ASM posirot PRAS Series User manual

Installation and operation manual EN
Please read carefully before installation and operation!
posirot® PRAS/PRDS
Magnetic Angle Sensors
Magnetic Incremental Encoders

© ASM Automation Sensorik Messtechnik GmbH, 2020
All rights reserved.
Am Bleichbach 18 - 24
85452 Moosinning
Germany

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Magnetic Angle Sensors and Incremental Encoders
Version 1.3.0
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1Safety instructions ........................................................................................................4
1.1 Signal words and symbols .............................................................................................................4
1.2 General safety instructions.............................................................................................................4
1.3Intended use...................................................................................................................................5
2Transport and storage...................................................................................................5
3Installation and initial operation...................................................................................7
3.1 Mechanical installation...................................................................................................................7
3.2 Electrical connection ....................................................................................................................18
3.3 Operating temperature.................................................................................................................20
3.4 Characteristics for magnetic angle sensors.................................................................................21
4Maintenance and disposal..........................................................................................23
4.1 Maintenance and service .............................................................................................................23
4.2 Disposal........................................................................................................................................23
5Output specification....................................................................................................24
5.1 Analog output...............................................................................................................................24
5.2 Incremental output .......................................................................................................................31
5.3 Digital output ................................................................................................................................35

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Magnetic Angle Sensors and Incremental Encoders
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1 Safety instructions
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1.1 Signal words and symbols
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WARNING, Risk of Injury:
Indicates a potentially hazardous situation, which, if not avoided, can result in serious
injury or property damage.
WARNING, Risk of Personal Injury or Death:
Indicates a situation that can result in serious personal injury or death if not properly
avoided.
WARNING, Risk of Personal Injury or Death:
Indicates a situation that can result in moderate personal injury or death if not properly
avoided.
WARNING, Risk of Personal Injury:
Indicates a situation that can result in minor personal injury if not properly avoided.
WARNING, Risk of Property Damage:
Indicates a situation that can result in minor to major property damage if not properly
avoided.
Product liability
•Disregarding the following instructions may result in malfunction, damage to property and personal injury
and releases the manufacturer from product liability.
Safety regulations
•National safety regulations must be observed!
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1.2 General safety instructions
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Danger of injury to the operator or damage to the property
•Connection to power supply must be performed in accordance with safety instructions
for electrical facilities and performed only by qualified personnel.
•Any alteration, reconstruction or extension of the sensor is not allowed!
•The sensor must be operated only within values specified in the datasheet.
•The danger of personal injury and danger of property damage due to a malfunction of
the sensor in machines or systems must be excluded by additional safety measures.
•In safety-relevant applications, additional facilities must be provided for maintaining
safety and preventing damage.
•Check whether the protection class of the sensor is suitable for the application.
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1.3 Intended use
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The angle sensor is intended for angular position measurement. For determining measuring range,
environmental compatibility and connection data of the sensor, please note the data sheet. Use the sensor
as intended by operating within its specified technical data and ambient conditions.
The installation and operating instructions supplied with the unit must be respected. All maintenance and
service work must be carried out. The data sheet of the respective sensor is part of this instruction manual. If
not yet available, it may be requested by stating the respective model number.
The sensor must not be improperly mounted, operated or serviced. In addition, operation of the sensor in
faulty condition is prohibited.
The sensors listed in the installation and operating instructions must not be operated in potentially explosive
environments. Sensors intended for this environment (posirot®EX) are described in their respective
manuals.
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2 Transport and storage
Observe storage and transport temperatures according to the temperatures specified in the data sheet.
Max. rel. humidity 60%, dew condensation must be prevented at all times.
The device must be secured against slipping and tipping during transport.
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Shipment damage
Check sensor immediately for shipment damage. In case of any damage or equipment not operating
appropriately, please contact your supplier.
Shipment content
•Sensor
•Installation and operation manual
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Description of the PRAS sensors
The angle sensors PRAS of the posirot®product family perform non-contact or shaft based angle
measurement. A position magnet rotates in front of the sensing area of the sensor head. The angular
position is converted into a standardized high resolution voltage or current output. Measuring ranges 15° to
360° having rising or falling characteristic are available.
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Description of the PRDS sensors
The angle sensors PRDS of the posirot®product family perform non-contact or shaft-based angle
measurement. A position magnet rotates in front of the sensing area of the sensor head.
The sensor detects the angular position of the position magnet and outputs an absolute digital position value
(CANopen, SAE J1939, SSI) or generates an incremental output signal (resolutions of up to 1024 pulses per
revolution are available).
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Rotational speed limit by resolution and maximum pulse frequency –PRDS sensors
Resolution
(periods per turn)
Rotational speed [rpm]
50 kHz maximum pulse
frequency
200 kHz maximum pulse
frequency
1024
1500
6000
512
3000
10000 *)
256
6000
10000 *)
128
10000 *)
10000 *)
64
10000 *)
10000 *)
32
10000 *)
10000 *)
16
10000 *)
10000 *)
*) Speed limited by mechanical restrictions of the rotating magnet.
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3 Installation and initial operation
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3.1 Mechanical installation
•Do not deform the sensor housing!
•For sensors with shaft use flexible coupling or torque arms to avoid misalignment errors ((see page 17)
„Couplings“).
PRAS4: Risk of damage to the sensor due to corrosion
•Mount the sensor on a flat surface
•Avoid or seal gaps of <0.5mm while mounting the sensor
•Use sea-waterproof material
•Take suitable precautions against fouling
•Remove the contamination in case of fouling; define suitable maintenance intervals.
Installation of the sensor supply cable
(underwater housing)
A –PTAM4
B –Strain relief with a
separate cord grip
C –Mechanical protection
D –R>30 min. bending radius
with fixed cable
R>30 min. bending radius
with free cable

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Placement and alignment of the position magnet
For non-contact sensor models air gap and alignment of sensor and position magnet has to be observed. The
linearity will degrade in case of misalignment.
Adjacent magnetic fields or ferromagnetic materials can influence the measurement results of the PRAS and
PRDS sensors of the posirot®product family. Therefore, the angle sensors and position magnets should be
mounted solely with non-magnetic screws and washers.
The angle sensors PRAS2/PRDS2, PRAS3/PRDS3, PRAS4, PRAS5/PRDS5,PRAS6/PRDS6 and
PRAS7/PRDS7 are equipped with an integrated magnetic shield which minimizes the sensitivity against
external magnetic fields.
Optional shield plates are available for the angle sensors PRAS20, PRAS21, PRAS26, PRAS27/PRDS27 and
PRAS29/PRDS29. They can reduce the effect of residual magnetizing in case the sensor has to be mounted
on a ferromagnetic material.
It is however not possible to exclude the effect of lateral external magnetic fields.
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Reference position incremental output
For ease of mounting there are reference markings at housing, position magnet or shaft. If both markings
match, the reference output Z/ Z will be activated.
Reference position SSI output
The zero point of the characteristic is given when markings on magnet and housing match.
Reference position CAN output (CANopen, J1939)
The average value of the characteristic is given when markings on magnet and housing match. The
characteristic can be defined by configuration via CAN bus.
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Reference position of the posirot®angle sensors
PRAS1 / PRDS1
PRAS2 / PRDS2 Cable version
PRAS2 / PRDS2 Connector version
M12 axial
PRAS2 / PRDS2 Connector version
M12 radial
PRDS2: a zero impulse Z, Zis generated at the
reference position.

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PRAS3/PRDS3 Shaft
PRAS3/PRDS3 Hollow shaft
Allowable shaft load PRAS3/PRDS3
100 N radial, 100 N axial
A –Marking
B –Marking (back side)
PRAS4
A, C –Marking
B –Marking (back side)

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PRAS5/PRDS5-K
Cable version, Connector version M12 axial/radial
PRDS5-V solid shaft
Allowable shaft load PRDS5-V:
100 N radial, 100 N axial
PRDS5, PRDS5-V: a zero impulse Z, ¯Z is
generated at the reference position.
A –Marking
C –Flat area
PRAS6/PRDS6, Cable version, Connector version M12 axial/radial

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PRAS7/PRDS7
Connector version M12 axial/radial
A –Marking
PRDS6, PRDS7: a zero impulse Z, Zis generated at
the reference position.
PRAS20
PRAS21
PRAS26
PRAS27/PRDS27, PRAS29/PRDS29
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Assembly of the position magnets
•Usually it is not admissible to countersink a position magnet into ferromagnetic
material, because this would have a negative influence on the performance of the
position magnet and could lead to measurement errors of the angle sensors.
Mounting on non-magnetic material
flush-mounted
surface-mounted
PRMAG2
PRMAG2-Z


PRMAG5-Z
PRMAG6-Z
PRMAG7-Z


PRMAG20
PRMAG21
PRMAG22


PRMAG-M10


Mounting on magnetic material
flush-mounted
surface-mounted
PRMAG2
PRMAG2-Z


PRMAG5-Z
PRMAG6-Z
PRMAG7-Z


PRMAG20
PRMAG21
PRMAG22
-

PRMAG-M10
-

: mounting admissible
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Measuring error by misalignment of the position magnet
Air gap (a)
Parallelism (b)
Axial misalignment (c)
Sensor
Position magnet
Air gap
[mm]
Paralle-
lism [°]
Error by axial misalignment [°]
0.2 mm
0.5 mm
1 mm
2 mm
3 mm
4 mm
PRAS20
PRAS21
PRAS26
PRMAG20
0 ... 7
0 ... 5
0.1
0.3
0.7
2
4.6
–
PRMAG21
0 ... 2
0 ... 5
0.15
0.3
0.9
3.6
9.6
–
PRMAG22
0 ... 10
0 ... 5
0
0
0.7
1.5
3.8
7
PRMAG-M10
0 ... 3
0 ... 5
0.1
0.1
0.5
2
7
–
PRAS27
PRDS27
PRAS29
PRDS29
PRMAG20
0 ... 7.5
0 ... 5
0.1
0.3
0.7
2
4.6
–
PRMAG21
0 ... 2.5
0 ... 5
0.15
0.3
0.9
3.6
9.6
–
PRMAG22
0 ... 10.5
0 ... 5
0
0
0.7
1.5
3.8
7
PRMAG-M10
0 ... 3.5
0 ... 5
0.1
0.1
0.5
2
7
–
PRAS1
PRDS1
PRMAG20
0 ... 6.5
0 ... 5
0.15
0.4
0.8
2.2
5.0
–
PRMAG21
0 ... 4
0 ... 5
0.2
0.4
1
3.8
10
–
PRMAG22
0 ... 9.5
0 ... 5
0.1
0.4
1
2.2
4.5
8
PRMAG-M10
0 ... 5
0 ... 5
0.1
0.1
0.5
2.0
7
–
PRAS2
PRDS2
PRMAG2-Z-VA
0 ... 9
0 ... 5
0.1
0.2
0.6
1.5
4.5
8.5
PRMAG20
0 ... 6
0 ... 5
0.15
0.4
0.8
2.2
5
–
PRMAG21
0 ... 3.5
0 ... 5
0.2
0.4
1
3.8
10
–
PRMAG22
0 ... 9
0 ... 5
0.1
0.4
1
2.2
4.5
8.0
PRAS4
PRMAG5-Z-VA-
WP
0 ... 6.5
0 ... 5
0.1
0.2
0.6
1.5
4.5
8.5
PRAS5
PRAS6
PRAS7
PRDS5
PRDS6
PRDS7
PRMAG2-Z-(VA)
0 ... 8.5
0 ... 5
0.1
0.2
0.6
1.5
4.5
8.5
PRMAG5-Z-(VA)
0 ... 7.5
0 ... 5
0.1
0.2
0.6
1.5
4.5
8.5
PRMAG6-Z-(VA)
0 ... 7.5
0 ... 5
0.1
0.2
0.6
1.5
4.5
8.5
PRMAG7-Z-VA
0 ... 7.5
0 ... 5
0.1
0.2
0.6
1.5
4.5
8.5
PRMAG20
0 ... 5.5
0 ... 5
0.15
0.4
0.8
2.2
5
–
PRMAG21
0 ... 3
0 ... 5
0.2
0.4
1
3.8
10
–
PRMAG22
0 ... 8.5
0 ... 5
0.1
0.4
1
2.2
4.5
8
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Sensor fixing with a shield plate (optional)
An optional shield plate is available for the angle sensors PRAS20, PRAS21, PRAS26, PRAS27/PRDS27
and PRAS29/PRDS29. It can reduce the effect of residual magnetizing in case the sensor has to be
mounted on a ferromagnetic material.
PRAS20
PRAS21
PRAS26
PRAS27/
PRDS27
PRAS29/
PRDS29
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Torque for fixing screws
The specified torques and mounting methods are general recommendations and can differ according to
application and operating conditions.
Model
Mounting method
Material
Torque [Nm]
PRAS1, PRDS1
Nuts M12x1
–
2.5
PRAS21
Screws M3 with washer
A4
Aluminium
Brass
Plastic
<0.8
–
–
–
PRAS20/PRAS20R
Screws M4 with washer
A4
Aluminium
Brass
Plastic
<1.8
–
–
–
PRAS27, PRDS27
PRAS29, PRDS29
Screws M4
–
1
PRAS26
Screws M4 with washer
A2
<1.8
PRAS2, PRDS2
Screws M2.5 for mounting
brackets
–
0.8
PRAS3, PRDS3
Screws M3 for mounting
flange
–
1.2
PRAS4
Screws M6
A2
<4
PRAS5, PRDS5
Screws M8
Steel
<10
PRAS6, PRDS6
Screws M6
Steel
<6
PRAS7, PRDS7
Screws M6
Steel
<6
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Couplings
Model MK4
Rated torque
2 Nm
Total length (inserted)
37 mm
Axial misalignment (a)
< 0.7 mm
Lateral misalignment (b)
< 0.25 mm
Angular misalignment (c)
< 2°
Dimensions in mm [inch]
Order code
A
B
MK4-37-6-6
Ø6H7 [.236 +.0005]
Ø6H7 [.236 +.0005]
MK4-37-6-10
Ø6H7 [.236 +.0005]
Ø10H7 [.394 +.0006]
MK4-37-6-12
Ø6H7 [.236 +.0005]
Ø12H7 [.472 +.0007]
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3.2 Electrical connection
Damage or destruction of the sensor due to excessive operating voltage or
mounting error
•The applied operating voltage must not exceed the value specified in the data
sheet.
•Operate the sensor only within the limits specified in the data sheet.
•Connection to the power supply only by qualified personnel and in accordance with
the applicable safety regulations for electrical equipment.
•Do not connect or disconnect the sensor under voltage!
Corrosion in the sensor due to moisture penetration
•Use the sensor only according to protection class.
•The mating connector should have the same protection class as the sensor,
otherwise the lower protection class of the mating connector is valid.
•Avoid crossing the dew point.
•Cable outputs must be installed in such a way that no moisture can get into the
cable.
•The protection class of sensors with connector output is valid only if the electrical
plug is connected!
Damage of the sensor cable due to mechanical stress
•Do not twist the M12 connector inserts.
•It is important that the knurled nuts on the connectors are tightened to the correct
torque for each different size of the connector:
•M12-ASM connectors / couplings: 1.0 Nm
•connectors / couplings of other manufacturers: according to manufacturer
instruction.
•Use a torque wrench.
•Do not strain the connection cable.
•A separate strain relief is recommended.
Damage to the sensor via water ingress through the junction box due to corrosion
resulting from water penetration (PRAS4)
•The connecting cable must be routed to the terminal box via a pressure-tight cable
gland.
Connector Pin assignment
According to the definitions of the output types contained in the appendix. Observe different color code for
pre-assembled accessory cables. See catalog information for accessories.
Supply voltage
See specification in the data sheet of the sensor. The maximum operating voltage must not be exceeded.
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Installation of the sensor supply cable
incorrect
correct
Admissible bending radius of the
cable must be observed:
R ~ 5 x D
R ~ 10 x D (underwater cable)
Length compensation for the
cable must be observed
A separate cord grip for cable
strain relief is recommended
Observe cable routing in case of
splashing water, water
condensation and humidity
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Electromagnetic Compatibility (EMC)
Electromagnetic compatibility of posirot®magnetic angle sensors is influenced by the sensor wiring.
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Possible malfunction of the sensor when used in systems with highly
interference-prone components such as frequency inverters
Recommended wiring:
•Use single shielded sensor cable with twisted pair conductors for power supply
and signal output.
•Connect the cable shield to ground on one side of the control cabinet. Connect
the shield connection over a large area using cable clamps before or at the cable
entry into the control cabinet. When preassembled cables are delivered, the
screen is not connected to the housing on the sensor side.
•Do not install sensor cables close to power conductors such as motor or
contactor control cables (use separate cable ducts for signal and power cables).
•Install the cables in metal cable ducts which are connected to ground.

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3.3 Operating temperature
posirot® PRAS20/PRAS20R
-40 ... +85°C
posirot® PRAS21
-40 ... +85°C
posirot® PRAS26
-40 ... +85°C
posirot® PRAS27/PRDS27
-40 ... +85°C
posirot®PRAS29/PRDS29
-40 ... +85°C
posirot® PRAS1/PRDS1
-40 ... +85°C
posirot® PRAS2/PRDS2
-40 ... +85°C
posirot® PRAS3/PRDS3
-40 ... +85°C
posirot® PRAS4
-20 ... +85°C (up to +30°C in sea water)
posirot® PRAS5/PRDS5
-40 ... +85°C
posirot® PRAS6/PRDS6
-40 ... +85°C
posirot® PRAS7/PRDS7
-40 ... +85°C
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