Kübler Sendix M3668 User manual

Manual
R67047.0002 - 2
Sendix M3668/M3688, M3668R,
M5868

Table of Contents Kübler Group
2 - EN HB J1939 - M3668/M3688, M3668R, M5868 - R67047.0002 - 02
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 Other Applicable Documents .................................................................................. 6
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
4 Installation....................................................................................................................... 9
4.1 Electrical Installation ............................................................................................... 9
4.1.1 General Information for the Connection.................................................... 9
4.1.2 Connection Color Coding.......................................................................... 9
4.1.3 Connection Legend................................................................................... 10
4.1.4 Terminal Assignment M36xx and M58xx .................................................. 10
5 Commissioning and Operation ..................................................................................... 12
5.1 Function and Status LED ........................................................................................ 12
5.2 Quick Start Guide.................................................................................................... 13
5.2.1 Default Settings......................................................................................... 13
5.2.2 Configuration Possibilities......................................................................... 16
5.3 Protocol Features.................................................................................................... 16
5.3.1 Data Transmission .................................................................................... 16
5.4 Configuration Parameters Description .................................................................... 18
5.4.1 Operating Parameter ................................................................................ 18
5.4.2 MUR.......................................................................................................... 18
5.4.3 TMR .......................................................................................................... 18
5.4.4 Preset Value.............................................................................................. 19
5.4.5 Preset Enable ........................................................................................... 19
5.4.6 Sensor Cycle Time.................................................................................... 20
5.4.7 Baud Rate ................................................................................................. 20
5.4.8 CAN Bus Termination ............................................................................... 20
5.4.9 Encoder Position....................................................................................... 21
5.4.10 Encoder Speed ......................................................................................... 21
5.4.11 Encoder DiagData..................................................................................... 21
5.5 Examples ................................................................................................................ 22
5.5.1 Changing the Device Parameters ............................................................. 22
5.5.2 Changing the Device Address .................................................................. 24
5.5.3 Switching Back to Factory Setting ............................................................ 25
6 Maintenance .................................................................................................................... 28
7 Disposal........................................................................................................................... 29

Kübler Group Table of Contents
HB J1939 - M3668/M3688, M3668R, M5868 - R67047.0002 - 02 EN - 3
8 Annex............................................................................................................................... 30
8.1 Decimal / Hexadecimal conversion table ................................................................ 30
9 Contact ............................................................................................................................ 32
Glossary .......................................................................................................................... 33

1 Document Kübler Group
4 - EN HB J1939 - M3668/M3688, M3668R, M5868 - R67047.0002 - 02
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 09/2020
Language version German is the original language
Copyright © 2020, Kübler Group, Fritz Kübler 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 J1939 - M3668/M3688, M3668R, M5868 - R67047.0002 - 02 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.
• In case of electrical equipment for potentially explosive atmospheres, the specialized person-
nel needs knowledge about the ignition protection category concept.
• For facilities in potentially explosive atmospheres, the authorized person must comply with
the applicable country-specific regulations.
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.

2 General Information Kübler Group
6 - EN HB J1939 - M3668/M3688, M3668R, M5868 - R67047.0002 - 02
ATTENTION Classification:
The non-compliance with the ATTENTION note may lead to material
damage.
NOTICE Classification:
Additional information relating to the operation of the product, and
hints and recommendations for efficient and trouble-free operation.
2.3 Other Applicable Documents
All technical data, as well as the mechanical and electrical characteristics, are specified in the
corresponding data sheets of the products, for special versions in the.corresponding customer
drawing of the product.
The above mentioned documents, the original declarations of conformity and the relevant certi-
ficates can be downloaded from our homepage:
www.kuebler.com/docufinder.
For the evaluation of the safe sensor, observe the respective operation manual of the system to
be commissioned. The evaluation unit or control must comply with the requirements of the inter-
face description and with the safety-related technical specifications.

Kübler Group 3 Product Description
HB J1939 - M3668/M3688, M3668R, M5868 - R67047.0002 - 02 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. 29 bits (default 18 bits)
Multiturn resolution (TMR)Max. 43 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 2.500 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 HB J1939 - M3668/M3688, M3668R, M5868 - R67047.0002 - 02
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 encoders
Supply voltage 10 … 30 V DC
Current consumption max. 30 mA (without load)
Output RS485 for SAE J1939
Type of connection 1 x M12 connector
Interface SAE J1939 Interface CAN Transceiver
according to ISO 11898
3.3 Supported Standards and Protocols
The J1939 encoders of the M36X8/M3668R/M5868 series support the SAE J1939 protocol. The
encoder supports the allocation of a new J1939 node ID by means of the "Commanded Ad-
dress" function of the J1939 protocol through the corresponding PG defined in the standard
(see Glossary).
The firmware and the EDS device file versions at the date of release of this documentation are:
• Firmware version V3.41
• Hardware release V 1.01
A .dbc file for Vector CANalyzer / CANoe, which contains the PGs supported and used by the
encoder, is available on the Kübler Website.

Kübler Group 4 Installation
HB J1939 - M3668/M3688, M3668R, M5868 - R67047.0002 - 02 EN - 9
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.
NOTICE Interference susceptibility
Proceed as follows:
• Connect the shield to the device housing.
• Comply with the maximum cable length for stub lines and for the
total length of the bus network.
• Check the maximum supply voltage on the device.
ATTENTION Wear of the memory module
Avoid too frequent writing of the EEPROM. It is used e.g. when set-
ting a preset value. The memory module is designed for approxim-
ately 500,000 write cycles. If the maximum number of write cycles is
exceeded, single memory areas may be damaged and errors may
occur.
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:

4 Installation Kübler Group
10 - EN HB J1939 - M3668/M3688, M3668R, M5868 - R67047.0002 - 02
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.
4.1.3 Connection Legend
+V: Supply voltage +V DC
0V: Ground GND (0V)
CAN_H: Positive CAN Signal (Dominant High)
CAN_L: Negated CAN-Signal (Dominant Low)
CAN_GND: CAN-Ground
PH : Connector housing (cable shield is applied on the connector housing), protective
earth
4.1.4 Terminal Assignment M36xx and M58xx
Inter-
face
Type of
connec-
tion
Cable (isolate unused wires individually before
commissioning)
2 1, 2, A, B
2, B
Signal +V 0 V CAN_GND CAN_H CAN_L
Color BN WH GY GN YE
Inter-
face
Type of
connec-
tion
M12 connector, 5-pole Connector
Bus IN
2 3, 4
4
Signal +V 0 V CAN_
GND
CAN_
H
CAN_L
Pin 2 3 1 4 5

Kübler Group 4 Installation
HB J1939 - M3668/M3688, M3668R, M5868 - R67047.0002 - 02 EN - 11
Inter-
face
Type of
connec-
tion
Cable (isolate unused wires individually before
commissioning)
2 2, B Signal +V 0 V CAN_GND CAN_H CAN_L
Color BN WH GY GN YE
Inter-
face
Type of
connec-
tion
M12 connector, 5-pole Connector
Bus IN
2 4 Signal +V 0 V CAN_
GND
CAN_
H
CAN_L
Pin 2 3 1 4 5

5 Commissioning and Operation Kübler Group
12 - EN HB J1939 - M3668/M3688, M3668R, M5868 - R67047.0002 - 02
5 Commissioning and Operation
5.1 Function and Status LED
The device is equipped with a LED for displaying:
• CAN bus status and error messages
• Status and error messages of the J1939 address claiming
• The condition of an internal diagnosis
Green = CAN BUS status
Red = CAN ERR display
Display LED Meaning Error cause Note
Bus off No connection to the
CAN bus
no voltage supply
Data line interruption
Wrong baud rate
Interchanged data line
Observe the com-
bination with the
ERR LED
If ERR LED is also
off, please check
voltage supply3
Bus on Connection to the bus
Address claimed
No error Cyclic PGN trans-
fer is active (if
cycle time
not equal to 0)
ERR off Device operates error-
free
No error Observe the com-
bination with the
BUS LED
ERR on BUS OFF status Bus short-circuit
no bus
wrong baud rate
no address yet or ad-
dress claim lost
(address conflict)
The various LED messages can also be displayed in combination.

Kübler Group 5 Commissioning and Operation
HB J1939 - M3668/M3688, M3668R, M5868 - R67047.0002 - 02 EN - 13
Display LED Meaning Error cause Note
ERR + BUS
flashing
Fast alternate flashing
of green and red LED
Data connection with
sensor faulty
Sensor faulty
Device must be
sent back to manu-
facturer for repair
ERR + BUS
flashing
Simultaneous fast flash-
ing of green and red
LED (300 ms)
Watchdog error Device must be
sent back to manu-
facturer for repair
BUS + ERR
flashing
Green constantly on and
fast flashing of red LED
(300 ms)
Configuration error
Encoder DiagData
[}21]
Faulty device para-
meterizing.
Config. values in-
valid.
5.2 Quick Start Guide
5.2.1 Default Settings
The encoder has been set in the factory as follows:
Byte Name Standard value Note
0 … 1 OperatingParameter 0x04 Scaling: Active
Direction of rotation:
CW)
2 … 5 MUR 0x4000 16,384 steps
6 … 9 TMR 0x10000000 268,435,456 steps
10 … 13 SensorCycleTime 0x32 50 ms
14 CANBusTermination 0x01 ON
15 … 18 SensorPresetValue n/a
19 SensorPresetEnable n/a
20 BaudRate 0x01 250 kbps
J1939 address 0x20 32

5 Commissioning and Operation Kübler Group
14 - EN HB J1939 - M3668/M3688, M3668R, M5868 - R67047.0002 - 02
5.2.1.1 Communication Objects
Signals
The PG with the signals has the following structure:
As standard, the encoder uses the following PG numbers for data transmission:
Signals transmission: PG No. 0xFFAA

Kübler Group 5 Commissioning and Operation
HB J1939 - M3668/M3688, M3668R, M5868 - R67047.0002 - 02 EN - 15
Service data
The PG with the configuration data has the following structure:
9007199324843659
As standard, the encoder uses the following PG number for data transmission:
Configuration receipt: PG No. 0xEF00

5 Commissioning and Operation Kübler Group
16 - EN HB J1939 - M3668/M3688, M3668R, M5868 - R67047.0002 - 02
5.2.2 Configuration Possibilities
The following parameters can be programmed via the CAN bus:
• Scaling, if necessary
• Direction of rotation:
• Measuring range
• Zero points or preset value
This data can be parameterized via the configuration PG. No separate save command is neces-
sary to change the values. When switching the appliance on, all parameters are loaded from a
flash memory. These parameters have previously been stored persistently.
NOTICE Wear of the flash memory
Every time the configuration PG is sent to the encoder, the configura-
tion is written internally in the flash memory of the encoder.
Every write operation stresses the flash memory module. This mod-
ule is designed for max. about 10,000 write cycles.
The distribution of the signals sent by the encoder (position, speed, diagnosis) on the sent data
frames is fixedly defined in the firmware.
The PG numbers (or CAN identifiers) for sending measured data and receiving the configuration
can be defined individually in the factory. In addition, all components of the J1939 NAME sent
during address claim can be defined to customer's specifications. For further information about
possible changes, please contact the Kübler Support or Sales.
NOTICE No function to reset to factory settings
The encoder has no function to reset to factory settings, since the
writing of the configuration via PG and the setting of a node ID via
address claim already cover all adjustable parameters.
Also refer to
2Contact [}32]
5.3 Protocol Features
5.3.1 Data Transmission
5.3.1.1 Service Data Transmission
We recommend, to transmit the data in the configuration data PG to the encoder, a tool such as
e.g. Vector CANoe, CANalyzer or a J1939 software stack.
The configuration data is - as specified in document SAE J1939/21 – transmitted via J1939
CMDT transfer. A configuration is in principle possible also without J1939 stack or tool.

Kübler Group 5 Commissioning and Operation
HB J1939 - M3668/M3688, M3668R, M5868 - R67047.0002 - 02 EN - 17
The transmission via EncoderSetup PG with listing of the raw frames on the bus starts at mo-
ment 24.920140 and is concluded at moment 24.923872.
To this purpose, you must sent the frames marked with Dir: "Tx" (RTS and Sequence 1-3) and
you receive as an answer the two frames marked with "Rx" (CTS and EoMA).
After the configuration, how the encoder starts sending measured data can be seen as from
moment 24.941659 ("EncoderPositionSpeedValues").
70185995
The factory-set configuration data (default values) can be read by request PGN. For this pur-
pose, simply send the hex value 0xEF00 to the device. The parameters PresetValue and Pre-
setEnable are always returned as 0. (2)
159283083
5.3.1.2 Process Data Transmission
Process data transmission is possible in two ways:
• Time-controlled by the internal cyclic Sensor Cycle Time, in a values range from 5 to 65535
milliseconds. A value 0 is also valid and switches the time-controlled cyclic transmission off.
• Upon request by a request PG (0xEA00).
NOTICE RTR frames
Answering to RTR frames is not supported, as RTR requests are not
part of the J1939 standard. Request PG (0xEA00) allows requesting
the measured data from the encoder, even when Sensor Cycle Time
is set to 0.

5 Commissioning and Operation Kübler Group
18 - EN HB J1939 - M3668/M3688, M3668R, M5868 - R67047.0002 - 02
5.4 Configuration Parameters Description
5.4.1 Operating Parameter
Code sequence:
0 = increasing measured values for clockwise rotation (cw)
1 = increasing measured values for counter-clockwise rotation (cw)
Scaling:
0 = active
1 = not active
Default setting: 0x04 (Scaling: Active, Direction of rotation: CW)
Bit number Function Bit = 0 Bit = 1
0
(least significant bit)
Code sequence /
Direction of rotation
cw ccw
1 Reserved bit, must always be set to 0.
2 Scaling Not active Active
4 ... 15 Reserved bits, must always be set to 0.
5.4.2 MUR
This parameter sets the desired resolution per revolution. The encoder calculates internally the
corresponding scaling factor. The calculated scaling factor MURF (by which the physical posi-
tion value is multiplied) is calculated according to the following formula:
MURF = Measuring steps per revolution (6001h) / phys. resolution singleturn (6501h)
Data content:
Byte 0 Byte 1 Byte 2 Byte 3
27…20215…28223…216 231…234
Values range: 1.... maximum physical resolution (16384) 214 bits
Only valid if scaling (OperatingParameter bit2) is activated.
NOTICE MUR and TMR values are only taken into consideration when
scaling is active.
5.4.3 TMR
This parameter sets the total number of measuring steps for singleturn and multiturn. The max-
imum physical resolution is multiplied by a factor. The factor is always < 1. After the scaled total
position of the measuring steps, the encoder resets back to zero.

Kübler Group 5 Commissioning and Operation
HB J1939 - M3668/M3688, M3668R, M5868 - R67047.0002 - 02 EN - 19
Data content:
Byte 0 Byte 1 Byte 2 Byte 3
27…20215…28223…216 231…234
Values range: 1.... maximum physical resolution (4294967296) 232 bits
When changing TMR /MUR, the system also checks the TMR/MUR ratio.
If TMR is set to a value that leads to an invalid ratio, an error message is returned via Encoder-
DiagData and the new value is rejected. The old value remains active in the encoder. Only valid
if scaling (OperatingParameter bit2) is activated.
NOTICE MUR and TMR values are only taken into consideration when
scaling is active.
5.4.4 Preset Value
The position value of the encoder is set to the preset value input. This allows e.g. aligning the
zero position of the encoder with the zero position of the machine.
The PresetValue value must be smaller than the TMR value set.
Data content:
Byte 0 Byte 1 Byte 2 Byte 3
27…20215…28223…216 231…224
Values range: 0.... maximum physical resolution (4294967295) 232 bits
5.4.5 Preset Enable
The position value of the encoder is set to the preset value defined in PresetValue if PresetEn-
able has the value 1. For all other PresetEnable values, the value defined in PresetValue is ig-
nored.
This allows e.g. aligning the zero position of the encoder with the zero position of the machine.
NOTICE Simultaneous baud rate change
Please note: If PresetEnable has the value 0x01, BaudRate must be
set to 0xFF, since a simultaneous baud rate change and setting of
the preset value in the same config datagram is not supported by the
encoder.
Data content:

5 Commissioning and Operation Kübler Group
20 - EN HB J1939 - M3668/M3688, M3668R, M5868 - R67047.0002 - 02
Byte 0 Byte 1 Byte 2 Byte 3
27…20215…28223…216 231…224
Values range: 0.... maximum physical resolution (4294967295) 232 bits
5.4.6 Sensor Cycle Time
Defines the cycle time in milliseconds with which the current position is transmitted via meas-
ured data PG. The timer-controlled transmission becomes active as soon as SensorCycleTime
>0 is input in the configuration PGN.
If a value smaller than 5 is input in SensorCycleTime, the encoder uses the value 5.
Values range: 5 ... FFFFh (65535) cycle time in milliseconds
5.4.7 Baud Rate
This byte allows modifying the baud rate by software. The new baud rate is saved in the
encoder immediately after the receipt of the configuration.
In case of a change of the currently active baud rate, the encoder re-starts with the new baud
rate and sends its address claim and, when appropriate, measured data with the new baud rate.
NOTICE Simultaneous baud rate change
Please note: If PresetEnable has the value 0x01, BaudRate must be
set to 0xFF, since a simultaneous baud rate change and setting of
the preset value in the same config datagram is not supported by the
encoder.
Data content:
Byte 0
27…20
Value Action
1 Set the baud rate to 250 kbps
2 Set the baud rate to 500 kbps
0xFF Do not change the baud rate
Other values Do not change the baud rate (reserved)
5.4.8 CAN Bus Termination
This byte allows activating or de-activating the CAN bus termination (120Ω) per Software. As a
standard, this value is set to 0x01, i.e. the encoder is terminated.
In case of a change the setting is taken over immediately upon receipt and saved in the
encoder.