Kübler Sendix M3668 User manual

Manual
R67047.0002 - 1
Sendix M3668/M3688, M3668R,
M5868

1 Document Kübler Group
2 - EN HB J1939 - M3668/M3688, M3668R, M5868 - R67047.0002 - 01
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 07/2019
Language version German is the original language
Copyright © 2019, 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 Kü-
bler 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 date shall not consti-
tute any guarantee declaration.

Kübler Group Table of Contents
HB J1939 - M3668/M3688, M3668R, M5868 - R67047.0002 - 01 EN - 3
Table of Contents
1 Document ........................................................................................................................ 2
2 General Information........................................................................................................ 5
2.1 Target Group........................................................................................................... 5
2.2 Symbols used / Warnings and Safety instructions.................................................. 5
2.3 Transport / Storage ................................................................................................. 6
2.4 Other Applicable Documents .................................................................................. 6
3 Product Description ....................................................................................................... 7
3.1 Scope of the Delivery.............................................................................................. 7
3.2 Technical Data ........................................................................................................ 7
3.3 Supported Standards and Protocols ....................................................................... 7
4 Installation....................................................................................................................... 8
4.1 Electrical Installation ............................................................................................... 8
4.1.1 General Information for the Connection.................................................... 8
4.1.2 Connection Color Coding.......................................................................... 8
4.1.3 Connection Legend................................................................................... 9
4.1.4 Terminal Assignment ................................................................................ 9
5 Commissioning and Operation ..................................................................................... 10
5.1 Function and Status LED ........................................................................................ 10
5.2 Quick Start Guide.................................................................................................... 11
5.2.1 Default Settings......................................................................................... 11
5.2.2 Configuration Possibilities......................................................................... 14
5.3 Protocol Features.................................................................................................... 14
5.3.1 Data Transmission .................................................................................... 14
5.4 Configuration Parameters Description .................................................................... 15
5.4.1 Operating Parameter ................................................................................ 15
5.4.2 MUR.......................................................................................................... 16
5.4.3 TMR .......................................................................................................... 16
5.4.4 Preset Value.............................................................................................. 16
5.4.5 Preset Enable ........................................................................................... 17
5.4.6 Sensor Cycle Time.................................................................................... 17
5.4.7 Baud Rate ................................................................................................. 17
5.4.8 CAN Bus Termination ............................................................................... 18
5.4.9 Encoder Position....................................................................................... 18
5.4.10 Encoder Speed ......................................................................................... 19
5.4.11 Encoder DiagData..................................................................................... 19
5.5 Examples ................................................................................................................ 19
5.5.1 Changing the Device Parameters ............................................................. 19
5.5.2 Changing the Device Address .................................................................. 21
5.5.3 Switching Back to Factory Setting ............................................................ 23
6 Maintenance and Servicing ........................................................................................... 25

Table of Contents Kübler Group
4 - EN HB J1939 - M3668/M3688, M3668R, M5868 - R67047.0002 - 01
7 Disposal........................................................................................................................... 26
8 Annex............................................................................................................................... 27
8.1 Decimal / Hexadecimal conversion table ................................................................ 27
9 Contact ............................................................................................................................ 29
Glossary .......................................................................................................................... 30

Kübler Group 2 General Information
HB J1939 - M3668/M3688, M3668R, M5868 - R67047.0002 - 01 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 encoder may only be planned, mounted, commissioned, tested, serviced and operated by
authorized persons. Authorized persons must fulfill the following conditions:
• Technical training.
• Briefing in the relevant safety guidelines.
• Constant access to this documentation.
• In case of electrical equipment for explosive atmospheres, the specialized personnel needs
knowledge about the ignition protection category concept.
2.2 Symbols used / 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 injuries.
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 injuries.
CAUTION Classification:
This symbol, together with the signal word CAUTION, warns against
a potential danger to life and health of persons.
The non-compliance with this safety instruction may lead to slight or
minor injuries.

2 General Information Kübler Group
6 - EN HB J1939 - M3668/M3688, M3668R, M5868 - R67047.0002 - 01
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 Transport / Storage
Inspect the delivery immediately upon receipt for possible damages due to the transport. Report
such damages immediately to the transport company. If you do not mount the encoder immedi-
ately, store it at a dry and dust-free location, preferably in its transport package.
2.4 Other Applicable Documents
For explosion-protected encoders, refer to the "Installation Instructions Explosion-Protected En-
coders".
All technical data, as well as the mechanical and electrical characteristics, are specified in the
corresponding data sheets of the encoders.
The above mentioned documents, the original declarations of conformity and the relevant certi-
ficates can be downloaded from our homepage: www.kuebler.com/docufinder.

Kübler Group 3 Product Description
HB J1939 - M3668/M3688, M3668R, M5868 - R67047.0002 - 01 EN - 7
3 Product Description
3.1 Scope of the Delivery
• Encoder
• Safety instructions and operating instructions
• ESD protection (only for variants with connectors)
The performance characteristics and the mechanical design of the encoder depend on the se-
lected configuration (according to order code).
3.2 Technical Data
Supply Voltage and Current Consumption
• 10 … 30 V DC
• max. 30 mA (without load)
Hardware Characteristics
Singleturn technology Magnetic
Singleturn resolution 14 bits (16384 steps / revolution)
Multiturn technology Magnetic, electronic counter, Energy Harvesting
Multiturn resolution Maximal 243 bits revolutions
Accuracy ± 1° (over the whole temperature range)
Data up-to-dateness 5 ms
• Watchdog monitored device
• SAE J1939 Interface CAN Transceiver according to ISO11898
• Function display and diagnostics by means of 2 LEDs
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.

4 Installation Kübler Group
8 - EN HB J1939 - M3668/M3688, M3668R, M5868 - R67047.0002 - 01
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.
Also make sure that all required cable wires / connectors are connec-
ted before commissioning.
• Insulate individually all unused ends of the output signals to avoid
short-circuits.
• When assembling the mating connector, comply with the instruc-
tions attached to the connector.
• Only connect or disconnect the mating connector to or from the en-
coder when the encoder is disconnected from the power supply.
• Electrostatic discharges at the contacts of the connector or at the
cable ends could damage or destroy the device. Take appropriate
precautionary measures.
• Make sure that the operating voltage is switched on and off simul-
taneously for the encoder and the downstream device.
• Comply with the proper operating voltage and the maximum ad-
missible output current.
• Use a PELV supply voltage source according to EN60204-1.
4.1.2 Connection Color Coding
Part of the cables are identified by a color coding, part of them by a numerical coding.
Abbreviation of the colors :

Kübler Group 4 Installation
HB J1939 - M3668/M3688, M3668R, M5868 - R67047.0002 - 01 EN - 9
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
4.1.3 Connection Legend
+V: Encoder supply voltage +V DC
0V: Encoder 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
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
NOTICE Danger type and source
Connect the shield to the encoder housing. Comply with the max-
imum cable lengths for stub lines and for the total length of the CAN
bus. If possible, mount all cables with traction relief.
Check the maximum supply voltage on the device.

5 Commissioning and Operation Kübler Group
10 - EN HB J1939 - M3668/M3688, M3668R, M5868 - R67047.0002 - 01
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 = CANopen BUS status
Red = CANopen ERR display
Yellow = Diagnosis
Display LED Meaning Error cause Addition
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 - 01 EN - 11
Display LED Meaning Error cause Addition
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
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
5.2.1.1 Communication Objects
Process Data
The PG with the process data has the following structure:

5 Commissioning and Operation Kübler Group
12 - EN HB J1939 - M3668/M3688, M3668R, M5868 - R67047.0002 - 01
As standard, the encoder uses the following PG numbers for data transmission:
Process data transmission: PG No. 0xFFAA
Service Data
The PG with the configuration data has the following structure:

Kübler Group 5 Commissioning and Operation
HB J1939 - M3668/M3688, M3668R, M5868 - R67047.0002 - 01 EN - 13
As standard, the encoder uses the following PG number for data transmission:
Receipt configuration: PG No. 0xEF00

5 Commissioning and Operation Kübler Group
14 - EN HB J1939 - M3668/M3688, M3668R, M5868 - R67047.0002 - 01
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 [}29]
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 - 01 EN - 15
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").
5.3.1.2 Process Data Transmission
Process data transmission is possible in two ways:
• Time-controlled by the internal cyclic event timer SensorCycleTime, in a values range from 5
to 65535 milliseconds. A value 0 is also valid and switches the time-controlled cyclic trans-
mission 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 the event timer is
set to 0.
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)

5 Commissioning and Operation Kübler Group
16 - EN HB J1939 - M3668/M3688, M3668R, M5868 - R67047.0002 - 01
Bit number Function Bit = 0 Bit = 1
0
(least significant bit)
Code sequence / Direction of rota-
tion
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.
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.
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.
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:

Kübler Group 5 Commissioning and Operation
HB J1939 - M3668/M3688, M3668R, M5868 - R67047.0002 - 01 EN - 17
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:
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 en-
coder 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.

5 Commissioning and Operation Kübler Group
18 - EN HB J1939 - M3668/M3688, M3668R, M5868 - R67047.0002 - 01
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 en-
coder.
Data content:
Byte 0
27…20
Values range 0 ... 1
Value Action
0 Termination off
1 Termination on
0xFF Do not change the termination
Other values Do not change the termination (reserved)
5.4.9 Encoder Position
(Position value scaled or unscaled)
The encoder returns the current position value (possibly multiplied by the scaling factor).
Data content:
Byte 0 Byte 1 Byte 2 Byte 3
27…20215…28223…216 231…234
Values range: 0 ... maximum physical resolution (4294967296) 2³² bits
The TMR/MUR ratio is active when scaling is active, otherwise the 32-bit raw position of the
sensor is output.

Kübler Group 5 Commissioning and Operation
HB J1939 - M3668/M3688, M3668R, M5868 - R67047.0002 - 01 EN - 19
5.4.10 Encoder Speed
The encoder returns the current calculated speed in RPM as a signed 32-bit value.
Data content:
Byte 4 Byte 5 Byte 6 Byte 7
27…20215…28223…216 231…234
Values range: 0 ... ± maximum speed 12000 RPM
5.4.11 Encoder DiagData
The encoder returns its current operating state in the EncoderDiagData bytes.
In failure-free operation, EncoderDiagData has the value 0.
NOTICE Pay attention to the values range
If EncoderDiagData contains a value different from 0, the values
measured by the encoder might be faulty.
Value Action
0 No error
0xEE00 General error in the sensor
0xEE01 Invalid MUR value: MUR 0 or MUR larger than 16384
(maximum singleturn resolution)
0xEE02 Invalid TMR value: TMR 0
Other values Other faults
5.5 Examples
5.5.1 Changing the Device Parameters
This example uses fictitious values to illustrate the transmission of the data.
NOTICE Exemplary configuration data
This example is only intended for illustration and therefore contains
invalid configuration data.

5 Commissioning and Operation Kübler Group
20 - EN HB J1939 - M3668/M3688, M3668R, M5868 - R67047.0002 - 01
Configuration data Byte Hex value (ficti-
tious)
Endian hex value Decimal value
OperatingParameter 2 0102 0201 258
MUR 4 03040506 06050403 50595078
TMR 4 0708090A 0A090807 117967114
SensorCycleTime 4 0B0C0D0E 0E0D0C0B 185339150
CANBusTermination 1 0F 0F 15
SensorPresetValue 4 10111213 13121110 269554195
SensorPresetEnable 1 14 14 20
BaudRate 1 15 15 21
The desired data must first be Endian-converted, thus swapped byte by byte. This is necessary
because J1939 transfers the data starting with the lowest-order byte.
Then the data is concatenated and sent as shown in the layout.
This results in the following data stream, which must be transmitted to the encoder, by concat-
enating the values in the right column of the table:
02 01 06 05 04 03 0A 09 08 07 0E 0D 0C 0B 0F 13 12 11 10 14 15
This data must now be distributed over several CAN frames and transmitted per CMDT trans-
port protocol. The transport protocol is necessary because at the maximum 8 user data bytes
can be transmitted per CAN frame.
All mentioned CAN frames must be sent and received as extended frames (29-bit identifier).
There must be a dwell of at least 50 ms between the sending of the frames.
A CMDT connection must be set up first, with the parameters coded in the sent packet. The re-
questing control device of the customer has generally address 0x01. The sensor has address
0x20.
• Control byte: 0x10
• Message size: 0x15
• Total number of packets: 3
• Maximum number of packets: 0xFF
• PG number: 0xEF00
• Source address: 0x01
• Destination address: 0x20
For this purpose, the following RTS packet must be sent to the sensor and the CTS answer
from the sensor must be waited for: