Kubler Sendix F58 Series User manual

Manual
R67048.0002 - 2
Encoders with Modbus interface

Table of Contents Kübler Group
2 - EN HB Modbus Interface - R67048.0002 - 02
Table of Contents
1 Document ........................................................................................................................ 4
2 General Information........................................................................................................ 5
2.1 Target Group........................................................................................................... 5
2.2 Symbols used / Warnings and Safety instructions.................................................. 5
3 Product Description ....................................................................................................... 7
3.1 Technical Data Sendix F58xx ................................................................................. 7
4 Installation....................................................................................................................... 8
4.1 Electrical Installation ............................................................................................... 8
4.1.1 General Information for the Connection.................................................... 8
4.1.2 Information for EMC-Compliant Installation .............................................. 8
4.1.3 Terminal Assignment ................................................................................ 9
4.1.4 Network topology ...................................................................................... 10
5 Commissioning and Operation ..................................................................................... 11
5.1 Function and Status LED ........................................................................................ 11
5.2 Quick Start Guide.................................................................................................... 11
5.2.1 Changing the parameters ......................................................................... 11
5.2.2 Not supported Modbus function codes ..................................................... 12
5.2.3 Default settings ......................................................................................... 12
5.3 Protocol Features.................................................................................................... 13
5.3.1 Structure of the Modbus RTU frames ....................................................... 13
5.3.2 Function codes.......................................................................................... 14
5.3.3 LRC check................................................................................................. 16
5.3.4 Data Addresses......................................................................................... 16
5.4 Function code 03 - Reading the Holding Register .................................................. 16
5.5 Function Code 16 - Writing the Holding Register.................................................... 18
5.6 Function code 17 - Query of Device-Specific Information....................................... 22
5.7 Description of the Registers.................................................................................... 24
5.7.1 Reading the Holding Register ................................................................... 24
5.7.2 Writing the Holding Register ..................................................................... 27
5.8 Modbus Exception Codes ....................................................................................... 31
5.9 Examples ................................................................................................................ 31
5.9.1 Scaling Setting Example ........................................................................... 31
5.9.2 Count Direction Change Example............................................................. 32
5.9.3 Preset Setting Example ............................................................................ 33
6 Maintenance .................................................................................................................... 34
7 Annex............................................................................................................................... 35
7.1 Decimal / Hexadecimal conversion table ................................................................ 35
8 Contact ............................................................................................................................ 37

Kübler Group Table of Contents
HB Modbus Interface - R67048.0002 - 02 EN - 3
Glossary .......................................................................................................................... 38

1 Document Kübler Group
4 - EN HB Modbus Interface - R67048.0002 - 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 Modbus Interface - R67048.0002 - 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 / 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 HB Modbus Interface - R67048.0002 - 02
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
HB Modbus Interface - R67048.0002 - 02 EN - 7
3 Product Description
3.1 Technical Data Sendix F58xx
Sendix F58xx
The encoder Sendix F58 with the patented Intelligent Scan Technology™ is a high-resolution
gearless optical multiturn encoder with 100 % insensitivity to magnetic interference.
Absolute encoder system Singleturn with optical disk
Multiturn with backup battery
Interface Modbus protocol RTU
Communication Default: 9600 bauds, 8 data bits, no parity,
1 stop bit
Display LED
Interface RS485 for Modbus
Type of connection 1 x or 2 x M12
Sensor contactless optical interface
Singleturn resolution (MUR) Max. 16 bits (default 16 bits)
65536 steps/per revolution
Multiturn resolution (NDR) Max. 16 bits - 65536 revolutions
Total resolution (TMR) Max. 32 bits (default 32 bits scaling disabled)
Supply voltage 10 … 30 V DC max. 80 mA
Temperature range -40°C … +80°C

4 Installation Kübler Group
8 - EN HB Modbus Interface - R67048.0002 - 02
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 Information for EMC-Compliant Installation
Requirements for cables
• Use exclusively shielded twisted-pair cables to connect the device.
• Comply with the maximum permissible connection cables length.

Kübler Group 4 Installation
HB Modbus Interface - R67048.0002 - 02 EN - 9
EMC acc. to
EN61326-1
Criterion A
The device operates trouble-free,
user data transmission proceeds
without disturbance, internally
stored data and configurations re-
main preserved
Criterion B
During a failure, a
disturbed transmission of the
user data is allowed, internally
stored data and
configurations remain preserved
Interference immunity Is achieved with a shielded line Is not achieved with a shielded
line
Class A Industrial environment
The device has a radiation
according to Class A
Class B Living area
The device has a radiation
according to Class B
Radiation Is not achieved with a shielded
line
Is achieved with a shielded line
Shielding and equipotential bonding
• Apply the cable shield on a large contact area - ideally 360°. Use e. g. a shield terminal to this
purpose.
• Pay attention to proper cable shield fastening.
• Preferably connect the shield on both sides with low impedance to the protective earth (PE),
e.g.on the device and/or on the evaluation unit. In the event of potential differences, the
shield must only be applied on one side.
• If shielding is not possible, appropriate filtering measures must be taken.
• If the protective earth should be connected to the shield on one side only, it must be made
sure that no short-time overvoltages can appear on the signal and supply voltage lines.
Kübler offers a wide range of connection cables in various versions and lengths, see
www.kuebler.com/connection technology.
Kübler offers various solutions for EMC-compliant installation, e.g. shield terminals for the elec-
trical cabinet, see www.kuebler.com/accessories.
4.1.3 Terminal Assignment
Inter-
face
Type of
connec-
tion
M12 connector, 5-pole Connector
Bus IN
6 E Signal +V 0V D0 D1 TG
Pin 2 3 5 4 1
+V: Supply voltage +V DC
0V: Ground GND (0V)
D0: non-inverted signal
D1: inverted signal
TG: Terminal Ground

4 Installation Kübler Group
10 - EN HB Modbus Interface - R67048.0002 - 02
4.1.4 Network topology
Modbus is a 2-wire bus system in which all participants are connected in parallel (that is to say
with short stub lines up to 30 cm). MODBUS uses serial lines based on an electrical "two-wire"
interface. It is oriented on the EIA/TIA-RS485 standard.
The special RS485 transceiver can control up to 63 nodes with a transmission rate reaching
19.2 kBd. Thee address range (theoretical maximal number of network participants) is 0 … 247.
In order to prevent reflections, the bus must be terminated at each end with a 120 (or 121) ohm
terminating resistor. This is necessary even in case of very short line lengths.
Termination at both ends of the main line.
DRDR
Common
D0
D1
Slave 1 Slave n
Pull Down
650 Ω
Pull Up
650 Ω
5 V
Line Termination
120 Ω
Line Termination
120 Ω
R
D
Master
58511243
NOTICE Selection of the BUS termination
BUS termination can be configured by means of a register. A 120
ohm resistor can be connected to this purpose.

Kübler Group 5 Commissioning and Operation
HB Modbus Interface - R67048.0002 - 02 EN - 11
5 Commissioning and Operation
5.1 Function and Status LED
A 2-color LED signals the operating and error status of the Modbus.
Display LED Meaning
RUN The RUN LED displays the current status of the Modbus sensor
ERROR On in the event of a fault.
Display LED Meaning Error cause Addition
(All) LEDs
off
No connection to the
master
Data line interruption
Wrong baud rate
Interchanged
data line
No voltage
Observe the combination
with the ERR LED.
When the ERR LED is
also off, ensure the
voltage supply
RUN flash-
ing about 1
ms
Device ready
for operation
Communication is
active
ERR off Device operates
error-free
RUN flash-
ing < 1 ms
Modbus transmission
active
Combination with
Bus state
RUN LED flashing green
Transmission in progress
ERR flash-
ing
Error Modbus signaled a
system error
Can also alternate with
the green LED when
transmission is in pro-
gress
5.2 Quick Start Guide
5.2.1 Changing the parameters
Modifying and reading device-specific parameters requires commands that are (can be) gener-
ated by means of the following function codes:
Function
code (dec)
Function
code (hex)
Name Meaning
03 0x03 Read Holding Register Reads the binary content of the hold-
ing registers (4XXXX references)
16 0x10 Preset Multiple Registers Writes the binary content of the hold-
ing registers (4XXXX references)
17 0x11 Report Slave ID Returns a description and
device-specific information
The function codes can be sent to the device via a control or a parameterization software.

5 Commissioning and Operation Kübler Group
12 - EN HB Modbus Interface - R67048.0002 - 02
5.2.2 Not supported Modbus function codes
Code Decimal Code Hexadecimal Name
01 (0x01) Read Coil Status
02 (0x02) Read Input Status
04 (0x04) Read Input Registers
05 (0x05) Force Single Coil
06 (0x06) Preset Single Register
07 (0x07) Read Exception Status
11 (0x0B) Fetch Comm Event Ctr
12 (0x0C) Fetch Comm Event Log
15 (0x0F) Force Multiple Coils
20 (0x14) Read General Reference
21 (0x15) Write General Reference
22 (0x16) Mask Write 4X Register
23 (0x17) Read/Write 4X Registers
24 (0x18) Read FIFO Queue
5.2.3 Default settings
The default values are listed in the following table:
NOTICE Serial Number, Serial Update, Sensor Diagnosis
All additional holding registers have an additional functionality and
are not intended for general use.
Register Int. register Data name Sequence Default
40257 256 Baud Rate MSB 0x01
40258 257 Number Data MSB 0x02
40259 258 Parity MSB 0x01
40260 259 Stop Bits MSB 0x01
40261 260 Comm Update MSB 0x00
40262 261 Node Address MSB 0x3F
40263 262 Node Update MSB 0x00
40264 263 Preset Value MSB -
40265 264 Preset Value LSB -
40266 265 Preset Update MSB 0x00
40267 266 Count Direct MSB 0x02
40268 267 Count Update MSB 0x00
40269 268 Termination MSB 0x00
40270 269 Term Update MSB 0x00

Kübler Group 5 Commissioning and Operation
HB Modbus Interface - R67048.0002 - 02 EN - 13
40271 270 Serial Number MSB -
40272 271 Serial Number LSB -
40273 272 Serial Update MSB 0x00
40274 273 Sensor Diag MSB 0x00
40275 274 Lower Limit MSB 0x00
40276 275 Upper Limit MSB 0x1C
40277 276 Compare Activ. MSB 0x00
40278 277 MUR MSB 0x0001
40279 278 MUR LSB 0x0000
40280 279 TMR MSB 0x1000
40281 280 TMR LSB 0x0000
40282 281 Scaling Function MSB 0x00
40283 282 Delay Prescaler MSB 0x01
5.3 Protocol Features
5.3.1 Structure of the Modbus RTU frames
To carry out changes in the device, the respective Modbus registers must be addressed through
the telegram. The basic structure of a Modbus telegram is shown below:
Start Address Function Data CRC Stop
3.5 bytes 1 byte 1 byte N x 8 bits 2 bytes 3.5 bytes
The data range has a different structure depending on whether the telegram is a query or a re-
sponse and on the used function code.
In RTU mode, the messages start with silent interval of at least 3.5 characters.
According to the baud rate set in the network, this interval is easiest implemented as a multiple
of the duration of a character.
The first field subsequently transmitted is the device address in the range of 01…0xF7 (247)
(248-255 are reserved for Modbus). Characters permissible for all fields: hexadecimal 0–9, A–F.
The networked devices constantly monitor the network bus - also during the 'silent' intervals.
When the first field (address field) is received, the sensor decodes it to determine whether the
message is directed to it.
After the last transmitted character, an identical interval of at least 3.5 characters indicates the
end of the message. A new message can start after this interval.
The complete message frame must be transmitted as a continuous data stream. In the event of
a silent interval of more than 1.5 characters before the end of the frame, the receiver device
erases the message and assumes that the following byte is the address of a new message.
Likewise, if a new message starts before the end of the silent interval of 3.5 characters, the re-
ceiver device considers this new message as the continuation of the previous message. This
will trigger a fault, as the value in the final CRC field will not be valid for the combined mes-
sages.

5 Commissioning and Operation Kübler Group
14 - EN HB Modbus Interface - R67048.0002 - 02
5.3.2 Function codes
Read Holding Register (function code 0x03)
Request
Address Function Data CRC
Bytes 1 byte 1 byte 2 bytes 2 bytes 2 bytes
Descrip-
tion
Slave
address
(sensor)
Function code
(Read holding
register)
Address of the
first requested
register
(e.g. register
40002)
Number of
requested
registers (e.g.
40002 to 40003)
For error
detection
Example 0x3F 0x03 0x0001 0x0002
Response
Address Function Data CRC
Bytes 1 byte 1 byte 1 byte 2 bytes 2 bytes 2 bytes
Descrip-
tion
Slave
address
(sensor)
Function
code
(Read hold-
ing register)
Number of
the following
data bytes
(2 registers
with each
2 bytes = 4
bytes)
Content of
the register
(e.g.
register
40002)
Content of
the register
(e.g. 40002
to 40003)
For error
detection
Example 0x3F 0x03 0x02
Preset multiple registers (function code 0x10)
Request
Address Function Data CRC
Bytes 1 byte 1 byte 2 bytes 2 bytes 1 byte 2 bytes 2 bytes
Descrip-
tion
Slave
address
(sensor)
Function code
(preset mul-
tiple registers)
Address of
the first
register
to be
written
(e.g.
register
40269)
Number of
registers
to be
written
Number of
the follow-
ing data
bytes
(1 register
with
2 bytes =
2 bytes)
Value for
the
register
(e.g.
register
40269)
For error
detection
Example 0x3F 0x10 0x010C 0x0001 0x02

Kübler Group 5 Commissioning and Operation
HB Modbus Interface - R67048.0002 - 02 EN - 15
Response
Address Function Data CRC
Bytes 1 byte 1 byte 2 bytes 2 bytes 2 bytes
Description Slave
address
(sensor)
Function code
(Read holding re-
gister)
Address of the
first register
to be written
(e.g.register
40269)
Number of
registers writ-
ten
For error
detection
Example 0x3F 0x10 0x010C 0x0001
Report Slave ID (function code 0x11)
NOTICE Slave ID
Slave ID does not mean the node address of the sensor. In this case,
the Slave ID identifies the sensor type. Function code 17 - Query of
Device-Specific Information [}22]
Request:
Address Function CRC
Bytes 1 byte 1 byte 2 bytes
Description Slave address
(sensor)
Function code
(preset multiple registers)
For error detection
Example 0x3F 0x11
Response
Ad-
dress
Func-
tion
Data CRC
Bytes 1 byte
1)
1 byte
2)
1
byte
3)
1
byte
4)
1
byte
5)
23 bytes
6)
2
bytes
7)
2
bytes
8)
Ex-
ample
0x3F 0x11 0x1A 0x02 0xFF 0x46353836384D544B75656
26C657256322E3034525455
1) Slave address (Sensor)
2) Function code (Read holding register)
3) Number of the following data bytes (generally 26 bytes)
4) Sensor slave ID
5) Status (e.g. ready for operation)
6) Slave version in the ASCII format (e.g. "F5868MTKueblerV2.04RTU")
7) Errors counter
8) For error detection

5 Commissioning and Operation Kübler Group
16 - EN HB Modbus Interface - R67048.0002 - 02
5.3.3 LRC check
In ASCII mode, the messages are subjected to an error check based on a longitudinal redund-
ancy check.
The check calculation (LRC) follows the content of the message without the initial 'colon' and
the two final CRLF characters. The LRC check takes place regardless of the parity check
method used.
The LRC field has a one-byte length and contains a 8-bit binary value. The LRC value is calcu-
lated by the transmitter and attached to the message. On receipt of the message, the receiver
calculates a LRC and compares this calculated value with the value contained in the LRC field.
If both values are not equal, an error is triggered.
The LRC is formed by adding successive 8-bit blocks of the message. Possible carries are ig-
nored. Then the two's complement of the result is formed. The calculation is performed with the
bytes of the message, before the coding of every byte in the two ASCII characters that corres-
pond to the hexadecimal representation of every nibble. It considers neither the 'colon' at the
beginning of the message nor the two CRLF characters at its end.
5.3.4 Data Addresses
Modbus bases its data model on a series of tables with characteristic features. The four primary
tables are:
Main tables Object type Type Description
Discrete input Single bit Read-only This data type can be provided by
an I/O system
Coils Single bit Read-write This data type can be modified by
an application
Input register 16-bit word Read-only This data type can be provided by
an I/O system
Read holding
register
16-bit word Read-write This data type can be modified by
an application
The distinctions between inputs and outputs and between bit-addressable and word-address-
able data elements have no influence on the behavior of the application.
All data addresses in Modbus messages are zero-based.
• Holding register 40001 is addressed as Register 0001 in the data address field of the mes-
sage. The function code field already defines a 'holding register' operation.
Therefore reference '4XXXX' is implied.
• Holding register 40014 is addressed as register 0x0D (14 decimal).
5.4 Function code 03 - Reading the Holding Register
Read Holding Registers function code 03 (0x03)
Reads the binary content of the holding registers (4XXXX references) in the slave.
NOTICE Broadcast function
Broadcast is not supported

Kübler Group 5 Commissioning and Operation
HB Modbus Interface - R67048.0002 - 02 EN - 17
Register Int.
Reg.
Data name Se-
quen
ce
Data
type
Value Default
(hex)
Manda
-tory
40002 1 POSITION
UPPER VALUE
MSB I16 Position value
Bit 17-32
- Yes
40003 2 POSITION
LOWER VALUE
LSB I16 Position value
Bit 1-16
- Yes
40004 3 REVERSE STATE MSB I16 Count direction
1 = CCW
2 = CW
0x02 Yes
40005 4 TERMINATION
STATE
MSB U16 Termination
0 = off
1 = on
0x00 Yes
40006 5 COMMISION.
DIAG.
MSB U16 Diagnosis /
Error result
0 = no error
0x00 No
40007 6 COMPARE STATE MSB U16 0 = within
1 < lower limit
2 > upper limit
0x00 No
40008 7 BATTERY
VOLTAGE
MSB U16 Current battery voltage
in VDC
3,50 …
3,65
(dec.)
No
40009 8 SENSOR TEM-
PERATURE
MSB U16 Current sensor temper-
ature
°C
- No
40010 9 MEASURING
UNITS (MUR)
MSB U16 Measuring steps /
revolution
0x0002 No
40011 10 MEASURING
UNITS (MUR)
LSB U16 Measuring steps /
revolution
0x0000 No
40012 11 TOTAL MEASUR-
ING RANGE
MSB U16 Total measuring range 0x0002 No
40013 12 TOTAL MEASUR-
ING RANGE
LSB U16 Total measuring range 0x0000 No
40014 13 SCALING
FUNCTION
MSB F32 Scaling
0 = off
1 = on
0x00 No
40015 14 SERIAL NUMBER MSB U32 Serial number - No
40016 15 SERIAL NUMBER LSB U32 Format YYDDNNNNN - No
40017 16 FIRMWARE MSB U16 Firmware check sum 0xXXXX No
Query
The query message contains the starting register and the number of registers to be read. The
registers are addressed as from 0. Registers 1–16 are addressed as 0–15.

5 Commissioning and Operation Kübler Group
18 - EN HB Modbus Interface - R67048.0002 - 02
Example of a read query for registers 40108–40110 of the slave device:
58517259
LRC calculation LRC check [}16]
Response
The response message contains the register data, two bytes per register. The binary content is
right-justified in every byte. In every register, the first byte contains the high-order bits and the
second byte the low-order bits. The response is transmitted when the data is fully compiled.
Example of a response to the above read query:
58519179
5.5 Function Code 16 - Writing the Holding Register
Write Holding Register function code 16 (0x10)
Function code 16 (0x10) allows modifying the parameters.
Writing of the values in a sequence of holding registers (references 4XXXX). In the case of a
broadcast, this function sets the same register references in all connected slaves.

Kübler Group 5 Commissioning and Operation
HB Modbus Interface - R67048.0002 - 02 EN - 19
NOTICE This function takes precedence over the encoder memory pro-
tection state.
The programmed values remain valid in the registers during the
whole duty cycle and some functions are immediately taken over.
Other require restarting the device.
The register values are saved in a non-volatile memory, regardless of
whether they are programmed in the PLC logic or not.

5 Commissioning and Operation Kübler Group
20 - EN HB Modbus Interface - R67048.0002 - 02
Re-
gister
Int.
register
Data name Se-
quen
ce
Description Default
(hex)
Restart
required
40257 256 Baud Rate MSB 1 = 9600
2 = 19200
3 = 38400
4 = 57600
5 = 115200
0x01 Yes
40258 257 Number Data MSB Number of data bits
2 = 8 bits
0x02 Yes
40259 258 Parity MSB Parity
1 = none
2 = even
3 = odd
0x01 Yes
40260 259 Stop Bits MSB Stop bits
1 = 1 bits
3 = 2 bits
0x01 Yes
40261 260 Comm Update MSB Communication
update
1 = Carry out
0x00 Yes
40262 261 Node Address MSB Node ID
1 … 247 = 1 … 0xF7
0x3F Yes
40263 262 Node Update MSB Node ID update
1 = Carry out
0x00 Yes
40264 263 Preset Value MSB Preset high word MSB -
40265 264 Preset Value LSB Preset low word LSB -
40266 265 Preset Update MSB Preset update
1 = Carry out
0x00
40267 266 Count Direct MSB Counting direction
1 = CCW
2 = CW
0x02
40268 267 Count Update MSB Count direction update
1 = Carry out
0x00
40269 268 Termination MSB Modbus termination
0 = off
1 = on
0x00
40270 269 Term Update MSB Termination update
1 = Carry out
0x00
40271 270 Serial Number MSB Serial number high word -
40272 271 Serial Number LSB Serial number low word -