User Manual
Orbital Motor
EMD Speed Sensor
www.danfoss.com
User Manual
Orbital Motor, EMD Speed Sensor
Revision history Table of revisions
Date Changed Rev
June 2021 Changed document number from 'L1017819' to 'AQ152886482063' and removed obsolete
motors
April 2015 CG150 updated to CG150-2 BD
January 2015 Various updates BC
April 2014 Various updates BB
March 2014 Converted to Danfoss layout - DITA CMS BA
May 2012 Conversion Diagram text updated AB
May 2012 First edition AA
0301
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User Manual
Orbital Motor, EMD Speed Sensor
Contents
Product Overview
Description..........................................................................................................................................................................................4
General data
EMD Speed Sensor specifications...............................................................................................................................................5
Signal definition
Pulse mode......................................................................................................................................................................................... 6
Quadrature mode.............................................................................................................................................................................6
CAN mode...........................................................................................................................................................................................6
Filter parameter
Positioning..........................................................................................................................................................................................8
Product overview
Dimensions.........................................................................................................................................................................................9
Sensor pinout.....................................................................................................................................................................................9
Mating connector.......................................................................................................................................................................... 10
Wiring diagram............................................................................................................................................................................... 10
Conversion diagram......................................................................................................................................................................10
Mounting of EMD Speed Sensor
Mounting of EMD Speed Sensor on LSHT Motors..............................................................................................................12
Configuration of EMD-Speed Sensor to other settings
Connect configuration box........................................................................................................................................................ 13
Changing of numbers of pulses/rev in pulse mode..........................................................................................................13
Change of MA-Filter in Pulse mode.........................................................................................................................................14
Changing of Pulse mode into Quadrature mode...............................................................................................................14
Changing of pulse mode into CAN mode.............................................................................................................................15
Changing of Node Id in CAN mode.........................................................................................................................................15
Changing of Message Transmission Rate in CAN mode..................................................................................................15
Change of MA-Filter in CAN mode.......................................................................................................................................... 15
Configuration box
Configuration box..........................................................................................................................................................................17
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W
Rotating magnetic field
Rotation Rotation
Pressure interface
Cardan shaft
Shaft
Speed
Position of magnetic field
80
60
40
20
0
-20
-40
-60
-80
Bridge Output (mV)
Rotation (Degrees)
Bridge B Bridge A
15 30 45 60 75 90 105 120 135 150 165 1800
SN
EMD-sensor
Vs
Gnd
A+ A- B+ B-
µC
Pulse Mode
Quadrature Mode
CAN Mode
P301 399
User Manual
Orbital Motor, EMD Speed Sensor
Product Overview
Warning
Please note that the EMD speed sensor may fail. Output signals may not represent correct rotation speed
or direction.
Any application of the EMD speed sensor should be subjected to appropriate hazard and risk assessment,
according to relevant safety standards for the application.
Reliability data MTBF for the EMD speed sensor are available on request.
Description
Function of the speed sensor is to detect shaft speed and the direction of rotation. The sensor is mounted
to the endcover of an LSHT Orbital Motor and senses the speed from a magnet that is rotating inside the
motor.
The magnet is connected to the cardan shaft (spool valve motor) or valve drive (disc valve motor) by a
shaft.
Rotation of the magnet generate a rotating magnetic field that is a function of motor speed and
direction.
EMD-Speed sensor convert this magnetic field into output signal of speed and direction.
Sensor principle
After each Power-Up the shaft must rotate 1-2 revolutions before an output signal is generated.
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User Manual
Orbital Motor, EMD Speed Sensor
General data
EMD Speed Sensor specifications
Specifications:
Output signal
Speed range 0 - 2500 rpm
Supply voltage 9 - 36 Vdc
Maximum power 0.8 W
Temperature range (ambient) -30 °C to 60 °C
EMC-Immunity (EMI): 100 V/m ISO 13766
Grade of enclosure
Vibration 30 G (294 m/s²)
Shock 50 G (490 m/s²)
*
Configurable with PLUS+1® Service Tool - Please contact Danfoss for further information.
†
According to IEC 529.
*
Pulse mode Push-pull output. Direction = CCW: high, CW: low
Configurable up to 180 pulse/revolutions
Quadrature mode 2 channels with 90° phaseshift each with
90 pulses/revolution Push-pull output
CAN mode Supports CAN 2.0B with SAE J1939 Message Protocol with Proprietary Messages
Baudrate: 250 kbaud (fixed)
Shaft velocity: ± 2500 rpm
†
IP 69 K
D1 D2
Square Wave Direction
Square Wave PhaseASquare Wave Phase
B
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D1:
U
High
U
Low
P301 344
U
High
> Udc-2V U
Low
< 2V
D2:
P301 345
CCW
U
High
> Udc-2V U
Low
< 2V
CW
U
High
U
Low
D1:
U
High
U
Low
P301 344
U
High
> Udc-2V U
Low
< 2V
D2:
P301 346
U
High
U
Low
U
High
> Udc-2V U
Low
< 2V
User Manual
Orbital Motor, EMD Speed Sensor
Signal definition
Pulse mode
The sensor generates a speed dependent pulse on D1 and a direction signal on D2.
Quadrature mode
The sensor generates a speed dependent pulse on D1 and D2 with a 90 degree phaseshift.
CAN mode
Cyclic message specification
Interface:
Baud rate:
Transmit rate:
Proprietary B
29 bit
Data
0
(LSB)
CAN ID Reserved Sequence
CAN ID:
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CAN 2.0 B
250 kBaud
10, 20, 50 (default), 100 or 200 ms (cyclic message transmission)
1
(MSB)
2 3
(LSB)
4
(MSB)
5 6
Angular velocity Reserved CRC-16
number
J1939 proprietary B. Programmable 29 bit message id.
(LSB)
7
(MSB)
User Manual
Orbital Motor, EMD Speed Sensor
Signal definition
Sequence no.:
Angular velocity:
CRC-16: The standard CRC16 polynomial is used to calculate the checksum for byte 0 – 5.
ID = $18FF20XX (source address XX is programmable, default value is $51)
byte (0-255)
Increments 1 for each message
Angular velocity of the shaft.
16 bit integer with 2’s complementary encoding for negative values (-25,000 to
25,000).
-25,000 = -2,500 RPM (CCW)
0 = 0 RPM
25,000 = 2,500 RPM (CW)
(x^16+x^15+x^2+1)
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User Manual
Orbital Motor, EMD Speed Sensor
Filter parameter
In order to reduce noise when the frequency is calculated in pulse mode or the angular velocity is
calculated in CAN mode, a moving average filter can be activated by setting a filter parameter (MA-filter)
when configuring the sensor.
Valid range for the Moving Average Pulse period time Number (MAPN): 1, 2, 4, 8, 16, 32 & 64.
The (MAPN) can also be dynamic. Valid range is the same 1,2,4…64, the calculation is dependent on the
detected speed and 2 types of filter-calculation, Dynamic 1 (default) & Dynamic 2 can be used.
How Dynamic 1 and Dynamic 2 select the MAPN see the table below.
RPM MAPN
2.0 – 3.4 1 1
3.5 - 5.1 1 2
5.2 - 10 2 4
10 - 20 4 8
20 - 80 8 16
81 - 163 16 32
164 - 2500 32 64
Dynamic 1 Dynamic 2
Positioning
Configuration of filter, see Configuration of EMD-Speed Sensor to other settings on page 13.
It’s possible to use the EMD sensor as feed-back / “encoder” in positioning applications.
In such applications, use pulse mode 180 PPR or Quadrature mode, as you in all other settings will get an
adding error.
The typical backlash in the Orbit motors are shown in the table below:
Motor Backlash Output shaft → Sensor shaft
OMT OMV
Minimum 7.9° 8.0°
Maximum 12.4° 12.1°
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∅ 50
29
72
P301 315
Orbital motor
16253
4
P301 314
User Manual
Orbital Motor, EMD Speed Sensor
Product overview
Dimensions
Sensor pinout
Sensor pinout
Pin Controller function
1 Power supply 9-36 V dc
2 Power ground 3 D 1 (configurable output)
4 CAN L
5 CAN H
6 D 2 (configurable output)
Deutsch DT connector – 6 pin
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6 1
5 2
4 3
Udc [V] + 9 - 36V
dc
D
1
D
2
Udc [V] -
Wiring diagram: Pulse and quadrature mode
P301 400
6 1
5 2
4 3
CAN
L
CAN
H
Wiring diagram: CAN mode
P301 401
Udc [V] + 9 - 36V
dc
Udc [V] -
User Manual
Orbital Motor, EMD Speed Sensor
Product overview
Mating connector
Deutsch DT connector 6 pin Mating connector assembly: (Not offered by Danfoss).
Pcs Description Deutsch® part no. Color
1 Plug DT06-6S-PO12 (black)
1 Wedgelock W6S-PO12 (green)
6 Solid Contacts 0462-209-16141 (nickel)
Options
1 Boot DT6S-BT-BK (black)
For correct mounting please see Deutsch® homepage: www.deutsch.net
Wiring diagram
Conversion diagram
It is possible to replace an Orbital Motor with EM-sensor with PNP or NPN open collector output with an
Orbital Motor with EMD-sensor. Conversion diagrams show how it is possible to replace present sensor
with EMD-sensor.
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The resistor RL which is used in the current NPN/PNP diagram is not needed but can under certain
conditions remain in the circuit:
If RL < UDC/10 mA remove or increase the size of the resistor.
•
If RL > UDC/10 mA no change needed.
•
In case the EM-sensor and the controller have different power supply, it is needed to modify the circuit so
that the EMD-sensor has the same power supply as the controller.
159G34.10
PNP
1
4
3
U
dc
[V]
Brown
Black
Blue
-U
dc
[V]
U
d.c.
[V]
-U
dc
[V]
min. R
L
= U
dc
/ I
max.
(=50 mA)
min. R
L
= U
dc
/ I
max.
(=50 mA)
RL ≥ U
dc
/ 10 mA
RL ≥ U
dc
/ 10 mA
159G34.10
NPN
1
4
3
Brown
Black
Blue
15_0
15_1
R
L
R
L
R
L
R
L
PNP Open Collector Output
NPN Open Collector Output
EMD-Speed Sensor
6 1
5 2
4 3
Udc [V] +
D
1
Udc [V] -
6 1
5 2
4 3
Udc [V] +
D
1
Udc [V] -
P301 402
User Manual
Orbital Motor, EMD Speed Sensor
Product overview
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User Manual
Orbital Motor, EMD Speed Sensor
Mounting of EMD Speed Sensor
Mounting of EMD Speed Sensor on LSHT Motors
Turn the sensor to the desired position and mount the sensor on the plug.
It is possible to mount the sensor in 36 positions.
To lock the sensor, push the clip into the sensor as shown.
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User Manual
Orbital Motor, EMD Speed Sensor
Configuration of EMD-Speed Sensor to other settings
Connect configuration box
Use CG150-2 CAN/USB gateway interface communicator and configuration box. See Configuration box on
page 17.
1. Switch on power supply.
2. Upstart PLUS+1® Service Tool (P1D software).
P1D file for EMD can be found here:
http://powersolutions.danfoss.com/products/PLUS-1-GUIDE/GUIDE-service-tool-software-and-license
Start Screen
Changing of numbers of pulses/rev in pulse mode
1.
Upload the EMD-speed sensor setting to computer
OEM configurable sensor 11114575 has following default setting:
2. Change of numbers of Pulses/Rev in Pulse mode for example to 60 pulses / rev: Select 60
Valid range for pulses: 20 – 120 pulses / rev + 180 pulses / rev.
MA-Filter is default Dynamic 1 (See below for change of MA-Filter).
3.
Download selected parameter to EMD speed sensor
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User Manual
Orbital Motor, EMD Speed Sensor
Configuration of EMD-Speed Sensor to other settings
Change of MA-Filter in Pulse mode
MA-Filter is default Dynamic 1 in the range 20 - 120 pulses / rev.
MA-Filter is not available at 180 pulses / rev.
1. Change MA-Filter in Pulse mode for example to 16: Select 16
2.
Download selected parameter to EMD speed sensor
Changing of Pulse mode into Quadrature mode
1.
Upload the EMD-speed sensor setting to computer
OEM configurable sensor 11114575 has following default setting:
2. Change of mode from Pulse mode to Quadrature mode. Select Quadrature
3.
Download selected parameter to EMD speed sensor
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User Manual
Orbital Motor, EMD Speed Sensor
Configuration of EMD-Speed Sensor to other settings
Changing of pulse mode into CAN mode
1.
Upload the EMD-speed sensor setting to computer
OEM configurable sensor 11114575 has following default setting:
2. Change of mode from Pulse mode to CAN mode. Select CAN
3.
Download selected parameter to EMD speed sensor
Changing of Node Id in CAN mode
OEM configurable sensor 11114575 has following default Node Id: 0x51
1. Change Node Id from 0x51 to for example to 0x54. Select 0x54
2.
Download selected parameter to EMD speed sensor:
Changing of Message Transmission Rate in CAN mode
OEM configurable sensor 11114575 has following default Message Transmission Rate: 50 ms.
EMD speed sensor has following Message Transmission Rate setting range: 10, 20, 50, 100, 200 ms
1. Change Message Transmission Rate from 50 ms to for example 100 ms. Select 100 ms
2.
Download selected parameter to EMD speed sensor:
Change of MA-Filter in CAN mode
OEM configurable sensor 11114575 has following default MA-Filter: Dynamic 1
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User Manual
Orbital Motor, EMD Speed Sensor
Configuration of EMD-Speed Sensor to other settings
EMD speed sensor has following MA-Filter setting range: 1, 2, 4, 8, 16, 32, 64, Dynamic 1, Dynamic 2
1. Change MA-Filter from Dynamic 1 to for example 16. Select 16
2.
Download selected parameter to EMD speed sensor:
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P301 410
6
5
4
1
2
3
D1
R = 120Ω
GND
+24V DC
24V DC
CG 150
USB
230V AC
GND
+24V DC
CANL
CANL
CANH
CANH
D2
R
User Manual
Orbital Motor, EMD Speed Sensor
Configuration box
Configuration box
Order information: CG150-2 CAN/USB gateway interface communicator: Danfoss part number 11153051.
PLUS+1® Service Tool V7.1.10 is needed to support CG150-2
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Danfoss | June 2021 AQ152886482063en-000301 | 17
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