67h) 12 X X - X Parameter: Limits MIN, MAX
h (68h) 12 X X - X Parameter: Switching points for motor speed.

i (69h) 1 X X X X Parameter: mm / inch
j (69h) 3 X X X X Parameter: Timeout for bus error

k (6Bh) 9 X X - X Parameter: Motor system cycles

l (6Ch) 5 X X - X Parameter: Jog

m (6Dh) 5 X X - X Read / write general parameters

x (78h) 5 X X - X Read / write specific parameters

read write Broad-

cast

Saved in

EEPROM

Significance

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4.3.1. Read / write bit parameter standard, command „a“ (61h)

To exploit maximum memory capacity, several parameters are put together and transferred as “data pack”
under the following parameter codes:

Data1: 1 0 X X 0 X 0 X
┬ ──┬── ─┬─ ─┬─
│ │ │ └─── positioning direction 0/1 (UP/DOWN)
│ │ └─────── counting direction 0/1 (UP/DOWN)
│ └──────────── arrows 0/1/2/3 (UP/DOWN/UNI/OFF)
└──────────────── 1

Data2: 1 0 0 X 0 X 0 X
┬ ┬ ─┬─ ─┬─ ─┬─
│ │ │ │ └─── rounding the current value 0/1 (OFF/ON)
│ │ │ └─────── turn display 0/1 (OFF/ON)
│ │ └─────────── Offset 0/1/2 (OFF/SER/S+K)
│ └────────────── reserved
└──────────────── 1

Data3: 1 0 0 X X 0 X X
┬ ┬ ──┬── ┬ ─┬─
│ │ │
│ │ │ └────── reserved
│ │ └────────── external inputs 0/1/2/3 (Key/Slow/Middle/Fast)
│ └────────────── reserved
└──────────────── 1

Data4/5: 0 0 1 1 0 0 0 0 0 0 1 1 0 0 0 0
───────┬─────── ───────┬───────
│ └──────── reserved
└─────────────────────────── reserved

Important: Only the bits marked ‘X’ may be altered. The permanent parameters „1“ and „0“ must not be altered
since this might create a control token ( tokens < 20h) what is not permitted in ASCII protocol.

Example 1: Read bit parameter (Data 1 to Data 3 = 80h; Data 4 to Data 5 = 30h)

Transmission

Response

Example 2: Write bit parameter (positioning direction = down; turn display = On)

Transmission

Response

SOH Adr Cmd EOT CRC

01h 20h 61h 04h 4E

SOH Adr Cmd Data1 Data2 Data3Data4 Data5 EOT CRC

01h 20h 61h

SOH Adr Cmd Data1 Data2 Data3 Data4 Data5 EOT CRC

01h 20h 61h

SOH Adr Cmd Data1 Data2 Data3 Data4 Data5 EOT CRC

01h 20h 61h

│ └─── hide target 0/1/2 (ON/OFF/EVER)

Bit parameter default

80h 80h 80h 30h 30h

04h F1

81h 84h 80h 30h 30h

81h 84h 80h 30h 30h

04h 91h

04h 91h

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Significance of parameter „a“

Positioning direction

This parameter defines in which direction the target is headed for. Compensating tolerances, for example at
cogwheels, joints, shafts etc during a precise positioning operation requires a tolerance compensation. The
tolerance compensation is proceeded by heading for the target position always from the same direction by so­called loops. Loops mean that the target position is first crossed by a defined distance and then headed for again
from the opposite direction. The parameter for the crossing distance is programmed by command “b”. Whether a
loop is required or not can be seen from the direction arrows on the display. A flashing arrow means a tolerance
compensation is required. Upon reaching the turning point the direction changes and the arrow stops flashing. A
target enabling direct positioning is marked by a non-flashing arrow. Upon reaching the target within the
programmed tolerances (see command “b”) the arrows will not disappear until the required tolerance
compensation was completed.

00 = Up Direct positioning if target position > current position; otherwise proceed tolerance compensation
01 = Down Direct positioning if target position < current position; otherwise proceed tolerance compensation

Counting mode
This parameter assigns either „ascending“ or „descending” counted values in relation to the shaft’s direction of
rotation. Following parameters are available:
00 = Up Clockwise rotation, ascending counted values
01 = Down Clockwise rotation, descending counted values

Arrows
This parameter relates to the arrows in the display that show the operator the direction (to the right or to the left)
of the new positioning operation. Following parameters are available:

00 = Up If current value < target = arrow to the right; current value > target = arrow to the left
01 = Down As „Up“, but inverted direction of the arrows
10 = Uni If current value ≠ target indicate both arrows
11 = Off Arrows ever hidden

Note: A loop operation (for backlash compensation) is only performed with settings Up and Down. Uni and Off
always implicate a direct movement to the target without backlash compensation.

Rounding the current value
This means that the current value being within the tolerances but still differing from the target is rounded up or
down to the target value as soon as the shaft remains idle for approx. 3 seconds. The rounding operation is only
visual, the true internal current value remains unchanged. For current value readout by serial interface (command
“R”) the true, not rounded current position value is provided. The true current value will immediately reappear on
the display upon actuating a key. If the position is still within the tolerance window the rounding operation will be
repeated after 3 seconds.
Note: In operating mode „Hide target = Ever“ the target is deactivated and the SPA serves as a pure current
value display with disabled rounding function. The following parameters are available:

0 = Off Rounding the current value disabled
1 = On Rounding the current value enabled

Turn display
This parameter turns the display by 180°.

0 = Off Display readout with standard mounting, i.e. display above keypad
1 = On Display readout with inverted mounting, i.e. display below keypad

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Offset

Command „U“ is for programming the offset that is added to the current value and current target. This parameter
defines whether the offset is considered in the calculation.
Parameter 2 means optional manual offset alteration directly at the device itself. Press both softkeys at the same
time and proceed offset alteration by turning the shaft. Press the softkeys anew to quit. The bottom line shows
the unchanged current value again. The value alteration emerging from the shaft turn has been assigned to the
offset.

0 = Off Offset disabled. The previous offset transmitted - if any - is neither added to current value nor

target.

1 = SER Offset enabled. Offset is added to the actual current value.

Offset alteration by serial interface

2 = S+K Offset enabled. The offset is added to the respective current value.

Offset alteration either by serial interface or manually at the device.

Hide target

This parameter defines when to indicate the target in the upper line of the display.

0 = On Ever indicate target if target ≠ current value.
1 = Off Ever indicate target, even if target = current value. Indicate also arrows if target ≠ current value.
2 = Ever Ever hide both target and arrows.

External inputs

This parameter defines the external input operation.

0 = Key Function identical to N142 keypad
1 = Slow Motor in slow motion
2 = Middle Average motor speed (only if 3 optional speeds available, otherwise high speed)
3 = Fast Motor in fast motion

4.3.2. Read / write motor bit parameter „m“ (6Dh)

To exploit the maximum memory capacity, several parameters are put together and transmitted as „data pack“
under the following parameter codes:

Data1: 1 0 X X 0 X 0 X
┬ ──┬── ─┬─ ─┬─

│ │ │ └─── KEY Key assignment 0/1 (UP/DOWN)
│ │ └─────── CORRECT Sense of motor rotation 0/1 (UP/DOWN)
│ └──────────── JOG Activation MicroStep 0/1/2/3 (UP/DOWN/EVER/ONLY)
└──────────────── 1

Data2: 1 0 X X 0 0 0 0
┬ ──┬── ┬ ──┬──

│ │ │ └──── reserved
│ │ └──────── reserved
│ └──────────── TYP shaft type 0/1/2/3 (radialDim/axialDim/radial/axial)
└──────────────── 1

Data3: 1 0 0 X 0 X X X
┬ ┬ ┬ ┬ ┬ ──┬──

│ │ │ │
│ │ │ │ └──────── reserved
│ │ │ └────────── coupled shafts 0/1 (OFF/ON)
│ │ └────-─────── holding torque 0/1 (OFF/ON)
│ └────────────── reserved
└──────────────── 1

Data4/5: 0 0 1 1 X X X X 0 0 1 1 X X X X
───────┬─────── ───────┬─────── Leading shaft identifier for assigned shafts
│ └──────── ADR LSB (value range 30h to 39h)
└─────────────────────────── ADR MSB (value range 30h to 39h)

│ └──── GROUP 0 – 7 (group 1/group 2/…/group 8)

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Important: Only bits marked ‘X’ may be altered. The permanent values „1“ and „0“ must not be altered since

thereby a control token ( tokens < 20h) might be created what is not permitted in ASCII.

Example 1: Read bit parameter (Data 1 to Data 3 = 80h; Data 4 to Data 5 = 30h)

Transmission

Response

SOH Adr Cmd EOT CRC

01h 20h 6Dh 04h 56h

SOH Adr Cmd Data1 Data2 Data3Data4 Data5 EOT CRC

01h 20h 6Dh

80h 80h 80h 30h 30h

04h F2h

Bit parameter default

Example 2: Write bit parameter (key assignment = down; direction of motor rotation = down)

Transmission

Response

SOH Adr Cmd Data1 Data2 Data3 Data4 Data5 EOT CRC

01h 20h 6Dh

SOH Adr Cmd Data1 Data2 Data3 Data4 Data5 EOT CRC

01h 20h 6Dh

81h 84h 80h 30h 30h

81h 84h 80h 30h 30h

04h 92h

04h 92h

Significance of parameter „m“

Key assignment

This parameter assigns a specified direction of rotation to a certain key. For the mounting option “keypad below
display” and the remaining default parameters applies the following:

0 = Up left/right key actuated = shaft rotation ccw/cw, counting mode UP/DOWN
1 = Down left/right key actuated = shaft rotation cw/ccw, counting mode UP/DOWN

Motor direction of rotation
The parameter “motor direction of rotation” enables inversion of the two output signals for motor ccw (pin B) and
motor cw (pin C) provided at the motor cable.

0 = Up standard direction of rotation
1 = Down inverted direction of rotation

Jog
The jog function makes the motor run by a defined number of steps upon a short stroke on a key. The holding
time does not matter as long as it is not less than 400 ms. A holding time of > 400 ms results in permanent motor
run. Inferior holding times are accomplished as Jog. The number of steps is defined under parameter command
„l“, default parameter is 1.

Note: The respective step is always accomplished completely and cannot be stopped or restarted by actuating
any key during the motor positioning operation. However a stop by interface (command “D”) is possible. With
running motor the moving bit is set to 1 (refer also command “F”).
Setting the step width to 0 will disable the Jog function, both by keypad and by external inputs.

00 = Up Jog only enabled with counting mode UP
01 = Down Jog only enabled with counting mode DOWN
10 = Ever Jog enabled with both counting modes UP/DOWN
11 = Only Jog only enabled. Continuous movements actuated by keypad are disabled.

Shaft type

The shaft type parameter assigns the shaft type.
Some applications may call for different treatment of radially and axially operated shafts what is already taken into
consideration when utilizing the Baumer IVO master. For example, only certain shafts shall be displayed in DIM
mode. Other controls (for example PLC or PC) may utilize this parameter for general assignments.

00 = radialDim This is a radial shaft displayed in DIM mode.
01 = axialDim This is an axial shaft displayed in DIM mode.
10 = radial This is a radial shaft not displayed in DIM mode.
11 = axial This is an axial shaft not displayed in DIM mode.

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N 142

Groups

Parameter for division in groups. Individual SPAs can be bundled to 8 different groups to be started in successive
order group by group (command „D“) in order to prevent collisions.

0 = Group 1

Start command „D“ must comprise the designated group number to start the respective group.
1 = Group 2
: :
7 = Group 8

Assigned shafts
This parameter assigns two or more shafts to a leading shaft and is applied when utilizing the Baumer IVO
Master. For detailed description please refer to the Baumer IVO master user manual, chapter specific functions.
Other controls (for example PLC or PC) may utilize this parameter for general assignments.

0 = Off Assignment disabled
1 = On Assignment enabled. This SPA is assigned to a leading shaft. The leading shaft’s identifier is

specified in data 4/5 of command “m” in the leading shaft address.

Holding torque

This parameter is utilized to enable respectively disable the motor holding torque. Both directional signals “motor
ccw” and “motor cw” are activated by the spindle position display (SPA). Thus, the motor is hold at its actual
position. Refer also to command „DB“ for temporarily disabling the holding torque.

0 = Off holding torque disabled
1 = On holding torque enabled

4.3.3. Read /write parameters spindle tolerance and tolerance window,
command „b“ (62h)

This command is to read or write the parameters tolerance compensation and tolerance window.

Example 1: Read parameter (tolerance compensation = 0,15; tolerance window = 0,25)

Transmission

Response

Example 2: Write parameter (tolerance compensation = 1,30; tolerance window = 5,00)

Transmission

Response

SOH Adr Cmd EOT CRC

01h 20h 62h 04h 48h

SOH Adr Cmd compensation=0,15 Toelrance window=0,25 EOT CRC

01h 20h 62h

SOH Adr Cmd compensation.=1,30 Tolerance window=5,00 EOT CRC

01h 20h 62h

SOH Adr Cmd compensation.=1,30 Tolerance window=5,00 EOT CRC

01h 20h 62h

30h 30h 31h 35h 30h 30h 32h 35h

30h 31h 33h 30h 30h 35h 30h 30h

30h 31h 33h 30h 30h 35h 30h 30h

04h AAh

04h 20h

04h 20h

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4.3.4. Read / write parameter spindle pitch (scaling), command „c“ (63h)

This command is utilized to read or write the scaling factor relating to the spindle pitch within the range from
0,0000001...9,9999999. The decimal point is not transmitted.
Resolution per turn is 2304 steps. A scaling factor of 1.000000 will increase respectively decrease the indicated
value by 23.04 mm.

How to calculate the scaling factor:

Resolution per turn: 23.04 mm (corresponding to length with scaling factor 1.0000000)
Spindle pitch: 4,00 mm

Spindle pitch 4,00
Scaling factor = ───────────────── = ───── = 0,1736111

Resolution per turn 23,04

Example 1: Read scaling factor (scaling = 1,0000000)

Transmission

Response

SOH Adr Cmd EOT CRC

01h 20h 63h 04h 4Ah

SOH Adr Cmd Scaling factor = 1,0000000 EOT CRC

01h 20h 63h

31h 30h 30h 30h 30h 30h 30h 30h

04h 4B

Example 2: Write scaling factor (scaling = 0,1736111)

Transmission

Response

SOH Adr Cmd Scaling factor = 0,1736111 EOT CRC

01h 20h 63h

SOH Adr Cmd Scaling factor = 0,1736111 EOT CRC

01h 20h 63h

30h 31h 37h 33h 36h 31h 31h 31h

30h 31h 37h 33h 36h 31h 31h 31h

04h 05h

04h 05h

4.3.5. Read / write MIN/ MAX limits, command „g“ (67h)

This command is utilized to read or write the MIN and Max limits within the range from -999,99 to 9999,99. The
decimal point is not transmitted.

Example 1: Read limits (MIN = 15,00; MAX = 850,25)

Transmission

Response

Example 2: Write limits (MIN = -33,22; MAX = 1234,56)

Transmission

Response

SOH Adr Cmd EOT CRC

01h 20h 67h 04h 42h

SOH Adr Cmd limit MIN = 0015,00 limit MAX = 0850,25 EOT CRC

01h 20h 67h

SOH Adr Cmd limit MIN = -033,22 limit MAX = 1234,56 EOT CRC

01h 20h 67h

SOH Adr Cmd limit MIN = -033,22 limit MAX = 1234,56 EOT CRC

01h 20h 67h

30h 30h 31h 35h 30h 30h 30h 38h 35h 30h 32h 35h

2Dh 30h 33h 33h 32h 32h 31h 32h 33h 34h 35h 36h

2Dh 30h 33h 33h 32h 32h 31h 32h 33h 34h 35h 36h

04h 1Fh

04h 92h

04h 92h

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4.3.6. Read / write parameter motor speed switching points, command „h“ (68h)

This command is for read or write the motor speed switching points. Prior to reaching the target the motor
speed can be slowed down by two optional speeds (slow and precision) for absolutely precise positioning to the
target. The motor’s switchoff point might also be set to a certain value prior to reaching the target. The following
3 parameters are available:

Slow speed: At this point the SPA will go from high speed to slow speed.
Precision speed: At this point the SPA will go from slow speed to precision speed.
Switchoff point: SPA will stop motor at this position.

The individual switching points are indicated in relation to the target.

Example 1: Read parameter (slow speed = 2,00; precision speed = 0,70; switchoff point= 0,02)

Transmission

Response

SOH Adr Cmd EOT CRC

01h 20h 68h 04h 5Ch

SOH Adr Cmd Slow speed =2,00 Precision speed =0,70 Switchoff point =0,00 EOT CRC

01h 20h 68h

30h 32h 30h 30h 30h 30h 37h 30h 30h 30h 30h 30h

04h 72h

Example 2: Write parameter (slow speed = 1,25; precision speed = 0,50; switchoff point = 0,01)

Transmission

Response

SOH Adr Cmd Slow speed =1,25 Precision speed =0,50 Switchoff point =0,01 EOT CRC

01h 20h 68h

30h 31h 32h 35h 30h 30h 35h 30h 30h 30h 30h 31h

04h EAh

SOH Adr Cmd Slow speed =2,00 Precision speed =0,50 Switchoff point =0,01 EOT CRC

01h 20h 68h

30h 31h 32h 35h 30h 30h 35h 30h 30h 30h 30h 31h

04h EAh

4.3.7. Read / write parameter measuring unit, command „i“ (69h)

The command is for reading or writing the measuring unit in mm or inches.

Data = 0 (30h) = mm
Data = 1 (31h) = inch

Example 1: Read parameter (parameter = mm)

Transmission

Response

Example 2: Change measuring unit to inches

Transmission

Response

Example 3: Write mm as measuring unit into all SPAs by broadcast command (identifier/address=99)

Transmission

Response Not confirmed

Important: Parameters are programmed in mm and converted into inches by the SPA when displaying the
position values.

SOH Adr Cmd EOT CRC

01h 20h 69h 04h 5E

SOH Adr Cmd Data EOT CRC

01h 20h 69h

30h

04h D0h

SOH Adr Cmd Data EOT CRC

01h 20h 69h

31h

04h D2

SOH Adr Cmd Data EOT CRC

01h 20h 69h

31h

04h D2

SOH Adr Cmd Data EOT CRC

01h 83h 69h

30h

04h CDh

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4.3.8. Read / write parameter timeout at bus error RS485, command „j“ (6Ah)

This command is for read or write the system time: timeout at bus error. Parameter range is within 00,1 s to
99,9 s. Tolerance: ±7% at minimum time; < 1‰ at maximum time, approx. 1% at 1 s.
Function: RS485 monitoring during motive shaft positioning operations. If there is no interface activity within the
programmed timeout the motor will stop (EMERGENCY OFF) upon occurrence of a bus error or inactive
control. A motor restart requires transmission of profile (command „S“ or „V“) together with the start signal
(command „D“). Parameter 0.00 s means function disabled.

Example 1: Read parameter (time = 2,5 s)

Transmission

Response

SOH Adr Cmd EOT CRC

01h 20h 6Ah 04h 58h

SOH Adr Cmd time=2,5 s EOT CRC

01h 20h 6Ah

30h 32h 35h

04h C5h

Example 2: Write parameter (time = 13,5 s)

Transmission

Response

SOH Adr Cmd loop=13,5 s EOT CRC

01h 20h 6Ah

31h 33h 35h

04h C9h

SOH Adr Cmd loop=13,5 s EOT CRC

01h 20h 6Ah

31h 33h 35h

04h C9h

4.3.9. Read / write parameter motor system time, command „k“ (6Bh)

This command is for read or write the individual motor system times. Parameter range is within 00,1 s to 99,9
s. Tolerance: ±7% at minimum time; < 1‰ at maximum time, approx. 1% at 1 s.
The following 2 parameters are available:

Example 1: Read parameter (loop = 1,0 s; trailing error = 3,5 s)

Transmission

Example 2: Write parameter (loop = 2,0 s; trailing error = 6,5 s)

Transmission

Loop: Delay time at turning point during loop operation.
Trailing error: Timeout of motor signals, if shaft does not rotate after motor start.

SOH Adr Cmd EOT CRC

01h 20h 6Bh 04h 5Ah

Response

Response

SOH Adr Cmd loop=1,0 s Trailing err.=3,5s reserved EOT CRC

01h 20h 6Bh

30h 31h 30h 30h 33h 35h 30h 30h 30h

04h E9h

SOH Adr Cmd loop=2,0 s Trailing err.=6,5s reserved EOT CRC

01h 20h 6Bh

30h 32h 30h 30h 36h 35h 30h 30h 30h

04h 4Ah

SOH Adr Cmd loop=2,0 s Trailing err.=6,5s reserved EOT CRC

01h 20h 6Bh

30h 32h 30h 30h 36h 35h 30h 30h 30h

04h 4Ah

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4.3.10. Read / write parameter JOG step number, command „l“ (6Ch)

This command is to read or write the step number relating to the jog function within the value range 0- 999.
Parameter 0 will disable the Jog function, both by keypad and by external inputs.
Note: The jog function must be enabled in command „m“, lock in one direction possible as an option.
The respective step is always completely accomplished and during the motor positioning operation cannot be
stopped or restarted by actuating another key. However, stop by interface (command „D“) is possible. With
running motor the moving bit is set to 1 (refer also command “F”).

Example 1: Read jog step number

Transmission

Response

SOH Adr Cmd

01h 20h 6C 53h 04h 5Ah

SOH Adr Cmd

01h 20h 6Ch 53h

SCmd

EOT CRC

SCmd

Step number = 25 EOT CRC

30h 30 32 35

04h 44h

Example 2: Write jog step number

Transmission

Response

SOH Adr Cmd

01h 20h 6Ch 53h

SOH Adr Cmd

01h 20h 6Ch 53h

SCmd

SCmd

Step number = 50 EOT CRC

30h 30 35 30

Step number = 50 EOT CRC

30h 30 35 30

04h 52h

04h 52h

Example 3: Value transmitted too high (4 digits)

Transmission

Response

SOH Adr Cmd

01h 20h 6Ch 53h

SOH Adr Cmd

01h 20h 6Ch 53h

SCmd

SCmd

Step number = 2345 EOT CRC

32h 33 34 35

Step number = 0345 EOT CRC

30h 33 34 35

04h 64h

04h 44h

SPA accepts only 3-digit values, the 4th digit is automatically replaced by zero.

4.3.11. Read and write specific parameter „x“ (78h)

The specific parameter „x“ comprises several sub-parameters enabling alteration of originally permanent
parameters to adapt them to new circumstances. At present, the following sub-parameter is available:

D (44h) = minimized delaytime of serial interface
L (4Ch) = hide LCD digit

Sub parameter: Delaytime „D“ (44h)

This parameter defines the minimum delay time (timeout) between the last bit received and the first bit of the
response transmitted. Delay time is in steps of 0,1 ms within the range from 00.0 ... 60,0 ms. Default is 1,0 ms.

Example 1: Read current delaytime

Transmission

Response

Example 2: Write new delaytime

Transmission

Response

Please not that the true delaytime might be extended. It depends on the required processing time as well as on
internal software cycles. The tolerance is approx. 8 ms.

SOH Adr Cmd Sub EOT CRC

01h 20h 78h 44h 04h 7Ch

SOH Adr Cmd Sub Delaytime = 4.5 EOT CRC

01h 20h 78h 44h

SOH Adr Cmd Sub Delaytime = 15.0 EOT CRC

01h 20h 78h 44h

SOH Adr Cmd Sub Delaytime = 15.0 EOT CRC

01h 20h 78h 44h

30h 30h 34h 35h

30h 31h 35h 30h

30h 31h 35h 30h

04h BBh

04h BDh

04h BDh

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N 142

Sub-Parameter: Hide LCD-Digit „L“ (4Ch)

This parameter is used to ever hide the 1st digit (at right) of the upper or lower display. Readout of the displayed
values will be 1/10 with measuring unit “mm” respectively 1/100 with “inch”.

Following state parameters are possible:
0 (30h) = indicate all digits
1 (31h) = Hide digit 1 (at right)

Example 1: Read current state

Transmission

Response

SOH Adr Cmd Sub EOT CRC

01h 20h 78h 4Ch 04h 6Ch

SOH Adr Cmd Sub Stat EOT CRC

01h 20h 78h 4Ch

30h

04h B4h

Example 2: Hide first digit each (Stat = 31H)

Transmsission

Response

SOH Adr Cmd Sub Stat EOT CRC

01h 20h 78h 4Ch

SOH Adr Cmd Sub Stat EOT CRC

01h 20h 78h 4Ch

31h

31h

04h B6h

04h B6h

Note: Contrary to other multicon devices like N 150, N 152 etc, for some technical reasons N 142 does not
allow a change in resolution from 1/100 to 1/10 by resolution parameter. The “hide 1st digit” option is intended
to pretend a 1/10 resolution.

4.4. Identifier (address) commands

Command

code

Data amount

In bytes

read write Broad-

cast

Save in

EEPROM

Significance

A (41h) 2 X X X X Assign or display a device identifier
B (42h) 2 - - - - SPA response in address mode

4.4.1. Assigning device identifiers in the network, command „A“ (41h)

This command is creating an automated process where the device identifier is assigned in successive order to
every single SPA upon commissioning of the system. The first identifier to be assigned is broadcasted to all
networked SPAs as follows:

Transmission

All SPAs now show the identifier just transmitted and that is to be assigned in the upper line of the display. The
bottom line indicates the device-specific identifier. To enter the new identifier, the shaft of the respective SPA
has to be turned by half at least (direction does not matter). The identifier is now entered and appears in the
bottom line of the display (as new device-specific identifier). Both identifiers are now identical. As soon as the
shaft is in idle position again and after having elapsed 3 seconds, the following command „B“ (42h) is
transmitted by SPA to master:

Transmission

To Master

The Master can now transmit command „A“ with the next identifier to be assigned as previously described. This
way, the different (successive) identifiers are automatically assigned to all networked SPAs, one after the other.

Important: The confirmation command „B“ transmitted by N 142 to master will be repeated after 3 seconds
provided the master has not previously transmitted another „A“ command.

SOH Adr Cmd identifier=01 EOT CRC

01h 83h 41h

SOH Adr Cmd identifier=01 EOT CRC

01h 21h 42h

30h 31h

30h 31h

04h B4h

04h 86h

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N 142

Indicate identifier in the display, command „A“ (41h)

This command less parameters as a broadcast command (address/Identifier=99) will make every networked N
142 indicate the device-specific identifier in the bottom line of the display. The upper line is blind.
This command is a designated broadcast command.

Transmission

Response Not confirmed

SOH Adr Cmd EOT CRC

01h 83h 41h 04h 80h

The SPA remains in this mode until being switched off and on again or until transmission of another command.

Extended identifier command „AX“ (41h,58h)

This extended command is utilized for addressing individual multicon devices in the bus network in a similar
way as described above. By broadcast command the identifier to be assigned is transmitted to all networked
devices as follows:

Transmission

Response Not confirmed

SOH Adr Cmd Sub Identifier = 01 EOT CRC

01h 83h 41h 58h

30h 31h

04h 40h

Similar to standard command all devices now show the identifier just transmitted and that is to be assigned in
the upper line. Entering the identifier is proceeded the same way. However contrary to the above no
confirmatory command „B“ will be replied. It is up to master to check whether the identifier has been accepted,
for example by command “R” (read current value). The R-command is transmitted under the corresponding
identifier to the position display. If the addressed SPA replies the assignment was successful and the master
can proceed with the next identifier. With other commands the display of the respective device switches to
standard operation.

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N 142

4.5. Specific commands

Command

code

Data amount

in bytes

read write Broad-

cast

Save in

EEPROM

Significance

K (4Bh) - - X X X Specific command: Profile reset (delete)
Q (51h) 1 - X X X Specific command: N 142 reset
X (58h) 2 / 4 / 8 X - - - Specific command: Read device data

4.5.1. SPA profile reset, command „K“ (4Bh)

This command is clearing all previously programmed profiles.

Example 1: Profile reset of a specific N 142

Transmission

Response

SOH Adr Cmd Data EOT CRC

01h 20h 4Bh

SOH Adr Data EOT CRC

01h 20h

6Fh

04h C6h

7Fh

04h 52h N 142 replies by standard response ‚o’ (6Fh) = OK

Example 2: General profile reset in all SPAs by broadcast command (identifier = 99)

Transmission

Response Not confirmed

SOH Adr Cmd Data EOT CRC

01h 83h 4Bh

7Fh

04h DBh

Important: After profile reset all profile data are set to auf FFFFFFhex , the current profile number to FFhex.
The display now shows 6 dashes instead of the target.

4.5.2. N 142 restore default, command „Q“ (51h)

This command restores default either of individual or collective parameters.
Data = p (70h) = offset reset
Data = q (71h) = restore default
Data = t (74h) = Assign device identifier 98.
Data = x (78h) = current value reset to 0.
Data = ∆ (7Fh) = All above functions are enabled.

Note: No profile reset. Profile reset by command “R”.

Example 1: Restore default at a specific N 142

Transmission

Response

Example 2: Restore default at all SPAs by broadcast command (identifier = 99)

Transmission

Response Not confirmed

SOH Adr Cmd Data EOT CRC

01h 20h 51h

SOH Adr Data EOT CRC

01h 20h

SOH Adr Cmd Data EOT CRC

01h 83h 51h

6Fh

04h AEh

7Fh

04h 52h N 142 replies by standard response ‚o’ (6Fh) = OK

04h B3

7Fh

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N 142

4.5.3. Read version, device type or serial number, command „X“ (58h)

This command is for readout the version number, device type or serial number. The following sub-commands
are available:

Data = V (56h) = read version
Data = T (54h) = read device type
Data = S (53h) = read serial number

Example 1: Read version

Transmission

Response

Example 2: Read device type (device type = 82h = N 142; software no. = 01)

Transmission

Response

Code configuration of the transmitted device type:

1 0 0 0 0 0 1 0 1 0 0 0 0 0 0 1 = 82 81 hex

┬ ──────┬────── ┬ ───────┬─────
│ │ │ └─────── software no. 01h = program 01
│ │ └──────────────── permanent 1
│ └────────────────────────── device type 02h = N 142
└────────────────────────────────── permanent 1

Example 3: Read serial number

Transmission

Response

Code configuration of the transmitted serial number:

The Low-Nibble (lower 4 bits of a byte) of the 8 data bits received equal together a 4 byte value comprising the
serial number.
The serial number is composed by date and time of production. Due to also the seconds being coded and by
assigning only one number per second the serial number is unique.

Example: Serial number for June 1st, 2005 01.06.2005 16:58:36 = 15 83 0E A4 hex

X X X X X X X X X X X X X X X X X X X X X X X X X X X X X X X X Bit position
J J J J J J M M M M T T T T T h h h h h m m m m m m s s s s s s content
0 0 0 1 0 1 0 1 1 0 0 0 0 0 1 1 0 0 0 0 1 1 1 0 1 0 1 0 0 1 0 0 example = 15 83 0E A4 hex

─────┬───── ────┬──── ────┬──── ─────┬───── ──────┬────── ─────┬─────
│ │ │ │ │ └─────── sec.10
│ │ │ │ └──────────────────── min.11
│ │ │ └──────────────────────────────── hours 1
│ │ └──────────────────────────────────────────── day 0
│ └────────────────────────────────────────────────────── month
└───────────────────────────────────────────────────────────────── year00
│

01.06.05 16:58:36 <──────┘

SOH Adr Cmd Data EOT CRC

01h 20h 58h

56h

04h D8h

SOH Adr Cmd Data Version number = 2.00 EOT CRC

01h 20h 58h 56h

20h 32h 30h 30h

04h FAh

SOH Adr Cmd Data EOT CRC

01h 20h 58h

54h

04h DCh

SOH Adr Cmd Data Typ EOT CRC

01h 20h 58h 54h

82h 81h

04h 6Eh

SOH Adr Cmd Data EOT CRC

01h 20h 58h

53h

04h D2h

SOH Adr Cmd Data Serial number code = 07090EA4 EOT CRC

01h 20h 58h 53h

30h 37h 30h 39h 30h 3Eh 3Ah 34h

04h 20h

0100 = 24h = 36d
1010 = 3Ah = 58d
0000 = 10h = 16d

0001 = 01h = 01d
0110 = 06h = 06d
0101 = 05h = 05d

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N 142

4.6. CRC error

Upon recognizing a CRC error in a command transmitted the SPA will respond as follows:

Response

SOH Adr Error EOT CRC

01h 20h 65h 04h 46h Error = „e“ (65h) = CRC error

4.7. Format error

Upon recognizing a format error (incorrect length of protocol or void command (Cmd); the SPA will respond as
follows:

Response

SOH Adr Error EOT CRC

01h 20h 66h 04h 40h Error = „f“ (66h) = Format error

5. Overview on commands

The following chart shows in alphabetical order all available commands (Cmd) as well as options regarding read
and write (parameterization).

Command

code

a (61h) 5 X X - X Read /write general parameters
b (62h) 8 X X - X Parameter: Tolerance compensation, window
c (63h) 8 X X - X Parameter: Scaling factor spindle pitch
g (67h) 12 X X - X Parameter: Limits MIN, MAX
h (68h) 12 X X - X Parameter: Switching points motor speed

i (69h) 1 X X X X Parameter: mm / inch
j (69h) 3 X X X X Parameter: Timeout interval bus error

k (6Bh) 9 X X - X Parameter: Motor system cycles

l (6Ch) 5 X X - X Parameter: Jog

m (6Dh) 5 X X - X Read/write general parameters

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

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

x (78h) 5 X X - X Read / write specific parameters
A (41h) 2 X X X X Assign or display device identifier
B (42h) 2 - - - - SPA response in addressing mode
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
K (4Bh) - - X X X Specific command: Profile reset (delete)
Q (51h) 1 - X X X Specific command: N 142 reset
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
X (58h) 2 / 4 / 8 X - - - Specific command: read device data
Z (5Ah) 6 X X X X Set preset

Data amount

In bytes

read write Broad-

cast

Save in

EEPROM

Significance

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N 142

6. Error warnings

Error warnings are visualized by a flashing upper display line, indicating alternately both error signal and current
value (usually target).

MAX limit of SPA hurt by manual positioning operation (by softkey)

Troubleshooting: Set SPA to the admissible positioning range.

Troubleshooting: Set SPA to the admissible positioning range.

Troubleshooting: Check motor, cable and mechanical connections from motor to shaft to SPA.

Troubleshooting: Take corrective actions.

Troubleshooting: Extend the tolerance window. Set switchover to precision speed at an earlier

Troubleshooting: Verify SPA parameterization ( for example motor direction of rotation, or motor

Troubleshooting: Transmit new valid position value.

Troubleshooting: Transmit new valid position value.

MIN limit of SPA hurt by manual positioning operation (by softkey)

SPA is giving a motor start signal but N 142 hollow shaft does not move.

Motor failure at SPA.
(Failure is indicated for approx 5 seconds if motor start is released by interface or
pushbutton)

SPA did not reach the target window.

point.

Direction error. Shaft positioning is in the wrong direction.

cable connection)

Target transmitted respectively DIM parameter is above the MAX limit.
Note: Consider any loops.

Target transmitted respectively DIM parameter is below the MIN limit.
Note: Consider any loops.

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7. Technical data

Technical data – electrical ratings

Supply voltage 24 VDC ±10 %
Current consumption ≤30 mA
Display LCD, 7-segment display, 2-lines, backlit
Measuring rinciple Absolute multiturn sensing
Measuring range -999,99...+9999,99 mm

-99.999...+999.999 inch
Steps per turn 2304
Number of turns 4096 / 12 bit
Spindle pitch ≤23 mm
Interface RS485 (ASCII-protocol)
Data memory Parameter buffer: EEPROM
Current value buffer: >10 years by
integrated 3 V lithium battery
Programmable parameters Display position horizontal/vertical
Measuring unit mm/inch
Counting direction
Spindle pitch
Spindle tolerances
Positioning direction
Direction arrows
Tolerance window
Rounding up/down
Motive positioning Two softkeys for format alignment
Direct motor connection to N 142 by motor cable
Standard DIN EN 61010-1 Protection II
Overvoltage category II
Pollution degree 2
Emitted interference DIN EN 61000-6-3
Interference immunity DIN EN 61000-6-2
Approvals UL/cUL

Technical data – mechanical design

Hollow shaft ø20 mm, ø25 mm
Operating speed ≤600 U/min (short-term)
Protection DIN EN 60529 IP 65 (housing), IP 40 (connector)
Operating temperature -10...+50 °C
Storage temperature -20...+70 °C
Relative humidity 80 % not condensing
Torque support Torque pin provided at housing
E-connections - Cable output (30 cm( with male and mating connector M16, 5-pins

- Motor cable with female connector M16, 12-pins
User surface / keypad Membrane with two softkeys
Housing Surface-mount with hollow shaft
Dimensions W x H x L 56 x 100 x 62.5 mm
Mounting Surface-mount with hollow shaft
Weight approx. 200 g
Material Polycarbonate black, UL 94V-0

N 142

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7.1. Dimensions

25 H7

(20 H7)

58.5

Fixing pin
for bore

Ø

10 mm

100

40 ±0.2

37

Ø

Hollow shaft Ø25 mm

7

8

20°

M5

37

Ø

Hollow shaft

Ø

20 mm

N 142

M5

37

Ø

6

22

56

10

17

1

62.5 21.5

8. Part number

reference Interface

1 RS485

Connection

1 Cable output M16, motor cable 0.5 m
2 Cable output M16, motor cable 1.5 m

Supply voltage

3 24 VDC

Display

A Display at slope (horizontal mounting)

Hollow shaft

A ø25 mm
B ø20 mm

N 142.1  3 A  01

4

8.5

M16 female connector

M16 male
connector / motor

M16 male
connector

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