TWK Elektronik IO-Link NOCIO User manual

TWK-ELEKTRONIK GmbH 40210 Düsseldorf [e-mail]
Bismarckstraße 108 Tel.: [phone] visit us at | twk.de
Document no.: NOC 15597 EE
Date: 16 Mar 2022
Switching cam encoder NOCIO with IO-Link interface
Data sheet NOC 15893
User manual

Date: 16 Mar 2022 Page 2 of 38 Document no. NOC 15597 EE
NOCIO - Cam encoder with IO-Link interface
COPYRIGHT: The Operating Instructions NOC 15597
is owned by TWK-ELEKTRONIK GMBH and is
protected by copyright laws and international treaty provisions.
© 2020 by TWK-ELEKTRONIK GMBH
POB 10 50 63 ■ 40041 Düsseldorf ■ Germany
Tel. [phone] ■ Fax [phone]
[email protected] ■www.twk.de

Date: 16 Mar 2022 Page 3 of 38 Document no. NOC 15597 EE
NOCIO - Cam encoder with IO-Link interface
Table of contents
1 Safety instructions ........................................................................................................................... 4
1.1 Scope ......................................................................................................................................................... 4
1.2 Documentation ........................................................................................................................................... 4
1.3 Proper use .................................................................................................................................................. 4
1.4 Commissioning ........................................................................................................................................... 4
2 General information .........................................................................................................................5
3 Installation instructions...................................................................................................................6
3.1 General....................................................................................................................................................... 6
3.2 Electrical connection .................................................................................................................................. 6
3.3 Status LEDs ............................................................................................................................................... 7
3.4 IODD le.....................................................................................................................................................7
4 System description .........................................................................................................................8
4.1 Principle function diagram of cams and relays...........................................................................................8
4.2 Cam setting for position trip...................................................................................................................... 10
4.3 Speed and acceleration calculation.......................................................................................................... 12
4.4 Cam setting for speed and acceleration trip.............................................................................................17
4.5 Slewing ring functionality..........................................................................................................................19
4.6 Block diagram for scaling factors .............................................................................................................20
5 Process data exchange ................................................................................................................. 21
5.1 Overview .................................................................................................................................................. 21
5.2 Input data ................................................................................................................................................. 21
5.2.1 Position data format .........................................................................................................................21
5.2.2 Speed data format............................................................................................................................21
5.2.3 Acceleration data format...................................................................................................................22
5.2.4 Temperature data format ..................................................................................................................22
5.2.5 Status data format ............................................................................................................................22
5.3 Output data............................................................................................................................................... 23
5.3.1 Control byte data format...................................................................................................................23
5.3.2 Position preset..................................................................................................................................24
5.3.3 Reset options ...................................................................................................................................24
5.3.4 Firmware update ..............................................................................................................................24
6 Setting-up operation ......................................................................................................................25
6.1 Prerequisites ............................................................................................................................................ 25
6.2 Inserting the NOCIO................................................................................................................................. 25
6.3 Changing parameters .............................................................................................................................. 26
7 Encoder and cam parameters .......................................................................................................29
8 Diagnosis overview........................................................................................................................36
8.1 Error types ................................................................................................................................................ 36
8.1.1 Device error .....................................................................................................................................36
8.1.2 Critical (hard) error: ..........................................................................................................................36
8.2 Error register 0x1003................................................................................................................................ 36
8.3 LED ashing code .................................................................................................................................... 37
Appendix ............................................................................................................................................ 38
A.1 Calculation of the cam and encoder checksums .....................................................................................38

Date: 16 Mar 2022 Page 4 of 38 Document no. NOC 15597 EE
NOCIO - Cam encoder with IO-Link interface
1 Safety instructions
1.1 Scope
This user manual is valid exclusively for the following absolute switching cam encoder with IO-Link interface:
• NOCIO79-xxxx-xxxxRxxxxSxxxLxx
1.2 Documentation
The following documents must be observed:
• The owner's system-specic operating instructions
• This user manual
• Data sheet number 15893
• The connection assignment enclosed with the device
• Assembly instructions number 16169 available on our homepage
1.3 Proper use
The TWK-ELEKTRONIK GmbH absolute encoders and linear transducers are used to register angular or linear
positions and make their measured value available in the form of an electrical output signal. As part of a system,
they have to be connected to the downstream electronics and must only be used for this purpose.
1.4 Commissioning
• The relevant device may only be set up and operated in combination with this manual and the
•documentation specied under point 1.2.
• The product is intended for use in industrial machinery applications as dened in the Electrical Standard
•for Industrial Machinery, NFPA 79 and EN 60204-1
• Protect the device against mechanical damage during installation and operation.
• Device commissioning and operation may only be undertaken by a specialist electrician.
• Do not operate the device outside of the limit values specied in the data sheet.
• Do not update the rmware while device is in operation in the application. Customer has to ensure that the
•safety contacts are open in the safety chain.
• Check all electrical connections before commissioning the system.
• If the equipment is used in a manner not specied by the manufacturer, the protection provided by the
•equipment may be impaired.

Date: 16 Mar 2022 Page 5 of 38 Document no. NOC 15597 EE
NOCIO - Cam encoder with IO-Link interface
2 General information
General functional principle
NOCIO is a backlash-free electronic switching cam encoder
withup totwo galvanicallyseparated safety switchingoutputs.
The NOCIO is a safety device and certied according to IEC
61508 (SIL2) and ISO 13849 (PLd).
A congurable multiturn absolute encoder with IO-Link
interface and switching cams with separate controller are
integrated in the compact housing. The supply voltage, IO-
Link signal and safety switching contact are each galvanically
separated from each other.
Encoder and cam parameters can be accessed and changed
via the IO-Link interface.
A special shaft design appropriate to the play-compensating
measurement gear ZRS is available.
NOCIO has a number of error detection procedures and self
diagnosis functions as required by a safety design. Any
detected error (at encoder and cams) is indicated by
transmitting an error message via IO-Link and by opening
the safety contact. Errors are recorded in a device error
history object (0x1003) for diagnosis.
To avoid parameter changes during normal operation, the
parameters can only be amended when the rotating speed
of the encoder shaft vsis approximately zero. Otherwise,
the new parameters are not accepted and the valid ags
0xXXFEcannotbesetto0xA5.Anerrormessageisgenerated.
Rotary encoder
The rotary encoder has a standard IO-Link interface (no
safety protocol). The position signal has a resolution of up
to 15(16) bits per revolution with a measuring range of 4096
revolutions. The resolution can be reduced on customer
request. The position reading can be referenced / preset
using IO-Link protocol. The signal path (CW/CCW) can be
set.
The NOCIO also provides a speed and acceleration signal
via the cyclic IO-Link data. The switching outputs can be
triggered by position, speed and/or acceleration.
Switching outputs (→cams)
Thesafetyswitchingoutputsarepotential-freeandgalvanically
separated. They are controlled by electronic cams which
can be congured according to the customers application.
Switching outputs are implemented using forcibly driven
safety relays with a long service life. Each safety contact
consist of two relays connected in series. These two relays
switch with a brief oset (in the millisecond range). This
guarantees reliable contact separation - even when switching
high external voltages and/or currents. A separate controller
unit monitors the function of the switching outputs. If incorrect
switching is detected, an error will be output and the relays
open.
The switching contacts are normally open contacts. In normal
operating the contact is closed and the relay coils are
powered. They open when the position / speed / acceleration
limits are reached, a fault is detected, the supply voltage is
too low or when the NOCIO is shut o completely.
The triggering limits (low and high limits) can be congured
via IO-Link. Customer-specic switching procedures can
also be implemented in the factory.
The switching information for the cams/relays is taken from
the rotary encoder. The switching outputs are activated and
deactivated without backlash, electronically and wear-free
in contrast to a mechanical switching cam encoder. A small
hysteresis can be activated to avoid contact ickering.
Direct and alternating voltage can be switched.
Alternative connector assignments can be realised on
customer's request.

Date: 16 Mar 2022 Page 6 of 38 Document no. NOC 15597 EE
NOCIO - Cam encoder with IO-Link interface
3 Installation instructions
3.1 General
For the planning of the cabling and installation please note the "IO-Link Design Guideline, Order No. 10.912"
from the IO-Link community (https://io-link.com/en/).
3.2 Electrical connection
The NOCIO79 has two connectors M12 A-coded:
The IO-Link port is a class A type. This means a three-core unshielded control line is sucient for cabling. Four
core cables are permissible because the Pin 2 of the NOCIO is not connected. The switching contacts are nor-
mally open contacts. For the detailed connection diagram please refer to the data sheet no. NOC15893.
Connection name connector
IO-Link S1 M12x4 A-coded pins
Switching outputs S2 M12x5 A-coded socket
Switching outputs IO-Link

Date: 16 Mar 2022 Page 7 of 38 Document no. NOC 15597 EE
NOCIO - Cam encoder with IO-Link interface
3.3 Status LEDs
The NOCIO is equipped with one bi-colour device status LED, and up to two LEDs for the relay status (yellow
LED for safety contacts, green for non-safety contacts).
A preset command is acknowledged by the device LED with 2s of ashing at 5 Hz. If the command has been
carried out successful, the LED ashes green. If the command is not accepted (e.g. due to inappropriate cam
states) the LED ashes red.
3.4 IODD le
An IODD le to integrate the switching cam encoder into a IO-Link master software is available for download on
our website www.twk.de. This describes the features of the IO-Link subscriber in the standardised XML format.
Every NOCIO variant has its own IODD le for exact identication.
Device
LED
Relay 2
LED
Relay 1
(safety)
LED
Description
green / red green or yellow yellow
green on Operating voltage available
green ashing Encoder exchanges data with master
Short term: preset acknowledge (see below)
red on Encoder error (see handbook for details)
red ashing Hard error (ashing codes see handbook)
Short term: preset acknowledge (see below)
on Relay 1 (safety) contact is in condition TRUE
(contact is closed)
on Relay 2 (only if installed) contact is in condition TRUE
(contact is closed)
3 Installation instructions

Date: 16 Mar 2022 Page 8 of 38 Document no. NOC 15597 EE
NOCIO - Cam encoder with IO-Link interface
4 System description
Singleturn
Multiturn
Speed
Accele-
ration
Input-source for cams
Cam 1-4
specications
13x0
-source
-low limit
-high limit
-hysteresis
-enable
-polarity
Cam
state
1300
Cam
statusbit
0,1,2,3
Relay1/2
assign
30x0
-cam 1
-cam 2
-cam 3
-cam 4
Relay
acknowledge
control bits or 30FC
Cam
FALSE f.
30FD
Relay
statusbit
4/5
Relay
1
Relay
2
Cam control Relay control
Cam 1
Cam 2
Cam 3
Cam 4
TRUE / FALSE
TRUE / FALSE
Code path 1100
Reference 1100
Gate time 1100
Multiplier 1100
Divider 1100
Relay1/2
acknow. cong
30x0
-acknowledge
-automatic
Process
data output
Gear module
1100
-inactive
-active:
-gear numerator
-gear denomin.
-resolut. Rrim
Position
specications
Position control
-resolution 64
-Nbr. steps 65
-genuine resolut.
(15/16 Bit)
4.1 Principle function diagram of cams and relays
NOCIO provides 4 cams. A cam is a software module which compares the input signal (source) with limits which are deposit
as a parameter set for each cam. For each dierent source (e.g. position, speed and acceleration) a set of limits is valid.
Therefore these limits have to be adapted to the chosen source. The other cam parameters as well.
If no limit is exceeded the cam is in the TRUE state. If a limit is exceeded, the cam changes to the FALSE state. But this is
only when the related cam is enabled via Cam enable (13x0/05). If not enabled the cam is always in the FALSE state, even
it is inverted.
When a cam is inverted via Cam polarity (13x0/06) the TRUE and FALSE states are swapped. The actual state (limit exceeded
or not) of each cam can be read out via Cam state (1300). In addition the state of each cam is displayed in the status word
(bits 0 to 3). Cam = TRUE means status-bit = 1.The status bits and the status in object 1300 display always the actual state
of the cams without regarding the Acknowledge command (30FC or bits 0/1 in control byte - see below), because the
acknowledge command refers to the relay status only (set TRUE).
The relay outputs can be assigned to any cam (1 to 4) and to more than one cam simultaneously. This is done via object Relay
assign (30x0/01). Therefore the relays can react to several cam limits and to several sources. The particular relay contact is
closed (TRUE) when no limit is exceeded and therefore the cam(s) is (are) TRUE as well. It changes to the FALSE state when
limits are exceeded, which is indicated by the cams (FALSE). Therefore we have: cam = TRUE means relay = TRUE and vice
versa. If a cam is inverted by 13x0/06 (cam polarity) the cam is FALSE when no limit is exceeded and TRUE when source value
is outside the limits.
If a relay is assigned to more than one cam, the cams are combined with logical "and" (&) → relay = TRUE when cam1 &
cam2 & ... = TRUE.
The state of each relay can be supervised by status bit 4 (relay 1) and status bit 5 (realy 2) in the status word. In addition the
reset behaviour of a relay can be determined via object 30x0/02: Automatic or Acknowledge. At automatic the relay changes
to the state TRUE as soon as no limit of the assigned cams is exceeded any more (related cam = TRUE. Be aware of cam
polarity). At acknowledge the user has to send the acknowledge command (via 30FC or bit 0/1 in control byte) to set relays
TRUE again. But the relay(s) change(s) to the state TRUE only when all related cams = TRUE.
If 30x0/02 is set to "1" (=acknowledge) after boot up of NOCIO the acknowledge command has to be sent to NOCIO once to
set the relay to condition TRUE (NOCIO = "operational").
The relays can be tested at any time (and state of NOCIO) via object Cam FALSE forcing (30FD). The PLC or safety chain
has to ignore the relay trip in case of test. This object has no inuence on the relays directly but on the cams. To do the test,
the relay(s) have to be TRUE – means the relays are assigned to one/more cams with are (all) TRUE and valid ags are set
“A5”. With 30FD the cam(s) are set to FALSE by force (input “1” for related cam(s)). Therefore the relay goes into condition
FALSE and the user can see that the contact opens properly. After that the user inputs “0” for the related cam(s) (at any time
later) for setting the cam(s) TRUE again. Relay closes again after acknowledge command (if ackn. = active) and test is done.
With the gear module (1100/09/A/B) the user has the possibility to calibrate the output signals (position/speed/acceleration)
to the rim of a gearbox (rim / pinion) to which the shaft (pinion) of the NOCIO is mechanical connected to. The number of teeth
of rim and pinion and the desired output resolution has to be inserted in the gear module. It can be activated / deactivated.
See handbook 15597 for the full list of parameters and the safety parameterization process (CRC checksums, etc.)

Date: 16 Mar 2022 Page 9 of 38 Document no. NOC 15597 EE
NOCIO - Cam encoder with IO-Link interface
4 System description
Function
The function of the switching outputs is implemented by means of relays. Each relay (safety or non-safety) provides a normally
open (NO) contact. It is open when NOCIO is not under power or in the error state (error detected due to internal diagnosis
routines). The safety contact provides a "forcibly driven" safety relay. Its control contact is used for detection of the proper
function of the main contact. The customer contact is internally build by two contacts (relays) connected in series due to one
operational relay (the forcibly driven one) and one additional redundant relay (normal relay). So reliable contact separation is
provided. The non-safety switching contact is designed with a standard relay with high reliability (but not PL d capable).
All switching outputs are galvanically separated in terms of operating voltage and IO-Link. The whole PCB electronic is
separated to the housing due to the recommendation of IO-Link specications.
The NOCIO's absolute encoder sends the shaft position data (position / speed / acceleration) to the main controller. The main
controller informs the relay controller when to open / close which relay (see diagram above). The exact position of the switching
anks, i.e. calibration of the cams, can be carried out via parameterisation by IO-Link.
The relay can trigger on shaft position or shaft speed and shaft acceleration (parameter "cam source"). For every trigger
source there is an individual set of related limit parameters (see table above). Each relay output can be assigned to one or
more cams. Note, that the cam limits are both part of the TRUE state (see below)
If the relay contact has been triggered by position or speed / acceleration, it can be reset automatically when the related cam
limit is not exceeded any more. Or it has to be reset by an IO-Link command. Parameters: Relay acknowledge (30FC) or
appropriate bit in the control byte.
The proper operation of the relay contact can be tested within normal operation of NOCIO: parameter Cam FALSE forcing
(30FD).
The position switching anks of the switching output are set as follows in the factory as regards the angular position of the
shaft: see cam diagram below.
The switching output switching anks refer to the IO-Link output signal of the absolute encoder. If the position signal's
preset function is used (IO-Link output signal oset), the switching anks are also accordingly shifted with reference
to the shaft position.
To avoid undesired switching back and forth (utter) on the part of the relays as a result of slight bit changes on the switching
ank, a switching hysteresis of 10 digits is pre-programmed. This can be changed via IO-Link. Valid for function Automatic.
Else the contact remains open until acknowledgement.

Date: 16 Mar 2022 Page 10 of 38 Document no. NOC 15597 EE
NOCIO - Cam encoder with IO-Link interface
Cam diagram (for position triggering - linear presentation)
A possibility for realising limit switch with a detection possibility, whether the working are has been exceed in CW or CCW
direction by using two cams (here cam 1 & 2) is shown below.
Note, that the circle can be extended above the maximum position value. When the cam high limit is smaller than the cam
low limit, the cam is extended over the inverted pitch circle.
In this case the status bits 0 (cam1) and 1 (cam2) are used/active. Working area is outside low- and high-limits of cam1 and
cam2. Therefore, cams have to be inverted. Relay = TRUE when cam1 & cam2 = TRUE.
4.5 turns for the cam length is exemplary. It can be any other length.
Cam 1 high limit has to be set to cam 2 low limit in order to close the circle (see below).
5 System description
Relay assigned
to cam1 & cam2 TRUE
= middle of measuring
range (TMR/2)
= 2048 turns
Shaft position
CCW - shaft rotation
← increasing position values decreasing position values →
CW - shaft rotation
Cam1 High Limit Cam2 Low Limit
FALSEFALSE
FALSE
TRUE
TRUE
FALSE
4.5 turns
4.5 turns
autom.
acknow.acknow.
autom.
acknow. acknow.
Relay
Cam 1
(inverted)
Cam 2
(inverted)
Working area → outside cam limits
Cam2 High Limit
Cam1 Low Limit
Relay
TRUE
middle of measuring range (TMR/2) = 2048 turns
Shaft position
CCW -
shaft rotation
← increasing position values decreasing position values →
CW - shaft rotation
Cam1 Low Limit Cam1 High Limit
FALSEFALSE
Cam 1
(not inverted) FALSE
TRUE → Low limit ≤ value < High limit
FALSE
Working area → Low limit ≤ value < High limit
4.2 Cam setting for position trip
Cam diagram (for position triggering)
First possibility for realising limit switch in CW and CCW direction by using one cam (here cam1).
In this case only statusbit 0 (cam1) is used/active. Working area is within low- and high-limit. Alarm area is outside limits

Date: 05.03.2021 Page 11 of 37 Document no. NOC 15597 BE
NOCIO - Cam encoder with IO-Link interface
4 System description
Transition of position
max. pos. step → 0
0 is equivalent to TMR
Working area
middle pos.
Cam1
Cam2
Cam1 Low limit
Cam2 High limit
Cam1 High limit
Cam2 Low limit
zero pos. "0"
Code-circle =
complete
measuring range
increasing
position
values
Working area
Code-circle =
complete
measuring range
Cam1 High limit
Cam2 Low limit
Cam1 Low limit = 0
Cam2 High limit = 0 (equivalent to TMR)
Cam1
Cam2
zero pos. "0"
middle pos.
increa-
sing posi-
tion
Cam1
Cam2
Inversion of cams not
shown in these diagrams
No Relay = TRUE area
outside
"working area"
Relay = TRUE area
outside
"working area" as well
Cam diagram (for position triggering - circular presentation)
For better understanding in the following presentations the measuring range of position of a rotary encoder (here NOCIO)
is displayed as a circle. Due to the fact that after the highest position value of an encoder follows "zero", the scale of posi-
tion can be displayed like this.
The upper diagram shows 2 narrowed cams on the position scale like they are shown in the linear diagram one page be-
fore (inversion of cams not shown at circle diagrams). In this case a working area (green arrow) and a second "allowed"
area (or working area) is present (green dashed arrow). In both areas is valid: status of cam1 = status of cam2 (e.g. =
TRUE)
If this second area (green dashed arrow) is not required, the cams have to be enlarged at least to the "zero point" of the
position scale (in the case that the working area is around the middle of the measuring range: Total measuring range
(TMR) / 2. See diagram below. An overlap of the cams is allowed as well.

Date: 16 Mar 2022 Page 12 of 38 Document no. NOC 15597 EE
NOCIO - Cam encoder with IO-Link interface
4 System description
4.3 Speed and acceleration calculation
NOCIO provides the possibility to use the switching output for shaft speed and/or shaft acceleration surveillance. A related
limit can be dened for a cam triggering. This function allows to trigger the relay contact (it opens) when the limit is
exceeded.
The shaft speed vsis calculated using of the measured absolute position value. Within the speed gate time Tgv the dierence
between two position values is calculated. Tgv can be parameterized from 1 to 1000 milliseconds (ms). The result is the average
speed vswithin this gate time period. The update time of the position value and speed value is 1 ms (position update rate = 1
kHz): Every 1 ms a new calculation is done with a new couple of position values which have a time dierence of Tgv.
When a speed change at the encoder shaft occurs (vs1 →vs2), the speed output signal reacts after 1 ms and reaches the nal
value vs2 after Tgv.
The internal position value is the base of speed calculation (and therefore acceleration calculation as well). The position sensor
of the encoder provides a resolution RPof 15 bit/360°. The internal data format of position signal is always 16 bits (Remark:
the resolution of the position output signal of NOCIO is independent of the res. of the internal position value). The content of
this position signal depends on vs.
• At vs< ~1 rpm an averaging algorithm (over 32 position values) for position provides RP=16 bits instead of 15 bits →speed
vsprovides a resolution based on RP=16 bits.
• At shaft speed vs> ~1 rpm the averaging algorithm is deactivated →RP=15 bits position resolution →the LSB of data
format 16 bits is always 0 →resolution of vsis reduced accordingly.
The resolution RPof the position signal determines the resolution Rvs of the speed signal in conjunction with Tgv. Basis is 16
bits data format.
Example 1 (vs< 1 rpm):
Given: RP= 16 bit/360 ° → 0.0055 °
Required: Rvs = 12 bit/360 ° per s → 0.088 °/s
→Tgv = RP/ Rvs =0.062 s (62 ms)
(Tgv = 62 ms is required to obtain Rvs = 0.088 °/s, means to see every Rvs step: 0.088 °/s, 0.176 °/s, ...)
Example 1a (vs> 1 rpm):
Given: RP= 15 bit/360 ° → 0.011 ° (data format is 16 bits with LSB = constant 0)
Required: Rvs = 12 bit/360 ° per s → 0.088 °/s
→Tgv = RP/ Rvs =0.125 s (125 ms)
(Tgv = 125 ms is required to obtain Rvs = 0.088 °/s, means to see every Rvs step: 0.088 °/s, 0.176 °/s, ...)
Example 2 (vs> 1 rpm):
Given: RP= 15 bit/360 ° → 0.011 ° (data format is 16 bits with LSB = constant 0)
Required: Rvs = 15 bit/360 ° per s → 0.011 °/s
→Tgv = RP/ Rvs =1 s (1000 ms)
(Tgv = 1 s is required to obtain Rvs = 0.011 °/s, means to see every Rvs step: 0.011 °/s, 0.022 °/s, ...)
Example 3 (vs> 1 rpm):
Given: RP= 15 bit/360 ° → 0.011 ° (data format is 16 bits with LSB = constant 0)
Required: Rvs =0.1 °/s
→Tgv = RP/ Rvs =0.11 s (110 ms)
(Tgv = 110 ms is required to obtain Rvs = 0.1 °/s, means to see every Rvs step: 0.1 °/s, 0.2 °/s, ...)
If a gear with a ratio of i (i = rim / pinion) is used in the application (e.g. i = 10) the speed of the encoder shaft (pinion gear) is
i-times as high as the speed vms of the main shaft (gear rim). Therefore for the resolution of speed Rvms of the gear rim (= main
shaft) is valid: Rvms = Rvs / i. Example #4: i = 10 →Rvms = 1 °/s / 10 = 0.1 °/s.
Acceleration is determined by calculation of the speed dierence of two dierent speed values within an acceleration gate
time Tga like it is done at speed calculation by means of a position dierence. The actualisation time is 1 ms as well. An
acceleration limit can be dened for a cam triggering for acceleration surveillance. This function allows to trigger a relay contact
(it opens) when the acceleration limit is exceeded. If the speed limit is not reached yet, the acceleration trigger can be used
to stop the application due to a high acceleration value before (t1) the speed limit is reached already (t2).

Date: 16 Mar 2022 Page 13 of 38 Document no. NOC 15597 EE
NOCIO - Cam encoder with IO-Link interface
Block diagram for speed and acceleration calculation
4 System description
Measuring
position
RP= resolut.
→~ 1 ms
Calc. speed
(every 1 ms)
→with Tgv
(e.g. 10 ms)
Cam task
Speed > limit ?
→< 3ms
Relay trip
time Tt
→12 ms
Tt
Tgv
Cam task
Acc. > limit ?
→< 3ms
Relay trip
time Tt
→12 ms
Calc. accel.
(every 1 ms)
→with Tga
(e.g. 10 ms)
Tga Tt
t2
t1t1
t2
~
<
~
<
Gear ratio mo-
dule (if active)
i = rim/pinion
Rrim = resolut.
Time schedule
----------- Updating time ~1 ms -----------
Speed calibrating with "speed multiplier" and "speed divider"
The calibrating factors speed multiplier and speed divider are meant to set the speed signal of encoder shaft vsto the
required scaling.
Examples for dierent scalings vsx are:
vs1 = [steps/10 ms]
vs2 = [steps/100 ms]
vs3 = [steps/s]
vs4 = [0.1 °/s] vs5 = [1 °/s]
vs6 = [rad/s]
vs7 = [rps]
vs8 = [rpm]
Remark: The units (result of calibration) are integer. E.g. when choosing vs8 you will get rpm without any decimal places!
For scalings vs1 to vs3 the position dierence in steps within the specied time (10ms, 100 ms and 1 s) is required. The relevant
data format for the scaling is always 16 bits, independent of speed and associated actual resolution. Within the gate time Tgv
(which needs to be chosen before calulating the scaling factors), the dierence DPos between position steps P1and P2is
calculated:
DPos = P2- P1
To obtain the speed signal vsthis dierence is divided by the gate time Tgv :
vs= (P2- P1) / Tgv = steps / Tgv
Speed (acceleration) multiplier and divider can be used to adjust the output scaling for dierent time bases and position units
(e. g. instead of "steps" ° or rotations per time unit can be chosen).
The tables on the next pages show some examples for scaling factors. In Table 1 a gate time Tgv = Tac= 125 ms is chosen.
With the given denitions speed (acceleration) multiplier and divider the above output scaling can be obtained (smallest
possible integer values chosen by dividing by 10, 100, 1000 etc.).
In Table 2 similar calculations have been carried out for gate times of 10 ms and 100 ms.

Date: 16 Mar 2022 Page 14 of 38 Document no. NOC 15597 EE
NOCIO - Cam encoder with IO-Link interface
4 System description
Table 1 (Tgv =Tac = 125 ms), dimension factor fD=RB/ So, where RBis the internal resolution of the speed calculation
(65536 steps/360°) and Sothe output (position) scaling.
Table 2 (Tgv Tav = 10 ms / 100 ms, RB= 65536 steps/360°), smallest values (quotient) chosen already
Table 1 and Table 2: → every step (digit) in the speed output signal now represents the required unit.
Remark: The units (result of calibration) are integer. E.g. you will get rpm without positions after decimal point: 1, 2, 3, ... rpm.
Use another rpm-unit from the table for a higher resolution. For example 0.1 rpm or 0.01 rpm. But see examples 1 to 4 on
page 20 before for "real" resolutions due to gate time.
*: "steps" are meant here as steps based on the internal position resolution (16 Bits). It is not meant as steps based on the
position output signal which may be scaled (e.g. reduced to 13 Bits). In that case the factor fDhas to be calculated. Example:
Basis res.: RB= RP= 16 Bits. Output resolution RO= 13 Bits. → fD= 65536 / 8192 = 8 → Increase speed divider by factor 8.
Scaling unit SU
Speed multiplier
≤ 65535
Speed divider
≤ 65535
Acceleration
multiplier
≤ 65535
Acceleration
divider
≤ 65535
[steps/10ms] *
10
(= time base tBof
scaling unit [ms])
125
→= Tgv [ms] x fD
10
(= time base tBof
scaling unit [ms])
125
→= Tac [ms]
[steps/100 ms] * 100 125
→= Tgv [ms] x fD
100 125
[steps/s] *
[steps/1000 ms] 1000 125 →= Tgv [ms] x fD
1000 125
[0.1 °/s]
[3600/1000 ms] 1000 2275 →= Tgv [ms] x fD
1000 125
[1 °/s]
[360/1000 ms] 100 2275 →= Tgv [ms] x fD/ 10 1000 125
[rad/s]
[6.28../1000 ms] 11304 →= Tgv x fD/ 1000 1000 125
[rps]
[1/1000 ms] 18192 →= Tgv x fD/ 1000 1000 125
[rpm]
[1/60000 ms] 60 8192 →= Tgv x fD/ 1000
480
tB/ 125
1
Tac / 125
Scaling (unit) Speed multiplier
≤ 65535
Speed divider
≤ 65535
Acceleration
multiplier
≤ 65535
Acceleration
divider
≤ 65535
[steps/10ms] * 1 / 11 / 10 1 / 11 / 10
[steps/100 ms] * 10 / 11 / 110 / 11 / 1
[steps/s] * 100 / 10 1 / 1100 / 10 1 / 1
[0.01 °/s] 5000 / 500 91 / 91 100 / 10 1 / 1
[0.1 °/s] 500 / 50 91 / 91 100 / 10 1 / 1
[1 °/s] 50 / 591 / 91 100 / 10 1 / 1
[rad/s] 10 / 11043 / 1043 100 / 10 1 / 1
[rps] 25 / 516384 / 32768 100 / 10 1 / 1
[rpm] 375 / 75 4096 / 8192 6000 / 600 1 / 1
[0.1 rpm] 1875 / 375 2048 / 4096 6000 / 600 1 / 1
[0.01 rpm] 9375 / 1875 1024 / 2048 6000 / 600 1 / 1

Date: 16 Mar 2022 Page 15 of 38 Document no. NOC 15597 EE
NOCIO - Cam encoder with IO-Link interface
4 System description
The scalings of the page before refer to the rotating speed vsof the encoder shaft. When a gear is used with the encoder with
a ratio of i = rim / pinion (usually number of teeth rim > number of teeth pinion →i > 1) the speed values can be scaled to the
speed of main shaft vms by: vms = vs/ i.
Ratio "i" can be set by using parameters Gear ratio (numerator) = 1100/09 and Gear ratio (denominator) = 1100/0A. For
example: rim = 153 and pinion = 20 →i = 153/20.
In this way the output signal of speed can be calibrated to the application and further requirements. The related speed limits
for the relay triggering have to be adapted as well by customer because they refer to the scaled speed signal.
The acceleration asof the encoder shaft is calculated by using another gate time: acceleration gate time Tga. Within this gate
time the dierence Dspeed of the calculated and scaled speed is built:
Dspeed = vs2 - vs1
To obtain the acceleration asit is built:
as= (vs2 - vs1) / Tga
Example for the dimension (unit) of the output as(results) and therefore for the scaling of the acceleration limits:
With vs4 = [0.1 °/s] and Tga = 100 ms →unit of as= [0.1 °/s / 100 ms]
With the calibrating factors acceleration multiplier (1100/07) and acceleration divider (1100/08) a calibration due to a required
scaling can be done similar to the speed calibrations like mentioned above, especially to match the time unit/base (e.g.: [0.1
°/s/100ms] →[0.1 °/s²] →use acc. multiplier = 10, acc. divider = 1).
Calculating vsin rpm with dened parameters
When speed multiplier sm and speed divider sd are dened, a certain position resolution RPfor the basis of speed
calculation is given and a speed gate time Tgv is chosen, the shaft speed vs- measured in rpm - can be calculated as:
n is the number of digits of the speed output signal. Remark: n is in the format signed 16 Bits. At increasing position values
(→vs> 0) you can use n directly. At decreasing position values (→vs< 0) you have to calculate: FFFF - n rst, before inserting
in the formula. Increasing or decreasing position values depend on the setting of safety code sequence CW/CCW. nmax: 15
Bits due to sign of velocity signal (16th bit).
vs[rev./min] = n [digits] x 60000 x sd
RP[digits/rev] x Tgv [ms] x sm

Date: 16 Mar 2022 Page 16 of 38 Document no. NOC 15597 EE
NOCIO - Cam encoder with IO-Link interface
4 System description
Example for speed and acceleration
calculation
In the diagrams on the right side are to see the
results of the calculation of speed vsand
acceleration asby means of the position signal P
and gate time Tgv and dierent gate times Tga.
vs= (P2- P1) / Tgv →steps / Tgv
as= (vs2 - vs1) / Tga →steps / Tga
Taken is a jump function to show the behaviour
of the calculation processes.
Real applications do not have sudden changes in
the behaviour of movement.Applications with high
inertia and a high mass have changes in
characteristics of movement on a long time scale
in comparison to the gate times Tgv and Tga.
Therefore the reaction time (in ms) and the quality
of the output signal of speed vsand acceleration
asis sucient, i.e. fast and precise enough for the
appraisal of the moving behaviour of an application
(seeaswellBlockdiagramforspeedandacceleration
calculation).
Position
"Real" speed
Calculated acceleration
with Tga1 = 0.5 x Tgv
Calculated speed
with Tgv
Calculated acceleration
with Tga3 = 2 x Tgv = 4 x Tga1
Time
Time
Time
Time
"Real" acceleration
Time
Calculated acceleration
with Tga2 = Tgv = 2 x Tga1
Time
Time
Speed
Speed
Acceleration
Acceleration
Acceleration
Acceleration
a1
a1
a2= a1/2
Tgv
Tga2
Tga1
Tga3
a→∞

Date: 16 Mar 2022 Page 17 of 38 Document no. NOC 15597 EE
NOCIO - Cam encoder with IO-Link interface
4 System description
4.4 Cam setting for speed and acceleration trip
Cam diagram (for speed triggering, code path CCW)
Absolute speed value for source of cam3 (Cam3 source (1330/01) = 3). Direction of shaft turning is not distinguished.
In this case the status bits 2 (Cam3) is used/active. Working area is within low- and high-limit. Alarm area is outside limits.
Speed CCW
and |CW|
Speed CW
High limit
Low limits ≤ 0
are eectless
time
Relay
TRUE
FALSEFALSE
Cam 3
(not inverted) FALSE
TRUE
FALSE
acknow.
acknow.
Low limit
Working area

Date: 16 Mar 2022 Page 18 of 38 Document no. NOC 15597 EE
NOCIO - Cam encoder with IO-Link interface
4 System description
The settings for acceleration trip are the same as for speed trip. Working area is within low- and high-limit of a cam. Alarm
area is outside limits (the other way around is possible as well like position trip).
When speed and acceleration trip is required simultaneously, a diagram can look like shown below. Speed trip and accel-
eration trip are independent from each other.
Cam diagram (2-dimensional. Cam source setting: absolute values of speed and acceleration)
Speed
(cam3, not inv.)
Acceleration
(cam4, not inv.)
Cam3-speed
High limit
Cam4-accel.
High limit
Cam4-accel.
Low limit (0)
Cam3-speed
Low limit (0)
Working area
Within this area cam3 & cam4 = TRUE
→ relay = TRUE
Alarm area
Within this area cam3 and/or cam4 = FALSE
→ relay = FALSE

Date: 16 Mar 2022 Page 19 of 38 Document no. NOC 15597 EE
NOCIO - Cam encoder with IO-Link interface
4 System description
4.5 Slewing ring functionality
In some applications it is necessary to get directly the angle of the slewing unit (gear rim).
A rotary encoder is coupled via a gear to a toothed gear (pinion) or with a worm gear (rim) / gear units mounted on the worm
shaft.
This results in a certain ratio due to the number of teeth of rim and pinion.
The software in the encoder can be set (by the factory or the customer) in a way that the output signal of the encoder is the
angle position of the slewing unit. The angle resolution can be set for example to 0.1° (i.e. 3600 steps per 360° of the en-
coder). Meaning if the slewing unite turns 360° the output of the encoder will also only turn by 360° (3600 → 0 steps).
In case the slewing unit turns constantly only in one direction the output will not be aected. Meaning the output signal will
continue to give angle values between 0 and 360° even for innite revolutions.
Use the parameters 1100/09 (gear numerator) and 1100/0A (gear denominator) for the input of the gear parameters and for
activation of the slewing ring functionality. If "zero" is input at one or both of these parameters, the slewing ring functionality
is deactivated and NOCIO output of position is standard.
Use object 1100/0B for selection of the required resolution for the slewing ring functionality (e.g. 3,600 steps/360° or 36,000
steps / 360°).
The activation of slewing ring functionality with its resolution has impact on position and therefore on calculation of speed and
acceleration. Therefore it has impact on the cam and relay behaviour as well because the source of a cam refers to the values
calculated due to slewing ring functionality (See block diagram on page 21).
When slew ring functionality is activated, position preset (control byte bit 3) only works when Reference value is set between
0and Resolution gear rim (Rrim)- 1. For Reference value ≥ Rrim executing position preset has no eect.
i = Gear ratio Number of teeth - slewing ring to Number of teeth - pinion of NOCIO
Comparison of some characteristics when the encoder is coupled to the slewing ring
All of the values specied in this table (except the measuring range) refer to one revolution of NOCIO shaft or one revolu-
tion of slewing ring resp.
Adjustable parameters from to
Number of teeth - slewing ring
1100/09 1 (0) 65535
Number of teeth - pinion of NOCIO
1100/0A 1 (0) 65535
Resolution position Rrim
1100/0B 165535
(Rrim ≤ encoder resolution x i)
Characteristic Encoder Slewing ring
Resolution 8192 steps Adjustable, max. 8192 x i steps
Accuracy ± 0.2 % ± 0.2 % / i
Measuring range 4096 revolutions Revolution repeatable ∞ times
Reproducibility ± 0.05 % ± 0.05 % / i
Temperature drift < 0.02° < 0.02° / i

Date: 16 Mar 2022 Page 20 of 38 Document no. NOC 15597 EE
NOCIO - Cam encoder with IO-Link interface
4 System description
4.6 Block diagram for scaling factors