Kübler Ants LEB02 User manual

Manual
R67072.0002 - 3
Ants LEB02 (Linear Encoder Base)

Table of Contents Kübler Group
2 - EN HB CANopenLift/RS485/SSI - Ants LEB02 - R67072.0002 - 03
Table of Contents
1 Document ........................................................................................................................ 4
2 General Information........................................................................................................ 5
2.1 Target Group........................................................................................................... 5
2.2 Symbols used / Classification of the Warnings and Safety instructions.................. 5
2.3 Use According to the Intended Purpose ................................................................. 6
2.4 Other Applicable Documents .................................................................................. 6
3 Product Description ....................................................................................................... 7
3.1 Function of the Measuring System ......................................................................... 7
3.2 Technical Data ........................................................................................................ 7
3.2.1 Sensor....................................................................................................... 7
3.2.2 Coded Band .............................................................................................. 9
3.3 CANopen Lift Interface Description......................................................................... 9
3.4 Interface Description RS485/ EIA-485 .................................................................... 11
3.5 SSI Interface Description ........................................................................................ 12
3.6 Supported Standards and Protocols ....................................................................... 13
3.7 Variants Overview................................................................................................... 14
3.8 Sensor Type Plate .................................................................................................. 14
4 Installation....................................................................................................................... 15
4.1 Electrical Installation ............................................................................................... 15
4.1.1 General Information for the Connection.................................................... 15
4.1.2 Connection Color Coding.......................................................................... 15
4.1.3 Connection Legend................................................................................... 16
4.1.4 Sensor Terminal Assignment.................................................................... 16
4.1.5 CAN network topology .............................................................................. 16
4.1.6 RS485 Network Topology ......................................................................... 18
4.1.7 SSI Network Topology .............................................................................. 18
4.1.8 General Errors........................................................................................... 19
5 Commissioning and Operation ..................................................................................... 20
5.1 Status LED.............................................................................................................. 20
5.2 CANopen Lift........................................................................................................... 20
5.2.1 Quick Start Guide...................................................................................... 20
5.2.2 Protocol Features...................................................................................... 24
5.2.3 CANopen Object Dictionary ...................................................................... 25
5.2.4 Description of the Objects......................................................................... 28
5.2.5 Examples .................................................................................................. 31
5.3 RS485 ..................................................................................................................... 33
5.3.1 Features.................................................................................................... 33
5.4 SSI .......................................................................................................................... 34
5.4.1 Protocol Features...................................................................................... 34

Kübler Group Table of Contents
HB CANopenLift/RS485/SSI - Ants LEB02 - R67072.0002 - 03 EN - 3
6 Disposal........................................................................................................................... 36
6.1 Disposal .................................................................................................................. 36
7 Annex............................................................................................................................... 37
7.1 Decimal / Hexadecimal conversion table ................................................................ 37
8 Contact ............................................................................................................................ 39
Glossary .......................................................................................................................... 40

1 Document Kübler Group
4 - EN HB CANopenLift/RS485/SSI - Ants LEB02 - R67072.0002 - 03
1 Document
This document is the English translation of the original German version.
Publisher Kübler Group, Fritz Kübler GmbH
Schubertstraße 47
78054 Villingen-Schwenningen
Germany
www.kuebler.com
Issue date 11/2020
Language version German is the original language
Copyright © 2020, Kübler Group, Fritz Kübler GmbH
Text sources Technische Möglichkeiten mit CANopenLift-
CANopenLift.org
Das CANopen Applikationsprofil für Aufzüge CiA-417-
CANopenLift.org
Layer Setting Service (LSS) nach CiA-305-
CAN-CiA.org
Image sources Shaft picture, non-proprietary -
CANopenLift.org
Text sources SSI Application Note 2013; Posital GmbH
Praxiswissen – Schnittstelle SSI; KUNBUS GmbH
Image sources SSI Block Diagram; Posital GmbH
Text sources Wiesemann & Theis GmbH
Image sources Wiesemann & Theis GmbH
Legal notices
All of the contents of this document are protected by the rights of use and copyrights of Fritz
Kübler GmbH. Any duplication, modification, further use and publications in other electronic or
printed media, as well as their publication in the Internet, even partially, is subject to the previ-
ous written authorization of Fritz Kübler GmbH.
The brand names and product brands mentioned in this document are trademarks or registered
trademarks of the respective titleholders.
Subject to errors and changes. The stated product features and technical data shall not consti-
tute any guarantee declaration.

Kübler Group 2 General Information
HB CANopenLift/RS485/SSI - Ants LEB02 - R67072.0002 - 03 EN - 5
2 General Information
Please read this document carefully before working with the product, mounting it
or starting it up.
2.1 Target Group
The device may only be planned, mounted, commissioned and serviced by persons having the
following qualifications and fulfilling the following conditions:
• Technical training.
• Briefing in the relevant safety guidelines.
• Constant access to this documentation.
2.2 Symbols used / Classification of the Warnings and
Safety instructions
DANGER Classification:
This symbol, together with the signal word DANGER, warns against
immediately imminent threat to life and health of persons.
The non-compliance with this safety instruction will lead to death or
severe adverse health effects.
WARNING Classification:
This symbol, together with the signal word WARNING, warns against
a potential danger to life and health of persons.
The non-compliance with this safety instruction may lead to death or
severe adverse health effects.
CAUTION Classification:
This symbol, together with the signal word CAUTION, warns against
a potential danger for the health of persons.
The non-compliance with this safety instruction may lead to slight or
minor adverse health effects.
ATTENTION Classification:
The non-compliance with the ATTENTION note may lead to material
damage.

2 General Information Kübler Group
6 - EN HB CANopenLift/RS485/SSI - Ants LEB02 - R67072.0002 - 03
NOTICE Classification:
Additional information relating to the operation of the product, and
hints and recommendations for efficient and trouble-free operation.
2.3 Use According to the Intended Purpose
Combined with a suitable evaluation unit, the measuring system serves for the determination of
the absolute position of elevator cars. The measuring system can be used as a position and
speed sensor.
The measuring system and its evaluation unit must meet the requirements mentioned in chapter
Technical Data [}7].
2.4 Other Applicable Documents
All technical data, as well as the mechanical and electrical characteristics, are specified in the
corresponding data sheets of the system components.

Kübler Group 3 Product Description
HB CANopenLift/RS485/SSI - Ants LEB02 - R67072.0002 - 03 EN - 7
3 Product Description
3.1 Function of the Measuring System
The sensor that is mounted on the elevator car and the coded band that is tensioned in the
shaft form together the measuring system. The sensor converts a linear motion into a digital po-
sition signal. To this purpose, it evaluates the band, which is coded by two rows of holes.
3.2 Technical Data
NOTICE Observe the configuration
The performance characteristics and the mechanical design of the
product depend on the selected configuration (according to order
code).
Extracts of the main technical data are listed below. All other characteristic values can be found
in the corresponding product data sheets.
3.2.1 Sensor
Mechanical characteristics sensor
Operating temperature -10°C…+70°C [14°F … 158°F]
Storage temperature -20°C…+80°C [-4°F … 176°F]
Protection level according to EN 60529 IP54
Air humidity < 90% (non-condensing)
Installation height <2000m [6562ft]
Material Housing Aluminum
Weight appr. 0.55kg [19.40oz]
Maximum measuring length 392m [1286ft]
Maximum speed 8m/s [26.25 ft/s]
Resolution 1mm
Accuracy ±1mm
Electrical characteristics sensor
Supply voltage 10… 30VDC
Supply voltage according to UL 1310 Class 2
Supply voltage according to EN 60950 PELV
Current consumption max. 100mA
Protection class according to EN 61140 III
EMC
Relevant Standards EN12015:2014
EN12016:2013

3 Product Description Kübler Group
8 - EN HB CANopenLift/RS485/SSI - Ants LEB02 - R67072.0002 - 03
UL - Underwriters Laboratories
UL approval File E498900
Relevant Standards UL508
CANopen Lift Characteristics
Bit rate 250 kbit/s
Identifier 0x18C
Node ID 0x04
Event timer 10 ms
Resolution 1mm
Heartbeat 500 ms
Terminated yes
For more detailed information please refer to the CiA homepage www.canopen-lift.org.
RS485 Characteristics
Baud rate 19,200
Number of data bits 8 bits
Number of start bits 1 bit
Number of stop bits 1 bit
Parity none
Repetition rate 150Hz
Number of bytes/transmission 9 bytes
Position resolution 1mm
Speed resolution 1mm/s
Position value 24 bits, binary
Speed value 16 bits, two's complement
SSI Characteristics
Data Transmission in slave mode
double data transmission
Resolution 0.25mm
Data length 25 bits + 1 Power failure bit (Low)
MSB First
Coding Gray
Clock frequency max. 200kHz
Monoflop time min. 500µs
A position value must be read out by the SSI master over 52 clock cycles.
1 ... 25:MSB first absolute position in Gray code
26:Data Low (PFB)
27 ... 51:Second transmission (see 1-25)
52:Data Low (PFB)

Kübler Group 3 Product Description
HB CANopenLift/RS485/SSI - Ants LEB02 - R67072.0002 - 03 EN - 9
3.2.2 Coded Band
Material V2A spring-tensioned stainless steel, edges broken
Dimensions 16x0.4mm
Weight 50g /m
Thermal expansion 16x10-6/K
3.3 CANopen Lift Interface Description
CANopenLift was standardized in 2003 as a universal solution for elevator control and thus a
comprehensive network system for elevator operation, analysis, management and updates was
set up. It includes as well hydraulic or traction elevators as single elevators or groups of 8 elev-
ators, with two or 254 stops: CANopenLift covers the majority of the possible elevator applica-
tions.
Features overview
The outstanding feature of CANopenLift is the provision of a manufacturer-independent plug-
and-play system for the user, which allows realizing and controlling all elevator construction ap-
plications. For this purpose CANopen provides the common procedure for network manage-
ment to control the connected components. All electronic components that can be found in elev-
ators have been described as virtual devices in the standard. All parameters, messages and
services have been defined for these devices. CAN serves for the transmission of the process
messages. The methods common for CAN are used for the prioritization of messages. A real-
time-capable transmission of process messages is possible.
CANopenLift thus allows the technician to parameterize all components with a unified configur-
ation tool, independently of the manufacturer. This minimizes the familiarization time, simplifies
the handling and reduces the costs. In addition, a standardized diagnostics management allows
capturing and logging centrally the condition of the elevator. The technician can thus carry out
conveniently also the necessary system analyses.
Moreover, the integrated energy management provides a method for the continuous acquisition
and reduction of the energy demand of elevators. The activation of various stand-by modes in
the components allows controlling the energy consumption of the elevator according to the
needs.

3 Product Description Kübler Group
10 - EN HB CANopenLift/RS485/SSI - Ants LEB02 - R67072.0002 - 03
120524299
Organized components
Each of the represented devices is responsible for determined functions. E. g. the landing panel
at every floor is the device that receives the user request for a car and transmits it to the control-
ler. This request includes information on the geographic position of the request (where does it
come from and where is it supposed to go) and on the request type (normal request, priority re-
quest such as e. g. emergency requests). These requests collected by the controller are pro-
cessed, sending a request confirmation to the floor panel (e. g. light change in the pushbutton)
when all the information is in order.

Kübler Group 3 Product Description
HB CANopenLift/RS485/SSI - Ants LEB02 - R67072.0002 - 03 EN - 11
As a result of the processing, the controller that processes the entering requests must also in-
form the controllers for the drive and for the doors, which leads to the car travel requested by
the user and –once the desired floor is reached –to the opening of the car doors.
Besides the normal information path, the mentioned controllers (request, door and drive control-
ler) receive moreover status information from the measuring system, e. g. the shaft copying sys-
tem LEB02 and several other sensors.
Such a sensor can be e.g. a presence sensor that detects every person in the car. Further
sensors can be among others smoke detectors, load-measuring sensors or light barriers at the
car door, which help deciding whether the car is allowed to move or whether the car door has to
open when reaching a determined floor.
The CANopenLift standard is constantly developed further. Therefore, CANopen lift will in the
future be the basis for the remote diagnosis via Internet of all components and for the safety-rel-
evant data transmission in elevators.
3.4 Interface Description RS485/ EIA-485
The RS485 standard is the physical specification of a series of bidirectional connections via a
differential lines pair. RS485 only defines the physical characteristics of an interface; it is not an
independent transmission protocol! The physical interface requires a 130 Ω terminal resistor,
two biasing resistors and a standard RS485 transceiver.
Features overview
• Voltage range -7 … 12 V
• Serial, asynchronous, continuous and bidirectional data communication
• Digital, bidirectional 2-wire (half duplex) or 4-wire version of the (duplex) interface
• Connection structure always as a line, never star or with drop lines
• Line pair(s) if possible realized as twisted pair cables (protection against electrical and mag-
netic interference fields)
• Line ends terminated if possible (transmission speed / greater distances)
• Compensation of transmission delays for high-speed data transmission
• Use by different (field bus) protocols possible (application-specific)
• Bus-capability for several transmission and receiving devices in a chain (max. 32)
Fig.1: Source: Wiesemann & Theis GmbH
9007199376272139

3 Product Description Kübler Group
12 - EN HB CANopenLift/RS485/SSI - Ants LEB02 - R67072.0002 - 03
Serial protocol
As a standard, the interface is configured for 9600 bd. The bidirectional RS485 interface is in
principle bus-capable. This is why every communication from the master, hence from the con-
troller, starts with the slave address. To minimize transmission times, the information is transmit-
ted in binary format. Every protocol ends with an easily calculated XOR checksum. The protocol
end detection is based on a timeout control.
3.5 SSI Interface Description
The Synchronous Serial Interface (SSI) is a widespread standard for serial interfaces of indus-
trial applications, e. g. for displacement measurement systems using absolute encoders. This
interface is based on the RS422 standard. SSI allows point-to-point communication between
master and slave, to obtain absolute values for the respective position of a device. For this pur-
pose, the position data of the measuring system is continuously updated and provided to the
output register.
120955531
Features overview
This interface is particularly suitable for application in industrial environments, where reliability
and robustness are indispensable. The synchronous serial interface has moreover a very
simple structure, as it requires only two line pairs (for the clock [master] and the data [slave]. In
the sensor itself, a shift register and a monoflop for controlling the register are required.
Moreover, the SSI allows connecting up to three measuring systems to a common clock. This
allows the controller to read several measuring systems at a determined point in time.
Further advantages:
• Little wiring work thanks to serial data transmission
• Line lengths up to 1,200 m
• High immunity to electromagnetic interferences (EMC) thanks to the RS422 standards
• High data transmission reliability thanks to differential signals
• Complete protocol flexibility both with regard to data quantity and to data size
• Prevents ground loops thanks to galvanically isolated functional areas of the system (master)
SSI defines two signal types: CLOCK and DATA When the clock and data lines are in the idle
status, the levels are set to High. Position value transmission begins with the most significant bit
(MSB) as soon as the clock signal changes from Low to High. Subsequently, the next least sig-
nificant bit is transmitted with every further clock signal change from Low to high. The transmis-
sion ends with the output of the least significant bit (LSB). This takes place after the clock signal
switches from Low to High (and remains High) and the data line remains at Low until the end of
the monoflop time. Then both levels are again High.

Kübler Group 3 Product Description
HB CANopenLift/RS485/SSI - Ants LEB02 - R67072.0002 - 03 EN - 13
149180939
t1 = T / 2
t2 < 1 / (4 x fmax)
t3 = monoflop time (see below)
n = resolution in bits
Besides the clock frequency, which takes account of the respective line length, also the number
of data bits can be configured, to allow keeping the resolution flexible. For transmission safety
and for displaying the end of the data transmission, parity bits can be added (as implemented
by certain manufacturers).
3.6 Supported Standards and Protocols
CANopen Lift
CiA® 301 CANopen application layer and communication profile, version: 4.2.0, 21
February 2011
CANopen Lift according to CiA® 417, version: 2.3.0, 10 December 2018
RS485
RS485 (Radio Sector / Recommended Standard) is used as a synonym to EIA485 (Electronic
Industries Alliance) and TIA485-A (Telecommunications Industry Association).
Standard according to: Electrical Characteristics of Generators and Receivers for Use in Bal-
anced Digital Multipoint Systems (ANSI/TIA/EIA-485-A-98) (R2003).
SSI
SSI based on the RS422 standard according to: Electrical Characteristics of Balanced Voltage
Digital Interface Circuits (ANSI/TIA/EIA-422-B-1994) (R2000) (R2005).

3 Product Description Kübler Group
14 - EN HB CANopenLift/RS485/SSI - Ants LEB02 - R67072.0002 - 03
3.7 Variants Overview
Sensor type Safety classes
LEB02 -
LES02 SIL3 (EN81-50)
LES02 with PSU02
3.8 Sensor Type Plate
Example of a type plate on the product:
4
910
3 5 6 7 8
1112
1 2
27021597902745355
1 Supply voltage 2 Type /Order code
3 Manufacturer and address 4 Current consumption
5 Terminal Assignment 6 Observe the operation manual
7 UL marking 8 Observe the operation manual
9 Datamatrix code 10 Coded band orientation
11 CE marking 12 Serial number

Kübler Group 4 Installation
HB CANopenLift/RS485/SSI - Ants LEB02 - R67072.0002 - 03 EN - 15
4 Installation
4.1 Electrical Installation
4.1.1 General Information for the Connection
ATTENTION Destruction of the device
Before connecting or disconnecting the signal cable, always discon-
nect the power supply and secure it against switching on again.
NOTICE General safety instructions
Make sure that the whole plant remains switched off during the elec-
trical installation.
• Make sure that the operating voltage is switched on or off simultan-
eously for the device and the downstream device.
4.1.2 Connection Color Coding
Part of the cables are identified by a color coding, part of them by a numerical coding. Abbrevi-
ation of the colors:
Abbreviation Color Abbreviation Color
WH White BU Blue
BN Brown RD Red
GN Green BK Black
YE Yellow VT Violet
GY Gray GY-PK Gray-Pink
PK Pink RD-BU Red-Blue
ATTENTION Destruction of the electronics
When confectioning the sensor cable, always take care to ensure
sufficient ESD protection.

4 Installation Kübler Group
16 - EN HB CANopenLift/RS485/SSI - Ants LEB02 - R67072.0002 - 03
4.1.3 Connection Legend
+V: Supply voltage +V DC
0V: Voltage supply GND (0V)
CAN_H: Positive CAN Signal (Dominant High)
CAN_L: Negated CAN-Signal (Dominant Low)
C+, C: Clock signal
D+, D: Data signal
n.c.: Do not connect
4.1.4 Sensor Terminal Assignment
Interface Cable, 3m, shielded, open cable end
CANopen
Lift (DS417)
Signal: +V 0V/GND CAN_H CAN_L n.c. n.c.
Core color: BN WH GN YE GY PK
Interface Cable, 3m, shielded, with Sub-D male connector, 9-pin
CANopen
Lift (DS417)
Signal: n.c. CAN_L 0V/GND n.c. Shield 0V/GND CAN_H n.c. +V
Pin: 1 2 3 4 5 6 7 8 9
Interface Cable, 3m, shielded, open cable end
SSI Signal: +V 0V/GND C+ C- D+ D-
Core color: BN WH GN YE GY PK
Interface Cable, 3m, shielded, Sub-D male connector, 9-pin
SSI Signal: n.c. C+ Shield D+ 0V/GND +V C- D- +V
Pin: 1 2 3 4 5 6 7 8 9
Interface Cable, 3m, shielded, open cable end
RS485 Signal: +V 0V/GND T/R- T/R+ n.c. n.c.
Core color: BN WH GN YE GY PK
4.1.5 CAN network topology
According to DIN ISO 11989, a CAN bus system can basically only have a line bus structure. In
variation of this, repeaters or gateways can be used to realize other network topologies.
When designing the network topologies, it must be differentiated between the trunk line and the
drop lines.
The trunk line must be terminated at both ends with a 120 ohm resistor. Drop lines may not be
terminated with terminal resistors.

Kübler Group 4 Installation
HB CANopenLift/RS485/SSI - Ants LEB02 - R67072.0002 - 03 EN - 17
60283275
Baud rate [kbit/s] Drop line length [m] Total length of all
drop lines [m]
1000 < 1 < 5
500 < 5 < 25
250 < 10 < 50
125 < 20 < 100
50 < 50 < 250
60285707
Baud rate [kbit/s] Drop line length without
multiport [m]
Trunk length without drop
lines [m]
1000 < 0.3 < 25
500 < 1.2 < 66
250 < 2.4 < 120
125 < 4.8 < 310
Drop lines must be avoided to the greatest possible extent as they inevitably cause reflections.
However, these reflections are uncritical as long as they have entirely decayed before the
sampling time. For the bit timing settings chosen in the bus couplers, it can be assumed that
this is the case.

4 Installation Kübler Group
18 - EN HB CANopenLift/RS485/SSI - Ants LEB02 - R67072.0002 - 03
4.1.6 RS485 Network Topology
The parameters channel is an asynchronous half-duplex interface that complies physically with
the RS485 specification. To ensure disturbance-free transmission, the transmission lines must
be provided with pull up/down resistors.
In order to also ensure independence from line transceiver manufacturers, we give the following
recommendations for the dimensioning of the interface:
DRDR
Common
D0
D1
Slave 1 Slave n
Pull Down
650 Ω
Pull Up
650 Ω
5 V
Line Termination
120 Ω
Line Termination
120 Ω
R
D
Master
58511243
The 120 … 130 ohm terminating resistor and the 650 … 1k ohm pull up/down resistors are in-
tegrated as a standard. For bus operation (more than 1 encoder), no terminating resistor is in-
tegrated in the encoder. This resistor must be mounted by the customer on the device furthest
from the master.
4.1.7 SSI Network Topology
SSI is based in essence on 2 parallel RS485 network circuits and thus defines a classical
RS422 circuit. As a standard, 120 Ω terminating resistors are used.
143594763
The topology of a RS422 network can include a maximum of 11 participants. For this purpose
SSI defines a master and a slave. Therefore, max. 1 master and 10 slaves can be realized.
Communication is always unidirectional (simplex).

Kübler Group 4 Installation
HB CANopenLift/RS485/SSI - Ants LEB02 - R67072.0002 - 03 EN - 19
143611403
Both lines (data and clock) are transmitted differentially. Maximum line lengths reaching 1,200
m are possible For the physical connection, standard twisted pair cables are used according to
RS422. As a guideline, the following baud rates can be achieved, depending on cable length:
Cable length [m] 13 44 85 300 750
Maximum baud rate [MHz) 2 1 0.6 0.2 0.08
4.1.8 General Errors
4.1.8.1 Operational mode cannot be selected
a) Make sure that the coded band is correctly positioned. To do so, compare the information
about the orientation of the coded band on the type plate of the sensor; see Sensor Type
Plate [}14].
b) Check the degree of wear of the slides.
4.1.8.2 The measuring system does not communicate with the control
a) Check the supply voltage.
b) Check the proper connection of the 4 wires.
c) Make sure that the connection to the selected communication interface is properly in-
stalled. If necessary check data transmission.

5 Commissioning and Operation Kübler Group
20 - EN HB CANopenLift/RS485/SSI - Ants LEB02 - R67072.0002 - 03
5 Commissioning and Operation
5.1 Status LED
A one-color LED signals the status of the measuring system:
Display LED Meaning
LED off No voltage
LED on Supply voltage is applied to the device
5.2 CANopen Lift
5.2.1 Quick Start Guide
5.2.1.1 Default Settings
All parameters are created as objects in CANopen. The most important parameters for
CANopen are specified with their default values in the table below: