Baumer N 153 User Manual

Operating instructions

Interface description
N 153 spindle position display (SPA)
Firmware 01 version 1.11 and up

Contents Page

1. General information 2

1.1. Safety precautions 2

1.2. SPA description and explanation 3

1.3. Betriebsarten 3

2. Terminal assignment 4

3. Interface 4

3.1. Interface data 4

3.2. Protocol 5

3.3. Checksum (Cyclic Redundancy Check) 5

3.4. Data transmission properties 5

3.5. Broadcast commands 5

3.6. Data saving 6

3.7. Transmitting and reading negative values 6

3.8. Transmitting and reading position values (decimal point) 6

4. Command explanations 7

4.1. General information 7

4.2. Operating commands 7

4.3. Parameter commands 13

4.4. Identifier (address) commands 21

4.5. Specific commands 23

5. Error warnings 25

5.1. CRC error 25

5.2. Format error 25

5.3. Display error indication 25

6. Overview on commands 26

7. Technical data 27

7.1. Dimensions 28

8. Part number 28

Baumer IVO GmbH & Co. KG 12.10

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

• 171.02.314/5

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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 (datasheet, 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! Any modifications of 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 hollow shaft onto spindle shaft (max.14 mm in diame­ter).The hollow shaft is fixed to the spindle shaft by hexagon screw and secured by power grip.
This way, the SPA is mounted in an overhung position and secured against torsion by torque support provided
at rear of the housing. The SPA features an absolute multiturn sensing system capable of detecting the position
after several spindle turns even in powerless state. Position data will be retained even in case of power failure
(min. 10 years).
The current position value is indicated in the two-line backlit LCD display (2x 5 digits, numeric), optionally to­gether with the target transmitted by the control (master). Two arrows indicate the editing engineer the direction
the spindle must be turned to for aligning actual value with target. As soon as actual value is in alignment with
target and within the permitted tolerances, the target will disappear. By corresponding master parameterization
the display can be turned by 180° enabling vertical respectively horizontal installation. SPAs are networked by
M8 connector, power supply is by the same cable directly by master. SPA parameterization by master only.

indication „target“

arrows indicating the required direction for target/actual value alignment

indication „actual value“

1.3. Betriebsarten

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

Pin Assignment Core colour DIN47100

Pin 1 Tx/Rx-, RS485 white orange

Pin 2 Tx/Rx+, RS485 brown brown

Pin 3 Sensor supply +24 V yellow red

Pin 4 Sensor supply 0 V green blackk

male connector M8 female connector M8

IEC757

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1

2

3

4

1

2

3

4

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 ±20 %

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

3. Interface

3.1. Interface data

Type: RS485

Baudrate: 19200

Parity: No

Data bits: 8

Stop bits: 1

Handshake: No

Checksum: Yes (CRC)

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

BUS switching time**: <0,1 ms

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* 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

transmission receipt after having replied to host.

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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 Values

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

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

3.3. Checksum (Cyclic Redundancy Check)

For optimized error-free data transmission the CRC byte is added after the footer token (EOT, end of transmis­sion) to the string to be transmitted. 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 string transmitted.

Note:

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

Example:

Transmitted 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

0000 1010

= CRC

3.4. Data transmission properties

For reasons of compatibility, within the complete multicon system the amount of data is always the same (see
table in chapter 6), no matter how many digits are in the display. For example, command “R” (read actual value)
comprises a transmitted data amount of 6 bytes, but only 5 digits are indicated in the display. If it is a negative
value, digit 6 respectively digit 5 is always 0 (30h).

3.5. 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 every multicon device in the network. Each individual
SPA will accomplish the respective command but will not respond any confirmation to master.

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3.6. Data saving

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

Important:

There should not be a cyclic transmission of these parameters to SPA but only if necessary, for example in
case of parameter alteration. The relevant parameters saved in EEPROM are listed in the charts in chapter
“Comand explanations” or “Overview on commands”.

3.7. 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.

3.8. 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. Visualization in the display corresponds to the format in
the data field of the interface command.
Thus, the transmission format depends on the resolution (see command „a“).

Example 1: resolution = 1/100; target = 278.50; actual value = 1.00 Display

SOH Adr Cmd Profile no=17

01h 20h 53h 31h 37h

Example 2: resolution = 1/10; target = 278.5; actual 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 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 identifier, including offset 20h
Cmd = command
Sub = sub-Command
Data = data transmitted or received
CRC = checksum (cyclic redundancy check)

4.2. Operating commands

Command

code

C (43h) 3 / 11 X - - - Check if actual value = target
D (44h) 1 X X X - Start motor
F (46h) 4 X - - - Read device status and error
R (52h) 6 X - - - Read actual 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 optional column of figures

4.2.1. Check Position „C“ (43h)

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

Example: (active profile number = 05)

Transmission

Response if actual value within the tolerances:

Response

Response if actual value is outside the tolerances:

Response

Following values relating to status are possible:

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

Data amount

in bytes

SOH Adr Cmd EOT CRC

01h 20h 43h 04h 0Ah

SOH Adr Cmd Status Profile no. = 05 EOT CRC

01h 20h 43h

SOH Adr Cmd Status Profile no. = 05 EOT CRC

01h 20h 43h

read write Broad-

cast

6Fh 30h 35h

78h 30h 35h

Saved in

EEPROM

04h A5h

04h 1D

Significance

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Command extension Check Position „CX“

Command extension „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 (status) 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

01h 20h 43h

SCmd

EOT CRC

Status

Status-Reg Error-Reg Actual value = -12.50 EOT CRC

78h 80h 80h 80h 80h 2Dh 30h 31h 32h 35h 30h

04h 0Fh

4.2.2. Motor start enable „D“ (44h)

This command is utilized to read the actual SPA enable status or to set respectively clear motor start enable.
The following modes are available:

Status Significance

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

There are two separate options regarding start enable. First, every SPA can be started individually. The order is
determined by host and might also relate to SPAs of other groups. Start command “D” is transmitted to the re­spective device identifier including group number. The status LED is flashing rapidly, indicating that the SPA is
transmitting motor control data (see also examples 1 and 2).
Second, all SPAs of one group can be started at the same time by broadcast command (ID = 99). In this case,
the status LEDs of the SPAs belonging to the respective group are flashing at the frequency of 1 Hz, but the
SPAs have not yet been transmitting any motor control data. By key actuation the operator starts control data
transmission and now the status LED is flashing rapidly (see example 3). Upon another key actuation the con­trol data transmission is deactivated what is visualized by the status LED flashing slowly.

Example 1: Read actual motor start enable status (status = 0 = disable)

Transmission

Example 2: enable motor start in group 1

Transmission

Example 3: start enable for all motors by broadcast command (identifier=99) in group 2

Transmission

Example 4: abort start enable for all motors by broadcast command (identifier=99) (stop command)

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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4.2.3. Read device status „F“ (46h)

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

Example:

Transmission

Response

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

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

│ │ └── Motor on standby for transmission
│ │ 0 = No motor start signal. SPA does not transmit any IR data
│ │ 1 = Motor start signal.
│ │ Interactive mode

(motor start by broadcast command):

│ │ SPA is enabled for alignment by power tool, however so far there
│ │ has not been any IR data transmission. LED is flashing slowly.
│ │ Motor start is enabled using the key.
│ │ Direct mode

(motor start signal via device address):

│ │ SPA is enabled for alignment by power tool, IR data are being
│ │ transmitted. LED is flashing.
│ └───────── reserved
└──────────────── ever 1

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

│ │ └── 1 = Motor is running (Moving Bit). The bit is set during motor start
│ │ enable. LED is flashing rapidly.
│ └───────── reserved
└──────────────── ever 1

Err1: 1 0 0 0 0 0 X X
┬ ──┬── ┬ ┬ ┬ ┬

│ │ │ │ │ └── 1 = Err 8 - target > MAX limit position (motor does not start)
│ │ │ │ └──── 1 = Err 9 - target < MIN limit position (motor does not start)
│

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

Err2: 1 0 0 X 0 0 X X
┬ ┬ ┬ ┬ ┬ ┬ ┬ ┬

│ │ │ │ │ │ │ └── 1 = Err 1 - hurt MAX limit position
│ │ │ │ │ │ └──── 1 = Err 2 - hurt MIN limit position
│ │ │ │ │ └────── reserved
│ │ │ │ └──────── reserved
│ │ │ └────────── 1 = Err 5 – target not achieved
│ │ └──────────── reserved
│ └──────────────

reserved

└──────────────── ever 1

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