User’s Manual
ND 221
Measure d V alue Displays
English (en)
10/2002
B
Display of actual value and input
(9 decades with algebraic sign)
REF SET START PRINT inch
=
<>
21
MIN ACTL MAX DIFF
HEIDENHAIN
Status display with indicators
Numeric keypad
with decimal point
789
456
MOD
123
.
0
CL
2
Key Function
• Set datum
• Transfer input value
• Set display to value from P79 (P80!)
• Leave parameter list
• Select datum
• Page backwards in parameter list
MOD
• Select parameter after switch-on
• Page forward in parameter list
• Start measured value output “PRINT”
• Delete entry
• Set display to zero (P80!)
• CL plus MOD: select parameter list
• CL plus number: select parameter
• Delete parameter input and show
parameter number
• Algebraic sign
• Reduce parameter value
• Decimal point
• Increase parameter value
Indicator Meaning
REF If the decimal point is also blinking:
Display is waiting for reference mark
traversing.
If decimal point is not blinking:
Reference mark has been traversed—
display stores datum points in nonvolatile
memory.
Blinking: display is waiting for ENT or
CL to be depressed.
inch Position values in inches
1 / 2 Selected datum point
PRINT Measured value output with MOD key
SET Blinking: Display is waiting for input
values
< / = / > Without function
MIN
/
MAX /
DIFF / ACTL /
START
3
Items supplied with ND 221 B
Measured value display unit,
ND 221B benchtop model
Encoder input 11 µA
Power cord 3 m (9.9 ft)
User's Manual ND 221 B
Items supplied
Adhesive plug-in feet For stacking ND 221B units
This manual is for the ND 221 B measured value
display with the following software number or
higher:
PP
349 797-04
Id. Nr. 344 992-xx
The software number is indicated on a label on
4
the rear panel.
Contents
Working with the ND Display Units
Position Encoders and Reference Marks 6
Switch-On, Trav ersing Reference Marks 7
Datum Setting 8
Measured Value Output 9
Error Messages 10
Installation and Specifications
Rear Panel, Accessories 11
Mounting 12
Power Connection 13
Operating Parameters 14
List of Operating Parameters 16
Linear Encoders 19
Nonlinear Axis Error Compensation 22
Locking the Keypad 26
Displaying the Software Version 27
Distance-to-Go Mode 28
RS-232-C/V.24 Interface (X31) 29
Input and Output of Paramet er and 32
Compensation Value Lists
Output Format of the P ar ameter List 34
Output Format of the Compensation V alue Table 37
Remote Operation ov er the RS-232-C/ V.24 40
Data Interf ace
Specifications 43
Dimensions 44
Contents
5
Position Encoders and Reference Marks
The ND 221 B display unit is designed for use with
photoelectrical linear encoders with 11 µA
signals: primarily for HEIDENHAIN MT length gauges with
11 µA
.
pp
The MT length gauges have one reference mark. The scales
of other photoelectric linear encoders (see "Linear Encoders")
can contain one reference mark or many
reference marks.
sinusoidal
pp
distance-coded
Scale in Distance-coded
linear encoder reference marks
If there is an interruption of power, the relationship between
the position of the length gauge and the displayed position
value is lost. The reference marks on the position encoders
and the REF reference mark evaluation feature enable the
display unit to quickly reestablish this relationship again
when the power is restored.
When a reference mark is crossed over, a signal is generated
which identifies that position as a reference point. At the
Position Encoders and Reference Marks
same time, the display unit restores the relationship
between length gauge position and display values which you
last defined by setting the datum.
To restore the datum on scales with distance-coded
reference marks, you only need to traverse a maximum of
20 mm (signal period: 20 µm).
6
Reference mark
Reference marks on linear encoders
Switch-On, Traversing the Reference Marks
REF Mode
ä
0
ENT...CL
5,697
For automation purposes, crossing over the reference marks
and the display ENT ... CL can be disabled with parameter
P82.
Turn on the power.
1
(Switch located on rear panel.)
• ND 221 B appears for two seconds.
• ENT...CL
• REF indicator is blinking.
Switch-on the reference mark
evaluation function.
• The position value that was last
assigned to the reference mark
position is displayed.
• REF indicator lights up.
• Decimal point is blinking.
Cross over the reference mark.
Move the plunger until the display starts
counting and the decimal point stops
⇔
blinking. The display is now ready for
operation.
1)
appears.
Crossing over the reference marks automatically switches
the display to REF mode: The last assignment of display
values to length gauge positions is stored in nonvolatile
memory.
1)
Press the CL key if you choose not to traverse the
reference marks. Note that, in this case, the relationship
between length gauge position and display value will be
lost if the power is interrupted or if the unit is switched off.
Switch-On, Traversing the Reference Marks
7
Datum Setting
The datum setting procedure assigns a display value to a
known position. With the ND 200 series, you can set two
separate datum points.
There are several ways to set the datum:
• Enter a numerical value, or
• Transfer a value from an operating parameter
Datum Setting
(see P79, P80).
Select datum 1 or 2.
Enter numerical value (here, 5).
5
Confirm the entered numerical value.
You can switch between datums 1 and 2 as desired. Datum 2
can be used, for example, for working with incremental
dimensions.
When you switch back to datum 1, the display unit resumes
display of the encoder's actual position.
Z
?
?
?
?
?
Without datum setting: unknown assignment of measured values
to positions
8
After datum setting: assignment of measured values to positions
Measured Value Output
For technical information on the RS-232-C/V.24
data interface (X31), information on the data
format, etc., see the chapter “RS-232-C/V.24
Interface (X31).”
Measured values can be output over the RS-232-C/V.24
interface (X31), for example to a printer or PC.
There are several ways to start measured value output:
ä
Press the MOD key (check the parameter settings for P86).
or
ä
Input the command STX (Ctrl B) over the RXD input of the
RS-232-C/V.24 interface (X31).
PC
789
456
START PRINT
MOD
in.
123
0.–CL
REF21 SET
=
<>
MIN ACTL MAX DIFF
HEIDENHAIN
The RS-232-C/V.24 interface (X31) enables you to connect a printer
or a PC to your display unit
Measured Value Output
9
Error Messages
Display Effect/Cause
RS232 FAST Command for measured value
output followed too quickly by
another.
1)
SIGNAL Encoder signal is too weak.
Error Messages
The scale may be contaminated.
DSR. MISSING The connected device has not
sent a DSR signal.
1)
REF. ERR. The spacing of the reference
marks as defined in P43 is not the
actual spacing.
1)
FORMAT ERR. Data format, baud rate, etc. do not
1)
match.
FREQUENCY Input frequency too high for
encoder input. Traversing speed
may be too fast.
1)
MEMORY ERR. Checksum error: Check the datum,
operating parameters and compensation values for nonlinear axis
error compensation. If this error
recurs, contact your service
agency!
1)
These errors are important for the attached device.
Display Effect/Cause
REC. PARAM. Error during reception of parameter
and compensation value lists
Other error displays
If “OVERFLOW” appears, the measured value is too large or
1)
too small:
ä
Set a new datum.
or
ä
Traverse back.
To clear error messages:
Once you have removed the cause of the error:
ä
Clear the error message with the CL key.
10
Rear Panel
Ports X1 and X31 comply with the
recommendations in EN 50178 for separation
from line power.
Encoder input X1
HEIDENHAIN flange socket 9-pin
Input signals 11 µA
pp
Maximum encoder cable length 30 m (98.5 ft)
Maximum input frequency 100 kHz
RS-232-C/V.24 data interface (X31)
25-pin D-sub connection (female)
Accessories
Connecting elements
Connector (male) 25-pin for D-sub connection X31
Id. Nr. 245 739-ZY
Data interface cable, 3 m (9.9 ft), 25-pin for D-sub con-
complete nection X31, Id. Nr. 274 545-01
Power
switch
Data interface
Ground connection
Input X1 for one HEIDENHAIN
linear encoder
11 µA
pp
Rear Panel, Accessories
11
Mounting
15°
You can fasten the ND 221 B from below by using M4 screws
(see illustration at right).
Mounting
ND 221 B display units are stackable. Adhesive plug-in feet
(supplied with your unit) prevent the stacked units from being
moved out of place.
172 ± 0.2
6.77 ± .008"
Hole positions for mounting the ND display unit
140 ± 0.2
5.51 ± .008"
12
Alternatives of stacking the display units
Power Connection
The rear panel of the ND 221 B contains a connecting jack for
a power cord with Euro connector (power cord supplied with
the delivery).
Minimum cross section of the power cord: 0.75 mm
Power supply: 100 Vac to 240 Vac (–15% to +10%)
50 Hz to 60 Hz (± 2 Hz)
A voltage selector is therefore not necessary.
Danger of electrical shock!
Unplug the power cord before opening the
housing. Connect the grounding conductor.
Do not interrupt the grounding conductor.
Danger to internal components!
Do not engage or disengage any connections while
the unit is under power. Use only original
replacement fuses.
To increase noise immunity, connect the ground
terminal on the rear panel to the central ground
point of the machine.
(Minimum cross-section: 6 mm
2
)
2
Power Connection
13
Operating Parameters
Operating parameters allow you to modify the operating
characteristics of your ND display unit and define the
evaluation of the encoder signals.
Operating parameters are designated by:
• the letter P,
• a two-digit parameter number, and
• an abbreviation.
Example: P01 INCH
Operating Parameters
The factory settings of the operating parameters are
indicated in the parameter list (see “List of Operating
Parameters”) in boldface type.
Parameters consist of “user parameters” and “protected
operating parameters,” which can only be accessed by
entering a code number.
User parameters
User parameters are operating parameters that can be
changed without entering the code number:
P00 to P30, P50, P51, P79, P86, P98
The functions of the individual user parameters are detailed in
the list of operating parameters (see “List of Operating
Parameters”).
To access a user parameter ...
... after switching on the display:
While ENT ... CL is
displayed:
Display first user parameter.
MOD
... during operation:
Together:
Display first user parameter.
MOD
To go directly to a user parameter:
Together:
Press and hold CL while entering the first
digit of the parameter number (here, 1).
Enter the second digit of the parameter
number (here, 2).
The display shows the selected user
parameter.
14
Code number for changing protected operating
parameters
If you wish to change protected operating parameters, you
must first enter the code number 95 148:
ä
Select the user parameter P00 CODE.
ä
Enter the code number 95 148.
ä
Confirm entry with ENT.
Parameter P30 appears on the display. By paging through the
list of operating parameters you can display—and, if
necessary, change—each protected operating parameter and,
of course, each user parameter.
Once you have entered the code number, the
protected operating parameters remain accessible
until the display unit is switched off.
Functions for changing the operating parameters
Function Key
Page forward
in the list of operating parameters
Page backward
in the list of operating parameters
Reduce parameter value
Increase parameter value
Correct entry and
display parameter designations
Confirm change or numerical entry,
leave list of operating parameters
A changed parameter is stored as soon as you
• leave the list of operating parameters
or
• page forward or backward after the change.
MOD
Operating Parameters
15
List of Operating Parameters
Parameter Settings / Function
P00 CODE Enter a code number:
9 51 48: To change the protected
10 52 96: Nonlinear axis error compensation
24 65 84: To lock the keyboard
66 55 44: To show the software version
24 65 82: Distance-to-go display
48 61 53: Input and output of parameter
P01 Units of measurement
Display in millimeters MM
List of Operating Parameters
P11 SCL Scaling factor
P12 SCL Scaling factor
P30 DIR Counting direction
Display in inches INCH
Scaling factor off SCALING OFF
Scaling factor on SCALING ON
Enter a numerical value
0.100000 < P12 < 9.999999
Default setting: 1.000000
Positive counting direction with
positive direction of traverse DIRECT. POS
Negative counting direction with
positive direction of traverse DIRECT. NEG
16
operating parameters
and compensation value lists
Parameter Settings/ Function
P31 S. PER. Signal period of encoder
0.000 000 01 < P31 < 99 999.9999 µm
Default setting: 10 µm
P33 COUNT Counting mode
0-1-2-3-4-5-6-7-8-9 COUNT 0-1
0-2-4-6-8 COUNT 0-2
0-5 COUNT 0-5
P38 DP POS Decimal places
1 / 2 / 3 / 4 / 5 / 6
(up to 8 for inch display)
P40 COMP. Select encoder compensation
No compensation COMP. OFF
Nonlinear: up to 64 compensation points for
linear encoders NONL. COMP
Linear compensation COMP. ON
1)
Depends on signal period (P31) and measuring unit (P01)
1)
Parameter Settings/ Function
P41 L.COMP. Linear error compensation
– 99 999.9 < P41 < + 99 999.9 [µm/m]
Default setting: 0
Example: Find input value for P41
Displayed measuring length .............L
Actual length (measured, e.g.
with the VM 101 comparator
system from HEIDENHAIN) ..............L
Length difference .............................∆L = L
Compensation factor k (= P41):
k = ∆L / La = – 123 µm / 0.62 m........k = – 198.4 [µm/m]
P42 BKLASH Backlash compensation
Input range (mm): +9.999 to -9.999
Default setting: 0.000
= no backlash compensation
During a change in direction, the mechanical play between the
encoder and table, the so-called backlash, can cause error.
Positive backlash: The rotary encoder moves before the table,
therefore display value is too high (positive value input).
Negative backlash: The rotary encoder moves after the table,
therefore the display value is too low (negative value input).
= 620.000 mm
a
= 619.877 mm
t
– La = – 123 µm
t
Parameter Settings / Function
P43 REF Reference marks
One reference mark SINGLE REF.
Distance-coded with 500 • SP
(SP: signal period) 500 SP
Distance-coded with 1000 • SP
(e.g. for HEIDENHAIN LS ...C) 1000 SP
Distance-coded with 2000 • SP 2000 SP
Distance-coded with 5000 • SP 5000 SP
P44 REF Reference mark evaluation
Evaluate the reference mark REF. ON
Do not evaluate the reference
mark REF. OFF
P45 ALARM Encoder monitoring
No monitoring ALARM OFF
Monitor the frequency FREQUENCY
Monitor contamination CONTAMINAT.
Contamination + frequency FRQ. + CONT.
P50 RS232 Baud rate
110 / 150 / 300 / 600 / 1200 /
2 400 / 4 800 / 9 600 / 19 200 /
38 400 baud
List of Operating Parameters
17
Parameter Settings / Function
P51 RS232 Additional blank lines
during data output BK LINE 1
0 ≤ P51 ≤ 99
Default setting: 1
P79 PRESET Value for datum point
Enter numerical value for
datum setting with ENT key
P80 ENT-CL Set display
No set/Set with
CL/ENT CL-ENT OFF
Zero reset with CL
Setting disabled with ENT CL......ON
List of Operating Parameters
P82 DRO ON Message after switch-on
P86 MOD PRINT via MOD disabled PRINT OFF
Zero reset with CL and set with
ENT to value selected in P79 CL-ENT ON
ENT...CL message MESSAGE ON
No message MESSG. OFF
PRINT via MOD enabled PRINT ON
Parameter Settings / Function
P98 LANGUA. Conversational language
German LANGUAGE DE
English LANGUAGE EN
French LANGUAGE FR
Italian LANGUAGE IT
Dutch LANGUAGE NL
Spanish LANGUAGE ES
Danish LANGUAGE DA
Swedish LANGUAGE SV
Finnish LANGUAGE FI
Czech LANGUAGE CS
Polish LANGUAGE PL
Hungarian LANGUAGE HU
Portuguese LANGUAGE PT
18
Linear Encoders
The ND 221 B display unit is designed for use together with
photoelectrical encoders with sinusoidal signals—11 µA
Display step with linear encoders
PP
.
You can select a specific display step by adapting the
following operating parameters:
• Signal period (P31)
• Counting mode (P33)
• Decimal places (P38)
Example
Linear encoder with a signal period of 10 µm
Desired display step................ 0.000 5 mm
Signal period (P31) ................... 10
Counting mode (P33) ............... 5
Decimal places (P38)................ 4
The tables on the following pages will help you to select the
appropriate parameter settings.
Linear Encoders
19
Recommended parameter settings for HEIDE N HAIN linear encoders
with 11 µA
Model
Linear Encoders
20
CT
MT xx01
LIP 401A/401R
LF 103/103C
LF 401/401C
LIF 101/101C
LIP 501/501C
LIP 101
MT xx 10 Single 0.0005
LS 303/303C
LS 603/603C
Reference
marks
Signal periods
in µm
P 31 P 43
2
4
20 Single/1000 0.01
Single 0.0005
Single
Single/5000 0.001
Single
Millimeters Inches
Display
step
in mm
0.0002
0.0001
0.00005
Recommd. only for LIP 401
0.00002
0.00001
0.000005
0.0005
0.0002
0.0001
0.00005
Recommd. only for LIP 101
0.00002
0.00001
0.0002
0.0001
0.005
Count
mode
Decimal
P 33 P 38
5
2
1
5
2
1
5
1
5
2
1
5
2
1
5
2
1
1
5
4
4
4
5
5
5
6
3
4
4
4
5
5
5
4
4
4
2
3
Display
step
in inches
places
0.00002
0.00001
0.000005
0.000002
0.000001
0.0000005
0.0000002
0.00005
0.00002
0.00001
0.000005
0.000002
0.000001
0.000000515
0.00002
0.00001
0.000005
0.0005
0.0002
signals
PP
Count
mode
P 33 P 38
2
1
5
2
1
5
2
5
2
1
5
2
2
1
5
5
2
5
5
6
6
6
7
7
5
5
5
6
6
6
7
5
5
6
4
4
Decimal
places
Recommd. parameter settings for HEIDENHAIN linear encoders with 11 µAPP signals (continued)
Model
P 31 P 43
LS 106/106C
LS 406/406C
LS 706/706C
ST 1201
LB 302/302C
LIDA 10x/10xC
LB 301/301C 100 Single/1000 0.005
LIM 501 10240 Single 0.1
20
40 Single/2000
Signal period
in µm
Reference
marks
Single/1000
-
Millimete r s
Display
step
in mm
0.001
0.0005
0.005
0.002
0.001
0.0005
Recommd. only for LB 302
0.0002
0.0001
0.002
0.001
0.01
0.05
P 33 P 38
1
5
5
2
1
5
2
1
5
2
1
1
1
5
Count
mode
3
4
3
3
3
4
4
4
3
3
3
1
2
2
Decimal
places
Inches
Display
step
in inches
0.00005
0.00002
0.0002
0.0001
0.00005
0.00002
0.000001
0.0000005 1 5
0.0002
0.0001
0.00005
0.005
0.0005
0.002
Count
mode
Decimal
P 33 P 38
5
2
2
1
5
2
2
1
5
5
5
2
5
5
4
4
5
5
5
6
4
4
5
3
4
3
places
Linear Encoders
21
Nonlinear Axis Error Compensation
Entries in the compensation value table
If you want to use the nonlinear axis error
compensation feature, you must:
• Activate the feature with operating parameter
40 (see “Operating Parameters”).
• Traverse the reference marks after switching
on the display unit.
• Enter a compensation value table.
Your machine may have a nonlinear axis error due to factors
such as axis sag or leadscrew errors. Such deviations are
usually measured with a comparator measuring system (such
as the HEIDENHAIN VM 101).
You select the compensation table through P00 CODE and by
entering the code number 10 52 96 (see Operating
Parameters).
Nonlinear Axis Error Compensation
Ascertaining the compensation values
To ascertain the compensation values (e.g. with a VM 101)
you must select the compensation table and then press the
“–” key to select the REF display.
The letter “R” at the left of the display indicates that the
displayed position value is given with respect to the reference
mark. If “R” blinks, you must traverse the reference mark.
• Datum: Here you enter the point at which the
compensation is to begin. This point indicates the absolute
distance to the reference point.
Do not change the datum after measuring the axis
error and before entering the axis error into the
compensation table.
• Spacing of the compensation points:
The spacing of the compensation points is expressed as:
Spacing = 2
Enter the value of the exponent
value table.
Minimum input value: 6 (= 0.064 mm)
Maximum input value: 20 (= 1048.576 mm)
Example: 900 mm traverse with 15 compensation points
• Compensation value:
You enter the measured compensation value
(in millimeters) for the displayed compensation point.
Compensation point 0 always has the value 0 and cannot
be changed.
x
[µm].
x
in into the compensation
==> 60.000 mm spacing between points.
Nearest power of two: 2
“Table for determining the point spacing”)
Input value in the table: 16
16
= 65.536 mm (see
22
Table for determining the point spacing
Exponent Point spacing
in mm in inches
6 .064 .0025“
7 .128 .0050“
8 .256 .0100“
9 .512 .0200“
10 1.024 .0403“
11 2.048 .0806“
12 4.096 .1612“
13 8.192 .3225“
14 16.384 .6450“
15 32.768 1.290“
16 65.536 2.580“
17 131.072 5.160“
18 262.144 10.32“
19 524.288 20.64“
20 1048.576 41.28“
Nonlinear Axis Error Compensation
23
Selecting the compensation table, entering an axis correction
together
with
Select the operating parameters.
MOD
Select P00 CODE.
P00 CODE
Enter the code number 10 52 96,
confirm with ENT.
DATUM (shown for approx. two seconds)
Nonlinear Axis Error Compensation
MOD
Enter the active datum for the error on
the axis to be confirmed, e.g. 27 mm.
Press MOD to select the next input box.
SPACING
Enter the spacing of the compensation
4 x
MOD
points on the axis to be corrected, for
example 2
10
µm (equals 1.024 mm).
Press MOD four times to select COMP.
NR. 01. (You cannot enter values in the
POS. NR. 00, COMP. NR. 00 and POS.
NR. 01 boxes.)
24
COMP. NR. 01
2 x
MOD
COMP. NR. 02
2 x
MOD
Enter the associated compensation
value, e.g. 0.01 mm. Press MOD twice
to select COMP. NR. 02. (You cannot
enter any values in the POS. NR. 02 box).
Enter all further compensation points.
If you want so select a compensation
point directly, press CL and
simultaneously enter the desired
compensation point number.
Conclude entry.
Deleting a compensation value table
together
with
P00 CODE
DATUM
DELETE
Select the operating parameters.
MOD
Select P00 CODE.
Enter the code number 10 52 96,
confirm with ENT.
Select the “delete” function.
Confirm with ENT or cancel with CL.
Exit the compensation table mode.
Nonlinear Axis Error Compensation
25
Locking the Keypad
You can disable or re-enable the keypad by entering the code
number 24 65 84:
➤ Select the user parameter P00 CODE (see “Operating
Parameters”).
➤ Enter the code number 24 65 84.
➤ Confirm the entry with ENT.
Locking the Keypad
➤ With the “•” or “–” key, select KEYS ON or
KEYS OFF.
➤ Confirm your selection with ENT.
If the keypad is locked, you can only select the datum or
select P00 CODE over the MOD key.
26
Displaying the Software Version
To display the software version of the display unit, enter the
code number 66 55 44:
➤ Select the user parameter P00 CODE.
➤ Enter the code number 66 55 44.
➤ Confirm your entry with ENT.
➤ The display unit shows the software number.
➤ With the “–” key you can switch the display to the date of
issue.
➤ To exit the software version display mode, press ENT.
Displaying the Software Version
27
Distance-to-Go Display Mode
Normally, the display shows the actual position of the encoder. However, it is often more helpful to display the remaining distance to an entered nominal position — especially
when you are using the display unit for machine tools and automation purposes. You can then position simply by traversing
to display value zero.
You can access the distance-to-go display by entering the
code number 246 582.
Distance-to-Go Mode
Display Meaning
DELTA OFF Distance-to-go display not active
DELTA ON Distance-to-go display active
“Traversing to zero” with distance-to-go display
ä
Select datum point 2.
ä
Enter the nominal position.
➤ Move the axis until the display value is zero.
28
RS-232-C/V.24 Data Interface (X31)
The RS-232-C/V.24 interface (X31) of your display unit enables
you to transmit measured data in ASCII format, for example to
a printer or PC.
Connecting cable
You can use a connecting cable with full wiring (figure at upper
right) or simplified wiring (below right). A cable with full wiring
is available from HEIDENHAIN.
Data transmission cable for RS-232-C/V.24
D-sub (male) 25-pin/D-sub (female) 25-pin
Id. Nr. 274 545-..
On this type of cable, pin 6 and pin 8 are additionally connected
over a jumper.
Data transmission cable for RS-232-C/V.24
D-sub (male) 25-pin/D-sub (female) 9-pin
Id. Nr. 368 017-..
Maximum cable length: 20 m (66 ft)
25 pol. 25 pol.
Data transmission cable 25-pin/25-pin
(full wiring)
RS-232-C/V.24 Data Interface (X31)
25 pol. 25 pol.
Data transmission cable 25-pin/25-pin
(simplified wiring)
25 pol. 9 pol.
Data transmission cable 25-pin/9-pin
29
Pin layout RS-232-C/V.24 (X31)
Data format and control characters
Pin Signal Assignment
1 CHASSIS GND Chassis ground
2 TXD Transmitted data
3 RXD Received data
4 RTS Request to send
5 CTS Clear to send
6 DSR Data set ready
7 SIGN. GND Signal ground
8 to 19 –
20 DTR Data terminal ready
21 to 25 –
RS-232-C/V.24 Data Interface (X31)
Levels for TXD and RXD
Logic level Voltage level
Active – 3 V to – 15 V
Not active + 3V to +15 V
Levels for RTS, CTS, DSR and DTR
Logic level Voltage level
Active + 3 V to + 15 V
30
Not active – 3V to – 15 V
Not assigned
Not assigned
Data format 1 start bit
7 data bits
Even parity bit
2 stop bits
Control characters Call measured value: STX (Ctrl B)
Interrupt DC3 (Ctrl S)
Continue DC1 (Ctrl Q)
Interrogate error message: ENQ (Ctrl E)
Example: Data sequence during measured value output
Measured value = – 5.23 mm
Measured value output
– 5 . 2 3 < C R > < L F >
123456 7
1
Algebraic sign
2
Numerical value with decimal point (10 characters on
the whole, leading zeros are output as blank spaces.)
3
Blank space
4
Unit:
Blank space = mm; " = inch; ? = fault
5
Blank space
6
Blank space
7
CR (
8
carriage return
LF (
line feed
)
)
8
Operating parameters for measured value output
Parameter Function
P50 RS232 Baud rate
P51 RS232 Number of additional blank lines for
measured value output
Duration of measured value transfer
187 + (11 • number of blank lines)
= [s]
t
D
Duration of storage and measured value transfer
The time required for data transfer depends on the selected
baud rate and the number of additional blank lines.
Latch signal Storage Data transfer
STX (CTRL B) 1 ms 37 ms
PRINT (MOD key) 18 ms 36 ms
baud rate
after after
Measured value output with CTRL B
If the display unit receives the control character STX (CTRL B)
over the RS-232-C/V.24 interface, it immediately transmits the
current measured value back over the interface. CTRL B is
received over the RXD line of the interface, and the measured
values are transmitted over the TXD line.
The measured value can be received and saved using a
terminal program (e.g. HyperTerminal, which is a component
of Windows
The basic program below shows the fundamental structure of
a program for measured value output.
®
).
10 L%=18
20 CLS
30 PRINT "V.24/RS-232-C"
40 OPEN "COM1:9600,E,7" AS#1
50 PRINT #1, CHR$ (2);
60 IF INKEY$<>""THEN 130
70 C%=LOC(1)
80 IF C%<L%THEN 60
90 X$=INPUT$(L%,#1)
100 LOCATE 9,1
110 PRINT X$;
120 GOTO 50
130 END
RS-232-C/V.24 Data Interface (X31)
BASIC program for measured value output over “Ctrl B”
31
Input/Output of Parameter and Compensation-Value
Lists
Calling the "data transfer" function:
together
with
Select the operating parameters.
MOD
Select P00 CODE.
REC. PARAM.
if
reqd.
or
The display unit is ready to receive a
parameter list over the RS-232-C/V.24
interface. After successful reception of the
parameter list, the display unit resets itself
and restarts. Continue in the data transfer
menu with the decimal point key.
P00 CODE
Enter code number 48 61 53 and confirm
with ENT.
Data transfer function:
TRANSFER
Continue with ENT.
SEND PARAM.
if
reqd.
Input/Output of Parameter and Compensation-Value Lists
or
Press the ENT key if you want to transmit
the parameter list over the RS-232-C/V.24
interface. After transmission, return to the
beginning to transmit or receive further
lists. Press the decimal point key to
continue in the data transmission menu.
32
SEND COMP.
if
reqd.
or
REC. COMP.
if
reqd.
or
With the ENT key, you transmit the
compensation value list over the RS-232-C/
V.24 interface. After transmission, return to
the beginning to transmit or receive more
lists. Continue in the data transfer menu with
the decimal point key.
The display unit is ready to receive a
parameter list over the RS-232-C/V.24
interface. After successful reception, return
to the beginning to transmit or receive more
lists. Continue in the data transfer menu with
the decimal point key.
Exit the data transfer function.
Note on the input/output of parameter and
compensation-value lists
With a terminal program (e.g. HyperTerminal, included with
Windows
unit over the RS-232-C/V.24 interface as text files and save
them on your PC. Each list must be saved as a separate text
file. You can then use the terminal program to transmit the
text files back to the display unit .
If you wish, you can edit the text files with a text editor and
change the parameter values, for example. However, this
requires knowledge of the different output format of the lists
(see following pages). When receiving lists, the display unit
expects the same list structure as used for the output.
When receiving lists, the display unit first waits for the starting
character < * >. The receiving mode ends as soon as the
display unit has received the final character < * >.
The lists received are first checked for the type of display unit
(line 2 of output list). The receiving display unit accepts only
lists prepared by the same type of display unit. Furthermore,
the list is checked for completeness. Lists that contain, for
example, too many or too few parameters are ignored. If an
error occurs, the following error message appears:
REC. ERROR
To clear the error message, press the CL key.
®
), you can receive the lists output by the display
If the display unit receives invalid parameter values, it sets the
respective operating parameter to the default setting.
Example: “P01 INCH = INCH = 3”
The value 3 is not allowed. The parameter P01 is set to the
default setting “P01 MM = MM = 0”.
Input/Output of Parameter and Compensation-Value Lists
33
Output Format of the Parameter List
1st line
Each parameter output begins with the start character < * > ( HEX: 0x2A)
* <CR> <LF>
3 characters
2nd line
Output of the counter designation
N D - 2 2 1 B M M <CR> <LF>
13 characters 5 characters 2 characters
Model of display unit unit of meas. end of line
Subsequent lines for the individual parameters:
a: Parameters:
Output Format of the Parameter List
Parameter settings can be changed with the MINUS key (e.g.: counting direction positive/counting direction negative etc.)
Examples:
P 1 1 S C L = S C A L I N G . O F F = 0 <CR> <LF>
15 characters 3 char. 13 characters 3 char. 6 characters 2 characters
34
P 5 0 R S 2 3 2 . = 3 8 4 0 0 B A U D = 3 8 4 0 0 <CR> <LF>
15 characters 3 char. 13 characters 3 char. 6 characters 2 characters
Parameter designation Text Separator Parameter in plain language Separator Parameter value End of line
left-aligned right-aligned block right-aligned block right-aligned
b: Parameters:
Parameter settings can be changed by entering a value
(e.g.: CORRECT.LIN. 13.600 etc.)
P 1 8 L . C L A S S . = + 1 2 0 . 0 0 0 0 <CR> <LF>
15 characters 3 char. 13 characters 2 characters
P 4 1 L . C O M P . = - 1 4 0 0 . 0 <CR> <LF>
15 characters 3 char. 13 characters 2 characters
Parameter designation Text Separator Parameter value End of line
left-justified right-justified block right-justified
Last line:
Each parameter list ends with the final character <*> (HEX: 0x2A)
* <CR> <LF>
The parameter text is sent in the language you have set and corresponds to the dialog text that is shown on the display unit.
The parameter value, not the text, is definitive when the parameters are transferred to the display unit.
Output Format of the Parameter List
35
Parameter List for ND 221 B: (factory default setting)
Parameter List Description
* Start character (*);
ND-221 B MM Device; MM or IN;
P01 MM = MM = 0 Unit of measure: MM = 0; INCH = 1;
P11 SCL = SCALING.OFF = 0 SCALING FACTOR OFF = 0; ON = 1;
P12 SCL = 1.000000 SCALING FACTOR = 1.000000; (value input without sign)
P30 DIR = DIRECT. POS = 0 COUNTING DIRECTION POS = 0; NEG = 1;
P31 S. PER. = 10 SIGNAL PERIOD = 10 µm; (value input without sign)
P33 STEP = COUNT 0-5 = 5 COUNTING MODE 0-5 = 5; 0-2 = 2; 0-1 = 1;
P38 DEC = DP POS. 4 = 4 DECIMAL PLACES 4 (range: 1-8)
P40 COMP. = COMP. OFF = 0 COMPENSATION OFF = 0; LIN = 1; MULTI = 2;
P41 L.COMP. = + 0.0 LINEAR COMPENSATION = 0 µm/m (value input)
P42 BKLASH = + 0.0000 BACKLASH compensation = 0.0000 mm (value input)
P43 REF = SINGLE REF. = 0 SINGLE REFERENCE MARK = 0; 500; 1000; 2000; 5000 SP;
P44 REF = REF. ON = 1 REF.ON = 1; REF.OFF = 0;
P45 ALARM = FRQ. + CONT. = 3 OFF= 0; FRQ.= 1; CONT.= 2; FRQ+CONT. = 3;
P50 RS232 = 9600 BAUD = 9600 BAUD RATE = 9600; (110-38400)
P51 RS232 = EMPTY LINE = 1 LINE FEES = 1; (0-99)
P79 PRESET = + 0.0000 DATUM SETTING = 0; (value input)
P80 ENT-CL = CL-ENT OFF = 0 CL-ENT OFF =0; CL-ON = 1; CL...ENT = 2;
Output Format of the Parameter List
P82 DRO.ON = MESSAGE. ON = 1 DISPLAY: MESSAGE.ON = 1; MESSAGE.OFF = 0;
P86 MOD = PRINT OFF = 0 MOD KEY: PRINT OFF = 0; PRINT ON = 1;
P98 LANGUA. = LANGUAGE.DE = 1 NATIONAL LANGUAGE: 0 = EN; 1 = DE; 2 = FR;
* 3 = IT; 4 = NL; 5 = ES;
Final character (*);
6 = DA; 7 = SV; 8 = FI;
9 = CS; 10 = PL; 11= HU;
12 = PT;
36
Output Format of the Compensation-Value Table
1st line: Start
Each compensation-value output begins with the start character < * > ( HEX: 0x2A)
* <CR> <LF>
3 characters
2nd line: Counter model designation
Output of model designation and unit of measure
N D - 2 2 1 B M M <CR> <LF>
13 characters 5 characters 2 characters
Model display unit, left-aligned Unit of meas. End of line
3rd line: Spacing of compensation points
Output of distance between compensation points
P K T A B S T . = 1 4 <CR> <LF>
13 characters 3 char. 6 characters 2 char.
Point spacing left-aligned Sep. block Point spacing End of line
right-aligned
Output Format of the Compensation Value Table
37
4th line: Datum
Output of datum for compensation
D A T U M = + 0 . 0 0 0 0 <CR> <LF>
13 characters 3 char. 13 characters 2 char.
Datum, left-aligned Sep. block Value for datum, right-aligned End of line
5th line: Compensation value 0
Output of compensation value no. 0
C M P . N R . 0 0 = + 0 . 0 0 0 0 <CR> <LF>
13 characters 3 char. 13 characters 2 char.
Compensation value no., left-aligned Sep. block Compensation value, right-aligned End of line
Subsequent lines: Output of compensation values 1 - 63
Output of compensation value
C M P . N R . 6 3 = + 0 . 0 1 2 3 <CR> <LF>
13 characters 3 char. 13 characters 2 char.
Compensation value no., left-aligned Sep. block Compensation value, right-aligned End of line
Last line:
Output Format of the Compensation Value Table
Each compensation-value table ends with the final character <*> (HEX: 0x2A)
38
* <CR> <LF>
3 characters
Compensation value table for ND 221 B (length measurement): Factory default setting
Compensation value table Description:
* Start character (*);
ND-221 B MM Model of the unit; unit of measure (MM or IN);
SPACING =
DATUM = + 0.0000 Datum 0 mm (value input)
CMP. NR. 00 = + 0.0000 Compensation value 0 = 0.000 mm (compensation value 0 is always 0)
CMP. NR. 01 = Compensation value 1 = no value entered
CMP. NR. 02 = Compensation value 2 – 63 no value entered (axis error is not compensated)
CMP. NR. 03 = Compensation value table is empty.
CMP. NR. 04 =
CMP. NR. 05 =
CMP. NR. 06 =
CMP. NR. 07 =
.
.
.
.
.
.
.
.
.
.
.
.
CMP. NR. 60 =
CMP. NR. 61 =
CMP. NR. 62 =
CMP. NR. 63 =
* Final character (*);
14 Point spacing = 14 (range: 6 – 20)
Output Format of the Compensation Value Table
39
Remote Operation over the RS-232-C/V.24 Interface
You can operate the display unit remotely over the RS-232-C/
V.24 data interface. The following commands are available on
the ND 221 B:
Format:
<ESC>TXXXX<CR> Pressed key
<ESC>AXXXX<CR> Output of screen contents
<ESC>FXXXX<CR> Execute function
<ESC>SXXXX<CR> Special function
Sequence of commands Meaning
<ESC>T0000<CR> "0" key
<ESC>T0001<CR> "1" key
<ESC>T0002<CR> "2" key
<ESC>T0003<CR> "3" key
<ESC>T0004<CR> "4" key
<ESC>T0005<CR> "5" key
<ESC>T0006<CR> "6" key
<ESC>T0007<CR> "7" key
<ESC>T0008<CR> "8" key
<ESC>T0009<CR> "9" key
<ESC>T0100<CR> "CL" key
<ESC>T0101<CR> "-" key
<ESC>T0102<CR> "." key
Remote Operation over the RS-232-C/V.24 Data Interface
<ESC>T0104<CR> "ENT" key
<ESC>T0105<CR> "MOD" key
<ESC>T0107<CR> "1/2" (datum) key
Sequence of commands Meaning
<ESC>T1000<CR> "CE+0" keys
<ESC>T1001<CR> "CE+1" keys
<ESC>T1002<CR> "CE+2" keys
<ESC>T1003<CR> "CE+3" keys
<ESC>T1004<CR> "CE+4" keys
<ESC>T1005<CR> "CE+5" keys
<ESC>T1006<CR> "CE+6" keys
<ESC>T1007<CR> "CE+7" keys
<ESC>T1008<CR> "CE+8" keys
<ESC>T1009<CR> "CE+9" keys
<ESC>A0000<CR> Output of model designation
<ESC>A0100<CR> Output of 14-segment display
<ESC>A0200<CR> Output of current value
<ESC>A0301<CR> Output of error text
<ESC>A0400<CR> Output of software number
<ESC>A0900<CR> Output of highlighted fields
<ESC>F0002<CR> Print
<ESC>S0000<CR> Counter RESET
<ESC>S0001<CR> Lock keyboard
<ESC>S0002<CR> Release keyboard
40
Description of RS-232-C/V.24 commands:
The display unit supports the XON-XOFF protocol when
executing commands. As soon as the internal character buffer
(100 characters) is full, the display unit sends the control
character XOFF to the sender. After the buffer has been
executed, the display unit sends the control character XON to
the sender and is then ready to receive data again.
Pressed key (TXXXX commands)
The display unit acknowledges each identified key command
by sending the control character ACK (Acknowledge ControlF). Then the key command becomes effective.
Output of 14-segment display:
The contents displayed are transmitted (also dialogs and error
messages).
<STX> - 1 2 3 4 5 . 6 7 8 9 <CR> <LF>
String: STX;
Min. 10 to max. 13 characters; CR; LF; (depending on
the number of commas and decimal points)
Output of current value:
The current position value (without decimal point, with leading
zeros) is transmitted.
The display unit responds to commands that cannot be
identified or to invalid commands by sending the control
character NAK (No acknowledge Control-U).
Output of model designation:
The model of display unit, software number, and the date of
software release are transmitted.
Example:
<STX> N D - 2 2 1 B <CR> <LF>
3 4 9 7 9 7 - 0 4 <CR> <LF>
2 0 0 1 - 0 5 - 0 4 <CR> <LF>
String: STX;
10 characters; CR; LF;
10 characters; CR; LF;
10 characters; CR; LF;
<STX> + 1 2 3 4 5 6 7 8 9 <CR> <LF>
String: STX;
Algebraic sign; numerical value with 9 characters;
CR; LF;
Output of error text:
The displayed error text is transmitted. (Functions only if an
error message is displayed.)
<STX> F O R M A T E R R . <CR> <LF>
String: STX;
13 characters; CR; LF;
Remote Operation over the RS-232-C/V.24 Data Interface
41
Output of software number:
The current software number is transmitted.
<STX> 3 4 9 7 9 7 - 0 4 <CR> <LF>
String: STX;
10 characters; CR; LF;
Output of status indicators:
The condition of the status display is transmitted.
Example:
0 = Status indicator dark
1 = Status indicator glows
2 = Status indicator blinks
<STX> 0 1 0 0 1 0 0 0 0 0 0 0 0 0 <CR><LF>
a b c d e f g
String: STX;
14 characters; CR; LF;
a = REF (reference point)
b = datum 1
c = datum 2
d = SET (set datum)
f = PRINT (data output)
Remote Operation over the RS-232-C/V.24 Data Interface
g = inch (inch display)
Execute functions (FXXX commands):
The display unit acknowledges every correctly received
42
command by transmitting the control character ACK
(Acknowledge, Control F). Then it executes the command. It
answers unrecognized or invalid commands by sending the
control character NAK (No acknowledge Control U).
Print
Output of the current measured value. The measured value
(string) is transmitted as described in the manual (page 30).
Same function as calling the measured value with STX
(Control B).
Special functions (SXXX commands):
Counter RESET:
The software resets the counter and the counter restarts.
(Function same as switching the display unit off and on.)
Locking the keypad:
The display unit acknowledges the special function by sending
the control character ACK (acknowledge). All keys of the
display unit are locked. Now the counter can be operated
only over the external RS-232-C/V.24 interface and X41.
The keyboard can be unlocked either by sending the special
function "Unlock keyboard" or by switching the display unit
off and on.
Unlocking the keypad:
The display unit acknowledges the special function by sending
the control character ACK (acknowledge). This unlocks a
keyboard that has been locked with the special function "Lock
keyboard."
Specifications
Housing ND 221 B
Benchtop design,
cast-metal housing (W • H • D)
239 mm • 84.6 mm • 224 mm
Operating temperature 0° to 45° C (32° to 113° F)
Storage temperature –20 °C to 70 °C (–4 °F to 158 °F)
Weight Approx. 1.5 kg
Relative humidity < 75% annual average
< 90% in rare cases
Power supply Primary-clocked power supply
100 Vac to 240 Vac
(–15% to +10%)
50 Hz to 60 Hz (± 2 Hz)
Line fuse F 1 A inside the housing
Power consumption 8 W (typically)
Electromagnetic
compatibility Class B according to EN 55022
Noise immunity As per VDE 0843 Parts 2 and 4,
severity 4
Protection IP40 according to IEC 529
Encoder inputs For encoders with sinusoidal output
signals (11 µA
evaluation for distance-coded and single
reference marks
Input frequency ND 221B 11µA
Max. 100 kHz for 30 m cable length
Display step Adjustable
(see "Linear Encoders")
Datum points Two
RS-232-C/V.24 Baud rates:
interface 110, 150, 300, 600, 1 200, 2 400,
4 800, 9 600, 19 200, 38 400 baud
); reference mark
PP
:
pp
Specifications
43
ND 221 B: Dimensions in mm/inches
1
SET START PRINT2 inch
REF
< = >
MIN ACTL
MAX DIFF
Specifications
X
35
1.43"
44
325
33.5
1.37"
12.8"
172 ± 0.2
6.77" ± .008"
239
9.41"
140 ± 0.2
5.51" ± .008"
224
8.82"
DR. JOHANNES HEIDENHAIN GmbH
Dr.-Johannes-Heidenhain-Straße 5
83301 Traunreut, Germany
{ +49 (86 69 ) 31-0
| +49 (86 69) 50 61
e-mail: info@heidenhain.de
Technical support | +49 (86 69 ) 31-10 00
Measuring systems { +49 (86 69 ) 31-31 04
e-mail: service.ms-support@heidenhain.de
TNC support { +49 (86 69) 31-31 01
e-mail: service.nc-support@heidenhain.de
NC programming { +49 (8669) 31-31 03
e-mail: service.nc-pgm@heidenhain.de
PLC programming { +49 (86 69 ) 31-31 02
e-mail: service.plc@heidenhain.de
Lathe controls { +49 (7 11) 95 28 03-0
e-mail: service.hsf@heidenhain.de
www.heidenhain.de
HEIDENHAIN (G.B.) Limited
200 London Road, Burgess Hill
West Sussex RH15 9RD, Great Britain
{ (014 44) 2477 1 1
| (0 1 444) 8700 2 4
350 273-23 · SW 349 797-04 · 10 · 5/20 03 · E · Printed in Germany · Subject to change without notice
45
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