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1. 15 Welleneinstecktiefe hollow shaft depth Mounting instructions The clamp ring should only be tightened after the shaft of the driving element was inserted into the hollow shaft The diameter of the hollow shaft can be reduced to 12 mm 10 mm or 8 mm by using an adapter this reducing adapter can be pushed into the hollow shaft Version 5 08 Page 21 Maximum radial and axial misalignment of the drive shaft axial radial static 0 3 mm 0 5 mm dynamic 0 1 mm 0 2 mm UME OCD EP 8 Models Ordering Description Description Optocode Interface Powerlink Protocol Version Code Revolutions Bits Steps per revolution Bits Flange Shaft diameter Mechanical options Connection Type Key OCD ER 2 EPL V1 1 EPL V2 2 2 x M12 00 Integr hub 3x M12 A1 Binary Singleturn Multiturn 4096 revolutions Multiturn 16384 revolutions 8 1924 65 536 Clamp flange Synchro flange Hollow shaft 10 mm 06 mm 15 mm hollow shaft Without Shaft sealing IP66 Stainless steel version Customized Radial M12 connectors Standard bold further models on request Version 5 08 Page 22 00 12 14 13 16 C S B 10 06 15 0 S V C PRM UME OCD EP 9 Accessories and Documentation Description Connector Connector Shaft coupling Clamp disc Clamp ring KKK Reducing adapter KKK Reducing adapter KEK Reducin
2. discs and detected by Opto Arrays The output signals are electronically amplified and the result ing value is transferred to the interface The absolute rotary encoder has a maximum reso lution of 65 536 steps per revolution 16 Bit The Multi Turn version can detect up to 16 384 revolu tions 14 Bit Therefore the largest resulting reso lution is 30 Bit 2 1 073 741 824 steps The standard Single Turn version has 13 Bit the stan dard Multi Turn version 25 Bit The encoder sends the data in decimal code via standard or fast Ethernet 100 Base T At present it supports the following protocol Ethernet Power link with protocol version 1 Version 5 08 Page 4 The encoder is able to provide as output data the position value without further calculation A Powerlink managing node operating as master must be in a network to read out the process data from the encoder UME OCD EP POSITAL FRABA 1 2 Ethernet The present developments in the field of Industrial Ethernet are based on the vision of an integrated access of all data of a company through a uniform communication system In higher levels of enter prise communication Ethernet is the main medium of data transfers Combined with other IT tech nologies it is internationally standardized In the long run automation engineers will benefit from the rapid technological progress in the mass markets of IT and web technologies Ethernet technically provides a sy
3. because of low frame jitter and latency time For fulfilling time require ments up to 10 hubs can be connected together with a maximum cable length of 100m These requirements are specified in Powerlink specification For more details visit the web site www ethernet powerlink org UME OCD EP POSITAL FRABA 2 2 Connecting an Absolute Encoder The encoder is connected by a 5 pin M12 con nector for the power supply and one 4 pin D coded M12 connector for Ethernet Connector Ethernet 4 pin female D coded Pin Number Signal ATX 2 Rx 3 Tx 4 Rx Sketch on encoder view 2 1 NS E mp S P 2 3 Ethernet Cables 2 3 1 RJ45 M12 crossed Signal RJ45 Pin Signal TX 1 Rx Tx 2 Rx Rx 3 TX Rx 6 Tx 2 3 2 RJ45 M12 straight Signal RJ45 Pin Signal TX 3 TX Tx 6 Tx Rx 1 Rx Rx 2 Rx Version 5 08 Page 8 Encoder version A1 uses a second D coded connector and provides an integrated hub func tionality On or in the packaging of the connector is the mounting description Connector power supply 5 pin male A coded Pin Number Signal 24 V 24 V Signal M12 Pin Signal TX 2 Rx Tx 4 Rx Rx 1 TX Rx 3 Tx UME OCD EP POSITAL FRABA 2 4 Diagnostic LED s Ethernet P TCP IP f N G SS r N Ri Links Colt Linkt N N PWR bo i N FE g LED Color Description for LED on Rx1 Incoming and
4. entries exist Bit Offset 6 5 4 3 2 1 o Leg Destination 0x00 N Source o ms ex rs wa er Ro 1517 9 8 Octet Offset 10 Version 5 08 Page 15 Poll Size IN ud Reserved UME OCD EP POSITAL FRABA 5 2 2 Powerlink message End of Cycle The End of Cycle message is sent as broadcast cycle is indicated The MN is not sending this information to all CN in the EPL network With frma if an error occurred Frame size is 64 octets this message the CN are allowed to take over in total with overhead their out data Additional the end of isochronous Sk Offset 7 6 5 4 3 2 1 o er DeziraieeCHEr Sources0x09 2 7 amp 5 48 D SS B 12 1 Octet Okt 14 45 Version 5 08 Page 16 UME OCD EP mn Kal gt D gt 5 2 2 Powerlink message Ident Channel This message is only MN internal and can not be the MN can identify how the CN is configured accessed by an application With this message and additional information ce en Charne Nurmbere1 wm Ir me O Octet Offset Shee OB HR Node number Number of the node Hardware revision CN hardware revision f available otherwise OxFFFFFFFF Firmware version Firmware version of node Higher number newer version Firmware variant To identify firmware targets Every device has unique variant number Poll IN Size Number of isochronous net data octets CNMN Poll Response frame Poll OUT Size Number of isochronous net data octets MN CN P
5. errors by the transmission Electromagnetic compatibility there are rules to verifying devices Ethernet is a computer network technology based on frames Transmission technology with 100 Mbit transmission rate The Frame Check Sequenz Bytes are a 32 Bit CRC Checksum Internal memory saved data will be available after power down Page 23 UME OCD EP HTML HTTP Hub IP Adresse IP Protokoll Mbit OCD OSI Modell PPP Packet SMTP Switch TCP TCP Client UDP Version 5 08 The Hypertext Markup Language is a document format used in the World Wide Web to be displayed by a browser The Hypertext Transfer Protocol is a stateless transmission protocol for data transmission The hub connects different network segments e g in an Ethernet network IP address allow a logic addressing from computer in a network The Internet Protocol is widespread in computer networks It is the implementa tion of the internet layer of the TCP IP model Transmission rate or baud rate million bits per second Acronym OPTOCODE name of an encoder series manufactured by FRABA POSITAL The Open System Interconnection reference model is a open layer model for the organisation of a communication The Point to Point Protocol will be need for a connection establishment It enables the transmission between different network protocols Simple Mail Transfer Protocol managed the transmission of e mails A switch is an electronic device to connect com
6. outgoing traffic for port 1 Link1 Link to another Ethernet component for port 1 Collosion1 Red Ethernet collisions on the bus for port 1 Rx2 Incoming and outgoing traffic for port 2 Link2 Link to another Ethernet component for port 2 Collosion2 Red Ethernet collisions on the bus for port 2 Error Red Reserved Run Green Reserved Only for version A1 Version 5 08 Page 9 UME OCD EP POSITAL FRABA 3 Network Configuration The rotary encoder can be used either with the Ethernet Powerlink IP address which can be programmed or the wired IP 10 10 10 10 A switch to choose corresponding option is located in the connection cap If the switch 2 is in position off the POWERLINK IP has been chosen default Powerlink Protocol version 1 The encoder is pre configured with a fixed Powerlink node number 100 which cannot be changed by the user Be aware of this restriction The hex coded rotary switches cannot be found in the cap as shown in the picture The function of the DIP switch can be used if another than EPL IP address is needed or the user is not sure about a programmed node IP Version 5 08 Page 10 Encoder version A1 Both Hex rotary switches are used to configure the Powerlink EPL node address Allowed address range for a controlled node is 1 239 UME OCD EP POSITAL FRABA 4 Project integration This integration description is related to B amp R control units and automation stud
7. 00 g Hollow shaft B 15 mm Synchro S Clamp C 15 mm 30 mm Page 18 UME OCD EP POSITAL FRABA 6 3 Minimum mechanical lifetime Flange Lifetime in 10 revolutions with Fa Fr 40 N 60N 40 N 80N 40 N 110N C10 Clamp flange 10 x 20 247 104 40 510 Synchro flange 10 x 20 262 110 42 S6 Synchro flange 6 x 10 without shaft sealing 822 347 133 S6 Synchro flange 6 x 10 with shaft sealing max 20 N axial 80 N radial 6 4 Environmental Conditions Operating temperature 0 60 C Storage temperature 40 85 C Humidity 98 without liquid state Protection class EN 60529 Casing side IP 65 Shaft side IP 64 optional with shaft sealing IP66 Version 5 08 Page 19 UME OCD EP POSITAL FRABA 7 Mechanical Drawings 7 1 Synchro Flange S available in 2 versions Siret Ee Here Dees Version S06 Version S10 Single Turn 88 Multi Turn 98 60 68 60 58 Edelstahl Stainless steel 7 2 Clamp Flange C Single Turn 88 Multi Turn 98 A n I 30 r 3xM4x6 58 53 O36 y 10 a Edelstahl Stainless steel Version 5 08 Page 20 UME OCD EP POSITAL FRABA 7 3 Hollow shaft B Single Turn 106 Multi Turn 116 o N N gt D C oo Edelstahl 22 i 5 5 Stainless steel SE oo 5S Cc is Max W 30 Min W
8. POSITAL FRABA Absolute Rotary Encoder with Ethernet Powerlink Interface Powerlink protocol version 1 User manual FRABA POSITAL GmbH Schanzenstr 35 D 51063 K ln Telefon 49 0 221 96213 0 Telefax 49 0 221 96213 20 www posital de info posital de POSITAL FRABA Imprint FRABA POSITAL GmbH Schanzenstr 35 51063 K ln Phone 49 221 96213 0 Internet www posital com Fax 49 221 96213 20 e mail info fraba com Copyright The company FRABA POSITAL claims copyright on this documentation It is not allowed to modify to extend to hand over to a third party and to copy this documentation without written approval by the company FRABA POSITAL Nor is any liability assumed for damages resulting from the use of the information contained herein Further this publica tion and features described herein are subject to change without notice Version 5 08 Page 2 Alteration of Specifications reserved Technical specifications which are described in this manual are subject to change due to our permanent strive to improve our products Document information File name UME OCD EP Date August 2005 Version number 2 00 Author Klaus Matzker Service Phone For technical support questions and suggestions for improving our products and documentations call our telephone line 49 221 96213 0 UME OCD EP POSITAL FRABA 1 Introduction eeerssvvnnnnnnvnnnnnnvnnnnnnvnnnnnnnvnnsnnnenenn 4 6 3 Minimum mechanical li
9. capsulated in an IP packet which in turn is encapsulated in a PPP packet Both UDP and IP have checksum octets and the PPP packet has its FCS octets however this can only guarantee that the data and the des tination are correct If a packet is lost it will not be resent using UDP this issue is only addressed by the TCP protocol 1 5 OSI Modell Layer 7 Application Layer SMTP FTP HTTP DEE 6 Presentation Application Layer 5 Session Layer 4 Transport Layer TCP and UDP Data transport 3 Network Layer IP and IPX 2 Data Link Layer Ethernet 1 Physical Layer 10BASET 100BASET Cable Version 5 08 Page 6 UME OCD EP POSITAL FRABA 2 Hardware set up and Ethernet Connection 2 1 Network Topology Using Ethernet there are different kinds of topolo gies possible The connection of the encoder can be made directly to a hub If you use a direct con nection to a computer without network components in between you need to use a standard straight network cable not a crossover cable You need at least a cable of category 5 to get a data transfer rate up to 100 Mbit The symbolized structure shows a classic star topology and a line cabling structure With encoder version 00 you must directly connect the encoder device to a hub An integrated hub in encoder version A1 offers both star or more useful a line structure Version 5 08 Page 7 Only hubs should be used
10. e the given table below Bit Offset 6 5 4 3 2 1 0 o e set Le Destnation 0xFF with the information from chapter 5 2 you can see that the first three entries are out of the EPL frame Grey colored area is specific data accord ing to the SoC message The structure of the frame is given in the follow ing picture mer TITT 1 6 5 4 3 13 Octet Offset 14 45 Version 5 08 Page 14 l Net Time o Q EPL Cycle Time ov Net Command Parameter 32 Octets UME OCD EP POSITAL FRABA 5 2 1 Powerlink message Poll Request Data out data which is sent from the Managing node MN to the Controlled node CN Inde pendent if data has to be send out the PReq Octet Offset 1517 5 2 2 Powerlink message Poll Response transferred data from a CN to a MN If the sent data is valid which is indicated by a set RD flag the encoder position value is given in the IN DATA field Minimum size for IN Data is 36 oc tets according to standard Ethernet framing Poll size is the size of input data in octets ER flag message is needed to get input data from the controlled node This message is used to allow the CN a time slot for transmission within an Bit Offset 6 5 A 3 2 1 0 Source 0x00 Fatal error in CN with break down of service MS is used when multiplexed time slot mode is in operation WA is a warning flag and the CN is still in operation EX indicates an exception that unread
11. fetime 0000100aseeas 19 1 1 Absolute Rotary Encoders ccsseescsssesseeseeeseee 4 6 4 Environmental CGondtons 19 Fe tare Anuniceremsomisaisenganeieticevanniie gi PMO en 2 AWC PAP ENE EE EE 5 7 1 Synchro Flange 8 20 Go OE EE 6 7 2 Clamp Flange ln 20 2 Hardware set up and Ethernet Connection 7 7 3 Hollow shaft DI 21 2 1 Network Topology errrnvrvrrrnvrnnnvrrennnnnvrnrrrnnnnn 7 GRETHEN Eleng n 2 2 Connecting an Absolute Encodet 00 8 SHAE CESS Ores ANU NOU saci 23 2 3 Ethernet Cables LLLLL TTTE 8 10 Glossary E 23 2 3 1 RJ45 M12 crossed eenen 8 2 3 2 RJ45 M12 etraloht 8 2 3 3 M12 M12 crossed eerren 8 2 4 Diagnostic LEDie AA 9 3 Network Configuration rrsnvrnnnvvnnnvnnnnvnnnnvnn 10 4 Project integration sernnnnnvvnnnnnnvnnnnnnvvnnnnnvennnn 11 5 Powerlink protocol runnnnvvnnnnnnvnnnnnnvvnnnnnvennnn 12 5 1 Powerlink Cycle AAA 12 5 2 Powerlink messages rnrrnvrrrrrvrrnnnnrrnrnnrenn 13 6 Technical Data ernrannnvnnnnnnvrnnnnnnvnnnnnnnvnnsnnnenene 18 6 1 Electrical Data 18 6 2 Mechanical Data 18 Se mannanna 18 SYNChro KEE 18 Clamp C TE 18 Hollow shaft EE 18 Version 5 08 Page 3 UME OCD EP POSITAL FRABA 1 Introduction 1 1 Absolute Rotary Encoders Absolute rotary encoders provide a definite value for every possible rotary position All these values are reflected on one or more code discs The beams of infrared LEDs are sent through the code
12. g adapter User manual User manual D KKK Type M12 4 pin male D Coded M12 5 pin female Drilling 10 mm GS 10 Drilling 6 mm GS 06 4 pcs AWC SP 15 2 pcs AWC SP H 15 mm to 12 mm RR12 15 mm to 10 mm RR10 15 mm to 8 mm RR8 Installation configuration manual English UMD EP Installation configuration manual German UME EP These can be downloaded free of charge from our homepage www posital de usable only for full shaft usable only for hollow shaft We do not assume responsibility for technical inaccuracies or omissions Specifications are subject to change without notice 10 Glossary Term 10 Base T 100 Base T ASCII Batch file Baudrate Binary Browser CAT5 CRC EMC Ethernet Fast Ethernet FCS Bytes Flash Version 5 08 Explanation Transmission line with 10 Mbit data transmission rate Transmission line with 100 Mbit data transmission rate American Standard Code for Information Interchange ASCII describes as code the correlation from digital integers to a normal font described character Script program for MS DOS Transmission rate it display the transmission bits per second Numeric system with value 0 or 1 Software program to display HTML Sides on different operating systems Linux Unix Windows Terminations for transmission rates up to 100 Mbit The cyclic redundancy check is a method from the information technology to control a checksum for data to reduce
13. io For adding an encoder into your project a ge neric Powerlink device is needed So you have to add the library POWERLNK first and use a generic device To realize a data connection the following information must be configured for the generic device here encoder Controlled node number Offset for the data pointer within data frame Length of data type Version 5 08 Page 11 D I LSB The Powerlink encoder with EPL protocol Vi has currently a fixed node number 100 at fac tory There is no data offset in the EPL frame because only one process value is used posi tion value The data length is 8 bytes whereby only 4 bytes contain really updated values All other bytes are set to 0 Ordered data bytes of a read position value within a EPL frame is low byte first and at least MSB Position value coding DB2 DB3 DB4 DB5 DB6 DB7 MSB 00 00 00 00 Data exchange direction The encoder offers only IN Data as Poll Re sponse message PRes No data out messages contained within Poll Request PReq message can be transmitted to the encoder UME OCD EP DB8 POSITAL FRABA 5 Powerlink protocol 5 1 Powerlink cycle The Powerlink protocol offers an isochronous communication A deterministic transmission is a requirement out of high performance applications The deterministic network cycle is achieved with a time slot principle which is descripted in following picture An EPL cycle i
14. net powerlink other EPL frames The rest is defined depending part as standard Ethernet data and annex For on the specific service identifier message type Ethernet Frame Ethernet Standard Ethernet Standard Header Taller 6 6 2 1 1 1 ETHERNET Powerlink Code We Description SID Service identifier Identties the additional reference data DA Destination Address Node which the frame is sent to Node which sent the frame type Start of Cyclic SoC Marks begin of EPL cycle and isochronous part End of Cyclic EoC Marks end of isochronous part Poll Request PReq Unicast Transfer request of MN to CN to send isochronous data CN answers with PollResponse frame Frame can include data from MIN to CN a Pol Response PRes Broadcast Contains isochronous data of a CN ra ic Invite Alnv kee Frame in asynchronous part for MN to request asynchro nous data from particular CN Acyclic Send ASnd Frame in asynchronous part of the cycle to send asyn chronous data to a CN or to the MN cast a 1 fe Version 5 08 Page 13 UME OCD EP POSITAL FRABA 5 2 1 Powerlink messageSoC This message is sent as a broadcast telegram to all CN on the network All devices will sample on receiving this telegram their input state The encoder is latching in this moment the current position value Total number of transmitted bytes is 64 octets according to Ethernet standard framing If you compar
15. oll Request frame Encoder settings Device variant 150 dez Hardware revision 1 Poll In size 8 Firmware revision 1 Poll out size 0 Version 5 08 Page 17 UME OCD EP 6 Technical Data 6 1 Electrical Data Supply voltage Power consumption EMC Bus connection Transmission rate Accuracy of division Step frequency LSB Electrical lifetime Device addressing 6 2 Mechanical Data Housing Lifetime Max shaft loading Inertia of rotor Friction torque RPM continuous operation Shock EN 60068 2 27 POSITAL FRABA 10 30 V DC absolute limits max 4 Watt Emitted interference EN 61000 6 4 EN 61000 6 2 Ethernet Powerlink V2 V1 100 MBit 1 LSB 12 bit 2 LSB 16 bit Max 800kHz internal valid code gt 10 h Programmable IP Address with 2hex coded rotary switches Noise immunity Aluminum optional stainless steel Dependent on shaft version and shaft loading refer to table Axial 40 N radial 110 N lt 30 gem lt 3 Nem without shaft sealing Singleturn max 12 000 RPM Multiturn max 12 000 RPM lt 100 g halfsine 6 ms Permanent shock EN 60028 2 29 lt 10 g halfsine 16 ms Vibration EN 60068 2 6 Weight standard version Weight stainless steel version Flange Shaft diameter Shaft length hollow shaft depth min max Version 5 08 lt 109 10 Hz 1 000 Hz Singleturn 500 g Multiturn 7009 Singleturn 1 000 g Multiturn 1 4
16. puters e g network segments in a local network Unlike a hub a switch uses stacks to avoid network collisions The Transmission Control Protocol is a connection orientated transmission protocol in a network MS DOS program available from FRABA to communicate with the encoder User Datagram Protocol is utilized to send data that does not need to be trans ferred in a reliable way Page 24 UME OCD EP 11 History Version document 1 00 Initial version of this document Version document 2 00 With encoder version 01 the pin out of the Ethernet connector is changed This is documented in the manual revision V2 00 Version 5 08 Page 25 UME OCD EP
17. s divided into 4 periods Start Isochronous Asynchronous Idle Period Start of Poll Req Poll Req Controlled Node CN Version 5 08 Poll Res Page 12 With Start period the devices latch their process data This action is synchronous realized via the whole EPL network Isochronous period CN are processed what means that the MN node request the nodes after each other In this time slot the process values are transmitted Asynchronous period Used for non time critical data Idle period Remaining time till next cycle Used to compensate different processing cycle times to achieve an outside constant cycle time invite Cyclic UME OCD EP 5 oOo RD pg re RA Kal gt D gt 5 2 Powerlink messages Ethernet Powerlink frames are embedded in a destination and source address within Ethernet standard Ethernet frame Because of that it is standard header the MAC address is given A possible to use standard diagnostic tools in an MAC address is built up with 6 bytes here are EPL network But you must be aware that a the first 5 bytes constant 00 60 65 00 49 the standard PC can be able to interrupt the con sixth octet is the node number The Ethernet trolled EPL cycle As a result the cycle can not type field is set to xxxx be deterministic anymore Powerlink specific data The Ethernet frame is divided into 3 parts See the marked entries which are fixed for all Ethernet standard header Ether
18. stem with higher data transfer rates than common field bus systems TCP IP and UDP do have a statistical access method to access the medium thereby prohibiting determined response times Many developments are intensely done on additional real time mecha nisms e g Ethernet Powerlink Version 5 08 Page 5 1 3 TCP IP Even though Ethernet and TCP IP are often used together and sometimes used interchanged these are three different kinds of terms and you should carefully separate them The coherences are based on the ISO OSI reference model after ISO IEC 7498 that is needed to basically under stand these terms Ethernet only describes layer 1 and 2 in this model nevertheless the term is often used in error in engineering as description of all layers between 1 and 7 The IP protocol of layer 3 was developed in the 70 s by the US military MIL STD 1777 It allows a universal addressing independent of the hardware involved in heterogeneous networks It also man ages the transfer of large packets by splitting them up into smaller packets The well known TCP protocol MIL STD 1778 ensures a reliable data transfer Http RFC 2068 and SMTP MIL STD 1781 be long to layer 7 of the OSI model and allow to trans fer data and documents via web browser or to send e mails UME OCD EP 1 4 UDP POSITAL FRABA User Datagram Protocol is utilized to send data that does not need to be transferred in a reliable way The UDP packet is en

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