Temposonics
®
®
Magnetostrictive, Absolute, Non-contact
Linear-Position Sensors
R-Series Models RP and RH
CANbus Outputs (CANopen/CANbasic)
Data Sheet
SENS
O
RS
Document Part Number
550991 Revision D
Model RP Profile-style position sensor
FEATURES
Linear, Absolute Measurement
LEDs For Sensor Diagnostics
Superior Accuracy, Resolution down to 2 μm
Non-Contact Sensing Technology
Linearity Deviation Less Than 0.01%
Repeatability Within 0.001%
Direct CAN Output (Position + Velocity)
Model RH Rod-style position sensor
Time-based Magnetostrictive position sensing principle
Movable position magnet
Magnetic field encompasses
entire waveguide - generated
by the interrogation pulse
Interrogation
Return wire
Waveguide
Strain-Pulse detector
Bias magnet
Magnetic field from
position magnet
Interaction of magnetic
fields causes waveguide to
generate a strain pulse
BENEFITS
Rugged Industrial Sensor
Selectable Bus Termination (CANopen)
CANopen with Heartbeat Function
APPLICATIONS
Continuous Operation In Harsh Industrial Conditions
High Pressure Conditions
For Accurate, Multi-Magnet Position Measurement
(up to 20 positions per sensor)
TYPICAL INDUSTRIES
Factory Automation
Fluid Power
Plastic Injection and Blow Molding
Material Handling and Packaging
Benefits of Magnetostriction
Temposonics linear-position sensors use the time-based
magnetostrictive position sensing principle developed by MTS.
Within the sensing element, a sonic-strain pulse is induced in a
specially designed magnetostrictive waveguide by the momentary
interaction of two magnetic fields. One field comes from a moveable
permanent magnet that passes along the outside of the sensor. The
other field comes from an “interrogation” current pulse applied along
the waveguide. The resulting strain pulse travels at sonic speed along
the waveguide and is detected at the head of the sensing element.
The position of the magnet is determined with high precision and
speed by accurately measuring the elapsed time between the applica-
tion of the interrogation pulse and the arrival of the resulting strain
pulse with a high-speed counter. The elapsed time measurement is
directly proportional to the position of the permanent magnet and is
an absolute value. Therefore, the sensor's output signal corresponds
to absolute position, instead of incremental, and never requires
recalibration or re-homing after a power loss. Absolute, non-contact
sensing eliminates wear, and guarantees the best durability and
output repeatability.
All specifications are subject to change. Contact MTS for specifications and
engineering drawings that are critical to your application. Drawings contained
in this document are for reference only. Go to http://www.mtssensors.com for
the latest support documentation and related media.
Product Overview and Specifications
Product overview
R-Series model RH and RP sensors are extremely robust and are
ideal for continuous operation under harsh industrial conditions.
MTS offers two standard sensor housings, rod and profile extrusion.
The rod housing is capable of withstanding high pressures such as
those found in hydraulic cylinders.
The profile extrusion housing provides convenient mounting options
and captive sliding magnets which utilize slide bearings of special
material that reduce friction, and help mitigate dirt build up.
The sensor head contains the active signal conditioning and a
complete integrated electronics interface. Double shielding is used
to ensure EMI protection for unsurpassed reliability and operating
safety.
Product specifications
Parameters
Specifications
Parameters
Specifications
OUTPUT
Measured output
variables:
ENVIRONMENTAL
Position, velocity, optional multi-magnet
position measurements
(up to 20 magnet positions simultaneously)
CANopen:
Position:
Velocity:
Operating
conditions:
Resolution:
EMC test:
0.5 mm/s
0.2 mm/s
Velocity:
5 μm
2 μm
CANbasic:
Position:
5 μm
2 μm
Update times::
1.0 mm/s
0.1 mm/s
Shock rating:
Vibration rating:
WIRING
Connection type:
1.0 ms up to 2400 mm,
2.0 ms up to 4800 mm,
4.0 ms up to 7600 mm stroke length
Add 0.5 ms for CANbasic up to 1200 mm
< ± 0.01% full stroke (minimum ± 40 μm)
(Linearity Correction Option (LCO)
available)
< ± 0.001% full stroke
(minimum ± 2.5 μm)
< 4 μm
Interface:
CAN-Fieldbus system ISO DIS 11898
Data protocol CANopen:
CIA standard DS-301 V4.02
encoder profile DS-406 V3.1
CANbasic:
CAN 2.0 A
1000 800 500 250 125 50
20
<25
<50 <100 <250 <500 <1000 <2500
Sensors will be supplied with ordered Baud rate
which can be changed by the customer.
Operating temperature:
-40 °C (-40 °F) to +75 °C (+167 °F)
Relative humidity:
90% no condensation
Temperature coefficient:
< 15 ppm/ °C
Electromagnetic emission:
IEC/EN 50081-1
Electromagnetic susceptibility:
IEC/EN 50082-2, IEC/EN 61000-4-2/3/4/6,
level 3/4 criterium A, CE qualified
100 g (single hit)/IEC standard 68-2-27
(survivability)
15 g / 10 to 2000 Hz / IEC standard 68-2-6
Linearity
deviation:
Single or dual 6-pin male D60 (M16)
connector or two 5-pin Male/Female D54
(M12) connectors with 4-pin male (MS)
connector or integral cable
PROFILE STYLE SENSOR (MODEL RP)
Aluminum housing with diagnostic LED
display (LEDs located beside connector/
cable exit)
Sealing:
IP 65
Sensor extrusion:
Aluminum (Temposonics, profile style)
Mounting:
Any orientation. Adjustable mounting
feet or T-slot nut (M5 threads) in bottom
groove
Magnet types:
Captive-sliding magnet or open-ring
magnet
ROD STYLE SENSOR (MODEL RH)
Electronic head:
Aluminum housing with diagnostic LED
display (LEDs located beside connector/
cable exit)
IP 67 or IP 68 for integral cable models
304L stainless steel
350 bar static, 690 bar peak
(5000 psi static, 10,000 psi peak)
Any orientation. Threaded flange M18 x 1.5
or 3/4 - 16 UNF-3A
45 N-m (33 ft. - lbs.)
Ring magnet, open-ring magnet, or
magnet float
Electronic head:
Repeatability:
Hysteresis:
Outputs:
Baud rate, kBit/s:
Cable length, m:
Stroke length:
Range (Profile style):
25 mm to 5080 mm (1 in. to 200 in.)
Range (Rod style):
25 mm to 7620 mm (1 in. to 300 in.)
ELECTRONICS
Operating
voltage:
+24 Vdc nominal:
-15% or +20%
Polarity protection:
up to -30 Vdc
Over voltage protection:
up to 36 Vdc
Current drain:
100 mA typical
Dielectric withstand voltage:
500 Vdc
(DC ground to machine ground)
Sealing:
Sensor rod:
Operating
pressure:
Mounting:
Typical
mounting torque:
Magnet types:
R-Series Models RP and RH Temposonics
®
Linear-Position Sensors - CANbus Output
Product Data Sheet, Document Part No.: 550991, Revision D 02/10, 10/11
2
MTS Sensors
CANbus Output Options, Programmability
Enhanced Monitoring and Diagnostics
Enhanced monitoring and diagnostics
SENSOR STATUS AND DIAGNOSTIC DISPLAY
Integrated diagnostic LEDs (green/red), located on top of
the sensor housing
(see ‘Figure 1’),
provide basic visual
monitoring for normal sensor operation and troubleshooting.
Diagnostic display LEDs indicate four modes described in
‘Table 1’.
Single-magnet sensor
M1
Temposonics
R-Series
®
M1A
Active stroke range
®
R
Position / Velocity
75 mm
(3 in.) min.
M0
M1
M2
M3
M4
Multi-magnet sensor
Temposonics
R-Series
®
®
R
Figure 1.
R-Series sensor Integrated diagnostic LEDs
Green
ON
ON
OFF
Flashing
Red
OFF
ON
ON
Flashing
Operation status/mode
Normal function (operation mode)
Magnet not detected or wrong
quantity of magnets
Initialization error
Power out of range (high or low)
Position
0%
100%
Figure 2.
Single and multi-magnet output diagram
CANopen communication and functionality
CANopen corresponds to encoder profile
‘DS-406 V3.1 (CIA standard
DS-301 V4.02)’.
The CANopen functionality is described below in the
following communication objects.
Note:
Conformance Test Certificate No. CiA199902-301V30/I-004 is provided by
the CANbus user organization CiA (CAN in Automation) for MTS CANopen
sensors.
Table 1.
Diagnostic display indicator modes
CANbus protocol
Temposonics R-Series models RP and RH linear-position sensors,
as slave devices, fulfill all requirements of the CANbus (ISO 11898)
protocol. The sensor’s electronics convert the position measure-
ments into bus oriented outputs and transfer this data directly to the
controller.
The bus interface is appropriate for serial data transfer up to
1 Mbps maximum. Sensor integrated software supports bus
profiles CANopen, CANbasic and DeviceNet for a comprehensive
customized configuration of the sensor-bus system.
DeviceNet documentation is available from the MTS website at
http://www.mtssensors.com/products/linear-position-sensors/
index.html.
OPERATION MODES
R-Series sensors with CANbus protocol provide the following single
or multi-magnet measurements:
Standard measurements:
• CANbasic; Position + velocity (using one magnet)
• CANopen; Position + velocity (using one to four magnets)
+ sensor internal electronics temperature
Multi-magnet measurement:
CANbasic; Positions for each of two to twenty magnets
simultaneously.
When using multiple magnets, the minimum allowed distance be-
tween magnets is 75 mm (3 in.) to maintain proper sensor output
(see ‘Figure 2’).
LINEARITY CORRECTION OPTION (LCO)
The Linearity Correction Option (LCO) provides improved sensor
output accuracy. For most stroke lengths linearity accuracy is im-
proved up to a factor of 5 resulting in deviations from actual position
of less than +/- 20 microns (0.0008 in.). For stroke lengths over
5000 mm (197 in.), the linearity accuracy is improved up to a factor
of 10. Selecting the sensor style and magnet is important (both
must be matched together). Contact the factory for assistance when
designing for the LCO in your application.
SERVICE DATA OBJECT (SD0)
The SDO is mainly used for sensor configuration. Selectable
parameters are as follows:
• Resolution for position + velocity
• 4 set points
• Preset of the operation range and the null position for four
magnets
PROCESS DATA OBJECT (PDO)
The PDO provides real-time data transfer of sensor measurements in
up to 8-byte data blocks. The sensor uses PDO’s to relay information
about magnet position, velocity, limit status, cam control and opera-
tion range for up to four magnets.
Data formats:
• 32-bits for position
• 16-bits for velocity
• 8-bits for value limit.
R-Series Models RP and RH Temposonics
®
Linear-Position Sensors - CANbus Output
Product Data Sheet, Document Part No.: 550991, Revision D 02/10, 10/11
MTS Sensors
3
Advanced communication and programmability (cont)
Field Programming
CANbus outputs
PDO TRANSMISSION TYPE
Asynchronous (cycle time of 1 to 65.535 ms) or synchronous
•
•
•
•
•
•
Synchronization Object (SYNC)
Emergency Object
Nodeguard Object
Heartbeat function
Selectable bus termination
Monitoring for the sensor internal electronics temperature
CANopen handheld address programmer
The
CANopen Handheld Address Programmer (see ‘Figure 3’)
is
offered as an accessory used to setup the Node-Address for sensors
with the CANopen interface. This setup is usually completed by the
bus’ LMT/LSS-Service. If the master system or customer controller
does not support this service, connecting the CANopen Handheld
Address Programmer to the sensor will bypass the service and allow
direct setup.
CANopen communication and functionality
CANOPEN CONFIGURATION
A software file is used as an Electronic Data Sheet (EDS) for sen-
sor configuration. The EDS file is available on the R-Series Setup
software mini diskette, part number: 551052 that comes with the
sensor. To download the latest software go to MTS website at:
http://www.mtssensors.com.
CANbasic (MTS)
CANbasic (MTS)
allows a simple, flexible adaptation to customized
profiles with a short bus access. The CANbasic protocol complies
with CAN the 2.0A standard and includes applications data for
single-magnet measurement (position, velocity, sensor status and
five setpoints).
Figure 3.
R-Series CANopen Handheld Address Programmer
(part no. 252382-D62) Installation Instructions
(part no.: 551192)
CANbasic (Multi-magnet measurement)
CANbasic (Multi-magnet measurement)
provides position measure-
ment on a single sensor using a maximum of twenty magnets. Setup
and operation are accomplished through the on-site control system.
R-Series Models RP and RH Temposonics
®
Linear-Position Sensors - CANbus Output
Product Data Sheet, Document Part No.: 550991, Revision D 02/10, 10/11
4
MTS Sensors
Model RP Profile-Style Sensor Dimensions
Model RP profile-style sensor dimension references
MODEL RP, PROFILE-STYLE SENSOR WITH CAPTIVE-SLIDING MAGNET
Drawing is for reference only, contact applications engineering for tolerance specific information.
5.5 mm
(0.21 in.) dia.
M5 or #10 screw
9 mm
(0.36 in.)
49 mm
(1.92 in.)
Beginning of stroke ‘Null’ position
12 mm (0.47 in.)
Captive-sliding magnet
45 mm
(1.77 in.)
Electronics
housing
13 mm (0.51 in.)
75 mm
(3 in.)
Mounting foot, moveable
(part no.: 400802)
82 mm (3.2 in.)
Dead zone
Stroke length
End of stroke
‘Span’ position
50 mm (1.97 in.)
68 mm (2.68 in.)
D60
integral connector option
2 mm
(0.07 in.)
Figure 4.
R-Series Model RP Profile-style sensor dimension reference (Shown with the
D60
integral connector option)
MODEL RP, PROFILE-STYLE SENSOR WITH OPEN-RING MAGNET
Drawing is for reference only, contact applications engineering for tolerance specific information.
Beginning of stroke ‘Null’ Position
Open-ring magnet
Mounting support
(non-ferrous material)
End of stroke
‘Span’ Position
28 mm
(1.1 in.)
28 mm
(1.1 in.)
Electronics
housing
43 mm
(1.7 in.)
62 mm
(2.4 in.)
P05
integral cable
connection type option
Mounting foot, moveable
(part no.: 400802)
Stroke length
Dead zone
66 mm
(2.6 in.)
Figure 5.
R-Series Model RP Profile-style sensor dimension reference (Shown with the
P05
integral cable option)
MODEL RP, PROFILE-STYLE SENSOR WITH CAPTIVE-SLIDING MAGNET
Drawing is for reference only, contact applications engineering for tolerance specific information.
5.5 mm
(0.21 in.) dia.
M5 or #20 screw
9 mm
(0.36 in.)
49 mm
(1.92 in.)
Beginning of stroke ‘Null’ position
12 mm (0.47 in.)
Captive-sliding magnet
45 mm
(1.77 in.)
2 mm
(0.07 in.)
Electronics
housing
19 mm (0.75 in.)
100 mm
(3.9 in.)
Mounting foot, moveable
(part no.: 400802)
Stroke length
End of stroke
‘Span’ position
50 mm (1.97 in.)
68 mm (2.68 in.)
D54
integral connector option
82 mm (3.2 in.)
Dead zone
Figure 6.
R-Series Model RP Profile-style sensor dimension reference (Shown with the
D54
integral connector option)
MTS Sensors
5
R-Series Models RP and RH Temposonics
®
Linear-Position Sensors - CANbus Output
Product Data Sheet, Document Part No.: 550991, Revision D 02/10, 10/11
PCB Design
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