Baumer N 143 User Manual

Operating instructions

Interface description
N 143 spindle position display (SPA)
Firmware 01 version 3.03 and up

Contents Page

1. General Information 2

1.1. Safety precautions 2

1.2. Product description 3

1.3. Operating modes 3

2. Terminal assignment 4

3. Interface 5

3.1. Interface data 5

3.2. Protocol 5

3.3. Redundancy check (CRC byte) 5

3.4. Particularities in data communication 6

3.5. Broadcast commands 6

3.6. Data saving 6

3.7. Transmission and reading of negative values 6

3.8. Transmission and reading of position values (decimal point) 6

4. Command explanations 7

4.1. General 7

4.2. Operating commands 7

4.3. Parameter commands 16

4.4. Address commands 24

4.5. Specific commands 25

4.6. CRC error 27

4.7. Format error 27

5. Command overview 27

6. Error messages 28

7. Technical data 29

7.1. Technical product specifications 29

7.2. Dimensions 30

8. Part number 30

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]

• 171.02.325/2

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1. General Information

1.1. Safety precautions

General

The equipment is designed and assembled according to the prevailing regulations of technology. The equip­ment left the manufacturing works in perfect order and in line with all safety-relevant regulations. 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 tasks 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 perform any modifications! Tampering with the device can affect oper­ating safety and result in danger!
Do not perfrom any repair work but return the defective device 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.

.

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1.2. Product description

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 cantilever-mounted 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 acquire the
position after several turns of the spindle even during power-off. 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 display line showing the target value

Arrows indicating the direction for target/current value alignments

Lower display showing the current value

Two softkeys on the keypad serve for manual positioning operations by power
tool in the required direction via infrared interface. The power tool enables set­ting the individual shaft positions already during the aligning operation.

1.3. Operating modes

Two operating modes are available to define the order of SPA alignment within the network.

Direct mode: The master will enable the SPAs in successive order for the positioning operation.
Interactive mode: The master will enable all SPAs respectively all SPAs in one group. The processing order

a) Direct mode:
In „direct mode“ the master will transmit the motor start signal (command „D“) to a specific SPA which is first to
be aligned by power tool. The red status LED is flashing fast (at approx. 2 Hz) while the relevant IR positioning
data are being transmitted to the power tool. After the positioning operation the LED switches to green continu­ous what is recognized by the master when reading out the status flag (command „CX“ or „F“). Now the master
will transmit the motor start signal to the next SPA. This procedure will repeat until all SPAs have been aligned.
The order allows for individual alteration upon every profile change.

b) Interactive mode:
In „interactive mode“, the operator defines the order of SPA alignment.
Instead of transmitting the motor start signal (command „D“) to a specific SPA, the master will address all SPAs
in one group by broadcast command (address 99). The red status LEDs of all addressed SPAs is flashing slow­ly (at approx. 1 Hz). Now the SPAs are enabled for alignment but so far no positioning data have been transmit­ted to the power tool via the IR interface. The operator chooses one of the slowly flashing SPAs and pushes
one of its buttons. The red LED is now flashing rapidly (at approx 2 Hz) while this SPA is transmitting the IR
data. Once the aligning operation has been completed, the LED switches to green continuous. The operator
turns to the next SPA with a slowly flashing LED and will repeat the procedure until all SPAs have been aligned.

An already activated SPA (LED flashing fast) is set back to stand-by when pressing the button anew. The LED
is flashing slowly again and IR data transmission is aborted.

In group alignment operations, both modes can be combined. Example:
Firstly all Multicon AccuDrive devices are enabled for positioning by broadcast command, the order of alignment
is up to the operator .As soon as each SPA of group 1 is „in position“, the master will proceed with the next
group in direct mode.

in the alignment operation must be defined by the operator.

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2. Terminal assignment

Spindle Position Display (SPA)

Pin Assignment Wire color 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 M16 female M16

3

4

2

1

5

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 %

IEC757

3

2

1

4

5

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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

Baud rate: 19200

Parity: No

Data bits: 8

Stop bits: 1

Handshake: Nein

Redundancy check Yes (CRC)

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

BUS switching time** <0,1 ms ** The BUS switching time is the time required by the SPA to be ready again

3.2. Protocol

The spindle position display operates on 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 header ever 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 ever 04h
n+2 XXh CRC = cyclic redundancy check 00h...FFh

3.3. Redundancy check (CRC byte)

For optimized error-free data communication the CRC byte is added after the footer (EOT, end of transmission)
to the string to be transmitted. Upon receiving a command the attached CRC byte 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 indicator (04H) to the string to be transmitted.

Note:

Example:

String w/o CRC byte = 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 parame-

ter) is to be kept, i.e. the time elapsed between transmission of the last bit
in the request until start of transmission of the first bit in the SPA’s 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.
Default parameters enable optional alteration by serial interface in incre­ments of 0,1 ms within the range of 0,1...60 ms. Refer also to command „x“
(78h).

for transmission after having replied to the host.

0000 1010

= CRC

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3.4. Particularities in data communication

For reasons of compatibility, the entire multicon system operates on the same data length (see also table in
chapter „Command overview“). The data length does not relate to the number of digits in the display, i.e. com­mand „R“ (read current value) implies transmission of 6 bytes whereas displayed are only 5. Digit 6 respectively
5 in negative values will ever come with a 0 (30h).

3.5. Broadcast commands

Some specific commands are so-called broadcast commands. Once the master transmits a command to ad­dress 99 it will be adopted by all multicon devices in the network. Each spindle position display will execute the
respective command but will not confirm to master.

3.6. Data saving

Specific parameters are saved in the EEPROM (1.000.000 writing cycles). Data saving is performed via inter­face upon every parameter transmission to the SPA. Important: We do not recommend cyclic transmission but
it would be wise after a parameter change only. Which parameters have been saved in the EEPROM can be
taken from the tables in chapter “Command explanations” or “Overview on commands”.

3.7. Transmission and reading of negative values

The negative sign (2DHex) ever comes in the 6th digit in the data field. Example: Negative target –1.50 impli­cates the transmission value –00150.

3.8. Transmission and reading of position values (decimal point)

In the transmission or reading of position values such as target (command „S“), offset (command „U“) or limit
positions (command „g“) the decimal point is generally omitted. The decimal point in the display corresponds to
the format in the data field of the interface command. Hence, the transmission format relates to the resolution
(see command „a“).

Example 1: Resolution = 1/100; target = 278.50;current value = 1,00 Display

SOH Adr Cmd Profile no=17

01h 20h 53h 31h 37h

Example 2: Resolution = 1/10; target = 278.5 current value = 1,0

SOH Adr Cmd Profile no=17

01h 20h 53h 31h 37h

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

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

target = 278,50

target = 278,5

EOT CRC

04h 29h

EOT CRC

04h 29h

2 7 8.5 0

1.0 0

2 7 8.5

1.0

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4. Command explanations

4.1. General

The following describes the individual interface commands which are broken down into the four groups below:

- operating commands [ commands required during operation ]

- parameter commands [ commands for SPA parameterization ]

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

- specific commands [ commands for specific functionalities (device reset, 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 commands

Command

code

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

t (74h) 6 - X - - Transmit tool number
u (75h) 6 - X - - Transmit any optional number sequence
Z (5Ah) 6 X X X X Set preset

Data length

in bytes

read write Broad-

cast

Saved in

EEPROM

Significance

4.2.1. Check Position „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 tolerance window: (Status = 78h = „x“)

Response

Following status parameters are available:

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

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

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Extended command Check Position „CX“

The extended command „Check Position CX “retrieves besides the alignment status of target versus current
value equally the contents of 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

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4.2.2. Start motor „D“ (44h)

This command retrieves the current SPA enable status and sets or withdraws the motor start signal.
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

There are two options for motor start enable. In the first place, each SPA can be enabled individually, the order
is given by the host and may stretch over several groups. The enable command „D“ is transmitted to the re­spective device address together with the group number. The status LED is flashing fast which indicates active
motor control data transmission (see example 1 and 2).
Second, all SPAs clustered in a group can be enabled collectively using the broadcast command (address =

99). All SPAs of one group will indicate the enable status by their LEDs flashing at a frequency of 1 Hz. How­ever, so far no motor control data have been transmitted. The operator will start control data transmission upon
pressing one of the buttons or by slightly turning the shaft of the respective SPA. Now the red LED is flashing
fast (example 3). The operation is aborted or disabled by pressing the button anew, which is indicated by the
LED flashing slowly. If the shaft does not experience any turn within 3 seconds after the enable signal, trans­mission of the control data will be automatically interrupted (LED flashing slowly.

Example 1: Readout current enable status (status = 0 = not enabled)

Transmission

Example 2: Start specific motor in group 1

Transmission

Example 3: Start all motors of group 2 by broadcast command (address = 99)

Transmission

Example 4: Abort all motor starts by broadcast command (address=99, stop commandl)

Transmission

: : :

SOH Adr Cmd EOT CRC

01h 20h 44h 04h 04h

Response

Response

Response Not confirmed

Response Not confirmed

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

SOH Adr Cmd Stat. EOT CRC

01h 83h 44h

SOH Adr Cmd Stat. EOT CRC

01h 83h 44h

30h

31h

31h

32h

30h

04h 64h

04h 66h

04h 66h

04h 7Dh

04h 79h

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