EMD Speed Sensor for LSHT Orbital Motors User manual
Contents
1. O 6 O 5 O 4 O 20 30 P301 400 IVI 9 36V CAN CAN P301 401 10 L1017819 Rev BD April 2015 Ders User Manual Orbital Motor EMD Speed Sensor Product overview Conversion diagram It is possible to replace an Orbital Motor with EM sensor with PNP or NPN open collector output with an Orbital Motor with EMD sensor Conversion diagrams show how it is possible to replace present sensor with EMD sensor The resistor R which is used in the current NPN PNP diagram is not needed but can under certain conditions remain in the circuit e IfRL lt Upc 10 mA remove or increase the size of the resistor e If RL gt Upc 10 mA no change needed In case the EM sensor and the controller have different power supply it is needed to modify the circuit so that the EMD sensor has the same power supply as the controller PNP Open Collector Output EMD Speed Sensor 1 Brown Uac VI O6 10 Ux VI 4 Black Os 20 VM PNP RL min Ri Ude Imax 50 mA R R gt Uge 10 mA Sau Uie M O4 30 e 159G34 10 15_1 NPN Open Collector Output 1 Brown Uac M O6 10 Ug V RL min Ry Uge Imax 50 mA 4 Black Os 20 Ua V N2. Products we offer Bent Axis Motors e Closed Circuit Axial Piston Pumps and Motors e Displays e Electrohydraulic Power Steering e Electrohydraulics e Hydraulic Power Steering e Integrated Systems e Joysticks and Control Handles e Microcontrollers and Software Open Circuit Axial Piston Pumps e Orbital Motors e PLUS 1 GUIDE e Proportional Valves e Sensors Steering Transit Mixer Drives Comatrol www comatrol com Schwarzm ller Inverter www schwarzmueller inverter com Turolla www turollaocg com Valmova www valmova com Hydro Gear www hydro gear com Daikin Sauer Danfoss www daikin sauer danfoss com Danfoss Power Solutions US Company 2800 East 13th Street Ames IA 50010 USA Phone 1 515 239 6000 D 24539 Neum nster Germany Phone 49 4321 8710 Danfoss Power Solutions is a global manufacturer and supplier of high quality hydraulic and electronic components We specialize in providing state of the art technology and solutions that excel in the harsh operating conditions of the mobile off highway market Building on our extensive applications expertise we work closely with our customers to ensure exceptional performance for a broad range of off highway vehicles We help OEMs around the world speed up system development reduce costs and bring vehicles to market faster Danfoss Your Strongest Partner in Mobile Hydraulics Go to www powersolutions danfoss com for further p
3. Output Mode Pulse Number Of Pulses Revolution 180 F302 067 2 Change of numbers of Pulses Rev in Pulse mode for example to 60 pulses rev Select 60 Valid range for pulses 20 120 pulses rev 180 pulses rev Configuration Output Mode Pulse Number Of Pulses Revolution 60 MA Filter Dynamic 17 F302 068 MA Filter is default Dynamic 1 See below for change of MA Filter 3 Download selected parameter to EMD speed sensor PLUS 1 Service Tool 7 0 7 and older do not properly recognize some responses from the EMD sensor and therefore after any parameter value download please upload parameter values back to make sure that the correct values have been stored into parameter memory F302 069 Change of MA Filter in Pulse mode MA Filter is default Dynamic 1 in the range 20 120 pulses rev 14 L1017819 Rev BD April 2015 User Manual Orbital Motor EMD Speed Sensor Configuration of EMD Speed Sensor to other settings MA Filter is not available at 180 pulses rev 1 Change MA Filter in Pulse mode for example to 16 Select 16 Configuration Output Mode Pulse Number Of Pulses Revolution 60 MA Filter 16 F302 070 2 S Download selected parameter to EMD speed sensor Changing of Pulse mode into Quadrature mode 1 cy Upload the EMD speed sensor setting to computer OEM configurable sensor 11114575 has following default setting Configuration Output Mode Pulse N
4. ME nr 13 Change of MA Filter in Pulse mode r Changing of Pulse mode into Quadrature Mode nr 15 Changing of pulse mode into CAN MOde rennes 16 Changing of Node Id in CAN MOI 16 Changing of Message Transmission Rate in CAN MO rennes 16 Change of MA Filter in CAN MOde sssccsssscsssseccsseecesuseccsnsccssnscsesuscecsneecssuseessnscessueecssnscessnsesesuseccsneesesuseessneessueeseeneesesneeeesase 16 Configuration 010 EE 18 L1017819 Rev BD April 2015 3 User Manual Orbital Motor EMD Speed Sensor Product Overview A Warning Please note that the EMD speed sensor may fail Output signals may not represent correct rotation speed or direction Any application of the EMD speed sensor should be subjected to appropriate hazard and risk assessment according to relevant safety standards for the application Reliability data MTBF for the EMD speed sensor are available on reguest from your Danfoss representative Description Function of the speed sensor is to detect shaft speed and the direction of rotation The sensor is mounted to the endcover of a Danfoss LSHT Orbital Motor and senses the speed from a magnet that is rotating inside the motor The magnet is connected to the cardan shaft spool valve motor or valve drive disc valve motor by a shaft Rotation ofthe magnet generate a rotating magnetic field that is a function of motor speed
5. MAKING MODERN LIVING POSSIBLE User Manual Orbital Motor EMD Speed Sensor powersolutions danfoss com Hi User Manual Orbital Motor EMD Speed Sensor Revision history Table of revisions Date Changed Rev April 2015 CG150 updated to CG150 2 BD January 2015 Various updates BC April 2014 Various updates BB March 2014 Converted to Danfoss layout DITA CMS BA May 2012 Conversion Diagram text updated AB May 2012 First edition AA 2 L1017819 Rev BD April 2015 User Manual Orbital Motor EMD Speed Sensor Contents Product Overview General data Signal definition Filter parameter Product overview Mounting of EMD Speed Sensor Configuration of EMD Speed Sensor to other settings Configuration box Descriptio PP EE AE AE EE EE NE O 4 EMD Speed Sensor Specifications 5 Pulse mode 6 Quddira tur ee EE EE EE NR eci HE ee Kr E AR erke ke r yeee RRA 6 CAN TN EER ER EE EE EE AE EE NEE 6 aerie els ER EE N HERE EE EE EE EE Na WAN 8 DIMENSION EE EE Ee HELE ESOSI NOESIS N 9H Soens E 9 dele lo N DK r rrr Ee nn n gde 9 Mating CONNeCIO ER W N ER EE N N EE EE e 10 M r are kel ei PR OE EE RE ENE EE LE 10 Conversion diagramme 11 Mounting of EMD Speed Sensor on LSHT Motors nn 12 Connect configuration DOX cscs Lan l n dak a diki Ee anne y He y T klr Gee 13 Changing of numbers of pulses rev in pulse
6. PN R R2Ua 10mA 3 Bl D Blue Uac M O4 30 15963410 150 P301 402 L1017819 Rev BD April 2015 11 User Manual Orbital Motor EMD Speed Sensor Mounting of EMD Speed Sensor Mounting of EMD Speed Sensor on LSHT Motors Turn the sensor to the desired position and mount the sensor on the plug It is possible to mount the sensor in 36 positions 11094003 speed sensor EMD 11094003 TU C 20640002 JIN INE IN NNN 12 L1017819 Rev BD April 2015 User Manual Orbital Motor EMD Speed Sensor Configuration of EMD Speed Sensor to other settings Connect configuration box Use CG150 2 CAN USB gateway interface communicator and configuration box See Configuration box on page 18 1 Switch on power supply 2 Upstart PLUS 1 Service Tool P1D software P1D file for EMD can be found here http powersolutions danfoss com products PLUS 1 GUIDE GUIDE service tool software and license Start Screen GAP TT EE ER RE 0 EMD Speed Sensor Danfoss Configuration Output Mode 3 Number Of Puses Revolution J AS san Ed el n F302 066 Changing of numbers of pulses rev in pulse mode L1017819 Rev BD April 2015 13 User Manual Orbital Motor EMD Speed Sensor Configuration of EMD Speed Sensor to other settings 1 vy Upload the EMD speed sensor setting to computer OEM configurable sensor 11114575 has following default setting Configuration
7. aft OMP OMR OMS OMT OMV Minimum 1 2 1 2 9 1 7 9 8 0 Maximum 2 29 2 2 14 0 12 4 12 1 Danfoss don t recommend to use OMM orbit motors in positioning applications where EMD sensor is used 8 L1017819 Rev BD April 2015 User Manual Orbital Motor EMD Speed Sensor Product overview Dimensions Sensor pinout 72 Orbital motor P301315 Sensor pinout Pin Controller function 1 Power supply 9 36 V dc 2 Power ground 3 D1 configurable output 4 CAN L 5 CAN H 6 D 2 configurable output L1017819 Rev BD April 2015 User Manual Orbital Motor EMD Speed Sensor Product overview Deutsch DT connector 6 pin Mating connector P301314 Deutsch DT connector 6 pin Mating connector assembly Not offered by Danfoss Pcs Description Deutsch part no Color 1 Plug DTO6 6S PO12 black 1 Wedgelock W6S PO12 green 6 Solid Contacts 0462 209 16141 nickel Options 1 Boot DT6S BT BK black For correct mounting please see Deutsch homepage www deutsch net Wiring diagram Wiring diagram Pulse and quadrature mode O 6 O 5 O 4 O 2O 3O U VI 9 36V U V D 1 Wiring diagram CAN mode
8. age Transmission Rate from 50 ms to for example 100 ms Select 100 ms Message Transmission Rate 100 ms F302 076 2 Download selected parameter to EMD speed sensor Change of MA Filter in CAN mode OEM configurable sensor 11114575 has following default MA Filter Dynamic 1 MA Filter Dynamic 1 F302 077 16 L1017819 Rev BD April 2015 Derek User Manual Orbital Motor EMD Speed Sensor Configuration of EMD Speed Sensor to other settings EMD speed sensor has following MA Filter setting range 1 2 4 8 16 32 64 Dynamic 1 Dynamic 2 1 Change MA Filter from Dynamic 1 to for example 16 Select 16 Configuration Output Mode CAN Node Id 0x518 Message Transmission Rate 50 ms MA Filter 168 F302 078 2 Download selected parameter to EMD speed sensor L1017819 Rev BD April 2015 17 User Manual Orbital Motor EMD Speed Sensor Configuration box Configuration box D2 CANH CANL 20 3O 24V DC 24V DC 230V AC GND GND 24V DC D1 CG 150 CANL R 1200 P301 410 Order information CG150 2 CAN USB gateway interface communicator Danfoss part number 11153051 PLUS 1 Service Tool V7 1 10 is needed to support CG150 2 18 L1017819 Rev BD April 2015 User Manual Orbital Motor EMD Speed Sensor L1017819 Rev BD April 2015
9. and direction EMD Speed sensor convert this magnetic field into output signal of speed and direction Sensor princip Rotating magnetic field ae U Rotation Rotation ELE F Cardan shaft Shaft Pressure interface Position of magnetic field x ME RS a Speed Rotation Degrees ER Pulse Mode A Ca A Quadrature Mode HC u CAN Mode EMD sensor Balsa After each Power Up the shaft must rotate 1 2 revolutions before an output signal is generated 4 L1017819 Rev BD April 2015 User Manual Orbital Motor EMD Speed Sensor General data EMD Speed Sensor specifications Specifications Output signal D1 D2 Pulse mode Push pull output Direction CCW high CW low Square Wave Direction Configurable up to 180 pulse revolutions Quadrature mode 2 channels with 90 phaseshift each with Square Wave Phase Square Wave Phase 90 pulses revolution Push pull output A B CAN mode Supports CAN 2 0B with SAE J1939 Message Protocol with Proprietary Messages Baudrate 250 kbaud fixed Shaft velocity 2500 rpm Speed range 0 2500 rpm Supply voltage 9 36 Vdc Maximum power 0 8 W Temperature range ambient 30 C to 60 C EMC Immunity EMI 100 V m ISO 13766 Grade of enclosure f IP 69 K Vibration 30 G 294 m s Shock 50 G 490 m s Configurable with PLUS 1 Service Tool Please contact Danfoss for further information t According to IEC 529 L1017819 Rev BD A
10. ksum for byte 0 5 x 16 x 15 x 2 1 L1017819 Rev BD April 2015 7 Dorfes User Manual Orbital Motor EMD Speed Sensor Filter parameter In order to reduce noise when the frequency is calculated in pulse mode or the angular velocity is calculated in CAN mode a moving average filter can be activated by setting a filter parameter MA filter when configuring the sensor Valid range for the Moving Average Pulse period time Number MAPN 1 2 4 8 16 32 amp 64 The MAPN can also be dynamic Valid range is the same 1 2 4 64 the calculation is dependent on the detected speed and 2 types of filter calculation Dynamic 1 default amp Dynamic 2 can be used How Dynamic 1 and Dynamic 2 select the MAPN see the table below RPM MAPN Dynamic 1 Dynamic 2 2 0 3 4 1 1 3 5 5 1 1 2 5 2 10 2 4 10 20 4 8 20 80 8 16 81 163 16 32 164 2500 32 64 Configuration of filter see Configuration of EMD Speed Sensor to other settings on page 13 Positioning When use the EMD sensor in positioning applications It s possible to use the EMD sensor as feed back encoder in positioning applications In such applications use pulse mode 180 PPR or Quadrature mode as you in all other settings will get an adding error The typical backlash in the Orbit motors are shown in the table below Motor Backlash Output shaft gt Sensor sh
11. pril 2015 5 User Manual Orbital Motor EMD Speed Sensor Signal definition Pulse mode The sensor generates a speed dependent pulse on D1 and a direction signal on D2 D1 High P301 344 P301 345 U un gt Un 2V U lt 2V U a gt Var2V Yon lt 2V Low Quadrature mode The sensor generates a speed dependent pulse on D1 and D2 with a 90 degree phaseshift D1 High P301 344 P301 346 U Hich gt UV U lt 2V High It s not recommended to use quadrature mode for OMM orbital motors Please contact Danfoss for further information CAN mode Cyclic message specification Interface CAN 2 0 B Baud rate 250 kBaud Transmit rate 10 20 50 default 100 or 200 ms cyclic message transmission Proprietary B Data in 0 1 2 3 4 5 6 7 CAN ID Reserved Sequence Angular velocity Reserved CRC 16 number 6 L1017819 Rev BD April 2015 Ders User Manual Orbital Motor EMD Speed Sensor Signal definition CAN ID J1939 proprietary B Programmable 29 bit message id ID 18FF20XX source address XX is programmable default value is 51 Sequence no byte 0 255 Increments 1 for each message Angular velocity Angular velocity of the shaft 16 bit integer with 2 s complementary encoding for negative values 25 000 to 25 000 25 000 2 500 RPM CCW 0 0RPM 25 000 2 500 RPM CW CRC 16 The standard CRC16 polynomial is used to calculate the chec
12. roduct information Wherever off highway vehicles are at work so is Danfoss We offer expert worldwide support for our customers ensuring the best possible solutions for outstanding performance And with an extensive network of Global Service Partners we also provide comprehensive global service for all of our components Please contact the Danfoss Power Solution representative nearest you Local address Danfoss Power Solutions Danfoss Danfoss Shanghai Co Ltd Power Solutions GmbH amp Co OHG Power Solutions ApS Building 22 No 1000 Jin Hai Rd Krokamp 35 Nordborgvej 81 Jin Qiao Pudong New District DK 6430 Nordborg Denmark Phone 45 7488 2222 Shanghai China 201206 Phone 86 21 3418 5200 Danfoss can accept no responsibility for possible errors in catalogues brochures and other printed material Danfoss reserves the right to alter its products without notice This also applies to products already on order provided that such alterations can be made without changes being necessary in specifications already agreed All trademarks in this material are property of the respective companies Danfoss and the Danfoss logotype are trademarks of Danfoss A S All rights reserved L1017819 Rev BD April 2015 www danfoss com Danfoss A S 2015
13. umber Of Pulses Revolution 180 F302 067 2 Change of mode from Pulse mode to Quadrature mode Select Quadrature Configuration Output Mode Quadrature F302 071 3 Download selected parameter to EMD speed sensor L1017819 Rev BD April 2015 15 User Manual Orbital Motor EMD Speed Sensor Configuration of EMD Speed Sensor to other settings Changing of pulse mode into CAN mode OEM configurable sensor 11114575 has following default setting Output Mode Pulse Number of Pulses Revision 180 F302 072 2 Change of mode from Pulse mode to CAN mode Select CAN Configuration Output Mode scan Node Id oxs14 Message Transmission Rate so ms MA Filter Dynamic 1 s Interpretation of D1 amp D2 No output on pins Information about speed and direction can be read on CAN bus Live Data Speed RPM 0 F302 073 3 Download selected parameter to EMD speed sensor Changing of Node Id in CAN mode OEM configurable sensor 11114575 has following default Node Id 0x51 1 Change Node Id from 0x51 to for example to 0x54 Select 0x54 Node Id 0x54 F302 075 2 Download selected parameter to EMD speed sensor Changing of Message Transmission Rate in CAN mode OEM configurable sensor 11114575 has following default Message Transmission Rate 50 ms EMD speed sensor has following Message Transmission Rate setting range 10 20 50 100 200 ms 1 Change Mess
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