ASM POSIROT Series User manual

POSIROT® /PRDS
Please read carefully before installation and operation!
Digital Magnetic Angle Sensors
Installation and operation manual

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Contents
POSIROT®– PRDS
Contents
Safety instructions........................................................................ 3
Intended use...................................................................................4
Unintended use..............................................................................4
Delivery / shipment........................................................................5
Description..................................................................................... 6
Mounting........................................................................................ 6
Placement and alignment of the position magnet..........................6
Reference position........................................................................ 7
Torque for the mounting screws.................................................... 7
Electrical installation.....................................................................9
.
Reference position.......................................................................10
PRDS27.................................................................................. 10
PRDS1.................................................................................... 11
PRDS2.................................................................................... 12
PRDS3.................................................................................... 12
PRDS5.................................................................................... 13
PRDS6.................................................................................... 14
PRDS7.................................................................................... 15
Specification of the outputs........................................................16
RS422..................................................................................... 16
HTL......................................................................................... 17
SSI.......................................................................................... 18
CANopen.................................................................................19
CAN SAE J1939......................................................................30
Accessories..................................................................................35
Accessory cables.................................................................... 35
Position magnets.................................................................... 37
Assembly of the magnets........................................................45
Mounting plates for PRDS2/PRDS3....................................... 46
Mounting possibilities PRDS2/PRDS3................................... 47
Coupling MK4..........................................................................48
Service, calibartion, disposal..................................................... 49
Reliability Characteristics...........................................................50
Declaration of conformity............................................................51

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Safety
instructions
POSIROT®– PRDS
Safety instructions
If total failure or malfunction of the sensor can cause danger or
injury to the operator or damage to the machinery or equipment
it is recommended that additional safety measures should be
incorporated into the system.
Any alteration, reconstruction or extension of the sensor is not
allowed.
Sensor must be operated only within values specied in the
datasheet.
Connection to power supply must be performed in accordance
with safety instructions for electrical facilities and performed
only by trained staff.
Do not connect / disconnect the sensor under tension.
Disregard of this advice can lead to malfunctions, damage to
property or personal injury and releases the manufacturer from
product liability.
Explanation of used
safety signs and
signal words
WARNING, Risk of Injury:
Indicates a potentially hazardous situation, which, if
not avoided, could 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.
DANGER
WARNING, Risk of Personal Injury or Death:
Indicates a situation that can result in moderate
personal injury or death if not properly avoided.
WARNING
WARNING, Risk of Personal Injury:
Indicates a situation that can result in minor personal
injury if not properly avoided.
CAUTION
WARNING, Risk of Property Damage:
Indicates a situation that can result in minor to major
property damage if not properly avoided.
NOTICE

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POSIROT®– PRDS
Intended use
Intended use
Unintended use
Maintenance and
service
• In order to avoid risk of injury and improper handling the
customer is not allowed to repair the sensor. No warranty or
liability will be granted for opened sensors.
• Damaged sensors must be shut down immediately and sent
to the factory for repair.
Proper maintenance comprises the visual examination of parts (e.g.
integrity of housing, connectors and cables). Maintenance intervals
dependonthespecicapplicationandshouldbedenedbytheuser
in dependance of operating conditions.
The following maintenance steps are recommended:
Maintenance-
interval
Deinstallation Disconnectelectricalconnections.Loosenxingscrews.
Disposal Disposal according to applicable government regulations.
The angle sensor was intended for angular position measurement, when
properly mounted and used in the specied ambient atmospheric and
technical conditions for which the sensor is designated.
The unintended use is when the sensor is used outside its specied
technical and ambient atmospheric conditions or when incorrectly
mounted.
Integrity of housing,
connector, cable
Mounting
elements
Visual check of shaft
sealing
PRDS2 X X
PRDS3 XXX
PRDS5 / 6 / 7 X X
PRDS5-V XXX
PRMAG20 X
PRMAG21 X
PRMAG22 X
PRMAG5-Z-(VA)
PRMAG6-Z-(VA)
PRMAG7-Z
X
PRMAG-M10
Measures Damaged parts: Put
sensor out of service and
replace damaged parts
resp. send sensor to ASM
for repair
Loose mounting parts:
Screw tight mounting parts
with recommended torque,
if applicable use bolt
adhesive
Damaged shaft sealing:
Put sensor out of service
and send it to ASM for
repair

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POSIROT®– PRDS
Delivery / shipment
Delivery /
shipment
Shipment damages Check sensor immediately for ship-
ping damage.
In case of any damage or equipment not operating appropriately, please
contact supplier or ASM GmbH Moosinning. To avoid shipment damages,
use original packing for further shipment.
Return consignment for calibration or repair: only with the RMA number
(Return Material Authorization). Please contact ASM and request the RMA
number:
ASM Automation Sensorik
Messtechnik GmbH
Service&Repair
Am Bleichbach 18-24
85452 Moosinning
Germany
Tel. [phone]
Fax [phone]
[e-mail]
www.asm-sensor.com
Return
consignment

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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 elds or ferromagnetic materials can inuence the
measurement results of the PRDS sensors of the POSIROT® product
family. Therefore the angle sensors should be mounted solely with
nonmagnetic / non magnetisable shims and screws.
The angle sensors PRDS2, PRDS3 and PRDS5, PRDS6, PRDS7
are equipped with an integrated magnetic shield which minimizes the
sensitivityagainstexternalmagneticelds.
Optional shield plates are available for the angle sensor PRDS27. They
can decrease the effect of residual magnetizing in case the sensor has to
be mounted on a ferromagnetic material (see page 9).
It is however not possible to exclude the effect of lateral external magnetic
elds.
Description The angle sensors PRDS of the POSIROT®product family perform touch-
less 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 incremental output. Resolutions up to 1024 pulses per
revolution are available.
Mounting
Placement and alignment
of the position magnet
POSIROT®– PRDS
Description / Mounting
Mechanical information PRDS1, PRDS2, PRDS3, PRDS5, PRDS5-V,
PRDS6, PRDS7
• Prevent the sensor shaft from binding.
• For sensors with shaft use shaft couplings resp. torque arms (e.g.
exibleones)toavoidmisalignmenterrors(see Accessoires „Cou-
plings“ p. 48)
Mechanical information PRDS27
• Mountthesensoronaatsurface.
• Do not deform the sensor housing!
NOTICE
NOTICE

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Mounting 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 / Zwill 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denedbycongurationvia
CAN bus.
POSIROT®– PRDS
Mounting

a
c
b
a
c
b
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Measuring error by misalignment of the position magnet
Sensor Position
magnet
Air gap
[mm]
a
Paral-
lelism
[°]
b
Error by axial misalignment
[°]
c
0.2
mm
0.5
mm
1 mm 2 mm 3 mm 4 mm
PRDS27 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 –
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 –
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
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
POSIROT®– PRDS
Measuring error by misalignment of the magnet

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Rotational speed
limit by resolution
and maximum pulse
frequency
Resolution
[periods per turn]
Rotational speed for maximum pulse frequency
[rpm]
50 kHz 200 kHz
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
POSIROT®– PRDS
Electrical installation
Torque for xing screws
Thespeciedtorquesandmountingmethodsaregeneralrecomendations
and can differ according to application and operating conditions.
Torque Model Screw / Mutter Material Torque
[Nm]
PRDS1 M12x1 - 2,5
PRDS2, PRDS3 M2,5 screws for moun-
ting brackets - 0,8
PRDS3 M3 screws for mounting
ange - 1,2
PRDS27 M4 - 1
PRDS5 M8 steel <10
PRDS6 M6 steel <6
PRDS7 M6 steel <6
Supply voltage,
current consumption
NOTICE
Electrical installation
Observe different color code for pre-assembled accessory cables - refer to
accessories pages.
The protection class of sensors with connector output is valid only if the
electrical plug is connected!
Do not twist the M12 connector insert.
Cable outputs must be installed in such a way that no moisture can get into
the cable. Crossing the dew point must be avoided.
Do not strain the connection cable.
A separate cord grip is recommended.
For wiring of connector or cable outlet as well as supply voltage and current
consumption see from page 16.
Cable screen has to be connected to protective earth.

Markierung
Markierung
Markierung
Markierung
Zugentlastung
PRDS27
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Cable diameter Ø 5.2 mm
Min. bending radius
in motion not in motion
10 x cable diameter,
10 million cycles 5 x cable diameter
For all sensors with cable:
POSIROT®– PRDS
Reference position PRDS27
Reference position
PRDS27
A zero imlpuls Z, Z(see pages 15/16)
is generated at the reference position.
Fixing of the PRDS27 with a shield plate (optional)
PRDS27
Marking
Strain relief
Shield plate
PRAS27-MSHIELD
Marking

bündig
nicht magnetisches Material
nicht bündig
magnetisches Material
15
>
Markierung
Markierung
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Marking
Marking
Reference position
PRDS1
Mounting PRDS1
Flush-mounted
Non-magnetic material
Surface-mounted
Magnetic material
A zero imlpuls Z, Z(see pages 15/16) is
generated at the reference position.
POSIROT®– PRDS
Reference position PRDS1

Markierung
Markierung
Markierung
Markierung
Markierung
Markierung
PRDS2-KAB
+
PRMAG21
PRDS2-M12A
+
PRMAG21
PRDS2-M12R
+
PRMAG21
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Marking
POSIROT®– PRDS
Reference position PRDS2 / PRAS3
Flat area
Marking
Marking
(back side) Marking
(back side)
Marking
Marking
Marking Marking
Marking
Reference position
PRDS2
Reference position
PRDS3
Shaft
Hollow shaft
A zero imlpuls Z, Z(see pages 15/16) is
generated at the reference position.
Allowable shaft load
100 N radial, 100 N axial

Markierung
Markierung
Markierung
Markierung
Markierung
Markierung
PRDS5-KAB
+
PRMAG5-Z PRDS5-M12A
+
PRMAG5-Z PRDS5-M12R
+
PRMAG5-Z
Abflachung
Markierung
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Reference position
PRDS5
Marking
Marking
A zero imlpuls Z, Z(see pages 15/16) is generated at the reference
position.
POSIROT®– PRDS
Reference position PRDS5
Marking
Marking
Marking
Marking
Allowable shaft load
120 N radial, 120 N axial
Flat area
Marking
Reference position
PRDS5-V
Shaft

Markierung
Markierung
Markierung
Markierung
Markierung
Markierung
PRDS6-KAB
+
PRMAG6-Z PRDS6-M12A
+
PRMAG6-Z PRDS6-M12R
+
PRMAG6-Z
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Marking
Marking
POSIROT®– PRDS
Reference position PRDS6
Reference position
PRDS6
Marking
Marking Marking
Marking
A zero imlpuls Z, Z (see pages 15/16) is generated at the reference position.

Markierung
Markierung
Markierung
Markierung
PRDS7-M12A
+
PRMAG7-Z
PRDS7-M12R
+
PRMAG7-Z
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Reference position
PRDS7
Marking
Marking
Marking
Marking
A zero imlpuls Z, Z (see pages 15/16) is generated at the reference position.
POSIROT®– PRDS
Reference position PRDS7

RS422
M12A8 / M12R8
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RS422
Incremental
Interface RS422
Excitation voltage 5 V ±10 % (RS5V); 12...36 V (RS24V)
Excitation current 100 mA max., depending on the load
Pulse frequency 50, 200, 800 kHz
Output signals A, A, B, B, Z, Z Push-Pull
Output current 60 mA max.
Stability (temperature) ±50 x 10-6 / °C f.s. (typ.)
Operating temperature -40 ... +85 °C
Protection Short circuit
EMC EN 61326-1:2013
Output signals
Excitation +
Excitation GND
Signal A
Signal A
Signal B
Signal B
Signal Z (ref. pulse)
Signal Z
Signal wiring Signal Connector pin. no. Cable color
Excitation + 1 white
GND 2 brown
A 4 yellow
A6 pink
B 3 green
B5 grey
Z 7 blue
Z8 red
View to sensor
connector
Pulse sequence for clockwise rotation
CW in view of shaft or active front of
sensor.
The subsequent counting device must
be able to process the specied maxi-
mum pulse fequency of the sensor.
POSIROT®– PRDS
Output RS422

HTL
M12A8 / M12R8
M12A5 / M12R5
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HTL
Incremental
Interface HTL
Excitation voltage 12...36 V
Excitation current 100 mA max., depending on the load
Pulse frequency 50, 200, 800 kHz
Output signals A, A, B, B, Z, Z Push-Pull
Output current 50 mA max.
Stability (temperature) ±50 x 10-6 / °C f.s. (typ.)
Operating temperature -40 ... +85 °C
Protection Short circuit
EMC EN 61326-1:2013
Output signals
Signal wiring Signal Connector
pin no.
M12A5 / M12R5
Connector
pin no.
M12A8 / M12R8
Cable color
Excitation + 1 1 white
GND 3 2 brown
A 2 4 yellow
A6 pink
B 4 3 green
B5 grey
Z 5 7 blue
Z8 red
View to sensor
connector
Pulse sequence for clockwise rotation
CW in view of shaft or active front of the
sensor.
The subsequent counting device must
be able to process the specied maxi-
mum pulse frequency of the sensor.
Excitation +
Excitation GND
Signal A
Signal A
Signal B
Signal B
Signal Z (ref. pulse)
Signal Z
POSIROT®– PRDS
Output HTL

M12A8 / M12R8
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SSI
Synchronous serial
Interface EIA RS-422
Excitation voltage 5 V ±10 % (SSI5V); 12...36 V (SSI24V)
Excitation current 100 mA max. without load
Clock frequency 100 kHz ... 1 MHz
Code Single step Gray code 12 Bit
Resolution 12 Bit
Delay between pulse trains 20 µs min.
Stability (temperature) ±50 x 10-6 / °C f.s. (typ.)
Operating temperature -40 ... +85 °C
Protection Short circuit
EMC EN 61326-1:2013
Data format
(Train of 13 pulses)
Recommended
processing
input circuit
Cable length Baud rate
50 m 100-1000 kHz
100 m 100-300 kHz
Note:
Extension of the cable length will reduce the ma-
ximum transmission rate. The signals CLOCK
/CLOCK and DATA/DATA must be connected
in a twisted pair cable, shielded per pair and
common.
Signal wiring Signal name Connector pin no. Cable color
Excitation + 1 white
Excitation GND 2 brown
CLOCK 3 green
CLOCK 4 yellow
DATA 5 grey
DATA 6 pink
View to sensor
connector
Connection
DATA
DATA
CLOCK
CLOCK
POSIROT®– PRDS
Output SSI

M12A5 / M12R5
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Interface CANOP Communicationprole CANopen CiA 301 V 4.02, Slave
Deviceprole Encoder CiA 406 V 3.2
Congurationservices Layer Setting Service (LSS), CiA Draft Standard
305 (transmission rate, node id)
Error Control Node Guarding, Heartbeat, Emergency Message
Node ID Default: 127; programmable via LSS or SDO
PDO 3 TxPDO, 0 RxPDO, static mapping
PDO Modes Event-/Time triggered, Remote-request, Sync
cyclic/acyclic
SDO 1 server, 0 client
CAM 8 cams
Certied Yes
Transmission rates 50 kBaud to 1 MBaud, default: 125 kBaud;
programmable via LSS or SDO
Bus connection M12 connector, 5 pins
Integrated bus terminating
resistor Adjustable by the customer
Bus, galvanic isolated No
Description Magnetic angle sensor with CANopen interface according to CiA 406.
Specications Excitation voltage 8 ... 36 V DC
Excitation current 20 mA typical at 24 V DC
40 mA typical at 12 V DC
80 mA max.
Resolution 0.05° max.
Linearity 1° (0.25° as option)
Measuring rate 1 kHz (asynchronous)
Stability (temperature) ±50 x 10-6 / °C f.s.
Repeatability 1 LSB
Operating temperature -40 ... +85°C
Protection Reverse polarity, short circuit
Dielectric strength 1 kV (V AC, 50 Hz, 1 min.)
EMC Automation EN 61326-1:2013
POSIROT®– PRDS
Output CANopen
Signal wiring Signal name Connector pin no. Cable color
Shield 1 brown
Excitation+ 2 white
GND 3 blue
CAN-H 4 black
CAN-L 5 grey
View to sensor
connector
Connection

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Warning notice
• Changing parameters may cause unexpected machine movement.
• Changingparametersmayinuencedependentparameters
• e.g. changing the resolution may have inuence on position of CAM
switches.
• Precautions have to be taken to avoid damage to human and machine
parts!
• Change parameters only when machine is in a safe condition!
Before connecting the sensor to the CAN-Bus the devices have to be che-
ckedforcorrectbitrateanduniquenode-IDs.Bothparametersarecon-
gurable by Layer-Setting-Service (LSS) or by Service Data Object (SDO).
After power-on the sensor will enter pre-operational state and send a boot-
upmessagebeingreadyforcongurationbyServiceDataObjects.Para-
metersconguredbytheusercanbestorednonvolatilebySAVEcommand.
On receiving „NMT-Node-Start“ the sensor transits to operational state and
startsprocessdatatransmission.When„Auto-Start“isconguredthesen-
sor will automatically transit to operational after boot-up without a need for
the Node-Start message.
Node monitoring is supported by Node Guarding and Heartbeat protocol.
Node Guarding implements cyclic querying of the node status by the NMT-
Master within the guard time window. The Heartbeat protocol provides au-
tomatic transmission of the node status (heartbeat message) by the slave
within producer heartbeat time window.
Following the CAN example protocols included in this manual the sensor
may be used without CANopen master device.
Setup
WARNING
NOTICE
POSIROT®– PRDS
Output CANopen – set up procedure