Kübler C100 User manual

Manual
Draw wire system C100 / D125
R67042.0002 (4)

R67042.0002 EN
Publisher Kübler Group, Fritz Kübler GmbH
Schubertstr. 47
78054 Villingen-Schwenningen
Germany
www.kuebler.com
Application support Phone [phone]
Fax [phone]
[email protected]
Document no. R67042.0002 (4)
Document title Manual, Draw wire system C100 / D125
Language version English (EN) - German is the original version
Document version 29.10.2018, Index 4
Copyright © 2018, Kübler Group, Fritz Kübler GmbH
Legal information All of the contents of this device description are subject to the
rights of use and copyrights of Fritz Kübler GmbH. Any
duplication, modification, further use or publication in other
electronic or printed media, as well as their publication in the
Internet, is subject to the previous written authorization of Fritz
Kübler GmbH.

Table of Contents
R67042.0002 EN
Table of Contents
Table of Contents
1. CAN connections................................................................................................................4
2. Short information about the CAN commands ..................................................................5
2.1 PDO output C100 .................................................................................................................5
2.2 PDO output D125 .................................................................................................................5
2.3 Factory setting......................................................................................................................5
2.4 Network Management Services ............................................................................................5
2.4.1 Start remote mode.....................................................................................................5
2.4.2 Reset Node ...............................................................................................................6
2.5 Baud rate SDO change.........................................................................................................6
2.6 Node ID change ...................................................................................................................6
3. Version with inclinometer ..................................................................................................7
3.1 Setting and resetting the 0° point..........................................................................................7
3.2 Direction change, inclinometer 1...........................................................................................7
3.3 Direction change, inclinometer 2...........................................................................................7
3.4 Reading the firmware version ...............................................................................................8
3.5 Switching between 180° and 360°4(default 360°).................................................................8
3.6 Changing the cycle timer in [ms] 4 .........................................................................................8
3.7 Saving ..................................................................................................................................8

1CAN connections
R67042.0002 (4) EN - 4
1. CAN connections
M12 Connector Description
1 CAN-GND
2 +9…30 VDC Supply voltage
3 GND (0V)
4 CAN_H
5 CAN_L
Pinout
1) CAN-GND
2) +V
3) 0V
4) CAN-H
5) CAN-L

2Short information about the CAN commands
R67042.0002 (4) EN - 5
2. Short information about the CAN commands
2.1 PDO output C100
COB-ID Len D0 D1 D2 D3
0x180 + ID 4 0xAA
(LSB)
0xAA
(MSB)
0xBB
(LSB)
0xBB
(MSB)
0x280 + ID 4 0xZ1
(LSB)
0xZ1
(MSB)
0xZ2
(LSB)
0xZ2
(MSB)
2.2 PDO output D125
COB-ID Len D0 D1 D2 D3 D4 D5 D6 D7
0x180 + ID 8 0xAA
(LSB)
0xAA 0xAA 0xAA
(MSB)
0xBB
(LSB)
0xBB 0xBB 0xBB
(MSB)
0x280 + ID 8 0xZ1
(LSB)
0xZ1
(MSB)
0xZ2
(LSB)
0xZ2
(MSB)
0x00 0x00 0x00 0x00
P provides the current position depending on the setting made, in a resolution of e.g. 0.1 mm steps.
Suffixes "0xAA" and "0xBB" represent the channels "A" and "B".
Example:
For a resolution of 0.1 mm.
P0 = 0x10, P1 = 0x27
P = 0x00002710 (10000 decimal) = 1000 mm
Channel B behaves the same way, but typically in the reverse order. This means that the "zero"
position has the value 4700 mm and the end position has the value 0.
2.3 Factory setting
Type Slave
ID 0x04
Baud rate 250 kbit/s
2.4 Network Management Services
2.4.1 Start remote mode
COB-ID Len D0 D1
0x000 2 0x01 ID
Operating state: Operational mode

2Short information about the CAN commands
R67042.0002 (4) EN - 6
2.4.2 Reset Node
COB-ID Len D0 D1
0x000 2 0x81 ID
Operating state: Preoperational mode
2.5 Baud rate SDO change1
COB-ID Len D0 D1 D2 D3 D4 D5 D6 D7
0x600 + ID 8 0x2F 0x00 0x30 0x00 BR 0x00 0x00 0x00
BR Baud rate
0 1 Mbit/s
2 500 kbit/s
3 250 kbit/s
4 125 kbit/s
5 100 kbit/s
6 50 kbit/s
7 20 kbit/s
8 10 kbit/s
2.6 Node ID change1
COB-ID Len D0 D1 D2 D3 D4 D5 D6 D7
0x600 + ID 8 0x2F 0x01 0x30 0x00 Node-ID 0x00 0x00 0x00
Node ID: 1…127
1NB: ID and baud rate changes become only effective after saving and new start.

3Version with inclinometer
R67042.0002 (4) EN - 7
3. Version with inclinometer
3.1 Setting and resetting the 0° point
COB-ID Len D0 D1 D2 D3 D4 D5 D6 D7
Setting 0x600 + ID 8 0x2B 0x13 0x60 0x00 0x01 0x00 0x00 0x00
Resetting 0x600 + ID 8 0x2B 0x13 0x60 0x00 0x00 0x00 0x00 0x00
3.2 Direction change, inclinometer 12
COB-ID Len D0 D1 D2 D3 D4 D5 D6 D7
0x600 + ID 8 0x2F 0x26 0x61 0x00 DR 0x00 0x00 0x00
DR Direction
0 Counter Clockwise (ccw)
1 Clockwise (cw)
3.3 Direction change, inclinometer 22, 3
COB-ID Len D0 D1 D2 D3 D4 D5 D6 D7
Setting 0x600 + ID 8 0x2F 0x28 0x61 0x00 0x01 0x00 0x00 0x00
Resetting 0x600 + ID 8 0x2F 0x28 0x61 0x00 0x00 0x00 0x00 0x00
2Changes become only effective after saving.
3Only relevant when sensor is ordered with 2 inclinometers (order code e = 2).

3Version with inclinometer
R67042.0002 (4) EN - 8
3.4 Reading the firmware version4
COB-ID Len D0 D1 D2 D3 D4 D5 D6 D7
0x600 + ID 8 0x41 0x0A 0x10 0x00 0x03 0x00 0x00 0x00
3.5 Switching between 180° and 360°4(default 360°)
COB-ID Len D0 D1 D2 D3 D4 D5 D6 D7
±180° 0x600 + ID 8 0x2F 0x27 0x61 0x00 0x01 0x00 0x00 0x00
360° 0x600 + ID 8 0x2F 0x27 0x61 0x00 0x00 0x00 0x00 0x00
3.6 Changing the cycle timer in [ms] 4
COB-ID Len D0 D1 D2 D3 D4 D5 D6 D7
0x600 + ID 8 0x23 0x00 0x30 0x05 msCycleL msCycleH 0x00 0x00
The cycle timer can have values from 20 to 500 ms.
Ex.: A cycle timer of 500 ms requires inputting a hexadecimal value.
Dec(500) = Hex(1F4)
D4 = F4
D5 = 01
3.7 Saving
COB-ID Len D0 D1 D2 D3 D4 D5 D6 D7
0x600 + ID 8 0x23 0x10 0x10 0x01 0x73 0x61 0x76 0x65
4Changes become only effective after saving.

Kübler Group
Fritz Kübler GmbH
Schubertstr. 47
78054 Villingen-Schwenningen
Germany
Phone:[phone]
Fax: [phone]
[email protected]
www.kuebler.com