Kübler Sendix M36 Series User manual

Manual
R67071.0002 - 4
Encoders with IO-Link interface

Table of Contents Kübler Group
2 - EN Manual IO-Link interface - R67071.0002 - 04
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
3 Product Description ....................................................................................................... 7
3.1 Scope of the Delivery.............................................................................................. 7
3.2 Technical Data Sendix M36xx, M58xx.................................................................... 7
3.3 Supported Standards and Protocols ....................................................................... 8
3.4 Interface Description ............................................................................................... 9
4 Installation....................................................................................................................... 11
4.1 Electrical Installation ............................................................................................... 11
4.1.1 General Information for the Connection.................................................... 11
4.1.2 Terminal Assignment M36xx and M58xx .................................................. 11
4.1.3 Network Topology ..................................................................................... 12
5 Commissioning and Operation ..................................................................................... 14
5.1 Function and Status LED ........................................................................................ 14
5.2 Quick Start Guide.................................................................................................... 16
5.2.1 Connection Setup ..................................................................................... 16
5.2.2 Default Settings......................................................................................... 19
5.2.3 Changing the Parameters ......................................................................... 21
5.3 Protocol Features.................................................................................................... 24
5.3.1 Data Transmission .................................................................................... 24
5.3.2 Input Process Data (PDIN)........................................................................ 25
5.3.3 Service Data (ISDU).................................................................................. 29
5.3.4 Data Storage (DS)..................................................................................... 43
5.4 Configuration Parameters Description .................................................................... 44
5.4.1 ISDU 66 / 67 - Position Lower / Upper Limit ............................................. 44
5.4.2 ISDU 76 - Raw Position ............................................................................ 44
5.4.3 ISDU 78 - Counting Direction.................................................................... 44
5.4.4 ISDU 80 - Preset....................................................................................... 44
5.4.5 ISDU 81 - Do Position Preset ................................................................... 45
5.4.6 ISDU 82 - Offset........................................................................................ 45
5.4.7 ISDU 112 - Velocity Filter Integration Time............................................... 45
5.4.8 ISDU 113 - Velocity Filter Bandwidth........................................................ 45
5.4.9 ISDU 127 - Acceleration Filter Integration Time ....................................... 45
5.4.10 ISDU 128 - Acceleration Filter Bandwidth................................................. 46
5.4.11 ISDU 140 - Temperature Value ................................................................ 46
5.4.12 ISDU 147 - Temperature Min.................................................................... 46
5.4.13 ISDU 148 - Temperature Max................................................................... 46
5.4.14 ISDU 149 - Temperature Min / Max Reset................................................ 46
5.4.15 ISDU 165 - Operating Hours..................................................................... 46

Kübler Group Table of Contents
Manual IO-Link interface - R67071.0002 - 04 EN - 3
5.4.16 ISDU 225 - Process Data Switch .............................................................. 46
5.4.17 ISDU 230 - Pin2 Configuration.................................................................. 47
5.5 Functionalities ......................................................................................................... 47
5.5.1 Velocity Events.......................................................................................... 47
5.5.2 Acceleration Events .................................................................................. 48
5.5.3 Temperature Events.................................................................................. 49
5.5.4 Position Scaling ........................................................................................ 49
5.5.5 Firmware Update....................................................................................... 51
5.6 Status messages .................................................................................................... 55
5.7 ISDU Error Codes ................................................................................................... 56
6 Annex............................................................................................................................... 57
6.1 Dependence on the position parameters ................................................................ 57
6.2 Decimal / Hexadecimal conversion table ................................................................ 59
7 Contact ............................................................................................................................ 61
Glossary .......................................................................................................................... 62

1 Document Kübler Group
4 - EN Manual IO-Link interface - R67071.0002 - 04
1 Document
This is the English translation of the original manual in German language.
Publisher Kübler Group, Fritz Kübler GmbH
Schubertstraße 47
78054 Villingen-Schwenningen
Germany
www.kuebler.com
Issue date 08/2021
Copyright © 2021, Kübler Group, Fritz Kübler GmbH
Text sources IO-Link_Planungsrichtlinie_10911_V11_Jan18
IO-Link_Interface_and_System_Specification_Version 1.1.2
July 2013
Wie funktioniert IO-Link
https://wiki.induux.de/IO-Link
Image sources IO-Link_Planungsrichtlinie_10911_V11_Jan18
IO-Link_Interface_and_System_Specification_Version 1.1.2
July 2013
IO-Link Master Control Tool (TEConcept)
Next steps in fluid power connections - Paul Heney
April 21, 2020
https://www.designworldonline.com/next-steps-in-fluid-
power-connections/
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 by 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
Manual IO-Link interface - R67071.0002 - 04 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 Manual IO-Link interface - R67071.0002 - 04
NOTICE Classification:
Additional information relating to the operation of the product, and
hints and recommendations for efficient and trouble-free operation.

Kübler Group 3 Product Description
Manual IO-Link interface - R67071.0002 - 04 EN - 7
3 Product Description
3.1 Scope of the Delivery
• Encoder
• Operation Manual
3.2 Technical Data Sendix M36xx, M58xx
Singleturn technology Magnetic
Multiturn technology Magnetic, electronic counter,
Energy Harvesting
Singleturn resolution (MUR)Max. 14 bits (default 14 bits)
Multiturn resolution (NDR)Max. 18 bits (default 18 bits)
Multiturn resolution (TMR)Max. 32 bits (default 32 bits)
Accuracy ± 1° (over the whole temperature range)
Repeatability ± 0.2°
Mechanical characteristics for the Sendix M36xx encoders
Maximum rotary speed
IP65
IP67
6000 min-1,
3000 min-1 (continuous operation)
4000 min-1,
2000 min-1 (continuous operation)
Starting torque (at 20°C)
IP65
IP67
<0.007 Nm
<0.01 Nm
Permissible shaft load
radial
axial
40 N
20 N
Protection level acc. to EN 60529 IP65, IP67
Working temperature range -40°C ... +85°C
Materials
Shaft/Hollow shaft
Flange
Housing
Cable
Stainless steel
Aluminum
Die-cast zinc
PVC
Shock resistance according toEN 60068-2-27 2500 m/s2, 6 ms
Vibration resistance according to
EN60068-2-6
300 m/s2, 10 ... 2000 Hz

3 Product Description Kübler Group
8 - EN Manual IO-Link interface - R67071.0002 - 04
Mechanical characteristics for the Sendix M58xx encoders
Maximum rotary speed
IP65 6000 min-1,
3000 min-1 (continuous operation)
Starting torque (at 20°C)
IP65 <0.01 Nm
Permissible shaft load
radial
axial
80 N
40 N
Protection level acc. to EN 60529 IP65
Working temperature range -40°C ... +85°C
Materials
Shaft/Hollow shaft
Flange
Housing
Cable
Stainless steel
Aluminum
Die-cast zinc
PVC
Shock resistance according to EN60068-2-27 5000 m/s2, 6 ms
Vibration resistance according to
EN60068-2-6
300 m/s2, 10 ... 2000 Hz
Electrical characteristics for the Sendix M36xx, M58xx encoders
Supply voltage 18 … 30 V DC
Current consumption 18…30VDC max. 30 mA (without load)
Output IO-Link according to IEC 60947-5-2
Type of connection Cable or connector
Interface IO-Link
SIO mode No
Transmission speed 230,4 kBit/s, COM3
Min. cycle time 1 ms
Port class A
Singleturn technology Magnetic
Multiturn technology Magnetic, electronic counter,
Energy Harvesting
Power ON time < 300 ms
3.3 Supported Standards and Protocols
The encoders of the M36X8/M58X8 series support the IO-Link protocol according to the follow-
ing standards:
• IO-Link Interface and System Specification V1.1.2
• IODD Version V1.1
• IO-Link Common Profile V1.0
• IO-Link BLOB Transfer & Firmware Update V1.1

Kübler Group 3 Product Description
Manual IO-Link interface - R67071.0002 - 04 EN - 9
The device description file (IODD) can be downloaded from the website of the device manufac-
turer (Contact) or by means of the IODD finder on the IO-Link website.
3.4 Interface Description
IO-Link is a brand name. The original designation of this communication system is SDCI and is
described in Section 9 of European Standard EN 61131 (Single-drop digital communication in-
terface for small sensors and actuators).
IO-Link is not a field bus. It is based on the conventional 3-wire connection for sensor and ac-
tuator(s) and is thus compatible with the existing 3-wire system with switching sensors in today's
machines and facilities.
An IO-Link configuration can be operated as a standalone installation for the communication
between PLC and devices. But it can also be integrated in other field bus networks such as e. g.
ProfiNet, EtherCAT, EtherNet/IP with 100% backwards compatibility. This results in the system
structure shown in the illustration.
IMG-ID: 9007199389068555
Since IO-Link achieves a serial point-to-point communication, the star topology is the only
device architecture that can be realized. IO-Link devices (hubs) with an expansion port are an
exception. The IO-Link device communicates point-to-point via a standard sensor cable with an
IO-Link master. The IO-Link master combines the data with other IO-Link devices and commu-
nicates with the control via an industrial network or a backplane.
The IO-Link communication thus allows transmitting one or several measured or analog values
in addition to the switching signal. A plurality of switching points or a mix of analog and digital
data can also be transmitted.

3 Product Description Kübler Group
10 - EN Manual IO-Link interface - R67071.0002 - 04
Usual field bus or Ethernet software tools can be used for parameterizing and centralized data
storage of the IO-Link devices. There are also dedicated IO-Link tools. The corresponding de-
scription files of the IO-Link devices (IODD) are stored centrally on the so-called IODD finder.
IO-Link has two logical data channels, which separate the cyclic and the acyclic data. The IO-
Link communication takes place continuously between the control and the IO-Link devices. It al-
lows accessing to all process data, diagnostic data and device information. Device-specific data
is also accessible. It is thus also possible to access to the actuators and sensors of a facility, in-
dependently of the location, and to perform a remote diagnostic.
IO-Link uses an unshielded standard three or four-wire sensor cable. Cables between the IO-
Link master and a device can reach a length of up to 20 meters. Usually, M12 A-coded, unshiel-
ded standard automation cables are used.
Most of the IO-Link devices use a Class A IO-Link port. Output devices with a Class B IO-Link
port are also available. The port type of the master and/or the IO-Link device, i. e. Class A or
Class B, must be determined.
IO-Link allows, besides the most simple diagnostic (cable break), far more complex diagnostics,
which come directly from the IO-Link device. IO-Link also offers the possibilities of a dynamic
change of the parameters in IO-Link devices.

Kübler Group 4 Installation
Manual IO-Link interface - R67071.0002 - 04 EN - 11
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.
NOTICE Traction relief
Always mount all cables with traction relief.
4.1.2 Terminal Assignment M36xx and M58xx
Inter-
face
Connec-
tion type
M12 connector, 4-pole Connector
4 M36: 3, 4
M58: 4.
Signal Supply
voltage
+V DC
Reserved
(no
function)
Supply
voltage
0 V (GND)
IO-Link
communi-
cation
(Data
line)
Abbre-
viation
L+ res. L- C/Q
Pin 1 2 3 4

4 Installation Kübler Group
12 - EN Manual IO-Link interface - R67071.0002 - 04
NOTICE Use of pin 2
The IO-Link signal I/Q, which represents an optional and currently not
realized digital In/Output, is applied on pin 2, in compliance with the
standard. The use of this pin is currently not planned (marked ac-
cordingly as Reserved in the table).
IO-Link masters offer the possibility to connect the I/Q signal. When
using a 4 on 4-pin (5 on 5-pin), A-coded IO-Link cable, the proper
connection is ensured directly by the orientation of the connector. For
devices with cable outlet, the white cable (I/Q signal) must be con-
nected to the corresponding contact of the IO-Link master.
4.1.3 Network Topology
IO-Link uses a point-to-point communication.
IMG-ID: 132121483
IO-Link provides for the use of an unshielded line. If the encoder is operated with an unshielded
line, its interference immunity falls in Criterion B and its radiation in Class A according to
61326-1.
If the application requires a higher EMC protection, it is possible to use a shielded cable. If the
encoder is operated with a shielded cable, its interference immunity falls in Criterion A and its
radiation in Class B according to 61326-1.
For currents lower than 200 mA in the IO-Link device, a cable with wire cross-section 0.35 mm²
can be used. The maximum line length can be 20 m.
The illustration below shows an example of a topology:

Kübler Group 4 Installation
Manual IO-Link interface - R67071.0002 - 04 EN - 13
IMG-ID: 132123403
Description Characteristics
1 Power supply unit Rated voltage: 24 V DC ±1% tolerance
2 Control line:
Power supply unit – IO-Link Master
Length: 10 m Wire cross-section: 0.75 mm²
3 IO-Link Master Voltage drop: 0,5 V Rated current: 100 mA
4 Control line:
IO-Link Master – IO-Link Device 1
Length: 15 m Wire cross-section: 0.35 mm²
5 IO-Link Device 1 Rated current: 200 mA Rated voltage: 19 ... 30 V
6 Control line:
IO-Link Master – IO-Link Device 2
Length: 15 m Wire cross-section: 0.35 mm²
7 IO-Link Device 2 Rated current: 100 mA Rated voltage: 19 ... 30 V

5 Commissioning and Operation Kübler Group
14 - EN Manual IO-Link interface - R67071.0002 - 04
5 Commissioning and Operation
DANGER Risk of injury due to rotating shafts
Hair and loose clothing can be caught by rotating shafts.
• Prior to any work, proceed as follows:
ðSwitch the operating voltage off and stop the drive shaft.
ðIf this is not possible, the shafts must be covered.
5.1 Function and Status LED
A two-color LED shows the different operating states.
Green = Run
Red = Error
Blinking behavior in the Run operating state
Display LED Meaning Cause Note
LED off OFF Device switched off
LED
triple
flash
Program/
firmware
download
A firmware download is
performed on the
device.
The device is in
Bootloader mode.
LED on IDLE The device is the IDLE
state.
Waiting for the IO-Link
WakeUp Request.
No IO-Link
communication.
LED
IO-Link
COMMUNICATE A short periodic inter-
ruption shows that the
device is in the COMx
communication state.
IO-Link communication
active.
Blinking behavior in the Error operating state

Kübler Group 5 Commissioning and Operation
Manual IO-Link interface - R67071.0002 - 04 EN - 15
Display LED Meaning Error cause Note
LED off No error Device ready for opera-
tion /
in operation
LED off relates here
only to the red color.
LED
blinking
Error IO-Link error The IO-Link event code
shows the reason of the
IO-Link error.
Red appears in combin-
ation with green.
LED
single
flash
Warning IO-Link warning The IO-Link event code
shows the reason of the
IO-Link warning.
Red appears in combin-
ation with green.
LED on Critical error The device is defective. See Contact.
The COMMUNICATE state is described for IO-Link:
IMG-ID: 132131211
All other flash codes comply with CiA 303:
LED flash codes Description
LED off The LED must be continuously off.
LED blinking This flash code shows the switch-on and switch-off phase with a frequency
of approximately 2.5 Hz:
ON for approx. 200 ms followed by OFF for approx. 200 ms.
LED single flash This flash code must show a short flash (approx. 200 ms) followed by a long
off phase (approx 1000 ms).
LED triple flash This flash code must show a sequence of three short flashes (approx. 200
ms) separated by an off phase (approx. 200 ms).
This sequence is concluded by a long off phase (approx. 1000ms).
LED on The LED must be continuously on.
The cycle times of the flash codes are precisely defined.

5 Commissioning and Operation Kübler Group
16 - EN Manual IO-Link interface - R67071.0002 - 04
IMG-ID: 132146443
5.2 Quick Start Guide
5.2.1 Connection Setup
A tool of the IO-Link master manufacturer is required for operating the device. The screenshots
in this manual refer to the tool IO-Link Master Control Tool of the manufacturer TEConcept.
The IODD is required for general commissioning. The device description file (IODD) can be
downloaded from the website of the device manufacturer or by means of the IODD finder on the
IO-Link website.
üThe IODD can be imported in the tool of the IO-Link master and the connection can sub-
sequently be set up.
a) Select the IODD

Kübler Group 5 Commissioning and Operation
Manual IO-Link interface - R67071.0002 - 04 EN - 17
IMG-ID: 131388043
b) Switch the voltage supply on
IMG-ID: 131386123
c) Set up the IO-Link communication
IMG-ID: 131384203
d) Display the state

5 Commissioning and Operation Kübler Group
18 - EN Manual IO-Link interface - R67071.0002 - 04
IMG-ID: 138697995
The device state and the green LED (flash code IO-Link) signal the IO-Link communication
when communication setup has been successful.

Kübler Group 5 Commissioning and Operation
Manual IO-Link interface - R67071.0002 - 04 EN - 19
5.2.2 Default Settings
In-
dex
(hex)
In-
dex
(dec)
Object name Values
(bold -> standard)
Remark
0041 65 Position format 0: Counts Is always Counts
0043 67 Position upper limit 0...(TMR-1) Position upper limit
>= Position lower limit
0045 69 Position limit control 0: Position limit control
disabled
1: Position limit control
enabled
If enabled:
When the position value drops
below/exceeds the limit values,
the warning flag is set.
004E 78 Counting direction 0: clockwise (CW)
1: counter-
clockwise (CCW)
Looking at the shaft
0058 88 Measuring units per
revolution (MUR)
1...16,384 Singleturn resolution is 14 bits
0059 89 Total measuring
range (TMR)
MT: 4... 4,294,967,296
ST: 4... 16,384
The "Position value" data type is
uint32, therefore the maximum
value is 232-1
005B 91 Endless shaft
control
Enables the endless
shaft functionality (also
scaling must be enabled)
0: Endless shaft
disabled
1: Endless shaft enabled
off:
Use of MUR & TMR
on:
Use of NDR
=(Numerator/Divisor) & TMR
ST: not used
005C 92 Number of turns,
numerator
1... 262,144 Numerator for the number of
turns
ST: not used
005D 93 Number of turns,
denominator
1... 4,096 Denominator for the number of
turns
ST: not used
006F 111 Velocity format Velocity unit:
1: Counts/s
2: Counts/ms
3: Turns/min
4: Turns/s
5: Turns/h
Unit for velocity setting Also ac-
cordingly for the acceleration (for
turns/min & turns/h -> Accelera-
tion turns/s2)
0070 112 Integration time
for velocity filter
0...128
1
Moving average filter (number of
measured values from which an
average value is formed)
0 = disabled

5 Commissioning and Operation Kübler Group
20 - EN Manual IO-Link interface - R67071.0002 - 04
In-
dex
(hex)
In-
dex
(dec)
Object name Values
(bold -> standard)
Remark
0071 113 Velocity filter
bandwidth
0...500 [Hz]
100 [Hz]
Bandwidth of the first-order low-
pass filter
0 = disabled
0072 114 Velocity lower limit -6,000 [turns/min] Velocity lower limit
<= Velocity upper limit
The unit changes with the
speed format.
The values are then automatic-
ally converted into the new unit.
0073 115 Velocity upper limit 6,000 [turns/min] Velocity upper limit
>= Velocity lower limit
The unit changes with the
speed format.
The values are then automatic-
ally converted into the new unit.
0074 116 Velocity hysteresis 0...6,000
[turns/min]
(Velocity upper limit
- Velocity hysteresis)
>= (Velocity lower limit
+ Velocity hysteresis)
Hysteresis for the speed limits.
The device depends on the
speed format.
0075 117 Velocity limit control 0: Velocity limit control
disabled
1: Velocity limit control
enabled
If enabled:
When the velocity value drops
below/exceeds the limit values,
the warning flag is set
007F 127 Acceleration filter
integration time
0...128
1
Moving average filter (number of
measured values from which an
average value is formed)
0 = disabled
0080 128 Acceleration filter
bandwidth
0...500 [Hz]
100 [Hz]
Bandwidth of the first-order low-
pass filter
0 = disabled
0081 129 Acceleration lower
limit
-27,852 [turns/s2]Acceleration lower limit
<= Acceleration upper limit
The closest to the signed min/
max 32-bit integer and the 32-bit
floating-point value without loss
of accuracy.
The unit changes with the accel-
eration format. The limit values
must then be converted accord-
ingly, e.g. 2 counts/ms2 =
2,000,000 counts/s2.
0082 130 Acceleration upper
limit
-27,852 [turns/s2]Acceleration upper limit
>= Acceleration lower
limit
Close to the signed min/max 32-
bit integer and the 32-bit floating-