Kübler Limes LA10 User manual

English
Manual
Limes LA10 / BA1
Absolute Magnetic Length Measurement System with 1 µm Resolution
• Absolute measuring
• Direct contact free measurement
• Up to 8 m measuring length
• Resolution 1 µm
• Changes of position are also recognized without voltage – no calibration necessary
• Automatically recognition of too big distance between sensor and magnetic tape (LED)
• Additional SinCos-signals for dynamic drive mechanism available
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Manual
Limes LA10 / BA1
Absolute Magnetic Length Measurement System
Publisher Kübler Group, Fritz Kübler GmbH
Schuberstrasse 47
D-78054 Villingen-Schwenningen
Germany
Technical support Phone [phone]
Fax [phone]
Document no. R60801.0009
Document name Manual Limes LA10 / BA1
Issue date 02/2014
Copyright © 2014, Kübler Group, Fritz Kübler GmbH
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English
Manual
Limes LA10 / BA1
Absolute Magnetic Length Measurement System
Contents
1. General ...................................................................................................................................................5
1.1 Information Operating Manual ...................................................................................................5
1.2 Terms and Abbreviations ............................................................................................................ 5
1.3 Explanation of Symbols ...............................................................................................................5
1.4 Demounting and Disposal ........................................................................................................... 7
2. Safety ......................................................................................................................................................8
2.1 General Causes of Risk ................................................................................................................ 8
2.2 Conventional Use .......................................................................................................................... 8
3. Transport and Storage .........................................................................................................................9
3.1 Safety Instructions for Transport, Unpacking and Loading .................................................. 9
3.2 Handling of Packaging Material ................................................................................................9
3.3 Inspection of Transport ............................................................................................................... 9
3.4 Storage ...........................................................................................................................................9
4. Product Features.................................................................................................................................10
4.1 Functional Principle ...................................................................................................................10
5. Technical Data ....................................................................................................................................11
5.1 Identication ...............................................................................................................................11
5.2 Dimensions Sensor ....................................................................................................................11
5.3 Technical Data Sensor ..............................................................................................................12
5.4 Technical Data Magnetic Tape ................................................................................................14
5.5 Order code ...................................................................................................................................15
6. Installation and First Start - Up ........................................................................................................16
6.1 Operating Area ............................................................................................................................ 16
6.2 Mounting of the Magnetic Tape ...............................................................................................17
6.3 Installation of the Sensor .......................................................................................................... 19
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Manual
Limes LA10 / BA1
Absolute Magnetic Length Measurement System
7. Design and Functions ........................................................................................................................20
7.1 Connections and Interfaces .....................................................................................................20
7.2 Interface SSI (Gray Code) ......................................................................................................... 20
7.3 Interface CANopen ....................................................................................................................21
7.4 Sinus-Cosinus Incremental signal ...........................................................................................31
7.5 Termination independence .......................................................................................................32
7.6 Offset ............................................................................................................................................32
7.7 Pin Connections ..........................................................................................................................33
8. Disturbances .......................................................................................................................................35
8.1 Fault Clearance ...........................................................................................................................35
8.2 Re-start after Fault Clearance ..................................................................................................36
9. Maintenance .......................................................................................................................................36
10. Cleaning .............................................................................................................................................37
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English
Manual
Limes LA10 / BA1
Absolute Magnetic Length Measurement System
1. General
1.1 Information Operating Manual
This manual contains important information regarding the handling of the device. For your own
safety and operational safety, please observe all safety warnings and instructions.
Precondition for safe operation is the compliance with the specied safety and handling inst-
ructions. Moreover, the existing local accident prevention regulations and the general safety
rules at the site of operation have to be observed.
Please read the operating manual carefully before starting to work with the device! It is part of
the product and should be kept close to the device and accessible for the staff at any time. The
illustrations in the manual are for better demonstration of the facts. They are not necessarily to
scale and can slightly differ from the actual design.
1.2 Terms and Abbreviations
Abbreviation/Term Explanation
LSB Least Signicant Bit
MSB Most Signicant Bit
1.3 Explanation of Symbols
Special notes in this manual are characterized by symbols. The notes are introduced by sig-
nal words which express the magnitude of danger. Please follow this advice and act carefully
in order to avoid accidents and damage and injuries
Warning notes:
DANGER!
This symbol in connection with the signal word “Danger” indicates an imme-
diate danger for the life and health of persons.
Failure to heed these instructions can result in serious damage to health and
even fatal injury.
WARNING!
This symbol in connection with the word „Warning” means a possibly impen-
ding danger for the life and health of persons.
Failure to heed these instructions can result in serious damage to health and
even fatal injury.
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Manual
Limes LA10 / BA1
Absolute Magnetic Length Measurement System
CAUTION!
This symbol in connection with the signal word “Caution” indicates a possibly
dangerous situation.
Failure to heed these instructions can lead to minor injuries or damage of
property.
Special safety instructions:
DANGER!
This symbol in connection with the signal word “Danger” indicates an imme-
diate danger for the life and health of persons due to voltage.
Failure to heed these instructions can result in serious damage to health and
even fatal injury. The operations may only be carried out by a professional
electrician.
Tips and recommendations:
NOTICE!
... points out useful tips and recommendations as well as information for an
efcient and trouble-free operation.
References:
( 1.2) Marks a reference to chapter 1.2 of this manual.
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Manual
Limes LA10 / BA1
Absolute Magnetic Length Measurement System
1.4 Demounting and Disposal
Unless acceptance and disposal of returned goods are agreed upon, demount the device
considering the safety instructions of this manual and dispose it with respect to the environ-
ment.
Before demounting:
Disconnect the power supply and secure against restart. Then disconnect the supply lines
physically and discharge remaining energy. Remove operational supplies and other material.
Disposal:
Recycle the decomposed elements:
·Metal components in scrap metal
·Electronic components in electronic scrap
·Recycle plastic components
·Dispose the remaining components according to their material consistence
CAUTION!
Wrong disposal causes environmental damages!
Electronic scrap, electronic components, lubricants and other auxiliary
materials are subject to special refuse and can only be disposed by
authorized specialists!
Local authorities and waste management facilities provide information about environmentally
sound disposal.
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Manual
Limes LA10 / BA1
Absolute Magnetic Length Measurement System
2. Safety
CAUTION!
Please read the operating manual carefully, before using the device!
Observe the installation instructions!
Only start up the device if you have understood the operating manual.
The operating company is obliged to take appropriate safety measure.
The initial operation may only be performed by qualied and trained
staff.
2.1 General Causes of Risk
This chapter gives an overview of all important safety aspects to guarantee an optimal pro-
tection of employees and a safe and trouble-free operation. Non-observance of the instruc-
tions mentioned in this operating manual can result in hazardous situations.
2.2 Conventional Use
The device is only conceived for the conventional use described in this manual.
The Limes LA10 length measuring system only serves to measure lengths.
With additional SinCos output, in addition to the speed measurement.
CAUTION!
Danger through non conventional use!
Non-intended use and non-observance of this operating manual can
lead to dangerous situations.
Therefore:
·Only use the device as described
· Strictly follow the instructions of this manual
Avoid in particular:
· Remodelling, retting or changing of the construction or single components
with the intention to alter the functionality or scope of the device.
Claims resulting from damages due to non-conventional use are not possible. Only the opera-
tor is liable for damages caused by non-conventional use.
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Manual
Limes LA10 / BA1
Absolute Magnetic Length Measurement System
3. Transport and Storage
3.1 Safety Instructions for Transport, Unpacking and Loading
CAUTION!
Transport the package (box, palette etc.) professionally.
Do not throw, hit or fold it.
3.2 Handling of Packaging Material
Notes for proper disposal: 1.4.
3.3 Inspection of Transport
Check the delivery immediately after the receipt for completeness and transport damage. In
case of externally recognizable transport damages:
·Do not accept the delivery or only accept under reserve.
·Note the extent of damages on the transportation documents or delivery note.
·File complaint immediately.
NOTICE!
Claim any damage immediately after recognizing it. The claims for
damage must be led in the lawful reclaim periods.
3.4 Storage
Store the device only under the following conditions:
·Do not store outside
·Keep dry and dust-free
·Do not expose to aggressive media
·Protect from direct sun light
·Avoid mechanical shocks
·Storage temperature ( 5 Technical Data) needs to be observed
·Relative humidity ( 5 Technical Data) must not be exceeded
· Inspect packages regularly if stored for an extensive period of time (>3 months)
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Manual
Limes LA10 / BA1
Absolute Magnetic Length Measurement System
4. Product Features
The series LA10 is an absolute length measuring system. Sensor and translator and interpo-
lation unit are together in one housing. The magnetic tape of series BA1 is paste up to a plain
area. The LA10 can be mounted with a max. distance of 0.2 mm to the magnetic tape. Different
interfaces are available (SSI, CANopen (DS406)).
Typical applications are handling systems, conveyor and storage technology, hydraulic
presses, stamping machines, casting machines, linear slides, linear drives and pick and place
systems.
Overview of features:
·no reference necessary.
·direct contact free measurement.
· distance between sensor and magnetic tape can be between 0.1... 0.2 mm
->Distance not ok = LED glow red.
·up to 8 m measuring length.
·high resolution 1 µm.
·repeat accuracy +/- 1 µm.
·inured against dirt.
4.1 Functional Principle
A Hall sensor and a magneto-resistive impedance measuring bridge are guided over a two-
track magnetic tape with a ne-interpolation trace and an absolute trace. Together with the
sensor line the absolute track provides an absolute value and the ne-interpolation trace
provides together with the interpolation electronic the measuring systems high resolution.
Figure 1 shows two magnetic traces, with north pole and south pole magnetization. The ne
interpolation trace encloses alternately north and south pole traces with a distance of 1 mm,
these are scanned with resistance bridges and provide a resolution of 0.001 mm. The absolu-
te value provides the sensor line with 16 single Hall sensors, these sensors are scanning the
code sections of the north and south poles. The absolute value on the magnetic tape recurs
every 8 m.
Interpolation trace
Not magnetised area
Absolute trace
Figure 1: Coding
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Manual
Limes LA10 / BA1
Absolute Magnetic Length Measurement System
5. Technical Data
5.1 Identification
The type label serves for the identication of the unit. It is located on the housing of the sen-
sor and gives the exact type designation (=order reference, see typ designation. Furthermore,
the type label contains a unique, traceable device number, the production date as well as the
hardware and software versions.
When corresponding with Kübler always indicate this data.
5.2 Dimensions Sensor
Dimensions in mm [inch]
16 [0.63]
40 [1.57]
5,5 [0.22]
8 [0.32]
70 [2.76]
30 [1.18]
15 [0.59]
M12x1
45°
13
[0.51]
23 [0.91] 1,2 [0.047]
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Limes LA10 / BA1
Absolute Magnetic Length Measurement System
5.3 Technical Data Sensor
Mechanical Data
Electrical characteristics
Accuracy
Weight approx. 0.1 kg [3.53 oz]
Working temperature -10°C ... +70°C [+14°F ... +158°F] (non condensing)
Storage temperature -25°C ... +85°C [-13°F ... +185°F]
Protection IP64 acc. to DIN 60529
Housing aluminium
Max. traverse speed SinCos reading 10 m/s
permanent absolute positions reading 1 m/s
Shock resistance acc. to EN 60068-2-27 5000 m/s², 1 ms
Vibration strength acc. to EN 60068-2-6 300 m/s², 10 ... 2000 Hz
Distance sensor / magnetic band 0.01 ... 0.2 mm incl. masking tape (recommended 0.2 mm)
Measuring length max. 8 m
Type of connection (Standard) M12 connector, 12 pin
Power supply 10 … 30 V DC ±10%
Residual ripple < 10 %
Current consumption max. 150 mA
Reverse polarity protection yes
Short circuit proof yes
CE compliant acc. to EMC guideline 2004/108/EC
RoHS compliant acc. to guideline 2011/65/EU
Measuring principle absolute + incremental (option)
System accuracy at 20°C [+68°F] max. ± (10 + 20 x L) µm
L = measuring length in meters
Repeat accuracy ±1 µm
Resolution 0.001 mm
LED, red lights up when distance too large
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Manual
Limes LA10 / BA1
Absolute Magnetic Length Measurement System
SSI interface
CANopen interface
Option SinCos interface
Output driver RS485 transceiver type
Permissible load / channel max. 20 mA
Signal level HIGH typ. 3.8 V
LOW at ILoad = 20 mA typ. 1.3 V
Clock rate 25 bit (24 + 1 failurebit for distance)
Code Gray
SSI clock rate 80 kHz ... 0.4 MHz
Monoflop time ≤40 µs
Data refresh rate ≤250 µs
Interface CAN High-Speed acc. to ISO 11898, Basic and Full CAN , CAN specification 2.0 B
Protocol CANopen
Baud rate 250 kbit/s; 125 ... 1000 kbit/s configurable
Termination yes/no via order code
Node address 1 ... 15 (default 1)
LSS protocol CIA LSS protocol DS305
Global command support for node address and baud rate
Selective commands via attributes of the identity object
Max. frequency -3dB 400 kHz
Signal level 1 Vpp (± 10%)
Short circuit proof yes
Pulse rate 1 SinCos per 1 mm pole
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Limes LA10 / BA1
Absolute Magnetic Length Measurement System
5.4 Technical Data Magnetic Tape
Magnetic band Limes BA1
Pole gap basic pole pitch 1 mm
Dimensions width 10 mm
thickness 1.97 mm incl. masking tape
Relative linear expansion ∆L = L x ax ∆d
L = measuring length in meters
a= 16 x 10-6 1/K temperature coefficient
∆d=relative temperature change based on 20°C [+68°F] in °K
Working temperature -20°C ... +70°C [-4°F ... +158°F] (in case of mounting with adhesive tape only)
Storage temperature -20°C ... +80°C [-4°F ... +176°F]
Mounting adhesive joint
Additional length 100 mm in order to obtain an optimal measuring result, the magnetic band
should be about 0.1 m longer than the required measuring length
Min. bending radius for storage ≥150 mm
Relative humidity max. 80%, non-condensing
Double side glue tape 3M-9088 (notice handling manual), other on request
Available length max. 8 m;
Mind. length 0.2 m
Influence of external External magnetic elds must not exceed 64 mT (640 Oe; 52kA/m)
magnetic fields at the surface of the magnetic tape. Higher values will damage or destroy the
magnetic tape code. Magnetic elds > 1 mT at the measuring system has
negative inuences on the system’s accuracy.
Protection class IP65
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Manual
Limes LA10 / BA1
Absolute Magnetic Length Measurement System
5.5 Order code
Order code
Magnetic sensor Limes LA10
8.LA10
Type
.X212
Order code
Magnetic sensor Limes BA1
8.BA1
Type
.010 XXXX
b
.10
a
.
aModel
1 = IP64, Standard
bBaud rate
2 = Standard (CANopen, 250 k)
other baud rates on request
cOutput circuit / Power supply
1 = SSI, 25 bit Gray-Code / 10 ... 30 V DC
2 = SSI, 25 bit Gray-Code, SinCos 1 Vss / 10 ... 30 V DC
3 = CANopen, without bus terminating resistor / 10 ... 30 V DC
4 = CANopen, with bus terminating resistor / 10 ... 30 V DC
5 = CANopen, SinCos 1 Vss, without bus terminating resistor / 10 ... 30 V DC
6 = CANopen, SinCos 1 Vss, with bus terminating resistor / 10 ... 30 V DC
dType of connection
2 = Standard, M12 connector, 12 pin
Stock types
8.LA10.1212 8.LA10.1222
8.LA10.1232 8.LA10.1242
Scope of delivery
Sensor + spacing template
aWidth
10 = 10 mm
b
Length (measuring range = length - 0,1 m)
0005 = 0,5 m 0040 = 4 m
0010 = 1 m 0060 = 6 m
0020 = 2 m 0080 = 8 m
0030 = 3 m Other lengths on request
Stock types
8.BA1.10.010.0080
c dba
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Limes LA10 / BA1
Absolute Magnetic Length Measurement System
6. Installation and First Start-Up
CAUTION!
Please read the operating manual carefully before using the device! Strictly
observe the Installation instructions! In case of damage caused by failure to
observe this operating manual, the warranty expires.
Kübler is not liable for any secondary damage and for damage to persons,
property or assets.
The operator is obliged to take appropriate safety measures. The rst start-up
may only be performed by staff that has been trained and authorized by the
operator.
6.1 Operating Area
WARNING!
Do not use the device in explosive or corrosive environments! The device
must not be installed close to sources of strong inductive or capacitive inter-
ference or strong electrostatic elds!
CAUTION!
The electrical connections must be made by suitably qualied personnel in
accordance with local regulations.
The device may be designed for switchboard mounting. During work on the
switchboard, all components must be de-energized if there is a danger of
touching the energized parts! (protection against contacts)
Wiring works may only be performed in the de-energized state!
Thin cable strands have to be equipped with end sleeves!
Before switching on the device, connections and plug connectors have to be
checked!
The device must be mounted in a way that it is protected against harmful
environmental inuences such as splashing water, solvents, vibration, shock
and severe pollution and the operating temperature must not be exceeded.
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Manual
Limes LA10 / BA1
Absolute Magnetic Length Measurement System
6.2 Mounting of the Magnetic Tape
6.2.1 Structure of magnetic tape
In the standard case the magnetic tape is delivered as described here. The tape must be
bonded on the mounting surface.
Figure 2: Structure of magnetic Tape
The Magnetic tape consists of 3 components:
A The magnetized, highly exible plastic tape, connected on the lower side with…
B …Magnetic conductable and exible stainless steel tape. It protects the plastic tape
from mechanical damages and is a magnetic short circuit at the same time. This increa-
ses signicantly the functional security under ex- treme magnetic inuences. Both parts
A and B are already factory-bonded.
C …To keep the exibility for transport and installation, the third part a stainless, magnetic
permeable steel tape is delivered separately. It serves for mechanical protection of the
plastic tape, is already equipped with a sticky tape and must be bonded on the magnetic
plastic tape after installation.
Scanning side
Magnetic permeable cover band for protection
(unnecessary for measurement)
Magnetized plastic tape
(Magnetic tape)
Magnetic conductive steel band
(makes a magnetic short circuit)
Installation surface, e.g. machine bed
Thickness: A + B + C = 1.97 mm
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Limes LA10 / BA1
Absolute Magnetic Length Measurement System
6.2.2 Handling
To avoid tension in the tape, it should not be twisted or stored with the magnetized plastic
tape to the inside minimum radius of curvature 150 mm).
Figure 3: Storage and Transport 1
6.2.3 Instructions for putting in place
The supplied adhesive tapes adhere well on clean, dry and at surfaces. The surface should
be machined the better as the contamination at the place of installation is severe. We recom-
mend a surface nish of Ra < 3,2 (Rz < = 25 / N8). Typical solvents for cleaning the surfaces
are 50/50 isopropyl alcohol/water mixture or heptane. High installation pressure ensures good
surface contact. The favourable installation temperature lies between +21° and +38°C.
We advise against installation if the temperature of the surfaces to be bonded is lower than
+10°C, since the adhesive becomes too solid and sufcient immediate adhesion may not be
achievable in these conditions. After proper installation, the strength of the bond is ensured
even at negative temperatures. Experience has shown that the denitive adhesive strength is
reached after about 72 hours (at +21°C). Use only the supplied adhesive tape for the installa-
tion.
6.2.4 Cutting to length and putting in place
NOTICE!
When putting the magnetic tape in place, pay attention to the marks on the
magnetic tape and on the sensor head. Improper assembly will deliver wrong
values. A magnetic tape that is already installed is destroyed in case of remo-
val and cannot be re-used.
Also respect the counting direction of the measuring system. Before putting
it in place, the magnetic tape and the cover tape must be cut to the exact
length.
Magnetized
Plastic tape
Steel tape
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Manual
Limes LA10 / BA1
Absolute Magnetic Length Measurement System
Magnetic tape length = measuring length + sensor length
The best installation location for the magnetic tape is in a groove or against an edge.
Stick the tape in place as follows:
The magnetic tape and the steel tape have been assembled already at the factory. The adhe-
sive tape is applied on the carrier side (steel tape).
Now position the magnetic tape and stick it in place. The easiest is to stick the magnetic tape
in two steps.
First remove the protective foil up to the half and stick the tape in place, then remove the
remaining length.
Finally, stick the cover tape on the visible dark brown magnetised plastic tape.
6.3 Mounting / Installation of the Sensor

NOTICE!
The correct distance sensor / magnetic tape is monitored and displayed by
the LED on the sensor.
-> Distance not correct = LED glow red
When installing the sensor head use two M3 screws. Tolerances for distance and angle must
be observed.
Dimensions in mm [inch]
0,01 ... 0,2 [0.0004 ... 0.008]
L
50 [1.97] 50 [1.97]
± 0,4°
± 0,5°
± 0,4°
± 0,5 [± 0.02]
Distance sensor / magnetic band (incl. masking tape)
Tilting
0,01 ... 0,2 [0.0004 ... 0.008]
L
50 [1.97] 50 [1.97]
± 0,4°
± 0,5°
± 0,4°
± 0,5 [± 0.02]
0,01 ... 0,2 [0.0004 ... 0.008]
L
50 [1.97] 50 [1.97]
± 0,4°
± 0,5°
± 0,4°
± 0,5 [± 0.02]
Torsion
Offset
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Limes LA10 / BA1
Absolute Magnetic Length Measurement System
6.3.1 Mounting direction of LA10 sensor to magnetic tape
Sensor and magnetic tape have to be mounted to the same direction (direction of arrow): The
provided pole searcher lm allows to determine the respective pole pitches when lying on the
tape. From that the following installation direction results:
Figure 4: Mounting Sensor to magnetic tape
Markers on tape and sensor are additionally indicators for the mounting direction.
7. Design and Functions
7.1 Connections and Interfaces
The following chapters give detailed informations about connections and interfaces.
7.2 Interface SSI (Gray Code)
Principle of the function: If the clock is not interrupted for the time Tm-T/2 (output of further
25 periods), the shift register clocks once again the same data value (error recognition in
evaluation).
ne interpolation trace
not magnetised area
absolute trace
Magnetic tape LA10 Sensor Cable
0,01 ... 0,2 [0.0004 ... 0.008]
L
50 [1.97] 50 [1.97]
± 0,4°
± 0,5°
± 0,4°
± 0,5 [± 0.02]
Observe mounting direction
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