Absolute Encoder

Transcription

Absolute Encoder

Shaft Encoders,
Linear and
Angular
Measuring
Systems
2001
High-Tech Sensors from Hengstler.
Further Hengstler Products
Industrial
Counting and
Control
Components
Printers
Cutters
Innovative products from your
competent partner. World-wide
competent partner. World-wide.
Industrial Counting and
Control Components
grado
Prozesse sicher regeln auch im
Extrembereich.
Industrial and Temperature
Controllers grado
Printers and
Cutters
Programmübersicht
SICHERHEITSRELAIS
Programmübersicht
RELAIS
Product Range
SAFETY RELAYS
Product Range
RELAYS
Gamme de Produits
RELAIS DE SÉCURITÉ
Gamme de Produits
RELAIS
Product Range
Safety Relays
Industrial and
Temperature
Controllers
Product Range
Relays
Industrial counter and control technology
Automation components - starting from
mini-counters up to sophisticated control
counters, totalizing and preset counters,
interface counters, control and measuring
systems, multi-function counters, position
indicators, shift counters, analog/digital
timers and tachometers.
Industrial and temperature controllers
Even in extreme situations this family of
industrial and temperature controllers
shows its quality. Our controllers are distinguished for example by: very easy operation, state of the art technology, safety
through self-tuning and compact DIN
dimensions.
Relay technology
Relays with force-guided contact sets - a
product range that leaves nothing to be
desired. Polarized bistable relays, up to 35 A.
PC board relays, retentive relays, industrial
relays as well as high-voltage relays and
mains isolation relays are our specialties.
Data printers
Or maintenance-free and noiseless data
printers (thermal and dot-matrix) are suited
for a wide range of applications. A special
advantage is the simple handling – including paper and ribbons. We have developed
special printer solutions based on our experience in all business areas e. g. for infopoints, ticket dispensers, cash dispensers.
Cutters
Once printing is completed, a printout or
voucher often needs to be cut off neatly
and quickly. HENGSTLER offers you four
different versions of maintenance-free,
self-sharpening cutters, e.g. for paper
widths of 60-500 mm and paper weights up
to 400 g/m2.
Contents
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Good reasons for working with Hengstler
Successful with Hengstler
New Products
Overview of Hengstler Products
Top-Service for you
Worldwide at your service
Products in this catalog
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APPLICATIONS
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Examples
PTP approved length measurement systems
Freely configurable length measurement systems
Frequency measurement and speed monitoring
Batch counting w / wo interface
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40
INCREMENTAL ENCODERS
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Overview of range
General information
Outputs
Overview Code Table
Industrial encoder types
Hollow shaft encoders
Economy encoders
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50
55
60
61
82
96
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Overview of range
General information
Overview Code Table
Absolute encoder with parallel interface
Absolute encoder with SSI
Absolute encoder with SSI programmable
Absolute encoder with INTERBUS (K2, K3, Loop)
Absolute encoder with CAN, CANopen
Absolute encoder with DeviceNet
Absolute encoder with Profibus DP
Absolute encoder with Hollow shaft
Absolute encoder stainless steel
Encoder in explosion-proof versions
Dimensioned drawings
GENERAL ASPECTS
ABSOLUTE ENCODERS
SINE-WAVE ENCODERS
MOTOR ENCODERS
NEW
n Overview of range
n Industrial encoders
n Overview of range
n M15, M21
n Flex mount encoders
RI 30, RI 36, RI 58, RI 59 Stainless steel; RX 70-I EX
RI 36-H, RI 58-H, RI 58-D, RI 76 TD
RI 32, RI 38, RI 41, RI 42
RA 58-S/M
RA 58-S/M
RA 58-P
RA 58-S/M/P
RA 58-P
RA 58-P
RA 58-P
RA 58
RA 59
RX 70T S/M/P
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110
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152
157
160
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174
RIS 58, RIS 58-H (hollow shaft)
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S21
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202
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Overview of range
General information
Inductive linear system LI
Inductive angle system AI
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ACCESSORIES
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Position indicator for absolute encoders
Encoder with shock module
Flexible couplings
Mounting elements
Connectors, cables
Measuring wheels
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OTHERS
n Glossary of Technical Terms
n Terms and Conditions
LINEAR AND ANGLE
MEASUREMENT SYSTEMS
ENCODERS COUNTERS CONTROLLERS INDICATORS RELAYS PRINTERS CUTTERS
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241
Shaft Encoders 2001
1
General Aspects
Page
The Hengstler headquarters in Aldingen.
Good reasons for working with Hengstler
The Hengstler headquarters are located in Aldingen, in South-West Germany, on the edge of the
Black Forest - a region famous for its industrial
pioneers and inventors. The foundations for the
Hengstler company were laid by one of these
inventors, Johannes Hengstler, who, in 1846, set
up a workshop which was
later to become the center
of the worldwide Hengstler
group. The workshop was
started for the manufacture
of clock springs; today,
Hengstler products range
from miniature counters to
length measuring systems.
Better by competence
This catalog provides proof of our competence in the business field of encoders and
inductive measuring systems - a comprehensive program characterized (as are all
Hengstler products) by state-of-the-art
technology, excellent design and highest
standards of quality and reliability.
Hengstler - you can count on us.
All technical data and information contained
herein, including the graphics, were collected
and compiled with the utmost care.
This broschure provides information on products
and accessories, which, however, does not
constitute any guarantee for technical data or
features. The user of these products must
determine himself the suitability of the product
for the intended use.
2
E N C O D E R S COUNTERS CONTROLLERS INDICATORS RELAYS PRINTERS CUTTERS
Shaft Encoders 2001
All technical data is subject to alterations. For
questions of technical nature or regarding
prices and delivery, please contact our company
headquarters or field service employees.
Quality
Customer Orientation
n Hengstler is never far away - wherever you are
in the world
n Application-specific assistance
n Customer-oriented manufacturing (one-piece-flow)
n Fair price/performance ratio
n Short delivery times and a high degree of
availability
n 48-hour repair service
n High-quality materials in
accordance with VDE
(Association of German
Electrotechnical Engineers)
n UL, CL- and TÜV approvals
n DQS-certified to ISO 9001
Variety
n Hengstler offers a wide range of
components for counting, controlling, indicating, measuring, switching
and printing
n Get it all from one source!
n Benefit from numerous variants for added flexibility.
Experience
n Hengstler was founded in 1846 and
has been manufacturing: counters:
since 1926, printers: since 1970,
sensors: since 1987, relays: since 1983...
Innovation
Competence
n Vast know-how in the fields of development,
manufacturing and sales marketing
n Assistance and support are provided by specialists.
n Product development is based on state-of-the-art technology
and highly advanced processes.
n Our products are setting the pace - around the globe
n We offer communicative products with state-of-the-art
bus technology.
Successful with Hengstler
Innovation at an international
level
Our numerous branches and representatives
in Europe, America and Asia have made us a
truly international enterprise. Our availability around the globe is, of course, a great
benefit for our customers - the next Hengstler contact is never far away.
Our sound footing in all parts of the world
also has a positive effect on our product
know-how. Findings from worldwide research programs provide a pool of information from which, in turn, the material for the
carefully directed, overall technological
concept is won. These findings form the
practice-oriented basis for ongoing innovation and efficiency in all corporate sectors.
The pace of innovation is getting faster and
faster in all sectors of technology. Only those
who are able to follow or even set this pace
will continue to be competitive. Strong,
reliable partners are needed to help you cope
with these new demands. You need partners
whose top priority is added product
value/customer value, customer-orientation
and high quality.
And taking all this into account, Hengstler is
your partner of choice.
Hengstler is a leading European manufacturer in the field of industrial counting and
control components, e.g. counters, encoders,
industrial and temperature controllers, as
well as relays.
The product range is completed by printers
and cutters, with Hengstler being the greatest
manufacturer for cutters in Europe.
Hengstler:
Your Technology
Partner
One of our particular strengths is the project
management of custom applications. The
basis for this is our wide experience gained
over many years in the fields of electromechanics, mechanics, pneumatics and electronics which is, of course, mirrored in our product program. Hengstler offers its customers
complete support starting at the project
planning and development right through to
the final product. At present we are handling
complex projects in the field of pneumatics
and printers for well-known companies,
such as Bosch, Festo, IBM and Siemens.
Talk to Hengstler.
We can offer solutions.
Shaft Encoders 2001
3
NEW
Hengstler’s new products powerful and versatile
Adaptive Sine-wave Encoder RIS 58
The latest High-Tech generation
Hollow-Shaft Encoder RI36H with
clamping shaft
Hengstler has expanded its product range by
this small, powerful hollow-shaft encoder,
which offers a resolution of up to 3600
pulses/rev. at an outer diameter of only 36
mm. The use of an Optoasic makes this
encoder particularly reliable and immune to
interference. A coupling is not necessary
and, therefore, space and costs are saved
due to the fact that this encoder is mounted
directly on the motor shaft.
Integrated Sine-wave Encoder S21
Motor feedback meeting the most
stringent demands
The S21 integrated sine-wave encoder was
specially developed for use in brushless servo
motors and for demanding applications, such
as for CNC or printing machines. High sine
signal quality (distortion factor better than
1%) and interpolation of 2048 signal periods
allow resolutions of more than 4 million
This new type of incremental encoders features a universal top-of-the line industrial
encoder for a wide range of applications. It
uses a second generation Hengstler sine
optoasic, which ensures enhanced reliability
and prolonged product life.
n Full shaft
n Open hollow-shaft on one side
measuring increments. One sine-cosine signal period per turn is used for electronic
commutation of the synchronous motors,
which are energized by permanent magnets.
RA 58 Absolute Encoder with
hollow shaft
This encoder is very short as compared to full
shaft encoders and, therefore, is particularly
easy to mount. It features an open hollow
shaft on one side (inside diameter 10 or 12
mm). It ensures safe and secure mounting on
the drive shaft by means of a clamping ring.
The supplied mounting plate is used to protect against torsion and compensate for
axial and radial offset of the drive shaft.
Special advantages:
n Enhanced dynamic behavior
n Reduced mounting times
n Fewer mounting parts required
n Reduced mounting depth
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Shaft Encoders 2001
Inductive Linear Encoders LI
Hengstler offers the only linear measurement system to combine the high accuracy
of optical encoders with the ruggedness and
low cost of the previous magnetic systems.
Decisive benefits are:
n Speed: real-time signals up to 20 m/s
travel speed
n Ruggedness: Immune to dirt, vibrations
and magnetic fields (non-contact principle)
n Precision: Allowing resolutions up to
0.25 µm, reference signal output
n Time and Cost-Saving: Even more
cost-effective with increased travel
lengths.
AI Inductive Angle Measuring
System modular and rugged
The inductive angle encoder exhibits the
same system characteristics as the linear
encoder system described above. It is
immune against dirt and mechanical impact,
and excels by extremely high measuring
accuracy. Its flexible, modular design makes
it suitable for a multitude of applications,
which were previously either not possible or
required a high degree of mechanical effort.
MLC 9000 Multi-Channel Control
System with Bus Integration
The new “grado” multi-channel controller
system is a modular control system that is
extremely well-suited for DIN C-rail mounting in switching cabinets. It is particularly
space-saving due to its very compact design
- i.e. the width of the system corresponding
exactly to the number of modules used.
Further benefits: the system is operated
independently of the PLC, with accordingly
reduced effort for parameterization, programming and control and significantly
higher performance and precision values.
H-472 ... H-472 Safety Relays
The new range of safety relays, H-472 to
H-475, with force guided contact sets, features extremely flat relays (only 15.7 mm).
Despite their small dimensions these relays
offer up to 7 contacts and allow safe electrical isolation (reinforced/double insulation)
for overvoltage category Ü=III and a degree
of pollution of V=2.
Hengstler’s twin relays H-474 and H-475 are
worldwide innovation: two safety relays are
located in one housing.
Shaft Encoders 2001
5
Hengstler’s Product
Range:
Competence and
Variety
Get it all from one source: a requirement
that is more important than ever for many
customers, since a close partnership contributes significantly to saving time and money
and to facilitate processes. Moreover, intensive contacts between users and manufacturers at the early stage of the product
design are the basis of common success.
Hengstler offers versatile components for
the following fields of applications:
n Counting
n Controlling
n Regulating
n Indicating
n Measuring
n Positioning
n Switching
n Printing
n Cutting
Indicating, counting, control
Whether you use electronic, electromechanical, mechanical or pneumaticcounters, your selection is always ruled by
your specific requirements.
Our program ranges from miniature counters to sophisticated programmable control counters, multi-function counters,
positioning counters, indicators, tachometers, time counters and timers.
As for all our products, the standard features
of this versatile portfolio are state-of-theart technique, attractive design, high quality
and reliability as well as a customer-friendly
price/performance ratio.
More information
Please order our Counter Catalog.
Please contact your local distributor.
Controllers and Indicators
Our industrial and temperature controllers
demonstrate their qualities - even under
extreme conditions. Moreover, they excel by
extremely easy operation, safety due to selfoptimization features, state-of-the-art technology and compact DIN sizes.
NEW: the MLC 9000 multi-channel control
system with bus integration. It can be operated independently of the PLC and features a
modular, very compact design with particularly high performance and accuracy.
More information
Please order our Controller Catalog.
6
Shaft Encoders 2001
Measuring and Positioning
Continuously increasing demands with
regard to precision and productivity, combined with cost reductions due to automation,
make the use of encoders indispensable in
numerous industrial sectors.
Hengstler’s overall product range offers:
n Incremental/absolute encoders
n Hollow shaft encoders
n Ex-protection versions
n Stainless-steel versions
n Field-bus encoders
n Sine-wave encoders, motor encoders
n Inductive linear and rotary measuring
systems
More information
Please order our Encoder Catalog and
Inductive Measuring Systems brochure.
Switching Applications
Cutting-edge relay technology is a key characteristic of our relay product range. Our
particular strength lies in the field of safety
relays where we have traditionally been
assuming a pioneer role. Some of these
“firsts” are listed below:
n Reinforced insulation, also between
contacts
n Failure-tolerant contact sets
n Extremely flat, with reinforced insulation
n Twin relays
Printing and Cutting Applications
Innovative solutions in the field of printers
and cutters are further assets offered by
Hengstler. Hengstler components offer special benefits: they are highly reliable, maintenance-free and easy to handle, even when
it gets down to changing paper.
Our thermal printers and impact printers
are used as voucher or receipt printers, e.g
for cash dispensers (ATM), Kiosk systems and
all other types of automatic dispensers.
Powerful cutters exhibiting different cutting
widths ensure clean cuts for a great variety of
applications and under extreme climatic
conditions.
More information
Please order our Printers and Cutters Catalog.
More information
Please order our Relay Catalog on
CD-ROM and brochures.
Shaft Encoders 2001
7
Our Top Service for You
1. Customer service
5. Repair Service
6. Technical Support
– always remains close to you – thanks to
our extensive sales & distribution network.
Please contact your local Hengstler distributor, addresses see following pages.
Talk to Hengstler.
Customer complaints
We are always there for you if there should
be any problems.
If you should have any technical questions
concerning your product selection or specific application – get fast and competent
help from:
Tel.: +49 7424- 89 539 or 462
Or by e-mail:
AnhMin.Nguyen@henstler.com,
claus.grimm@hengstler.com
or norbert.weber@hengstler.com
Customer Advantages
Customer Advantages
n Personal customer service
n Many years of experience
n Emergency Service
n Repair/Customer Complaint Report
Customer Advantages
n Quick response to your technical
queries.
We offer solutions.
2. World-wide representation
You will always find a friendly contact at
Hengstler – wherever you are in the world.
Our experienced, competent partners are
familiar with your branch – just get in touch.
1
Our Repair Team at Hengstler
Customer Advantages
n We’re there for you wherever you are – worldwide
3. Always on the safe side
2
3
Quality and reliability of our products are
our top priority.
Our quality management system is DQS-certified to DIN EN ISO 9001.
Reg. No. 1540-01.
4. Delivery
Your orders are shipped on time, at the delivery dates requested by you and also as partshipments, if required. Customer orders are
always entered directly, which ensures high
flexibility and short delivery times despite
our wide range of different products. And –
if there should be an emergency despite all
careful planning – we’ll be prepared to ship
at once.
4
5
Customer Advantages
6
n Overnight
If you order a product from our
main product list before 10.00
a.m., your order will be shipped on
the same day.
8
Shaft Encoders 2001
Sales International Counters, Encoders, Controllers, Printers
n Argentina
Neumann S.A.
Peru 245
1067 Buenos Aires
Tel. 5411-4-768-3449
Fax 5411-4-764-2388
n Australia
Automated Control
Engineering Group Pty Ltd.
1/8 Pennant Street
Cardiff NSW 2285
Tel. (02) 4954 5004
Fax (02) 4956 7686
e-mail: ace001@bigpond.com
n Austria
Josef Zimmer
Fahrzeug- und Industriebedarf
Hetzendorfer Straße 55
1121 Wien
Tel. (01) 804 1523-0
Fax (01) 804 1523-48
e-mail: Office@josefzimmer.at
n Belgium
Geveke Industrial Belgium
Hengstler Belgium
Leuvensesteenweg 250 A
1800 Vilvoorde
Tel. 0032-2257.02.40
Fax 0032-2257.02.49
e-mail: info@geveke.be
www.geveke-industrial.be
n Brasil
Veeder Root do Brasil
Com. e. Ind. Ltda.
Rua Ado Benatti, 92
Sao Paulo SP
CEP 05037-904
Tel. 0055 -1136112155
Fax 0055 -113611982
e-mail: dlassner@veeder.com
e-mail: Antonio_Araujo@veeder.com
n Chile
Vignola y Cia. Ltda.
P.O. Box 93-V
CPIO-Subida El Peral 25
Valparaiso
Tel. 0056-3225-6521
Fax 0056-3225-8571
n China
Automate Control Engineering Ltd
Room 21 C122, 2/F,
Huaqiang Electronics World
1015 Huaqiang North Road
ShenZhen
Guangdong, China.
Postal code: 518031
Tel: 86-755-3687900
Fax:86-755-3687846
E-mail:automate@public.szptt.net.cn
n China
Beijing Westman Automation
Technology Ltd Co.
No. 1162, SanCaiTang Building,
No. 96, Chengfu Road, Haidan
district,
Beijing 100084, P.R. China
Tel: 86-10-82629897
Fax: 86-10-82620443
Email: xxsun@public3.bta.com.cn
n Columbia
Thomas H. Hoeck
Apartado Aero 51660
Bogotá 2 D.E.
Tel. (01) 2357618
Fax (01) 2356090
n Czech Republic
SETRON, s.r.o.
K Mejtu 11
14200 Praha 4-Plsnice
Tel. 00420-2-619 10 222
Fax 00420-2-619 10 225
e-mail: setron@setron.cz
Eurotel: 00420-601-211 355
http://www.setron.cz
– not for „Printers“
n Denmark
Jemaks A/S
Kirke Vaerløsevej 26
3500 Vaerløse
Tel. (44) 486600
Fax (44) 486651
e-mail: jemaks@jemaks.dk
http://www.jemaks.dk
n Hungary
C+D Automatika KFT
Postfach 156
1701 Budapest
Tel. (0036) 1 2829 896
Fax (0036) 1 2823 125
e-mail: cdaut@mail.inext.hu
http://www.cdaut.hu
n Egypt
The Central Agency, (Sabri + Part.)
Building No. 13, Zone 9 Misr Tameer
Massaken Sheraton, Cairo, Egypt
Tel. (202)
2678775/2677640/2677641
Fax (202) 2677960
P.O.Box 5135 Heliopolis
Postal Nr. 11361 Heliopolis El
Horreya
Cable: Sabrem Cairo
e-mail: tcasabri@egyptonline.com
n India
Proximon Controls Pvt. Ltd.
202, Krishna
Laxmi Industrial Complex
Pokhran Road No. 1
Vartak Nagar
Thane – 400 606
Tel. +91-22-544 80 37 or
Tel. +91-22-544 80 38
Fax +91-22-544 80 39
e-mail: proximon@vsnl.com
http://www.proximon.com
- only textile industry
n Finland
Sensorola Oy
P.O.Box 62
Kielotie 14 B
01301 Vantaa
Tel. 0358-9-8386460
Fax 0358-9-8572205
e-mail: myynti@sensorola.fi
http://www.sensorola.fi
n France
Hengstler Contrôle Numérique SARL
Z.I. des Mardelles
94-106 Rue Blaise Pascal, B.P. 71
93602 Aulnay-sous-Bois, Cédex
Tel. (01) 48795501
Fax (01) 48795561
n Guatemala
Impex Ltda.
1a Avda. 10-81
Zona 10
8é Nivel
Ciudad de Guatemala
Tel. 502 332 7432
Fax 502 332 7431
e-mail: impex@newcomgua.com
n Indonesia
R Singapore
n Israel
Dies Company Ltd.
„Paz-Hateomim Center“
Mishmar Hashiva
P.O. Box 21125
Tel-Aviv 61211
Tel. (03) 9605008
Fax (03) 9605004
e-mail: dies@dies.co.il
n Italia
Hengstler Italia S.r.l.
Via G. Cavalcanti 5
20127 Milano
Tel. (02) 26821943
Fax (02) 26821953
e-mail: info@hengstler-italia.com
n Japan
Hengstler Japan Corporation Tokyo
1–8–5, Asagayaminami
Suginami-Ku
Tokyo 166-0004
Tel. (03) 5306-0150
Fax (03) 5306-0160
n Great Britain
West Instruments
The Hyde
Brighton, East Sussex
BN2 4JU, England
Tel. +44 (0) 1273 606271
Fax +44 (0) 1273 609990
n Hengstler Japan Corporation Osaka
2–12–23, Minamikaneden
Suita-shi
Osaka 564-0044
Tel. (06) 6386-8001
Fax (06) 6386-5022
e-mail:
mailmaster@hengstler.co.jp
n Great Britain
J. Darbyshire + Son Ltd.
7, Tudor Close, Carleton
Poulton-le-Fylde
Blackpool Lancs. FY6 7TD
Tel. (01253) 893878
Fax (01253) 891020
n Korea
Dae-Hyun Sangong Co., Ltd
Room 401, An Sung Bldg.
#410-13, Sindonm, Kuro-gu
Seoul 152-070
Tel. 0082-26791627
Fax 0082-26791628
e-mail: cyberist@shinbiro.com
n Greece
Control System Ltd.
Giannitson 57
546 27 Thessaloniki
Tel. (031) 527228
Fax (031) 515495
n Hong Kong
Automate Control Engineering Ltd
Unit 1505 Entrepot Centre,
117 How Ming Street, Kwun Tong,
Kowloon, Hong Kong
Tel: 852-2342-7276
Fax: 852-2342-7229
e-mail: automate@netvigator.com
n Lebanon
Incotel Electronics
Facing Dora Gate
Beirut
Tel. 00961-1-240003
Fax 00961-1-252276
e-mail: incotel@cyberia.net.lb
n Luxemburg
R Belgium
Shaft Encoders 2001
9
Sales International Counters, Encoders, Controllers, Printers
n Malaysia
Farnell Electronic Sdn Bhd
No. 6-2, (1st Floor), Jalan USJ 9/5N
Subang Business Centre, UEP
Subang Jaya
47620 Subang Jaya, Selangor
Tel. 60-3-7245748
Fax 60-3-7245766
e-mail: farnell@tm.net.my
n Mexico
Comp. Ferretera Mexicana S.A.
de CV.
16 de Septiembre No. 58
Apartado Postal 148
06000 Mexico, D.F.
Tel. (05) 7471984
Fax (05) 5211707
e-mail: bokersa@data.net.mx
n Netherlands
Geveke Industrial
De Meerheuvel 6a
5221 EA ’s-Hertogenbosch
Postbus 2232
5202 CE’s Hertogenbosch
Tel. +31-(0) 73-6391639
Fax +31-(0) 73-6391699
e-mail: info@gin.geveke.nl
www.geveke-industrial.nl
TDS Technology (S) Pte Ltd.
64 Sungei Kadut Loop
(HOCEN Building, 3rd. Storey)
Singapore 729493
Tel. (65) 366 1661
Fax (65) 362 1661
e-mail: stella@tdstech.com
http://www.tdstech.com
n Slovenia
TIPTEH D.O.O.
Cesta V Gorice 40
1111 Ljubljana
Tel. (061) 200 51 50
Fax (061) 200 51 51
e-mail: damijan.jager@abm.si
http.//www. tipteh.si
n South Africa
Countapulse Controls (Pty) Ltd.
Cleveland, 2022
P.O. Box 40393
313 Jules Street
Malvern, 2094
Tel. (011) 615 7556/7/8
Fax (011) 615 7513
e-mail: countap@iafrica.com
n New Zealand
EMC Industrial Group Ltd.
P.O. Box 101444
NSMC, Auckland
Tel. (09) 415 5110
Fax (09) 415 5115
e-mail: sales@emc.co.nz
n Norway
Hecotron Industriell Elektronikk AS
Postboks 4269, Torshóv
Gunnar Schjelderupsv. 9
0401 Oslo
Tel. (22) 159615
Fax (22) 229365
e-mail: hecotron@hecotron.no
n Peru
Ing. E. Brammertz S.C.R.L.
Apdo. 0173
Miraflores-Lima 18
Tel. +51-1-445 81 78
Fax +51-1-445 01 81
e-mail: braming@terra.com.
pecosapidata.com.pe
n Spain
Hengstler España S.A.
C/Córcega, 541, 2° 1a
08025 Barcelona
Tel. +34-93 435.51.50 / 64.28 / 76.92
Fax +34-93 347.92.60
e-mail: hengstler@hengstler.es
n Horbara
Txomin Garat 4
48004 Bilbao
Tel. (94) 4119011
Fax (94) 4110397
n SYSTELEC
Avda. de Somosierra, 12 2A
28700 San Sebastián de los Reyes
28028 Madrid
Tel. (91) 658 8800
Fax (91) 651 0939
n Philippines
JMTI Industrial Corporation
RM 203 Comfoods Building
Sen. Gil Puyat Ave.
Makati Metro Manila
Tel. 0063-32-8446326
Fax 0063-32-3460763
n Poland
Controla Sp. z.o.o.
ul. Pasa.z Ursynowski 1
02-784 Warszawa 1
Tel. 022-6489689, 6485777,
6485878
Fax 022-6489688, 6485874
e-mail: controla@pro.onet.pl
tel. kom. 0602 728 557
– not for „Printers“
n Portugal
Antonio Maria Tavares Jr. Lda.
Apartado 4997
4017 Porto Codex
Tel. (02) 3320022
Fax (02) 2084132
e-mail: amtj@mail.telepac.pt
10
n Singapore
Hengstler GmbH
Corporate Representative Office
Mr. Fred Tay
246 MacPherson Road
#08-01 Betime Building
Singapore 348578
Tel. 65-7459265, Fax 65-7461791
Pager: 94158924
e-mail: fred_tay@mbox5.singnet.com.sg
Shaft Encoders 2001
n Spain
Cydelec S.L.
C/Chiva No. 5
46018 Valencia
Tel: (96) 354-00-73
Fax:(96) 382-12-85
n Spain
Contelein
C/Dr. Aznar Molina 17
50002 Zaragoza
Tel. (976) 200971
Fax (976) 393327
n Sweden
A. Karlson Industriteknik AB
Box 290
Storsätragrad 4-6
12725 Skärholmen
Tel. 08-52200500
Fax 08-52200510
e-mail: info@akarlson.se
n Switzerland
Digana AG
Rotackerstrasse 21
8304 Wallisellen
Tel. (01) 8300893
Fax (01) 8300807
e-mail: Info@digana.ch
n Taiwan R. o. C.
King-E Lu Ltd.
10F-3, No. 20 Min Chuan West Road
P.O. Box 68-118
118 Taipei
Tel. (02) 25223056
Fax (02) 25319692
Distributor:
Rotech Enterprise Co. Ltd.
6F,No.3,Lane 26,Kuang-Fu N.Road
Taipei
Tel: 886-2-25781261
Fax: 886-2-25784348
n Thailand
Industrial Electrical Co., Ltd.
85/2, 85/3 Soi Sot Phin San
Rang Nam Road, Rajthevee
10400 Bangkok
Tel. 66-2-642-6700
Fax 66-2-642-4250
e-mail: iecl@ie.co.th
http://www.ie.co.th
n Turkey
Arslan Elektronik
Doz. Dipl.-Ing. Osman Arslan
Lüleci Hendek Caddesi No. 47
80020 Karaköy-Istanbul
Tel. 0212-234627 / 2493134
Fax 0212-251 8385 + 2925776
Cep Tel./Handy (0532) 485 7257
e-mail: arslane@turk.net
http://abone.turk.net/arslane
n U.A.E.
United Arab
Emirates
Descon Trading L.L.C
P.O. Box 14675
Dubai
Tel. 00971-4-2653651
Fax 00971-4-2653264
e-mail: basusil@emirates.net.ae
n USA
Danaher Controls
1675 Delaney Road
Gurnee, IL 60031-1282
Tel. (847) 662.2666
Fax (847) 662.6633
e-mail: dancon@dancon.com
http://www.dancon.com
n Danaher Controls
2100 W. Broad Street
Elisabethtown, NC 28337
Tel. 910-862 2511
Fax 910 862 5400
n HECON
25 A Abe Voorhees Drive
Old Squan Plaza, Manasquan,
NJ 08736
Tel. (732) 223-4200
Voice Mail Extension: 212
Fax (732) 223-4999
e-mail: DWidmann@hecon.com
http://www.hecon.com
- only for Printers + Cutters
n Venezuela
Victor Rafael Escobar + CA.
Apartado de Correos, 50 113
Caracas-1050-A
Tel. (02) 715235/729059
Fax (02) 7629059
n Vietnam
Hoang Quoc Co. Ltd.
509 Kim Ma Str.
Hanoi-S.R.Vietnam
Tel: 0084-4-8317421
Fax: 0084-4-8317433
e-mail: hoangquoc@hn.vnn.vn
Encoders from Hengstler - Variety and Class
The program range
Incremental Encoders
n Industrial types
n With hollow shaft
n With hollow shaft in high temperature
version for motor applications
n Economy types
n Stainless steel encoders
Absolute Encoders
n Singleturn
n Multiturn
n Interfaces: parallel, SSI, CAN, CAN open,
Profibus DP, InterBus
n programmable versions
Ex-protected Encoders
Stainless steel versions
In addition we offer custom-tailored solutions for various applications, as for example:
n Freely configurable length measuring
systems
n PTB-approved length measurement
systems
n Frequency measuring and speed monitoring systems
Reliable HENGSTLER components such as
counters, sensors and printers are perfectly
harmonized and thus guarantee simple
installation and safe operation.
Technology and Flexibility
Monolithic integrated OPTOASICS reliably
replace up to 200 SMD components. On the
base of our building block system we can
offer customers more than 1 million different shaft encoder versions from 4 different
building classes.
The choice is yours :
n Flanges and shafts with different
connection dimensions and diameters
from 6 to 76 mm
n Resolutions between 1 and 10,000, for
up to 40,000 measuring steps
n Output drivers for up to 200 m long
cables
n Covers, cables and connectors in different lengths and versions
n Protection classes up to IP 67
Short delivery times
and high availability
Hengstler encoders are manufactured with
state of the art production know how. Every
single encoder is built according to customer
specification, in series quality and in one
piece flow.
This is why we can handle your wishes very
flexibly and at the same time offer you very
short delivery times.
The Encoder Sales
and Service Team
Excellent products are only one part of the
Hengstler performance. The encoder team is
always at your service to analyse your problems, advise you according to your application and to offer you customized solutions.
We are usually just around the corner
from your location - so contact us whenever your topic is "Encoders".
Advantages for you:
n Flexibility due to the modular system
n More safety on account of the
optoasics, possible faults eliminated
n Outputs short-circuit proof and
overload protected over the whole
temperature range
n Self-monitoring and fault detection
n Long service life
n Very high protection against
electromagnetic interference
Integrierter OptoAsic
Shaft Encoders 2001
11
Type
RI 30
RI 36
Special features
n small encoder for industrial applications
n low power consumption
n high immunity to interference
n cable lengths up to 100 m
n suitable for high pulse frequencies
n high level of protection
n applications, e.g.
CNC machine centers,
handling systems, motors,
medical technology, textile machinery
n small industrial encoder for high numbers
of pulses
n high operating safety
CNC axles, machine tools,
robots, special machinery,
high-speed winding machines
Number of pulses
Technical Data - mechanical
Flange
5 ... 1,500
5 ... 3,600
S = synchro flange, R = round flange
Shaft diameter
Absolute max. shaft load radial/axial
5 mm
30 N/15 N (6.5/3.3 lbs)
6 mm/6,35 mm
30 N/15 N (6.5/3.3 lbs)
Absolute max. speed
Torque
Protection class Housing/Bearing
General design
Operating temperature
Connection
Size
Weight
Technical data - electrical
Output
Supply voltage (SELV)
Max. intrinsic power consumption
10,000 RPM
≤ 0.2 Ncm
IP 64/64
as per DIN VDE 0160, protection class III
-10...+70 °C
Cable axial/radial
Ø 30 mm
60 g approx.
10,000 RPM
≤ 0.3 Ncm
IP 64/64
-10...+70 °C
Cable or connector axial/radial
Ø 36 mm
80 g approx.
RS 422/push-pull
5 VDC/10...30 VDC
40 mA (5 VDC), 30 mA (24 VDC),
60 mA (10 VDC)
300 kHz (RS 422)
200 kHz (push-pull))
RS 422: ± 30 mA
push-pull with short circuit protection:
30 mA (10...30 VDC)
NPN-O.C. 5 mA
RS 422/push-pull
5 VDC/10...30 VDC
40 mA (5 VDC), 30 mA (24 VDC),
60 mA (10 VDC)
300 kHz (RS 422)
200 kHz (push-pull)
RS 422: ± 30 mA
30 mA (10...30 VDC)
NPN-O.C. 5 mA
1:1
± max. 25° electrical
1:1
61
65
Max. pulse frequency
Output load
Alarm output
Pulse shape
Pulse duty factor
Pulse width error
Page
12
Shaft Encoders 2001
RI 58
RI 59
RX 70-TI
n universal industrial encoder
n up tp 40,000 steps with 10,000 pulses
n high signal accuracy
n protection class up to IP 67
n operating temperature up to 100°C
n flexible due to many flange and
connector variants
n suitable for high shock loads
n applications e.g.
machine tools, CNC axles,
packaging machinery, motors, drives,
injection moulding machines,
sawing machines, textile machinery
1 ... 10,000
n stainless steel encoder with high degree
of protection
n high corrosion resistance
n suitable for use in food production
n applications e.g.
packaging machinery, filling plants,
washing systems, mixing machines
n explosion-proof according to class II
of EEX d IIC T6/T4
n highest operating safety
n applications e.g.
lacquering lines, surface processing
machines, filling plants,
mixing machines, silo systems
1 ... 10,000
1 ... 10,000
S = synchro flange, K = clamping flange,
G, Q = square flange,
M = synchro clamping flange
6 mm/6.35 mm/7 mm/10 mm/9.52 mm/12 mm
Ø 12 mm
- 180/140 N (39/30 lbs)
Ø 7 ... 10 mm
- 160/107 N (35/24 lbs)
Ø 6 mm/6,35 mm - 110/60 N (24/13 lbs)
10,000 RPM
≤ 0.5 Ncm
65/64, 67/67
RI 58-O: -10...+70 °C/RI 58-T: -25...+100 °C
Ø 58 mm, square flange = 63.5 mm / 80 mm
300 g approx.
Q = square flange
K = clamping flange
9.52 mm/10 mm
160/107 N (35/24 lbs)
10 mm
160/107 N (35/24 lbs)
10,000 RPM
≤ 0.5 Ncm
IP 67/67
-10...+ 70 °C
Cable radial
Ø 58 mm, square flange = 63.5 mm
620 g approx.
6,000 RPM (T6), 10,000 RPM (T4)
≤ 0.5 Ncm
IP 65/64
-10...+ 40 °C (T6), -20...+60 °C (T4)
Cable axial
Ø 70 mm
1,400 g approx.
RS 422/push-pull/push-pull complementary
5 VDC/10...30 VDC
40 mA (5 VDC), 30 mA (24 VDC),
60 mA (10 VDC)
300 kHz (RS 422)
200 kHz (push-pull)
RS 422: ± 30 mA
30 mA (10...30 VDC)
NPN-O.C. 5 mA
5 VDC/10...30 VDC
40 mA (5 VDC), 30 mA (24 VDC),
60 mA (10 VDC)
300 kHz (RS 422)
200 kHz (push-pull)
RS 422: ± 30 mA
30 mA (10...30 VDC)
NPN-O.C. 5 mA
5 VDC/10...30 VDC
40 mA (5 VDC), 30 mA (24 VDC),
60 mA (10 VDC)
300 kHz (RS 422)
200 kHz (push-pull)
RS 422: ± 30 mA
30 mA (10...30 VDC)
NPN-O.C. 5 mA
1:1
1:1
1:1
68
76
79
Shaft Encoders 2001
13
Incremental Encoders - with hollow shaft
Type
RI 36-H
RI 58-H
Special features
n miniature industry encoder for high
numbers of pulses
n short mounting depth
n easy mounting procedure
motors, machine tools, packaging
machines, robots, automated
SMD equipment
n through hollow shaft
n high accuracy due to integrated coupling
n secure shaft mounting
n applications e.g.
textile machinery, motors,
drives, copiers
Number of pulses
Flange or shaft fixation
5 ... 3,600
1 ... 5,000
Clamping shaft (one side open) with front
clamping ring; spring plate as torque support
hollow shaft 4 mm/6 mm/8 mm/10 mm
misalignment radial ±0.15 mm,
misalignment axial ±0.5 mm
S = synchro flange
Shaft diameter
Absolute max. speed
Torque
General design
Connection
Size
Weight
Output
Output load
Alarm output
Pulse shape
Pulse duty factor
Pulse width error
Page
14
Shaft Encoders 2001
10,000 RPM
≤ 0.3 Ncm
IP 64/64
-10...+70 °C
1.5 m cable* axial/radial
Ø 36 mm
ca. 80 g
Hollow shaft 10 mm/12 mm
misalignment axial ± 0.4 mm
misalignment parallel 0.4 mm
misalignment angular 1°
3,000 RPM
≤ 2 Ncm
IP 64/64
-10...+70 °C
cable radial
Ø 58 mm
210 g approx.
5 VDC/10...30 VDC
40 mA (5 VDC), 30 mA (24 VDC),
60 mA (10 VDC)
300 kHz (RS 422)
RS 422: ± 30 mA
30 mA (10...30 VDC)
NPN-O.C. 5 mA
5 VDC/10...30 VDC
40 mA (5 VDC), 30 mA (24 VDC),
60 mA (10 VDC)
300 kHz (RS 422)
RS 422: ± 30 mA
30 mA (10...30 VDC)
NPN-O.C. 5 mA
1:1
1:1
82
84
Type
RI 58-D
RI 76 TD
Special features
n direct mounting without coupling
n flexible hollow shaft concept up
to 14 mm
n through hollow shaft or as end shaft
(blind shaft)
n simple installation with clamping
ring or fixing screws
n short mounting depth of only 33 mm
n operating temperature up to 100 °C
(RI 58 TD)
positioning drives, length measuring
machines, motors
n shaft diameters 15 to 42 mm
n external diameter only 76 mm
n simple installation with clamping ring
front or rear
n applications e.g.
motors, printing machines, elevators
Number of pulses
1 ... 5,000
1…10,000
E= synchro flange with blind shaft
F, D, H = Synchro flange with clamping shaft
D = clamping ring front (flange side)
H = clamping ring rear (cover side)
Shaft diameter
Hollow shaft 10 mm/12 mm/14 mm
Hollow shaft 15…42 mm
Absolute max. speed
6,000 RPM
6,000 RPM (depends on version)
Torque
≤ 1.7 Ncm
3…10 Ncm (depends on version)
IP 65/64
IP 50/40, Option: IP 65/64
General design
as per DIN EN 61010, protection class III
-10...+70 °C (Option: -25...+100 °C)
-25...+100 °C
Connection
Cable or connector radial
Cable radial
Size
Ø 58 mm
Ø 76 mm
Weight
170 g approx.
320…580 g approx. (depends on version)
Output
5 VDC/10...30 VDC
5 VDC/10...30 VDC
40 mA (5 VDC), 30 mA (24 VDC),
60 mA (10 VDC)
40 mA (5 VDC), 30 mA (24 VDC),
60 mA (10 VDC)
300 kHz (RS 422)
200 kHz (push-pull)
300 kHz (RS 422)
200 kHz (push-pull)
Output load
RS 422: ± 30 mA
30 mA (10...30 VDC)
RS 422: ± 30 mA
30 mA (10...30 VDC)
Alarm output
NPN-O.C. 5 mA
NPN-O.C. 5 mA
Pulse duty factor
1:1
1:1
Pulse width error
Page
87
93
Pulse shape
Shaft Encoders 2001
15
Incremental Encoders - Economy Types
Replacement
for RIS and
RI 31
Replacement
for RI 39
Type
RI 32
RI 38
Special features
n economy encoder for small devices
n long life due to ball bearings
n low torque
n application e.g.
laboratory devices, fitness machines,
crimping machines, tampon printing
machines, small grinding machines
n encoder for universal mounting due
to front or rear fixing
n low torque
n applications e.g.
small motors, laboratory devices,
labelling devices, plotters,
length measuring machinges
Number of pulses
5 ... 1,500
5 ... 1,024
R = round flange
Q = square flange
Shaft diameter
5 mm/6 mm
6 mm
30 N/15 N (6.5/3.3 lbs)
30 N/15 N (6.5/3.3 lbs)
Absolute max. speed
6,000 RPM
10,000 RPM
Torque
≤ 0.05 Ncm
≤ 0.2 Ncm
IP 50/40
IP 50/40
General design
-10°...+60 °C
-10°...+60 °C
Connection
cable, radial/axial
cable radial
Size
Ø 30 mm
39 x 39 mm
Weight
50 g approx.
60 g approx.
Output
push-pull
push-pull
5 VDC or 10...30 VDC
40 mA (5 VDC), 30 mA (24 VDC)
40 mA (5 VDC), 30 mA (24 VDC),
300 kHz (5 VDC)
200 kHz (10 ... 30 VDC)
300 kHz (5 V)
200 kHz (10 ... 30 V)
Output load
10 mA (5 VDC),
30 mA (10...30 VDC)
10 mA (5 VDC),
30 mA (10...30 VDC)
Alarm output
NPN-O.C. 5 mA
NPN-O.C. 5 mA
Pulse duty factor
1:1
1:1
Pulse width error
Page
96
98
Pulse shape
16
Shaft Encoders 2001
Replacement
for RIM
Type
RI 41
RI 42
Special features
n economy encoder
n high mechanical life
n applications e.g.
small motors, graphic machines,
desktop robots, wood working machines
n economy encoder
n high protection IP 65
n push-pull or NPN-O.C.
textile machinery
Number of pulses
5 ... 3,600
5 ... 1,024
R = round flange
R = round flange
Shaft diameter
6 mm
6 mm
30 N/15 N (6.5/3.3 lbs)
30 N/15 N (6.5/3.3 lbs)
Absolute max. speed
10,000 RPM
10,000 RPM
Torque
≤ 0.2 Ncm
≤ 1 Ncm
IP 50/40
IP 65/64
General design
-10°...+70 °C
0°...+60 °C
Connection
cable radial
cable axial
Size
Ø 40 mm
Ø 40 mm
Weight
60 g approx.
approx. 75 g
Output
push-pull
push-pull/push-pull complementary/
NPN-O.C
5 VDC/10...30 VDC/10...24 VDC
40 mA (5 VDC), 30 mA (24 VDC),
40 mA (5 VDC), 30 mA (24 VDC),
300 kHz (5 VDC)
200 kHz (10 ... 30 VDC)
300 kHz (5 V)
200 kHz (10 ... 30 V)
50 kHz (10...24 VDC)
Output load
10 mA (5 VDC),
30 mA (10...30 VDC)
NPN-O.C.:30 mA (10...24 VDC)
push-pull with short circuit protection
10 mA (5 VDC),
30 mA (10...30 VDC)
Alarm output
NPN-O.C. 5 mA
NPN-O.C. 5 mA
Pulse duty factor
1:1
1:1
Pulse width error
Page
100
102
Pulse shape
Shaft Encoders 2001
17
Absolute Shaft Encoders
Type
RA 58 with parallel interface
RA 58 with SSI
Special features
n New: singleturn up to 14 Bit (RA 58-S)
n multiturn up to 24 Bit (RA 58-M)
n New: option stainless steel version RA 59
n New: option hollow shaft
n short circuit proof Tristate outputs
n Gray or binary code
n encoder self monitoring
n New: multiturn up to 26 Bit (RA 58-M)
n New: option stainless steel encoder RA 59
n encoder self test
n EX-version see type RX 70
Physical resolution
(actual resolution of code disc; in addition
the required resolution can be reduced
for RA 58-P by programming the encoder
parameters)
Technical data – mechanical
Flange
Singleturn: 9, 10, 12, 13, 14 Bit
Multiturn:
4096 pulses / 16 revolutions (16 Bit)
Singleturn: 9, 10, 12, 13, 14 Bit
Multiturn:
S = synchro flange, K = clamping flange
Shaft diameter
6 mm (S), 10 mm (K)
6 mm (S), 10 mm (K)
Absolute max shaft load radial/axial
Ø 6 mm
Ø 10 mm
Ø 6 mm
Ø 10 mm
Absolute max. speed
10,000 RPM (short term), 6,000 RPM
Torque
≤ 0.5 Ncm
≤ 0.5 Ncm
Protection class (EN 60529)
Housing IP 65, Bearing IP 64
General design
as per DIN EN 61,010, protection class III
-25…+85 °C
-25…+85 °C
Connection
Size
Ø 58 mm
Ø 58 mm
Weight approx.
Singleturn 300 g,
Multiturn 350 g
Singleturn 300 g,
Multiturn 350 g
Technical data – electrical
Output
push-pull
RS 485
5 VDC (only for single-turn) / 10…30 VDC
5 VDC / 10…30 VDC
Max. power consumption
0.6 A (9...14 Bit; 0.9 A (16...24 Bit)
0.3 A (5 VDC); 0.2 A (10...30 VDC)
Baud rate
max. 100 kHz code switching frequency
SSI: 70 KB...1,5 MB
Type of code
Binary, Gray, Gray Excess
Binary, Gray
Alarm output (Encoder self test)
NPN-0.C. 5 mA, Alarm Bit
NPN-O.C. 5 mA, Alarm Bit
110/60 N (24/13 lbs)
160/107 N (35/24 lbs)
110/60 N (24/13 lbs)
160/107 N (35/24 lbs)
Linearity
± ⁄2 LSB, else with 13, 14 Bit ± 1 LSB
± 1⁄2 LSB, (± 1 LSB with 25, 26 Bit)
Page
134
138
18
1
Shaft Encoders 2001
Version with
preset button
Type
RA 58 with SSI programmable
RA 58 with InterBus
Special features
n programmable version with 24 Bit
n programming via PC software
n status bits
n Gray or binary code programmable
n encoder self test
n version with preset button
n programmable preset inputs
n Singleturn up to 12 Bit
n Multiturn up to 24 Bit
n ENCOM profile K2
n ENCOM profile K3 (programmable)
n for use in remote installation bus
n New: connection with integrated
T-manifold: connector 2-fold or
bus terminal box (3-fold PG)
n New: InterBus-Loop 2
Physical resolution
parameters)
Flange
Multiturn:
4,096 pulses / 4,096 revolutions (24 Bit)
Singleturn: 9, 10, 12 Bit
Multiturn:
Shaft diameter
6 mm (S), 10 mm (K)
6 mm (S), 10 mm (K)
Ø 6 mm:
Ø 10 mm:
Ø 6 mm:
Ø 10 mm:
Absolute max. speed
Torque
≤ 0.5 Ncm
≤ 0.5 Ncm
General design
-10…+60 °C
-10...+60 °C
Connection
Cable axial/radial,
connector axial/radial,
connector with preset-button radial
Cable axial/radial,
connector 2-fold,
bus terminal box
Size
Ø 58 mm
Ø 58 mm
Weight approx.
Multiturn 350 g
Singleturn 300 g,
Multiturn 350 g
Output
RS 485
RS 485 installation remote bus, Loop 2
10…30 VDC
10…30 VDC
0.2 A (10...30 VDC)
0.2 A
Baud rate
SSI: 70 KB...1.5 MB
500 KB
Type of code
Binary, Gray
Binary
NPN-0.C. 5 mA, Alarmbit
Linearity
± 1⁄2 LSB
± 1⁄2 LSB
Page
142
146
110/60 N (24/13 Ibs)
160/107 N (35/24 lbs)
110/60 N (24/13 Ibs)
160/107 N (35/24 lbs)
Shaft Encoders 2001
19
Connection
version bus
terminal box
Type
RA 58 with CAN
RA 58 with DeviceNet
Special features
n New: singleturn up to 14 bit
n New: multiturn up to 26 Bit
n New: CANopen
n CAN layer 2
n programmable functions
n New: connection version with integrated
n DeviceNet specification 2.0
n certified by an ODVA testing institute
n singleturn up to 14 Bit
n multiturn up to 26 Bit
n connection version with integrated
T-manifold: bus terminal box (2-fold PG)
Physical resolution
parameters)
Flange
Singleturn: 9,10,12,13,14 Bit
Multiturn:
Multiturn:
Shaft diameter
6 mm (S), 10 mm (K)
6 mm (S), 10 mm (K)
Ø 6 mm:
Ø 10 mm:
Ø 6 mm:
Ø 10 mm:
Absolute max. speed
Torque
≤ 0.5 Ncm
≤ 0.5 Ncm
General design
-25…+85 °C
-25 ...+85°C
Connection
Cable axial/radial, connector 2-fold,
bus terminal box
bus terminal box with 2-fold PG
Size
Ø 58 mm
Ø 58 mm
Weight approx.
Singleturn 300 g,
Multiturn 350 g
Singleturn 300 g,
Multiturn 350 g
Output
110/60 N (24/13 Ibs)
160/107 N (35/24 lbs)
110/60 N (24/13 Ibs)
160/107 N (35/24 lbs)
CAN High-Speed acc. to ISO/DIN 11898
10...30 VDC
10...30 VDC (SELV)
0.2 A
0.2 A
Baud rate
10 KB...1000 KB, adjustable via
DIP switches
125, 250, 500 Kbit/s, adjustable via
DIP switches
Type of code
Binary
Binary
Alarm message
Alarm message
1
Linearity
± ⁄2 LSB
(± 1 LSB with 13, 14, 25, 26 Bit)
± 1⁄2 LSB
(± 1 LSB with 13, 14, 25, 26 Bit)
Page
152
157
20
Shaft Encoders 2001
Connection
version bus
terminal box
RA 58 with Profibus DP
RA 58 with SUCOnet
RA 58 with Hollow shaft
n Multiturn up to 26 bit
n Profibus DP encoder profile class C2
(programmable)
n additional programmable functions
n New: Ex-version on request
n SUCOnet-K1 protocol
n programmable functions:
Preset, Offset, Scaling, Direction
n Parallel, SSI, INTERBUS, CAN, CANopen,
Profibus DP
n Hollow shaft (blind shaft - not through)
with 10 or 12 mm diameter
n Safe shaft connection via clamping ring
n Shorter mounting depth than full shaft
encoder + coupling
n Shorter mounting time than full shaft
encoder
n Spring plate as stator coupling is included
Singleturn: 10, 12, 13, 14 Bit
Multiturn:
Multiturn:
Singleturn: 9, 10, 12, 13, 14 Bit
Multiturn:
8,192 pulses/ 4,096 revolutions (25 Bit)
F = synchro flange with clamping shaft
6 mm (S), 10 mm (K)
6 mm (S), 10 mm (K)
hollow shaft 10 mm/12 mm
Ø 6 mm:
Ø 10 mm:
Ø 6 mm:
Ø 10 mm:
110/60 N (24/13 Ibs)
160/107 N (35/24 Ibs)
110/60 N (24/13 Ibs)
160/107 N (35/24 Ibs)
10,000 RPM, 6,000 RPM
10,000 RPM, 6,000 RPM
6,000 RPM
≤ 0.5 Ncm
≤ 0.5 Ncm
≤ 1 Ncm
-25...+85 °C
-10…+60 °C
-25...+85 °C
connector 2-fold,
bus terminal box
cable axial/radial
Cable or connector radial,
connector 2-fold
Ø 58 mm
Ø 58 mm
Ø 58 mm
Singleturn 300 g,
Multiturn 350 g
Singleturn 300 g,
Multiturn 350 g
Singleturn 300 g,
Multiturn 350 g
RS 485
RS 485
10…30 VDC
10…30 VDC
The electrical data depends on the type of
interface. Please refer to the specific
interface chapter.
0.2 A
0.2 A
max. 12 MB
187.5 KB
Binary
Binary
Alarm message
± 1⁄2 LSB
( ± 1 LSB with 13, 14, 25, 26 Bit)
± 1⁄2 LSB
(± 1 LSB with 13, 25 Bit)
160
On request
165
Shaft Encoders 2001
21
Type
RA 59 stainless steel
RX 70 TS, P (EX)
Special features
DeviceNet, Profibus DP
n Stainless steel encoder with high
protection class
n High corrosion resistance
n Applications:
- packaging machines in food area
- ship equipment (e.g. cranes, winshes,
cable laying ships)
- offshore applications
n ex-protection class EEX d IIC T6 or T4
n singleturn, up to 13 Bit
n multiturn, up to 25 Bit
n SSI
n New: Profibus DP on request
n InterBus (K2/K3) on request
n programmable parameters and
status bits for RX 70 TP
Physical resolution
parameters)
Flange
Singleturn: 9, 10, 12, 13, 14 Bit
Multiturn:
16,384 pulses / 4096 revolutions (26 Bit)
Multiturn:
Square flange 63.5 x 63.5 mm
K = clamping flange
Shaft diameter
10 mm
10 mm
160/107 N (35/24 Ibs)
100 N / 40 N
Absolute max. speed
10,000 RPM
6,000 min (T6), 10,000 min (T4)
Torque
≤ 1 Ncm
≤ 0.5 Ncm
General design
-25…+85 °C
-20...+60 °C (T4), -10...+40 °C (T6)
Connection
Cable radial, bus terminal box
cable axial
Size
Ø 61.5 mm
Ø 70 mm
approx. 1,400 g
Weight approx.
Output
interface chapter.
RS 485
10...30 VDC
0.2 A
Baud rate
70 KB...1.5 MB
Type of code
binary, Gray
Alarm bit
Linearity
± 1⁄2 LSB
(±1 LSB with 13 Bit)
Page
22
167
Shaft Encoders 2001
171
Sine-Wave Encoders - Industrial Types
Type
RIS 58-O
RIS 58-H
Special features
n Harmonic distortion less than 1 %
n Extended temperature range,
-40° up to +100 °C
n 500 kHz sine-wave incremental signal
frequency response
n Self-monitoring and error compensation
n Secure against short-circuit and overload
-40° up to +100 °C
frequency response
Shaft variations
solid shaft
hollow shaft
Shaft diameter
6 mm
10 mm, 12 mm hollow shaft
60 N/40 N
Technical - data mechanical
Shaft form
Balance tolerances
axial ±1.5 mm, radial ±0.2 mm
Maximum speed
12,000 RPM
12,000 RPM
Torque
≤ 1 Ncm
≤ 1 Ncm
Protection class
Bearing IP 64, Housing IP 65
General design
as per DIN EN 61010-1
-40 up to +100 °C
-40 up to +100 °C
Vibration (IEC 68-2-6)
≤ 100 m/s2
≤ 100 m/s2
Shock (IEC 68-2-27)
≤ 1000
≤ 1000 m/s2
Housing material
Aluminium
Aluminium
Connection
Cable or connector, Conin axial or radial
Cable or connector, axial or radial
Size
Ø 58 mm
Ø 58 mm
Weight
265 g approx.
270 g approx.
5 VDC ±10 %
5 VDC/±10 %
Current consumption
120 mA
120 mA
Incremental signals A, B
Sine-Cosine 1 Vpp
Sine/cosine 1 Vpp
Increments
1000, 1024, 2048
1000, 1024, 2048
Accuracy
± 35“
± 35“
Repeatability
± 7“
± 7“
Max. frequency
500 kHz
500 kHz
Reference signal: R
> 0.4 V (1 pulse/turn)
> 0,4 V (1 pulse/turn)
Page
183
186
m/s2
Shaft Encoders 2001
23
Motor Encoders
Type
M15
M21
Special features
n through hollow shaft, diameter 6 to 10 mm
n output signals: A, B, N as incremental
signals as well as 4, 6 or 8 pole
commutation signals
n external diameter only 40 mm (1.5")
n mounting depth only 28 mm (1.1")
n max. speed up to 12,000 RPM
as feedback for brushless DC (BLDC)
servo motors, DC servomotors, step motors
n through hollow shaft,
diameter 6 to 12.7 mm
signals as well as 4, 6, 8 or 12 pole
commutation signals
Number of pulses
200 ... 1,024
500 ... 2,048
clamping ring
clamping ring
Shaft diameter
hollow shaft 6 to 10 mm
Balance tolerances
misalignment axial +0.38 ... - 0.38 mm
misalignment radial 0.05 mm
(including angular misalignment)
Absolute max. speed
12,000 RPM
12,000 RPM
Protection class
IP 40
IP 40
-40...+120 °C
-40...+120 °C
Connection
cable radial or PCB connector
Size
Ø 40 mm
Ø 53 mm
Weight
approx. 23 g without cover, 28 g with cover
Output
NPN-O.C./RS 422
NPN-O.C./RS 422
5 VDC/12 VDC ±10 %
5 VDC/12 VDC ±10 %
incremental: max. 100 mA
incremental + commutation: max. 120 mA
commutation: max. 75 mA
200 kHz
200 kHz
Alarm output
NPN-O.C. 16 mA
RS 422: ± 40 mA
NPN-O.C. 16 mA
RS 422: ± 40 mA
Pulse duty factor
1:1
1:1
Pulse width tolerance
Page
192
197
General design
Pulse shape
24
Shaft Encoders 2001
Motor Encoders
Type
S21
Special features
n Operating temperature range of
-15 up to +120 °C
n 500 kHz limiting frequency with excellent
signal quality
n Excellent immunity to interference
(EN 61000-4-4, Class 4)
n Signal control and system monitoring
n High signal quality through control and
error compensation
Shaft form
Conical 1/10
Shaft variations
Hollow and solid shaft
Shaft diameter
10 mm
with solid shaft radial 90 N, axial 20 N
with hollow shaft radial 90 N, axial 70 N
Balance tolerances
axial ± 0.5 mm, radial ± 0.1 mm
Maximum speed
12,000 RPM
Torque
≤ 1 Ncm
Protection class
IP 40
General design
-15 up to +120 °C
≤ 100 m/s2
Shock (IEC 68-2-27)
≤ 1,000 m/s2
Housing material
Aluminium
Connection
PCB connector + cable
Size
Ø 53.5 mm
Weight
170 g approx.
5 VDC ±10 %
Current consumption
max. 120 mA
Sine - Cosine 1 Vpp
Increments
2,048
Accuracy
±35“
Repeatability
±7“
Max. frequency
500 kHz
Reference signal: R
Commutation signal: C, D
Sine - Cosine 1 Vpp (1 period/turn)
Page
202
Shaft Encoders 2001
25
Inductive Measurement Systems
Typ
LI Linear System
AI Angle System
Special features
n Extremely fast system
n High-resolution sensor technology
n Various versions for most varied
applications
n Real-time signals
n Extremely robust construction
applications
n Real-time signals
Grating pitch
Measuring length
Travel speed
Accuracy
Repeatability
Coefficient of thermal expansion
Shock resistance
Vibration resistance
Cable
Version
Supply voltage
Output signals
Resolution
Output frequency
Read head gap
Signal periods per revolution
Angular accuracy (degrees)
Max. speed in min-1
Protection class
Version
Supply voltage
Output signals
Resolution
Output frequency
Read head gap
Period/rotation count
Max. rotations in min-1
Pulse/rotation at selected resolutions
(following 4-fold pulse-edge evaluations)
1 mm
Max. 30 m;
Max. 3 m with MS-G guided system
Max. 20 m/s
(±10 µm + 20 µm/m)
± 1 increment of the resolution
0 °C .... 50 °C
~ 11 µm/ °C m
< 2000 m/s2 (11 ms)
< 200 m/s2 (55-2000 Hz)
PUR, high flexibility (28 AWG);
10 million cycles
LI-S1V Sine/cosine
5V ± 5% / max. 80 mA
1 Vpp (at 120 Ω), sine/cosine,
reference signal 0.4 V
up to 0.25 µm, dependant on
customer-supplied interpolation
Max. 20 kHz
0.15 ± 0.1 mm
LI-Qxx Rectangular
5V ± 5% / max. 100 mA
RS422 (Channel A and B, reference pulse)
5 µm ... 50 µm, dependant on version after
quadruple evaluation
Max. 500 kHz
0.15 ± 0.1 mm
AI-S1V
5V ± 5% / max. 150 mA
1 Vpp (at 120 Ω), sine/cosine,
360 512 720
900
0.015 0.01 0.005 0.004
20.000
0 °C ... +50 °C
IP 66
AI-Qxx
5V ± 5% / max. 150 mA
TTL acc. RS 422 line driver
1.024
0.0035
Max. 500 kHz
Protection class
IP 66 (Housing and cable outlet)
360
512
720
900 1.024
0.015
0.01 0.005 0.004 0.0035
6.600 4.600 3.300 2.600 2.300
Q50: 7.200 10.240 14.400 18.000 20.480
Q25: 14.400 20.480 28.800 36.000 40.960
Q10: 36.000 51.200 72.000 90.000 102.400
Q05: 72.000 102.400 144.000 180.000 204.800
0 °C ... +50 °C
Page
209
212
26
Shaft Encoders 2001
Application examples for shaft encoders
Encoder Applications
Packaging industry
Food industry
Medical technology
Elevators
Conveyor systems
Robotics
Cranes
Positioning control
Electronics
Baggage conveyor systems
Metalworking
n Motors
n Servo motors
n Vector drives
n Mechanical engineering
n Turning machines
n Stamping machines
n Bending machines
n Welding systems
n Sawing machines
etc.
Shaft Encoders 2001
Applications
n
n
n
n
n
n
n
n
n
n
n
27
Application Examples with Shaft Encoders
28
Shaft Encoders 2001
Application Examples with Motor Encoders
Shaft Encoders 2001
29
PTB-approved
Length Measurement Systems
The components represented in the overview were approved resp. prechecked by the
Physikalisch-Technische Bundesanstalt (PTB, German Federal Institute for Physics and
Technology) for use with length measuring equipment appropriate for verification.
SYSTEM OVERVIEW
46780
31 2671
03
86786
3
Counter
Type signo GLZ
Ordering code 0 723 181
with printer interface
Measuring wheel
Circumference 20 cm
Printer
Type Primo
46780
31 2671
03
86786
3
Shaft encoder
Type RI 58-O
Counter
signo GLZ
without printer interface
Measuring wheel
Circumference 50 cm
Type signo 723.5
APPLICATIONS
PTB-approved systems are installed wherever gaugeing of a length measuring machine/assembly
is statutory.
EXAMPLE
Machines for making up endless materials such as:
n Textiles (carpets, fabrics)
n Foils (plastics, metals)
n Wire, cables
NEW
30
Shaft Encoders 2001
n For measuring belt systems versions with programmable
prescaler available
PTB-approved
SHORT DESCRIPTION OF
TECHNICAL COMPONENTS
Display
n Counters
signo GLZ (-P)
signo 723.5 (-P)
LED, 6-digit
1 line, digit height 14 mm
LCD, 6-digit
2 lines, digit height 13 resp.
7 mm
2 presets for length counter
Function
NEW
2 presets
and 1 preset for batch counter
Resolution
unit mm, dm, cm
programmable
Outputs
2 changeover relays
for length counter;
3 transistor outputs
for length/batch counter
Encoder supply
24 VDC
Dimensions
DIN dim. 48x96 mm
Supply
115/230 VAC
Interface
opt. RS 232 for printer
Ordering code (standard) 0723180 without interface
0723181 with interface
Ordering code for
0723182 without interface
counter with prescaler
0723183 with interface
unit cm
2 make contact relays
24 VDC
DIN dim. 72x72 mm
100…240 VAC
–
0723580
0723581
For further details please refer to heading “Preset counters” in this catalogue.
n Encoders
n
n
n
n
Approval for type RI 58-0; for version see diagram „Ordering data”
Outputs short circuit proof
Supply voltage with pole protection
Encoder monitoring (disk contamination, disk breakage, overheat,
undervoltage, excessive LED aging)
n Activation of alarm output on error
ORDERING DATA
For further details please see our Encoder Catalogue section “RI 58-0”.
Shaft Encoders 2001
31
PTB-approved
n PRIMO THERMAL PRINTERS
n
n
n
n
n
n
n
n
2 possible versions:
Paper width:
Characters per line:
Resolution:
Speed:
Barcode printing possible
Label printing with mark recognition
IBM/EPSON compatible
desktop,wall-mounted
114 mm
80
6 dots/mm
1,052 characters/s
ORDERING DATA
Desktop/wall-mounted printer
T = desktop unit
W = wall-mounted unit
0 = none
S = special version
1 = 230 V AC
2 = 115 V AC
3 = 10.8…30 VDC
0 = none
K = with cable covering
C = Centronics + barcode
+ variable font sizes + mark recognition
1 = Rs 232
2 = RS 232 with 2 power
outputs
1 = 80 characters
1=
2=
3=
4=
n MEASURING WHEELS
cutter
cutter for heavler gauge
cutter with perforation
tear-off edge with paper guide
A = for paper roll 30 m
B = for paper roll 90 m
C = external paper roll
(without hood, roll diameter
max. 180 mm)
Ordering code Circumference
Tread
Width
Surface
Application
Shaft-Ø
0601017
200 mm
No. 1
4.0 mm
threads, yarns
7 mm
0601093
200 mm
No. 4
20.5 mm
200 mm
No. 5
16.5 mm
rubber, soft
plastics
threads, yarns,
bands
7 mm
0601094
0601121
500 mm
No. 4
25.0 mm
500 mm
No. 6
25.0 mm
0601163
500 mm
No. 6
25.0 mm
rubber, soft
plastics
wire,
steel sections
wire,
steel sections
7 mm
0601063
crosshatched
knurl with rim,
aluminium
parallel knurl,
aluminium
parallel knurl
with rim,
aluminium
parallel knurl,
aluminium
plastic surface
Vulkolan
plastic surface
Vulkolan
7 mm
7 mm
10 mm
For further details please see „Accessories”
32
Shaft Encoders 2001
PTB-approved
CONNECTION DIAGRAM
46780
31 2671
03
Track A
86786
3
Track B
Shaft encoder
FOR YOUR ORDER
Counter
Printer
Counter
Encoder
Printer
Measuring wheel
Here you can collect the ordering codes of your chosen versions for your order.
Shaft Encoders 2001
33
Freely Configurable
SYSTEM OVERVIEW
46780
31 2671
03
86786
3
RS 232
RS 485
signo 723.1
Printer
or
Panel display
or
PC
4678031
867863
267103
RS 232
RS 485
Printer
signo 724
Measuring wheel
RI 58
Profibus/Suconet
signo 723.5
These systems are used where length measurement is the main
component or a part of the manufacturing process.
n Length measurement of tile materials such as stone tiles, wood etc.
n Length measurement of band materials such as fabrics (carpets, foil, paper)
n Length measurement of cable, wire, thread etc.
APPLICATIONS
EXAMPLE
signo 723.1
Display
Shaft Encoders 2001
LED, 6-digit
1 line, digit
height 14 mm
2 presets
signo 723.5
LCD, 6-digit
2 lines, digit
height 13 resp. 7 mm
Function
2 presets for
length counter;
batch counter
with preset
Resolution at user’s choice;
at user’s choice;
e.g. (unit mm, dm,
e.g. (unit mm, dm,
cm etc.)
cm etc.)
Outputs
2 changeover relays
2 make contact relays
2 transistor ouputs
for length counter;
3 transistor outputs
counter and trailing prefor length/batch
set; 1 transistor output
counter
for batch counter
Dimensions DIN 48x96 mm
DIN 72x72 mm
Supply
115/230 VAC or
100–240 VAC or
12–24 VDC
12–24 VDC
Interface
RS 232 for printer/
RS 485 for
option
panel display or
Profibus or
communication with PC. Suconet
RS 485 for communication with PC
n Counters
34
Profibus/Suconet
signo 724
LED, 7-digit
2 lines, digit
height 13 resp. 7 mm
2 presets for
length counter; 1 trailing
preset, 1 batch counter
with preset
at user’s choice;
e.g. (unit mm, dm,
cm etc.)
3 relays und transistor
outputs for length
DIN 44x72 mm
100–240 VAC or
12–24 VDC
RS 232 for
printer; RS 485 for
Profibus or Suconet
Freely Configurable
n Counters
Ordering code
w/o interface
Ordering code
with RS 232interface
Ordering code
with RS 485interface
signo 723.1
signo 723.5
signo 724
12–24 VDC
115–230 VAC
0723101
0723102
0723501
0723502
0724001
0724002
12–24 VDC
115–230 VAC
0723150
0723151
Hengstler:
0723160
0723161
–
–
Suconet:
0723591
0723592
0724050
0724051
Profibus:
0724093
0724094
12–24 VDC
115–230 VAC
For further details please refer to our Counter program, heading „Preset counters” and
„Systems Interface counters“.
For the 724 signo type a large number of printing masks has already been developed.
Please see „Systems / Interface counters / signo 724“.
n Encoders
n Outputs short circuit proof
n Supply voltage with pole protection
n Encoder monitoring (disk contamination, disk breakage, overheat, undervoltage,
excessive LED aging)
n Activation of alarm output on error
Ordering data
when applied with measuring wheel
OPTOASIC
1
* the required number of pulses depends on the measuring wheel’s circumference and on
your desired resolution
For further details please refer to our Encoder catalogue section “RI 58-0”
Ordering data when coupled with
shaft/motor etc.
The choice of the suitable encoder type depends on the respective application: thus the whole
range of encoders of the type RI is at your disposal. The only prerequisites for connection to
the signo series counters are:
n Supply voltage: 10 … 30 V (E)
n Output: push-pull short circuit proof (K)
n PRIMO Thermal printers
n 4 possible versions:
n
n
n
n
n
n
Paper width:
Characters per line:
Resolution:
Speed:
Label printing with mark recognition
IBM/EPSON compatible
desktop , wall-mounted, built-in,
19“ module (3HE)
60 mm resp. 114 mm
40 resp. 80
6 dots/mm
526 characters/s resp. 1,052 characters/s
Shaft Encoders 2001
35
Freely Configurable
ORDERING DATA
Desktop/wall-mounted printer
T = desktop unit
W = wall-mounted unit
1 = 230 V AC
2 = 115 V AC
3 = 10.8…30 VDC
0 = none
S = special version
0 = none
K = with cable covering
1 = Rs 232
2 = RS 232 with 2 power
outputs
1 = 80 characters
1=
2=
3=
4=
cutter
cutter for heavier gauge
cutter with perforation
tear-off edge with paper guide
A = for paper roll 30 m
B = for paper roll 90 m
C = external paper roll
(without hood, roll diameter
max. 180 mm)
Built in printer/
19“ module
E = Modular
M = 19’’ module
0 = none
S = special version
4 = 24 VDC
1 = 80 characters
2 = 40 characters
0=
1=
2=
3=
none
DC cable 1688063
Centronics adapter
1+2
1 = RS 232
2 = RS 232 with
2 power outputs
4 = stub edge
D = paper roll,
max. diameter 50 mm
n Measuring wheels
n Circumference 20 cm and 50 cm (also yard)
n 6 tread types and surfaces for various applications
n For details see „Accessories”
n Panel display
(on request)
36
Shaft Encoders 2001
Freely Configurable
n Communication
with PC or connection
to bus net
(on request)
CONNECTION DIAGRAM
Printer
4678031
Track A
Track B
Counter
267103
Panel display
Counter
Shaft encoder
For your order
867863
Counter-software
Encoder
Printer
Measuring wheel
Shaft Encoders 2001
37
Frequency Measuring and
Speed Monitoring Systems
Frequency measuring and speed
monitoring
with/without limit values
E.g. conveyor belt
Initiator, e.g.
proximity switch
+
Motor/shaft/spindle
APPLICATION
Incremental
shaft encoder
signo 722.2 without limit values
signo 722.1 with limit values
Speed monitoring for continuous manufacturing processes
n Delivery rate of a bottling plant (number of bottles per hour)
n Speed monitoring for a conveyor belt within given limits
n Flow measurement per period on conveyor equipment for solids and liquids
Display
n Counters
Frequency
range
Functions
tico 732
signo 722.1
signo 722.2
LED or LCD, 6-digit,
1 line, digit
height 7 mm
LED, 5-digit,
1 line, digit
height 14 mm
LED, 5-digit,
1 line, digit
height 14 mm
1/min ……… 5000/s
prescaler and
scaler with or
without 2 limit
values
1/min ……… 10000/s
prescaler and
scaler
2 limit values,
display retention and
keylock
2 changeover relays,
encoder supply
DIN 96x48 mm
12-24 VDC or
100-240 VAC
1/min ……… 10000/s
prescaler and
scaler
display retention and
keylock
DIN 96x48 mm
12-24 VDC or
100-240 VAC
0722101
0722201
0722102
0722202
Outputs
encoder supply
Dimensions
Supply
DIN 48x48 mm
12-24 VDC or
115 or 230 VAC
Ordering code
(DC-supply)
Ordering code
(AC-supply)
0732030
115 VAC 0732067
230 VAC 0732031
encoder supply
For further details please refer to heading „Tachometers“ or „multifunctional counter“ in this
catalogue.
38
Shaft Encoders 2001
Frequency Measuring and
Speed Monitoring Systems
n Encoders
You can choose from the whole range of our RI shaft encoder types.
The only prerequisites for connection to the signo series counters are:
n Supply voltage: 10 … 30 VDC=
n Output: push-pull short circuit proof
Further criteria for choosing an encoder are:
n Required number of pulses
n Dimensions
n Environmental conditions (temperature, IP-Protection class)
For further details please refer to our Encoder Catalogue.
For your order
Tachometer
Encoder
Shaft Encoders 2001
39
Batch Counting Systems
with/without Interface
SYSTEM OVERVIEW
RS 485
t
46780
31 2671
03
86786
3
signo 723.1
Printer
or
Large Panel display
or PC
4678031
867863
267103
RS 485
E.g. conveyor belt
Printer
Initiator,
e.g. proximity
switch
RS 485
APPLICATION
Batch counting for continuous and discontinuous manufacturing processes, such as:
n Packaging machines
n Bottling plants
n Forming plants for metals and plastics (pressworking, presses, diecasting)
signo 721
Display
LED, 6-digit,
1 line, digit
height 14 mm
signo 723.5
signo 724
LED, 7-digit
2 lines, digit
height 13 resp.
7 mm
Function
as totalizing
2 presets
2 presets,1 prelimincounter; as preset
ary contact and
counter with 1 or
1 batch counter w/
2 presets
preset
Count mode adding,
adding,
adding,
adding,
subtracting
subtracting,
subtracting,
subtracting,
differential
differential
differential
Outputs
1 changeover relay 2 changeover relays 2 make contact
3 relays and
or 2 make contact 2 transistor
relays and 3 trans- 4 transistor
relays
outputs
istor outputs
outputs
Dimensions DIN 48x48
DIN 48x96
DIN 72x72
DIN 144x72
Supply
100-240 VAC
115/230 VAC
100-240 VAC
100-240 VAC
or 12-24 VDC
or 12-24 VDC
or 12-24 VDC
or 12-24 VDC
Interface
none
RS 232 for
RS 485 for
RS 232 for
option
printer/panel dis- Profibus or
printer;
play or commuSuconet
RS 485 for Profinication with PC
bus or Suconet
RS 485
n Counters
LED, 5-digit,
1 line, digit
height 7 mm
signo 723.1
LCD, 6-digit,
2 lines, digit
height 13 resp.
7 mm
2 presets and
1 lot counter
with preset
For further details please refer to heading „Preset Counters“ in this catalogue.
40
Shaft Encoders 2001
Batch Counting Systems
with/without Interface
ORDERING DATA
n Counters
Ordering code
w/o interface
Ordering code
with RS 232
Ordering code
with RS 485
interface
signo 721
signo 723.1
signo 723.5 signo 724
12-24 VDC
115-230 VAC
s. catalogue
12-24 VDC
115-230 VAC
0721101 to
0721140
0723101
0723102
0723501
0723502
0724001
0724002
–
–
0723150
0723151 )
12-24 VAC
115-230 VAC
–
–
0723160
0723161
–
–
Suconet:
0723591
0723592
0724050
0724051
Profibus
0724093
0724094
For further details please refer to headings “Totalizing counters”, “Preset counters” and
“Systems interface counters” in this catalogue.
n Output devices
Detailed information about possible output devices, such as
n PRIMO Thermal printer
n Large Panel display
n Communication with PC (3964 R-Siemens protocol) or connection to bus net
you will find under the description of “Freely configurable Length Measurement Systems”
n Connection diagram
Printer
467803
867863
Initiator z. B.
Initiator,
Näherungsschalter
e.g.
proximity switch
For your order
26710
Panel display
Counter
Counter
Printer
Shaft Encoders 2001
41
Notice
42
Shaft Encoders 2001
With the optical transformation, a line-coded disc made of metal,
plastic or glass and positioned on a rotary bearing interrupts the infra
red light ray emitted by gallium arsenid sender diode. The number of
lines determines the resolution, i.e. the measuring points within
a revolution. The interruptions of the light ray are sensed by the
receptor element and electronically processed. The information is then
made available as a rectangular signal at the encoder output.
Examples for typical applications of incremental encoders:
n Franking machines
n Door closing devices for trains
n Desktop robots
n Lens grinding machines
n Plotters
n Testing machines for optical
waveguides
n Scattering machines
n Tampon printing machines
n Ultrasonic welding
n Screwing machines
n Labelling machines
n x/y indication
n Analysis devices
n Drilling machines
n Mixing machines
Shaft Encoders 2001
43
Incremental encoders are sensors capable of generating signals
in response to rotary movement. In conjunction with mechanical
conversion devices, such as rack-and-pinions, measuring wheels or
spindles, incremental shaft encoders can also be used to measure
linear movement. The shaft encoder generates a signal for each
incremental change in position.
Type
RI 30
RI 36
Special features
n small encoder for industrial applications
n low power consumption
n high immunity to interference
n cable lengths up to 100 m
n suitable for high pulse frequencies
n high level of protection
CNC machine centers,
handling systems, motors,
medical technology, textile machinery
n small industrial encoder for high numbers
of pulses
n high operating safety
CNC axles, machine tools,
robots, special machinery,
high-speed winding machines
Number of pulses
Flange
5 ... 1,500
5 ... 3,600
Shaft diameter
5 mm
30 N/15 N (6.5/3.3 lbs)
6 mm/6,35 mm
30 N/15 N (6.5/3.3 lbs)
Absolute max. speed
Torque
General design
Connection
Size
Weight
Output
10,000 RPM
≤ 0.2 Ncm
IP 64/64
-10...+70 °C
Cable axial/radial
Ø 30 mm
60 g approx.
10,000 RPM
≤ 0.3 Ncm
IP 64/64
-10...+70 °C
Ø 36 mm
80 g approx.
RS 422/push-pull
5 VDC/10...30 VDC
40 mA (5 VDC), 30 mA (24 VDC),
60 mA (10 VDC)
300 kHz (RS 422)
RS 422: ± 30 mA
30 mA (10...30 VDC)
NPN-O.C. 5 mA
RS 422/push-pull
5 VDC/10...30 VDC
40 mA (5 VDC), 30 mA (24 VDC),
60 mA (10 VDC)
300 kHz (RS 422)
200 kHz (push-pull)
RS 422: ± 30 mA
30 mA (10...30 VDC)
NPN-O.C. 5 mA
1:1
1:1
61
65
Output load
Alarm output
Pulse shape
Pulse duty factor
Pulse width error
Page
44
Shaft Encoders 2001
RI 58
RI 59
RX 70-TI
n universal industrial encoder
n up tp 40,000 steps with 10,000 pulses
n high signal accuracy
n protection class up to IP 67
n operating temperature up to 100°C
n flexible due to many flange and
connector variants
n suitable for high shock loads
n applications e.g.
machine tools, CNC axles,
packaging machinery, motors, drives,
injection moulding machines,
sawing machines, textile machinery
1 ... 10,000
n stainless steel encoder with high degree
of protection
n high corrosion resistance
n suitable for use in food production
n applications e.g.
packaging machinery, filling plants,
washing systems, mixing machines
n explosion-proof according to class II
of EEX d IIC T6/T4
n highest operating safety
n applications e.g.
lacquering lines, surface processing
machines, filling plants,
mixing machines, silo systems
1 ... 10,000
1 ... 10,000
G, Q = square flange,
M = synchro clamping flange
6 mm/6.35 mm/7 mm/10 mm/9.52 mm/12 mm
Ø 12 mm
- 180/140 N (39/30 lbs)
Ø 7 ... 10 mm
- 160/107 N (35/24 lbs)
Ø 6 mm/6,35 mm - 110/60 N (24/13 lbs)
10,000 RPM
≤ 0.5 Ncm
65/64, 67/67
RI 58-O: -10...+70 °C/RI 58-T: -25...+100 °C
Ø 58 mm, square flange = 63.5 mm / 80 mm
300 g approx.
Q = square flange
K = clamping flange
9.52 mm/10 mm
160/107 N (35/24 lbs)
10 mm
160/107 N (35/24 lbs)
10,000 RPM
≤ 0.5 Ncm
IP 67/67
-10...+ 70 °C
Cable radial
Ø 58 mm, square flange = 63.5 mm
620 g approx.
6,000 RPM (T6), 10,000 RPM (T4)
≤ 0.5 Ncm
IP 65/64
-10...+ 40 °C (T6), -20...+60 °C (T4)
Cable axial
Ø 70 mm
1,400 g approx.
5 VDC/10...30 VDC
40 mA (5 VDC), 30 mA (24 VDC),
60 mA (10 VDC)
300 kHz (RS 422)
200 kHz (push-pull)
RS 422: ± 30 mA
30 mA (10...30 VDC)
NPN-O.C. 5 mA
5 VDC/10...30 VDC
40 mA (5 VDC), 30 mA (24 VDC),
60 mA (10 VDC)
300 kHz (RS 422)
200 kHz (push-pull)
RS 422: ± 30 mA
30 mA (10...30 VDC)
NPN-O.C. 5 mA
5 VDC/10...30 VDC
40 mA (5 VDC), 30 mA (24 VDC),
60 mA (10 VDC)
300 kHz (RS 422)
200 kHz (push-pull)
RS 422: ± 30 mA
30 mA (10...30 VDC)
NPN-O.C. 5 mA
1:1
1:1
1:1
68
76
79
Shaft Encoders 2001
45
Type
RI 36-H
RI 58-H
Special features
n miniature industry encoder for high
numbers of pulses
n short mounting depth
n easy mounting procedure
motors, machine tools, packaging
machines, robots, automated
SMD equipment
n high accuracy due to integrated coupling
n secure shaft mounting
n applications e.g.
textile machinery, motors,
drives, copiers
Number of pulses
5 ... 3,600
1 ... 5,000
Clamping shaft (one side open) with front
clamping ring; spring plate as torque support
hollow shaft 4 mm/6 mm/8 mm/10 mm
misalignment radial ±0.15 mm,
misalignment axial ±0.5 mm
S = synchro flange
Shaft diameter
Absolute max. speed
Torque
General design
Connection
Size
Weight
Output
Output load
Alarm output
Pulse shape
Pulse duty factor
Pulse width error
Page
46
Shaft Encoders 2001
10,000 RPM
≤ 0.3 Ncm
IP 64/64
-10...+70 °C
1.5 m cable* axial/radial
Ø 36 mm
ca. 80 g
Hollow shaft 10 mm/12 mm
misalignment axial ± 0.4 mm
misalignment parallel 0.4 mm
misalignment angular 1°
3,000 RPM
≤ 2 Ncm
IP 64/64
-10...+70 °C
cable radial
Ø 58 mm
210 g approx.
5 VDC/10...30 VDC
40 mA (5 VDC), 30 mA (24 VDC),
60 mA (10 VDC)
300 kHz (RS 422)
RS 422: ± 30 mA
30 mA (10...30 VDC)
NPN-O.C. 5 mA
5 VDC/10...30 VDC
40 mA (5 VDC), 30 mA (24 VDC),
60 mA (10 VDC)
300 kHz (RS 422)
RS 422: ± 30 mA
30 mA (10...30 VDC)
NPN-O.C. 5 mA
1:1
1:1
82
84
Type
RI 58-D
RI 76 TD
Special features
n direct mounting without coupling
n flexible hollow shaft concept up
to 14 mm
n through hollow shaft or as end shaft
(blind shaft)
n simple installation with clamping
ring or fixing screws
n short mounting depth of only 33 mm
(RI 58 TD)
positioning drives, length measuring
machines, motors
n shaft diameters 15 to 42 mm
n external diameter only 76 mm
n simple installation with clamping ring
front or rear
n applications e.g.
motors, printing machines, elevators
Number of pulses
1 ... 5,000
1…10,000
E= synchro flange with blind shaft
F, D, H = Synchro flange with clamping shaft
D = clamping ring front (flange side)
H = clamping ring rear (cover side)
Shaft diameter
Hollow shaft 10 mm/12 mm/14 mm
Hollow shaft 15…42 mm
Absolute max. speed
6,000 RPM
6,000 RPM (depends on version)
Torque
≤ 1.7 Ncm
3…10 Ncm (depends on version)
IP 65/64
IP 50/40, Option: IP 65/64
General design
as per DIN EN 61010, protection class III
-10...+70 °C (Option: -25...+100 °C)
-25...+100 °C
Connection
Cable or connector radial
Cable radial
Size
Ø 58 mm
Ø 76 mm
Weight
170 g approx.
320…580 g approx. (depends on version)
Output
5 VDC/10...30 VDC
5 VDC/10...30 VDC
40 mA (5 VDC), 30 mA (24 VDC),
60 mA (10 VDC)
40 mA (5 VDC), 30 mA (24 VDC),
60 mA (10 VDC)
300 kHz (RS 422)
200 kHz (push-pull)
300 kHz (RS 422)
200 kHz (push-pull)
Output load
RS 422: ± 30 mA
30 mA (10...30 VDC)
RS 422: ± 30 mA
30 mA (10...30 VDC)
Alarm output
NPN-O.C. 5 mA
NPN-O.C. 5 mA
Pulse duty factor
1:1
1:1
Pulse width error
Page
87
93
Pulse shape
Shaft Encoders 2001
47
Replacement
for RIS and
RI 31
Replacement
for RI 39
Type
RI 32
RI 38
Special features
n economy encoder for small devices
n low torque
n application e.g.
laboratory devices, fitness machines,
crimping machines, tampon printing
machines, small grinding machines
n encoder for universal mounting due
to front or rear fixing
n low torque
n applications e.g.
small motors, laboratory devices,
labelling devices, plotters,
length measuring machinges
Number of pulses
5 ... 1,500
5 ... 1,024
R = round flange
Q = square flange
Shaft diameter
5 mm/6 mm
6 mm
30 N/15 N (6.5/3.3 lbs)
30 N/15 N (6.5/3.3 lbs)
Absolute max. speed
6,000 RPM
10,000 RPM
Torque
≤ 0.05 Ncm
≤ 0.2 Ncm
IP 50/40
IP 50/40
General design
-10°...+60 °C
-10°...+60 °C
Connection
cable, radial/axial
cable radial
Size
Ø 30 mm
39 x 39 mm
Weight
50 g approx.
60 g approx.
Output
push-pull
push-pull
40 mA (5 VDC), 30 mA (24 VDC)
40 mA (5 VDC), 30 mA (24 VDC),
300 kHz (5 VDC)
200 kHz (10 ... 30 VDC)
300 kHz (5 V)
200 kHz (10 ... 30 V)
Output load
10 mA (5 VDC),
30 mA (10...30 VDC)
10 mA (5 VDC),
30 mA (10...30 VDC)
Alarm output
NPN-O.C. 5 mA
NPN-O.C. 5 mA
Pulse duty factor
1:1
1:1
Pulse width error
Page
96
98
Pulse shape
48
Shaft Encoders 2001
Replacement
for RIM
Type
RI 41
RI 42
Special features
n economy encoder
n high mechanical life
n applications e.g.
small motors, graphic machines,
desktop robots, wood working machines
n economy encoder
n high protection IP 65
n push-pull or NPN-O.C.
textile machinery
Number of pulses
5 ... 3,600
5 ... 1,024
R = round flange
R = round flange
Shaft diameter
6 mm
6 mm
30 N/15 N (6.5/3.3 lbs)
30 N/15 N (6.5/3.3 lbs)
Absolute max. speed
10,000 RPM
10,000 RPM
Torque
≤ 0.2 Ncm
≤ 1 Ncm
IP 50/40
IP 65/64
General design
-10°...+70 °C
0°...+60 °C
Connection
cable radial
cable axial
Size
Ø 40 mm
Ø 40 mm
Weight
60 g approx.
approx. 75 g
Output
push-pull
push-pull/push-pull complementary/
NPN-O.C
5 VDC/10...30 VDC/10...24 VDC
40 mA (5 VDC), 30 mA (24 VDC),
40 mA (5 VDC), 30 mA (24 VDC),
300 kHz (5 VDC)
200 kHz (10 ... 30 VDC)
300 kHz (5 V)
200 kHz (10 ... 30 V)
50 kHz (10...24 VDC)
Output load
10 mA (5 VDC),
30 mA (10...30 VDC)
NPN-O.C.:30 mA (10...24 VDC)
push-pull with short circuit protection
10 mA (5 VDC),
30 mA (10...30 VDC)
Alarm output
NPN-O.C. 5 mA
NPN-O.C. 5 mA
Pulse duty factor
1:1
1:1
Pulse width error
Page
100
102
Pulse shape
Shaft Encoders 2001
49
Measuring Signals
SINGLE-CHANNEL
SHAFT ENCODERS
Single-channel shaft encoders have only one
output channel (A). They are used wherever it
is not necessary to detect the direction of
rotation, such as in adding or subtracting
counters or tachometers.
TWO-CHANNEL
SHAFT ENCODERS
These shaft encoders use two scanning
systems, and output the signal pulses generated on two output channels (A and B).
The output pulses from the two channels are
90° out of phase. A downstream logic circuit
can derive the encoder’s direction of rotation
from this phase shift. Two-channel shaft
encoders are used wherever it is necessary to
detect the direction of rotation, such as in
up/down counters or positioning devices.
THREE-CHANNEL
SHAFT ENCODERS
In principle, these are two-channel shaft
encoders which supply one pulse per revolution of the encoder on a third channel (N).
This pulse is needed for precise deter-mination of a reference position, for example. It is
called the zero signal or reference signal.
Shaft encoders with a zero signal are used
very often in positioning systems.
HENGSTLER SHAFT ENCODERS
All incremental HENGSTLER shaft encoders of
the new generation with OPTOASIC are
three-channel shaft encoders.
When applied as single- or two-channel
shaft encoders the dispensable output signals can be omitted.
OUTPUT SIGNALS
Phase
offset
Measuring pitch
Channel A
Channel B
Channel N
Reference pulse
(zero signal)
Shaft turning clockwise (cw)
seen from front of encoder
EVALUATION
The resolution of a two-channel shaft
encoder can be doubled or quadrupled in the
subsequent circuitry. This enables the
resolution of a two-channel encoder with
The shaft encoders supply two squarewave
pulses offset by 90° A and B, and a reference
pulse N (zero signal) as well.
In order to suppress spurious pulses, certain
output circuits (RS 422 and push-pull) generate inverted signals (A, B, N), such as in
models RI 30, RI 36, RI 58, RI 58-H, RI 76-TD
and RI 58-D.
The measuring pitch is defined as the value
of the distance between two pulse edges of
A and B.
2,500 lines per rev. to be increased electronically to 5,000 or 10,000 pulses per revolution (see diagram below).
Channel A
Channel B
Single
evaluation
Double
evaluation
Quadruple
evaluation
Possible evaluation of two-/three-channel shaft encoders
50
Shaft Encoders 2001
Maximum Speed, Protection Class
SPEED
The maximum permissible speed of a shaft
encoder is derived from:
The functional speed of an encoder is obtained by the equation:
• the mechanically permissible r.p.m,
• the minimum permissible pulse-edge
spacing of the square-wave output signals of the shaft encoder for the subsequent circuitry, which depends on the
tolerance of the phase offset,
• the functional speed, which is limited by
the pulse frequency.
nmax = fmax · 103 · 60 / Z
nmax = maximum functional speed [r.p.m.]
f max = maximum pulse frequency of shaft
encoder, or input frequency of downstream circuitry [kHz]
z = number of pulses of shaft encoder
RPM
The mechanically permissible r.p.m. is specified for each shaft encoder among the
mechanical characteristics.
In general, the control circuitry does not permit less than a certain minimum edge spacing between the square-wave output signal
pulses. The minimum pulse-edge spacing is
specified for each model of shaft encoder
among the electrical characteristics.
Number
of
pulses
Maximum permissible speed as a function of number of
pulses and signal frequency of shaft encoder
PROTECTION CLASS
All encoders of the industrial types RI 30,
RI 36, RI 58, RI 58-H, RI 58-D, RX 70-I as
well as the absolute encoders RA 58, comply
with protection class IP 65 according to EN
60529 and IEC 529, unless otherwise stated.
These specifications are valid for the housing
and the cable output and also for plugged in
socket connectors.
The shaft input complies with protection
class IP 64. If however the encoder is mounted vertically, there must be no standing
water present at the shaft input and the ball
bearings.
In case the standard protection class IP 64 is
not sufficient for the shaft input, e.g. with
vertical mounting of the encoder, the encoders must be protected by additional labyrinth or pot-type seals. On request our encoders are also available with protection class
IP 67 for the shaft input and for the housing.
Shaft Encoders 2001
51
Examples of Flange Mounting
FLANGE TYPE OVERVIEW
SHAFT ENCODERS
WITH CLAMPING FLANGE
S = Synchro flange
K =Clamping flange
Q = Square flange
R = Round flange
The shaft encoders with a clamping flange can be installed in following ways:
• by means of various flange adapters (see “Accessories”),
• by means of the clamping flange itself,
• by means of the fastening threads provided on the face,
• by means of an angle bracket (see Accessories”).
The encoder housing is centered by means of the clamping flange.
Flange adapter
Mounting by fastening threads
52
Shaft Encoders 2001
Clamping flange
Mounting by angle bracket
SHAFT ENCODERS
WITH SYNCHRO FLANGE
The shaft encoders with synchro flange can be installed in two ways:
• by means of the synchro flange and three clamping eccentrics (see “Accessories”),
• by means of the fastening threads provided on the face.
The encoder is centered by means of the centering collar on the flange.
Clamping eccentric
Mounting bell
SHAFT ENCODERS
WITH SQUARE FLANGE
The shaft encoders with square flange can be installed in two ways:
• by means of an angle bracket.
SHAFT ENCODERS
WITH ROUND FLANGE
Angle bracket
The shaft encoders with round flange can be installed in two ways:
• by means of an angle bracket.
Angle bracket
Shaft Encoders 2001
53
SHAFT ENCODERS
WITH HOLLOW SHAFT
(RI 58-H)
a) Mounting by screws
1 Hollow-shaft encoder
2 “B”-side of drive shaft
3 Fastening screws (M4)
b) Mounting by clamping eccentrics
1 Hollow-shaft encoder
2 “B”-side of drive shaft
3 Clamping eccentrics
4 Fastening screws
Mounting of version F, D (Clamping shaft)
Mounting of version E (Blind shaft)
1
2
3
4
1
2
3
4
5
6
SHAFT ENCODERS
WITH HOLLOW SHAFT
(RI 58-D/G)
Torque spring
Clamping ring with cross-recess screw
Straight pin
Actuating shaft
Torque spring
O-ring
Straight pin
Actuating shaft with threaded bore
M4-screw with spring washer
Cap
SHAFT ENCODERS WITH
SOLID SHAFT
Connection of solid-shaft encoders to the shaft is by means of a coupling.
The coupling compensates for axial movements and lack of alignment between the shaft
encoder and the drive shaft, thus preventing excessive bearing loads on the encoder shaft.
For further details please refer to heading “Accessories”.
54
Shaft Encoders 2001
Output
RS 422
OUTPUT CIRCUIT
Recommended input circuitry
Output
1)
TECHNICAL DATA
Cable screen:
- not existing for RI 32, 38, 42
- connected to encoders housing for RI 30, 36, 58, 59, 76 and RX 70
Code Letter
R = RS 422 + Alarm 3) (with UB = 5/10...30 VDC)
T = RS 422 + Sense 4) (only with UB = 5 VDC)
Output signals shaft
turning clockwise (cw)
seen from front
of encoder
Square wave pulses
(TTL) for channels A, B, N
and their inverted
signals A, B, N
Delay times
at 1.5 m cable
≤ 100 ns ≤ 100 ns
Pulse shape
Pulse duty factor
Pulse width error 1)
Output voltage
Output level
Output load max.
Short circuit protection
Pole protection of UB
CABLE LENGTH
1:1
± 25° electrical
300 kHz
0... + 5 VDC 2)
H ≥ 2.5 VDC/L ≤ 0.5 VDC (TTL-level)
± 30 mA
with UB = 5 VDC: only 1 channel at a time for max. 1 s
(standard RS 422-driver)
with UB = 10...30 VDC: short circuit proof for all channels
due to integrated controller
with UB = 5 VDC:
no
with UB = 10...30 VDC: yes
1) distance
3) Description
2) also
from A to B is at least 0.45 µs (at 300 kHz)
for UB = 10...30 VDC
4) Description
- see Outputs-Alarm
- see Outputs-Sense
depending on voltage and frequency (at 25°C) 1):
length
RS 422
10 m
5 VDC, 300 kHz
50 m
5 VDC, 300 kHz
100 m
5 VDC, 300 kHz
1)
with respect to Hengstler own cables
Shaft Encoders 2001
55
Output
Push-pull
OUTPUT CIRCUIT
Output
1)
TECHNICAL DATA
Cable screen:
- not existing for RI 32, 38, 42
- RI 41, not connected to encoder housing
- connected to encoders housing for RI 30, 36, 58, 59, 76 and RX 70
Code Letter
K = push-pull, 10 mA with UB = 5 VDC
or push-pull, 30 mA with UB = 10...30 VDC
D = push-pull, 30 mA with UB = 5 VDC
seen from front
of encoder
Squarewave pulses
(TTL or HTL) for
channels A, B, N
Delay times
with 1.5 m Cable
≤ 250 ns ≤ 250 ns
Pulse shape
Pulse duty factor
Output voltage
Output level
Output load max.
Pole protection of UB
1)
2)
CABLE LENGTH
Distance A to B min. 0.45 µs (at 300 kHz)
only 1 channel at a time for max. 1 s
length
push-pull (K)
push-pull (D)
5 VDC, 10 mA
5 VDC, 30 mA
10 m
300 kHz
300 kHz
50 m
300 kHz
100 m
300 kHz
1)
56
1:1
± 25° electrical
300 kHz (see cable length)
0... + UB
K
K
D
push-pull (10...30 V) push-pull (5 V) push-pull (5 V)
H ≥ UB -3V
H ≥ 2,5 V
H ≥ 2,5 V
L≤2V
L ≤ 0,5 V
L ≤ 0,5 V
± 30 mA
± 10 mA
± 30 mA
all channels
all channels
1 channel 2)
with UB = 5 VDC: output K yes, output D no
with UB = 10...30 VDC: yes
Shaft Encoders 2001
push-pull (K)
10...30 VDC, 30 mA
12 VDC, 200 kHz
24 VDC, 200 kHz
30 VDC, 200 kHz
12 VDC, 200 kHz
24 VDC, 200 kHz
30 VDC, 100 kHz
12 VDC, 200 kHz
24 VDC, 100 kHz
30 VDC, 50 kHz
Output
Push-pull complementary
output
1)
TECHNICAL DATA
Cable screen connected with encoder housing
Code Letter
seen from front
of encoder
I = push-pull complementary (with UB = 10...30 V)
Square wave pulses
(HTL) for channels A, B, N
and their inverted
signals A, B, N
Delay times
at 1.5 m cable
≤ 250 ns ≤ 250 ns
Pulse shape
Pulse duty factor
Output voltage
Output level
Output load max.
Pole protection of UB:
1)
CABLE LENGTH
1:1
± 25° electrical
200 kHz (see cable length)
0... + UB
H ≥ UB -3 V/L ≤ 2 V
± 30 mA
short circuit proof for all channels
due to integrated controller
yes
distance from A to B is at least 0.7 µs (at 200 kHz)
length
push-pull complementary
10 m
12 VDC, 200 kHz
24 VDC, 200 kHz
30 VDC, 200 kHz
50 m
12 VDC, 200 kHz
24 VDC, 50 kHz
30 VDC, 25 kHz
100 m
12 VDC, 150 kHz
24 VDC, 25 kHz
30 VDC, 12 kHz
1)
Shaft Encoders 2001
57
Output
Alarm
OUTPUT CIRCUIT
Encoder
TECHNICAL DATA
Output
Output load max.
Output Level
Malfunction indication time
FUNCTION
NPN - open collector
5 mA/24 V at UB = 5 VDC
5mA/32 V at UB = 10...30 VDC
Output active (failure condition): L ≤ 0.7 VDC
Output inactive: highohmic (if necessary: get H-level by
an external pull-up resistor)
≥ 20 ms
The rotary encoders are equipped with an electronic monitoring system which reports
malfunctions via a separate alarm output.
The alarm output can be used for selecting an optical display (LED; for circuit, see above) or
the control system (SPC or similar).
Moreover, the alarm outputs of several encoders can be interconnected to a common
“systems alarm” by means of a parallel connection. The following malfunctions are indicated:
Category I
- damaged disks
Category II
- overtemperature
- defective LED
- overload (e. g.
due to short circuit)
Category III
- voltage range
1 VDC < U < 4 VDC
- voltage drop on the
supply lines
- contamination
Category I malfunctions cannot be corrected; the encoder must be replaced.
Category II malfunctions are detected by means of a thermal monitoring unit in the electronic
system. The alarm message is cleared after the cause of temperature increase has been
removed.
Category III malfunctions indicate insufficient supply voltage. Also included in this category
are transients in the supply voltage, e.g. due to electrostatic discharge, which may distort the
output signals.
This is corrected by
- readjustment to the correct voltage
- eliminating the cause of disturbance, i.e. by careful arrangement of the cables.
58
Shaft Encoders 2001
Output
Sense at RS 422 (T)
OUTPUT CIRCUIT
Encoder
power pack
Senseinput
1)
2)
FUNCTION
Voltage drop due to long cable lengths
Automatic readjustment of the output voltage
(only for power packs with sense input)
The sense cables enable the measuring of the actual sensor voltage (no corruption due to voltage drop resulting from supply current and cable resistance).
Due to the voltage drop in the cables and the voltage supply, the encoder input voltage Uin is
less than the power pack output voltage Uout.
The present input voltage Uin is now output to the Sense VCC and Sense GND cables and
returns as data to the power pack.
The input resistance Ri on the power pack should amount to at least 22 MOhm so that no voltage drop occurs on these cables.
In case of power packs with sense input, it is now possible to readjust the output voltage Uout
automatically.
Shaft Encoders 2001
59
Code Table
for Incremental Shaft Encoders
.
- /
-
Connector 2)
(unnecessary for standard: cable with tinned lead)
A
Souriau coupling, socket
B
VDW connector, right-turning, pins
C
CONIN connector, right-turning, pins
D
CONIN coupling, left-turning, pins
E
VDW coupling, left-turning, pins
S
special version
Type
RI 30, 32, 36, 38, 41, 42, 58, 59,
RX 70, RI 76 4)
Cable length 3) (unnecessary for standard: 1.5 m)
DØ =3m
F Ø =5m
K Ø = 10 m
Connection
Version
D direct hollow shaft
H hollow shaft with integrated coupling
O standard
T high temperature
I incremental (only for RX 70)
A
B
C
D
E
F
G
H
J
K
L
M
N
O
P
Q
R
T
1
2
X
Number of pulses
Supply voltage
A 5 VDC
E 10 …30 VDC
Type of flange
A
C
D
E
F
G
H
K
L
M
Q
R
S
X
synchro flange adapter
square flange adapter; 58 x 58 mm
synchro flange with continuous shaft, front clamping ring
synchro flange with blind shaft
synchro flange with clamping shaft
square flange adapter; 80 x 80 mm
synchro flange with continuous shaft, rear clamping ring
clamping flange (M3 fastening thread)
clamping flange (M4 fastening thread)
synchro clamping flange; Ø 63.5 mm
square flange; 63.5 x 63.5 mm
round flange
synchro flange
special version
1)
2)
3)
4)
Shaft Encoders 2001
PVC cable, axial
PVC cable, radial
CONIN 1) 12 pole, axial, clockwise
CONIN 1) 12 pole, radial, clockwise
TPE cable, axial
TPE cable, radial
CONIN 1) 12 pole, axial, counter clockwise
CONIN 1) 12 pole, radial, counter clockwise
BINDER 1) – 6 pole radial
MIL 1) – 10 pole radial
MIL 1) 7 pole, radial
MIL 1) 6 pole, axial
BINDER 1) 6 pole, axial
MIL 1) 6 pole, radial
MIL 1) 10 pole, US axial
MIL 1) 10 pole, US radial
KPT 1) 12-8P, axial
KPT 1) 12-8P, radial
special version
Output D
I
K
R
T
X
Shaft 0
1
2
3
4
5
6
7
push-pull 5 V DC=, 30 mA
push-pull, complementary + Alarm
push-pull, short circuit proof + Alarm
RS 422 + Alarm
RS 422 + Sense
special version
4 mm
6 mm
10 mm
7 mm
5 mm
6,35 mm
9,52 mm
12 mm
Protection class
8 6 x 19,5 mm
9 14 mm
A = 10 mm x 25 mm
B = 9,52 mm x 25 mm
C = 8 mm
D = 15 mm
X special version
1 IP 40 (housing IP 50)
X special version
CONIN, BINDER, MIL and KPT indicate the connectors with pins on the encoder housing
only for connection of TPE cable (E, F)
only with connection cable (A, B, E, F) and differing from standard (1.5 m resp. 1.0 m + plug)
special lengths for larger quantities on request.
e.g. RI 76 see section RI 76
E:
S:
3:
7:
K:
B:
D0:
60
-
Example:
Type:
Number of pulses:
Supply voltage:
Type of flange:
Protection class:
Shaft diameter:
Output circuit:
Type of connection:
Cable length:
RI 58-H/5000ES.37KB-D0
RI 58-H
5,000
10...30 VDC=
Synchro flange
IP 64
12 mm
push-pull short circuit proof + Alarm
PVC cabel, radial
3.0 m
Incremental Shaft Encoders
Industrial types
n
n
n
n
n
n
n
NUMBER OF PULSES
TECHNICAL DATA
mechanical
Miniature encoder for industrial use
Low current consumption
High noise interference immunity
Cable lengths of up to 100 m
Suitable for high pulse frequencies
High protection class
Application e.g.:
CNC machines, manipulators, motors,
medical technology, textile machines
5 / 10 / 20 / 25 / 30 / 50 / 60 / 100 / 120 / 128 / 200 / 250 / 256 / 288 / 300 / 360 / 400 / 500
/ 512 / 600 / 720 / 900 / 1,000 / 1,024 / 1,250 / 1,500
Other numbers of pulses available on request
Shaft diameter
Absolute max. shaft load
Absolute maximum speed
Torque
Moment of inertia
Storage temperature
Vibration performance
Shock resistance
Type of connection
Housing
Flange
Weight
Bearing life
1)
TECHNICAL DATA
electrical
Type RI 30
Other cable length on request
General design
Supply voltage
(SELV)
Power consumption
StandardOutput versions 2)
1)
2)
5 mm
radial 30 N / axial 15 N (6.5/3.3 Ibs)
max. 10,000 RPM
≤ 0.2 Ncm
ca. 0.8 gcm2
Housing IP 64, bearings IP 64
–10 … +70 °C
–25 … +85 °C
100 m/s2 (10 … 2000 Hz)
1,000 m/s2 (6 ms)
1.5 m cable radial/axial 1), connector axial
aluminium
60 g approx.
1 x 1010 revolutions (typ.) at 35 % of full rated shaft load
For example 30,000 h at 6,000 RPM with a 2 lb radial load
as per DIN VDE 0160, protection class III,
contamination level 2, overvoltage class II
with RS 422 (R, T):
5 VDC ± 10 %
with push-pull (K):
10 ... 30 VDC 1)
40 mA (5 VDC), 60 mA (10 VDC), 30 mA (24 VDC)
RS 422 (R)
A, B, N, A, B, N, Alarm
RS 422 (T)
A, B, N, A, B, N, Sense
push-pull (K)
A, B, N, Alarm
Pole protection
Output description and technical data see section „Output“.
Shaft Encoders 2001
61
Industrial types
Type RI 30
DIMENSIONED DRAWINGS
(Dimensions in mm)
Synchro flange, cable
R for alternating bending > 100 mm
R for permanent bending > 40 mm
Round flange, cable
62
Shaft Encoders 2001
Industrial types
Type RI 30
Synchro flange, BINDER
Round flange, BINDER
Shaft Encoders 2001
63
Industrial types
CONNECTOR 6 POLE (BINDER)
Description (push-pull)
10 … 30 VDC
Channel A
Channel N
Channel B
Alarm
GND
CONNECTION DIAGRAM
cable
10 … 30 VDC
Channel A
Channel B
Channel N
GND
Alarm
screen 2)
1)
2)
Type RI 30
Pin
1
2
3
4
5
6
Description (RS 422)
5 VDC
Sense VCC
Channel A
Channel A
Channel B
Channel B
Channel N
Channel N
GND
Alarm/Sense GND 1)
screen 2)
Lead Ø mm2
0.5
0.14
0.14
0.14
0.14
0.14
0.14
0.14
0.5
0.14
Colour
red
yellow/red
white
white/brown
green
green/brown
yellow
yellow/brown
black
yellow/black
screen2)
depending on ordering code
connected to housing
ORDERING DATA
O standard
Type of flange
Supply
S synchro flange
voltage
R round flange
A 5 VDC
E 10 … 30 VDC (only with push-pull)
R I 30–0 /
Number of pulses
5 … 1,500
1)
64
Shaft Encoders 2001
Shaft
diameter
4 5 mm
·3 4
Protection class
3 IP 64
Output
T RS 422 + Sense
K push-pull
short circuit proof
R RS 422 + Alarm
Type of
connection
A cable axial
B cable radial
N BINDER 1)
6 pole, axial
(only
push-pull)
encoder connector with pins
Industrial types
Type RI 36
n Miniature industry standard encoder for high numbers of pulses
n High reliability
n Application e.g.:
- CNC axles
- Machine tools
- Robots
- Special purpose machines
- High-speed winding machines
NUMBER OF PULSES
TECHNICAL DATA
mechanical
5 / 10 / 20 / 25 / 28 / 32 / 50 / 60 / 72 / 100 / 128 / 144 / 200 / 250 / 256 / 288 / 300 / 360 /
400 / 500 / 512 / 600 / 720 / 900 / 1,000 / 1,024 / 1,250 / 1,500 / 2,000 / 2,048 / 2,500 / 3,000
/ 3,600
Shaft diameter
Torque
Moment of inertia
Storage temperature
Shock resistance
Type of connection
Housing
Flange
Wight
Bearing life
1)
TECHNICAL DATA
electrical
General design
Supply voltage
(SELV)
Power consumption
1)
2)
6 mm / 6,35 mm
radial 30 N / axial 15 N (6.5/3.3 Ibs)
max. 10,000 RPM
≤ 0.3 Ncm
ca. 2.8 gcm2
–10 … +70 °C
–25 … +85 °C
100 m/s2 (10 … 2,000 Hz)
1,000 m/s2 (6 ms)
1.5 m cable or connector, axial or radial 1)
aluminium
80 g approx.
with RS 422 (R, T):
5 VDC ± 10 %
with push-pull (K, I):
10 ... 30 VDC 1)
RS 422 (R):
RS 422 (T):
push-pull (K):
A, B, N, Alarm
push-pull complementary (I): A, B, N, A, B, N, Alarm
Pole protection
Output description and technical data see section „output“.
Shaft Encoders 2001
65
Industrial types
Type RI 36
Synchro flange
Round flange
Dimensions in mm
66
Shaft Encoders 2001
10 … 30 VDC
Channel A
Channel N
Channel B
Alarm
GND
Pin
1
2
3
4
5
6
Industrial types
CONNECTION DIAGRAM
Cable PVC
(A, B)
Colour
red
yellow/red
white
white/brown
green
green/brown
yellow
yellow/brown
black
yellow/black
Screen 2)
1)
2)
Lead
Ø
mm2
0.5
0.14
0.14
0.14
0.14
0.14
0.14
0.14
0.5
0.14
Output
RS 422
(R, T)
5 VDC=
Sense VCC
Channel A
Channel A
Channel B
Channel B
Channel N
Channel N
GND
Alarm/Sense GND 1)
Screen 2)
Type RI 36
push-pull
(K)
10…30 VDC=
push-pull
complementary (I)
10…30 VDC=
Sense VCC
Channel A
Channel A
Channel B
Channel B
Channel N
Channel N
GND
Alarm
Screen 2)
Channel A
Channel B
Channel N
GND
Alarm
Screen 2)
ORDERING DATA
O standard
Type of flange
Supply
S synchro flange
voltage
R round flange
A 5 VDC
E 10 … 30 VDC (only push-pull)
R I 36–0 /
Number of pulses
5 … 3,600
1)
Shaft
diameter
1 6 mm
5 6.35 mm
·3
Protection class
3 IP 64
Output
T RS 422 + Sense
K push-pull
short circuit proof
R RS 422 + Alarm
I push-pull
complementary
Type of
connection
A cable axial
B cable radial
N BINDER 1),
6 pole, axial
(only
push-pull)
J BINDER*,
6 pole, radial
(only
push-pull)
Shaft Encoders 2001
67
Industrial types
Type RI 58
n
n
n
n
n
n
n
n
Universal industry standard encoder
Up to 40,000 steps with 10,000 pulses
High signal accuracy
Protection class up to IP 67
Operating temperature up to 100 °C (RI 58-T)
Flexible due to many flange and configuration variants
Suitable for high shock ratings
Application e.g.: Machine tools, CNC axles, packing machines, motors/drives, injection
moulding machines, sawing machines, textile machines
n For EX version, see RX 70-l
Synchro flange
Clamping flange
NUMBER OF PULSES
RI 58-O
1 / 2 / 3 / 4 / 5 / 10 / 15 / 20 / 25 / 29 / 30 / 35 / 40 / 50 / 60 / 64 / 70 / 72 / 80 / 100 / 117 /
120 / 125 / 127 / 128 / 136 / 144 / 150 / 180 / 200 / 226 / 230 / 250 / 256 / 280 / 300 / 314 /
350 / 356 / 360 / 375 / 400 / 460 / 480 / 500 / 512 / 600 / 625 / 635 / 720 / 750 / 889 / 900 /
942 / 1,000 / 1,024 / 1,125 / 1,200 / 1,250 / 1,270 / 1,500 / 1,600 / 1,800 / 1,885 / 1,979 /
2,000 / 2,048 / 2,400 / 2,500 / 3,000 / 3,400 / 3,480 / 3,600 / 3,750 / 3,925 / 3,958 / 3,968 /
4,000 / 4,096 / 4,445 / 4,800 / 5,000 / 5,400 / 6,000 / 6,875 / 7,200 / 7,680 / 7,854 / 8,000 /
8,192 / 9,000 / 10,000
other numbers of pulses available on request.
RI 58-T
(high temperature): as above, but only for the range from 4 … 2,500 pulses
other numbers of pulses available on request.
TECHNICAL DATA
mechanical
68
Shaft diameter
radial / axial
6 mm/6.35 mm/7 mm/12 mm/10 mm/9.52 mm
Ø 12 mm
180/140 N (39/30 Ibs)
Ø 7…10 mm
160/107 N (35/24 Ibs)
Ø 6 mm/6.35 mm 110/60 N (24/13 Ibs)
10,000 RPM
Torque
≤ 0.5 Ncm (IP 65), ≤ 1 Ncm (IP 67)
Moment of inertia
synchro flange 14 gcm2 approx.
clamping flange 20 gcm2 approx.
RI 58-O: –10 … +70 °C; RI 58-T: -25 … +100 °C
Storage temperature
RI 58-O: –25 … +85 °C; RI 58-T: -25 … +100 °C
Vibration proof (IEC 68-2-6)
100 m/s2 (10 … 2000 Hz)
Shock resistance (IEC 68-2-27) 1,000 m/s2 (6 ms)
Type of connection
1.5 m cable 1) or connector, axial or radial
Housing
aluminium Ø 58 mm
Flange
G, Q = square flange, M = synchro clamping flange
Weight
360 g approx.
Bearing life
For example 30,000 h at 6,000 RPM with
a 13 lb radial load (10 mm or 9.52 mm shaft)
1) Other cable lengths on request
Shaft Encoders 2001
Industrial types
TECHNICAL DATA
electrical
General design
Supply voltage
(SELV)
Power consumption
1)
2)
CONNECTION DIAGRAM
CABLE PVC
2)
CONNECTION DIAGRAM
CABLE TPE
with RS 422 + Sense (T):
5 VDC ± 10 %
with RS 422 + Alarm (R):
5 VDC ± 10 % oder 10 ... 30 VDC 1)
10 ... 30 VDC 1)
RS 422 (R):
RS 422 (T):
push-pull (K):
A, B, N, Alarm
Pole protection with supply voltage 10…30 VDC
cable PVC
(A, B)
Colour
red
yellow/red
white
white/brown
green
green/brown
yellow
yellow/brown
black
yellow/black
Screen 2)
1)
Type RI 58
Output
RS 422
(R, T)
5/10…30 VDC=
Sense VCC
Channel A
Channel A
Channel B
Channel B
Channel N
Channel N
GND
Alarm/Sense GND 1)
Screen 2)
push-pull
(K)
10…30 VDC=
Channel A
Channel B
Channel N
GND
Alarm
Screen 2)
push-pull
complementary (I)
10…30 VDC=
Sense VCC
Channel A
Channel A
Channel B
Channel B
Channel N
Channel N
GND
Alarm
Screen 2)
cable TPE
(E, F)
Colour
brown/green
blue
brown
green
grey
pink
red
black
white/green
violet (white) 1)
Screen 3)
Output
RS 422
(R, T)
5/10…30 VDC=
Sense VCC
Channel A
Channel A
Channel B
Channel B
Channel N
Channel N
GND
Alarm/Sense GND 2)
Screen 3)
push-pull
(K)
10…30 VDC=
Channel A
Channel B
Channel N
GND
Alarm
Screen 3)
push-pull
complementary (I)
10…30 VDC=
Sense VCC
Channel A
Channel A
Channel B
Channel B
Channel N
Channel N
GND
Alarm
Screen 3)
white for RS 422 + Sense (T)
3) connected to housing
1)
2)
Shaft Encoders 2001
69
Industrial types
CONNECTOR 12 POLE (CONIN)
Pin RS 422 +
Sense (T)
1 Channel B
2 Sense VCC
3 Channel N
4 Channel N
5 Channel A
6 Channel A
7 N.C.
8 Channel B
9 N.C. 1)
10 GND
11 Sense GND
12 5 VDC =
1)
CONNECTOR 10 POLE (MIL)
Pin RS 422/Push-pull complementary
Euro-pinout
(connection codes 0 and K)
1/A Channel A
2/B Channel B
3/C Channel N
4/D 5/10…30 VDC =
5/E Alarm
6/F GND
7/G Channel A
8/H Channel B
9/I Channel N
10/J Screen
Pin
1/A
2/B
3/C
4/D
5/E
6/F
7/G
70
Shaft Encoders 2001
push-pull
(K)
N.C.
N.C.
Channel N
N.C.
Channel A
N.C.
Alarm
Channel B
N.C. 1)
GND
N.C.
10…30 VDC=
push-pull
complementary (I)
Channel B
Sense VCC
Channel N
Pin-assignment
connector counter
Channel N
clockwise (ccw)
Channel A
Channel A
Alarm
Channel B
N.C. 1)
GND
connector
clockwise (cw)
N.C.
10…30 VDC=
Screen for cable with CONIN connector
CONNECTOR 6/7 POLE (MIL)
RS 422 +
Alarm (R)
Channel B
Sense VCC
Channel N
Channel N
Channel A
Channel A
Alarm
Channel B
N.C. 1)
GND
N.C.
5/10…30 VDC=
Type RI 58
MIL 6 pole
Push-pull
10…30 VDC
Channel A
Channel B
Channel N
GND
Screen
-
10 … 30 VDC
Channel A
Channel N
Channel B
Alarm
GND
Push-pull
(0 and K)
RS 422/Push-pull complementary
US-pinout
(R and T)
Channel A
Channel A
Channel B
Channel B
Channel N
Channel N
10…30 VDC = 5/10…30 VDC =
Alarm
Alarm
GND
GND
Screen
Screen
N.C.
Channel A
N.C.
Channel B
Screen
Channel N
MIL 7 pole
Push-pull
Channel A
Channel B
Channel N
10…30 VDC =
Alarm
GND
Screen
Pin
1
2
3
4
5
6
Industrial types
Type RI 58
Synchro flange, 58 mm
Connecting cable axial/radial
Dimensions in mm
Connector 12 pole, axial/radial
Clamping flange, 58 mm
Connecting cable axial/radial
Connector 12 pole, axial, radial
Dimensions in mm
DIMENSIONS
Type
Synchro flange, 58 mm
Connection
cable
connector
Clamping flange, 58 mm cable
connector
1)
Output 1)
R (with UB = 5 V), T, K, I
R (with UB = 10...30 V)
R (with UB = 10...30 V)
R (with UB = 10...30 V)
R (with UB = 10...30 V)
axial L1
51.5
56
57.5
57.5
45.5
50
51.5
51.5
radial L2
41.5
56
51.5
56
35.5
50
45.5
50
R = RS 422 + Alarm, T = RS 422 + Sense, K = push-pull, I = push-pull complementary
Shaft Encoders 2001
71
Industrial types
Type RI 58
Synchro clamping
flange, 63.5 mm
Dimensions in mm
Dimensions in mm
Square flange, 80 x 80 mm
72
Dimensions in mm; *L1, L2 see clamping flange
Shaft Encoders 2001
Industrial types
Type RI 58
STANDARD VERSIONS
Guide for selection of RI 58-O
Shaft Encoders 2001
73
Industrial types
Type RI 58
STANDARD VERSIONS
Guide for selection of RI 58-T
Version
RI58 - T
Number
of pulses
Type of
flange **
Protection class
Housing/Bearings
Shaft
4 ... 2,500
K=clamping flange
Ø 58
S=synchro flange
Ø 58
M=syn. clamping fl.
Ø 63,5
Q=square flange
63,5 x 63,5
G=square flange
80 x 80
4=IP 65/64
7=IP 67/67
4=IP 65/64
7=IP 67/67
4=IP 65/64
7=IP 67/67
4=IP 65/64
7=IP 67/67
1=IP 50/40
3*=7 mm
6=9,52 mm
2=10 mm
7*=12 mm
1=6 mm
5=6,35 mm
6=9,52 mm
6=9,52 mm
2=10 mm
3=7 mm
Supply
voltage
Output
Connection
A=5 V DC
4=IP 65/64
E=10 ... 30 V DC
R=RS 422+Alarm
T=RS 422+Sense
K=push-pull
C= Conin, axial, clockwise
D= Conin, radial, clockwise
E= cable TPE, axial
F= cable TPE, radial
G= Conin, axial, counter clockwise
H= Conin, radial, counter clockwise
K*= MIL 10 pole, radial
O*= MIL 10 pole, axial
R*= MIL 10 pole, US axial
T*= MIL 10 pole, US radial
E= cable TPE, axial
E= cable TPE, axial
J= Binder 6 pole, radial
N= Binder 6 pole, axial
K*= MIL 10 pole, radial
O*= MIL 10 pole, axial
* not for IP67
** other flange versions can be realized by combination of clamping flange + flange adapter (see Accessories)
e.g. RI58 with synchro flange and 10 mm-shaft: version clamping flange with 10 mm-shaft + synchro flange adapter (1 522 328)
Further versions on request
74
Shaft Encoders 2001
Industrial types
ORDERING DATA
Please check „selection guide”
on previous pages as not all
combinations are possible!
Supply
O standard
T high temperature voltage
A 5 VDC
E 10 … 30 VDC
R I 58–
Type of flange
S synchro flange
K clamping flange
G square flange 80 x 80
Q square flange 63.5 x 63.5
M synchro clamping flange
/
Number of pulses
RI58-O: 1 … 10,000
RI58-T: 4 … 2,500
Shaft diameter
1 6 mm
2 10 mm
3 7 mm
5 6.35 mm
6 9.52 mm
7 12 mm
·
Protection
class
4 IP 64
7 IP 67
Type of connection
A PVC-cable axial 2)
B PVC-cable radial
C CONIN 1), axial clockwise
D CONIN 1), radial clockwise
E TPE-cable axial
F TPE-cable radial
G CONIN 1), axial counter clockwise
H CONIN 1), radial counter clockwise
J BINDER 1) 6 pole, radial
N BINDER 1) 6 pole, axial
Output
T RS 422 + Sense
K push-pull, short circuit proof
I push-pull complementary
R RS 422+Alarm
O MIL MS 1), 10 pole, axial
K MIL MS 1), 10 pole, radial
L MIL 1) 7 pole, radial
P MIL 7 pole, axial
MMIL 6 pole, axial
Q MIL 6 pole, radial
R MIL 10 pole, U.S. axial 3)
T MIL 10 pole, U.S. radial 3)
1 KPT 12-8 P, axial
2 KPT 12-8 P, radial
1)
2)
ACCESSORIES
Type RI 58
European pinout
3)
U.S. pinout
Clamping eccentric
(set of three)
Spring washer coupling
hole 6/6 mm
hole 10/10 mm
Cable plug connector
for connector (CONIN), clockwise
(type of connection C, D)
for connector (CONIN), counter
clockwise (type of connection G, H)
Mounting spanner
for CONIN connectors
Extension cables
(TPE)
12-pin plug (socket) on one end
clockwise (C, D)
counter clockwise (G, H)
Ordering code
Ordering code
L=3m
1 522 348
1 522 394
L=5m
1 522 349
1 522 395
L = 10 m
1 522 350
1 522 396
TPE-cable (not made up with connectors) 3 280 112 + state required length
For more detailed specifications and other accessories see ”Accessories”
Shaft Encoders 2001
75
Type RI 59
Stainless Steel
Industrial types
n
n
n
n
1 / 2 / 3 / 4 / 5 / 10 / 15 / 20 / 25 / 29 / 30 / 35 / 40 / 50 / 60 / 64 / 70 / 72 / 80 / 100 / 117 /
120 / 125 / 127 / 128 / 136 / 144 / 150 / 180 / 200 / 226 / 230 / 250 / 256 / 280 / 300 / 314
/ 350 / 356 / 360 / 375 / 400 / 460 / 480 / 500 / 512 / 600 / 625 / 635 / 720 / 750 / 889 / 900
/ 942 / 1,000 / 1,024 / 1,125 / 1,200 / 1,250 / 1,270 / 1,500 / 1,600 / 1,800 / 1,885 / 1,979 /
2,000 / 2,048 / 2,400 / 2,500 / 3,000 / 3,400 / 3,480 / 3,600 / 3,750 / 3,925 / 3,958 / 3,968 /
4,000 / 4,096 / 4,445 / 4,800 / 5,000 / 5,400 / 6,000 / 6,875 / 7,200 / 7,680 / 7,854 / 8,000 /
8,192 / 9,000 / 10,000
Other numbers of pulses available on request.
NUMBER OF PULSES
TECHNICAL DATA
mechanical
Shaft diameter
Torque
Moment of inertia
Storage temperature
Shock resistance (IEC 68-2-27)
Type of connection
Housing
Flange
Weight
Bearing life
1)
76
Stainless steel encoder with high protection class
High corrosion resistance
Use in the area of food production or if sea-water proof is required
Application e.g.:
- packing machines
- bottling machines
- washing plants
- mixers
- cranes
- hoists
- marine outfitters
Shaft Encoders 2001
9.52 mm/10 mm
radial 160 N / axial 107 N (35/24 Ibs)
10,000 RPM
≤ 1 Ncm
ca. 20 gcm2
–10 … +70 °C
–25 … +85 °C
100 m/s2 (10 … 2000 Hz)
1,000 m/s2 (6 ms)
1.5 m cable 1) radial or axial
stainless steel Ø 58 mm
Q= square flange 63.5 x 63.5 mm
approx. 620 g
a 13 lb radial load
Industrial types
TECHNICAL DATA
electrical
General design
Supply voltage
(SELV)
Power consumption
1)
2)
Type RI 59
5 VDC ± 10 %
5 VDC ± 10 % or 10 ... 30 VDC 1)
10 ... 30 VDC 1)
RS 422 (R):
RS 422 (T):
push-pull (K):
A, B, N, Alarm
Pole protection with supply voltage 10 ... 30 VDC
Output description and technical data see section „output“
DIMENSIONED DRAWING
Dimensions in mm
Shaft Encoders 2001
77
Industrial types
CONNECTION DIAGRAM
Connection cable
Colour
Type RI 59
Output
RS 422
T and R
5/10…30 VDC
Sense VCC
Channel A
Channel A
Channel B
Channel B
Channel N
Channel N
GND
Alarm/Sense GND 2)
screen 3)
push-pull
K and I
10 … 30 VDC
Sense VCC
Channel A
Channel A 1)
Channel B
Channel B 1)
Channel N
Channel N 1)
GND
Alarm
screen 3)
Supply voltage Type of flange
A 5 VDC
Q square flange 63.5 x 63.5
E 10 … 30 VDC
Shaft diameter
A 10 mm x 25
B 9.52 mm x 25
Lead Ø mm2
red
red/yellow
white
white/brown
green
green/brown
yellow
yellow/brown
black
black/yellow
screen 3)
0.5 mm2
0.14 mm2
0.14 mm2
0.14 mm2
0.14 mm2
0.14 mm2
0.14 mm2
0.14 mm2
0.5 mm2
0.14 mm2
only push-pull complementary (I)
1)
2)
ORDERING DATA
O Standard
R I 59–0 /
Number of pulses
1 … 10,000
78
Shaft Encoders 2001
Q·7
Protection
7 IP 67
Output
T RS 422 + Sense
K push-pull
push-pull short
circuit proof
I push-pull
complementary
R RS 422 + Alarm
Connection
A PVC-cable axial
B PVC-cable radial
Incremental Shaft Encoders Type RX 70 TI
EX
Industrial types
n Encoder for explosion-protection type II
n Top reliability
n Application e.g.:
- enamelling production lines
- finishing machines
- bottling machines
- mixers
- silo works
n For absolute EX encoders, see
"Absolute Encoders Type RX 70-TS, TM, TP"
NUMBER OF PULSES
1 / 2 / 3 / 4 / 5 / 10 / 15 / 20 / 25 / 29 / 30 / 35 / 40 / 50 / 60 / 64 / 70 / 72 / 80 / 100 / 117 / 120
/ 125 / 127 / 128 / 136 / 144 / 150 / 180 / 200 / 226 / 230 / 250 / 256 / 280 / 300 / 314 / 350 /
356 / 360 / 375 / 400 / 460 / 480 / 500 / 512 / 600 / 625 / 635 / 720 / 750 / 889 / 900 / 942 /
1,000 / 1,024 / 1,125 / 1,200 / 1,250 / 1,270 / 1,500 / 1,600 / 1,800 / 1,885 / 1,979 / 2,000 /
2,048 / 2,400 / 2,500 / 3,000 / 3,400 / 3,480 / 3,600 / 3,750 / 3,925 / 3,958 / 3,968 / 4,000 /
4,096 / 4,445 / 4,800 / 5,000 / 5,400 / 6,000 / 6,875 / 7,200 / 7,680 / 7,854 / 8,000 / 8,192 /
9,000 / 10,000
Other numbers of pulses available on request.
EX-CLASSIFICATION
Hengstler EXPLOSION-PROOF shaft encoders are classified according to EEx d IIC T6/T4
(according to EN 50014 and EN 50018)
Certificate of conformity: BVS 95.D.2027
EEx
d IIC
T6/T4
Symbol designating equipment
built in compliance with European Norms
Flange protection
Explosion group II
(all areas except for fire-damp mining areas)
Temperature class
T6 = Highest permissible surface temperature: 85° C 1)
1)
2)
EEx d llC T6: max. speed = 6,000 RPM
Shaft Encoders 2001
79
EX
Industrial types
TECHNICAL DATA
mechanical
Shaft diameter
10 mm
radial 160 N / axial107 N (35/24 Ibs)
10,000 RPM (EEx d IIC T4)
Torque
≤ 1 Ncm
Moment of inertia
ca. 20 gcm2
–20 … +60 °C (EEx d IIC T4)
–10 … +40 °C (EEx d IIC T6)
Storage temperature
–25 … +85 °C
10 g = 100 m/s2 (10…2,000 Hz)
Shock resistance (IEC 68-2-27) 100 g = 1,000 m/s2 (6 ms)
Type of connection
5 m cable axial 1) for fixed layout
Size
Ø 70 mm
Flange
Clamping flange, holes 3 x M6
Weight
approx. 1,400 g
Bearing life
1)
TECHNICAL DATA
electrical
Other cable lengths on request
General design
Supply voltage
(SELV)
Power consumption
1)
2)
with RS 422 + Sense (T): 5 VDC ± 10 %
with RS 422 + Alarm (R): 5 VDC ± 10 % oder 10 ... 30 VDC 1)
10 ... 30 VDC 1)
RS 422 (R):
RS 422 (T):
push-pull (K):
A, B, N, Alarm
DIMENSIONED DRAWING
Dimensions in mm
80
Shaft Encoders 2001
EX
Industrial types
CONNECTION DIAGRAM
Cable
No.
RS 422+
Sense (T)
12
5 VDC
11
GND
10
Sense VCC
9
Sense GND
1
Channel A
2
Channel A
3
Channel B
4
Channel B
5
Channel N
6
Channel N
7
screen
Screw terminal
Output
RS 422+
Alarm (R)
push-pull
(K)
push-pull
complementary (I)
5/10...30 VDC
GND
10…30 VDC
GND
10...30 VDC
GND
Channel A
Channel A
Channel A
Channel A
Channel A
Channel B
Channel B
Channel B
Channel B
Channel B
Channel N
Channel N
Channel N
Channel N
Channel N
Alarm
Alarm
Alarm
Cable screen connected to housing
for additional connection of an earth conductor
ORDERING DATA
I Incremental
Supply voltage
A 5 VDC 1)
E 10 … 30 VDC 2)
RX70 T I /
Number of pulses
1 … 10,000
1)
2)
Type of flange
K Clamping flange
K·4
Protection class
4 IP 64
Output
K push-pull short
circuit proof
T RS 422 + Sense
I push-pull
complementary
R RS 422 + Alarm
Shaft
2 10 mm
2
A
Connection
A PVC cable,
axial (5 m)
with output T, R
with output K, I, R
Shaft Encoders 2001
81
Incremental Encoder
with Hollow Shaft
n
n
n
n
miniature industry encoder for high number of pulses
short mounting length
easy mounting procedure
Application e.g.:
- Motors
- Machine tools
- Packaging Machines
- Robots
- Automated SMD equipment
5 / 10 / 20 / 25 / 50 / 60 / 100 / 200 / 250 / 300 / 360 / 500 / 600 / 720 / 1000 / 1024 / 1250
/ 1500 / 2000 / 2048 / 2500 / 3000 / 3600
Other number of pulsesavailable on request
NUMBER OF PULSES
TECHNICAL DATA
mechanical
Mounting
Coupling
Shaft diameter
Angular shaft
misalignment max.
Absolute max. speed
Torque
Moment of inertia
Storage temperature
Shock resistance
Type of connection
Housing
Weight
1)
TECHNICAL DATA
electrical
General design
1)
2)
Shaft Encoders 2001
Clamping shaft (one side open) with front clamping ring
spring plate
4, 6, 8, 10 mm hollow shaft
±0,15 mm radial, ±0,5 mm axial
max. 10.000 min-1
≤ 1 Ncm
ca. 3 gcm2
-10…+70 °C
-25 … +85 °C
100 m/s2 (10…2000 Hz)
1000 m/s2 (6 ms)
1,5 m cable 1) axial or radial
aluminium
ca. 80 g
other cable length on request
Supply voltage
(SELV)
Power consumption
StandardOutput version 2)
82
Type RI 36-H
as per DIN EN61010-1, protection class III,
with RS 422 (R, T):
5 VDC 10 %
10 … 30 VDC 1)
RS 422 (R):
RS 422 (T):
push-pull (K):
A, B, N, Alarm
pole protection
Output description and technical data see section "output"
Incremental Encoder
with Hollow Shaft
Type RI 36-H
DIMENSIONED DRAWING
Dim
Hollow
A
4+0.01 6+0.01
A*
4 g7 6 g7
Lmin 6
9
max. shaft length
s haft-Ø
8+0.01 10+0.01
8 g7 10 g7
12
15
unit
mm
mm
mm
A* = Diameter of connection shaft
Lmin = Min. inside length of connection shaft
Dimension in mm
The spring plate as torque support must be fixed by a cylindrical pin (2.4 mm Ø) at the machine side
CONNECTION DIAGRAM
Cable PVC
(A, B)
Colour
red
yellow/red
white
white/brown
green
green/brown
yellow
yellow/brown
black
yellow/black
Screen 2)
1)
2)
Lead
Ø
mm2
0.5
0.14
0.14
0.14
0.14
0.14
0.14
0.14
0.5
0.14
Output
RS 422
(R, T)
5 VDC=
Sense VCC
Channel A
Channel A
Channel B
Channel B
Channel N
Channel N
GND
Alarm/Sense GND 1)
Screen 2)
push-pull
(K)
10…30 VDC=
Sense VCC
Channel A
Channel B
Channel N
GND
Alarm
Screen 2)
push-pull
complementary (I)
10…30 VDC=
Channel A
Channel A
Channel B
Channel B
Channel N
Channel N
GND
Alarm
Screen 2)
ORDERING DATA
H Hollow
shaft
Supply voltage
A 5 VDC
E 10 ... 30 VDC
(push-pull only)
R I 3 6–H /
Number of pulses
5 ... 3600
Mounting
F clamping shaft
Shaft diameter
0 4 mm
1 6 mm
C 8 mm
2 10 mm
F ·3
Protection class Output
Type of connection
3 IP 64
T RS 422 + Sense A Cable axial
B Cable radial
K push-pull
short circuit proof
R RS 422 + Alarm
Shaft Encoders 2001
83
Incremental Shaft Encoders Type RI 58-H
with Hollow Shaft
n
n
n
n
NUMBER OF PULSES
1 / 2 / 3 / 4 / 5 / 10 / 15 / 20 / 25 / 29 / 30 / 35 / 50 / 60 / 70 / 72 / 80 / 100 / 117 / 120 / 125
/ 128 / 136 / 144 / 150 / 180 / 200 / 226 / 230 / 250 / 256 / 280 / 300 / 314 / 350 / 360 / 375
/ 400 / 460 / 480 / 500 / 512 / 600 / 720 / 900 / 1,000 / 1,024 / 1,250 / 1,270 / 1,500 / 1,600
/ 1,800 / 1,885 / 2,000 / 2,048 / 2,400 / 2,500 / 3,000 / 3,400 / 3,480 / 3,600 / 3,925 / 4,000
/ 4,096 / 5,000
TECHNICAL DATA
mechanical
Shaft diameter
10 mm hollow shaft
12 mm hollow shaft
Required dimension of mounting shaft:
Ø 10 mm, tolerance g8 (-0.005 … -0.027 mm)
Ø 12 mm, tolerance g8 (-0.006 … -0.033 mm)
Balance tolerances
Misalignment axial
± 0.4 mm
Misalignment parallel
0.4 mm
Misalignment angular
1°
max. 3,000 RPM
Torque
≤ 2 Ncm (IP 64)
Moment of inertia
approx. 65 gcm2 (10 mm shaft)
approx. 95 gcm2 (12 mm shaft)
–10 … +70 °C
Storage temperature
–25 … +85 °C
10 g = 100 m/s2 (10 … 2 kHz)
Type of connection radial
cable, 1.5 m 1)
Housing
aluminium
Flange
synchro flange
Weight
210 g approx.
1)
84
Through shaft
High accuracy by means of integrated flexible coupling
Safe shaft mounting
Application e.g.:
- textile machines
- motors
- drives
- copiers
Shaft Encoders 2001
with Hollow Shaft
TECHNICAL DATA
electrical
General design
Supply voltage
(SELV)
Power consumption
1)
2)
5 VDC ± 10 %
5 VDC ± 10 % oder 10 ... 30 VDC 1)
10 ... 30 VDC 1)
RS 422 (R):
RS 422 (T):
push-pull (K):
A, B, N, Alarm
Output description and technical data see section ”output“.
DIMENSIONED DRAWING
Synchro flange
ø Hollow shaft
10 mm
12 mm
Required dimension
of mounting shaft (g8)
– 0.005 … – 0.027 mm
– 0.006 … – 0.033 mm
Dim.
A
10 mm*
B
28 mm
Ø
12 mm*
33 mm
* Tolerance
H7 = 0 … + 0.018 mm
Dimensions in mm
Shaft Encoders 2001
85
with Hollow Shaft
CONNECTION DIAGRAM
Connection cable
Colour
red
red/yellow
white
white/brown
green
green/brown
yellow
yellow/brown
black
black/yellow
screen 3)
Lead Ø mm2
0.5 mm2
0.14 mm2
0.14 mm2
0.14 mm2
0.14 mm2
0.14 mm2
0.14 mm2
0.14 mm2
0.5 mm2
0.14 mm2
Output
RS 422
T and R
5/10…30 VDC
Sense VCC
Channel A
Channel A
Channel B
Channel B
Channel N
Channel N
GND
Alarm/Sense GND 2)
screen 3)
push-pull
K and I
10…30 VDC
Sense VCC
Channel A
Channel A 1)
Channel B
Channel B 1)
Channel N
Channel N 1)
GND
Alarm
screen 3)
only push-pull complementary (I)
1)
2)
ORDERING DATA
H Hollow shaft Supply voltage
A 5 VDC
E 10 … 30 VDC
R I58–H/
Number of pulses
1 … 5,000
Type of flange
Protection class Shaft
S synchro flange 3 IP 64
diameter
2 10 mm
7 12 mm
S·3
B
Output
Type of connection
K push-pull
B PVC cable,
T RS 422
radial
+ Sense
R RS 422
+ Alarm
I push-pull
complementary
ACCESSORIES
Clamping eccentric (set of three)
86
Shaft Encoders 2001
with Hollow Shaft
Type RI 58-D
n
n
n
n
Flexible hollow shaft design up to diameter 14 mm
Short overall length
Easy installation by means of clamping shaft or blind shaft
Application e.g.:
- actuators
- length measuring machines
- motors
n Operating temperature up to 100 °C (RI 58 TD)
Blind shaft
Clamping shaft
NUMBER OF PULSES
SHAFT VARIANTS
TECHNICAL DATA
mechanical
RI 58-D
1 / 2 / 3 / 4 / 5 / 10 / 20 / 25 / 29 / 30 / 35 / 40 / 45 / 50 / 60 / 64 / 70 / 72 / 80 / 100 / 117 /
120 / 125 / 128 / 136 / 144 / 150 / 160 /180 / 200 / 226 / 230 / 250 / 256 / 280 / 300 / 314 /
350 / 360 / 375 / 400 / 460 / 480 / 500 / 512 / 600 / 625 / 720 / 889 / 900 / 942 / 1000 / 1024
/ 1250 / 1270 / 1500 / 1600 / 1800 / 1885 / 2000 / 2048 / 2400 / 2500 / 3000 / 3400 / 3480
/ 3600 / 3925 / 4000 / 4096 / 5000
RI 58 TD
(high temperature); As above, but only within the range 4…2,500
E = End shaft (non-through shaft)
F = Clamping shaft (non-through shaft)
D = Clamping shaft (through shaft)
Mounting
Shaft diameter
Torque
Moment of inertia
Storage temperature
Housing
Weight
1)
synchro flange with clamping shaft or blind shaft
hollow shaft 10 mm
hollow shaft 12 mm
hollow shaft 14 mm (not through)
required dimension of mounting shaft:
Ø 10 mm, tolerance g8 (-0.005…-0.027 mm)
Ø 12/14 mm, tolerance g8 (-0.006…-0.033 mm)
E, F: max. 6,000 RPM; D = max. 4000 min-1
≤ 1 Ncm with non-through shaft (E, F)
≤ 2 Ncm with through shaft D
F: approx. 35 gcm2 (clamping non-through shaft)
E: approx. 20 gcm2 (end shaft)
D: approx 60 gcm2 (clamping through shaft)
E, F: housing IP 65, bearings IP 64
D: housing IP 64, bearings IP 64
–10 … +70 °C, Option: -25 ...+100°C
–25 … +85 °C
10 g = 100 m/s2 (10 … 2,000 Hz)
100 g = 1,000 m/s2 (6 ms)
1.5 m cable 1) or connector
aluminium
E, F.: 170 g approx.; D: 190 g approx.
Shaft Encoders 2001
87
with Hollow Shaft
TECHNICAL DATA
electrical
General design
Supply voltage
(SELV)
Power consumption
StandardOutput versions2)
1)
2)
Type RI 58-D
5 VDC ± 10 %
5 VDC ± 10 % oder 10 ... 30 VDC 1)
10 ... 30 VDC 1)
RS 422 (R):
RS 422 (T):
push-pull (K):
A, B, N, Alarm
DIMENSIONED DRAWING
Mounting = F:
blind shaft with clamping ring
Mounting thread M4x5
Dim.: Ø of hollow shaft
A
10H7 12H7 14H7
A*
10g8 12g8 14g8
Unit
mm
mm
Dimensions in mm
88
* with Version 10-30 V RS 422
**with mounting F: clamping shaft; not through-going
Shaft Encoders 2001
with Hollow Shaft
Type RI 58-D
DIMENSIONED DRAWING
Mounting = D:
through shaft with clamping ring
Unit
A
10H7 12H7 14H7 mm
A*
10g8 12g8 14g8 mm
* with Version 10-30 V RS 422
OPTION:
Clamping ring at rear on request
Shaft Encoders 2001
89
with Hollow Shaft
Type RI 58-D
DIMENSIONED DRAWING
Mounting of version E, blind shaft
(no through shaft)
A
10H7 12H7 14H7
A*
10g8 12g8 14g8
Unit
mm
mm
* with version 10-30 V RS 422
Dimensions in mm
90
Shaft Encoders 2001
with Hollow Shaft
MOUNTING NECESSITIES
Type RI 58-D
In order to be able to compensate an axial and radial misalignment of the shaft, the encoder
flange must not be fixed rigidly.
Fix the flanges by means of a stator coupling (e.g. spring plate) as torque support (see
“Accessories”) or by means of a cylindrical pin:
Dimensions in mm also apply for shaft-ø 10 or 14
Mounting D, F (Clamping shaft)
Dimensions in mm also apply for shaft-ø 10 or 14
Mounting E (Blind shaft)
Preparation of the machine flange1)
Preparation of the drive shaft
(all mounting versions):
(only in mounting = E):
In the machine flange a straight pin must
The drive shaft must be provided with a
be installed (diameter 4x16 resp. 4x20,
threaded bore M 4 x10:
DIN 6325).
This bore accepts the fastening screw of the
This pin is required as a torque support.
shaft encoder.
1) Or as an option: stator coupling as torque support
CONNECTION DIAGRAM
CABLE PVC
Cable PVC
Colour
white
white/brown
green
green/brown
yellow
yellow/brown
yellow/black
yellow/red
red
black
Cable screen 1)
1)
CONNECTION DIAGRAM
CABLE TPE
2)
Output circuit
RS 422
+ Alarm (R)
Channel A
Channel A
Channel B
Channel B
Channel N
Channel N
Alarm
Sense VCC
5/10…30 V DC=
GND
Cable screen 1)
push-pull (K)
Channel A
Channel B
Channel N
Alarm
10…30 V DC=
GND
Cable screen 1)
push-pull
complementary (I)
Channel A
Channel A
Channel B
Channel B
Channel N
Channel N
Alarm
Sense VCC
10…30 V DC=
GND
Cable screen 1)
Cable TPE
Colour
brown
green
grey
pink
red
black
violet (white) 2)
blue
brown/green
white/green
Cable screen 1)
1)
RS 422
+ Sense (T)
Channel A
Channel A
Channel B
Channel B
Channel N
Channel N
Sense GND
Sense VCC
5 V DC=
GND
Cable screen 1)
RS 422
+ Sense (T)
Channel A
Channel A
Channel B
Channel B
Channel N
Channel N
Sense GND
Sense VCC
5 V DC=
GND
Cable screen 1)
Output circuit
RS 422
+ Alarm (R)
Channel A
Channel A
Channel B
Channel B
Channel N
Channel N
Alarm
Sense VCC
5/10…30 V DC=
GND
Cable screen 1)
push-pull (K)
Channel A
Channel B
Channel N
Alarm
10…30 V DC=
GND
Cable screen 1)
push-pull
complementary (I)
Channel A
Channel A
Channel B
Channel B
Channel N
Channel N
Alarm
Sense VCC
10…30 V DC=
GND
Cable screen 1)
white with Version Sense (T)
Shaft Encoders 2001
91
with Hollow Shaft
CONNECTION DIAGRAM
CONNECTOR (CONIN)
Pin
1
2
3
4
5
6
7
8
9
10
11
12
1)
ACCESSORIES
RS 422
+ Sense (T)
Channel B
Sense VCC
Channel N
Channel N
Channel A
Channel A
N.C.
Channel B
N.C. 1)
GND
Sense GND
5 V DC=
RS 422
+ Alarm (R)
Channel B
Sense VCC
Channel N
Channel N
Channel A
Channel A
Alarm
Channel B
N.C. 1)
GND
N.C.
5/10 … 30 V DC=
Type RI 58-D
push-pull (K)
push-pull complementary (I)
N.C.
N.C.
Channel N
N.C.
Channel A
N.C.
Alarm
Channel B
N.C. 1)
GND
N.C.
10 … 30 V DC=
Channel B
Sense VCC
Channel N
Channel N
Channel A
Channel A
Alarm
Channel B
N.C. 1)
GND
N.C.
10 … 30 V DC=
screen with cable version with CONIN-connector
Spring plate as stator coupling: Ordering code 1 531 162
ORDERING DATA
-D hollow shaft
Supply voltage
TD hollow shaft 100° C A 5 VDC
E 10 … 30 VDC
RI 58
Shaft diameter
2 10 mm
7 12 mm
9 14 mm 1)
·
/
Output
K push-pull
T RS 422 + Sense
R RS 422 + Alarm
Protection class I push-pull
3 IP 642)
complementary
4 IP 641)
Number of pulses
1 … 5,000
Mounting
synchro flange with
E blind shaft 1)
F clamping shaft 1)
D clamping shaft 2)
Type of connection
B PVC-cable radial
F TPE-cable radial
D CONIN-connector radial, clockwise3)
H CONIN-connector radial, counter3)
clockwise
Mounting E, F; no through shaft, protection class code 4
through shaft, protection class code 3, only cable connection
3) only with mounting E or F (not through going)
1)
2)
92
Shaft Encoders 2001
Incremental Shaft Encoders Type RI 76 TD
with Hollow Shaft
n
n
n
n
n
NUMBER OF PULSES
TECHNICAL DATA
mechanical
Through shaft with up to diameter 42 mm
Short overall length with an outside diameter of only 76 mm
Easy installation by means of clamping ring
Operating temperature up to 100 °C
Application e.g.:
- motors
- printing machines
- lifts
50 / 100 /250 / 300 / 500 / 600 / 900 / 1,000 / 1,024 / 1500 / 2,048 / 2,500 / 3,072 / 4096 /
5,000 / 9,000 / 10,000
Shaft fixation
Coupling
Shaft diameter
clamping ring, front or rear
stator coupling (spring plate)
15…42 mm (Available: 15, 16, 18, 20, 24, 25, 27, 28, 30,
32, 38, 40, 42 mm also 5⁄8“, 15⁄8“, 3⁄4“)
Minimum length of mounting shaft
Front clamping ring
32 mm with Ø 15...30, 35 mm with Ø > 30...42
Rear clamping ring
corresponding to total length of encoder
Max. parallel shaft misalignment
With flexible stator coupling A (flexible)
±2.0 mm axial, ±0.15 mm radial
With 1 x flexible stator coupling N (torsionally rigid) ±0.5 mm axial, ±0.3 mm radial
With 2 x flexible stator coupling N (torsionally rigid) ±0.3 mm axial, ±0.2 mm radial
at 70° C and IP 64: 3,600 RPM for Ø 15...25
at 70° C and IP 64: 1,800 RPM for Ø > 25...42
at 70° C and IP 40: 6,000 RPM for Ø 15...42
at 100° C always: 1,800 RPM for Ø 15...42
Torque
3…10 Ncm (depending on version)
Moment of inertia
140…420 gcm2 (depending on version)
Protection class (EN 60529
Option:
-25 ...+100 °C
Storage temperature
–25…+100 °C
10 g = 100 m/s2 (10 ... 2,000 Hz)
100 g = 1,000 m/s2 (6 ms)
Type of connection
1.5 m cable 1) radial
Housing
aluminium
Weight
320 - 580 g (depending on version)
1)
TECHNICAL DATA
electrical
General design
Supply voltage
(SELV)
Power consumption
1)
2)
as per DIN EN 61010, protection class III,
with RS 422 (R, T):
5 VDC ± 10 %
10 ... 30 VDC 1)
RS 422 (R):
RS 422 (T):
push-pull (K):
A, B, N, Alarm
Shaft Encoders 2001
93
with Hollow Shaft
DIMENSIONED DRAWING
WITH SPRING PLATE ”RIGID”
* Values in brackets for shaft diameter > 30
Diameter of connection shaft 15g8...42g8
WITH SPRING PLATE
”FLEXIBLE”
* Values in brackets for shaft diameter > 30
Diameter of connection shaft 15g8...42g8
SHAFT CONNECTION
Shaft fixing is done through a clamping ring either on the flange or cap side. As a rule, flange
side clamping is better for smaller motors as the available shaft stub is correspondingly shorter. On the other hand, cap side clamping is easier when there is sufficient shaft length available.
MOUNTING NECESSITIES
In order to compensate for axial and radial shaft eccentricity as well as any angle offset, the
encoder flange may not be rigidly mounted. Please mount the flange with a flexible stator coupling (e.g. spring plate) as torque support. There are two flexible mounting plates:
• A flexible spring plate (A) for higher levels of play and lower requirements for accuracy.
• A rigid spring plate (N) for reduced play and rigid connection with reduced swing angle.
This is suitable in the case of higher accuracy and dynamics requirements.
94
Shaft Encoders 2001
with Hollow Shaft
CONNECTION DIAGRAM
CABLE TPE
Colour (TPE)
brown
green
grey
pink
red
black
violet (white) 2)
blue
brown/green
white/green
Screen 1)
1)
2)
ACCESSORIES
ORDERING DATA
Output circuit
RS 422
+ Sense (T)
Channel A
Channel A
Channel B
Channel B
Channel N
Channel N
Sense GND
Sense VCC
5 VDC=
GND
Screen 1)
RS 422
+ Alarm (R)
Channel A
Channel A
Channel B
Channel B
Channel N
Channel N
Alarm
Sense VCC
5/10 ... 30 VDC=
GND
Screen 1)
push-pull (K)
Channel A
Channel B
Channel N
Alarm
10 ... 30 VDC=
GND
Screen 1)
push-pull
complementary (I)
Channel A
Channel A
Channel B
Channel B
Channel N
Channel N
Alarm
Sense VCC
10 ... 30 VDC=
GND
Screen 1)
white for RS 422 + Sense (T)
Spring plate, flexible
Spring plate, rigid
Supply voltage
A 5 VDC 2)
E 10…30 VDC 3)
D Hollow shaft
Temperature
T high
temperature
RI76 T D /
Number of
pulses
1…10000
Protection
class
1 IP 40
4 IP 64
Shaft diameter 1)
15…42 metric in mm
50…99 coded by inches
50 = 5⁄8“
51 = 15⁄8“
52 = 3⁄4“
Mounting
synchro flange with
D Front clamping ring
H Rear clamping ring
Spring plate
O without
A flexible
N rigid
·
F
Output
R RS 422 + Alarm
T RS 422 + Sense
K push-pull
Type of connection
F TPE-cable radial
with front clamping ring and IP 40: 15, 20, 24, 25, 27, 28, 30, 38, 40, 42, 50 (5⁄8”), 51 (15⁄8“)
Available with front clamping ring and IP 64: 15, 16, 18, 20, 24, 25, 27, 28, 30, 32, 38, 40, 42,
50 (5⁄8“), 51 (15⁄8“), 52 (3⁄4“)
Available with rear clamping ring and IP 40: 25, 28, 30, 32, 38, 40, 42
Available with rear clamping ring and IP 64: 20, 25, 30, 32, 38, 40, 42
1) Available
Bold printed: preferred versions
Others: please request delivery time
2) only
3) only
with output R, T, K
with output R, K, I
Shaft Encoders 2001
95
Economy Types
n
n
n
n
n
NUMBER OF PULSES
Replacement for type RIS and RI 31
The economical encoder for small appliances
High efficiency by means of ball bearing
Small torque
Application e.g.
- laboratory equipment
- training equipment
- crimping machines
- tampon printing machines
- miniature grinding machines
5 / 10 / 20 / 25 / 30 / 50 / 60 / 100 / 120 / 128 / 200 / 250 / 256 / 288 / 300 / 360 / 400 / 500
/ 512 / 600 / 720 / 900 / 1,000 / 1,024 / 1,250 / 1,500
TECHNICAL DATA
mechanical
Shaft diameter
Torque
Storage temperature
Type of connection
Material
Flange
Weight
Bearing life
TECHNICAL DATA
electrical
1)
Supply voltage
(SELV)
Power consumption
1)
2)
Shaft Encoders 2001
5 mm / 6 mm
radial 30 N (6.5 lbs), axial 15 N (3.3 lbs)
max. 6,000 RPM
≤ 0.05 Ncm
–10 … +60 °C
–25 … +85 °C
100 m/s2 (10 … 2,000 Hz)
1,000 m/s2 (6 ms)
1.5 m cable axial/radial 1)
Housing: plastic; Flange: aluminium
Round flange
ca. 50 g
2.4 x 109 revolutions (typ.) at 35 % of full rated shaft load
General design
96
Type RI 32
with push-pull (D): 5 VDC ± 10 %
with push-pull (K): 5 VDC 1) ± 10 % oder 10 ... 30 VDC 1)
push-pull (K, D):
A, B, N, Alarm
Pole protection
Economy Types
Type RI 32
DIMENSIONED DRAWING
CONNECTION DIAGRAM
5 VDC/10-30 VDC
Channel A
Channel B
Channel N
GND
Alarm
ORDERING DATA
O Standard
Lead Ø mm2
0,5
0,14
0,14
0,14
0,5
0,14
Supply
voltage
A 5 VDC
E 10 … 30 VDC 3)
R I 32–0 /
Number of pulses
5 … 1500
Colour
red
white
green
yellow
black
yellow/black
Type of flange
R round flange
Shaft
diameter
1 6 mm 1)
4 5 mm 2)
R·1
Protection
class
1 IP 40
Output
K push-pull 4)
short circuit proof
D push-pull 5 V, ± 30 mA
Type of
connection
A cable axial
B cable radial
flattened, see dimensioned drawing
not flattened
3) only with output K
4) ± 10 mA at 5 V, ± 30 mA at 10 ... 30 V
1)
2)
Shaft Encoders 2001
97
Economy Types
n
n
n
n
NUMBER OF PULSES
Encoder for universal installation by means of front/back panel mounting
High efficiency by means of ball bearing
Small torque
Application e.g.:
- FHP motors
- laboratory equipment
- labelling machines
- plotters
- length measuring machines
5 / 10 / 20 / 25 / 28 / 32 / 50 / 60 / 72 / 100 / 128 / 144 / 200 / 250 / 256 / 288 / 300 / 360 /
400 / 500 / 512 / 600 / 720 / 900 / 1,000 / 1,024
TECHNICAL DATA
mechanical
Shaft diameter
Torque
Storage temperature
Vibration proof
Shock resistance
Type of connection
Housing
Flange
Weight
Bearing life
1)
TECHNICAL DATA
electrical
General design
1)
2)
Shaft Encoders 2001
6 mm
radial 30 N (6.5 Ibs), axial 15 N (3.3 Ibs)
max. 10,000 RPM
≤ 0.2 Ncm
–10 … +60 °C
–25 … +85 °C
100 m/s2 (10 … 2000 Hz)
1000 m/s2 (6 ms)
1.5 m cable, radial 1)
glassfibre reinforced plastic
Q = square flange
60 g approx.
Supply voltage
(SELV)
Power consumption
98
Type RI 38
with push-pull (K): 5 VDC 1) ± 10 % oder 10 ... 30 VDC 1)
push-pull (K, D):
A, B, N, Alarm
Pole protection
Output description and technical data see section “Output”
Economy Types
Type RI 38
DIMENSIONED DRAWING
Dimensions in mm
CONNECTION DIAGRAM
5 VDC/10-30 VDC
Channel A
Channel B
Channel N
GND
Alarm
ORDERING DATA
O Standard
Lead Ø mm2
0,5
0,14
0,14
0,14
0,5
0,14
Supply
voltage
A 5 VDC
E 10 … 30 VDC 1)
R I 38–0 /
Number of pulses
5 … 1024
1)
2)
Colour
red
white
green
yellow
black
yellow/black
Type of flange
Q square flange
Q·1
Shaft
diameter
1 6 mm
1
B
Type of
Protection class Output
connection
1 IP 40
K push-pull 2)
B cable radial
short circuit proof
only with output K
± 10 mA at 5 V, ± 30 mA at 10 ... 30 V
Shaft Encoders 2001
99
Economy Types
n
n
n
n
n
NUMBER OF PULSES
Replacement for type RIM
Economical miniature encoder
Up to 14,400 steps with 3,600 pulses
High mechanical efficiency
Application e.g.
- wood working machines
- FHP motors
- graphic machines
- table robots
5 / 10 / 20 / 25 / 28 / 32 / 50 / 60 / 72 / 100 / 128 / 144 / 200 / 250 / 256 / 288 / 300 / 360 /
400 / 500 / 512 / 600 / 720 / 900 / 1,000 / 1,024 / 1,250 / 1,500 / 2,000 / 2,048 / 2,500 /
3,000 / 3,600
TECHNICAL DATA
mechanical
Shaft diameter
6 mm
radial 30 N (6.5 Ibs), axial 15 N (3.3 Ibs)
max. 10,000 RPM
Torque
≤ 0.2 Ncm
Protection class (EN 60529) Housing IP 50, bearings IP 40
–10 … +70 °C
Storage temperature
–25 … +85 °C
Vibration proof (IEC 68-2-6) 100 m/s2 (10 … 2,000 Hz)
Shock resistance (IEC 68-2-27) 1000 m/s2 (6 ms)
Type of connection
1.5 m cable, radial 1)
Housing
Aluminium
Flange
Round flange
Weight
ca. 60 g
Bearing life
1)
TECHNICAL DATA
electrical
General design
Supply voltage
(SELV)
Power consumption
1)
2)
100
Type RI 41
Shaft Encoders 2001
with push-pull (K): 5 VDC1) ± 10 % oder 10 ... 30 VDC 1)
push-pull (K, D): A, B, N, Alarm
Pole protection
Output description and technical data see section “Output”
Economy Types
Type RI 41
DIMENSIONED DRAWING
Dimensions in mm
CONNECTION DIAGRAM
5 VDC /10-30 VDC
Channel A
Channel B
Channel N
GND
Alarm
screen 1)
1)
ORDERING DATA
Lead Ø mm2
0,5
0,14
0,14
0,14
0,5
0,14
Not connected to encoder housing
O Standard
Supply voltage
A 5 VDC
E 10 … 30 VDC 1)
R I 41–0 /
Number of pulses
5 … 3600
1)
2)
Colour
red
white
green
yellow
black
yellow/black
screen 1)
Type of flange
R round flange
R·1
Protection
class
1 IP 40
Shaft diameter
1 6 mm
1
B
Type of
Output
connection
K push-pull 2)
short circuit proof B cable radial
Only with output K
± 10 mA at 5 V, ± 30 mA at 10 ... 30 V
Shaft Encoders 2001
101
Economy Types
n
n
n
n
NUMBER OF PULSES
Type RI 42
Economy encoder
High protection IP 65
Push-pull or NPN-O.C.
Applications, e.g.
- textile machinery
5 / 10 / 20 / 25 / 28 / 32 / 50 / 60 / 72 / 100 / 128 / 144 / 200 / 250 / 256 / 288 / 300 / 360 /
400 / 500 / 512 / 600 / 720 / 900 / 1000 / 1024
TECHNICAL DATA
mechanical
Shaft diameter
Balance tolerances
Absolute max. speed
Torque
Storage temperature
Vibration performance (IEC 68-2-6)
Connection
Material
Flange
Weight
1)
TECHNICAL DATA
electrical
6 mm
radial 10 N, axial 5 N
10,000 min-1
≤ 1 Ncm
0 … +60 °C
–25 … +85 °C
100 m/s2 (10 … 2000 Hz)
1000 m/s2 (6 ms)
1.5 m cable axial 1)
plastic, flange: aluminium
round flange
approx. 75 g
General design
Supply voltage
(SELV)
Power consumption
with push-pull (K): 5 VDC 1) ± 10 % or 10...30 VDC 1)
with push-pull complementary (I): 10...30 VDC 1)
with NPN-O.C. (S): 10...24 VDC 1)
40 mA (5 VDC), 30 mA (24 VDC) with push-pull (K,I)
40 mA (24 VDC), bei NPN-O.C. (S)
push-pull 2) / push-pull complementary 2) / NPN-O.C. 3)
Pole protection
Output description and technical data see section ”output”
3) NPN-O.C. with internal pull-up resistor = 10 KΩ, max. pulse frequency = 50 KHz,
max. output lead = ± 30 mA, tolerance ≤ ± 30° electrical, delay time ≤ 4µs
1)
2)
102
Shaft Encoders 2001
Economy Types
Type RI 42
DIMENSIONED DRAWING
Dimensions in mm
CONNECTION DIAGRAM
Colour (PVC)
white
white/brown
green
green/brown
yellow
yellow/brown
yellow/black
yellow/red
red
black
ORDERING DATA
O Standard
Output Circuit
push-pull (K, D),
Open Collector (S)
Channel A
Channel B
Channel N
Alarm
5/10...30/10...24 VDC
GND
Supply voltage
A 5 VDC 1)
E 10 … 30 VDC 2)
C 10 ... 24 VDC 3)
R I 42–0 /
Number of
pulses
5 … 1024
push-pull
complementary (I)
Channel A
Channel A
Channel B
Channel B
Channel N
Channel N
Alarm
Sense VCC
10...30 V DC
GND
Type of flange
R Round flange
R·4
Protection
class
4 IP 64
only with output K, D
only with output K, I
3) only with output S
4) ± 10 mA at 5 V, ± 30 mA at 10...30 V
1)
2)
Shaft
diameter
1 6 mm
1
A
Output
Type of
K Push-pull short
connection
circuit proof 4)
A Cable axial
D Push-pull 5 V, ± 30 mA
S Open Collector NPN
I Push-pull complementary
Shaft Encoders 2001
103
Absolute shaft encoders, also known as shaft-angle encoders, are by no
means used only to detect angular positions. They are also suitable for
linear movements that can be converted into rotary movements by a
toothed belt, drive pinion, or wire winch.
The special feature of absolute shaft encoders is that they assign
a unique, digitally encoded signal to each individual measured
increment. The method of transducing prevents erroneous readings,
whether by a power failure, or by a transient malfunction. After the
encoder is switched on again, or power is restored, the position can be
read out. It is not necessary to move to a reference position, as it is for
shaft encoders of the incremental type.
Examples of application for absolute encoders
n
n
n
n
n
n
104
Shaft Encoders 2001
overhead support robots
ventilation flaps
spinning machines
conveyor belts
cam controllers
injection moulding machines
n
n
n
n
n
n
packaging machinery
extruders
folding machines
printing machines
high lift storage systems
stamping machines
RA 58 with parallel interface
RA 58 with SSI
Special features
n multiturn up to 24 Bit (RA 58-M)
n short circuit proof Tristate outputs
n encoder self monitoring
n New: multiturn up to 26 Bit (RA 58-M)
n New: option stainless steel encoder RA 59
n encoder self test
Physical resolution
parameters)
Flange
Singleturn: 9, 10, 12, 13, 14 Bit
Multiturn:
Singleturn: 9, 10, 12, 13, 14 Bit
Multiturn:
Shaft diameter
6 mm (S), 10 mm (K)
6 mm (S), 10 mm (K)
Ø 6 mm
Ø 10 mm
Ø 6 mm
Ø 10 mm
Absolute max. speed
Torque
² 0.5 Ncm
² 0.5 Ncm
General design
-25…+85 °C
-25…+85 °C
Connection
Size
Ø 58 mm
Ø 58 mm
Weight approx.
Singleturn 300 g,
Multiturn 350 g
Singleturn 300 g,
Multiturn 350 g
Output
push-pull
RS 485
5 VDC (only for single-turn) / 10…30 VDC
5 VDC / 10…30 VDC
0.6 A (9...14 Bit; 0.9 A (16...24 Bit)
0.3 A (5 VDC); 0.2 A (10...30 VDC)
Baud rate
max. 100 kHz code switching frequency
SSI: 70 KB...1,5 MB
Type of code
Binary, Gray, Gray Excess
Binary, Gray
NPN-0.C. 5 mA, Alarm Bit
NPN-O.C. 5 mA, Alarm Bit
110/60 N (24/13 lbs)
160/107 N (35/24 lbs)
110/60 N (24/13 lbs)
160/107 N (35/24 lbs)
Linearity
± ⁄2 LSB, else with 13, 14 Bit ± 1 LSB
± 1⁄2 LSB, (± 1 LSB with 25, 26 Bit)
Page
134
138
1
Absolute Encoders
Type
Shaft Encoders 2001
105
Version with
preset button
Type
RA 58 with SSI programmable
RA 58 with InterBus
Special features
n programmable version with 24 Bit
n programming via PC software
n status bits
n Gray or binary code programmable
n encoder self test
n version with preset button
n programmable preset inputs
n Multiturn up to 24 Bit
n ENCOM profile K2
n ENCOM profile K3 (programmable)
n for use in remote installation bus
n New: connection with integrated
n New: InterBus-Loop 2
Physical resolution
parameters)
Flange
Multiturn:
Multiturn:
Shaft diameter
6 mm (S), 10 mm (K)
6 mm (S), 10 mm (K)
Ø 6 mm:
Ø 10 mm:
Ø 6 mm:
Ø 10 mm:
Absolute max. speed
Torque
² 0.5 Ncm
² 0.5 Ncm
General design
-10…+60 °C
-10...+60 °C
Connection
Cable axial/radial,
connector axial/radial,
connector with preset-button radial
Cable axial/radial,
connector 2-fold,
bus terminal box
Size
Ø 58 mm
Ø 58 mm
Weight approx.
Multiturn 350 g
Singleturn 300 g,
Multiturn 350 g
Output
RS 485
RS 485 installation remote bus, Loop 2
10…30 VDC
10…30 VDC
0.2 A (10...30 VDC)
0.2 A
Baud rate
SSI: 70 KB...1.5 MB
500 KB
Type of code
Binary, Gray
Binary
NPN-0.C. 5 mA, Alarmbit
Linearity
± 1⁄2 LSB
± 1⁄2 LSB
Page
142
146
106
Shaft Encoders 2001
110/60 N (24/13 Ibs)
160/107 N (35/24 lbs)
110/60 N (24/13 Ibs)
160/107 N (35/24 lbs)
Connection
version bus
terminal box
Connection
version bus
terminal box
RA 58 with CAN
RA 58 with DeviceNet
RA 58 with Profibus DP
n New: singleturn up to 14 bit
n New: multiturn up to 26 Bit
n New: CANopen
n CAN layer 2
n programmable functions
n DeviceNet specification 2.0
n certified by an ODVA testing institute
n singleturn up to 14 Bit
n multiturn up to 26 Bit
n connection version with integrated
T-manifold: bus terminal box (2-fold PG)
n Profibus DP encoder profile class C2
(programmable)
n additional programmable functions
n New: Ex-version on request
Multiturn:
Multiturn:
Multiturn:
6 mm (S), 10 mm (K)
6 mm (S), 10 mm (K)
6 mm (S), 10 mm (K)
Ø 6 mm:
Ø 10 mm:
Ø 6 mm:
Ø 10 mm:
Ø 6 mm:
Ø 10 mm:
110/60 N (24/13 Ibs)
160/107 N (35/24 lbs)
110/60 N (24/13 Ibs)
160/107 N (35/24 lbs)
110/60 N (24/13 Ibs)
160/107 N (35/24 Ibs)
10,000 RPM, 6,000 RPM
² 0.5 Ncm
² 0.5 Ncm
² 0.5 Ncm
-25…+85 °C
-25 ...+85°C
-25...+85 °C
Cable axial/radial, connector 2-fold,
bus terminal box
bus terminal box with 2-fold PG
connector 2-fold,
bus terminal box
Ø 58 mm
Ø 58 mm
Ø 58 mm
Singleturn 300 g,
Multiturn 350 g
Singleturn 300 g,
Multiturn 350 g
Singleturn 300 g,
Multiturn 350 g
CAN High-Speed acc. to ISO/DIN 11898
RS 485
10...30 VDC
10...30 VDC (SELV)
10…30 VDC
0.2 A
0.2 A
0.2 A
10 KB...1000 KB, adjustable via
DIP switches
125, 250, 500 Kbit/s, adjustable via
DIP switches
max. 12 MB
Binary
Binary
Binary
Alarm message
Alarm bit
Alarm message
1
± ⁄2 LSB
(± 1 LSB with 13, 14, 25, 26 Bit)
± ⁄2 LSB
(± 1 LSB with 13, 14, 25, 26 Bit)
± 1⁄2 LSB
( ± 1 LSB with 13, 14, 25, 26 Bit)
152
157
160
1
Shaft Encoders 2001
107
Type
RA 58 with SUCOnet
RA 58 with Hollow shaft
Special features
n SUCOnet-K1 protocol
n programmable functions:
Preset, Offset, Scaling, Direction
Profibus DP
n Hollow shaft (blind shaft - not through)
with 10 or 12 mm diameter
n Safe shaft connection via clamping ring
n Shorter mounting depth than full shaft
encoder + coupling
n Shorter mounting time than full shaft
encoder
n Spring plate as stator coupling is included
Physical resolution
parameters)
Flange
Multiturn:
Singleturn: 9, 10, 12, 13, 14 Bit
Multiturn:
F = synchro flange with clamping shaft
Shaft diameter
6 mm (S), 10 mm (K)
hollow shaft 10 mm/12 mm
Ø 6 mm:
Ø 10 mm:
Absolute max. speed
10,000 RPM, 6,000 RPM
6,000 RPM
Torque
² 0.5 Ncm
² 1 Ncm
General design
-10…+60 °C
-25...+85 °C
Connection
cable axial/radial
Cable or connector radial,
connector 2-fold
Size
Ø 58 mm
Ø 58 mm
Weight approx.
Singleturn 300 g,
Multiturn 350 g
Singleturn 300 g,
Multiturn 350 g
RS 485
interface chapter.
Output
10…30 VDC
Baud rate
187.5 KB
Type of code
Binary
110/60 N (24/13 Ibs)
160/107 N (35/24 Ibs)
0.2 A
Linearity
± 1⁄2 LSB
(± 1 LSB with 13, 25 Bit)
Page
on request
108
Shaft Encoders 2001
165
Type
RA 59 stainless steel
RX 70 TS, P (EX)
Special features
DeviceNet, Profibus DP
n Stainless steel encoder with high
protection class
n High corrosion resistance
n Applications:
- ship equipment (e.g. cranes, winshes,
cable laying ships)
- offshore applications
n ex-protection class EEX d IIC T6 or T4
n singleturn, up to 13 Bit
n multiturn, up to 25 Bit
n SSI
n InterBus (K2/K3) on request
n programmable parameters and
status bits for RX 70 TP
Physical resolution
parameters)
Flange
Singleturn: 9, 10, 12, 13, 14 Bit
Multiturn:
16,384 pulses / 4096 revolutions (26 Bit)
Multiturn:
K = clamping flange
Shaft diameter
10 mm
10 mm
160/107 N (35/24 Ibs)
100 N / 40 N
Absolute max. speed
10,000 RPM
6,000 min (T6), 10,000 min (T4)
Torque
² 1 Ncm
² 0.5 Ncm
General design
-25…+85 °C
-20...+60 °C (T4), -10...+40 °C (T6)
Connection
Cable radial, bus terminal box
cable axial
Size
Ø 61.5 mm
Ø 70 mm
approx. 1,400 g
Weight approx.
Output
interface chapter.
RS 485
10...30 VDC
0.2 A
Baud rate
70 KB...1.5 MB
Type of code
binary, Gray
Alarm bit
Linearity
± 1⁄2 LSB
(±1 LSB with 13 Bit)
Page
167
171
Shaft Encoders 2001
109
ABSOLUTE SHAFT ENCODERS
ARE DIVIDED INTO:
Singleturn type
One revolution (= 360°) is encoded into n
increments. The codes repeat for a rotation
of more than 360°.
Multiturn type
As well as measuring 360° (one revolution)
this type can encode additional revolutions. This is necessary if the number of
increments of a singleturn shaft encoder is
not large enough, for example for long traverses, or a larger number of increments
per revolution than possible with a singleturn encoder.
OPTOELECTRONIC METHOD OF
MEASUREMENT
Absolute shaft encoders using an optical
scanning principle operate in the same way
as optoelectronic incremental shaft encoders, except that there are several tracks
of line markings on the marked disc.
Scanned in parallel, these tracks provide
the encoded angular data. The number of
tracks depends on the number of marks per
revolution. The tracks are marked in Gray
code. The advantage of Gray code over
other forms of coding is that only one bit
(track) changes for each increment. This
prevents reading errors.
Optical absolute shaft encoders with a
mechanical multiturn capability have additional discs, besides the disc for measuring
360°, for sensing further revolutions.
Schematic diagram of a photosensing
absolute shaft encoder
Schematic diagram of a mechanical
multiturn shaft encoder
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Shaft Encoders 2001
High-Tech Features in a Modular System
INNOVATIVE TECHNOLOGY
Hengstler’s RA series comprises a complete
range of absolute encoders, all in OPTOASIC
technology.
OPTOASIC units combine all required optical
and electronic components in only one silicon chip.
This new technology is tailored to the user’s
needs and offers advantages previously
unknown in the field:
- High degree of reliability
due to differential scanning and singlestep Gray code.
- Fail-safe due to the elimination of more
than a hundred components
- Long serviceable lifetime due to stateof-the-art semiconductor technology-
- High degree of electromagnetic compatibility due to elimination of macroscopic
low-current paths.
Our new absolute shaft encoders have an
excellent cost/performance ratio. As a further feature the encoders are fully interchangeable due to identical external
dimensions and mechanical design of
mounts.
This makes it easy for the user to switch
from incremental shaft encoders to absolute shaft encoders.
PROGRAMMABLE
ABSOLUTE SHAFT ENCODERS
All essential parameters are userprogrammable.
Additional advantages are uncomplicated
subsequent data processing, electronic
adjustment and add-on optimization of
mechanical systems which are subject to
tolerances.
Furthermore, storage and maintenance are
more cost-efficient: the same encoder may
be used for a variety of applications and
assigned to its task at the place of installation.
APPLICATIONS
The new encoders are, for example, perfectly
suited to determine angular positions in
automated systems with reliable and precise
operation.
Absolute encoding eliminates the need for a
reference run after interruptions (such as
power failures).
Examples of applications are:
Conveyor systems, robots, elevators, cam
switching devices, valve positioning, rotary
indexing tables, angle measurement or angle
synchronization (swivelling equipment in
assembly lines, feed drives).
INTERFACES
Of course, the user has a selection of the
most advanced interface technology available:
• INTERBUS
Interface including the potential-free
power supply is already integrated in the
housing with a diameter of only 58 mm.
• Tristate parallel drivers
The symmetrical push-pull drivers are
fully short circuit proof, overload protected
and polarity protected in a range from 10
to 30 V.
Parallel bus systems are easy to realize.
So you save in cabling expenses.
• CAN
Bus specifications according to CAN HighSpeed ISO/DIS 11898 for transfer rates up
to 1 MBaud.
• SSI
The encoders can also be supplied with
synchronous-serial interface (SSI) which
is available worldwide.
This allows trouble-free connection to
commercial processing components.
• Profibus DP
Protocol according to encoder profile class
C2 (programmable)
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111
Synchronous-serial Transfer
(SSI)
GENERAL ASPECTS
In many cases, absolute shaft encoders are
subject to severe mechanical stresses and to
electrical and magnetic fields that contaminate the site.
Therefore, special design measures are needed
to combat dirt, dust and liquids in industrial
environments.
Our absolute shaft encoders are of state-ofthe-art rugged mechanical construction, and
the electronic components are very compact.
A main consideration for immunity to interference is the data transfer from the shaft
encoder to the control system. The control
system must be able to read the readings
from the shaft encoder without errors. Under
no circumstances should undefined data be
transmitted, for example at the changeover
point.
The major differences between the concept
of synchronous-serial data transfer for absolute shaft encoders described here and parallel and asynchronous serial forms of data
transfer are:
• less electronic components
• less cabling for data transfer
• the same interface hardware, regardless
of the absolute shaft encoder’s resolution
(word length)
• electrical insulation of the shaft encoder
from the control system by optocouplers
• open-circuit monitoring by constant current
• data transfer rates up to 1.5 megabits per
second (depending on the length of line)
• ring-register operating possible.
TRANSFER SEQUENCE
For correct transfer of the data a defined
number of pulses (clock pulse brush) must be
applied to the clock input of the absolute
shaft encoder. Next, a pause TP must be
observed. As long as no clock signal is
applied to the shaft encoder, its internal parallel/serial shift register remains switched to
parallel. The data change continuously, corresponding to the current position of the
shaft encoder’s shaft. As soon as a clock
pulse brush is applied to the clock input
again, the instantaneous angular data is
recorded.
The first shift of the clock signal from high to
low ° actuates the shaft encoder’s internal
retriggerable mono-stable element, whose
storage time tm must be greater than the
clock signal’s period T.
The output of the monostable element controls the parallel/serial register via terminal
P/S (parallel/serial).
Block diagram
of an absolute shaft encoder
70 KHz ... 1,5 MHz
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Shaft Encoders 2001
(SSI)
T = clock pulse period
tm = storage time of monostable element
tm ranging from 10 µs to 30 µs
tv = 100 ns
The number of clock pulses necessary for
data transfer is independent of the resolution of the absolute shaft encoder.
The clock signal can be interrupted at any
point, or continued in ring-register mode for
repeated polling.
With the first shift of the clock signal from
low to high b the most significant bit
(MSB) of the angular data is applied to the
shaft encoder’s serial output.
With each succeeding rising edge, the next
less significant bit is shifted to the data output.
After transmission of the least significant bit
(LSB) the Alarm bit or other special bits are
transferred, depending on configuration.
Then the data line switches to low c until the
time tm has passed.
A further transfer of data cannot be started
until the data line switches to high d again.
If the clock pulse sequence is not interrupted
at point c, the ring-register mode is activated automatically. This means that the data
stored at the first clock pulse transition a
are returned to the serial input Si via the terminal SO. As long as the clock pulse is not
interrupted at c, the data can be read out as
often as wanted (multiple transfer).
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113
(SSI)
Input circuit
Optocoupler
Clock
Clock
Output circuit
Driver to EIA 422 A
Data
Data
RECOMMENDED DATA
TRANSMISSION RATE
The maximum data transmission rate depends
on the length of cable:
Cable length
< 50 m
< 100 m
< 200 m
< 400 m
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Shaft Encoders 2001
Baud rate
< 400 kHz
< 300 kHz
< 200 kHz
< 100 kHz
INTERBUS
GENERAL ASPECTS
TRANSFER SEQUENCE
WHAT ARE THE BENEFITS OF
INTERBUS COMPARED WITH A
CONVENTIONAL SYSTEM
WIRING?
INTERBUS is a real-time bus for the sensoractor-level which is able to transfer data
with a small overhead in a range of up to
4 bytes per subscriber for a maximum of 256
subscribers.
It is characterized by a circular transmission with a fixed message frame and
a central master (e.g. SPC switching-in
assembly).
A summary message frame; only one message frame for all subscribers
• Lower costs for cables and wiring
• Data of all subscribers are stored at the
same time and transferred sub-sequently
• Lower noise sensitivity
• Many control signals which were analog
before are now available as digital signals
and directly transferable by INTERBUS
• Simple layout, installation and starting
procedure
• High efficiency (net data rate): the percental share of the message header and of
the terminating sequence decreases with
a growing number of subscribers
• Reaction time can easily be determined. It
only depends on the system’s total extension; this is important for controlling tasks
• Constant sampling rate for reference
inputs and actual values; both are transferred in one bus cycle
• Considerations of priority are unnecessary
since all subscribers have the same priority
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115
INTERBUS
• No system-parameter definition before
starting procedure
• Data integrity is secured by 16-bit-CRC
(according to CCITT polynomial) done for
each transmission
• Sophisticated diagnostic software for the
central bus controller: a point of error can
specifically be isolated; in each case of
malfunction there is a possibility to close
the circular system in every single bus clip.
Encoder manufacturers are joined together
in the ENCOM user group; drive manufacturers in DRIVECOM.
The user groups shall maximize the benefit
for the customer by standardization of data
transmission.
There is a high availability of devices with
INTERBUS interface, and the bus mode has
already been successful in industrial use.
Devices with an INTERBUS interface for process control are now available from more
than 200 manufacturers.
The following device classes defined by
ENCOM are used for absolute shaft
encoders:
ENCOM USER GROUP
Class 2 (K2):
• 32-bit process data
• Binary
• Right-justified
• Readable only
• No control bits or status bits
Class 3 (K3):
• 32-bit process data
• Coded according to manufacturer
specifications
• Right-justified
• 7 status bits and control bits
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INTERBUS
TECHNICAL DATA
INTERBUS is physically divided into:
a) Remote bus
• Voltage difference transmission RS 485
• Max. cable length between two bus clips:
400 m
• Max. overall cable length of remote bus:
13 km
• A maximum of 64 bus clips/modules may
be directly connected to the remote bus
b) Peripheral bus
• 5 V voltage interface
• Max. overall cable length of peripheral
bus: 10 m
• A maximum of 8 modules may be connected
c) Installation remote bus
• For modules with enclosure class IP 65
(e. g. HENGSTLER absolute shaft encoders)
• Voltage difference transmission RS 485
• Max. overall cable length: 50 m
• Connection via bus clip or passive
T-manifold
• Each subscriber has an electrically isolated voltage transformer
• 24 V supply may be led via the bus line or
be connected to the T-manifold
• 8 modules may be connected.
The transmission speed is 500 kBit/s.
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INTERBUS
INTERBUS DIAGNOSTIC CONCEPT
Switching-in assembly
Display: Mode of operation
Switching-in assembly ready
CLAB signal of SPC active
INTERBUS running
Bus segments off
Display: Error type
Error on switching-in assembly
Defective remote bus
Defective peripheral bus
Error on module
Parameter for error type
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Shaft Encoders 2001
The diagnostic system is able to indicate
peripheral and controller errors beside the
selection of faults. Due to a row of LEDs
comprising 16 bits, available on most switching-in assemblies, decentralized process
states can be displayed centrally.
• Self-acting fault detection and display
with point and type of error without user
programming
• Status display on control system for
inputs and outputs without hand programming unit
• Diagnostic representation is always the
same regardless of the control system.
• Usual diagnosis by hand programming
unit can be kept
INTERBUS-Loop
DATA AND CURRENT ON THE
SAME CABLE
This transfer method is known as INTERBUS
Loop. Using this technology, individual devices such as sensors and actuators or drive
mechanisms and absolute encoders can be
networked together in a ring configuration,
using simple 2-core, un-screened cable. The
Physical Layer, modified in this way to meet
the application requirements, can carry data
and current simultaneously to up to 63 sensors, using a cable with just 2 cores.
Data transfer is carried out using load-independent current signals resulting in an interfence immunity which is much higher than
the current signals which are normally used.
This gives the INTERBUS Loop such a high
level of immunity to interfences, that it can
be used fault-free, without the need for
screening, even in an industrial environment.
TECHNICAL DATA
Principal INTERBUS Loop data
Transfer medium
un-screened
2-core cable
Maximum distance
between connected devices
Maximum cable length
in one loop
Maximum number of
connected devices
Maximum power
consumption
Loop Bus
terminal
10 m
100 m
32
1.5 A
Power pulse operation with
Manchester Code
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119
INTERBUS-Loop
GENERAL INFORMATION
Extending the INTERBUS by the addition of
the INTERBUS Loop has made it possible to
fully network automation system configurations, right through from the sensors and
actuators up to the controller level. The
INTERBUS Loop uses the normed InterBus
protocol to connect analogue and digital
sensors and actuators using a simple 2-core
cable, which provides the power supply at
the same time. This gives users of automation technology and economical alternative
to parallel cabling between the InterBus I/O
modules and the sensors and actuators. With
newly developed fast connection technology,
the bus cable can be connected quickly and
securely without using any tools.
The tried and tested, highly efficient DIN E
19258 INTERBUS protocol is also used with
the INTERBUS Loop. Only the physical characteristics for the parallel transfer of data
and power have changed. This however is
transparent to the user when he is programming his installation. Using the known
INTERBUS IBS-CMD tool, data such as the
Manufacturer's name, the Product code
number, etc., can be displayed without problem, for all the individual modules and for all
the sensors and actuators in the INTERBUS
Loop.
This bus terminal operates exactly the same
as a standard bus terminal and can be used
to integrate the loop into any INTERBUS
Loop installation. At only 500Kbit/sec, scanning is reliably fast and equidistant. Transfer
is so secure that it can be used for direct
machine applications without any problem.
With the high number of INTERBUS interface
modules available, INTERBUS Loop can be
used with most common control systems
including the internationally used PC standard.
Even single-bit sensors can be integrated
since each sensor only occupies just as many
bits as it needs for the special function it is
carrying out at the time. No special power
units are necessary.
If a user needs to integrate more sensors or
actuators, as usual with INTERBUS, he simply
inserts a new bus terminal. Because of the
high number of stations which can be
connected (up to 63 depending on power
consumption), bus terminals never need to
be a cost consideration. Furthermore, the
user doesn't need to assign addresses since
the system is automatically informed,
through the position of the sensor of actuator and the way in which it is addressed.
All the user needs to build up the INTERBUS
Loop is the INTERBUS Loop terminal, which
converts the RS485 signals into Manchester
coded, interference-immune current signals.
INSTALLATION EXAMPLE
Installation example with 2 encoders
Local bus installation
(loop)
in
Remote bus
Local bus installation
(loop) return
IBS SL 24 BK-T
or IBS SL 24 BK-LK
24V (Local bus installation supply)
Remote bus
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Shaft Encoders 2001
CAN
GENERAL INFORMATION
INTRODUCTION
The RA58 is an absolute shaft encoder
(encoder, angle encoder). The version described in this technical manual sends its current position to another station via the
"CAN-bus" transmission medium (physically:
screened and twisted two-wire line).
The serial bus system CAN (Controller Area
Network), which had been originally developed by Bosch/ Intel for automotive uses, is
gaining ground in industrial automation
technology. The system is multimaster-compatible, i.e. several CAN- stations are able to
request the bus at the same time. The message with the highest priority (determined
by the identifier) will be received immediately.
The data transfer is regulated by the message's priority. Within the CAN system, there
are no transport addresses, but message
identifiers. The message which is being sent
can be received by all stations at the same
time (broadcast). By means of a special filter methods, the station only accepts the
relevant messages. The identifier transmitted with the message is the basis for the
decision as to whether the message will be
accepted or not.
FIELD OF APPLICATION
In systems, where the position of a drive or of
any other part of a machine has to be recorded and signalled to the control system, the
RA58 can assume this function. The RA58
can resolve, for instance, positioning tasks
by sending the check-back signal concerning
the present drive position via the CAN bus to
the positioning unit.
The bus coupler is standardised according to
the international standard ISO-DIS 11898
(CAN High Speed) standard and allows data
to be transferred at a maximum rate of 1
MBit/ s. The most significant feature of the
CAN-protocol is its high level of transmission reliability (Hamming distance = 6).
The CAN-Controller Intel 82527 used in
the encoder is basic as well as full-CAN
compatible and supports the CAN-specification 2.0 part B (standard protocol with
11-bit- identifier as well as extended protocol with 29-bit identifier). Up to now,
only 11-bit identifiers have been used for
CANopen.
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121
CAN
CANOPEN COMMUNICATION
MODEL AND PROFILE
Layer 1 (Physical Layer):
ISO-DIS 11898 (CAN High Speed)
Layer 2 (Data Link Layer):
ISO-DIS 11898 (CAN High Speed)
Layer 7 (Application Layer): CiA DS 301 (CANopen CAL-based Communication Profile)
+ Device profile CiA DS 4xx (CANopen Device Profile for xx)
For the following devices, profiles already exist::
• CiA Draft Standard Proposal 401 for Input/Output Modules
• CiA Draft Standard Proposal 402 for Drives and Motion Control
• CiA Work Item 403 for Human-Machine Interfaces
• CiA Work Draft 404 for Closed-Loop Controllers and Transformers
• CiA Work Item 405 for IEC-1131 Interfaces
• CiA Draft Standard Proposal 406 for Encoders
• CiA Work Item 407 for Public Transport
• CiA Work Item 408 for Fork-Lifts
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CAN
THE CANOPEN PROFILE
THE ENCODER DEVICE PROFILE
(CIA DSP 406)
About two and a half years after the CiA, the
association of the user and manufacturer of
CAN products, had adopted the CAN
Application Layer (CAL), CANopen and the
respective device profiles paved the way for
the development of open systems.
CANopen has been developed under the
technical direction of the Steinbeis Transfer
Centre for Automation (STA Reutlingen;
Germany) on the basis of the layer 7 CAL
specification.
Compared with CAL, CANopen only provides
the functions needed for this special purpose. CANopen is thus a part of CAL which
has been optimised for application purposes
and allows for a simpler system structure as
well as for simpler devices.
CANopen has been optimised for a quick
transfer of data in real-time systems and has
been standardised for different device profiles.
The CAN in Automation (CiA) association of
users and manufacturers is responsible for
the establishing and the standardisation of
the respective profiles.
The RA58 with CANopen meets the requirements laid down in the communication profile (CiA DS 301) and in the device profile for
encoders.
This profile describes a binding, but manufacturer-independent definition of the interface for encoders. The profile not only defines which CANopen functions are to be
used, but also how they are to be used. This
standard permits an open and manufacturer-independent bus system.
The device profile consists of two object
categories
• the standard category C1 describes all
the basic functions the shaft encoder
must contain
CANopen allows for:
• autoconfiguration of the network,
• comfortable access to all device
parameters.
• synchronisation of the devices,
• cyclical and event-controlled process
data processing,
• simultaneous data input and output.
CANopen uses four communication objects
(COB) with different features:
• Process Data Objects (PDO) for
real-time data
• Service Data Objects (SDO) for the
transfer of parameters and programs
• Network Management (NMT,
Life-Guarding)
• predefined objects (for synchronisation,
time stamp, emergency message)
All device parameters are stored in an object
directory. The object directory contains the
description, data type and structure of the
parameters as well as their addresses (index).
The directory consists of three parts: communication profile parameters, device profile
parameters and manufacturer specific parameters.
• the extended category C2 contains a
variety of additional functions which
either have to be supported by
category C2 shaft encoders
(mandatory) or which are optional.
Category C2 devices thus contain all
C1 and C2 mandatory functions as well
as, depending on the manufacturer,
further optional functions.
Furthermore, an addressable area is defined in
the profile, to which, depending on the
manufacturer, different functions can be
assigned.
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123
CAN
In CANopen, the data is transferred by
means of two different communication
types (COB = Communication Object) with
different features:
DATA TRANSFER
• Process Data Objects (PDO)
• Service Data Objects (SDO)
The priority of the message objects is determined by the COB identifier.
The process data objects (PDO) serve the
highly dynamic exchange of real-time data
(e.g. position of the shaft encoder) with a
maximum length of 8 Byte. This data is
transferred with high priority (low COB identifier). PDOs are broadcast messages and put
their information simultaneously at the disposal of all desired receivers.
The service data objects (SDO) form the
communication channel for the transfer of
device parameters (e.g. programming of the
shaft encoders' resolution). Since these
parameters are transferred acyclically (e.g.
only once when running up the network), the
SDO objects have a low priority (high COB
identifier).
For an easier administration of the identifiers, CANopen uses the "Predefined master/Slave
Connection Set"). In this case, all identifiers with standard values are defined in the object
directory. However, these identifiers can be modified according to the customers' needs via
SDO access.
The 11-bit identifier consists of a 4 bit function code and a 7 bit node number.
COB IDENTIFIER
Bit-No.
Type
Assignmen1
1x
10 9 8 7
Function code
x x x x
6 5 4 3
Node number
0 0 x x
2
1
0
x
x
x
= binary value can be selected freely 0 or 1); 0 = 0 value is fixed
The higher the value of the COB identifier, the lower the identifier’s priority!
The 7-bit node number is set by means of the hardware via the 5 DIP switches on the encoder’s back.
NODE NUMBER
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DeviceNet
BACKGROUND AND TECHNOLOGY
Background
• The basic technology was developed by
Allen-Bradley
• Introduced in March 1994
• The ODVA (Open DeviceNet Vendor
Association) was founded in April 1995
Technology
• CAN-Layer 2 (Data Link Layer) - ISO 11898
and 11519-1
• DeviceNet covers layer 7 (Application
Layer) and layer 1 (Physical Layer), developed for industrial automation
Main benefits
• Reduced cabling and installation effort
• Reduced run-in time
• Reduced down-time
• Fast error elimination
• Devices can be removed, replaced and inserted without having to shut the network
down
• Devices from various manufacturers can
be exchanged
• Devices are configured over the network
LINEAR BUS TOPOLOGY
Node
Knoten
Node
Knoten
Node
Knoten
24vDC power and the signals for all
devices are carried on one cable
Node
Knoten
Node
Knoten
Node
Knoten
Node
Knoten
Node
Knoten
Node
Knoten
Spur line length: 0 ... 6 m
NETWORK SPECIFICATIONS
Network Power
•24VDC power to devices
•Thick trunk rated to 8 amps
•Thin wire rated at 3 amps
Physical media
Maximum devices
64 nodes per network
(Shielded Twisted Pair)
Communications and Power
• Thick - Trunk wire
• Thin - Trunk or Drop
Trunk line Distance
and Baud rate
100m Max. with Thin cable
500m @ 125Kbaud (thick)
(4 Km with Repeaters)
Device Connections
T-Taps
Zero-drop
Cumulative
Drop-line Budget
Terminating Resistors
121 ½ Resistors at both
network trunkline ends
Messaging Services
Producer/Consumer
•High-speed I/O
•Programming
•Configuration
•Diagnostics
i
Drop-line wiring
•Single drop
•Daisy-chaining off drop
•Branching off drop
156m @ 125KBaud
78m @ 250KBaud
39m @ 500KBaud
(Maximum of 6m each)
For more information about DeviceNet, please contact:
http://www.odva.org
e-mail: odva@powerinternet.com
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125
Profibus-DP
GENERAL INFORMATION
The basic functions of the PROFIBUS DP
are here only described in extracts. For additional information, please refer to the standards on PROFIBUS DP, i.e. DIN 19245-3 and
EN 50170 respectively.
INTRODUCTION
The RA 58 is an absolute shaft encoder
(encoder, angle encoder). The version described in this manual sends its current position
to another station via the transmission
medium "PROFIBUS DP" (physically: screened and twisted pair line). The RA 58 supports all class 1 and 2 functions listed in the
encoder profile.
PROFIBUS-DP is manufacturer independent,
open field bus standard for a variety of
applications in the field of production, process
and building services automation. The requirements of openness and independence from
the manufacturer are stipulated in the
European standard EN 50 170. PROFIBUS-DP
permits the communication of devices produced by different manufacturers without
any particular adaptations of the interfaces.
PROFIBUS DP is a special standard version
for a quick data exchange within the field
level which has been optimised in terms of
speed and low connection costs. Central
control systems like, for example SPC/ PC
communicate via a quick, serial connection
with local field devices like drives, valves, or
encoders. The data exchange between these
devices is predominantly cyclical. The communication functions required for this
exchange are determined by the basic functions of the PROFIBUS DP according to the
EN 50 170 European standard.
FIELD OF APPLICATION
In systems, where the position of a drive or of
any other part of a machine has to be recorded and signalled to the control system, the
RA58 can assume this function. The RA58
can resolve, for instance, positioning tasks
by sending the checkback signal concerning
the present drive position via the PROFIBUS
DP to the positioning unit.
BASIC FUNCTIONS OF THE
PROFIBUS DP
The central control system (master) cyclically reads out the input information from
the slaves and writes the output information
to the slaves. For this purpose, the bus cycle
time has to be shorter than the program
cycle time of the central SPC, which amounts to approx. 10 ms for various applications.
Apart from the cyclical user data transfer,
the PROFIBUS DP version also disposes of
powerful functions for diagnosis and initial
operation procedures. The data traffic is
controlled by watchdog functions on both
the slave and the master side. The following
table summarises the basic functions of the
PROFIBUS DP.
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Profibus-DP
Transmission technology: • RS-485 twisted pair line
• Baud rates ranging from 9.6 kbit/s up to 12 Mbit/s
Bus access:
• Token passing procedure between the masters and
master-slave procedures for slaves
• Monomaster or multimaster systems possible
• master and slave devices, max. of 126 stations at a single bus
Communication:
• Point-to-point (user data communication) or multicast
(control commands)
• cyclical master-slave user data communication and
acyclical master-master data transfer
Operating state:
• Operate: cyclical transfer of input and output data
• Clear:
The input data are read, the output data remain
in the safe status
• Stop:
only master-master data transfer is possible
Synchronisation:
• Control commands enable a synchronisation of the input
and output data
• Sync mode:Output data are being synchronised
Functionality:
• Cyclical user data transfer between DP master and DP
slave(s)
• Single DP slaves are dynamically activated or deactivated
• Control of the DP slave's configuration. Powerful
diagnostic functions, 3 stepped diagnostic message levels.
• Synchronisation of in- and/ or output
• Address assignment for the DP slaves via the bus
• Configuration of the DP masters (DPM1) via the bus
• Maximum of 246 byte input and output data per DP slave
possible
Protection functions:
• All messages are transferred with a hamming distance of HD=4
• Response control at the DP slaves
• Access protection of the DP slaves' input/ output
• Monitoring of the user data communication with
adjustable control timer at the master
Device types:
• DP master class 2 (DPM2), e.g. programming/ project
planning devices
• DP master class 1 (DPM1), e.g. central automation devices
like SPC, PC
• DP slave e. g. devices with binary or analogue input/
output, drives, valves
ESSENTIAL
FEATURES/
SPEED
The PROFIBUS DP only requires approx.
1 ms at a speed of 12 Mbit/s in order to
transfer 512 bit input and 512 bit output
data by means of 32 stations.
The following diagram shows the usual PROFIBUS DP transfer time interval in relation to
the number of stations as well as the transmission speed. The high speed can be above
all explained by the fact that the input and
output data within a message cycle are
transferred by using the layer 2 SRD service
(Send and Receive Data Service).
Diagnostic function:
The comprehensive diagnostic functions of
PROFIBUS DP allow a quick localisation of
the errors. The diagnostic messages are
transferred by means of the bus and are
assembled at the master. They are subdivided
in three levels:
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127
Profibus-DP
BASIC FEATURES / SPEED
Station-related diagnosis
Messages on the general readiness for service of a station, like for example, overtemperature or undervoltage.
Channel related diagnosis
The error cause in relation to a single input/
output bit (channel) is indicated here, like
for example, a short-circuit at output line 7.
Module-related diagnosis
Theses messages indicate that a diagnosis
within a certain I/O part (e.g. 8 bit output
module) of a station is in hand.
Bus cycle time of a PROFIBUS DP monomaster system
Boundary conditions: Each slave has 2 byte input and 2 yte output data; the minimum
slave interval time amounts to 200 microseconds; TSDI = 37 bit times, TSDR = 11 bit imes
CONFIGURATION OF THE
SYSTEM AND DEVICE TYPES
By means of PROFIBUS DP, mono- and
mulitmaster systems can be realised. For this
reason, a high level of flexibility in terms of
the system configuration can be achieved. A
maximum of 126 devices (master or slaves)
may be connected to a bus. The definitions
for the system configuration contain the
number of stations, the assignment of the
station address to the I/O addresses, the data
consistency of the I/O data, the format of
the diagnostic messages and the bus parameters used. Each PROFIBUS DP system consists of different device types. There are
three device types to be distinguished:
DP master class 1 (DPM1)
These devices are central control systems
exchanging information with the local stations (DP slaves) during a fixed message cycle.
Typical devices of this kind are stored-program controllers (SPC), PC or VME systems.
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Shaft Encoders 2001
DP master class 2 (DPM2)
Programming, configuration devices, and
operator panels belong to this category. They
are used for the initial operation procedures
in order to establish the configuration of the
DP system, or to operate the plants in the
course of operation.
DP slave
A DP slave is a peripheral I/O rack (I/O, drives,
HMI, valves) that reads the input information and sends output information to the
peripheral equipment. Devices which provide
only input or only output information might
also be used.
The amount of input and output information
is device specific and must not exceed 246
byte for the input and 246 byte for the output data.
Profibus-DP
decentral inputs and outputs
PROFIBUS DP monomaster system
In the case of monomaster bus systems,
there is only one master active at bus during
the on-line phase of the bus system. The
above diagram shows the system configuration of a monomaster system.
The SPC based control system is the central
control element. By means of the transmission medium, the DP slaves are locally linked
to the SPC control system. By using this
system configuration, the shortest bus cycle
time can be obtained.
In the multimaster mode, several masters are
linked to a single bus. They either form independent subsystems consisting of one DPM1
and its corresponding DP slaves each, or
additional configuration and diagnostic
devices (see diagram below). The I/O maps of
the DP slaves can be read by all DP masters,
but only one DP master, the one which has
been assigned DPM1 during project planning, is able to write the output information.
Multimaster systems attain a medium bus
cycle time.
several masters can read the data of the DP slaves
PROFIBUS-DP Multi-Master System
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Profibus-DP
SYSTEM PERFORMANCE
In order to obtain a high level of exchangeability between the devices, the system performance of PROFIBUS DP has also been
standardised. It is mainly determined by the
operational status of the DPM1.
After an error has occurred during the data
transfer phase of the DPM1, like for example,
the failure of a DP slave, the response of the
system is determined by the operating parameter "Auto Clear".
The DPM1 can either be controlled locally or
via the bus by the project planning device.
The following three main states can be
distinguished:
If this parameter has been set to true, the
DPM1 will set the output of all the respective
DP slaves to the safe status, as soon as a DP
slave is no longer available for user data
communication. Afterwards, the DPM1
changes to the clear status.
Stop
There is no data traffic between DPM1 and
the DP slaves.
Clear
The DPM1 reads the input information of the
DP slaves and maintains the safe status of
the DP slaves' output.
If this parameter is = false, the DPM1
remains, even if an error occurs, in the operate status, and the user can determine the
response of the system at his own discretion.
Operate
The DPM1 has entered the data transfer
phase. In case of a cyclical data traffic, the
input is read by the DP slaves while the output is transferred to the DP slaves.
parametrisation and configuration phase,
whether the planned set configuration corresponds to the actual configuration of the
device. For this check, the device type, the
information on the format and the length as
well as the number of input and output lines
have to be correct. The user thus obtains a
reliable protection against parametrisation
errors. In addition to the user communication, which is automatically executed by the
DPM1, the user may request the new parametrisation data to be sent to the DP slaves.
CYCLICAL DATA TRANSFER
BETWEEN DPM1 AND THE
DP SLAVES
The data traffic between the DPM1 and the
respective DP slaves is automatically handled by the DPM1 in a fixed, recurring order.
When configuring the bus system, the user
assigns a DP slave to the DPM1. In addition,
the slaves to be included in- or excluded
from the user data communication are defined.
The data traffic between the DPM1 and the
DP slaves is subdivided in parametrisation,
configuration, and data transfer phases.
Before including a DP slave in the data
transfer phase, the DPM1 checks during the
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Profibus-DP
User data communication for PROFIBUS-DP
DATA TRAFFIC BETWEEN DPM1
AND PROJECT PLANNING
DEVICES
In addition to the functions between
DP master and DP slaves, master-master
communication functions are available, see
table. They support the project planning and
diagnostic devices in projecting the system
via the bus.
Function
Get_master_Diag
Download / Upload Group
(Start_Seq, Down- /
Upload, End_Seq)
Act_Para_Brct
Act_Param
Besides the upload and download functions,
the master-master functions offer the
opportunity to switch the user data transfer
between the DPM1 and the single DP slaves
dynamically on or off as well as to modify
the operating status of the DPM1.
Meaning
reads the diagnostic data of the DPM1
or the collective diagnosis of the DP
slaves.
reads or writes the entire configuration
data of a DPM1 and of the respective
DP slaves.
activates the bus parameters for all
operating DPM1 devices.
activates parameters or modifies the
operating status of the operating
DPM1 device.
DPM1
M
DPM2
O
O
O
O
O
O
O
M: mandatory, O: optional
Functional overview for the master-master functions for PROFIBUS DP
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131
Profibus-DP
SYNC MODE
In addition to the station-related user data
communication being automatically handled
by the DPM1, the masters may send control
commands to a single slave, a group of slaves or all slaves at the same time. These control commands are transferred as multicast.
It is only by means of this multicast that the
sync and freeze operating modes for the
event-controlled synchronisation of the DP
slaves have been enabled.
The sync mode is started by the slaves, as
soon as they receive a sync command form
the respective master. The output lines of the
addressed slaves will then be frozen in their
current state. The output data will be stored
at the slaves during the following user data
transfers; the state of the output lines,
however, will remain unchanged. Unless the
next sync command has been received, the
stored output data will not be connected to
the output lines. By selecting unsync, the
sync mode is terminated.
PROTECTIVE MECHANISM
For reasons of safety, it is necessary to equip
PROFIBUS DP with powerful protective functions against false parametrisation or failure of the transmission equipment. For this
purpose, control mechanisms at the DP
master and the DP slave have been realised,
taking the form of time -out circuits. The
monitoring interval is determined during
project planning.
At the DP slave
In order to recognise errors by the master or
transmission errors, the slave executes the
response control. If there is no data traffic
during the response control interval, the
slave will automatically switch the output
lines to the safe status.
When operating in multimaster systems, a
supplementary access protection for the I/O
lines of the slaves will be necessary. This is to
make sure that direct access can only be gained by an authorised master. For all the
other masters, the slaves will provide an I/O
map which can be also be read without
access authorisation.
At the DP master
The DPM1 controls the data traffic of the
slaves by means of the Data_Control_Timer.
For each slave, a special timer is used. The
time-out circuit will respond, if no proper
user data transfer occurs during a control
interval. In this case, the user will be informed.
If the automatic response to an error
(Auto_Clear = True) has been released, the
DPM1 will quit the operate status, switch
the output lines of the respective slaves to
the safe status and change to the clear status.
COMMUNICATION INTERFACE
The communication interface corresponds
to the PROFIBUS DP class 2 encoder profile.
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Shaft Encoders 2001
Within this interface the class 1 functions
are included.
Code Table
for Absolute Shaft Encoders
- /
.
- -
Type
RA 58
RA 59
RX 70
Connector
(unnecessary for standard:
cable with tinned lead))
C = conin 12 pole,
right turning
F = 37 pole, Sub-D
Cable length
(unnecessary for standard: 1.5 m)
DØ=3m
F Ø =5m
K Ø = 10 m
Version
S = singleturn
M = multiturn
P = programmable
Code
B = Binary
G = Gray
P = programmable
Resolution
0360
0720
0010
3600
0012
0013
0014
0412
0812
1212
1213
1214
=
=
=
=
=
=
=
=
=
=
=
=
360 pulses (S)
720 pulses (S)
10 Bit (S)
3600 pulses (S)
12 Bit (S)
13 Bit (S)
14 Bit (S)
16 Bit (M)
20 Bit (M)
24 Bit (M)
25 Bit (M)
26 Bit (M)
Supply voltage
A = 5 VDC
E = 10…30 VDC
Interface
P = parallel (Output K)
S = SSI (Output T)
I = INTERBUS (Output T)
C = CAN (Output CL)
O = CAN open (Output CL)
D = PROFIBUS DP (Output T)
L = InterBus Loop (Output A)
U = Suconet (Output T)
V = DeviceNet (Output C)
R = RS 485-protocol
Connection
A = cable axial
B = cable radial
Mounting
K = clamping flange (shaft 10 mm)
S = synchro flange (shaft 6 mm)
Q = square flange (9.52 / 10 mm shaft)
F = clamping flange (Hollow shaft)
C = connector axial, 12pol. clockwise
D = connector radial, 12pol. clockwise
G = connector axial, 12pol. counter clockwise
H = connector radial, 12pol. counter clockwise
I = connector2-fold
Protection class
4 = Housing IP 65, bearings IP 64
7 = Housing IP 67, bearings IP 67
U = connector axial, 17pol. counter clockwise
Shaft Ø
1 = 6 mm
2 = 10 mm
7 = 12 mm
9 = 14 mm
A = 10 mm x 25
B = 9.52 mm x 25
C = 8 mm
Z = bus cover (triple PG)
V = connector radial, 17pol. counter clockwise
W = connector axial, 17pol. clockwise
Y = connector radial, 17pol. clockwise
Output
K = push-pull, short circuit proof
T = RS 485
C = CAN-Transceiver
L = CAN, double
A = InterBus Loop
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Absolute Encoders
n
n
n
n
n
n
n
Typ RA 58
Parallel Interface
New: singleturn up to 14 Bit (RA 58-S)
New: option hollow shaft version RA 58 with hollow shaft
multiturn up to 24 Bit (RA 58-M)
New: option stainless steel version RA 59
short circuit proof Tristate outputs
Gray or binary code
encoder self monitoring
Synchro flange
Clamping flange
TECHNICAL DATA
mechanical
Shaft diameter
RA 58: 6 mm (synchro flange), 10 mm (clamping flange)
RA 59: 10 mm (square flange)
Ø 6 mm axial 60 N (13 lbs), radial 110 N (24 lbs)
Ø 10 mm axial 107 N (24 lbs), radial 60 N (35 lbs)
10,000 RPM (short term), 6,000 RPM (continuous duty)
Torque
² 0.5 Ncm, ² 1 Ncm (IP 67)
Moment of inertia
synchro flange: 14 gcm2 ; clamping flange: 20 gcm2
Housing IP 65 1), bearings IP 64 1)
-25 … +85 °C
Storage temperature
–25 … +85 °C
100 m/s2 (10 – 500 Hz) 3)
Shock resistance (IEC 68-2-27) 1,000 m/s2 (6 ms) 3)
Connection, axial or radial
Singleturn: 1.5 m cable 2) or flange connector
Multiturn 1.5 mm cable 2)
or 10 cm cable 2) with 37 pole plug SUB-D
Housing
RA 58: aluminium, RA 59: stainless steel
Flange
RA 58: S = synchro flange, K = clamping flange
RA 59: Q = square flange, 63.5 x 63.5 mm
Weight
Singleturn: RA 58-S approx. 300 g, RA 59-S approx. 620 g
Multiturn: RA 58-M approx. 350 g
Bearing life
For example 30,000 h at 6,000 RPM
with a 13 lb radial load (10 mm shaft)
IP 67 on request
3) For applications with higher vibration and shock values, see “Accessories, Encoder with
Shock Module“
1)
2)
See section ”Absolute Encoders – dimensioned drawings”
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Shaft Encoders 2001
Absolute Encoders
TECHNICAL DATA
electrical
General design
Output
Resolution
Linearity
Sense of direction when
Type of code
Supply voltage
Power consumption
Recommended external fuse
Code switching frequency
Control inputs
multiturn)
Output load
Alarm output
Max. cable length
Type RA 58
Parallel Interface
push-pull
360 pulses (9 Bit) 3)
512 pulses (9 Bit)
1024 pulses (10 Bit)
3600 pulses (12 Bit) 5)
16384 pulses (14 Bit) 2)
4096 pulses/16 revolutions (16 Bit)
± 1⁄2 LSB, ± 1 LSB with 13, 14 Bit
Direction = 1: ascending code values
Direction = 0: descending code values
Gray, Gray Excess, Binary
5 VDC ±10 % (only for singleturn possible) or
10 … 30 VDC 1) (SELV)
max. 0.6 A (9 ... 14 Bit), max. 0.9 A (16 ... 24 Bit)
T 0.8 A (9 ... 14 Bit), T 1.2 A (16 ... 24 Bit)
max. 100 kHz
Direction, Latch, Tristate (for singleturn), Tristate (for
30 mA, short circuit proof
NPN O.C. 5 mA
100 m
1)
Pole protection
16384 pulses (14 Bit) on request
3) with offset 76 in binary or Gray Excess code
2)
DATA OUTPUT LEVEL
supply voltage UB
output level high
output level low
rise time (1.5 m cable)
drop time (1.5 m cable)
Control inputs 1):
Input
Direction
Latch
Tristate (with singleturn)
Tristate (with multiturn)
1)
Level logical (physical)
1 (+ UB or open)
0 (0 V)
1 (+ UB or open)
0 (0 V)
1 (+ UB or open)
0 (0 V)
1 (+ UB)
0 (0 V or open)
5 VDC ± 10 %
³ 3.5 V (30 mA)
³ 3.9 V (10 mA)
² 1.6 V (30 mA)
² 1.2 V (10 mA)
² 0.1 µs
² 0.05 µs
10 - 30 VDC
³ UB -2.2 V (30 mA)
³ UB -1.8 V (10 mA)
² 1.6 V (30 mA)
² 1.2 V (10 mA)
² 0.2 µs
² 0.1 µs
Function
ascending code values when turning clockwise (cw)
descending code values when turning clockwise (cw)
encoder data continuously changing at output
encoder data stored and constant at output
outputs active
outputs at high impedance (Tristate mode)
outputs at high impedance (Tristate mode)
outputs active
Typical actuating delay time 10 µs with push-pull selection; when selected via O.C., an external pull-down resistor (1 K½) is required
Shaft Encoders 2001
135
Absolute Encoders
Type RA 58
Parallel Interface
CONNECTION DIAGRAM CABLE, SINGLETURN
Parallel interface with cable:
Colour (PVC)
9 Bit/360 pulses
grey/pink
N.C.
brown/yellow
N.C.
brown/grey
N.C.
red/blue
N.C.
violet
N.C.
white/brown
S0 (LSB)
white/green
S1
white/yellow
S2
white/grey
S3
white/pink
S4
white/blue
S5
white/red
S6
white/black
S7
brown/green
S8 (MSB)
yellow
Tristate S0…S8
pink
Latch (only binary)
green
Direction
black
0V
red
5 V/10…30 VDC
brown
Alarm
10 Bit/720 pulses
N.C.
N.C.
N.C.
N.C.
S0 (LSB)
S1
S2
S3
S4
S5
S6
S7
S8
S9 (MSB)
Tristate S0…S9
Latch (only binary)
Direction
0V
5 V/10…30 VDC
Alarm
12 Bit
N.C.
N.C.
S0 (LSB)
S1
S2
S3
S4
S5
S6
S7
S8
S9
S10
S11 (MSB)
Tristate S0…S11
Latch (only binary)
Direction
0V
5 V/10…30 VDC
Alarm
13 Bit
N.C.
SO (LSB)
S1
S2
S3
S4
S5
S6
S7
S8
S9
S10
S11
S12 (MSB)
Tristate S0...S12
Latch (only binary)
Direction
0V
5V/10...30 VDC
Alarm
14 Bit
SO (LSB)
S1
S2
S3
S4
S5
S6
S7
S8
S9
S10
S11
S12
S13 (MSB)
Tristate S0...S13
Latch (only binary)
Direction
0V
5 V/10...30 VDC
Alarm
13 Bit
S12 (MSB)
S11
S10
S9
S8
S7
S6
S5
S4
S3
S2
S1
S0 (LSB)
Direction
0V
5V/10...30 VDC
Latch/Alarm 1)
14 Bit
S13 (MSB)
S12
S11
S10
S9
S8
S7
S6
S5
S4
S3
S2
S1
S0 (LSB)
0V
5/10...30VDC
Latch/Alarm 1)
CONNECTION DIAGRAM SINGLETURN, FLANGE CONNECTOR
Parallel interface with flange connector, 17 pole (Conin):
Pin
9 Bit/360pulses
10 Bit/720 pulses
1
S0 (LSB)
S0 (LSB)
2
S1
S1
3
S2
S2
4
S3
S3
5
S4
S4
6
S5
S5
7
S6
S6
8
S7
S7
9
S8 (MSB)
S8
10
N.C.
S9 (MSB)
11
N.C.
N.C.
12
Tristate S0…S8
Tristate S0…S9
13
Latch (only binary) Latch (only binary)
14
Direction
Direction
15
0V
0V
16
5 V/10…30 VDC
5 V/10…30 VDC
17
Alarm
Alarm
1)
12 Bit
S0 (LSB)
S1
S2
S3
S4
S5
S6
S7
S8
S9
S10
S11 (MSB)
Latch (only binary)
Direction
0V
5 V/10…30 VDC
Alarm
Latch with binary code, Alarm wit Gray code
136
Shaft Encoders 2001
Absolute Encoders
Type RA 58
Parallel Interface
CONNECTION DIAGRAM CABLE, MULTITURN
Parallel interface
cable (TPE)
Colour
brown
green
yellow
grey
pink
violet
grey/pink
red/blue
white/green
brown/green
white/yellow
yellow/brown
white/grey
grey/brown
white/pink
pink/brown
1)
2)
10 cm cable with 37pole
Sub-D-plug
Pin
2
21
3
22
4
23
5
24
6
25
7
26
8
27
9
28
cable (TPE)
10 cm cable with 37pole
Connection
S0
S1
S2
S3
S4
S5
S6
S7
S8
S9
S10
S11
M0
M1
M2
M3
Colour
white/blue
brown/blue
white/red
brown/red
white/black
brown/black
grey/green
yellow/grey
pink/green
yellow/pink
green/blue
yellow/blue
red (0.5 mm2)
white (0.5 mm2)
blue (0.5 mm2)
black (0.5 mm2)
Sub-D-plug
Pin
14
33
15
34
16
35
17
36
18
10
30
12
13
31
1
20
Connection
M4 1)
M5 1)
M6 1)
M7 1)
M8 2)
M9 2)
M10 2)
M11 2)
Alarm
Direction
Latch
Tristate
10…30 VDC
10…30 VDC
0V
0V
N. C. with resolution 16 Bit
N. C. with resolution 16 Bit or 20 Bit
ACCESSORIES
For mounting
Clamping eccentric
Diaphragm coupling (hub diam. 6/6 mm)
ORDERING DATA
Version
S Singleturn
M Multiturn
Supply voltage Mounting
Protection Shaft diam.
Interface
A 5 VDC 6)
K clamping flange
4 IP 64 3) 1 6 mm (S) P parallel (output K)
2 10 mm (K)
E 10 … 30 VDC (10 mm-shaft)
S synchro flange
(6 mm-shaft)
Code
Q square flange 63,5 x 63,5 3)
B Binär
(6 mm-shaft)
G Gray
RA 5 8 –
Type
RA 58 standard
RA 59 stainless
steel 1)
Ordering code
0 070 655
1 076 013
1 076 014
/
Resolution 2)
0360 360 Incr. (S)
0009 9 Bit (S)
0720 720 Incr. (S)
0010 10 Bit (S)
3600 3600 Incr. (S)
0012 12 Bit (S)
0013 13 Bit (S)
0014 14 Bit (S)
0412 16 Bit (M)
0812 20 Bit (M)
1212 24 Bit (M)
·4
Output
K push-pull
short-circuit
proof
K
P
–
Connector 4)
Connection
F 37pole Sub-D
A cable, axial
B cable radial
U C 17pole axial counter clockwise 6)
V connector 17pole radial counter clockwise 6)
W connector 17pole axial clockwise 6)
Y connector 17pole radial clockwise 6)
only with mounting = Q, shaft = 2, protection = 7, connection = B
S = singleturn, M = multiturn (4, 8 or 12 Bit revolutions)
3) only for type RA 59 (stainless steel)
4) optional with multiturn and connection cable: 10 cm cable with 37 pole plug Sub-D
5) IP 67 on request
6) only for singleturn
1)
2)
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Absolute Encoders
n
n
n
n
n
n
Typ RA 58
SSI
New: singleturn up to 14 Bit (RA 58-S)
New: multiturn up to 26 Bit (RA 58-M)
New: option stainless steel encoder RA 59
Gray or binary code
Programmable version or version with preset pushbutton see type RA 58-P with SSI
Ex-version see type RX 70
synchro flange
clamping flange
TECHNICAL DATA
mechanical
diam. 6 mm: axial 60 N (13 Ibs), radial 110 N (24 Ibs)
diam. 10 mm: axial 107 N (24 Ibs), radial 160 N (35 Ibs)
Torque
² 0,5 Ncm (IP 64), ² 1 Ncm (IP 67)
Moment of inertia
synchro flange: 14 gcm2 ; clamping-/square flange.: 20 gcm2
Protection class (EN 60529) Housing IP 65 1) bearings IP 64 1)
–25 … +85 °C, RA 58-P: -10 … +60 °C
Storage temperature
–25 … +85 °C
Vibration proof (IEC 68-2-6) 100 m/s2 (10 – 500 Hz) 3)
Shock resistance (IEC 68-2-27) 1000 m/s2 (6 ms) 3)
1.5 m cable 2) or flange connector
Housing
Flange
RA 59: Q = square flange 63.5 x 63.5 mm
Weight
Bearing life
1) IP 67 on request
2) other cable lengths possible on request
3) For applications with higher vibration and shock values, see section
”Accessories: Encoder with shock module”
See section ”Absolute Encoders – dimensioned drawings”
RECOMMENDED DATA
TRANSMISSION RATE FOR SSI
The maximum data transmission rate depends on the cable length. Please use twisted cable
pairs and screened cable for clock rate / clock rate and data / data.
Cable length
Baud rate
< 50 m
< 400 kHz
< 100 m
< 300 kHz
< 200 m
< 200 kHz
< 400 m
< 100 kHz
138
Shaft diameter
Shaft Encoders 2001
Absolute Encoders
TECHNICAL DATA
electrical
DATA FORMAT
Type RA 58
SSI
General design
as per DIN 61010-part 1, protection class III,
Output
RS 485
Resolution
512 pulses (9 Bit)
3600 pulses (12 Bit) 3)
Linearity
± 1⁄2 LSB (± 1 LSB with 13, 14, 25 and 26 Bit)
Type of code
Gray, Gray Excess, Binary
Sense of direction
adjustable via input Direction
5 VDC ±10 %, 10 … 30 VDC 4)
Power consumption
max. 0.2 A (5 VDC), max. 0.2 A (10 ... 30 VDC)
T 0.4 A (5 VDC); T 0.25 A (10 ... 30 VDC)
Baud rate
70 KB ... 1.5 MB
Inputs 5)
Direction
Alarm output
alarm bit
Parity Bit
optional, on request
Cable length
400 m 6)
1) With offset 76 (value range 76 ... 435)
4) Pole protection
5) Typical actuating delay time 10 µs with push-pull selection. When selected via PNP-O.C.,
an external pull-down resistor (1 kOhm) is required
6) see table ”Recommended data transmission rate for SSI”
Singleturn Encoders 1)
Resolution
Data Bits
T1 … T9
9 Bit 2)
S8 … S0
10 Bit 2)
S9 … S1
12 Bit 2)
S11 … S3
13 Bit
S12 … S4
14 Bit
S13 … S5
Multiturn Encoders 1)
Resolution
Data Bits
T1 T2 …
24 Bit 2)
M11 M10…
25 Bit
M11 M10…
26 Bit
M11 M10…
1)
2)
T10
0
S0
S2
S3
S4
T11
0
0
S1
S2
S3
T12
0
0
S0
S1
S2
T13
A
A
A
S0
S1
T14
0
0
0
0
S0
T12
M0
M0
M0
T13
S11
S12
S13
…
…
…
…
T21
S3
S4
S5
T22
S2
S3
S4
T23
S1
S2
S3
T24
S0
S1
S2
T25
A
S0
S1
T26
0
0
S0
S0, S1, ...: Data Bits for resolution per RPM
M0, M1, ...: Data Bits for number of RPM (only for multiturn)
A: Alarm Bit
Options (Parity Bit, Alarm and Parity Bit, Zero Bit) on request and only for resolutions
9, 10, 12 and 24 Bit possible.
Alarm Bit: is set to ”1” for overtemperature, undervoltage, disc breakage and defect LEDs
Parity Bit: Even Parity (The Parity Bit supplements the data bits to an even number of
(Option) 1-Bits).
Shaft Encoders 2001
139
Absolute Encoders
SYNCHRONOUS-SERIAL
TRANSFER (SSI)
CONNECTION DIAGRAM
Synchronous readout of the encoder data
is according to the clock rate given by the
SSI-counterpart.
The number of clock rates is determined by
the type of encoder (singleturn resp. multiturn) and the configuration of the special
Bits as defined.
For multiple transactions (the stored value is
readout several times successively) a fixed
clock rate per transaction must be kept (for
singleturn 13 resp. 14 clocks, for multiturn
25 resp. 26 clocks).
• In the rest position, when the last clock
brush has passed by more than 30µs, the
data output is logically at ”1“.
• With the first descending clock edge the
encoder data and the special bits are loaded in the shift register of the encoder
interface.
• With each ascending clock edge the data
bits are serially readout, beginning with
the MSB.
Cable
brown (0.5 mm2)
pink
yellow
blue
red
violet
white (0.5 mm2)
grey
green
black
Type RA 58
SSI
• At the end of the data transfer the data
output is set to logically ”0“ for approx.
20µs.
If within these 20µs a further clock brush
reaches the encoder interface, the already
transferred data is readout once again.
This multiple transfer of the same data
makes it possible to recognize transfer
errors.
• After the 20µs the data output goes to its
rest position, logically ”1“. Subsequently
new encoder data can be readout.
Flange connector
1
2
3
4
5
6
7
8
9
10
11
12
Signal
0 V (supply voltage)
Data
Clock
N.C.
Direction 1)
N.C.
N.C.
5/10 … 30 VDC
N.C.
Data
Clock
0 V-signal output 2)
Direction: + UB or not used
=
ascending code values for clockwise rotation cw
0V
=
descending code values for clockwise rotation cw
2) connected with 0V in the encoder. Please use this output to connect Direction to logically
"0" if required.
1)
ACCESSORIES
140
Position indicator signo 727-SSI
For Mounting
Clamping eccentric
Shaft Encoders 2001
see section ”Accessories”
Ordering code
0 070 655
1 076 013
1 076 014
Absolute Encoders
ORDERING DATA
Version
S Singleturn
M Multiturn
Supply voltage
A 5 VDC
E 10 … 30 VDC
–
Type
RA 58 Standard
RA 59 Stainless
steel 1)
1)
2)
3)
4)
Mounting
K Clamping flange 4 IP 64 3) 1 6 mm (S)
(10 mm-shaft)
7 IP 67 2) 2 10 mm (K)
S Synchro flange
(6 mm-shaft)
(10 mm-shaft)
·
/
Resolution 4)
0360 360 pulses (S)
0009 9 Bit (S)
0720 720 pulses (S)
0010 10 Bit (S)
3600 3600 Incr. (S)
0012 12 Bit (S)
0013 13 Bit (S)
0014 14 Bit (S)
1212 24 Bit (M)
1213 25 Bit (M)
1214 26 Bit (M)
Type RA 58
SSI
Output
T RS 485
T
Interface
S SSI
Code
B Binary
G Gray
S
Connection
A cable, axial
B cable, radial
C flange connector 12pole axial clockwise
D flange connector 12pole radial clockwise
G flange connector 12pole axial counter clockwise
H flange connector 12pole radial counter clockwise
only with mounting = Q, shaft = 2, protection = 7, connection = B
only for type RA 59 (stainless steel)
IP 67 on request
S = singleturn, M = multiturn with 12 Bit revolutions
Shaft Encoders 2001
141
Absolute Encoder
n
n
n
n
n
n
n
Type RA 58-P
SSI, programmable
New: version with preset pushbutton
SSI
Multiturn
Resolution 24 Bit
Opto-ASIC
Microprocessor technology
EX-version see type RX- 70 P
synchro flange
clamping flange
TECHNICAL DATA
mechanical
Shaft diameter
6 mm (synchro flange), 10 mm (clamping flange)
diam. 6 mm: axial 60 N (13 lbs), radial 110 N (24 lbs)
diam.10 mm: axial 107 N (24 lbs), radial 160 N (35 lbs)
Torque
² 0.5 Ncm
Moment of inertia
synchro flange: 14 gcm2, clamping flange: 20 gcm2
Protection class (EN60529)
-10 ... +60 °C
Storage temperature
-25 ... +85 °C
100 m/s2 (10 - 500 Hz) 2)
1.5 m cable 1) or flange connector
Housing
aluminium
Flange
Weight
approx. 350 g
Bearing life
1)
2)
TECHNICAL DATA
electrical
other cable lengths possible on request
For applications with higher vibration and shock values, see section „Accessories:
Encoder with shock module“
see section ”Absolute Encoders – dimensioned drawings”
General design
Supply voltage
Power consumption
EMC
Linearity
Type of code
142
Shaft Encoders 2001
as per DIN EN 61010-part 1, protection class III
10 ... 30 V (SELV)
max. 0.2 A
T 0.25 A
Interference emission according to EN 50081-2
Interference resistance according to EN 50082-2
± 1⁄2 LSB
Binary or Gray (programmable)
Absolute Encoders
TECHNICAL DATA SSI
Interface
Baud rate
Data update
Inputs
Resolution 1) physical
Programmable functions
Output format, Output code
Cable length
1)
2)
RECOMMENDED DATA
TRANSMISSION RATE FOR SSI
RS 485
70 ... 1500 Kbits/s
every 600 µs
Preset 1, Preset 2, Direction
4096 pulses / 4096 revolutions 824 Bit) multiturn
code sequence (Direction), scaling factor, Preset, Offset,
400 m 2)
Resolution can be reduced as required by programming
20 m for programming via RS 232 (RxD and TxD); see also ”Recommended data
transfer rate for SSI“
The maximum data transmission rate depends on the cable length. Please use twisted cable
pairs and screened cable for clock rate / clock rate and data / data.
Cable length
< 50 m
< 100 m
< 200 m
< 400 m
SYNCHRONOUS-SERIAL
TRANSFER (SSI)
Type RA 58-P
SSI, programmable
Baud rate
< 400 kHz
< 300 kHz
< 200 kHz
< 100 kHz
A clock brush is applied at the SSI interface,
causing the encoder data to be serially
clocked out. With each new clock brush
(min. interval 30 ms) new data is readout.
The following main parameters are programmable:
- Preset
Software-Preset and via input/
pushbutton settable presets (can be
inactivated)
- Offset
Relative shifting of actual encoder value.
- Scaling
The actual value of the encoder is
multiplied with the factor < 1.
Direct entry, increments per measuring
distance or per revolution.
PROGRAMMING WITH SSI
- Direction of rotation
Can be changed via software or input
(can be inactivated)
- Output formats SSI
Tannenbaum format or standard
format (MSB oriented)
- Output code
The choices are Gray or binary code,
integer or two’s complement
representation. Selection of significant
bit between 16 and 24 Bit.
In addition, programming of max. 7 status
bits is possible:
- up to 4 warning positions
- overspeed
- encoder standstill
- parity
- encoder error
- direction of rotation
To program the absolute encoder you require
a DOS-PC with programming software and
the adapter cable.
The encoder is connected to the power supply and the serial interface of your PC with the
adapter cable.
Using the menue-assisted programme you
can then configure the encoder according to
the parameters you require.
Shaft Encoders 2001
143
Absolute Encoders
Type RA 58-P
SSI, programmable
OUTPUT FORMATS SSI
MSB-oriented
Tree format
Data multiturn
(number of turns)
144
Shaft Encoders 2001
Data singleturn
(resolution per turn)
Absolute Encoders
CONNECTION DIAGRAM SSI
Cable
green
yellow
pink
grey
brown
white
black
blue
red
violett
white 1)
brown 1)
1)
ACCESSORIES SSI
ORDERING DATA SSI
Flange connector
1
2
3
4
5
6
7
8
9
10
11
12
Type RA 58-P
SSI, programmable
Signal
Clock
Clock
Data
Data
RS 232 TxD
RS 232 RxD
0 V-signal output
Direction
Preset 1
Preset 2
10…30 VDC
larger cross section 0.5 mm2
For SSI encoders
Programming software for DOS
(including adapter cable) German
Programming software for DOS
(including adapter cable), English
Position indicator ”signo” 727-SSI
User Manual SSI, German
User Manual SSI, English
Version
P programmable
Supply voltage
E 10 … 30 VDC
Ordering code
1 543 001
1 543 014
see section ”Accessories”
2 543 002
2 543 005
Mounting
interface
K Clamping flange 4 IP 64
1 6 mm
S SSI
(10 mm-shaft)
(flansch S)
S Synchro flange
2 10 mm
(6 mm-shaft)
(flansch K)
RA5 8 –P / 1 2 12 E
·4
S P
Resolution
1212 24 Bit
1)
Output
Code
T RS 485
P Programmable with SSI
P RS 485 +
preset pushbutton 1) Anschluss
A cable, axial
B cable, radial
G connector 12pole axial counter clockwise
H connector 12pole radial counter clockwise
only with connection flange connector H
Shaft Encoders 2001
145
Absolute Encoders
Type RA 58
Interbus
n New: connection with integrated T-manifold: Connector
2-fold or bus terminal box (3-fold PG)
n New: Loop 2
n New: stainless steel version see type RA 59
n New: interbus-Loop see type RA 58-P
n New: hollow shaft version see type RA 58 with
hollow shaft
n single turn up to 12 bit (RA 58-S)
n multi turn up to 24 bit (RA 58-M)
n ENCOM-profile K2
n ENCOM-profile K3 (programmable)
CONNECTION VARIANTS
Bus terminal box (3-fold PG) for cable connection, radial (integrated
T-manifold)
- easy connection even in field use with cage clamps
- an end of bus connection (stub line) is avoided, because the bus
main string is connected directly in the encoders bus terminal box
Ordering code: Connection Z
Bus terminal box
Connector 2-fold, 9 pole, radial, clockwise (integrated T-manifold)
mainstring is carried through the encoder
Ordering code: Connection I
Connector
Loop
• Cable axial or radial; ordering code, connection A, B
• Flange connector axial or radial; ordering code connection C,
D, G, H
Cable
146
Shaft Encoders 2001
Absolute Encoders
Type RA 58
Interbus
TECHNICAL DATA
mechanical
diam. 6 mm: axial 60 N (13 lbs), rdial 110 N (24 lbs)
Torque
² 0.5 Ncm (IP 64), ² 1 Ncm (IP 67)
Moment of inertia
synchro flange: 14 gcm2, clamping-/square flange: 20 gcm2
Housing IP 65 1), bearings IP 64 1)
-10 ... +60 °C
Storage temperature
-25 ... +85 °C
100 m/s2 (10 - 500 Hz) 3)
1.5 m cable 2) axial/radial with 12 pole connector
clockwise, connector 2-fold, bus terminal box
Housing
Flange
Weight
Multiturn: RA58-M approx. 350 g
1) IP 67 on request
2) other cable lengths possible on request
3) For applications with higher vibration and shock values, see section „Accessories:
TECHNICAL DATA
electrical
for RA 58-S/M
with INTERBUS K2
TECHNICAL DATA
electrical for RA 58-P
with INTERBUS K3
Shaft diameter
General design
as per DIN EN 61010- part 1, protection class III
Output
INTERBUS (ENCOM profile K2)
Resolution
512 pulses (9 Bit)
Linearity
± 1⁄2 LSB
Type of code
binary
Sense of direction
ascending code values when turning clockwise
10...30 VDC with pole protection
Power consumption
max. 0.2 A
T 0.25 A
Baud rate
500 KB
Output load
RS 485
Max. cable length
50 m
Interface
Protocol
Baud rate
Data update
RS 485 for remote installation bus
INTERBUS with ENCOM profile K3 (parameterizable)
500 kbits/s, according to ENCOM
every 600 µs
1024 pulses (10 Bit) singleturn
1024 pulses /4096 revolutions (22 Bit) multiturn
4096 pulses /4096 revolutions (24 Bit) multiturn
code sequence (Direction), scaling factor, Preset, Offset
Max. cable length
50 m
1) Resolution can be reduced by programming the scaling factor (² 1) accordingly
Shaft Encoders 2001
147
Absolute Encoders
TECHNICAL DATA
electrical for RA 58-P
with INTERBUS Loop
General design
Supply voltage
Power consumption
typical
max
EMC
Type of code
Interbus loop interface
Connection
Protocol
ID code
Word
Physical resolution 1)
Linearity
Functions (progr.)
Diagnostic LED
on
slow blinking (0.5 Hz)
fast blinking (2 Hz)
off
Reset pushbutton
1)
Data format
(as per Phoenix)
ID-Code
Shaft Encoders 2001
19.2 ... 30 V DC (SELV) with pole protection
(as per Loop 2 spec.)
70 mA (28 V) ... 80 mA (19 V)
90 mA
noise emission as per EN 50081-2
noise immunity as per EN 50082-2
Binary
2 fold with supply voltage via data cable
500 k baud
2 QUICKON-connectors (PG11) green
ENCOM profile K3 (programmable), binary,
32 bit data in and out
179dez = B3hex
02
1024 counts (10 Bit) Singleturn
4096 counts (12 Bit) Singleturn
1024 counts/4096 revolutions (22 Bit) Multiturn
4096 counts/4096 revolutions (24 Bit) Multiturn
± 1⁄2 LSB
direction, scaling factor, Preset, Offset
interbus active
logic voltage okay, bus not active
periphery problem
no logic voltage
external 0 position
The resolution can be reduced as required by programming the parameters
DATA FORMAT
INTERBUS K2 (RA 58-S/M)
148
Type RA 58
Interbus
5 V differential signals (RS 485)
ENCOM profile K2, 32 Bit binary process data
right adjust, readable only, without control/status bit
Sµpi-address
0
1
2
3
Byte-No.
3
2
1
0
36H (= 54 decimal)
Absolute Encoders
DATA FORMAT INTERBUS
K3/LOOP (RA 58-P)
Type RA 58
Interbus
5 V differential signals (RS 485)
ENCOM profile K3, 32 Bit
binary process data
Sµpi-address
0 1 2 3
Byte-No.
3 2 1 0
37H (=55 decimal)
B3H (=179 decimal)
Data format
(as per Phoenix)
ID-Code K3
ID Code INTERBUS Loop
Host at RA 58-P
31 30
29
28
27
26
25
24
23
- 16
15 -
8
7
-
0
1)
data
KP-No.
Status-bit
RA 58-P at Host
31 30
29
28
27
26
25
24
23
- 16
15 -
8
7
-
0
1)
data
KP-No.
Status-bit
Bit 24 not used
1)
PROGRAMMABLE FUNCTIONS
FOR INTERBUS K3/LOOP
Function
(Programming directly
via the bus through transfer
of configuration parameters)
Code sequence for
clockwise (cw) rotation
Offset (CP-No. 05)
Preset value (CP-No. 04)
Scaling factor (CP-No. 08)
1)
Cable with plug
Pin
1
2
3
4
5
6
7
8
9
10
11
12
2)
3)
CONNECTION DIAGRAM
Loop
Customer-specific
parameters
ascending
0
0
1 1)
maximum resolution
CONNECTION DIAGRAM
INTERBUS K2/K3
1)
Preset values
(manufacturer’s
standard settings)
(A/B)
D02
D02
DI 2
DI 2
D01
D01
DI 1
DI 1
RBST 3)
0 VS (signal output) 1) 3)
10 … 30 VDC
Connector
(2-fold)
IN (Pins)
D01
D01
DI 1
DI 1
0 VS 1) 3)
PE 2)
10 … 30 VDC
N.C.
9 pole
(internal T-manifold) (I)
OUT (Socket)
D02
D02
DI 2
DI 2
0 VS 1) 3)
PE 2)
10 … 30 VDC
RBST 3)
Signal output; due to the electrical isolation not identical with 0 V (supply voltage)
Functional earthing; connected with the encoder housing
If further devices follow in the same busline, a bridge between RBST and O VS
(signal output) must be made in the mating connector of continuing bus line.
Pin
1
2
Signal
+
-
Shaft Encoders 2001
149
Absolute Encoders
ACCESSORIES
ORDERING DATA
INTERBUS K2
Type RA 58
Interbus
For INTERBUS
Technical manual K3 German
Technical manual K3 English
Technical manual Loop German
Technical manual Loop English
Flange connector 2 fold:
Connector input (9 pole, socket contact)
Connector output (9 pole, pins)
Cable with plug (-C):
Plug for encoder (12 pole, clockwise)
Ordering code
2 543 003
2 543 030
2 543 068
2 543 078
Mounting
Synchro flange
spring washer adapter coupling (hub 6/6 mm)
spring washer adapter coupling (hub 10/10 mm)
Ordering code
0 070 655
3 520 081
3 520 088
Version
S Singleturn
M Multiturn
Supply voltage
E 10 … 30 VDC
3 539 294
3 539 293
3 539 186
Mounting
K Clamping flange
(10 mm-shaft)
S Synchro flange
(6 mm-shaft)
4 IP 64 2) 1 6 mm (S)
2 10 mm (K)
Plug 3)
C Conin 12-pol.
Type
RA 58 Standard
RA58 –
/
Resolution 1)
0360 360 Incr. (S)
0009 9 Bit (S)
0720 720 Incr. (S)
0010 10 Bit (S)
0012 12 Bit (S)
1212 24 Bit (M)
1)
2)
3)
ORDERING DATA
INTERBUS (K3)
·4
T
Output
T RS 485
Connection
A cable, axial 3)
B cable, radial 3)
I connector 2-fold 9 pole, radial,
clockwise (integrated T-manifold)
Z bus terminal box (3-fold PG), radial
(integrated T-manifold)
S=singleturn, M=multiturn with 4096 (12 Bit) revolutions
IP 67 on request
generally for connection A/B: 1.5 m cable including plug (12 pole, turning right)
E 10 … 30 VDC K Clamping flange
4 IP 64 2) 1 6 mm (S)
(10 mm-shaft)
2 10 mm (K)
S Synchro flange
(6 mm-shaft)
Type
Q Square flange 63,5 x 63,5
(10 mm-shaft)
RA 58 Standard
–P /
Resolution 1)
0010 10 Bit (S)
0012 12 Bit (S)
1210 22 Bit (M)
1212 24 Bit (M)
1)
2)
3)
Shaft Encoders 2001
I B–
Code
B Binary
Version
P Programmable
Note for first ordering:
- User Manual IB (K3) English,
ording code 2 543 030
Or download from
www.hengstler.com
150
E
Interface
I INTERBUS
E
Output
T RS 485
IP 67 on request
generally for connection A/B: 1.5 m cable including plug
(12 pole, turning right)
·
T
Interface
I INTERBUS
Plug 3)
C Conin 12-pole
I BCode
B Binary
Connection
A cable, axial 3)
B cable, radial 3)
I connector 2-fold 9 pole, radial,
clockwise (integrated T-manifold)
Absolute Encoders
ORDERING DATA
INTERBUS LOOP
Please include in your order:
- User Manual IB Loop English,
ording code. 2 543 078
Or download from
www.hengstler.com
Type RA 58
Interbus
Version
P Programmable
4 IP 64 2) 1 6 mm (S)
(10 mm-shaft)
2 10 mm (K, Q)
S Synchro flange
(6 mm-shaft)
Type
Q Square flange 63,5 x 63,5 4)
(10 mm-shaft)
RA 58 Standard
–P /
Resolution 1)
0010 10 Bit (S)
0012 12 Bit (S)
1210 22 Bit (M)
1212 24 Bit (M)
1)
2)
3)
E
·4
Interface
I INTERBUS/Loop
A I L B
Output
A interbus Loop
Code
B Binary
Connection
I Quickon
IP 67 on request
generally for connection A/B: 1.5 m cable including plug (12 pole, turning right)
Shaft Encoders 2001
151
Absolute Encoder
n
n
n
n
n
n
n
n
n
Type RA 58
CAN
New: option stainless steel version RA 59
New: option hollow shaft RA 58 with hollow shaft
CAN (layer 2)
CANopen
Singleturn or multiturn
Resolution up to 14 resp. 26 Bit
Opto-ASIC
New connection technology with
integrated T-manifold:
- connector 2-fold or
- bus terminal box (3-fold PG)
CONNECTION VARIANTS
Bus terminal box (3-fold PG) for cable connection, radial (integrated T-manifold)
- an end of bus connection (stub line) is avoided, because of the bus main
string is connected directly in the encoders bus terminal box
Bus terminal box
- an end of bus connection (stub line) is avoided, because of the bus
Connector
n Cable axial or radial; ordering code, connection A, B
n Flange connector axial or radial; ordering code connection C, D, G, H
Only for CAN: Version !bus feeder carried out double“ (ordering code: output = L)
with connection cable (A/B) or flange connector (C/D/G/H):
- with connection ”double“ a spur line is not created, as the throughgoing
bus feeder is carried through the encoder
Cable
CAN
only single bus
lines in the cable
set available
T-manifold
10...30 V DC
external encoder supply
(or via bus)
Single assignment with output = C
double bus
lines in the
cable set
available
10...30 V DC
external encoder supply
(or via bus)
T-manifold
in encoder
Double bus lines with output = L
Connector
152
Shaft Encoders 2001
Absolute Encoders
TECHNICAL DATA
mechanical
Shaft diameter
diam. 6 mm: axial 60 N (13 lbs), rdial 110 N (24 lbs)
Torque
£ 0.5 Ncm (IP 65), £ 1 Ncm (IP 67)
Moment of inertia
synchro flange: 14 gcm2, clamping-/square flange: 20 gcm2
Housing IP 65 1) bearings IP 64 1)
-25 ... +85 °C (CAN, Profibus DP)
-10 ... +60 °C (InterBus)
Storage temperature
-25 ... +85 °C
Vibration proof (IEC 68-2-6) 100 m/s2 (10 - 500 Hz) 2)
Connection
see connection variants
Housing
Flange
Weight
Multiturn: RA58-M approx. 350 g
Bearing life
1)
2)
Type RA 58
CAN
for singleturn IP 67 is also available on request
For applications with higher vibration and shock values, see section ”Accessories:
Shaft Encoders 2001
153
Absolute Encoders
TECHNICAL DATA
electrical
General design
Supply voltage
Power consumption
EMC
Linearity
Type of code
Interface
Protocol
Baud rate
Base identifier/
Node number
1)
154
Shaft Encoders 2001
Type RA 58
CAN
as per DIN EN 61010- part 1, protection class III
10 ... 30 V DC (SELV)
max. 0.23 A
T 0.25 A
Interference emission according to EN 50081-2
Interference resistance accordng to EN 50082-2
± 1⁄2 LSB (± 1 LSB with resolution 13, 14, 25, 26 Bit)
Binary; with SSI: Binary and Gray (programmable)
CAN High Speed according to ISO / DIS 11898, basic and
full CAN, CAN specifications 2.0 B (11 and 29 Bit identifer)
layer 2 or CANopen according to profile DSP 406 with
additional functions
settable with DIP switches from 10 to 1000 Kbits/s
settable with DIP switches
360 pulses (9 Bit) singleturn (only for CAN layer 2)
4096 pulses / 4096 revolutions (24 Bit) multiturn
CANopen:
poll mode or auto mode with adjustable cycle time, code
sequence (Direction) resolution per revolution, total
resolution, Preset, Offset, up to 4 warning positions,
additional output of speed / acceleration
CAN shift 2:
poll mode or auto mode with adjustable cycle time, code
sequence (Direction), up to 4 warning positions
with CANopen the resolution can be reduced as required by programming the parameters
Absolute Encoders
CONNECTION DIAGRAM CAN
Cable or connector
TPE cable
Colour
green
blue
pink
grey
yellow
brown (0.5 mm2)
brown
white (0.5 mm2)
screen
CONNECTION DIAGRAM CAN
Connector 2-fold 9 pole
PlugPin
1
2
3
4
5
6
7
8
9
screen
1)
Flange connector
Pin
1
2
3
4
5
6
7
8
9
10
11
12
screen
Type RA 58
CAN
Assignment with
output = C
N.C.
CANCAN GND
N.C.
N.C.
N.C.
CAN+
N.C.
N.C.
CAN GND
10 … 30 VDC
screen 1)
Connector with
pin insert
CAN+
CANCAN GND
N.C.
N.C.
N.C.
10 … 30 VDC
N.C.
screen 1)
Assignment with
output = L
N.C.
CAN- IN
CAN GND IN
CAN+ OUT
CAN- OUT
N.C.
CAN+ IN
N.C.
N.C.
CAN GND OUT
10 … 30 VDC
screen 1)
socket insert
CAN+
CANCAN GND
N.C.
N.C.
N.C.
10 … 30 VDC
N.C.
screen 1)
screen connected to encoder housing
ACCESSORIES
Ordering code
Clamping eccentric
0 070 655
1 076 013
1 076 014
Mating connector (9 pole, socket, clockwise) for bus input 1)
3 539 294
Mating connector (9 pole, pins, clockwise) for bus output 1)
3 539 293
Mating connector for connector, 12 pole clockwise (connection C, D)
3 539 202
Mating connector for connector, 12 pole, counter clockwise (connection G, H) 3 539 229
Technical Manual CAN layer 2, German or English
2 542 051 or 2 542 052
Technical Manual CANopen, German or English
2 542 092 or 2 542 093
1)
matching with connection I (twin flange connector with integrated T-manifold) with CAN
and INTERBUS
Shaft Encoders 2001
155
Absolute Encoders
ORDERING DATA CAN
Version
P Programmable E 10 … 30 VDC K Clamping flange
4 IP 64 2) 1 6 mm (S)
(10 mm-shaft)
2 10 mm (K, Q)
S Synchro flange
(6 mm-shaft)
S Square flange 63,5 x 63,5 4)
(6 mm-shaft)
Type
- Technical manual, German or
English ordering code 2 542 051 or
2 542 052 for CAN resp. 2 542 092
or 2 542 093 for CANopen
- disc with EDS file ordering code
1 543 061 for CANopen
Or download from
www.hengstler.com
R A 58 –P /
Resolution 1)
0360 360 pulses (S) 4)
0009 9 Bit (S) 4)
0720 720 pulses (S) 4)
0010 10 Bit (S)
0012 12 Bit (S)
0013 13 Bit (S)
0014 14 Bit (S)
1212 24 Bit (M)
1213 25 Bit (M)
1214 26 Bit (M)
1)
2)
3)
4)
156
Shaft Encoders 2001
Type RA 58
CAN
E
Output
C CAN Transceiver
L Bus lines carried
out double 3)
Interface
C CAN
O CANopen
·4
B
Code
B Binary
Connection
A cable, axial
B cable, radial
C connector 12pole, axial, clockwise
D connector 12pole, radial, clockwise
I connector 2-fach, 9pole, clockwise,
integrated T-manifold
Z bus terminal box (3-fold PG), radial,
S = singleturn, M = multiturn with 4096 (12 Bit) revolutions
IP 67 on request
not with connection with integrated T-manifold (for description see „Connection versions“
not with interface CANopen (0)
Absolute Encoders
Type RA 58-P
DeviceNet
n
n
n
n
n
n
n
Product certified by an ODVA Testing Institute
DeviceNet specification 2.0
Easy installation and configuration using the EDS file
Resolution up to 14 and 26 bits
Opto-ASIC
Bus terminal box (dual cable gland) used as new terminal design with
n Optional stainless steel design (RA 59)
TECHNICAL DATA
mechanical
Shaft diameter
Absolute max. shaft load (axial/radial) 6 mm shaft: 60 N (13 lbs)/110 N (24 lbs),
9.52/10 mm shaft: 107 N (24 lbs)/160 N (35 lbs)
Speed
10,000 min -1 (short-term), 6,000 min -1 (long-term)
Torque
< 0.5 Ncm (IP 64), < 1 Ncm (IP 67)
Moment of inertia
6 mm shaft: 14 gcm2; 9.52/10 mm shaft: 20 gcm2
RA 58: housing IP 65 1), bearings IP 64 1)
-25…+85 °C
Storage temperature
-25…+85 °C
Vibration resistance (IEC 68-2-6)
100 m/s2 (10-500 Hz) 2)
1000 m/s2 (6ms) 2)
Connection
Bus terminal box with dual cable gland
Housing
RA 58: Aluminum
Flange
Weight approx.
Singleturn: RA 58 300 g, Multiturn: RA 58 350 g
1)
2)
TECHNICAL DATA
electrical
IP 67 upon request
For applications with higher vibration/shock values, see the section on accessories in the
"Encoder” catalog: Encoders with Shock Module
General design
Supply voltage
Power consumption
EMC
Linearity
Encoding
Interface
Protocol
Data refresh
Baud rate
MAC ID
Physical resolution 1)
Transmission mode
Encoder parameters
1)
as per EN 61010 part 1, protection class III,
10 ... 30 V DC (SELV)
max. 0.2 A
T 0.25 A
Interference emission acc. to EN 50081-2,
immunity acc. to EN 50082-2
± 1⁄2 LSB (+1 LSB with a resolution of 13, 14, 25, 26 bits)
binary
CAN high-speed according to ISO/DIS 11898,
CAN specification 2.0 B (11 and 29 bit identifier)
DeviceNet according to specification,
version 2.0 for programmable units
Every 5 ms
Adjustable to 125, 250, 500 Kbps via 2 dip switches
Adjustable via 6 dip switches
1,024 steps (10 bit) singleturn,
4,096 steps/4,096 rev (24 bit) multiturn,
8,192 steps/4,096 rev (25 bit) multiturn,
16,384 steps/4,096 rev (26 bit) multiturn
polling mode (only upon request),
bit strobe (synchronous for all units),
change of state (automatic upon value change),
cyclical with adjustable cycle timer
code sequence (direction), resolution per revolution,
overall resolution, preset
The resolution can be reduced as desired by programming the parameters.
Shaft Encoders 2001
157
Absolute Encoders
ACCESSORIES
Synchro flange-clamping eccentric
Spring washer adapter coupling (hub 6/6 mm)
Spring washer adapter coupling (hub 10/10 mm)
Technical manual DeviceNet German
Technical manual DeviceNet English
Disc with EDS file for DeviceNet
Type RA 58-P
DeviceNet
Ordering Code
0 070 655
3 520 081
3 520 088
2 543 069
2 543 070
1 543 083
START-UP
The encoder can be easily and quickly
installed and programmed with the
EDS file.
158
Shaft Encoders 2001
Type RA 58-P
DeviceNet
Absolute Encoders
CERTIFICATION
The encoder has been tested and
certified for DeviceNet conformity
and interoperability by the ODVA
Testing Institute.
Or download from
www.hengstler.com
Note for first-time orders:
Please also order the following:
- Technical manual:
ordering code 2 543 069
(German)
(English)
- Disk with EDS file
Or download from
www.hengstler.com
S=singleturn
M=multiturn with 4096 (12 bit)
revolutions
2) Bearing IP 64, housing IP 65
1)
Version
P Programmable
Supply voltage
E 10 … 30 VDC
Type
RA 58 Standard
Mounting
K Clamping flange
(10 mm-shaft)
S Synchro flange
(6 mm-shaft)
RA5 8 –P /
Resolution 1)
0010 10 Bit (S)
0012 12 Bit (S)
0013 13 Bit (S)
0014 14 Bit (S)
1212 24 Bit (M)
1213 25 Bit (M)
1214 26 Bit (M)
E
Output
C CAN transceiver
Protection Shaft diameter
class
1 6 mm (S)
4 IP 64 2) 2 10 mm (K)
.4
Interface
V DeviceNet
C Z V B
Code
B Binär
Connection
Z Bus terminal box (dual cable gland).
radial (integrated T-manifold)
Shaft Encoders 2001
159
Absolute Encoders
Type RA 58-P
Profibus-DP
n New: Option stainless steel version see type RA 59
n New: Option hollow shaft see
type RA 58 with hollow shaft
n Profibus DP
n Singleturn or Multiturn
n Resolution up to 14 bit or 26 bit
n Opto-ASIC
n Microprocessor technology
n New connection technology with integrated T-manifold
- 2 fold connector or
- bus terminal box (3 fold PG)
CONNECTION VARIANTS
Bus terminal box (3-fold PG) for cable connection, radial (integrated T-manifold)
- an end of bus connection (stub line) is avoided, because the bus main
string is connected directly in the encoder bus terminal box
Bus terminal box
Connector
TECHNICAL DATA
mechanical
Shaft diameter
Absolute max. shaft load (axial/radial) 6 mm shaft: 60 N (13 lbs)/110 N (24 lbs)
9.52/10 mm shaft: 107 N (24 lbs)/160 N (35 lbs)
Speed
10,000 min -1 (short-term), 6,000 min -1 (long-term)
Torque
< 0.5 Ncm (IP 64), < 1 Ncm (IP 67)
Moment of inertia
6 mm shaft: 14 gcm2; 9.52/10 mm shaft: 20 gcm2
housing IP 65 1), bearings IP 64 1)
-25 … +85 °C
Storage temperature
–25 … +85 °C
Vibration resistance (IEC 68-2-6)
100 m/s2 (10 – 500 Hz) 2)
1000 m/s2 (6 ms) 2)
Connection
Bus terminal box with dual cable gland
Housing
Aluminium
Flange
Weight approx.
Singleturn: ca. 300 g
Multiturn: ca. 350 g
1)
2)
160
Shaft Encoders 2001
IP 67 upon request
For applications with higher vibration/shock values, see the section on accessories in the
"Encoder” catalog: Encoders with Shock Module
Absolute Encoders
TECHNICAL DATA
electrical
Type RA 58-P
Profibus DP
General design
Supply voltage
Power consumption
Recom. external fuse
EMC
Linearity
Type of code
Interface
Protocol
Baud rate
Device number
1)
as per EN 61010-1, protection class III
10...30 V DC (SELV)
max 0,23 A
T 0.25 A
noise emmission as per EN 50081-2
noise immunity as per EN 50082-2
± 1/2 bit (± 1 bit with 13, 14, 25, 26 bit)
binary
RS 485
Profibus DP with encoder profile
class C2 (parameterizable)
max. 12 Mbits/s
settable with DIP switches
code sequence (Direction) resolution per revolution, total
resolution, Preset
the resolution can be changed as required by programming the parameters
Shaft Encoders 2001
161
Absolute Encoders
Type RA 58-P
Profibus DP
PROFIBUS DP
CONNECTION DIAGRAM
PROFIBUS
Connector 2-fold 12 pole
Pin
1
2
3
4
5
6
7
8
9
10
11
12
screen
1)
Connector, 2-fold (I)
IN (pins)
OUT (socket)
GND1
A
A
Description
Data Ground (M5V) 1)
Receive/Transmit Data-Negative (A)
B
B
Receive/Transmit Data-Positive (B)
10…30 VDC
0V
VCC1
10…30 VDC
0V
+5 V signal output (P5V) 1)
supply voltage +UB (P24)
supply voltage ground (M24)
screen
screen
screen connected with encoder housing
Used as power supply for an external bus termination resistor
STARTUP
The encoder can be easily and
quickly installed and programmed
with the EDS file
162
Shaft Encoders 2001
Absolute Encoders
Type RA 58-P
Profibus DP
CERTIFICATION
CERTIFICATE
ACCESSORIES
Clamping eccentric
Mating connector (12 pole, socket, clockwise) for bus input 1)
Mating connector (12 pole, pins, clockwise) for bus output 1)
Technical Manual Profibus, German
Technical Manual Profibus, English
Disc with GSD-file for Profibus DP
1)
Ordering code
0 070 655
3 520 081
3 520 088
3 539 202
3 539 186
2 543 037
2 543 045
1 543 062
matching with connection I (twin flange connector with integrated T-manifold) with
Profibus DP
Shaft Encoders 2001
163
Absolute Encoders
ORDERING DATA PROFIBUS DP
Version
P Programmable
Please include in your order
- Technical Manual German or
English ordering code 2 543 037
or 2 543 045
- Disc with GSD file,
Or download from
www.hengstler.com
Type
RA 58 Standard
Resolution 1)
0010 10 Bit (S)
0012 12 Bit (S)
0013 13 Bit (S)
0014 14 Bit (S)
1212 24 Bit (M)
1213 25 Bit (M)
1214 26 Bit (M)
2)
164
Shaft Encoders 2001
(10 mm-shaft)
S Synchro flange
(6 mm-shaft)
RA5 8 –P /
1)
Type RA 58-P
Profibus DP
E
Output
T RS 485
Interface
D PROFIBUS DP
4 IP 64 2) 1 6 mm
(flange S)
7 IP 64 2)
2 10 mm
(flange K, Q)
Code
B Binary
·
T
D B
Connection
I connector 2-fold, 9 pole, radial,
clockwise, integrated T-manifold
Z bus terminal box (3-fold PG) radial,
S=Singleturn
M=Multiturn with 4096 (12 Bit) revolutions
IP 67 on request
Absolute Encoders
Hollow Shaft
n
n
n
n
n
VARIANTS
TECHNICAL DATA
mechanical
Hollow shaft (not through going, hub shaft) with 10 or 12 mm shaft
safe mounting via clamping ring
short built in dimensions
short mounting time
additional mounting ring washer as accessory
The hollow shaft encoder is available as follows:
n Singleturn up to 14 bit
n Connections: cable radial, connector radial, connector 2 fold radial
(only with field bus interface)
n Interface: parallel, SSI, Interbus, CAN, CAN open, Profibus DP
Mounting
Shaft diameter
Speed
Torque
Moment of inertia
Storage temperature
Housing
Weight
1)
2)
Type RA 58
Synchro flange with clamping shaft
(not through going)
10 or 12 mm-hollow shaft1)
required tolerance of mounting shaft: g8
max. 6000 RPM
² 1 Ncm
approx. 35 gcm2
housing IP 65, bearings IP 64
–25 … +85 °C (Interbus -10 ... +60 °C)
–25 … +85 °C
100 m/s2 (10 … 500 Hz)
1000 m/s2 (6 ms)
1,5 m cable 2) or connector
aluminium
Singleturn: RA 58-S 300 g approx.
Multiturn: RA 58-M 350 g approx.
8 mm hollow shaft on request
Shaft Encoders 2001
165
Absolute Encoders
Hollow Shaft
The electrical data depends on the type of interface. Please refer to the specific interface
section in this catalogue.
TECHNICAL DATA
electrical
ORDERING DATA
Type 1)
S Singleturn
M Multiturn
P Programmable
Supply
voltage1)
A 5 VDC
E 10 … 30 VDC
RA58 –
1)
2)
Shaft Encoders 2001
Mounting
Protection Shaft
Synchro flange with 4 IP 64
diameter 2)
2 10 mm
F clamping shaft
7 12 mm
Interface
P Parallel
S SSI
I INTERBUS
C CAN
O CANopen
D Profibus DP
F ·4
/
Resolution 1)
0360 360 pulses (S)
0009 9 Bit (S)
0720 720 pulses (S)
0010 10 Bit (S, P)
3600 3600 pulses (S)
0012 12 Bit (S, P)
0013 13 Bit (S, P)
0014 14 Bit (S, P)
1212 24 Bit (M, P)
1213 25 Bit (M, P)
1214 26 Bit (M, P)
166
Type RA 58
Output 1)
K push pull
T RS 485
C CAN
Code 1)
B Binary
G Gray
Connection 1)
B cable, radial
D connector 12pole
radial clockwise
H connector 12pole
radial counter clockwise
I connector 2-fold
Ordering code letter depends on type of interface.
The possible combinations are listed in this catalogue.
Please refer to the specific interface section.
8 mm on request
Absolute Encoders
n
n
n
n
n
Type RA 59
Stainless steel
Stainless steel encoder with max protection
High corrosion resistance
Choice of cable connections
Field bus versions with removable bus terminal box
Applications:
- ship equipment (e.g. cranes, winches, cable laying ships)
-offshore applications
With bus terminal box
With cable
VARIANTS
TECHNICAL DATA
mechanical
The stainless steel encoder is available in following versions:
n Single- or multiturn with cable radial and interfaces Parallel, SSI, INTERBUS
n Single- or multiturn with bus terminal box and the interfaces CAN, CANopen,
Profibus DP, INTERBUS, DeviceNET
Flange
Shaft diameter
Torque
Moment of inertia
Storage temperature
Connection radial
Housing
Weight
1)
2)
square flange, 63.5 x 63.5 mm
10 mm
²1 Ncm (IP 67)
ca. 20 gcm2
–25 … +85 °C (Interbus -10 ... +60 °C)
–25 … +85 °C
100 m/s2 (10 … 500 Hz) 2)
1,000 m/s2 (6 ms) 2)
1.5 m cable 1) or bus terminal box
stainless steel 1.4305
Singleturn: RA 58-S approx. 300g, RA 59-S approx. 620 g
For applications with higher vibration and shock values, see ”Accessories, Encoder with
Shock Module”
TECHNICAL DATA
electrical
The electrical data depends on the type of interface.
Please refer to the specific interface section in this catalogue.
Shaft Encoders 2001
167
Absolute Encoders
ORDERING DATA
Parallel
Version
S Singleturn
M Multiturn
Supply voltage
A 5 VDC 2)
E 10 … 30 VDC
RA 5 9 –
Type
RA 59 stainless
steel 1)
1)
2)
Type RA 59
Stainless steel
Mounting
Protection Shaft diam. Interface
K clamping flange 4 IP 64 5) 1 6 mm (S) P parallel (output K)
(10 mm-shaft)
7 IP 67 3) 2 10 mm (K)
S synchro flange
(6 mm-shaft)
Code
Q square flange
B Binary
63.5 x 63.5 3)
G Gray
(10 mm-shaft)
/
Q·7 2 K B P
Resolution 1)
0360 360 Incr. (S)
0009 9 Bit (S)
0720 720 Incr. (S)
0010 10 Bit (S)
3600 3600 Incr. (S)
0012 12 Bit (S)
0013 13 Bit (S)
0014 14 Bit (S)
0412 16 Bit (M)
0812 20 Bit (M)
1212 24 Bit (M)
Output
K push-pull
short-circuit
proof
Connection
B cable, radial
S = Singleturn, M = Multiturn (4, 8 or 12 bit revolutions)
only for Singleturn
ORDERING DATA
SSI
Version
S Singleturn
M Multiturn
Supply voltage
A 5 VDC
E 10 … 30 VDC
Mounting
Q Quadratfl.
63.5 x 63.5
Protection
7 IP 67
Shaft diam.
2 10 mm
Interface
S SSI
Code
B Binary
G Gray
RA 5 9 –
Type
RA 59 Stainless
steel
1)
168
Shaft Encoders 2001
/
Resolution 1)
0360 360 Incr. (S)
0009 9 Bit (S)
0720 720 Incr. (S)
0010 10 Bit (S)
3600 3600 Incr. (S)
0012 12 Bit (S)
0013 13 Bit (S)
0014 14 Bit (S)
1212 24 Bit (M)
1213 25 Bit (M)
1214 26 Bit (M)
Q·7 2 T B S
Output
T RS 485
Connection
B cable, radial
S = Singleturn, M = Multiturn with 12 Bit revolutions
Absolute Encoders
ORDERING DATA
INTERBUS K2/K3
- User Manual IB (K3) English,
ording code 2 543 030
Or download from
www.hengstler.com
Version 1)
S Singleturn
M Multiturn
P Programmable
Supply voltage
E 10 … 30 VDC
Type RA 59
Stainless steel
Mounting
Q Square flange
63.5 x 63.5
2 10 mm
7 IP 67
Interface
I INTERBUS
Plug 2)
C Conin 12-pole
Typ
RA 59 Stainless steel
RA59 –
Resolution 1)
0360 360 Incr. (S)
0009 9 Bit (S)
0720 720 Incr. (S)
0010 10 Bit (S, P)
0012 12 Bit (S, P)
1212 24 Bit (M, P)
1)
2)
ORDERING DATA CAN
I B–
Output
T RS 485
Code
B Binary
Connection
B cabel, radial 2)
Z Bus terminal box (3-fold PG), radial
S = Singleturn, Profile K2
M= Multiturn, Profile K2
P = programmable (Single- or Multiturn), Profil K3
generally for Connection B: 1.5 m cable including plug 12pole turning right
Version
P programmable
- Technical manual, German or
or 2 542 052 for CAN resp. 2 542
092 or 2 542 093 CANopen
- Disc with EDS-file,
ordering code 1 543 061 for
CANopen
Or download from
www.hengstler.com
E Q· 7 2 T
/
Supply voltage
E 10 … 30 VDC
Mounting
Q Square flange
63.5 x 63.5
2 10 mm
7 IP 67
Interface
C CAN
O CANopen
Typ
RA59 –P /
Resolution1)
0360 360 Incr. (S) 3)
0009 9 Bit (S) 3)
0720 720 Incr. (S) 3)
0010 10 Bit (S)
0012 12 Bit (S)
0013 13 Bit (S)
0014 14 Bit (S)
1212 24 Bit (M)
1213 25 Bit (M)
1214 26 Bit (M)
1)
2)
3)
E Q·7 2
Output
C CAN Transceiver
L Bus lines carried out
double 2)
B
Code
B Binary
Connection
B cabel, radial
S=Singleturn
not with connection with integrated T-manifold (Z)
not with Interface CANopen (O)
Shaft Encoders 2001
169
Absolute Encoders
ORDERING DATA DEVICENET
Version
P programmable
Note for first-time orders:
Please also order the following:
- Technical manual:
Ord. code 2 543 069 (German)
Ord. code 2 543 070 (English)
- Disk with EDS file
Ord. code 1 543 083
Or download from
www.hengstler.com
RA5 9 –P /
Resolution 1)
0010 10 Bit (S)
0012 12 Bit (S)
0013 13 Bit (S)
0014 14 Bit (S)
1212 24 Bit (M)
1213 25 Bit (M)
1214 26 Bit (M)
ORDERING DATA PROFIBUS DP
2 10 mm
7 IP 67
Interface
V DeviceNet
E Q·7 2 C Z V B
Output
C CAN Transceiver
Connection
Z Bushaube (2-fold PG), radial
E 10 … 30 VDC Q Square flange
63.5 x 63.5
2 10 mm
7 IP 67
Typ
RA5 9 –P /
Resolution 1)
0010 10 Bit (S)
0012 12 Bit (S)
0013 13 Bit (S)
0014 14 Bit (S)
1212 24 Bit (M)
1213 25 Bit (M)
1214 26 Bit (M)
1)
Code
B Binary
S=Singleturn
Version
P programmable
- Technical Manual German or
or 2 543 062
- Disc with GSD-file,
Or download from
www.hengstler.com
Shaft Encoders 2001
Mounting
Q Square flange
63.5 x 63.5
Typ
1)
170
Supply voltage
E 10 … 30 VDC
Type RA 59
Stainless steel
Interface
D PROFIBUS DP
Code
B Binary
E Q· 7 2 T Z D B
Output
T RS 485
Connection
Z bus terminal box
(3-fold PG), radial
S=Singleturn
Absolute Encoders
Type RX 70 TS, TM, TP
EX
n Encoder for explosion-protection type II
n Top reliability
n Application e.g.:
- enamelling production lines
- surfacing machines
- bottling machines
- mixers
- silo works
n For incremental EX encoders, see
”Absolute Encoders Type RX 70-I“
EX-CLASSIFICATION
Hengstler explosion-proof shaft encoders are classified according to EEx d IIC T6/T4
(according to EN 50014 and EN 50018)
Certificate of conformity: BVS 95.D.2027
EEx
d IIC
T6/T4
Symbol designating equipment
built in compliance with European Norms
Explosion-proof enclosure
Explosion group II
(all areas except for fire-damp mining areas)
Temperature class
1)
2)
TECHNICAL DATA
mechanical
Shaft diameter
10 mm
radial 160 N, axial107 N (35/24 Ibs)
Torque
² 1 Ncm
Moment of inertia
ca. 20 gcm2
Protection class (EN 60529) Housing IP 65, bearings IP 64
General design
–10 … +40 °C (EEx d IIC T6)
-20 … +60 °C (EEx d IIC T4)
Storage temperature
–25 … +85 °C
Vibration proof (IEC 68-2-6) 10 g = 100 m/s2 (10…2,000 Hz)
Connection
5 m cable axial 1) for fixed layout
Size
Ø 70 mm
Flange
Clamping flange, holes 3 x M6
Weight
1,400 g approx.
Bearing life
1) Other cable length on request
Shaft Encoders 2001
171
Absolute Encoders
TECHNICAL DATA
electrical
RX 70 TS and TM
Interface
serial (SSI)
Resolution RX 70 TS: 4,096 incr. (12 Bit)
8,192 incr. (13 Bit)
RX 70 TM:4,096 incr./4,096 turns (24 Bit)
8,192 incr./4,096 turns (25 Bit)
Linearity
± 1⁄2 LSB
Type of code
Gray, Binary
Supply voltage
10 … 30 VDC 1) (SELV)
Power consumption max. 2 W
Baud rate
70 KB … 1.5 MB
Inputs
Direction
Output drivers
RS 422
Alarm output
Alarm bit
Paritybit
on request
Max. cable length
400 m 2)
1)
2)
RECOMMENDED DATA
TRANSMISSION RATE FOR
SSI
CONNECTION DIAGRAM
172
EX
Shaft Encoders 2001
RX 70 TP
serial (SSI)
programmable max
4,096 incr./4096 turns (24 Bit)
± 1⁄2 LSB
Gray, Binary (programmable)
10 … 30 VDC 1) (SELV)
max. 2.5 W
70 KB … 1.5 MB
Direction, Preset 1, Preset 2
RS 422
Alarm bit programmable
Parity bit programmable
400 m 2)
Pole protection
refer to ”Recommended data transmission rate for SSI”
The maximum data transmission rate depends on the length of cable:
Cable length
< 50 m
< 100 m
< 200 m
< 400 m
Cable
No.
6
5
10
9
8
7
3
4
1
2
11
12
screen
screw terminal
Baud rate
< 400 kHz
< 300 kHz
< 200 kHz
< 100 kHz
SSI-Interface
RX 70 TS, TM
RX 70 TP
RS 232 RxD
RS 232 TxD
Clock
Clock
Clock
Clock
Data
Data
Data
Data
Direction
Direction
0 V-signal output
0 V-signal output
Preset 1
Preset 2
0 V (Supply voltage)
0 V (Supply voltage)
10 … 30 VDC
10 … 30 VDC
Cable screen connected to housing
for additional connection of an earth conductor
Absolute Encoders
EX
ORDERING DATA
Version
S Absolute/Singleturn
M Absolute/Multiturn
P Absolute/programmable
Supply voltage
E 10 … 30 VDC
Mounting
K Clamping flange
Interface
S SSI
Protection
class
Shaft
diameter
4 IP 64
2 10 mm
RX70 T
Resolution
0012 12 Bit (TS)
0013 13 Bit (TS)
0014 14 Bit (TS)
1212 24 Bit (TM, TP)
1213 25 Bit (TM)
1214 26 Bit (TM)
/
E K·4 2 T A S
Output
T RS 422/485
Connection
A cable axial (5 m)
Code
B Binary (TS, TM)
G Gray (TS, TM)
P programmable (TP)
Shaft Encoders 2001
173
Absolute Encoders, Dimensioned Drawings
SYNCHRO FLANGE
Dimension in mm
Dimensions in mm
174
Shaft Encoders 2001
CLAMPING FLANGE
Dimensions in mm
Shaft Encoders 2001
175
CONNECTOR 2-FOLD RESP.
CONNECTOR AND PRESET BUTTON
SYNCHRO FLANGE
OUT
(socket)
1)
IN (pins)/
pushbutton 1)
Pushbutton with type RA 58-P SSI programmable, version connector and preset button
Dimensions in mm
CLAMPING FLANGE
OUT
(socket)
1)
176
IN (pins)/
pushbutton 1)
Pushbutton with type RA 58-P SSI programmable, version connector and preset button
Shaft Encoders 2001
Dimensions in mm
TYPE RA 58-P
WITH INTERBUS LOOP
Dimensions in mm
Shaft Encoders 2001
177
TYPE RA 58 WITH CONNECTION
BUS TERMINAL BOX
Ø 60
1)
1)
1)
Ø 60
1)
1)
1)
1)
required diameter of connection cables: 7.0 ... 7.4 mm
Dimensions in mm
178
Shaft Encoders 2001
TYPE RA 58 WITH HOLLOW SHAFT
* depends on execution
øA = 10, 12 mm
øB = 26mm (øA=10)
28mm (øA=12)
Dimensions in mm
TYPE RA 59 STAINLESS STEEL
Dimensions in mm
Shaft Encoders 2001
179
TYPE RX 70-S, M, P (EX)
Dimensions in mm
180
Shaft Encoders 2001
Sine-Wave Encoders
RIS58 OptoAsic new technology for
the new
millennium
The newest OptoAsic
technology from Hengstler
What is new is the integrated offset and amplitude control together with
the in-chip optical system adjustment. In the past anybody wanting high
quality, accurate sine-wave signals at low frequencies had to trade in
this for bandwidth. We are now able to meet this apparently contradictory requirement with our in-built amplitude control. You can't fail
to be convinced by a unit which delivers sine-wave signal with harmonic
distortion better than 1% at low speed and 500 kHz max. frequency.
The advantages are crystal clear. If you need precision at slow speeds
you no longer have to compromise your productivity numbers by doing
without high idling speeds for instance. You can have both.
Typical applications:
n
n
n
n
n
Packaging machines
Machine tools
Printing machines
Textile machines
Drives
Shaft Encoders 2001
181
Sine-Wave
Encoders
With the introduction of the sinewave encoder family, Hengstler has
taken the opportunity to significantly rework its OptoAsic technology.
The best features have been maintained and new improvements have
been introduced. One major feature that has been retained of course,
is the high level of EMC reliability which we have achieved by integrating almost the complete encoder electronics into one component.
Sine-Wave Encoders - Industrial Types
Type
RIS 58-O
RIS 58-H
Special features
-40° up to +100 °C
frequency response
-40° up to +100 °C
frequency response
Shaft variations
solid shaft
hollow shaft
Shaft diameter
6 mm
10 mm, 12 mm hollow shaft
60 N/40 N
Shaft form
Balance tolerances
axial ±1.5 mm, radial ±0.2 mm
Maximum speed
12,000 RPM
12,000 RPM
Torque
≤ 1 Ncm
≤ 1 Ncm
Protection class
General design
-40 up to +100 °C
-40 up to +100 °C
≤ 100 m/s2
≤ 100 m/s2
Shock (IEC 68-2-27)
≤ 1000
≤ 1000 m/s2
Housing material
Aluminium
Aluminium
Connection
Cable or connector, Conin axial or radial
Cable or connector, axial or radial
Size
Ø 58 mm
Ø 58 mm
Weight
265 g approx.
270 g approx.
5 VDC ±10 %
5 VDC/±10 %
Current consumption
120 mA
120 mA
Sine-Cosine 1 Vpp
Sine/cosine 1 Vpp
Increments
1000, 1024, 2048
1000, 1024, 2048
Accuracy
± 35“
± 35“
Repeatability
± 7“
± 7“
Max. frequency
500 kHz
500 kHz
Reference signal: R
> 0,4 V (1 pulse/turn)
Page
183
186
182
Shaft Encoders 2001
m/s2
Sine-Wave Encoders
n
n
n
n
n
n
n
n
n
n
n
n
TECHNICAL DATA
mechanical
TECHNICAL DATA
electrical
RIS 58-O
Harmonic distortion less than 1 %
Extended temperature range, -40 ° to +100 °C
500 kHz sine-wave incremental signal frequency response
All accessible components, including the electrical connections, are resistant to common
industrial coolants and lubricants
Self-monitoring and error compensation
Secure against short-circuit and overload
Hot plug
Unit is protected against overloads of 10 V/50 ms
6 x 10 mm solid shaft
10 or 12 mm hub shaft with stator coupling
Emitted interference and noise immunity according to EN 50081-2 and EN 50082-2
CE labelled
Shaft entry point protection
Housing protection
Shaft diameter
Maximum speed
Starting torque
Max. shaft load
Storage temperature
Weight
Shock DIN EN 60068-2-27
Vibration DIN EN 60068-2-6100
RIS 58-O with solid shaft
IP 64
IP 67
6 mm
12,000 min-1
< 0.01 Nm
axial 40N / radial 60N
-40 to +100°C
-20 to +80°C
265 g
1000 m/s2 (6 ms)
100 m/s2 (10- 2000 Hz))
Power supply
Max. current consumption
Incremental signal
Line count
Absolute accuracy
Repeatability
Max. frequency
Reference signal
Connection
5V ± 10%
120 mA
Sine/cosine 1 Vpp
1000, 1024, 2048
± 35"
± 7"
500 kHz
> 0.4 V
Cable axial or radial/Conin flange box axial or radial
Shaft Encoders 2001
183
Sine-Wave Encoders
RIS 58-O
THE RIS 58 SIGNALS
B
A
R
Signals shown at CW rotation with view on shaft's end
The incremental signals A and B and the zero signal R are differential voltage signals. The differential signal level is 1 Vpp. The zero signal appears once per revolution with a peak of 0.4 V
and reaches its maximum value at the angle where the amplitudes of the A and B signals are
equal. All signals have a DC-offset of 2.5 V.
Harmonic distortion (%)
RIS 58 SIGNAL QUALITY
2
1,8
1,6
1,4
1,2
1
0,8
0,6
0,4
0,2
0
20
70
120
170
220
270
320
Signal frequency (kHz)
The quality of the servo loop is determined to a large extent by the absence of harmonics in
the encoder's sinewave signals, particulary at low speed. In order to achieve high interpolation factors in the sequencing control, the incremental sine signals A and B are available with
a harmonic distortion significantly under 1% throughout the specified temperature range. This
delivers excellent synchronism and a high level of positional accuracy with servo axes.
184
Shaft Encoders 2001
Sine-Wave Encoders
RIS 58-O
Mounting thread
M4x5
Mounting thread
M4x5
CONNECTOR ASSIGNMENT
ORDERING INFORMATION
Signal
+5 V
0V
A+
AB+
BR+
R+5 V sense
N.C.
N.C.
0 V sense
Housing
RIS 58-O
Conin 12 pin
12
10
5
6
8
1
3
4
2
7
9
11
Shield
TPE cable
brown/green
white/green
brown
green
grey
pink
red
black
blue
violet
white
Shield
A S
/
Line
count
1000
1024
2048
.
4 1 V
Connection
A TPE cable - axial
B TPE cable - radial
C Conin flange box - axial;
12 pin male; CCW
H Conin flange box - radial;
12 pin male; CCW
Shaft Encoders 2001
185
Sine-Wave Encoders
n
n
n
n
n
n
n
n
n
n
n
n
TECHNICAL DATA
mechanical
186
Harmonic distortion less than 1 %
Extended temperature range, -40 ° to +100 °C
500 kHz sine-wave incremental signal frequency response
All accessible components, including the electrical connections, are resistant to common
industrial coolants and lubricants
Self-monitoring and error compensation
Secure against short-circuit and overload
Hot plug
Unit is protected against overloads of 10 V/50 ms
6 x 10 mm solid shaft
10 or 12 mm hub shaft with stator coupling
Emitted interference and noise immunity according to EN 50081-2 and EN 50082-2
CE labelled
Shaft entry point protection
Housing protection
Shaft diameter
Maximum speed
Starting torque
Torque arms
Axial compensation range
Radial compensation range
Storage temperature
Weight
Shock DIN EN 60068-2-27
Vibration DIN EN 60068-2-6100
TECHNICAL DATA
electrical
Power supply
Max. current consumption
Incremental signal
Line count
Absolute accuracy
Repeatability
Max. frequency
Reference signal
Connection
Shaft Encoders 2001
RIS 58-H
RIS 58-H with hollow shaft
IP 64
IP 67
10mm, 12mm
12,000 min-1
< 0.01 Nm
± 1.5mm
± 0.2mm
-40 to +100 °C
-20 to +80 °C
270 g
1000 m/s2 (6 ms)
100 m/s2 (10- 2000 Hz)
5V ± 10 %
120 mA
Sine/cosine 1 Vpp
1000, 1024, 2048
± 35"
± 7"
500 kHz
> 0.4 V
Cable axial or radial/Conin flange box axial or radial
Sine-Wave Encoders
RIS 58-H
max. shaft length
max. shaft length
CONNECTOR ASSIGNMENT
ORDERING DATA
Signal
+5 V
0V
A+
AB+
BR+
R+5 V sense
N.C.
N.C.
0 V sense
Housing
RIS 58-H
Conin 12 pin
12
10
5
6
8
1
3
4
2
7
9
11
Shield
TPE cable
brown/green
white/green
brown
green
grey
pink
red
black
blue
violet
white
Shield
A F
/
Line count
1000
1024
2048
.
4
V
Hollow shaft
2 10 mm
7 12 mm
Connection
A TPE cable - axial
B TPE cable - radial
C Conin flange box - axial;
12 pin male; CCW
H Conin flange box - radial;
12 pin male; CCW
Shaft Encoders 2001
187
Motor Encoders
With Motor encoders Series M
- Optimal control of motor feedback Hengstler supplies the new high-performance motor encoder series M for
use with brushless servo motors and stepper motors. These new encoders are
a modern, cost-efficient alternative to resolvers and conventional selfbearing encoders. Users can select the encoder which matches exactly with
their size of motor. Hengstler offers motor encoders in standard resolver
dimensions of 1.5" (approx. 38 mm), type M15, and 2.1" = approx. 53 mm
(type M21).
General description
The product concept is modular, i.e. the motor encoders M15 and M21 do not
have a bearing of their own like conventional shaft or hollow-shaft encoders,
but use the existing motor bearing. This concept offers interesting advantages such as:
n Virtually no rotational limitation
n Excellent dynamic behavior due to a low moment of inertia of the rotor
which results in low retroactive impact on the motor
n No clutch as a transmission element, giving exceptional drive control
factor
n Small dimensions (low mounting depth) and low weight
Function and features
The motor encoders M15 and M21 contain quadrature incremental tracks for
the determination of the speed and position of the motor shaft. Additionally,
they allow the rotor position to be determined by the commutation signals
and control the commutation of brushless servomotors.
The new motor encoders offer outstanding performance and decisive competitive advantages in comparison to conventional modular encoders, e.g.:
n Increased temperature range, -40 to +120° C
n Incomparable shaft play tolerances (to 0.7 mm axial)
n Better frequency, 200 KHz
n Noise immunity/noise emission according to EN 50082-2 and EN 50081-2
n Higher number of pulses, up to 2,048 impulses
n Flexibility, since the user can integrate in all actual motor sizes
n Simple mounting and adjustment since encoders come aligned
and gapped
A considerably improved positioning accuracy can be achieved by the
Hengstler motor encoders in comparison to resolvers.
A further fact you will welcome is that the Hengstler motor encoders with all
their features and advantages are available at an attractive price.
188
Shaft Encoders 2001
Motor Encoders
The new sine-wave flex-mount encoder S21
sets new standards.
This new sine-wave flex-mount encoder was developed especially to be used
in brushless servo-motors in high-spec applications such as CNC or printing
machines. These sort of applications set the highest demands on the drive characteristics.
The high sine-wave signal quality (harmonic distortion better than 1 %)
together with the interpolation of the 2,048 signal periods means that resolutions with more than 4,000,000 measurement steps can be achieved. The
result of this, is for example, perfect surfaces with CNC machines. There is one
sine/cosine signal period per revolution, for the electronic commutation of
BLDC motors.
Motor
Encoders
The heart of the sine-wave encoder is a new Hengstler sine-wave optoasic.
This optoasic contains almost all the electronics and provides a high degree
of safety against failure, through the reduction in the number of individual
components. The encoder, containing its own bearings, has a conical shaft and
a stator coupling. The resulting stable and concentric connection, together with
the optimised stator coupling, means that the measurement system follows
the highest motor angular accelerations with almost no delay. The tapered
shaft is available in both hollow and solid shaft versions.
Shaft Encoders 2001
189
Motor Encoders
Type
M15
M21
Special features
n through hollow shaft, diameter 6 to 10 mm
signals as well as 4, 6 or 8 pole
commutation signals
n through hollow shaft,
diameter 6 to 12.7 mm
signals as well as 4, 6, 8 or 12 pole
commutation signals
Number of pulses
200 ... 1,024
500 ... 2,048
clamping ring
clamping ring
Shaft diameter
Balance tolerances
Absolute max. speed
12,000 RPM
12,000 RPM
Protection class
IP 40
IP 40
-40...+120 °C
-40...+120 °C
Connection
Size
Ø 40 mm
Ø 53 mm
Weight
Output
NPN-O.C./RS 422
NPN-O.C./RS 422
5 VDC/12 VDC ±10 %
5 VDC/12 VDC ±10 %
incremental + commutation: max. 120 mA
commutation: max. 75 mA
200 kHz
200 kHz
Alarm output
NPN-O.C. 16 mA
RS 422: ± 40 mA
NPN-O.C. 16 mA
RS 422: ± 40 mA
Pulse duty factor
1:1
1:1
Pulse width tolerance
Page
192
197
General design
Pulse shape
190
Shaft Encoders 2001
Motor Encoders
Type
S21
Special features
n Operating temperature range of
-15 up to +120 °C
n 500 kHz limiting frequency with excellent
signal quality
n Excellent immunity to interference
(EN 61000-4-4, Class 4)
n Signal control and system monitoring
n High signal quality through control and
error compensation
Shaft form
Conical 1/10
Shaft variations
Hollow and solid shaft
Shaft diameter
10 mm
with solid shaft radial 90 N, axial 20 N
with hollow shaft radial 90 N, axial 70 N
Balance tolerances
Maximum speed
12,000 RPM
Torque
≤ 1 Ncm
Protection class
IP 40
General design
-15 up to +120 °C
≤ 100 m/s2
Shock (IEC 68-2-27)
≤ 1,000 m/s2
Housing material
Aluminium
Connection
PCB connector + cable
Size
Ø 53.5 mm
Weight
170 g approx.
5 VDC ±10 %
Current consumption
max. 120 mA
Sine - Cosine 1 Vpp
Increments
2,048
Accuracy
±35“
Repeatability
±7“
Max. frequency
500 kHz
Reference signal: R
Sine - Cosine 1 Vpp (1 period/turn)
Page
202
Shaft Encoders 2001
191
Incremental Encoder for Motors
M15
n Practically no speed limitation, since up to 12.000 1/min
n Very good dynamic behaviour through low moment of inertia of rotor and its minimal
influence on the motor
n Very good drive stiffness since no coupling is used
n Compact size
n Excellent price-performance ratio
n Increased temperature range, -40 to + 120°C
n Incomparable shaft play tolerances (to 0.7 mm axial)
n Better frequency, 200 KHz
n Flexibility, since the user can integrate in all actual motor sizes
n Simple mounting and adjustment since encoders come aligned and gapped
TECHNICAL DATA
mechanical
Weight
Dimensions
Outer diameter
Depth
Hub diameters
Hollow shaft tolerance
Length of mounting shaft
Shaft misalignment
Alignment of encoder channels
to motor windings
Maximum speed
Moment of inertia
Stock temperature
Shock resistance /IEC 68-2-27)
Type of connection
Housing
23 g without cover, 28 g with cover
39.6 mm with cover, 37.1 mm without cover
27.9 mm with cover 1) ,24.1 without cover
6 mm / 8 mm / 10 mm / 3.18 mm (1⁄8“) / 4.76 mm
(3⁄16“) / 6.35 mm (1⁄4“) / 9.52 mm (3⁄8“)
+0.026 mm ... -0.000 mm
min. 12 mm
max. 22 mm when used with closed cover
+ 0.38 mm ... - 0.38 mm
axial endplay 2): + 0.13 mm ... - 0.38 mm
radial runout: 0.05 mm (incl. angular misalignment)
coarse alignment: index mark on hub
fine alignment: +/-15° mechanical alignment range
12.000 RPM
4.7 gcm2
IP 40 when mounted with cover
-40 ... + 120 °C
-40 ... + 120 °C
25 m/s2 (5 ... 2000 Hz)
500 m/s2 (11 ms)
shielded cable radial or dual row connector 3)
for radial cable connection
+ means away from mounting face
3) 10 pins (incremental only), 14 pins for type M 15 (incremental + commutation), 16 pins for
type M 21 (incremental + commutation)
1)
2)
192
Shaft Encoders 2001
TECHNICAL DATA
electrical
General design
Supply voltage
Intrinsic power consumption
Pulses
Output circuit
Output signals
Incremental
Commutation (optional)
Tolerance
Incremental signals
Commutation signals
Phasing
Incremental signals (A to B) [° electrical]
Commutation signals [° mechanical]
Index to U [° mechanical]
Pulse width
Incremental signals [° electrical]
Commutation signals [° mechanical]
Noise immunity 1)
Noise emission 1)
1)
M15
contamination Level 2, overvoltage class II
5 or 12 V DC +/- 10 % (SELV)
Incremental: max. 100 mA
Incremental + commutation: max. 120 mA
T 0.125 A
Incremental 200, 400, 500, 1000, 1024
optional 4, 6 or 8 pole commutation channels
NPN Open-Collector, max. 16 mA
RS 422, max. 40 mA
NPN-O.C: A, B, N / RS 422: A, B, N, A, B, N
NPN-O.C: U, V, W / RS 422: U, V, W, U, V, W
max. +/- 5 arc-mins. (edge to any edge)
max. +/- 6 arc-mins.
90° +/- 18° electrical
8 pole: 30°, 6 pole: 40°, 4 pole: 60°
+/- 1° mechanical
(index center to signal falling edge)
180° +/- 18°
8 pole: 45°, 6 pole: 60°, 4 pole: 90°
200 kHz
as per EN 50082-2 (1995 edition)
as per EN 50081-2 (1993 edition)
EMC values are only valid for versions with RS 422 output and screened cable.
Shaft Encoders 2001
193
DIMENSIONED DRAWING
M15
M15
PULSE DIAGRAM
* Example with 6 pole commutation
194
Shaft Encoders 2001
CONNECTION DIAGRAM CABLE
Function
VCCcom 1)
VCCinc 1)
GND inc
GND com
A 2)
A
B 2)
B
N 2)
N
U 2)
U
V 2)
V
W 2)
W
Colour
incremental only,
Code Electrical = 0, 1, 3
M15
Colour
incremental + commutation,
Code Electrical = 6, 7, 9
red/white 3)
red
black
black/white 3)
blue/black
blue
green/black
green
violet/black
violet
brown/black
brown
grey/black
grey
white/black
white
red
black
red/black
green
white/black
orange
blue
white
VCCcom resp. VCCinc = +5 V DC or +12 V DC (see Ordering data Electrical)
only with Outputinc/com= RS 422
3) hot applicable for Code 6 and 9, as here U = U
inc
com
1)
2)
CONNECTION DIAGRAM
DUAL ROW CONNECTOR
Pin 1)
1
2
3
4
5
6
7
8
9
10
11
12
13
14
10 poles
Incr. only, NPN-O.C.,
Code Electr.= 0, 1
A
VCC
GND
B
N
10 poles
Incr. only,, RS422,
Code Electr.= 3
VCC
GND
A
A
B
B
N
N
Dual row connector 10 poles
14 poles
Incr.+Commutation,
Code Electr.= 6, 7, 9
VCC
U
U
V
V
W
W
A
A
B
B
N
GND
N
etc.
etc.
Shaft Encoders 2001
195
ORDERING DATA
Cover
0 no cover
1 closed cover for
blind shaft
2 cover with bore
for through shaft
M15 –
/
M15
Type of connection
0
dual row connector
1...8 connector with mating ribbon cable
1=30 cm, 2=60 cm, ...
A...H screened radial cable
A=30 cm, B=60 cm, ...
–
Hub diameter
Electrical 1)
0 6.35 mm (1⁄4”)
only incremental:
Pulses
Poles
1 9.52 mm (3⁄8”)
0 Uinc=5 V; outputinc=NPN-O.C.
Incremental
Commutation
4 6 mm
0200/0
5 8 mm
3 Uinc=5 V; outputinc=RS 422
0400/0
6 10 mm
incremental + commutation:
0500/0
8 4.76 mm (3⁄16”)
6 Uinc=5 V; outputinc=RS 422,
1000/0
9 3.18 mm (1⁄8”)
Ucom=5 V; outputcom=NPN-O.C.
1024/0
0500/6
Ucom=12 V; outputcom=NPN-O.C.
1000/4
1000/6
Ucom=5 V; outputcom=RS 422
1000/8
1024/4
1024/6
1) U
inc : supply voltage incremental
1024/8
Ucom: supply voltage commutation (only if commutation is selected)
/
196
Shaft Encoders 2001
M21
n Modular hollow shaft encoder as feedback for Brushless DC (BLDC) Servos, DC Servos and
Step Motors
n Output signals: A, B, N incremental channels with index standard
Optional 4, 6, 8 or 12 pole commutation channels U, V, W
n Outside diameter 53 mm (2.1“)
n Hub diameters 6 ... 12 mm (1⁄4” ... 1⁄2”)
n Height 20 mm (0,8”)
n Resolution 500 ... 2048 lines
n Standard Operating temperature -40 ... +120 °C
n Maximum speed 12000 RPM
n Easy installation and alignment
n New: Motor encoder M15 with external diameter 38 mm (1.5“) on request
NUMBER OF PULSES
500, 1000, 1024, 2000, 2048
Optional 4, 6, 8 or 12 PPR commutation channels
TECHNICAL DATA
mechanical
Weight
Dimensions
Outside diameter
Height
Hub diameters
Hub tolerance
Shaft endplay
Shaft runout
Length of mounting shaft
Alignment of encoder channels
to motor windings
Maximum speed
Moment of inertia
Storage temperature
Type of connection
Housing
28 g without cover, 43 g with cover
51 mm without cover, 53 mm with cover
20.3 mm with cover excluding connector,
17.9 mm without cover
6 mm / 8 mm / 10 mm / 12 mm / 6.35 mm (1⁄4”) /
9.52 mm (3⁄8”) / 11.11 mm (7⁄16”) / 12.7 mm (1⁄2”)
+0.026 mm ... - 0.000 mm
Misalignment axial: + 0.13 mm 1) ... - 0.38 mm
Misalignment radial: 0.05 mm
(incl. angular misalignment)
16.5 mm min.,
19 mm max. when used with closed cover
coarse alignment: index mark on the housing
and disc/hub;
fine alignment: ± 15° mechanical alignment range
12,000 RPM
4.7 gcm2
IP 40 2), when mounted with cover
-40 ... +120 °C
-40 ... +120 °C
25 m/s2 (5 ... 2,000 Hz)
500 m/s2 (11 ms)
shielded cable radial or dual row connector 3)
+ indicates away from mounting face
IP 50 on request
3) 10 pins (incremental only), 16 pins (incremental+commutation)
1)
2)
Shaft Encoders 2001
197
TECHNICAL DATA
electrical
General design
Supply voltage
Intrinsic power consumption
Output circuit
Output signals
Incremental
Commutation (optional):
Tolerance
Incremental signals
Commutation signals
Phasing
Incremental signals (A to B)
Commutation signals
Index to U
Pulse width
Incremental signals
Commutation signals
Noise immunity 1)
Noise emission 1)
1)
198
Shaft Encoders 2001
M21
contamination Level 2, overvoltage class II
5 or 12 V DC ±10 % (SELV)
incremental: 100 mA max.;
commutation: 75 mA max.
2 x T 0.125 A
NPN-Open Collector, 16 mA max.;
RS 422, 40 mA max.
NPN-O.C: A, B, N
NPN-O.C: U, V, W
RS 422: A, B, N, A, B, N
RS 422: U, V, W, U, V, W
±5 arc-mins. max. (edge to any edge)
±6 arc-mins. max.
90° ±18° electrical
12 pole: 20°, 8 pole: 30°,
6 pole: 40°, 4 pole: 60° mechanical
±1° mechanical (index center to U signal falling edge)
180° ±18° electrical
12 pole: 30°, 8 pole: 45°,
6 pole: 60°, 4 pole: 90° mechanical
200 kHz
according EN 50082-2
according EN 50081-2
EMC values are valid for versions with RS 422 output and screened cable.
M21
DIMENSIONED DRAWING
PULSE DIAGRAM
* Example with 6 pole commutation
Shaft Encoders 2001
199
CONNECTION DIAGRAM CABLE
Function
VCCcom 1)
VCCinc1)
GND inc
GND com
A
A
B
B
N
N
U 2)
U
V 2)
V
W 2)
W
colour
incremental only,
code electrical = 3
M21
colour
incremental + commutation,
code electrical = 6, 7, 9, A
red/white 3)
red
black
black/white 3)
blue/black
blue
green/black
green
violet/black
violet
brown/black
brown
grey/black
grey
white/black
white
red
black
red/black
green
white/black
orange
blue
white
only for outputcom= RS422
3) not connected for codes 6 and 9, since here U = U
inc
com
1)
2)
CONNECTION DIAGRAM
CONNECTOR
Function
VCCcom 1)
VCCinc 1)
GND inc
GND com
A 2)
A
B 2)
B
N 2)
N
U 2)
U
V 2)
V
W 2)
W
1)
2)
200
Shaft Encoders 2001
10 poles
incr. only, NPN-O.C.,
code electr.= 0, 1
2
3
1
8
10
10 poles
incr. only, RS422,
code electr.= 3
2
3
5
1
7
8
9
10
16 poles
incr.+ commutation
code electr.= 6, 7, 9
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
Only for Outputinc/com= RS422
ORDERING DATA
Pulses
incremental
0500
1000
1024
2000
2048
Poles
commutation
0 without
4 4 pole
6 6 pole
8 8 pole
C 12 pole 4)
M21 –
/
Cover
0 no cover
1 closed cover
for blind shaft
2 cover with bore
for through shaft
Type of connection
0
dual row connector 5)
1...8 connector with mating ribbon cable5)
1=30 cm (1 ft.), 2=60 cm (2 ft.), ...
A...H screened cable radial 3)
A=30 cm (1 ft.), B=60 cm (2 ft.), ...
–
Electrical 1)
incremental only 0 Uinc=5 V; outputinc=NPN-O.C.
3 Uinc=5 V; outputinc=RS 422
incremental+
commutation
1)
2)
3)
6
7
9
A
M21
Uinc=5 V, outputinc=RS 422; Ucom=5 V, outputcom=NPN-O.C.
Uinc=5 V, outputinc=RS 422; Ucom=12 V, outputcom=NPN-O.C.
Uinc=5 V, outputinc=RS 422; Ucom=5 V, outputcom=RS 422
same as code 9 but with EEPROM
Uinc: supply voltage incremental,
Ucom: supply voltage commutation (only if commutation is selected)
Exposed hub clamp screw
only possible with output=RS 422 (code for Elektrical ≥ 3)
4)
5)
Hub diameter 2)
A 6,35 mm (1⁄4”)
B 9,52 mm (3⁄8”)
C 11,11 mm (7⁄16”)
D 12,7 mm (1⁄2”)
E 6 mm
F 8 mm
G 10 mm
H 12 mm
only possible with 1024 and 2048 pulses
not possible with Electrical code = A
Selection Guide
No. of lines Poles
0 4
0500
X X
0512
X
1000
X X
1024
X X
2000
X X
2048
X X
6 8
X X
X
X X
X X
X X
X X
12 (=C)
X
X
Shaft Encoders 2001
201
Sine-Wave Encoder
S21
n Wide operating temperature range of –15 °C up to +120 °C,
therefore optimum use of motor capacity
n High limiting frequency with excellent signal quality, allowing highest peak speeds and
reduced non-productive time wastage
n Excellent immunity to interference (EN 61000-4-4, Class 4)
n High functional safety due to signal control and system monitoring (under-voltage,
pollution, disc damage, end of LED service life)
n High signal quality through control and error compensation
The S21 has been constructed in line with the International Standard Resolver
dimension 21, i.e. 2.1” (approx. 53 mm) and as a result is also suitable for smaller sized
motors. The simplicity of connection rounds off advantages of the S21. The integrated cable plug connector combines the advantages of the plug with those of a cable
connection. This leads to a fast, economical and space-saving installation.
TECHNICAL DATA
Electrical
General Design
TECHNICAL DATA
Mechanical
202
Shaft Encoders 2001
Supply voltage
Current consumption
Incremental signals: A, B
Increments
Accuracy
Repeatability
Max. frequency
Reference signal: R
Connection
acc. DIN EN 61010-1, protection class III,
contamination level 2, overvoltage category II
5 V +/-10 %
max. 120 mA
Sine - Cosine 1Vpp
2048
+/- 35“
+/- 7“
500 kHz
> 0.4 V (1 pulse per rev.)
Sine - Cosine 1Vpp (1 period per rev.)
PCB connector with cable
Shaft form
Shaft variations
Shaft diameter
Shaft load
Compensation
Nominal speed
Maximum speed
Torque
Protection class
Storage temperature
Shock (IEC 68-2-27)
Housing material
Conical 1/10
Hollow and solid
10 mm
radial 90 N, axial 20 N
12.000 min-1
15.000 min-1 (short time)
≤ 1 Ncm
IP 40
-15 °C ...+120 °C
... -20 °C +80 °C
≤ 100 m/s2 (10 ... 2000 Hz)
≤ 1000 m/s2 (6 ms)
Aluminium
Sine-Wave Encoder
S21
S21 SIGNALS
A
B
D
C
R
Signals shown at CW rotation with view on shaft's end
The incremental signals A and B and the zero signal R are differential voltage signals. The differential signal level is 1Vpp. The zero signal appears once per revolution and reaches its
maximum value at the angle where the amplitudes of A and B Signals are equal. The coarse
tracks C and D deliver one sinewave period per revolution and are utilized to determine the
absolute rotor position of Brushless DC motors for startup commutation. All signals have a DC
offset of 2.5 V.
Harmonic distortion [%]
S21 SIGNAL QUALITY
2
1,8
1,6
1,4
1,2
1
0,8
0,6
0,4
0,2
0
20
70
120
170
220
270
320
Signal frequency [kHz]
The quality of the servo loop is determined to a large extent by the absence of harmonics in
the encoder's sinewave signals, particularly at low speed. In order to achieve high interpolation factors in the sequencing control, the incremental sinewave signals A and B are available with a harmonic distortion significantly under 1% throughout the specified temperature
range. This delivers excellent synchronism and a high level of positional accuracy with servo
axes.
PCB – CONNECTOR PIN OUT:
Row b
Row a
5 V Sense
rt/bl
wt
C+
Dvio
gn
A+
Brd
wt/gn
GND
Rpk
gr
R+
0 V Sense
gn/br
bl
B+
Aye
bk
D+
Shaft Encoders 2001
Cbr
gr/pk
UB
203
Sine-Wave Encoder
S21
Jack-out thread
SOLID SHAFT
R=>24 mm
(for permanent
bending
Central mounting screw
DIN 912 M5x50
Jack-out thread
HOLLOW SHAFT
R=>24 mm
Central mounting screw
DIN 912 M5x20
ORDERING CODE:
204
Solid shaft, with mounting support
Hollow shaft, with mounting support
Shaft Encoders 2001
0 548 011
0 548 021
Inductive Measurement Systems
Typ
LI Linear System
AI Angle System
Special features
applications
n Real-time signals
applications
n Real-time signals
Travel speed
Accuracy
Repeatability
Shock resistance
Cable
Version
Supply voltage
Output signals
Resolution
Output frequency
Read head gap
Max. speed in min-1
Protection class
Version
Supply voltage
Output signals
Resolution
Output frequency
Read head gap
Period/rotation count
Max. rotations in min-1
Pulse/rotation at selected resolutions
(following 4-fold pulse-edge evaluations)
1 mm
Max. 30 m;
Max. 3 m with MS-G guided system
Max. 20 m/s
(±10 µm + 20 µm/m)
0 °C .... 50 °C
~ 11 µm/ °C m
< 2000 m/s2 (11 ms)
< 200 m/s2 (55-2000 Hz)
PUR, high flexibility (28 AWG);
10 million cycles
LI-S1V Sine/cosine
5V ± 5% / max. 80 mA
1 Vpp (at 120 ½), sine/cosine,
up to 0.25 µm, dependant on
customer-supplied interpolation
Max. 20 kHz
0.15 ± 0.1 mm
LI-Qxx Rectangular
5V ± 5% / max. 100 mA
5 µm ... 50 µm, dependant on version after
quadruple evaluation
Max. 500 kHz
0.15 ± 0.1 mm
AI-S1V
5V ± 5% / max. 150 mA
1 Vpp (at 120 ½), sine/cosine,
360 512 720
900
0.015 0.01 0.005 0.004
20.000
0 °C ... +50 °C
IP 66
AI-Qxx
5V ± 5% / max. 150 mA
1.024
0.0035
Linear and Angle
Measurement
Systems
Grating pitch
Measuring length
Max. 500 kHz
Protection class
360
512
720
900 1.024
0.015
0.01 0.005 0.004 0.0035
6.600 4.600 3.300 2.600 2.300
Q50: 7.200 10.240 14.400 18.000 20.480
Q25: 14.400 20.480 28.800 36.000 40.960
Q10: 36.000 51.200 72.000 90.000 102.400
Q05: 72.000 102.400 144.000 180.000 204.800
0 °C ... +50 °C
Page
208
212
Shaft Encoders 2001
205
Precise, robust, non-contact:
the innovative way to measure length and angles
Worldwide, Hengstler is one of
the leading encoder manufacturers
n The systems described here combine
the high precision of optical encoders with the ruggedness of magnetic systems. Truly an innovative and
unique concept - worldwide.
Speed and precision
High resolution values
With the high speed and maximum resolution offered by the inductive linear and angle
measurement systems from Hengstler, you
have the optimum solution for all industrial
applications which call for precise linear or
axial positioning.
High precision sine and cosine signals, offset
by 90°, allow up to 1024-fold interpolation
delivering resolutions right down to 0.25 µm.
Optionally, integrated interpolation electronics create RS422 signals with a resolution of
5 µm. In this way, the systems are compatible
with all servo drivers with sine 1 Vpp or RS422
encoder inputs.
Wide variety of applications
Due to its extreme ruggedness and low susceptibility to contamination, these systems
are extremely well suited for the monitoring
of machines and equipment under many different operating conditions.
n
n
n
n
n
n
n
206
Shaft Encoders 2001
Electronics manufacturing
Printed circuit board assembly
Metalworking
Woodworking
Packaging
Materials handling
Punches, presses
Real-time output signals
Extremely robust construction
High resolution sensor technology
Because there is no time delay with the output signals, you can utilise the complete
bandwidth of servo controls, particularly in
conjunction with linear motors. The application advantages are:
Because of the inductive function principles
employed, Hengstler’s linear and angle measurement systems feature contact-free and
friction-free operation. They meet IP66 protection requirements and are completely
impervious to extreme environmental conditions such as dust, dirt, grease, oil or water as
well as mechanical stresses.
The measuring systems apply the principle of
variable reluctance which means that the
encoder uses the reluctance of the etched
metal base to distort the magnetic field produced by the read head. Two sensors detect
these changes which are converted to high
quality sinus signals by the electronic circuitry. The sensors are offset and produce
phased sine and cosine signals. A separate
sensor detects variations in the gap between
the read had and the scale and adjusts the
circuit’s gain to stabilise signal amplitude.
Optional interpolation electronics convert
the analogue signals to high resolution phased rectangular signals.
n Unlimited dynamics up to linear travel
speeds of 1,200 m/min or rotational
speeds of 20,000 1/min
n High processing quality
n Precise contours and short idle times
Magnetic field lines
Scale in cross section
Magneto-resistive sensors
Shaft Encoders 2001
207
The LI inductive linear
measurement system
High precision metal scale
The 4-layer, flexible, non-magnetic and
completely indestructible measurement
scale is a significant component of this
system. At its heart is a metal tape, etched
with a grating pitch of 1mm as well as freely
definable reference marks. It is welded to a
metal base in order to provide the necessary
rigidity and predictable thermal characteristics.
Measuring length "made to
measure”
Three versions to cover most
applications
The measuring tape can be delivered in
lengths from 40 to 30000 mm, exact right
down to the millimetre and with no pitch
limitations. It has integrated reference
marks with freely definable gaps or as an
alternative, distance coding is also possible.
The measuring tape is available in three different designs, suitable for many different
applications and installation requirements.
Protective cover
LI/MS-N
Etched metal scale
LI/MS-N Self-adhesive
measurement tape
Reference mark(s)
n Suitable for smooth and flat surfaces
n Minimal mounting height
n Template for easy adjustment of the
read head gap
n Identical thermal characteristics as
the mounting surface and the workpiece
Steel base
Adhesive mounting
tape
LI/MS-P
LI/MS-G Guided system
n Suited for applications with high
mechanical tolerances, e.g. presses
n Roller bearing guided at the read
head
n Optional dirt wiper
LI/MS-G
208
Shaft Encoders 2001
LI/MS-P Measurement tape
pre-mounted on aluminium
profile
n Installation on flat surfaces which are
not necessarily completely smooth
n Forms a bridge over any gaps in the
carrier surface
n Template for easy adjustment of the
read head gap
n Pre-drilled boreholes every 100 mm
LI Dimensioned drawings
LIS/LIQ, Self-adhesive measuring scale (MS-N)
59
A*A*LI-S1V:21mm
LI-S1V : 21 mm
LI-Qxx:24mm
LI-Qxx : 24 mm
L L==Measuring
Messlänge + 20 mm
length + 20mm
49
21
3,5
Æ
4,2
0,2
0,75
0
A*
0,2 +–0,15
0,15
4,00
0,1
21,00
+ 0,2
– 0,2
14
0,2
LIS/LIQ, Profile-mounted measuring scale (MS-P)
A*A*LI-S1V:21mm
LI-S1V : 21
LI-Qxx:24mm
LI-Qxx : 24
L L==Measuring
Messlänge + 20 mm
length + 20mm
59
49
10
21
n x 100
10
10
5
21,00
4,5
A*
0,1
14
0,2 +–0,15
0,15
4,00
25
6,5±0,2
Æ 4,50
8
Æ 8,00
RI-Position
Æ 4,20
8,4
L (max. 1520)
LI-G as LIS/LIQ, but with guided measuring scale
49
L= Messlänge
+ 100mm
L Bandlänge
= Measuring
length + 100
21
11
4
8
Æ 4,2
47
Montageset
MSMB
Mounting
set MSMB
5,1
26
14
Æ
9
12
28
14,8
31
Æ 6,5
17
Shaft Encoders 2001
209
Measurement System
LI
TECHNICAL DATA
electrical
LI –S1V SINE/COSINE VERSION
Output signals
Resolution
Output frequency
Supply voltage
Read head gap
1 VPP (at 120 ½); sine/cosine, reference signal 0.4 V
up to 0.25 µm, dependant on customer-supplied interpolation
Max. 20 kHz
5 V ± 5% / max. 80 mA
0.15 ± 0.1 mm
LI-QXX RECTANGULAR VERSION
Output signals
Resolution
Output frequency
Supply voltage
Read head gap
5 µm … 50 µm, dependant on version
Max. 500 kHz
5 V ± 5% / max. 100 mA
0.2 ± 0.15 mm
TECHNICAL DATA
mechanical
Grating pitch
Measuring length
Travel speed
Accuracy
Repeatability
Shock resistance
Protection class
Cable
LI CONNECTOR ASSIGNMENT
RS422 signals or 1 Vpp
Signal
+5 V
0V
A+
A–
B+
B–
RI +
RI –
N.C.
N.C.
N.C.
N.C.
Housing
210
Shaft Encoders 2001
1 mm
Max. 30 m; max 3 m with MS-G guided system
Max. 20 m/s
± (10 µm +20 µm/m)
0°C … 50°C
~ 11 µm / °C m
< 2000 m/s2 (11 ms)
< 200 m/s2 (55 … 2000 Hz)
PUR, high flexibility (28 AWG); 10 million cycles
12 pin Conin
12
10
5
6
8
1
3
4
2
7
9
11
Shield
SUB-D 9 pin
7
2
6
1
8
3
9
5
4
Shield
PUR cable
red
blue
green
yellow
brown
white
pink
grey
Shield
Measurement System
LI
LI ORDERING KEY
Read head
Output and resolution
Guidance and wiper
Cable length Connector
S1V
Q50
Q25
Q10
Q05
NO
NW
GO
GW
1 1m
3 3m
LI
Scale tape
Sine 1 mm 1Vss
RS422 50 µm
RS422 25 µm
RS422 10 µm
RS422 5 µm
Guidance
not guided/without
Not guided/with
Guided/without
Guided/with
N
C
A
B
Length in mm
Without connector
Sub-D 9 pin (male)
Conin 12 pin coupling
(ext. thread, male, CCW)
Conin 12 pin connector
(coupling nut, male, CW)
Reference marks
Distance of reference mark * from l. or r.
in mm
L Left
R Right
B Both left and right
C Centred (default)
Z Cyclic
D Distance coded
N No reference
X Special reference
0040 40 mm Distance coding
nnnn Left/right/cyclical distance
MS
N Not guided
Please enter mm
G Guided
as 4 digits
P Profile mounted
Mounting set for guided system:
MSMB (for one tape end)
* Distance coding:
Number of reference marks =
2 x (Length – 40)
Distance coding
Example:
–1
There must be a minimum of 20 mm distance from the tape end
1000 mm length,
80 mm distance coding
Order code:
MS-N1000-D0080
Number of reference marks: 23 (always round result down)
Shaft Encoders 2001
211
Modular and very resistant –
The AI inductive angle measurement system
Flexible by design
Different reference marks
AI-S1V readhead
The AI inductive angle measurement system
from Hengstler has the same hallmark characteristics as the linear system. It is resistant to contamination and mechanical
influences and returns extremely accurate
measurements. Applications, which at best
were only possible with a large mechanical
effort or at worst were not achievable at all,
have now all been made possible through
the AI’s flexible and modular design.
As well as the incremental track, you can
also determine the absolute angle position
using the reference marks on the measuring
tape ring. Depending on the application,
there are two versions to choose from:
The scanner delivers a sinewave signal with
1 Vpp. It is suited for direct connection to a
controller which is laid out for a specific
input signal or to an external interpolation
unit from Hengstler.
Single reference marks
AI-Q read head
n As default, one reference pulse per
rotation
n Can be positioned anywhere on the
circumference
This scanner has an integrated interpolation.
The interpolation factors can be 5, 10, 25
or 50.
Installation is carried out by lightly pressing
the measuring flange direct onto the shaft of
the machine or motor. In this way, possible
measuring errors caused by couplings, cog
wheels, gear boxes etc. are eliminated. The
read head’s self-centring shape results in an
optimum tangential positioning.
Two components working
together
The construction of the system is simplicity
itself. There is a measuring flange and a read
head. The outer ring of the measuring flange
consists of a non-magnetic measuring tape.
It has a constant, uniform structure and is
equipped with one reference and one incremental track.
Distance coded reference marks
n Coded default spacing on the measuring
tape ring
n Fixed angular degree to the rotation axis
Wide application range
The AI system can handle a multitude of different mechanical dimensions and can be
used in many different applications, e.g.:
n Rotary table drives
n C-axes
n Direct drive (torque motors)
n Roller positioning
n Speed control with large shaft diameters
Flange
Etched metal scale
Reference mark(s)
Covering layer
212
Shaft Encoders 2001
Measurement System
AI
AI DIMENSIONED DRAWING
Air
gap 0.15
±0.05 (set
up Folie
with foil)
Luftspalt
0.15±0.05
(mit
einstellen)
21
73
61
RI RI-Marke
RI marks
55
49
Æ4
3
40¡
5,5
RM
0.03
14
15
24
a
b
5
Æ
M6
40¡
2 M4
screws
Stk.mounting
Montageschrauben
M4
H1
H2
2.5±0.2
2,5±0,2
B
Æ
RI-Marke
RI marks
ÆA
15
AI-XXX
0360-S
0360-L
0512-S
0512-L
0720-S
0720-L
0900-S
0900-L
1024-S
1024-L
8
I H
Æ A (mm) Æ I (mm)
114.9
60
114.9
95
163.3
105
163.3
143
229.5
180
229.5
209
286.8
180
286.8
266
326.3
220
326.3
296
Æ B (mm)
75
105
120
153
195
219
195
276
235
311
RM (mm)
a
H1 (mm)
66.5
54.6°
59.1
77.7
6x60°
89.8
39.7°
84.4
103.0
6x60°
122.2
28.9°
118.3
136.9
6x60°
150.5
23.4°
147.4
166.0
12x30°
170.0
20.7°
167.2
185.8
12x30°
H2 (mm)
b
Special applications are available on request
Shaft Encoders 2001
213
Measurement System
AI
TECHNICAL DATA
AI-S1V
Supply voltage
Output signals
Max speed in min-1
Protection class
5V ± 5% / max. 150 mA
1 VPP (at 120 ½), sine/cosine reference signal 0.4 V
360 512
720
900
1.024
0.015 0.01 0.005
0.004 0.0035
20.000
0 °C … +50 °C
IP 66
AI-QXX
Supply voltage
Output signals
Period / rotation count
Max rotations in min-1
Steps / rotation at
selected resolutions
(following 4-fold pulse-edge
evaluations)
Protection class
5V ± 5% / max. 150 mA
360
512
720
900 1.024
0.015
0.01
0.005
0.004 0.0035
6.600
4.600
3.300
2.600
2.300
Q50
7.200
10.240 14.400 18.000 20.480
Q25 14.400
20.480 28.800 36.000 40.960
Q10 36.000
51.200 72.000 90.000 102.400
Q05 72.000 102.400 144.000 180.000 204.800
0 °C … +50 °C
AI CONNECTOR ASSIGNMENT
RS422 signals or 1 Vpp
Signal
+5 V
0V
A+
A–
B+
B–
RI +
RI –
N.C.
N.C.
N.C.
N.C.
Housing
214
Shaft Encoders 2001
12 pin Conin
12
10
5
6
8
1
3
4
2
7
9
11
Shield
SUB-D 9 pin
7
2
6
1
8
3
9
5
4
Shield
PUR cable
red
blue
green
yellow
brown
white
pink
grey
Shield
Measurement System
AI
ORDERING CODE
Output signal and
resolution at the
circumference
Slot count /
circumference
(Diameter)
Inside Æ
S Small
L Large
Reference marks / Distance 1)
Code
nnnn Cyclical distance
Cable length
1 1m
3 3m
AI
S1V
Q50
Q25
Q10
Q05
Sine 1Vss 1 mm
RS422 50 µm
RS422 25 µm
RS422 10 µm
RS422 5 µm
0360
0512
0720
0900
1024
(Æ 114,7 mm)
(Æ 163 mm)
(Æ 229,2 mm)
(Æ 286,5 mm)
(Æ 326 mm)
Connector
N Without connector
C Sub-D 9 pin
A Conin 12 pin, coupling, male, CCW
B Conin, 12 pin, connector, male, CW
C 1 mark (default)
Z Cyclical
D Distance coding
N No reference
X Special reference
Example:
1)
Distance coding
Number of reference marks =
2 x Circumference
Distance coding
Ø 229.2 mm, circumference 720 mm,
60 mm distance coding
Order code:
AI-S1V-0720-S1B-D0060
Number of reference marks: 24
Shaft Encoders 2001
215
Accessories
Problem solutions from a single source.
Our wide range of accessory modules completes the encoder programe.
With these modules, we offer you an optimum means of meeting your
application demands.
216
Shaft Encoders 2001
Position Indicator
signo 727 SSI
for absolute encoder connection
n
n
n
n
n
n
n
n
APPLICATION FIELDS
large, 6-digit, 14 mm high LED display
predetermined offset
2 variable limit values
easy direct selection by 2 function keys
relay outputs with change-over contacts
chain value or absolute value indication
npn/pnp programming of inputs
synchronous/serial Interface
Indication of infeed values, lengths, support- or machine positions, totalizing values etc.
The coupling to the machine may be done with an absolute encoder with SSI-Interface from
the wide and comprehensive Hengstler program of types RA 58.
10–24 VDC
0V
DATA +
DATA –
Clock +
Clock –
10–30 VDC
0V
DATA +
DATA –
Clock +
Clock –
Encoder
0 Power
0 Power
46780
727.111
31 2671
03
86786
3
counter
signo 727 SSI
RA 58
singleturn
multiturn
multiturn programmable
DISPLAY
signo 727 SSI
P1
Section B
HENGSTLER
P2
Section A
SET
DATA
CHAIN
Section A: shows the actual count value when in counting mode, and the changeable
parameters when in programming mode.
Section B: LED indicators showing the active output signal, and in programming mode
indicating the changeable parameter.
PROGRAMMING
Direct access with
function keys F1 and F2
Operating level 1
Operating level 2
P1:
limit value 1
SET: setvalue
absolute
informations
of the encoder
P2:
limit value 2
Operating level 3
systemparameters
Shaft Encoders 2001
Accessories
Programming of signo 727 is possible by direct access and in the 3 operating levels
Direct access:
Limit values are set with the function keys F1, F2
Operating level 1: Set value
Operating level 2: Includes absolute informations of the encoder
Operating level 3: Includes system parameters, which are normally programmed during
start-up procedure only.
Unauthorized programming of the signo 727 is prevented by a control input, which can
lock the operating levels.
217
signo 727 SSI
TECHNICAL DATA
Display
LED, indication value/preselection 6 digits, suppression of
leading zeros, programmable decimal point, minus sign
Digit Height
14 mm
Power Supply Voltage Ub 12...24 VDC or 115/230 VAC, depending on version
Current Consumption
12...24 VDC < 250 mA,
115/230 VAC < 60 mA
Sensor Supply
AC operation 12...24 VDC, DC operation UB - 2 V, Imax .= 60 mA
Data Retention
non-volatile memory > 10 years
Operating Temperature
0...50° C
Storage Temperature
-20...+70° C
Electrical Connection
plug-in terminals
Mounting
with clamping frame
Protection Class (IEC 144) front side IP 54, terminals IP 20
Noise Immunity EMC
severity 3 according to IEC 801, part 2 + part 4
Vibrostability
10 m/s2 (10...150 Hz) according to IEC 68-part 2-6
Shock Stability
100 m/s2 (18 ms) according to IEC 68-part 2-27
General Rating
according to VDE 0411, DIN 57411, protection class II
Inputs:
SSI Data +
SSI Data Baud rate:
approx. 100 kHz
Control Input:
Application Input 1, static
Display hold,
Reset or Chain Reset
(programmable)
Keylock
static
Outputs:
SSI measure +
SSI measure Relay 1)
Out 1 and Out 2
Contact Type
changeover relay
Switching Voltage
max. 250 VAC/30 VDC, mind 5 VAC/DC
Switching Current
max. 1A, min. 10 mA
1)
218
Shaft Encoders 2001
for versions with limit value only
signo 727 SSI
DIMENSIONAL DRAWING
plug-in
terminals
clamping frame
dimensions in mm
CONNECTION DIAGRAM
ORDERING DATA
Type
absolute encoder
connection
signo 727 without limit values SSI
signo 727 without limit values SSI
signo 727 with 2 limit values
SSI
signo 727 with 2 limit values
SSI
Supply
Ordering code
12...24 VDC
115/230 VAC
12...24 VDC
115/230 VAC
0 727 111
0 727 112
0 727 131
0 727 132
opt. with interface RS 485, RS 232 on request
Please note:
Absolute encoders with capped Gray Gode (e.g. 360 or 720) must not be connected
Max. encoder resolution: 12 Bit ST (singleturn) and
24 Bit MT (multiturn 12 + 12 Bit)
Shaft Encoders 2001
219
Accessories, Encoder with Shock Module
RA58-S/M/P WITH OPTIONAL
SHOCK MODULE
Applications with vibration rates of up to >100 m/s2 and shock rates >1000 m/s2 require the
use of a shock module. By means of integrated attenuating elements, these encoder ratings
are reduced.
Fixing
Shaft diameter
flange by means of clamping flange or clamping eccentric,
shaft by means of flexible coupling
axial 30 N, radial 100 N
10 mm
DIMENSIONED DRAWING
Encoder with shock module,
connecting cable
DIMENSIONED DRAWING
Encoder with shock module,
flange connector
For the encoder option with shock module, please enquire by stating your desired encoder
type.
ORDERING DATA
220
Shaft Encoders 2001
Accessories, Flexible Couplings
Shaft encoders must be protected against excessive mechanical stresses, which occur whenever there are angular, axial, or radial misalignments between the machine and shaft encoder
shafts.
Our flexible couplings can compensate for this within limits.
Plastic coupling
Set screw
Absolute max. speed
Torque max.
Moment of inertia
Torsional spring constant
Max. angular misalignment
Max. shaft misalignment radial / axial
Max. tightening torque of set screws
Material
Weight
10,000 RPM
20 Ncm
1.1 gcm2
25 Ncm/degree
± 2.5°
± 0.3 mm / ±0.2 mm
30 Ncm
polyamide 6.6 glass-fibre reinforced
3.5 g approx.
Dimensions in mm
Hub diameter
5/5 mm
5/6 mm
6/6 mm
Helical coupling
Absolute max. speed
Torque max.
Moment of inertia
Max. shaft misalignment radial/axial
Material
Weight
Suitable for encoder type RI 39
RI 32, RI 41, RI 42
6,000 RPM
80 Ncm
8.7 gcm2
14 Ncm/degree
± 4°
± 0.25 mm / ± 0.4 mm
80 Ncm
AICuMgPb, chromed
16 g
Dimensions in mm
* applies for with * marked hub diameters
Hub diameter
5/5 mm
5/6 mm
6/6 mm
6/6.35 mm
1)6/9.53 mm
1)6/10 mm
6.35/6.35 mm
1)6.35/9.52 mm
1)10/12 mm
1)10/10 mm
1)
Suitable for encoder type RI 30, RI 32,
RI 36, RI 41, RI 42, RI 58, RA 58
The dimensions marked with 1) apply for the dimensional drawings
Shaft Encoders 2001
221
Flexible Couplings
Absolute max. speed
Torque max.
Max. shaft misalignment
Spring washer coupling
12,000 RPM
60 Ncm
Radial
Axial
Angular
± 0.3 mm
± 0.4 mm
± 2.5°
50 Nm/rad
Flanges
Spring disc
aluminium, surface-protected
plastic, glassfibre-reinforced
Material
Dimensions in mm
Hub diameter
5/6 mm
6/6 mm
6/10 mm
6/6.35 mm
6/9.53 mm
6.35/6.35 mm
7/7 mm
10/6.35 mm
10/10 mm
Absolute max. speed
Torque max.
Moment of inertia
Flange-face coupling
radial
axial
Hub diameter d and d1
Material
coupling body, flange
preloaded disc
Weight
Dimensions in mm
12,000 RPM
80 Ncm
19 gcm2
130 Ncm/degree
± 3.0°
± 0.3 mm
± 0.4 mm
80 Ncm
6 mm H 8
AICuMgPb, anodized aluminium
CuSn6, stainless steel
14.5 g approx.
Ordering code 0 070 663 Suitable for encoder type RI 36, RI 58, RA 58
Absolute max. speed
Torque max.
Moment of inertia
Bellows coupling
radial
axial
Material
flange
bellows
Weight
34 g
Dimensions in mm
Hub diameter
12/12 mm
10/10 mm
9.53/9.53 mm
6/6 mm
222
Shaft Encoders 2001
8,000 RPM
80 Ncm
22 gcm2
230 Ncm/degree
± 4.0°
± 0.3 mm
± 0.5 mm
150 Ncm
CuZn39Pb3, nickel-plated
CuZn20, nickel-plated
Suitable for encoder type RI 58, RA 58
Accessories, Mounting
CLAMPING ECCENTRIC
Material CuZn39Pb3 Surface nickel-plated Set of three
Suitable for encoders with synchro flange type RI 30, RI 36, RI 58, RA 58
(RI 58, RA 58)
(RI 30, RI 36)
ød1
8.9
ød2
6.5
ød3
3.2
a
4.9-0.1
b
2.9-0.1
c
1.2
6.8
5
2.8
4.4-0.1
2.9-0.1
0.9
Dimensions in mm
SQUARE FLANGE ADAPTER
80 x 80 mm for clamping flange
RI 58, RA 58
(fastening material included)
Dimensions in mm
SQUARE FLANGE ADAPTER
58 x 58 mm for clamping flange
RI 58, RA 58
Dimensions in mm
Shaft Encoders 2001
223
SYNCHRO FLANGE ADAPTER
for clamping flange RI 58, RA 58
Dimensions in mm
for clamping flange RI 58
(same dimensions as TR HE 65)
Dimensions in mm
(same dimensions as AG 661)
Dimensions in mm
224
Shaft Encoders 2001
(same dimensions as AG 100/110)
PROFILE FLANGE ADAPTER
(same dimensions as AG 101/110)
(same dimensions as TR CE 100)
Further flange adapters on request
Shaft Encoders 2001
225
FLANGE ADAPTER
for clamping flange RA 58
(same dimensions as Gelma RAD 5)
ANGLE BRACKET (PLASTIC)
MOUNTING BELL (PLASTIC)
for Synchro flange RI 58, RA 58
(clamping eccentric and fastening
material included)
226
Shaft Encoders 2001
Connectors
NUMBERING OF PINS
Clockwise system:
A connector with pin contacts, which is numbered clockwise, and the corresponding counterplug connector with socket contacts (which consequently must be numbered counter-clockwise), is called right-turning.
Counter clockwise system:
A connector with pin contacts, which is numbered counter clockwise, and the corresponding
counter-plug connector with socket contacts (which consequently must be numbered clockwise), is called left-turning.
PLUG
A connector with coupling nut is called plug, without regard to its pin or socket contacts.
COUPLING
A connector with outer thread is called coupling without regard to its pin or socket contacts.
CONNECTOR
A connector is fastened to the encoder or the machine’s housing, has an outer thread
(like the coupling) and is available with pin or socket contacts.
CONTACTS
Sign for pin contact
Sign for socket contact
Shaft Encoders 2001
227
Connectors
CONNECTOR FOR MOUNTING IN ENCODER HOUSING
(IDENTICAL WITH ENCODER CONNECTOR CONIN 12 POLE)
Connector (pins)
CONIN 12 pole, clockwise
CONIN 12 pole, counter clockwise
Ordering code
3 539 198
3 539 230
CONNECTOR MATCHING WITH ENCODER CONNECTOR
1)
Encoder connector
(pins)
Conin 12 pole, clockwise (C, D) (3 539 198)
Conin 12 pole, counter clockwise (G, H) (3 539 230)
Suitable plug
(socket)
3 539 202 (PG 9)
3 539 229 (PG 9)
Conin 17 pole, counter clockwise (U, V)
Conin 17 pole, clockwise (W, Y))
Conin 21 pole, clockwise
Binder 6 pole (J)
3 539 256
3 539 254
1 540 232
3 539 472 (straight, IP 67)
3 539 209 (bent, IP 40)
MIL 6 pole (M, Q)
MIL 7 pole (L, P)
MIL 10 pole (K, O, R, T)
KPT 12-8P (1, 2)
3 539 261
3 539 262
3 539 258
3 539 333
1)
Extension cables with plug refer to “Extension Cables”
CONNECTOR MATCHING WITH ENCODER CABLE WITH CONNECTOR
Encoder plug
(pins)
Conin 12 pole, clockwise (-C) (3 539 186)
VDW 1), 12 pole, clockwise (-B) (3 539 252)
SUB-D, 37pol., (-F) (1 542 025)
Suitable coupling
(socket)
3 539 187
3 539 304
1 542 024
Encoder coupling
(pins)
Conin 12 pole, counter clockwise (-D) (3 539 273)
VDW 1), 12 pole, counter clockwise (-E) (3 539 274)
Suitable plug
(socket)
3 539 229
3 539 305
1)
228
Shaft Encoders 2001
VDW corresponding to Conin plastic-coated
Connectors
CONNECTOR ON CONNECTING CABLE
SUITABLE FOR DOWNSTREAM LOGIC CIRCUIT
Plug
(pins)
Conin 12 pole, counter clockwise
VDW 1) 12 pole, clockwise
Ordering code
Coupling
(pins)
VDW 1) 12 pole, counter clockwise
Ordering code
1)
3 539 186
3 539 316
3 539 293
3 539 252
3 539 317
3 539 309
3 539 301
3 539 273
3 539 274
3 539 302
3 539 303
VDW corresponding with Conin plastic-coated
CONNECTOR FOR MOUNTING
INTO DOWNSTREAM LOGIC CIRCUIT HOUSING
Connector (socket)
Ordering code
3 539 318
3 539 319
MOUNTING ACCESSORIES
mounting spanner
for Conin-connectors
Ordering code
3 539 343
OTHER CONNECTORS
Conin 9 pole,
clockwise, socket
Ordering code
3 539 294
Shaft Encoders 2001
229
Extension Cables
EXTENSION CABLES
WITH PLUG (SOCKET)
ON ONE END
CONIN 12 POLE
FOR RI 58 (CABLE TPE)
Pin
1
2
3
4
5
6
7
8
9
10
11
12
Housing
1)
Colour 1)
Lead Ø mm2
pink
0,14
blue
0,14
red
0,14
black
0,14
brown
0,14
green
0,14
violet
0,14
grey
0,14
Screen
0,14
white/green
0,5
white
0,14
brown/green
0,5
Screen
clockwise 1)
Length
3m
5m
10 m
15 m
20 m
25 m
30 m
Ordering code
1 522 348
1 522 349
1 522 350
1 522 454
1 522 456
1 522 457
1 522 464
counter
clockwise 2)
Ordering code
1 522 394
1 522 395
1 522 396
1 522 447
1 522 461
1 522 462
1 522 463
matching with encoder connector 12 pole,
clockwise (C/D)
2) matching with encoder connector 12 pole,
counter clockwise (G/H)
1)
cable version 3 280 112
BINDER 6 POLE
FOR RI 30, RI 36, RI 58
(CABLE PVC)
Pin
1
2
3
4
5
6
Housing
1)
Colour 1)
Lead Ø mm2
red
0,5
white
0,14
yellow
0,14
green
0,14
yellow/black
0,14
black
0,5
Screen
Length
3m
5m
10 m
Ordering code
1 522 405
1 522 404
1 522 340
matching with encoder connector (BINDER)
6 pole (J, N)
CONIN 12 POLE FOR RA 58-S
AND RA 58-M
WITH SSI-INTERFACE
(CABLE TPE)
Pin
1
2
3
4
5
6
7
8
9
10
11
12
Housing
1)
230
Shaft Encoders 2001
Colour 1)
brown
pink
yellow
blue
white
grey
green
black
Screen
Lead Ø mm2
0,5
0,14
0,14
0,14
0,14
0,14
0,14
0,5
0,14
0,14
0,14
0,14
clockwise 1)
Length
3m
5m
10 m
15 m
20 m
25 m
30 m
40 m
50 m
Ordering code
1 542 003
1 542 004
1 542 005
1 542 006
1 542 007
1 542 008
1 542 009
1 542 026
1 542 027
counter
clockwise 2)
Ordering code
1 542 010
1 542 011
1 542 012
1 542 013
1 542 014
1 542 015
1 542 016
1 542 028
1 542 029
clockwise (C/D)
1)
Extension Cables
EXTENSION CABLES
WITH PLUG (SOCKET)
ON ONE END
MIL 10 POLE FOR RI 58
(CABLE TPE)
Pin
A
B
C
D
E
F
G
H
I
J
1)
Colour 1)
Lead Ø mm2
brown
0,14
grey
0,14
red
0,14
brown/green
0,5
violet
0,14
white/green
0,5
green
0,14
pink
0,14
black
0,14
Screen
0,14
Length
3m
Ordering code
1 522 610
Length
3m
5m
10 m
15 m
20 m
25 m
30 m
40 m
50 m
counter clockwise 1)
Ordering code
1 543 002
1 543 003
1 543 004
1 543 005
1 543 006
1 543 007
1 543 008
1 543 015
1 543 016
CONIN 12POLE FOR RA 58-P
WITH SSI-INTERFACE
(CABLE TPE)
Pin
1
2
3
4
5
6
7
8
9
10
11
12
Housing
1)
Colour 1)
green
yellow
pink
grey
brown
white
black
blue
red
violet
white
brown
Screen
Lead Ø mm2
0,14
0,14
0,14
0,14
0,14
0,14
0,14
0,14
0,14
0,14
0,5
0,5
1)
SUB-D 37 POLE FOR RA 58-M
WITH PARALLEL INTERFACE
(CABLE TPE)
Colour 1)
brown
green
yellow
grey
pink
violet
grey/pink
red/blue
1)
Pin
2
21
3
22
4
23
5
24
Colour 1)
white/blue
brown/blue
white/red
brown/red
white/black
brown/black
grey/green
yellow/grey
Pin
14
33
15
34
16
35
17
36
Colour 1)
white/green
brown/green
white/yellow
yellow/brown
white/grey
grey/brown
white/pink
pink/brown
Pin
6
25
7
26
8
27
9
28
Colour 1)
pink/green
yellow/pink
green/blue
yellow/blue
red
white
blue
black
Pin
18
10
30
12
13
31
1
20
Length
1m
3m
5m
10 m
15 m
Ordering code
1 542 163
1 542 020
1 542 021
1 542 022
1 542 172
Length
20 m
25 m
30 m
40 m
50 m
Ordering code
1 542 173
1 542 174
1 542 175
1 542 176
1 542 177
Shaft Encoders 2001
231
Extension Cables
CONIN 17 POLE FOR RA 58-S
WITH PARALLEL INTERFACE
(CABLE PVC)
Pin
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
Housing
1)
Colour 1)
Lead Ø mm2
brown/grey
0,14
red/blue
0,14
violet
0,14
white/brown
0,14
white/green
0,14
white/yellow
0,14
white/grey
0,14
white/pink
0,14
white/blue
0,14
white/red
0,14
white/black
0,14
brown/green
0,14
pink
0,14
green
0,14
black
0,5
red
0,5
brown
0,14
Screen
clockwise 1)
Length
3m
5m
10 m
15 m
20 m
25 m
30 m
40 m
50 m
Ordering code
1 540 100
1 540 101
1 540 102
1 540 142
1 540 143
1 540 144
1 540 145
1 540 205
1 540 206
counter
clockwise 2)
Ordering code
1 540 097
1 540 098
1 540 099
1 540 138
1 540 139
1 540 140
1 540 141
1 540 207
1 540 208
clockwise (W/Y)
counter clockwise (U/V)
1)
Connection diagram see RA 58-S,
parallel interface with connector.
EXTENSION CABLES
WITH CONNECTOR
ON BOTH ENDS
CONIN 12 POLE FOR RA 58
WITH INTERBUS-S-INTERFACE
(CABLE TPE)
Length 1)
3m
5m
10 m
1)
CABLE NOT MADE UP WITH
CONNECTORS
232
Shaft Encoders 2001
TPE-cable for RI
(12-core + screen)
PVC-cable for RI
(10-core + screen)
PVC-cable for RI
(6-core + screen)
PVC-cable for RA 58-S with parallel
(20-core + screen)
TPE-cable for RA 58 with SSI or IB-S
(12-core + screen)
TPE-cable for RA 58-M with parallel
(32-core + screen)
clockwise
Ordering code
1 542 017
1 542 018
1 542 019
Ordering code
3 280 112 + length
3 280 114 + length
3 280 113 + length
3 280 100 + length
3 280 220 + length
3 280 221 + length
Accessories, Measuring Wheels
GENERAL ASPECTS
In order to prevent the result being distorted
when the shaft encoder is driven by a measuring wheel make sure that the slip is as
small as possible. When selecting the tread
(surface), take into account the structure,
stretchability, thickness, and resistance to
being carried along of the material being
measured.
The slip is also affected by the width of the
measuring wheel, the contact pressure, the
tension in the material being measured, and
the arc of contact. The arc of contact should
be as large as possible. The wheel bodies are
made of cast aluminium or plastic (as marked).
The position of the measuring wheel
should be chosen so that the direction of
movement of the material is away from
the shaft encoder’s bearing point.
Correct
Wrong
MEASURING WHEEL TREADS
Tread 1
Tread 1
with rim and fine crosshatched knurl
Material: aluminium
Applications such as threads and yarns
Tread 2/3
Tread 2
with glued-on rubber profile
A = soft specially clinging rubber
surface (red)
B = low-wear rubber surface with good
grip (white)
Tread 3
vulcanized rubber surface with parallel
knurl
Applications such as paper and cardboard,
measuring cables, nongreasy metals, fleece,
undressed or surface-treated wood, soft
and hard plastics.
Applications such as rubber, leather, fabrics,
flooring, and glass.
Shaft Encoders 2001
233
Accessories, Measuring Wheels
Tread 4
Tread 4
aluminium with parallel knurl Applications
such as rubber, soft plastics, wood with rough
surface, and to a limited extent for fabrics.
Tread 5
Tread 5
with rim, aluminium with parallel knurl
Applications such as threads, yarns, and
bands.
Tread 6
Tread 6
plastic surface Applications such as wire,
greasy metals, and steel sections.
Tread 7
Tread 7
carding belt Applications such as carpets
and coarse fabrics.
Diameter Circumference
ORDERING DATA
Aluminium
6.37 cm
15.92 cm
PLASTIC
0.2 m
0.5 m
5.73 cm
1/5 yd.
14.33 cm
1/2 yd.
9.70 cm
1 Fuß
6.37 cm
15.92 cm
0.2 m
0.5 m
1)
Tread
1
2A
2B
2A
2B
4
4
5
2A
2B
3
4
5
6
7
1
2A
5
2A
4
2A
2B
4
1
4
6
Width of
bearing surface
mm
4
12
12
24
24
20.5
20
16.5
25
Bore diameter
4.0 mm
6.0 mm
0 601 014 0 601 015
0 601 018
––
0 601 118 0 601 048
0 601 020
––
––
0 601 023
––
––
0 601 026
––
––
––
25
25
16
25
26.5
4
24
16.5
25
25
25
25
25
––
––
––
––
––
0 601 034
0 601 042
––
––
––
––
––
––
––
––
––
––
––
––
––
––
––
––
––
––
––
4
25
25
0 601 100
––
––
––
7.0 mm
10.0 mm
0 601 017
––
––
––
––
0 601 049
0 601 092
––
0 601 192
––
0 601 093
0 601 094
0 601 050
0 601 150
0 601 059
0 601 121 1)
0 601 052
0 601 063 1)
0 601 054
0 601 037
0 601 095
0 601 096
0 601 060
0 601 061
0 601 071
0 601 171
0 601 070
––
––
––
0 601 151
0 601 156
0 601 157
––
0 601 163
––
––
––
––
––
––
––
––
––
––
0 601 301
0 601 300
––
––
––
PTB approved
Other measuring wheels available on request.
234
Shaft Encoders 2001
Glossary of Technical Terms
Shaft encoder that transmits unique coded data for each increment.
Accuracy
The difference between the actual and measured position.
Alarm signal
Serves to monitor the shaft encoder for malfunctions, such as glass breakage, fouling, short
circuit, short circuit of signal line, and supply voltage too low.
Amplitude regulation
Current or voltage amplitude is constant through regulation
Analogue signal
A signal whose level alters continuously.
ASIC
Application specific integrated circuit
Axial loading
Maximum load on the shaft encoder‘s shaft in the axial direction
Bandwidth
Frequency range for output signals
Baud rate
Rate of data transfer (bits per second).
BCD
Binary-coded decimal; binary representation of a decimal number.
Binary
Two logical states (yes/no); the basis of binary data-processing systems.
Binary code
Code using binary numbering; often used for absolute measuring systems.
Bit
Abbreviation for “binary digit“; the smallest unit of information of a binary system, whose
value can be 1 or 0 (yes-or-no decision).
Bus cycle
Time needed for polling every bus slave by the bus master.
Byte
Sequence of 8 bits.
CAL
Can application layer
CANopen
Layer 7 protocol based on CAN
Change of state
For CAN: Bus node (encoder) sends it's data automatically when a position change occurs.
Channel
Signal track on which 1 or 0 is outputted.
CiA
CAN in automation (CAN users and manufacturers group)
CiA DS
CAN in automation draft standard, communication profile
CiA DSP
CAN in automation draft standard proposal, communication profile
CIM
Computer Integrated Manufacturing; i. e. the linking of different computer-aided processes in
production and related fields for general use of the data.
CMD
Software tool for configuration and diagnosis of Interbus networks
COB
Communication object
Code
Format in which data are transmitted.
Code switching frequency
Number of position steps per second. For absolute shaft encoders with parallel interface:
The maximum output frequency of the LSB output driver (fmax) also limits the
maximum permissible code switching frequency:
Code switching frequency max. = 2 · fmax for Binary code
Code switching frequency max. = 4 · fmax for Gray code
Shaft Encoders 2001
Others
Absolute shaft encoder
235
Material expansion under influence of temperature change [µm/°K m], relevant for linear
scales.
Complementary
Output circuit for which also the inverted signals are outputted (e.g. Channel A and
Channel A). Electrically, the 1/0 levels are transmitted as voltage differences between two
lines. In this way the information signal (the difference) remains pure as in general interferences are interspersed equally on both lines.
CRC
Cyclic redundancy check. Bit error protection method for data communication.
Data bus
System of lines over which data are transferred electronically in parallel or serially.
Data consistency
Intrinsic coherence of data in respect of timing and logical aspects.
Data integrity
Correspondence of data with the reality that they describe.
Datavalid
Output for checking the validity of data.
DC
Direct current (not alternating)
Demodulator
Device that filters the original information out of an altered signal again.
DeviceNet - conformity
and interoperability
Confirmation of agreement of a bus node with the DeviceNet specifications and correct
interoperability with other DeviceNet nodes.
Differential line driver
Output circuit in which the difference between the two signals A and A is evaluated, thus
providing high signal transmission reliability.
DIN
Deutsche Industrie Norm (German Industrial Standard)
Direction
Control input for determining the data sequence (whether ascending for clockwise or counterclockwise rotation).
Dual Code
Natural binary code
EDS - File
Electronic data sheet. This is a file with the device specific parameter description and is provided by the manufacturer of a DeviceNet or CANopen device.
EEPROM
“Electrically Erasable Programmable Read-Only Memory“ chip (see EPROM).
EIA
Electonic Industries Association; U.S. umbrella organization of manufacturers of electronic
equipment and facilities. It is responsible for maintenance and development of the industrial
standards for interfaces between data-processing devices and data communications equipment.
EMC
Electromagnetic compatibility
ENCOM
User group of manufacturers of INTERBUS-S absolute shaft encoders
Encoder monitoring
See “Alarm signal”
Enable
Control input via which the data outputs can be activated.
Encoder
See “shaft encoder”
Encoder power
Supply voltage to be provided for the shaft encoder.
EPROM
“Erasable Programmable Read-Only Memory” chip, which can be erased with ultraviolet light,
after which new data can be written into it.
236
Shaft Encoders 2001
Gray code
A special binary code that changes only one data bit per measuring step at a time. It is used
with absolute encoders.
Hamming distance
Measure for data security in a data transmission. The higher the number the better the ability
to detect data errors.
Harmonic Distortion
Measure for the signal quality of sinewave encoder [%]. It describes the content of harmonics
in analogue signals. The lower the number the better the signal.
Hysteresis error
Measurement deviation for a position approached from opposite directions.
Identifier
Address of a message in a CAN network.
IEC
International Electrotechnical Commission; organization promoting international standardization of electrical components.
Immunity to interference
Test procedure according to IEC 801, Part 4
– A test of susceptibility to fast electrical transients (bursts) causing interference on lines.
The test values are divided into 5 levels:
Level
Mains line
Data and control lines
1
0.5 kV
0.25 kV
2
1.0 kV
0.5 kV
3
2.0 kV
1.0 kV
4
4.0 kV
2.0 kV
X
special
special
Immunity to interference (continued)
– Test procedure according to IEC 801, Part 2
Discharge of static electricity on the surface and in the surroundings of the specimen.
The test values are divided into 4 classes:
Class
1
2
3
4
test voltage
2 kV
4 kV
8 kV
15 kV
– Radio interference voltage test to VDE 0871.
Incremental measuring system
Measuring method in which the variable is formed by counting increments (measuring steps).
Incremental shaft encoder
Shaft encoder which transmits an electrical signal (yes/no) for each increment, determined by
the marked disc.
Integer
Integral values; range of values at n bit: 0 … (2n-1)
Integrated coupling
Flexible coupling built into shaft encoders
INTERBUS
Real time bus for the sensor-actor-level
Interbus-Loop
Two wire version of Interbus, transmitting data over the power supply lines and using Phoenix Contact "Quickon" cable plugs.
Interface
Transfer point with certain terminals, signals, or signal sequences. The interface serves for
communication of the shaft encoder with other systems.
Interpolation
Scanning of a sinewave signal to increase resolution by generating intermediate position
values.
Shaft Encoders 2001
237
IP
See “Protection class”
Jitter
Change in the phase angle between Channel A and B within one revolution (360°).
Latch
Control input for storing (“freezing”) the data before they are read out.
Linearity
Deviation of the reading from the actual value within one revolution (360°).
Line driver
Output circuit that makes a larger current possible.
LSB
Least Significant Bit
Measuring wheel
A wheel that, mounted on a shaft encoder, converts a linear motion into a rotary motion.
MSB
Most Significant Bit
MTBF
“Mean Time Between Failures”, a measure of average service life.
Multi-turn shaft encoder
Shaft encoder which transmits the number of shaft revolutions as well as the angular position of the shaft.
NC machinery
Numerically Controlled machinery; their movements are programmed.
NPN input/output
Transistor input/output circuit implemented with an npn transistor, and thus negative
switching.
Offset
For programmable absolute shaft encoders: the offset value is added to the value of physical
position. As a result you get a relative shift of the output value
(output value = position value + offset value).
Parallel interface
Transfer point at which the data are transferred in parallel over several lines.
Parity
Checkbit for error detection in data transfer
PDO
Process data object (in CAN networks)
P.L.C.
Programmable Logic Controller: control system whose program is stored in a program memory
and can be changed.
Phase discriminator
Sense-of-direction detector that functions by evaluating the phase angle between Signal A
and Signal B.
Phase tolerance
Deviation of the pulse-edge from Channel A to B, relative to the phase angle 90°.
PNP input/output
Transistor input/output circuit implemented with a pnp transistor, and thus positive
switching.
Preset
For programmable absolute shaft encoders: The programmed numerical value is accepted as
output value (output value = preset value).
Protection class
The enclosure class is designated according to DIN 40050, by IP and a two-figure code
number.
1st digit
Degree of protection against ingress of solid bodies:
0
no special protection
1
solid bodies with dia. > 50 mm, no protection against intentional penetration
2
solid bodies with dia. > 12 mm, warding off fingers etc.
3
solid bodies with dia. > 2.5 mm, warding off tools, wires, etc. (thickness > 2.5 mm)
4
solid bodies with dia. > 1 mm, warding off tools, wires, etc. (thickness > 1 mm)
5
dust in harmful quantities, complete shock-hazard protection
6
dust (dust-tight), complete shock-hazard protection
238
Shaft Encoders 2001
2nd digit
0
1
2
3
4
5
6
7
Degree of protection against water
no special protection
water dripping vertically
water dripping at angles up to 15° from vertical
water dripping at angles up to 60° from vertical (spraying water)
water from all directions (splashing water)
water from a nozzle from all directions (hose-water)
heavy seas or strong jet of water (flooding)
water, if the device is immersed in water under specified conditions of pressure
and time (immersion)
8
water, if the device is submerged constantly. The manufacturer must describe
the conditions (submersion)
(For numbers 1 to 8, water must not penetrate in harmful quantities.)
Example: IP 65
A device thus designated is dust-tight, and protected against hose-water.
PVC
Polyvinylchloride; plastic coating of device cable
PTB approval
Approval for use by the Physikalisch-Technische Bundesanstalt, the German government
materials testing institute.
Pulse (repetition) frequency, max.
The maximum signal frequency achievable by the shaft encoder, the product of rotary speed
and number of markings.
Radial load, max.
Maximum loading of shaft encoder shaft in radial direction.
Quickon
Connector with self contacting cable cutting contacts from Phoenix Contact used with Interbus Loop
RAM
“Random Access Memory” chip; this memory can be read from, written to, and erased freely.
When the power goes off, it loses its information.
Reference mark
Irregular gradation pattern that generates a single signal peak, to provide an absolute
reference for an incremental shaft encoder.
Reference pulse
Square-wave signal generated by a reference mark, usually only one increment wide, to
provide an absolute reference for an incremental shaft encoder.
Repeatability
Degree of deviation for a point approached repeatedly under identical operating conditions.
Resolution
Number of increments per revolution (rotary) or distance between two increments (linear)
Resolver
Inductive angular measuring device that generates two alternating voltages, with amplitude
a function of the angle.
Reversal error
Deviation in reading of a position when approached from different directions (hysteresis).
ROM
“Read-Only-Memory” chip, whose memory can only be read out.
RS 422
Standardized interface for unidirectional point-to-point connections (for description refer to
“Complementary”); voltage difference 7 V DC max.
RS 422/485
Interfaces for serial data transfer with specifications to EIA standards.
RS 485
Like RS 422, however as a bidirectional bus interface
Shaft Encoders 2001
239
Sampling frequency
Number of signal periods per second. The maximum sampling frequency limits the speed of
incremental measuring systems.
SDO
Service data object (in CAN networks)
Sense
The Sense lines (Sense VCC and Sense GND) enable measurement of the factual encoder voltage without adulteration by voltage drop due to supply current and cable resistivity. With that
e.g. supply voltage can automatically be adjusted.
Scaling
For programmable absolute shaft encoders the encoder actual value is multiplied by a scaling
factor. Thus the resolution (increments per measuring distance or increments per revolution)
is adaptable to the respective application.
SSI
Synchronous-serial Interface; standardized interface for serial data transfer
TPE
Thermo-plastic polyester elastomer; plastic coating of device cable
Tristate
Control input; switches the outputs either to active or to high impedance.
Two's complement
Number format for the representation of negative numbers;
range of values at n bit: -(2n-1) … 0… (2n-1-1)
240
Shaft Encoders 2001
General Terms and Conditions
1. General provisions
1.1 The Seller hereby agrees to sell goods subject to the General Terms and Conditions contained herein. The Purchaser shall be deemed
to have accepted these General Terms and
Conditions upon placement of an order.
1.2 Conflicting conditions of the Purchaser,
even if not expressly refused by the Seller, shall
not be binding on the Seller unless specifically
agreed to by the Seller in writing. Conflicting
conditions of purchase agreed to by the Seller
shall exclusively apply to the transactions for
which they have been accepted.
2. Quotations
Quotations are submitted without engagement. The Seller shall not be under any obligation to perform delivery until and unless the
Seller has confirmed an order in writing.
3. Prices
3.1 The Seller’s prices shall be indicated in
Euro. For delivery ex works, prices shall be
understood not to include erection, installation and packaging and shall be invoiced plus
value added tax in accordance with the legal
percentage valid at the date of shipment.
3.2. In the event of an increase in costs attributable to an increase in wages/salaries,
material prices or taxes or public duties during
the period between the placement of the order
and the delivery date, the Seller shall be entitled to increase its prices accordingly.
3.3 Packaging shall be invoiced at cost. The
Seller agrees to accept returned packaging
used for shipment of its goods if returned by
the Purchaser free of charge to the Seller and
to the extent the Seller is under an obligation
to accept returned packaging in accordance
with the Packaging Regulations of 12 June
1991.
3.4 Prices shall not include return acceptance
of electronic scrap. In the event of legal provisions and/or environmental regulations requiring the Seller to accept return of used equipment or parts originally delivered by the Seller,
the Purchaser shall bear the costs incurred for
the return shipment and return acceptance
(utilization/disposal) of such equipment and
parts.
4. Delivery/Delivery deadlines/Delays
4.1 The delivery period for shipments and services shall commence on the date of the written confirmation of order. Compliance with
delivery deadlines shall be subject to the
receipt of all documents, permits and approvals to be submitted to the Seller by the
Purchaser, approval of drawings and plans by
the Purchaser in due time and the Purchaser’s
compliance with the payment conditions contained herein. In the event of the Purchaser
failing to comply with these requirements in
due time, the delivery period shall be reasonably extended.
4.2 Compliance criteria:
a) Deliveries not including erection or installation: the delivery deadline shall be deemed to
have been complied with if the equipment, fit
and ready for the intended use, has been
dispatched or collected within the agreed delivery period. In the event of delivery being
delayed for reasons for which the Purchaser is
responsible, the delivery period shall be deemed to have been complied with if the Purchaser is notified by the Seller within the agreed
delivery period that the shipment is ready for
dispatch.
b) Deliveries including erection or installation:
the delivery deadline shall be deemed to have
been complied with if delivery, erection and/or
installation have been completed within the
agreed delivery period.
4.3 In an event of force majeure or any other
event which is unforeseeable and unavoidable
and beyond the Seller’s control and which prevents partial or total performance of contractual obligations of the Seller or its vendors in
due time, such as difficulties in the procurement of materials, breakdowns, strikes, lockouts, lack of means of transportation, interference by authorities, problems associated with
energy supply, etc., the delivery period shall be
reasonably extended. If the performance of
contractual obligations is rendered impossible
or unreasonable by any such event, the Seller
shall be relieved of its obligations to perform
delivery. In the event of delivery being delayed
by over 2 months, the Purchaser shall be entitled to terminate the contract. The Purchaser
shall not be entitled to claim damages in the
event of an extension of the delivery period or
in the event of the Seller being relieved of its
obligation to perform delivery. The Seller shall
not be entitled to claim force majeure or any
other of the above events, unless it has
promptly informed the Purchaser thereof.
4.4 The provisions hereunder shall be subject
to the Purchaser receiving deliveries from
other vendors in due time and in accordance
with requirements.
4.5 Cancellation
In the event of a delivery deadline being
exceeded by over 2 weeks for reasons other
than those mentioned in clause 4.3, the
Purchaser shall be entitled to set the Seller a
reasonable grace period for the performance
of its delivery obligations. If the Seller fails to
perform delivery by the end of the grace
period, the Purchaser shall be entitled to cancel the contract.
4.6 Liability for damage caused by delayed
performance
In the event of delays in the performance of
contractual obligations, the Purchaser, in
addition to its right to claim performance,
shall not be entitled to claim damages for
delayed delivery, unless the Seller, its authorized representatives or its executives are guilty
of intention or gross negligence and the
Purchaser is able to furnish proof that it has
suffered damage caused by such delay and
that such damage was foreseeable by the Seller.
The Seller shall not be liable for damage caused by ordinary negligence.
4.7 Limitation of liability in the event of
defaults other than those mentioned in clause
4.6:
In the event of intention or gross negligence
by the Seller’s other agents (Seller’s employees
other than executives or other third parties) or
in the event of the Seller’s liability for failure to
perform a principal contractual obligation due
to ordinary negligence (Article 9, clause 2,
sub-clause 2 AGBG [General Terms and Conditions Act]), the following provision shall apply:
In the event of the Purchaser being able to furnish proof that it has suffered damage foreseeable by the Seller and caused by delay for
which the Seller is responsible, the Purchaser
shall be entitled to claim damages for delayed
performance equal to 0.5 % of the value of the
portion of the delivery or service not ready for
the intended use due to delayed completion of
any components thereof for each completed
week of delay, not to exceed a total of 5 % of
the value of such portion of the delivery. In the
event of ineffectual expiry of the grace period,
the Purchaser shall not be entitled to any
additional claims. The validity of clause 4.6
shall remain unaffected.
4.8 Partial deliveries
The Seller shall be entitled to perform reason-
able partial deliveries to an extent acceptable
to the Purchaser. If the Purchaser demonstrates to the Seller that it cannot be reasonably
expected to accept partial deliveries due to
economic reasons, the Purchaser shall be entitled to withdraw from the contract. In the
event of delayed delivery of a partial shipment,
the Purchaser shall not be entitled to claim
damages for the Seller’s failure to perform the
entire contract, unless intention or gross negligence by the Seller can be evidenced. In the
event of intention or gross negligence by the
Seller’s other agents (clause 4.7) or in the
event of the Seller’s liability for ordinary negligence in accordance with clause 4.7, the
Purchaser shall only be entitled to claim the
lump-sum compensation stipulated in clause
4.7.
4.9 In the event of call orders being agreed
between the Seller and Purchaser, the Seller
shall grant the Purchaser a call period of 6
months. After expiry of the call period, the Seller shall be entitled, at its option, to invoice
the ordered goods or to cancel the order.
4.10 In the event of special-design goods
(goods not listed in Seller’s catalogue or in
price list), the Seller shall be entitled to perform delivery in excess of or short of the ordered quantity. For up to 100 ordered items, the
quantity of delivered items may exceed or fall
short of the order volume by up to 15 %. In the
event of the order volume exceeding 100
items, the quantity of delivered items may
exceed or fall short of the order volume by up
to 10 %. In the event of the delivery exceeding
or falling short of the order volume, the agreed
item price shall remain unaffected thereby.
5. Passing of risk in goods
Irrespective of whether freight has been
agreed to be performed at no charge to the
Purchaser, any risk in the goods shall pass to
the Purchaser at the dates specified hereunder:
a) Deliveries not including erection or installation: when the equipment, fit and ready for
the intended use, has been dispatched, with
the Seller’s means of transportation or otherwise, or collected. Packaging shall be performed with utmost care.
b) Deliveries including erection or installation:
upon integration of the equipment into the
Purchaser’s production operations or, if a test
run has been agreed, upon successful completion of the test run, provided that the test run
or integration into the Purchaser’s production
operations is performed immediately upon
successful completion of erection or installation. In the event of the test run or integration
into the Purchaser’s production operations
being delayed by over 14 days, the risk in the
goods shall pass to the Purchaser for the duration of the delay.
c) In the event of shipment, delivery or commencement/performance of erection or installation being delayed at the Purchaser’s request
or for reasons attributable to the Purchaser,
the risk in the goods shall pass to the Purchaser for the duration of the delay. At the
Purchaser’s request and expense, the Seller
shall take out the insurance requested by the
Purchaser.
6. Shipment
6.1 Shipment shall be performed at the
Purchaser’s exclusive risk and expense. In the
event of the Purchaser not giving specific
shipping instructions, shipment shall be performed to the best of the Seller’s judgement.
The Seller shall not be under any obligation to
select the most conveniently priced shipping
method.
Shaft Encoders 2001
241
6.2 The Seller agrees to take out a shipping
insurance at cost, provided that such obligation is stipulated in the order. The Seller shall
not be under any general obligation to take
out such insurance.
7. Equipment erection and installation
7.1 Prior to the performance of erection or
installation work, the Purchaser shall provide, of
its own account, all necessary information
concerning the location of subsurface or concealed power lines, gas pipes, water pipes and
the like as well as structural data.
7.2 The following requirements shall be fulfilled at the installation site:
a) Mains supply by means of separate power
circuit for connection with distributor; separate fuse for central processing unit, concentrator and PC system (no earth leakage circuit
breaker).
b) Mains voltage fluctuations must not exceed
a tolerance of +10/-15 % of the setpoint voltage.
c) If substantial dips in the mains voltage level
are expected to be caused by high voltage surges, the Purchaser shall provide suitable interference filters to prevent such voltage dips.
- The required data cables for connection with
peripherals shall be provided by the Purchaser.
Such cables shall comply with the requirements applicable to the installation of telecommunication cables of PTT-approved private branch exchanges to avoid interference.
7.3 All necessary preparations shall be completed to such an extent that the Seller’s service personnel is able to commence installation and/or commissioning work immediately
upon arrival at the installation site and to perform such work without any interruption.
7.4 In the event of erection, installation or
commissioning being delayed for reasons not
attributable to the Seller, the Purchaser undertakes to reimburse the Seller the costs incurred
by the Seller as a result of such delay, in particular costs incurred as a result of waiting time
or due to additional travels of the Seller’s personnel.
7.5 Services shall be rendered on the basis of the
rates for working, travel and waiting time and
on the basis of travel expenses, hotel accommodation rates and daily allowances agreed in
the order.
7.6 The Seller shall not assume liability for
work performed by the Seller’s personnel or
other agents which is not directly connected
with the delivery, erection or installation or in
the event of such work being performed at the
Purchaser’s request without prior consultation
with the Seller.
7.7 The Purchaser is advised to take out an
insurance for weak-current installations at its
own expense which should provide the usual
coverage in case of damage caused to the
ordered and delivered equipment by overvoltage, fire or lightening.
and work, the usability of any parts or work is
substantially affected for reasons that can be
demonstrated to have been caused by circumstances arising prior to the passage of risk in the
goods, including but not limited to faulty
design, materials or workmanship, then the
Seller shall, at its option, rectify the damage,
replace the defective parts or reperform the
work at its own expense.
9.2 The Seller’s liability shall not apply to normal wear and tear.
9.3 The Purchaser shall not be entitled to
withhold payments, unless it has filed a notice
of defects which is not contested by the Seller.
9.4 The Purchaser shall give the Seller reasonable opportunity and grant the Seller a reasonable period of time to rectify the defect. In the
event of the Purchaser’s failure to grant such
reasonable period of time, the Seller shall be
relieved of its liability for the defect. In the
event of the Seller’s failure to rectify the
defect within the grace period granted by the
Purchaser or in the event of rectification being
impossible or refused by the Seller, the Purchaser shall be entitled to terminate the contract
or demand a reduction of the purchase price.
9.5 The Purchaser’s right to assert claims
resulting from defects shall be barred by the
stature of limitation after 6 months from the
date of the notice of defects.
9.6 In the event of the Purchaser or third parties performing improper modification or
repair work on the goods delivered by the Seller, the Seller shall be relieved of any liability for
the consequences of such work.
9.7 Other claims asserted by the Purchaser
against the Seller or the Seller’s agents, in particular claims brought forward as a result of
damage not caused directly to the delivered
items (consequential damage), shall be excluded, unless the Seller is under an obligation to
assume liability for personal injury or damage
caused to privately used items in accordance
with the Product Liability Code or guilty of
intention or gross negligence or unless the
goods do not conform with the agreed specification.
9.8 The above provisions shall also apply to the
Purchaser’s claims for rectification of defects
or replacement of defective items or claims for
damages resulting from suggestions or negotiations submitted or held before or after the
effective date of the contract or from the violation of contractual secondary obligations.
9.9 Claims for damages resulting from the
goods not complying with the agreed specification shall remain unaffected by these provisions.
gross negligence by the Seller’s other agents
(clause 4.7) or in the event of the Seller being
responsible for a violation of a principal contractual obligation despite circumstances of
ordinary negligence (Article 9, clause 2, subclause 2 AGBG [General Terms and Conditions
Act]), any claims for damages asserted by the
Purchaser shall be limited to the compensation
of direct damage, provided that such damage
was foreseeable at the effective date of the
contract and was typically caused by the
impossibility of performance. Claims for compensation of lost profits asserted in connection with the claims for damages due to the
Seller’s failure to perform shall be limited to 10
% of the gross invoice amount, exclusive of
value added tax, charged for that portion of
the Seller’s delivery whose intended use by the
Purchaser, as set forth in the contract, is
precluded by the Seller’s failure to perform.
12.Other claims for damages
Unless otherwise provided in the General
Terms and Conditions contained herein and
irrespective of the legal grounds, the Purchaser
shall not be entitled to assert claims for damages resulting from faults at the time of conclusion of the contract, positive violation of contractual obligations, deficiencies in title, unlawful acts, etc., unless the Seller is under an
obligation to assume liability for personal
injury or damage caused to privately used
items in accordance with the Product Liability
Code or guilty of intention or gross negligence.
The Seller shall not be liable for damage caused by ordinary negligence, unless the Seller is
responsible for having culpably violated a
principal contractual obligation (Article 9,
clause 2, sub-clause 2 AGBG [General Terms
and Conditions Act]). In the event of the Seller,
subject to the provisions hereunder, having to
assume liability for reasons of ordinary negligence or for reasons of intention or gross negligence by the Seller’s other agents (4.7), the
Seller’s liability shall be limited to the compensation of the direct damage, not to exceed
50 % of the value of the damage and/or loss
suffered in connection with contract preparations or delivery. Any other settlement shall be
subject to the provisions set forth in clause 11.
Any other provisions governing the limitation of
the Seller’s liability subject to the General
Terms and Conditions contained herein and
the Seller’s liability according to the Product
Liability Code shall remain unaffected by this
provision.
13.Payment conditions
13.1 Payment shall be effected net cash within
30 days from the date of the invoice.
13.2 This provision shall also apply to partial
deliveries. Agreements concerning cash discounts shall remain unaffected thereby. In the
event of the Purchaser failing to perform payment when due, the Seller, after giving notice
of default to the Purchaser, shall be entitled to
charge interest at an interest rate exceeding
the official discount rate of the Deutsche Bundesbank [German Central Bank] by 3 %.
13.3 Any payment shall be deemed to have
been made in due time if the transferred sum
or cheque is credited to the Seller’s account in
due time, irrespective of the date of the payment order.
13.4 Bills of exchange or cheques shall only be
accepted on account of payment and only if
specifically agreed to by the Seller. Discounting
and bank charges shall be borne by the Purchaser.
13.5 In the event of the Seller, after the effective date of the contract, gaining knowledge of
circumstances evidencing a deterioration in
9. Liability for defects
The Seller’s liability for defects, including the
absence of agreed product properties, shall be
subject to the following provisions:
9.1 If any parts or work become unusable
during the warranty period commencing on
the date of passage of risk in goods, or if, irrespective of the period of operation of the parts
10. Cancellation/Lump-sum damages
If the Purchaser fails to furnish collateral
security or effect payment or an installment in
due time and if the requirements of Article
326 BGB [German Civil Code] are given (fixed
time limit under penalty of rejection), the Seller shall be entitled to claim lump-sum damages equal to 35 % of the gross contract value,
exclusive of value added tax, without prejudice to the Purchaser’s right to furnish proof of
a minor damage it has suffered. Return shipments resulting from defective orders shall be
performed at the Purchaser’s risk and expense.
In such events the Seller shall be entitled to
charge the Purchaser a reasonable processing
fee, not to exceed 20 % of the gross invoice
amount and exclusive of value added tax.
11. Impossibility of performance
In the event of impossibility of the Seller’s performance, the Seller shall not be liable for
ordinary negligence.
In the event of the impossibility of the Seller’s
performance being attributable to intention or
242
8. Notice of defects
Without prejudice to the provisions of Article
377 HGB [German Commercial Code], notices of
defects, including complaints concerning the
weight or quantity of the delivered items, shall
be given in writing no later than 8 days from the
receipt of the goods.
Shaft Encoders 2001
the Purchaser’s financial situation, the Seller
shall be entitled to demand immediate settlement of open invoices or advance payment or
collateral securities for scheduled deliveries. In
the event of the Purchaser failing to comply
with such request, the Seller shall be entitled to
terminate the contract without notice and
demand compensation for the expenses incurred by the Seller.
13.6 Without prejudice to any other claims,
the Seller reserves the right to delay performance of the work and services under the contract
for as long as the Purchaser fails to effect
payment of due monies.
13.7 The Purchaser shall not be entitled to
withhold payments or set off claims against
due payments, unless the Purchaser’s claims
have been found to be undisputed and legally
enforceable.
14.Retention of title
14.1 The Seller reserves title to the ownership
of all goods delivered by the Seller until the
Purchaser has effected payment of all receivables arising from the contract (principal and
subsidiary claims) - including receivables to be
paid to companies associated with the Seller (goods subject to reservation of title). If payment is made in the form of bills of exchange or
cheques, the retention of title shall apply until
such bills of exchange or cheques have been
paid or cashed.
14.2 Goods purchased from the Seller to which
the Seller has reserved title shall be used by
the Purchaser exclusively within the scope of
proper business transactions. Transfer of property by way of security or pledge or receivables arising from the resale or re-letting of
goods shall not be permitted. The Purchaser
agrees to notify the Seller immediately of any
rights asserted by third parties to goods to
which the Seller has reserved title, including a
levy of execution on the goods to which the
Seller has reserved title, and, in the event of a
levy of execution, to file an objection with the
execution creditor on behalf of the Seller.
14.3 The Purchaser shall assign to the Seller, in
advance and by way of security, all receivables,
including all subsidiary claims (e.g. ownership
by way of security, ownership of goods subject
to retention of title, bills of exchange, etc.), it
is entitled to from the resale or re-letting of
goods to which the Seller has reserved title,
until all payments due to the Seller in connection with the contract have been made. In the
event of a genuine or partial open account
agreement between the Purchaser and its
customers, the Purchaser shall also assign to
the Seller its rights to terminate the open
account agreement and to balance the
accounts and any balancing surplus the
Purchaser may be entitled to. If the goods to
which the Seller has reserved title are
resold/re-let and invoiced together with goods
purchased from other suppliers, the Purchaser
shall assign to the Seller that portion of the
total sales price or total rent that applies to
the goods to which the Seller has reserved
title. These provisions shall also apply to subsidiary claims (ownership of goods subject to
retention of title, ownership by way of security, bills of exchange and the like).
14.4 At the Seller’s request, the Purchaser shall
notify the Seller of the names of the customers
that have purchased goods to which the Seller
has reserved title, indicate the amounts still
payable by such customers and grant access to
the Purchaser’s accounting records to an independent certified public accountant instructed
by the Seller to inspect such records. In the
event of the receivables assigned to the Seller
by the Purchaser exceeding the total amount
of the Seller’s unsecured receivables by over
20 %, the Purchaser shall be entitled to
request the Seller to re-assign to the Purchaser any receivables in excess of 20 %. The
Purchaser shall be entitled to collect receivables
assigned to the Seller on behalf of the Seller
until and unless such right is revoked by the
Seller. The Seller shall be entitled to notify the
third party of the assignment of receivables
and to give reasonable instructions. In the
event of the Purchaser failing to comply with its
contractual obligations, the Seller shall be
entitled to recover possession of the goods to
which it has reserved title, without the assertion of such right constituting a termination of
the contract by the Seller.
14.5 Processing and other use of goods subject
to retention of title
Processing, modification, assembling or integration of goods to which the Seller has reserved title shall be performed by the Purchaser
on behalf of the Seller. If the goods to which the
Seller has reserved title are processed or
inseparably integrated with other goods not in
the Seller’s property, the Seller shall become
co-owner of the new product, with the Seller’s
fractional share in the ownership of the new
product amounting to the value of the goods to
which the Seller has reserved title in
proportion to the other processed or integrated
goods at the time of processing or integration.
Processing and conversion into a uniform
product:
If goods supplied by the Seller are processed or
inseparably integrated by the Purchaser with
other moveable goods to obtain a uniform
product and if the product thus obtained
constitutes the main product, it is agreed that
the Purchaser shall grant the Seller a proportionate co-ownership in the main product,
provided that the main product is the property
of the Purchaser. The Purchaser shall hold the
Seller’s ownership or co-ownership in safe
custody.
Scope of validity of provisions relating to
goods to which the Seller has reserved title:
The products obtained by processing, modification, assembling or integration shall be subject to all other provisions relating to goods to
which the Seller has reserved title.
14.6 Due date of total residual debt and
notification of third-party debtor of assignment of receivables:
Due date of total residual debt: if the Purchaser fails to perform payment when due or fails
to perform payment of due bills of exchange or
cheques, or in the event of suspension of
payments or debt overload or if a judicial or
out-of-court petition for composition or bankruptcy is filed against the Purchaser or a
petition for bankruptcy is dismissed for
insufficiency of assets, then the total residual
debt, including bills of exchange with later
maturity, shall become due. In such event, the
Purchaser shall, if so required by the Seller,
hand over to the Seller a list of all goods in the
Purchaser’s possession to which the Seller has
reserved title and a list of all receivables
assigned to the Seller, indicating the name and
address of the debtor and the amount of the
receivables. The Seller shall also be entitled to
inspect the Purchaser’s accounting records to
determine advance assignments of receivables.
Notification of third-party debtors of
assignment of receivables:
In the event of the total residual debt becoming due in accordance with the above provisions, the Purchaser shall, if so required by the
Seller, notify its debtors (the Seller’s thirdparty debtors) of the assignment of their debts
to the Seller. The Seller shall be entitled to perform such notification of third-party debtors
on its own account. The Seller shall also be
entitled to recover goods to which the Seller
has reserved title for utilization by the Seller
and repayment of the Purchaser’s debts. The
Purchaser shall surrender possession of the
goods and enable the Seller to recover possession thereof and grant the Seller or its authorized representatives access to the Purchaser’s
premises during normal office hours. The fact
that the Seller may request the Purchaser to
surrender possession of such goods and that
the Seller may recover possession thereof shall
not be deemed to constitute a termination of
the contract by the Seller.
15.Place of performance, jurisdiction and
governing law
15.1 The place of performance of delivery and
payment shall be Aldingen.
15.2 Any disputes arising out of the contract
between fully qualified merchants, legal
entities and companies under public law shall
be referred to the court having jurisdiction at
the Seller’s principal place of business or, at
the Seller’s option, at the place of business of
one of the Seller’s branch offices.
15.3 This contract shall be governed by and
construed in all respects in accordance with
the laws of the Federal Republic of Germany.
The application of the United Nations Convention on Contracts for the International Sale of
Goods of 11 April 1980 is expressly excluded.
16.Transferability of the contract
16.1 The Purchaser and Seller shall not be
entitled to transfer contractual rights to third
parties unless specifically agreed to by the
other party.
16.2 The transfer of the Seller’s purchase price
claims shall not be subject to any limitations.
17.Severability
If any provision of these General Terms and
Conditions shall be held invalid, illegal or
unenforceable, the validity, enforceability and
binding effect of the remaining provisions
shall not be affected thereby.
18.Evidence of origin
Goods identified as “EC originating product” or
“EFTA originating product” in the Seller’s
invoices comply with the rules for the definition
of the term “originating product” applying to
preference exports.
19.Data protection
The Purchaser shall require its customers to
assert that protected data may be passed on to
the Seller where this is necessary within the
scope of these General Terms and Conditions.
Shaft Encoders 2001
243
Notice
244
Shaft Encoders 2001
Notice
ENCODER S COUNTERS CONTROLLERS INDICATORS RELAYS PRINTERS CUTTERS
Shaft Encoders 2001
245
Product Overview Hengstler
Information Request
Encoders
■ Absolute encoders
■ Incremental encoders
■ Incremental encoders with hollow shaft
■ Hollow shaft versions
■ Motor Encoders
■ Stainless steel version
■ Explosion-proof versions
■ Fieldbus encoders
■ Sinewave encoders
■ Inductive measuring systems
Fax: +49-7424-89-500
Industrial counting and control
components
■ Control counters
■ Counters in DIN sizes
■ Counters with interface
■ Electromagnetic counters
■ Indicators
■ Measuring systems
■ Mechanical counters
■ Multifunctional counters
■ Pneumatic proximity switches
■ Pneumatic signal indication
■ Pneumatic timers
■ Position indication
■ Preset counters
■ Programmable counters
■ PTB approved counters
■ Repeating counters
■ Tachometers
■ Time counters
■ Timers, analogue and digital
■ Totalizing counters
P.O. Box/Street
Company
Name
Department
Function
City/Code
Phone
Fax
E-Mail
■ Please call me – I am particularly interested in...My application is .../my problem is...:
Industrial controllers
■ Indicators
■ Industrial controllers
■ Miniature industrial controllers
■ PID Industrial controllers
■ Temperature controllers
■ Program controllers
■ Multichannel controllers
Printers and cutters
■ Cutters
■ Linerless Cutters
■ Impact printers
■ Ticket/Receipt printers
■ Journal printers
■ Thermal printers
Relays
■ Bistable
■ Card
■ High voltage
■ Industrial
■ Mains isolation
■ Miniature
■ Miniature power sw
■ Polarised
■ Safety
Interested?
Then please state your wishes on the fax overleaf
– or mark your special product interests on this
page.
Signature, Date
Please send me information:
Fax: +49-7424-89-500
Industrial
Counting and
Control
Components
Encoder
Range
Industrial and
Temperature
Controllers
grado
Prozesse sicher regeln auch im
Extrembereich.
Industrial Counting and
Control Components
Encoders
Industrial and
Temperature Controllers
■ Catalog
■ Overview
■ Catalog
■ Overview
■ Catalog
Programmübersicht
SICHERHEITSRELAIS
Programmübersicht
RELAIS
Product Range
SAFETY RELAYS
Product Range
RELAYS
Gamme de Produits
Gamme de Produits
RELAIS
RELAIS DE SÉCURITÉ
Overview:
Printers
Cutters
Terminals
competent partner. World-wide.
Product Range
Safety Relays
Product Range
Relays
Printers and
Cutters
■ Brochure
■ CD-ROM
■ Catalog
■ Brochure
■ CD-ROM
■ Catalog
■ Overview
Company
First Name
Department
Function
P.O. Box/Street
City / Code
Phone
Fax
E-Mail
Last Name
HENGSTLER INTERNATIONAL
■ GERMANY
Hengstler GmbH
Postfach 1151
78550 Aldingen
Tel. (0 74 24) 8 90
Fax (0 74 24) 8 94 70/8 93 70
http://www.hengstler.com
E-mail: info@hengstler.com
■ ITALY
Hengstler Italia S.r.l.
Via G. Cavalcanti, 5
20127 Milano MI
Tel. (02) 26821943
Fax (02) 26821953
E-mail: info@hengstler-italia.com
■ HENGSTLER GMBH
Geschäftsbereich Bauelemente
Postfach 1249
78561 Wehingen
Tel. (0 74 26) 68-0
Fax (0 74 26) 6 82 81
E-mail: info.relay@hengstler.com
■ JAPAN
Hengstler Japan Corp. Tokyo
1–8–5, Asagayaminami
Suginami-Ku
Tokyo 166-0004
Tel. (03) 53060150
Fax (03) 53060160
■ FRANCE
Hengstler Contrôle Numérique
S.A.R.L.
Z.I. des Mardelles
94-106, Rue Blaise Pascal, B.P. 71
93602 Aulnay-sous-Bois, Cédex
Tel. (01) 48795501
Fax (01) 48795561
■ JAPAN
Hengstler Japan Corp. Osaka
2–12–23, Minamikaneden Osaka
Suita-shi
Osaka 564-0044
Tel. (06) 63868001
Fax (06) 63865022
E-mail: mailmaster@hengstler.co.jp
http://www.hengstler.co.jp
■ GREAT BRITAIN
West Instruments
The Hyde
Brighton, East Sussex
BN2 4JU, England
Tel. +44 (0) 1273 606271
Fax +44 (0) 1273 609990
■ SPAIN
Hengstler España S.A.
C/Córcega, 541, 2° 1a
08025 Barcelona
Tel. +34-93 435.51.50 / 64.28 / 76.92
Fax +34-93 347.92.60
E-mail: hengstler@hengstler.es
■ USA
Danaher Controls
1675 Delaney Road
Gurnee, IL 60031-1282
Tel. (847)662.2666
Fax (847)662.6633
E-mail: dancon@dancon.com
AGENTS
Argentina, Australia, Austria, Belgium, Bulgaria, Brazil, Chile, China, Colombia, Czech Republic, Denmark, Egypt, Finland, Germany, Great Britain,
Greece, Guatemala, Hong Kong, Hungary, India, Indonesia, Iran, Ireland, Israel, Kenya, Korea, Lebanon, Luxemburg, Malaysia, Mexico, Netherlands,
New Zealand, Norway, Pakistan, Peru, Philippines, Poland, Portugal, Romania, Singapore, Slovenia, Slovak Republic, South Africa, Spain, Sweden,
Switzerland, Taiwan, Thailand, Turkey, United Arab Emirates, USA, Venezuela
tler.com
Hengstler GmbH
Postfach 11 51
D-78550 Aldingen/Germany
House address: Uhlandstraße 49
D-78554 Aldingen/Germany
Tel. +49 74 24-89 0
Fax +49 74 24-89 500
E-mail: info@hengstler.com
s
www.heng
DQS certified to DIN EN ISO 9001
Reg. Nr. 1540-01
Member of
U.S.A.
DOC 1209.14 E
Quality Shaft Encoders 2001 · 2000 · 02/01 · Hohl
Printed in Germany on environmentally friendly paper
from chlorine- and acid-free production.

Absolute Encoder

Transcription

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