Temposonics
®
®
Magnetostrictive, Absolute, Non-contact
Linear-Position Sensors
R-Series Models RP and RH
EtherCAT
®
Industrial Ethernet Interface
Data Sheet
SENS
O
RS
Document Part Number
551074 Revision B
Model RP Profile-style position sensor
Features
Linear, absolute Measurement
LeDs For sensor Diagnostics
superior accuracy, resolution down to 1 µm
Non-Contact sensing technology
Linearity Deviation Less than 0.01%
repeatability Within 0.001%
Direct etherCat Interface, Position + Velocity
100 µs Position / Velocity update time, regardless of
Overall stroke Length
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
Position + Velocity Measurements For up to 20 Magnets
aPPLICatIONs
Continuous Operation In Harsh Industrial Conditions
High Pressure Conditions
For accurate, High-speed, simultaneous Multi-Position
and Velocity Measurements
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 magneto-
strictive 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 movable 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.
EtherCAT
®
is a registered trademark and patented technology licenced by
Beckhoff Automation GmbH, Germany
Product Overview and Specifications
Product overview
Temposonics R-Series EtherCAT sensors represent MTS Sensors’
development and product offering in high-speed networked position
feedback. EtherCAT (Ethernet for Control Automation Technology) is a
unique interface developed by Beckhoff Automation and is supported
by the EtherCAT Technology Group (ETG).
This interface is used for industrial Ethernet, providing the fastest,
most deterministic industrial networking solution possible using
the base Ethernet physical layer. By using this format, coupled with
our high speed networked sensing capability, machine builders and
automation engineers will be able to overcome bandwidth and node
limitation issues found with other commercially available industrial
networks.
Product specifications
Parameters
Specifications
Parameters
Specifications
OUTPUT
Measured output
variables:
ENVIRONMENTAL
Simultaneous multi-position and velocity
measurements up to 20 magnets or up to
5 magnets when using high-speed update
(for EtherCAT distributed clock mode).
Option for acceleration measurements up to
2 magnets.
1 to 1000 µm selectable
100 µs min. (high speed update feature
is active when the controller’s loop time is
less than the sensor’s measurement cycle
time)
< ± 0.01% full stroke (minimum ± 50 µm)
(Linearity Correction Option (LCO)
available)
< ± 0.001% full stroke
(minimum ± 2.5 µm)
< 4 µm
Interface:
EtherCAT
Data format: EtherCAT 100 Base-Tx,
fast Ethernet
Data transmission rate: 100 Mbit/s max.
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.)
Operating
conditions:
Operating temperature:
0 °C (32 °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
Resolution:
Update time:
EMC test:
Linearity
deviation:
Repeatability:
Hysteresis:
Outputs:
Shock rating:
Vibration rating:
WIRINg
Connection type:
D56 option: Two female 4-pin (M12-D) plus
one 4-pin male (M8) connector
PROFILE STYLE SENSOR (MODEL RP)
Electronic head:
Aluminum housing with diagnostic LED
display (LEDs located beside connectors)
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:
Sealing:
Sensor rod:
Operating
pressure:
Mounting:
Typical
mounting torque:
Magnet tyes:
Aluminum housing with diagnostic LED
display (LEDs located beside connectors)
IP 67
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
Stroke length:
ELECTRONICS
Operating
voltage:
+24 Vdc nominal:
-15% or +20%
Polarity protection:
up to -30 Vdc
Over voltage protection:
up to 36 Vdc
Current drain:
80 mA typical
Dielectric withstand voltage:
500 Vdc
(DC ground to machine ground)
R-Series Models RP and RH Temposonics
®
Linear-Position Sensors - EtherCAT
®
Output
Product Data Sheet, Document Part No.: 551074, Revision B 04/10, 07/11
2
MTS Sensors
EtherCAT Output Options, Programmability
Enhanced Monitoring and Diagnostics
Enhanced monitoring and diagnostics
SENSOR STATUS AND DIAgNOSTIC DISPLAY
Integrated diagnostic LEDs (green/red), located
beside sensor connectors
(see ‘Figure 1’),
pro-
vide basic visual monitoring for normal sensor
operation and troubleshooting. Diagnostic display
LEDs indicate four modes described in
‘Table 1.
Diagnostic display indicator modes'
Figure 1.
R-Series sensor Integrated diagnostic LEDs
Status LED
(green)
Off:
On:
Flashing:
Off:
On:
Flashing:
Off:
On:
Flashing:
Off:
On:
Flashing:
Initializing
Normal function
Various flashing codes show
different operational status
Normal function
missing magnet
Supply voltage beyond limits
(high or low)
No link
Link detected
Traffic
No link
Link detected
Traffic
Operation modes and output
There are two operation modes available:
E101 - Fast update position and velocity:
•
Designed for high-speed motion control
•
Up to 5 simultaneous magnet measurements
•
100 µs update rate, (independent of stroke length)
E102 Multi-magnet position and velocity:
•
Designed for gauging systems having many magnet positions
•
Up to 20 simultaneous magnet measurements
•
Standard update rates, (stroke length dependent)
When using multiple magnets, the minimum allowed distance
between magnets is 75 mm (3 in.) to maintain proper sensor output
(see ‘Figure 2’).
Active stroke length
Error LED
(Red)
IN Port
LED
(green)
OUT
Port LED
(green)
1 to 5 magnet
Measurement
Temposonics
R-Series
®
75 mm
(3 in.) min.
M1
M2
M3
M4
M5
®
R
Table 1.
Diagnostic display indicator modes
EtherCAT interface
EtherCAT is an open field bus system which is based on Ethernet
technology, (IEEE 802.3), with a high data rate and short response
time, resulting in very good real-time performance. It is standardized
in the IEC/PAS 62407 and is part of the ISO 15745-4 standard. The
EtherCAT protocol is also being integrated into the IEC 61158, IEC
61784, and IEC 61800-7 standards.
The Temposonics EtherCAT sensor is connected as a slave device,
and as such, fulfils all the requirements of the EtherCAT field bus
system. Adding the sensor to an EtherCAT bus system is very easy.
The system manager (e.g. TwinCAT from Beckoff Automation) gets
all the parameters of the sensor from the XML file, available from
the MTS website at http://www.mtssensors.com. There are no
adjustments necessary on the sensor itself. For some applications,
optimum system performance is obtained using the sensor’s high
speed updates, up to 10 kHz, by synchronizing to the EtherCAT’s
'distributed clock mode'
(available on the “E101” sensor output
option).
Position / Velocity
1 to 20 magnet
Measurement
Temposonics
R-Series
®
75 mm
(3 in.) min.
M1
M2
M3
M19
M20
®
R
Position / Velocity
Figure 2.
Single to multi-magnet output diagram
LINEARITY CORRECTION OPTION (LCO)
The Linearity Correction Option (LCO) provides improved sensor
output accuracy. For most stroke lengths linearity accuracy is
improved up to a factor of 5 resulting in deviations from actual
position of less than ± 20 µm (0.0008 in.). For stroke lengths
over 5000 mm (197 in.), the linearity accuracy is improved
up to 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.
MTS Sensors
3
R-Series Models RP and RH Temposonics
®
Linear-Position Sensors - EtherCAT
®
Output
Product Data Sheet, Document Part No.: 551074, Revision B 04/10, 07/11
Model RP Profile-Style Sensor
Sensor Dimension References
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.)
45 mm
(1.77 in.)
2 mm
(0.07 in.)
Electronics
housing
19 mm (0.75 in.)
100 mm
(3.9 in.)
Captive-sliding magnet
Stroke length
End of stroke
‘Span’ position
50 mm (1.97 in.)
68 mm (2.68 in.)
D56
integral connector option
Mounting foot, moveable
(part no.: 400802)
82 mm (3.2 in.)
Dead zone
Figure 3.
R-Series Model RP Profile-style sensor dimension reference (Shown with the
D56
connector option)
MODEL RP, PROFILE-STYLE SENSOR WITH OPEN-RINg MAgNET
Drawing is for reference only, contact applications engineering for toler-
ance specific information.
Beginning of stroke ‘Null’ position
28 mm
(1.10 in.)
Null
zone
Electronics
Housing
Stroke length
Non-ferrous mounting
support and screws
Open-ring magnet Style M
(part no. 251416-2)
28 mm
(1.10 in.)
End of stroke ‘Span’ position
D56
integral connector option
19 mm
(0.75 in.)
100 mm
(3.9 in.)
Dead Zone
66 mm (2.6 in.)
Figure 4.
R-Series Model RP Profile-style sensor dimension reference (Shown with the
D56
connector option)
R-Series Models RP and RH Temposonics
®
Linear-Position Sensors - EtherCAT
®
Output
Product Data Sheet, Document Part No.: 551074, Revision B 04/10, 07/11
4
MTS Sensors
Model RP Profile-Style Sensor
Standard Magnet Selections
Standard magnet selections (Model RP)
SELECTION OF POSITION MAgNETS (ONE MAgNET INCLUDED WITH MODEL RP SENSOR)
A choice of two magnet mounting configurations are available with the profile-style sensor; A
‘captive-sliding’
magnet,
Styles S
or
V
or an
‘open-ring’
magnet,
Style M.
Captive-sliding magnets utilize slide bearings of special material that reduce friction, and if required, help mitigate
dirt build up. The slide bearings are designed to operate dry, requiring no external lubrication or maintenance.
The
Style M ‘open-ring’
magnet mounts on the moving machine part and travels just above the sensor’s profile extrusion. The open-ring
magnet requires a minimum distance away from ferrous metals to allow proper sensor output. It must be mounted using non-ferrous screws
and a non-ferrous support bracket, or utilize a non-ferrous spacer of at least 5 mm (0.2 in.) thickness.
POSITION MAgNET SELECTIONS
(Drawing dimensions are for reference only)
Magnet dimensions and mounted magnet dimensions
14 mm
(0.55 in.)
Rotation:
Vertical: 18°
Horizontal: 360°
Ball-jointed arm
(M5 thread)
40 mm
(1.58 in.)
43 mm
(1.69 in.)
20 mm
(0.79 in.)
25 mm
(1 in.)
Description
Part number
52 mm
(2.05 in.)
45 mm
(1.77 in.)
Captive-sliding magnet, Style S
For Model RP profile-style sensor
252182
14 mm
(0.55 in.)
Rotation:
Vertical: 18°
Ball-jointed arm
(M5 thread) 9 mm
(0.35 in.)
57 mm
(2.24 in.)
25 mm
(1 in.)
40 mm
(1.58 in.)
36 mm
(1.41 in.)
Captive-sliding magnet, Style V
For Model RP profile-style sensor
252184
Magnet dimensions and mounted magnet dimensions
2 Holes
Each 4.3 mm
(0.17 in.) dia. on
24 mm (0.94 in.) dia.
25 mm
(0.97 in.)
21 mm
(0.81 in.)
Description
Open-ring magnet, Style M
I.D.:
13.5 mm (0.53 in.)
O.D.:
33 mm (1.3 in.)
Thickness:
8 mm (0.31 in.)
Operating temperature:
- 40 °C to 100 °C
This magnet may influence the
sensor performance specifications
for some applications.
Part number
60°
Non-ferrous mounting support
and screws
21 mm
(0.81 in.)
Max gap
3 mm ± 1 mm
(0.12 in. ± 0.04 in.)
14 mm
(0.55 in.)
29 mm
(1.14 in.)
251416-2
Open-ring magnet Style ‘M’
MTS Sensors
5
R-Series Models RP and RH Temposonics
®
Linear-Position Sensors - EtherCAT
®
Output
Product Data Sheet, Document Part No.: 551074, Revision B 04/10, 07/11
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