Baumer N 152 User manual

Baumer IVO GmbH & Co. KG 02.10 •171.02.315/4
Dauchinger Strasse 58-62 •DE-78056 Villingen-Schwenningen Subject to modification
Phone [phone] •Fax [phone] in technic and design.
www.baumer.com •[e-mail]
Operating instructions
Interface description
N 152 spindle position display (SPA)
Firmware 01
Version 1.10 and up
Contents Page
1. General information 2
1.1. Safety precautions 2
1.2. SPA description and explanation 3
2. Terminal assignment 3
3. Interface 5
3.1. Interface data 5
3.2. Protocol 6
3.3. Checksum (Cyclic Redundancy Check) 6
3.4. Data transmission properties 6
3.5. Broadcast commands 6
3.6. Data saving 7
3.7. Transmitting and reading negative values 7
3.8. Transmitting and reading position values (decimal point) 7
4. Command explanations 8
4.1. General information 8
4.2. Operating commands 8
4.3. Parameter commands 15
4.4. Identifier (address) commands 23
4.5. Specific commands 25
5. Error warnings 27
5.1. CRC error 27
5.2. Format error 27
5.3. Display error indication 27
6. Overview on commands 28
7. Technical data 29
7.1. Dimensions 30
8. Part number 30

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1. General information
1.1. Safety precautions
General remarks
The equipment is designed and assembled according to the prevailing regulations of technology. The equipment
left the manufacturer in perfect working order and in line with all safety-relevant conditions. To maintain this
status of the equipment, it is imperative to stick to the following when installing and using the device:
- use only according to the intended purpose,
- observation of any precautions regarding safety and hazards,
- observe the present manual and especially the relevant safety precautions!
Make sure that the operating manual and especially the chapter describing the safety precautions is read and
well understood by the staff in charge. Supplementary to the operating instructions, ad other generally or legally
relevant regulations regarding accident prevention and environmental care are to be considered and observed.
This manual is a supplement to already existing documentation (product information, mounting instructions,
catalogues).
Intended purpose of the equipment
Intended purpose of the equipment is industrial process monitoring and control in metal, wood, plastic, paper,
glass and textile etc. industry.
It is imperative that the equipment is applied only
- in properly installed condition and
- in line with the relevant technical data!
Any operation outside the technical specifications/parameters is improper use and in conjunction
with the equipment/processes/machines to be monitored/controlled might lead to
- fatal injuries
- serious damage to health,
- damage to property or corporate equipment or
- damage to the device!
Any overvoltage the device might be exposed to at its connecting terminals has to be limited to the values
stipulated in overvoltage category II (see technical data).
The device must not be operated
- in hazardous areas where is danger of explosion,
- as medical equipment or in medical areas,
- or in any applications expressly named in EN 61010!
If the device is utilized for control/monitoring of machines or processes where as the result of a
failure/malfunction or incorrect operation of the device might occur
- any threats to life,
- risks of damage to health or
- any risk of damage to property or environment
the corresponding appropriate safety precautions must be taken!
Do not open the housing of the device or proceed any modifications! Any modifications of the device can affect
operating safety and result in danger!
Do not proceed any repairs but return defective devices to the manufacturer!
Installation/commissioning
In case of any extraordinary incidents (including in the operating behaviour) that impair safety switch off the
device immediately.
Installation must be carried out by suitably trained experts only. After proper mounting and installation the device
is ready for operation.
Maintenance/repairs
Always disconnect the power supply of all appliances involved. Maintenance and repair work must only be
carried out by suitably trained experts.
If troubleshooting is unsuccessful, do not continue using the device but contact the manufacturer.

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1.2. SPA description and explanation
Mounting the spindle position display (SPA) is by docking hollow shaft onto spindle shaft (max.14 mm in
diameter).The hollow shaft is fixed to the spindle shaft by hexagon screw and secured by power grip.
This way, the SPA is mounted in an overhung position and secured against torsion by torque support provided at
rear of the housing. The SPA features an absolute multiturn sensing system capable of detecting the position
after several spindle turns even in powerless state. Position data will be retained even in case of power failure
(min. 10 years).
The current position value is indicated in the two-line backlit LCD display (2x 5 digits, numeric), optionally
together with the target transmitted by the control (master). Two arrows indicate the editing engineer the
direction the spindle must be turned to for aligning actual value with target. As soon as actual value is in
alignment with target and within the permitted tolerances, the target will disappear. By corresponding master
parameterization the display can be turned by 180° enabling vertical respectively horizontal installation. SPAs are
networked by M8 connector, power supply is by the same cable directly from master. SPA parameterization by
master only.
indication „target“
arrows indicating the required direction for target/actual value alignment
indication „actual value“
N 152 enables motor connection using the 12-core cable. Two softkeys on the
keypad serve for manual motor trigger. Automated motor trigger by master is
also possible. Motor supply is provided separately.
2. Terminal assignment
Pin Assignment Core colour DIN47100 IEC757
Pin 1 Tx/Rx-, RS485 white orange
Pin 2 Tx/Rx+, RS485 brown brown
Pin 3 Sensor supply +24 V yellow red
Pin 4 Sensor supply 0 V green black
Connector M8
2
4
3
1

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Connecting motor to SPA N152
Motor connection to SPA is provided by 12-pin female connector.
Pin Assignment Significance Core colour
Pin A -- n.c. --
Pin B IN 1 motor ccw yellow
Pin C IN 2 motor cw blue
Pin D IN 4* speed green
Pin E -- n.c. --
Pin F -- n.c. --
Pin G -- n.c. --
Pin H -- n.c. --
Pin J -- n.c. --
Pin K OUT 3 error signal white
Pin L IN 3* speed brown
Pin M GND GND black
A
B
D
C
EFGH
J
K
M
L
IN 3* IN 4* speed rpm Dunker
1 0 slow 200
0 1 medium --
1 1 high 3600
Circuit diagram
24 V
0 V
IN 1 Ausgang
IN 1 Eingang
IN 2 Ausgang
IN 2 Eingang
(Logik 24 V)
1
2
3
4
5
6
7
8
OUT 1
IN 1 (links)
IN 2 (rechts)
IN 4 (speed)
24 V
n.c.
n.c.
AI- (0...10 V)
AI+ (0...10 V)
OUT 3 (fault)
IN 3 (speed)
0 V
A
B
C
D
E
F
G
H
J
K
L
M
Linkslauf
Rechtslauf
Drehzahl
intern nicht beschaltet
nicht belegt
nicht belegt
nicht belegt
nicht belegt
Motorstörung
Drehzahl
GND
Betriebs-
spannung
Freigabe
Linkslauf
Freigabe
Rechtslauf
Enable
n.c.
Error
SPA
Motor
M
Connecting the motor supply
Motor supply is by 8-pin connector provided at the motor.
Pin Assignment Significance Core colour
Pin 1 Ue + 24 V motor supply red
Pin 2 GND 0 V ground relating to UE blue
Pin 3 OUT ccw start ccw run white
Pin 4 IN ccw start ccw run brown
Pin 5 OUT cw start cw run green
Pin 6 IN cw start cw run yellow
Pin 7 Enable logic +24 V grey
Pin 8 n.c. n.c. pink
68
1425
3
7

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Circuit diagram
24 V
0 V
IN 1 Ausgang
IN 1 Eingang
IN 2 Ausgang
IN 2 Eingang
(Logik 24 V)
1
2
3
4
5
6
7
8
OUT 1
IN 1 (links)
IN 2 (rechts)
IN 4 (speed)
24 V
n.c.
n.c.
AI- (0...10 V)
AI+ (0...10 V)
OUT 3 (fault)
IN 3 (speed)
0 V
A
B
C
D
E
F
G
H
J
K
L
M
Linkslauf
Rechtslauf
Drehzahl
nicht belegt
nicht belegt
nicht belegt
nicht belegt
nicht belegt
Motorstörung
Drehzahl
GND
Betriebs-
spannung
Freigabe
Linkslauf
Freigabe
Rechtslauf
Enable
n.c.
Error
SPA
Motor
M
Connect power supply that is free from interference emission. The supply must not be used as
parallel supply of drives, shields, magnetic valves, etc.
Apply DC according to the terminal assignment
Power supply: 24 VDC ±10 %
Shield
Use shielded cables only. Ground of the shield must be provided at the machine.
(two examples corresponding to the cable applied, see drawings).
Abschirmungsanschluss
3. Interface
3.1. Interface data
Type: RS485
Baudrate: 19200
Parity: No
Data bits: 8
Stop bits: 1
Handshake: Nein
Checksum: Ja (CRC)
* To avoid bus collisions a minimum timeout reply of 1 ms (default
parameter) is to be kept, i.e. the time elapsed between transmitting the
last bit of the query until start transmitting the 1st bit of the SPA response.
The operator should see that due to the minimized timeout reply of 1 ms
the bus switching time after having transmitted the last bit must not exceed
1 ms.
The default parameter of 1 ms can optionally be altered by serial interface
in steps of 0,1 ms within the range of 0,1 ... 60 ms. Refer to command „x“
(78h).
Timeout reply*: 0,1...60 ms
BUS switching time**: <0,1 ms
** The BUS switching time is the time the SPA requires to be ready again for
transmission receipt after having replied to host.

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3.2. Protocol
The spindle position display operates with ASCII protocol (clear text protocol). Depending on the command, the
protocol data package varies between 5 and 17 bytes.
Byte Hex code Significance Values
1 01H SOH = start of heading permanent 01h
2 XXh Adr = identifier 00...31dez + 20h offset (identifier 00 = 20h)
3 XXh Cmd = command code specific commands
4-n [XXh..XXh] [Data] = data 20h-7Fh
n+1 04h EOT = end of transmission permanent 04h
n+2 XXh CRC = checksum 00h...FFh
3.3. Checksum (Cyclic Redundancy Check)
For optimized error-free data transmission the CRC byte is added after the footer token (EOT, end of
transmission) to the string to be transmitted. Upon receiving a command the CRC byte transmitted is
crosschecked with the auto-calculated CRC byte.
Algorithm:
1) Reset CRC byte.
2) Rotate CRC byte by 1 bit to the left.
3) Link result to first data byte XOR.
4) Rotate result by 1 bit to the left.
5) Link result to the second data byte XOR.
:
x) Rotate result by 1 bit to the left.
y) Link result to the last data byte (ever 04H) XOR.
z) Add result as CRC after the footer token (04H) to the string transmitted.
Note: 1101 0000 RL 1010 0001 Important: Bit 7 is shifted in bit 0 during rotation
Example:
Transmitted string less CRC = 01h 20h 43h 04h
CRC-Byte = 0Ah
0000 0000 RL 0000 0000 XOR 0000 0001 (01h) = 0000 0001
0000 0001 RL 0000 0010 XOR 0010 0000 (20h) = 0010 0010
0010 0010 RL 0100 0100 XOR 0100 0011 (43h) = 0000 0111
0000 0111 RL 0000 1110 XOR 0000 0100 (04h) = 0000 1010 = CRC
Legend: RL = rotate left; XOR = antivalence link
3.4. Data transmission properties
For reasons of compatibility, within the complete multicon system the amount of data is always the same (see
table in chapter 6), no matter how many digits are in the display. For example, command “R” (read actual value)
comprises a transmitted data amount of 6 bytes, but only 5 digits are indicated in the display. If it is a negative
value, digit 6 respectively digit 5 is always 0 (30h).
3.5. Broadcast commands
Some specific commands are designated so-called broadcast commands. As soon as the master broadcasts a
command to identifier 99, the command is addressed to every multicon devices in the network. Each individual
SPA will accomplish the respective command but will not respond any confirmation to master.

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3.6. Data saving
Specific parameters are saved in EEPROM (1.000.000 writing cycles). Data saving is via interface upon every
parameter transmission to SPA.
Important:
There should not be a cyclic transmission of these parameters to SPA but only if necessary, for example in case
of parameter alteration. The relevant parameters saved in EEPROM are listed in the charts in chapter
“Command explanations” or “Overview on commands”.
3.7. Transmitting and reading negative values
The minus sign (2DHex) is always transmitted by digit 6 of the data field.
Example: Taking for granted a negative target of –1,5 and a programmed resolution of 1/10, the transmitted
value is –00015.
3.8. Transmitting and reading position values (decimal point)
Position values as for example target (command „S“), offset (command „U“) or end positions (command “g”) are
generally transmitted and read without decimal point. Visualization in the display corresponds to the format in the
data field of the interface command.
Thus, the transmission format depends on the resolution (see command „a“).
Example 1: resolution = 1/100; target = 278.50; actual value = 1.00 Display
SOH Adr Cmd Profile no=17 Target = 278.50 EOT CRC
01h 20h 53h 31h 37h 30h 32h 37h 38h 35h 30h 04h 29h
Example 2: resolution = 1/10; target = 278.5; actual value = 1.0
SOH Adr Cmd Profile no=17 Target = 278.5 EOT CRC
01h 20h 53h 31h 37h 30h 30h 32h 37h 38h 35h 04h 29h
2 7 8.5 0
1.0 0
2 7 8.5
1.0

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4. Command explanations
4.1. General information
The following is describing the individual interface commands broken down into the four groups below:
-operating commands [ commands required during operation ]
-parameter commands [ commands for SPA parameterization ]
-identifier commands [ commands to indicate or alter the device identifier (address)]
-specific commands [ commands for specific functions as device reset or version number readout]
The following abbreviations are applied:
SOH = start of heading (header token)
EOT = end of transmission (footer token)
Adr = device identifier, including offset 20h
Cmd = command
Sub = sub-Command
Data = data transmitted or received
CRC = checksum (cyclic redundancy check)
4.2. Operating commands
Command
code
Data amount
in Bytes
read write Broad-
cast
Saved in
EEPROM
Signficance
C (43h) 3 / 11 X - - - Check if actual value = target
D (44h) 1 X X X - Start motor
F (46h) 4 X - - - Read device status and error
R (52h) 6 X - - - Read actual value
S (53h) 8 X X - X Read / write target
U (55h) 6 X X - - Offset
V (56h) 2 X X X X Read / write profile number
Z (5Ah) 6 X X X X Set preset
t (74h) 6 - X - - Transmit tool number
u (75h) 6 - X - - Transmit optional column of figures
4.2.1.Check Position „C“ (43h)
This command provides the alignment status of target versus actual value. If the actual value is within the target
tolerance window, the response will be „o“ (6Fh) for OK together with the current profile number. If the actual
value is outside the tolerances, „x“ (78H) followed by the current profile number will be replied. In case of any
SPA error occurred, the response will be “e” together with the active profile number.
Example: (active profile number = 05)
SOH Adr Cmd EOT CRC
Transmission 01h 20h 43h 04h 0Ah
Response if actual value within the tolerances:
SOH Adr Cmd Status Profil-Nr. = 05 EOT CRC
Response 01h 20h 43h 6Fh 30h 35h 04h A5h
Response if actual value is outside the tolerances:
SOH Adr Cmd Status Profil-Nr. = 05 EOT CRC
Response 01h 20h 43h 78h 30h 35h 04h 1D
Following values relating to status are possible:
Status Significance
o (6Fh) Actual value = target
x (78h) Actual value ≠target
e (65h) SPA error

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Command extension Check Position „CX“
Command extension „Check Position CX “provides besides the alignment status target versus current value also
the contents of the status and error register as well as the current value. The profile number is not transmitted.
For the relevant status parameters (status) refer to the table above, the significance of the individual bits in the
status and error register is explained under command readout device status „F“.
Example:
SOH Adr Cmd SCmd EOT CRC
Transmission 01h 20h 43h 58h 04h A8h
SOH Adr Cmd Status Status-Reg Error-Reg Actual value = -12.50 EOT CRC
Response 01h 20h 43h 78h 80h 80h 80h 80h 2Dh 30h 31h 32h 35h 30h 04h 0Fh
4.2.2. Motor start enable „D“ (44h)
This command is utilized to read the actual SPA enable status or to set respectively clear motor start enable.
The following modes are available:
Status Significance
0 (30h) abort enable motor start, motor stop
1 (31h) start enable SPAs of group 1
2 (32h) start enable SPAs of group 2
3 (33h) start enable SPAs of group 3
: : :
Start is also enabled by broadcast command (identifier = 99) to all SPAs at the same time. Refer to example 3.
Example 1: read current enable status (status = 0 = disable)
SOH Adr Cmd EOT CRC
Transmission 01h 20h 44h 04h 04h
SOH Adr Cmd Stat. EOT CRC
Response 01h 20h 44h 30h 04h 64h
Example 2: start enable of a specific motor
SOH Adr Cmd Stat. EOT CRC
Transmission 01h 20h 44h 31h 04h 66h
SOH Adr Cmd Stat. EOT CRC
Response 01h 20h 44h 31h 04h 66h
Example 3: start enable for all motors by broadcast command (identifier=99)
SOH Adr Cmd Stat. EOT CRC
Transmisison 01h 83h 44h 31h 04h 7Bh
Response Not confirmed

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Motor holding torque on / off „DB“ (44h, 42h)
Prior to utilizing “DB” command to activate / deactivate the holding torque it must be enabled first in command
„m“ since otherwise command „DB“ remains ineffective.
Holding torque ever ON means that only motive shaft positioning operations are possible - either by aid of the
two keys provided or by a corresponding command via interface. The holding torque is automatically deactivated
as soon as the motor is getting a start command and is later autonomously re-enabled. Manual positioning
operations by hand cranks etc require deactivating the holding torque first by command “DB”.
Following modes are available::
Status Function
0 (30h) holding torque off
1 (31h) holding torque on
Example 1: Read current status (status = 0: no holding torque)
SOH Adr Cmd SCmd EOT CRC
Transmission 01h 20h 44h 42h 04h 80h
SOH Adr Cmd SCmd Stat. EOT CRC
Response 01h 20h 44h 42h 30h 04h 6Dh
Example 2: holding torque off (status = 0: unblock holding torque)
SOH Adr Cmd SCmd Stat. EOT CRC
Transmission 01h 20h 44h 42h 30h 04h 6Dh
SOH Adr Cmd SCmd Stat. EOT CRC
Response 01h 20h 44h 42h 30h 04h 6Dh
Example 3: holding torque off for all motors by broadcast command (ID=99)
SOH Adr Cmd SCmd Stat. EOT CRC
Transmission 01h 83h 44h 42h 30h 04h 57h
Response not confirmed
Note: If the holding torque is enabled (command „m“) the clamping is always active upon power on, reason why
holding torque OFF by command „DB0“ is only effective whilst device is under power supply.

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4.2.3.Read device status „F“ (46h)
This command provides the device statii Stat1 and Stat2 together with error flags Err1, Err2. In case of error
check command “C” will come with an “e” in reply.
Example:
SOH Adr Cmd EOT CRC
Transmission 01h 20h 46h 04h 00h
SOH Adr Cmd Stat1 Stat2 Err1 Err2 EOT CRC
Response 01h 20h 46h 80h 80h 80h 80h 04h 4Bh
Stat1: 1 0 0 0 0 0 0 0
┬─────┬───────
│└───────── reserved
└──────────────── ever 1
Stat2: 1 0 0 0 0 0 X X
┬────┬──── ┬┬
│││└── 1 = Motor is running (Moving Bit). The bit is set with running motor
│││including loop interval. With active clamping the bit will remain as
│││set whilst the clamping is open.
││└──── 1 = Manual SPA abort. Bit is set if during an automated positioning
││operation any key at the SPA is actuated.
│└────────── reserved
└──────────────── ever 1
Err1: 1 0 0 0 0 0 X X
┬──┬── ┬┬┬┬
│││││└── 1 = Err 8 - target > MAX limit position (motor does not start)
││││└──── 1 = Err 9 - target < MIN limit position (motor does not start)
│││└────── reserved
││└──────── reserved
│└──────────── reserved
└──────────────── ever 1
Err2: 1 0 X X X X X X
┬┬┬┬┬┬┬┬
│││││││└── 1 = Err 1 - MAX limit position is hurt
││││││└──── 1 = Err 2 - MIN limit position is hurt
│││││└────── 1 = Err 3 – no shaft rotation
││││└──────── 1 = Err 4 – Motor failure (overcurrent)
│││└────────── 1 = Err 5 – target window not achieved
││└──────────── 1 = Err 6 – trailing error
│└────────────── reserved
└──────────────── ever 1
4.2.4.Read actual value „R“ (52h)
This command is for reading the 5-digit actual value (bottom display). Data amount is always 6 bytes. In case of
a negative value, the minus sign (2Dh) together with 5 data bytes is replied. Positive values are represented by 6
data bytes without sign. Values inferior to 5(4) digits will come with preceding zeroes. Please note that N 152
provides a 5-digit actual value.
Example: Actual value = -32.50
SOH Adr Cmd EOT CRC
Transmission 01h 20h 52h 04h 40h
SOH Adr Cmd Actual value = –32.50 EOT CRC
Response 01h 20h 52h 2Dh 30h 33h 32h 35h 30h 04h 54h

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4.2.5.Read / write target profile „S“ (53h)
This command is utilized to read the presently active target (profile value) respectively to read or write a specific
target. Data are composed by profile number (2 bytes) and target (6 bytes). Note: Negative targets are
transmitted as 5-digit number (see example 3). Please consider that SPA targets comprise 5 digits only.
Example 1: Read active target (profile number = 12; target = 12.50)
SOH Adr Cmd EOT CRC
Transmission 01h 20h 53h 04h 2A
SOH Adr Cmd Profile no. = 12 Target = 12.50 EOT CRC
Response 01h 20h 53h 31h 32 30h 30h 31h 32h 35h 30h 04h 3E
Response upon clearing all targets:
SOH Adr Cmd Profile no= FFh Target = FFFFFFh EOT CRC
Response 01h 20h 53h 3Fh 3F 3Fh 3Fh 3Fh 3Fh 3Fh 3Fh 04h 2Ah
Example 2: Read specific target (profile number = 17; target = 12.50)
SOH Adr Cmd Profile no. = 17 EOT CRC
Transmission 01h 20h 53h 31h 37h 04h 16h
SOH Adr Cmd Profile no. = 17 Target = 12.50 EOT CRC
Response 01h 20h 53h 31h 37h 30h 30h 31h 32h 35h 30h 04h BCh
Example 3: Write specific target (profile number = 17; target = -12.50)
s
SOH Adr Cmd Profile no. = 17 Target = -12.50 EOT CRC
Transmission 01h 20h 53h 31h 37h 2Dh 30h 31h 32h 35h 30h 04h FBh
SOH Adr Cmd Profile no. = 17 Target = -12.50 EOT CRC
Response 01h 20h 53h 31h 37h 2Dh 30h 31h 32h 35h 30h 04h FBh
Note: Instead of command „S“ also command „SP“ may be utilized. The function is fully identical to command
“S”. If command SD is utilized it might be easier to apply command SP due to their identical protocol length.
Please consider that with anterior or other multicon devices command „SP“ maybe is not available.
Example 4: As in example 3 but utilizing command „SP“
SOH Adr Cmd Sub Profile no.=17 Target = -12.50 EOT CRC
Transmission 01h 20h 53h 50h 31h 37h 2Dh 30h 31h 32h 35h 30h 04h 29h
SOH Adr Cmd Sub Profile no.=17 Target = -12.50 EOT CRC
Response 01h 20h 53h 50h 31h 37h 2Dh 30h 31h 32h 35h 30h 04h 29h
Direct positioning „SD“
This command may be utilized for direct positioning operations. Only the target less any profile number is
transmitted to SPA. The profile number after the command “S” is replaced by sub command “D” ( = dimension).
Motor start enable requires transmitting in addition motor start command “D”.
Example 4: Write position value for direct positioning operation (less profile)
SOH Adr Cmd Sub Position value = 278.25 EOT CRC
Transmission 01h 20h 53h 44h 30h 32h 37h 38h 32h 35h 04h 6Bh
SOH Adr Cmd Sub Position value = 278.25 EOT CRC
Response 01h 20h 53h 44h 30h 32h 37h 38h 32h 35h 04h 6Bh
Note: The position value is saved in the non-volatile memory and will be retained in case of power failure. In this
case the previously selected profile is utilized again.

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Transmitting targets with simultaneous motor start signal
Specific applications require autonomous re-alignment of shafts to the new target when it is received without
prior enable signal by command „D“. For this intention the following commands are available:
SPF transmits to SPA profile number together with motor start signal for automated positioning operations
SDF transmits to SPA position value together with motor start signal for automated positioning operations
The addressed SPA is enabled by adding sub-command „F“ to the respective basic command. Since it is a pure
individual positioning operation, defined groups are not affected. Collision prevention is up to the operator.
Example: Write specific target utilizing command „SPF“ (profile number = 17; target = -12.50)
SOH Adr Cmd Sub1 Sub2 Profile=17 Target = -12.50 EOT CRC
Transmission 01h 20h 53h 50h 46h 31h 37h 2Dh 30h 31h 32h 35h 30h 04h A0h
SOH Adr Cmd Sub1 Sub2 Profile=17 Target = -12.50 EOT CRC
Response 01h 20h 53h 50h 46h 31h 37h 2Dh 30h 31h 32h 35h 30h 04h A0h
4.2.6.Read / write offset „U“ (55h)
This command is utilized to read or write the offset that is added to the true current value. First however the
function must be enabled in command bit parameter ‚a’ (61h).
Example 1: Read offset
SOH Adr Cmd EOT CRC
Transmission 01h 20h 55h 04h 26h
Example 2: Write offset
SOH Adr Cmd Data (offset = –20.00) EOT CRC
Transmission 01h 20h 55h 2Dh 30h 32h 30h 30h 30h 04h C3h
Response in both examples:
SOH Adr Cmd Data (offset = –20.00) EOT CRC
Response 01h 20h 55h 2Dh 30h 32h 30h 30h 30h 04h C3h
4.2.7.Read / write profile number „V“ (56h)
This command is for readout the number of the presently active profile respectively for profile alteration.
Example 1: Read active profile (active profile number = 38)
SOH Adr Cmd EOT CRC
Transmission 01h 20h 56h 04h 20h
SOH Adr Cmd Profile no. = 38 EOT CRC
Response 01h 20h 56h 33h 38h 04h 28h
Response after reset upon having cleared all profiles:
SOH Adr Cmd Profile no. = FF EOT CRC
Response 01h 20h 56h 3Fh 3Fh 04h 16h
Example 2: Transmit new profile (new profile number = 17)
SOH Adr Cmd Profile no. = 17 EOT CRC
Transmission 01h 20h 56h 31h 37h 04h 3E
SOH Adr Cmd Profile no. = 17 EOT CRC
Response 01h 20h 56h 31h 37h 04h 3E
Example 3: New profile by broadcast command to all SPAs (Identifier = 99 (83h); new profile number = 17)
SOH Adr Cmd Profile no. = 17 EOT CRC
Transmission 01h 83h 56h 31h 37h 04h 04
Response Not confirmed
To check whether the new profile has been adopted by all SPAs utilize check command „C“ (43h).

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4.2.8.Set actual value as preset „Z“ (5Ah)
Command “Z” is utilized to set the actual value at any optional value. The required position value is transmitted
to SPA. The SPA will calculate a so-called “preset offset” value relating to the true absolute encoder position.
When calculating the preset offset, any programmed offset transmitted by command “U” will be considered, so
that after having accomplished command “Z” the current value always equals the preset.
Note: If the resolution is altered (see command “a”) from 1/100 to 1/10 or vice-versa, the previously programmed
preset has to be set anew. The auto-calculated offset is provided in the previously selected resolution.
The actual value displayed is composed as follows:
actual valuedisplz = actual valueabs + preset offset + Offset
Immediately after having accomplished command „Z“ applies preset value = current valuetdispl
Current valuedispl actual value indicated in the display and read out by interface
Current valueabs internal absolute actual value (not corresponding to the transmitted preset value).
Preset offset offset generated by command „Z“.
Offset Additional offset enabled by command „U“. This function must be enabled first in command
bit parameter ‚a’ (61h), otherwise the offset is 0.
Example 1: Read out presently active preset value
SOH Adr Cmd EOT CRC
Transmission 01h 20h 5Ah 04h 38h
SOH Adr Cmd Preset value = 2.50 EOT CRC
Response 01h 20h 5Ah 30h 30h 30h 32h 35h 30h 04h 27h
Example 2: Set actual value as preset value (preset value = 17.25)
SOH Adr Cmd Preset value = 17.25 EOT CRC
Transmission 01h 20h 5Ah 30h 30h 31h 37h 32h 35h 04h 09h
SOH Adr Cmd Preset value = 17.25 EOT CRC
Response 01h 20h 5Ah 30h 30h 31h 37h 32h 35h 04h 09h
Example 3: Set actual value as preset at all SPAs by broadcast command
SOH Adr Cmd Preset value = 17.25 EOT CRC
Transmission 01h 83h 5Ah 30h 30h 31h 37h 32h 35h 04h AAh
Response Not confirmed

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4.2.9.Indicate optional column of figures in upper line „t“ (74h)
This command is utilized to indicate a 5-digit number in the upper line of the display. The numerical column is
indicated less dot respectively comma. Preceding zeroes as well as both arrows are suppressed. The bottom
line still indicates the actual value.
The numerals are indicated in the display until any command except „t“, „u“ or „R“ is received. The number will
be retained after power failure.
Example: (Column of figures = 054321)
SOH Adr Cmd Column of figures = 054321 EOT CRC
Transmission 01h 20h 74h 30h 35h 34h 33h 32h 31h 04h C6h
SOH Adr Cmd Column of figures = 054321 EOT CRC
Response 01h 20h 74h 30h 35h 34h 33h 32h 31h 04h C6h
4.2.10. Indicate optional column of figures in bottom line „u“ (75h)
The command is utilized to indicate a 5-digit column of figures in the bottom line of the display. The number is
indicated less dot respectively comma. Preceding zeroes as well as both arrows are suppressed. The upper line
still indicates actual target or the column of figures.
The column is indicated until any optional command except „t“, „u“ or „R“ is received by the interface. The
number will be retained after power failure.
Example: (Column of figures = 012345)
SOH Adr Cmd Column of figures = 012345 EOT CRC
Transmission 01h 20h 75h 30h 31h 32h 33h 34h 35h 04h B6h
SOH Adr Cmd Column of figures = 012345 EOT CRC
Response 01h 20h 75h 30h 31h 32h 33h 34h 35h 04h B6h
Note:
Command “t” in conjunction with command “u” enables indication of a 10-digit number.
Both columns are not saved in EEPROM.
4.3. Parameter commands
Command
code
Data amount
in bytes
read write Broad-
cast
Saved in
EEPROM
Significance
a (61h) 5 X X - X Read / write general parameters
b (62h) 8 X X - X Parameter: tolerance compensation, window
c (63h) 8 X X - X Parameter: Scaling of spindle pitch
g (67h) 12 X X - X Parameter: Limit positions MIN, MAX
h (68h) 12 X X - X Parameter: Switching points motor speed
i (69h) 1 X X X X Parameter: mm / inch
j (69h) 3 X X X X Parameter: Timeout bus error
k (6Bh) 9 X X - X Parameter: motor system times
l (6Ch) 5 X X - X Parameter: Jog function
m (6Dh) 5 X X - X Read / write general parameters

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4.3.1.Read / write bit parameters „a“ (61h)
To exploit maximum memory capacity, several parameters are put together and transferred as “data pack”
under the following parameter codes:
Data1: 1 0 X X 0 X 0 X
┬──┬── ─┬─ ─┬─
│││└─── positioning direction 0/1 (UP/DOWN)
││└─────── counting direction 0/1 (UP/DOWN)
│└──────────── arrows 0/1/2/3 (UP/DOWN/UNI/OFF)
└──────────────── 1
Data2: 1 0 X X X X 0 X
┬┬─┬─ ┬┬─┬─
│││││└─── round actual value 0/1 (OFF/ON)
││││└────── turn display 0/1 (OFF/ON)
│││└──────── dimension 0/1 (OFF/ON)
││└─────────── actual value correction 0/1/2 (OFF/ON/On+Key)
│└────────────── reserved
└──────────────── 1
Data3: 1 0 0 0 0 X X X
┬───┬─── ┬─┬─
│││└─── hide target 0/1/2 (ON/OFF/EVER)
││└────── resolution 0/1 (1/100;1/10)
│└─────────── reserved
└──────────────── 1
Data4/5: 0 0 1 1 0 0 0 0
───┬───
└───── reserved
Important: Only bits marked ‘X’ may be altered. The permanent parameters „1“ and „0“ must not be altered
since this might create a control token ( tokens < 20h) what is not permitted in ASCII protocol.
Example 1: read bit parameter (data1 to data3 = 80h; data4 to data5 = 30h)
SOH Adr Cmd EOT CRC
Transmission 01h 20h 61h 04h 4E
bit parameter default
Example 2: write bit parameter (positioning direction = down; turn display = On)
SOH Adr Cmd Data1 Data2 Data3 Data4 Data5 EOT CRC
Transmission 01h 20h 61h 81h 84h 80h 30h 30h 04h 91h
SOH Adr Cmd Data1 Data2 Data3 Data4 Data5 EOT CRC
Response 01h 20h 61h 81h 84h 80h 30h 30h 04h 91h
Significance of parameter „a“
Positioning direction
This parameter defines the direction the target is aimed for. Tolerances that occur for example at cogwheels,
joints, shafts etc during a precise positioning operation requires a tolerance compensation. The tolerance
compensation is proceeded by aiming for the target position always from the same direction utilizing so-called
loops. Loops mean that the target position is first crossed by a defined distance and then aimed for again from the
opposite direction. The parameter for the crossing distance is programmed by command “b”. Whether a loop is
required or not is indicated by the arrows in the display. A flashing arrow means tolerance compensation required.
Upon reaching the turning point the direction changes and the arrow stops flashing. Targets allowing direct
positioning are marked by a non-flashing arrow. Upon achieving the target within the programmed tolerances (see
command “b”) the arrows will not disappear until the required tolerance compensation has been completed.
00 = Up Direct positioning if target position > actual position; otherwise proceed tolerance compensation
01 = Down Direct positioning if target position < actual position; otherwise proceed tolerance compensation
SOH Adr Cmd Data1 Data2 Data3 Data4 Data5 EOT CRC
Response 01h 20h 61h 80h 80h 80h 30h 30h 04h F1

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Counting mode
This parameter assigns either „ascending“ or „descending” counted values in relation to the shaft’s direction of
rotation. Following parameters are available:
00 = Up Clockwise rotation, ascending counted values
01 = Down Clockwise rotation, descending counted values
Arrows
This parameter relates to the arrows in the display that indicate the operator the direction (to the right or to the left)
of the new positioning operation. Following parameters are available:
00 = Up If actual value < target = arrow to the right; actual value > target = arrow to the left
01 = Down As „Up“, but inverted arrows direction
10 = Uni If actual value ≠target arrows ever indicated
11 = Off Arrows ever hidden
Note: A loop operation (as backlash compensation) is only performed with settings Up and Down. Uni and Off
always implicate a direct movement to the target without backlash compensation.
Rounding the actual value
This means that the actual value being within the tolerances but still differing from the target is rounded up or
down to the target value as soon as the shaft remains idle for approx. 3 seconds. The rounding operation is only
visualized, the true internal actual value remains unchanged. For actual value readout by serial interface
(command “R”) the true, not rounded actual position value is provided. The true actual value will immediately
reappear on the display upon key actuation. If the position is still within the tolerance window the rounding
operation will be repeated after 3 seconds.
Note: In operating mode „Suppress target = Ever“ the target is deactivated and the SPA serves as pure actual
value display with disabled rounding function. The following parameters are available:
0 = Off Round actual value disable
1 = On Round actual value enable
Turn display
This parameter is utilized to turn the display by 180°.
0 = Off Display readout with standard mounting, i.e. display above keypad
1 = On Display readout with inverted mounting, i.e. display below keypad
Dimension
Only in conjunction with N 242 master. By this parameter the master enables indication of actual value and direct
positioning (so-called dimension). Refer also to N 242 user manual.
Utilized with other controls (PLC or PC) this parameter may be assigned to general identifications.
0 = Off Device not indicated in N 242 master
1 = On Device indicated in N 242 master. Direct target input possible
Offset
Command „U“ is utilized for programming the offset that is added to actual value and actual target. This parameter
defines whether the offset is considered in the calculation.
0 = Off Offset disabled. Any offset previously transmitted is NOT added neither to actual value nor target.
1 = On Offset enabled. Offset is added to actual value and actual target.
2 = On + Key As setting 1. The offset can be altered by keypad.
Suppress target
This parameter defines when to indicate the target in the upper line of the display.
0 = On Target indicated if target ≠current value.
1 = Off Target ever indicated, also if target = current value. Indicate arrows too if target ≠current value.
2 = Ever Target and arrows ever suppressed.

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Resolution
This parameter defines the resolution of the actual value. Upon altering the resolution the decimal point is shifted
correspondingly by one digit to the right or left, same applies also to actual value and target. The target values
however are not converted correspondingly but only the decimal point is shifted. When editing the machine please
pay attention to defining the resolution first so that the target values are transmitted to the SPAs with the
corresponding resolution.
0 Resolution 1/100 mm resp. 1/1000 inch visualized in the display: 000.00 mm resp. 00.000 inch
1 Resolution 1/10 mm resp. 1/100 inch visualized in the display: 0000.0 mm resp. 000.00 inch
4.3.2. Read / write bit parameter motor „m“ (6Dh)
To exploit maximum memory capacity, several parameters are put together and transferred as “data pack”
under the following parameter codes:
Data1: 1 0 X X 0 X 0 X
┬──┬── ─┬─ ─┬─
│││└─── key key assignment 0/1 (UP/DOWN)
││└─────── direction motor direction of rotation 0/1 (UP/DOWN)
│└──────────── Jog Activate MicroStep 0/1/2/3 (UP/DOWN/EVER/ONLY)
└──────────────── 1
Data2: 1 0 X X 0 X X X
┬──┬── ┬──┬──
│││└──── reserved
││└──────── reserved
│└──────────── shaft type 0/1 (R/A)
└──────────────── 1
Data3: 1 0 X X 0 X X X
┬┬┬┬┬──┬──
│││││└──── group 0 – 7 (groupe1/groupe2/…/groupe8)
││││└──────── reserved
│││└────────── assigned shafts 0/1 (OFF/ON)
││└──────────── holding torque 0/1 (OFF/ON)
│└────────────── reserved
└──────────────── 1
Data4/5: 0 0 1 1 X X X X 0 0 1 1 X X X X
───────┬─────── ───────┬─────── Leading shaft identifier for assigned shafts
│└──────── ADR LSB (values 30h to 39h)
└─────────────────────────── ADR MSB (values 30h to 39h)
Important: Only bits marked ‘X’ may be altered. The permanent values „1“ and „0“ must not be altered since
thereby a control token ( tokens < 20h) might be created what is not permitted in ASCII.
Example 1: Read bit parameter (data 1 to data 3 = 80h; data 4 to data 5 = 30h)
SOH Adr Cmd EOT CRC
Transmission 01h 20h 6Dh 04h 56h
bit parameter default
Example 2: Write bit parameter (key assignment = down; motor direction of rotation = Down)
SOH Adr Cmd Data1 Data2 Data3 Data4 Data5 EOT CRC
Transmission 01h 20h 6Dh 81h 84h 80h 30h 30h 04h 92h
SOH Adr Cmd Data1 Data2 Data3 Data4 Data5 EOT CRC
Response 01h 20h 6Dh 81h 84h 80h 30h 30h 04h 92h
SOH Adr Cmd Data1 Data2 Data3 Data4 Data5 EOT CRC
Response 01h 20h 6Dh 80h 80h 80h 30h 30h 04h F2h

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Significance of parameter „m“
Key assignment
This parameter assigns a specified direction of rotation to a certain key. For the mounting option “keypad below
display” and the remaining default parameters applies the following:
0 = Up left/right key actuation = shaft rotation ccw/cw, counting mode UP/DOWN
1 = Down left/right key actuation = shaft rotation cw/ccw, counting mode UP/DOWN
Motor direction of rotation
The parameter “motor direction of rotation” enables inversion of the two output signals for motor ccw (pin B) and
motor cw (pin C) provided at the motor cable.
0 = Up Standard direction of rotation
1 = Down Inverted direction of rotation
Jog
The jog function makes the motor run by a defined number of steps upon a short stroke on a key. The holding
time does not matter as long as it is not less than 400 ms. A holding time of > 400 ms results in permanent motor
run. Inferior holding times are accomplished as Jog. The number of steps is defined under parameter command
„l“, default parameter is 1.
Note: The respective step is always accomplished completely and cannot be stopped or restarted by actuating any
key during the motor positioning operation. However a stop by interface (command “D”) is possible. With running
motor the moving bit is set to 1 (refer also command “F”).
Setting the step width to 0 will disable the Jog function, both by keypad and by external inputs.
00 = Up Jog only enabled with counting mode UP
01 = Down Jog only enabled with counting mode DOWN
10 = Ever Jog enabled with both counting modes UP/DOWN
11 = Only Jog only enabled. Continuous movements actuated by keypad are disabled
Shaft type
The shaft type parameter assigns the shaft type.
Some applications may call for different treatment of radially and axially operated shafts what is already taken into
consideration when utilizing the IVO master. For example, only certain shafts shall be displayed in DIM mode.
Other controls (for example PLC or PC) may utilize this parameter for general assignments.
0 = R Shaft type R
1 = A Shaft type A
Groups
Parameter for division in groups. Individual SPAs can be bundled to 8 different groups to be started in successive
order group by group (command „D“) in order to prevent collisions.
0 = group 1
1 = group 2
: :
7 = group 8
Start command „D“ must comprise the designated group number to start the respective group.
Assigned shafts
This parameter assigns two or more shafts to a leading shaft and is applied when utilizing the IVO Master. For
detailed description please refer to the IVO master user manual, chapter specific functions. Other controls (for
example PLC or PC) may utilize this parameter for general assignments.
0 = Off Not assigned
1 = On Assigned. This SPA is assigned to a leading shaft. The leading shaft’s identifier is specified in
data 4/5 of command “m” in the leading shaft identifier.

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Holding torque
This parameter is utilized to enable respectively disable the motor holding torque. Both directional signals “motor
ccw” and “motor cw” are activated by the spindle position display (SPA). Thus, the motor is hold at its actual
position. Refer also to command „DB“ for temporary holding torque disabled.
0 = Off holding torque disabled
1 = On holding torque enabled
4.3.3.Read / write spindle tolerance compensation and window „b“ (62h)
This command is utilized to read or write the parameters tolerance compensation and tolerance window.
Example 1: Read parameter (tolerance compensation = 0.15; tolerance window = 0.25)
SOH Adr Cmd EOT CRC
Transmission 01h 20h 62h 04h 48h
SOH Adr Cmd tolerance compensation=0.5 tolerance window=0.25 EOT CRC
Response 01h 20h 62h 30h 30h 35h 30h 30h 30h 32h 35h 04h 0Bh
Example 2: Write parameter (tolerance compensation = 1.30; tolerance window = 0.75)
SOH Adr Cmd tolerance compensation =1.30 tolerance window =0.75 EOT CRC
Transmission 01h 20h 62h 30h 31h 33h 30h 30h 30h 37h 35h 04h 1Eh
SOH Adr Cmd tolerance compensation =1.30 tolerance window =0.75 EOT CRC
Response 01h 20h 62h 30h 31h 33h 30h 30h 30h 37h 35h 04h 1Eh
4.3.4.Read / write spindle pitch (scaling) „c“ (63h)
This command is utilized to read or write the scaling factor relating to the spindle pitch within the range from
0,0000001...9,9999999. The decimal point is not transmitted.
Resolution per turn is 1440 steps. A scaling factor of 1.000000 will increase respectively decrease the indicated
value by 14.4 mm.
How to calculate the scaling factor:
Resolution per turn: 14.40 mm (corresponding to length with scaling factor 1.0000000)
Spindle pitch: 4.00 mm
Spindle pitch 4.00
scaling = ───────────────── = ───── = 0.2777777
resolution per revolution 14.40
Example 1: Read scaling (scaling factor = 1.000000)
SOH Adr Cmd EOT CRC
Transmission 01h 20h 63h 04h 4Ah
SOH Adr Cmd Scaling factor = 1.0000000 EOT CRC
Response 01h 20h 63h 31h 30h 30h 30h 30h 30h 30h 30h 04h 4B
Example 2: Write scaling (scaling factor = 0.2777777)
SOH Adr Cmd Scaling factor = 0.2777777 EOT CRC
Transmission 01h 20h 63h 30h 32h 37h 37h 37h 37h 37h 37h 04h 30h
SOH Adr Cmd Scaling factor = 0.2777777 EOT CRC
Response 01h 20h 63h 30h 32h 37h 37h 37h 37h 37h 37h 04h 30h
4.3.5.Read / write limit positions „g“ (67h)
This command is utilized to read or write the MIN and MAX limit positions within the range from -999.99 to
9999.99. The decimal point is not transmitted.
Example 1: Read limit positions (MIN = 15.00; MAX = 850.25)
SOH Adr Cmd EOT CRC
Transmission 01h 20h 67h 04h 42h