Absolute encoders multiturn

Transcription

1 The Sendix multiturn encoders 5868 and 5888 with CANopen or CANopenift interface and optical sensor technology are the right encoders for all CANopen or CANopenift applications. With a maximum resolution of 8 bits these encoders offer an optional additional RS incremental track with 08 pulses. RoHS / Mechanical drive Safety-ock TM High rotational speed C Temperature range IP High protection level High shaft load capacity Magnetic field proof Shock / vibration resistant Reverse polarity protection SinCos Reliable Tried-and-tested in applications with the highest demands, such as in mobile automation or medical technology. Ideal for use outdoors thanks to IP67 protection and wide temperature range from -0 C up to +80 C. Flexible Node address can be set via rotary switches or software. Baud rate and termination can be set via IP switches or software. With bus terminal cover or fixed connection, as well as M connectors or cable connection. Universal scaling function. Order code Shaft version Type. X X X X. XXX X a b c d e f If for each parameter of an encoder the underlined preferred option is selected, then the delivery time will be 0 working days for a maximum of 0 pieces. Qts. up to 50 pcs. of these types generally have a delivery time of 5 working days. a Flange = clamping flange, IP65 ø 58 mm [.8 ] = clamping flange, IP67 ø 58 mm [.8 ] = synchro flange, IP65 ø 58 mm [.8 ] = synchro flange, IP67 ø 58 mm [.8 ] 5 = square flange, IP mm [.5 ] 7 = square flange, IP mm [.5 ] b Shaft (ø x ), with flat = 6 x 0 mm [0. x 0.9 ] ) = 0 x 0 mm [0.9 x 0.79 ] ) = / x 7/8 = /8 x 7/8 c Interface / power supply = CANopen S0 V.0, V C 5 = CANopen S0 V.0, V C with 08 ppr incremental track (TT-compatible) ) d Type of connection removable bus terminal cover = radial cable gland = x or x M connector, 5-pin Fixed connection without bus terminal cover A = radial cable, m [6.56 ] PVC B = radial cable, special length PVC *) E = x radial M connector, 5-pin F = x radial M connector, 5-pin I = x radial M connector, -pin J = x radial M connector, -pin K = x Sub- connector, 9-pin *) Available special lengths (connection type B):, 5, 8, 0, 5 m [9.8, 6.0, 6.5,.80, 9. ] order code expansion.xxxx = length in dm ex.: B..000 (for cable length m) Optional on request - Ex / ) - surface protection salt spray tested - seawater resistant (stainless steel VA) e Fieldbus profile = CANopen = CANlift S7 V.0 f Options (service) = no options = SET button Salt spray tested / stainless steel VA as standard types (deliverable as from unit) salt spray tested: stainless steel VA: C VA VA.0 ) Preferred type only in conjunction with flange type. ) Preferred type only in conjunction with flange type. ) Only in conjunction with connection type. ) For the cable connection type, cable material PUR Fritz Kübler GmbH, subject to errors and changes. /08

2 Order code Hollow shaft Type. X X X X. XXX X a b c d e f If for each parameter of an encoder the underlined preferred option is selected, then the delivery time will be 0 working days for a maximum of 0 pieces. Qts. up to 50 pcs. of these types generally have a delivery time of 5 working days. a Flange = with spring element, long, IP65 = with spring element, long, IP67 = with stator coupling, IP65 ø 65 mm [.56 ] = with stator coupling, IP67 ø 65 mm [.56 ] 5 = with stator coupling, IP65 ø 6 mm [.8 ] 6 = with stator coupling, IP67 ø 6 mm [.8 ] b Blind hollow shaft (insertion depth max. 0 mm [.8 ] ) = ø 0 mm [0.9 ] = ø mm [0.7 ] 5 = ø mm [0.55 ] 6 = ø 5 mm [0.59 ] 8 = ø /8 9 = ø / c Interface / power supply = CANopen S0 V.0, V C 5 = CANopen S0 V.0, V C with 08 ppr incremental track (TT-compatible) ) d Type of connection removable bus terminal cover = radial cable gland = x or x M connector, 5-pin Fixed connection without bus terminal cover A = radial cable, m [6.56 ] PVC B = radial cable, special length PVC *) E = x radial M connector, 5-pin F = x radial M connector, 5-pin I = x radial M connector, -pin J = x radial M connector, -pin K = x Sub- connector, 9-pin *) Available special lengths (connection type B):, 5, 8, 0, 5 m [9.8, 6.0, 6.5,.80, 9. ] order code expansion.xxxx = length in dm ex.: B..000 (for cable length m) Optional on request - Ex / ) - surface protection salt spray tested - seawater resistant (stainless steel VA) e Fieldbus profile = CANopen = CANlift S7 V.0 f Options (service) = no options = SET button Salt spray tested / stainless steel VA as standard types (deliverable as from unit) salt spray tested: stainless steel VA: C VA VA C.0 Mounting accessory for shaft encoders Order no. Coupling bellows coupling ø 9 mm [0.75 ] for shaft 6 mm [0. ] bellows coupling ø 9 mm [0.75 ] for shaft 0 mm [0.9 ] Mounting accessory for hollow shaft encoders Order no. Cylindrical pin, long with fixing thread for flange with spring element (flange type + ) 8 0, 5 0, SW7 [0,8] 0,6 m8 M 0,6 0,8 R 7 0,8 Connection technology Cordset, pre-assembled Order no. M female connector with coupling nut for bus in, 5-pin 5 m [6.0 ] PVC cable A.005M M male connector with external thread for bus out, 5-pin 5 m [6.0 ] PVC cable A.005M Connector, self-assembly (straight) M female connector with coupling nut for bus in, 5-pin M female connector with coupling nut for incremental track, 5-pin 05.BMWS M male connector with external thread for bus out, 5-pin Further accessories can be found in the accessories section or in the accessories area of our website at: Additional connectors can be found in the connection technology section or in the connection technology area of our website at: ) Only in conjunction with connection type. ) For the cable connection type, cable material PUR. Fritz Kübler GmbH, subject to errors and changes. /

3 Technical data Mechanical characteristics Maximum speed IP65 up to 70 C [58 F] IP65 up to Tmax IP67 up to 70 C [58 F] IP67 up to Tmax Starting torque - at 0 C [68 F] IP65 < 0.0 Nm IP67 < 0.05 Nm Mass moment of inertia shaft version.0 x 0-6 kgm hollow shaft version 7.5 x 0-6 kgm oad capacity of shaft radial 80 N axial 0 N 9000 min -, 7000 min - (continuous) 7000 min -, 000 min - (continuous) 8000 min -, 6000 min - (continuous) 6000 min -, 000 min - (continuous) Weight with bus terminal cover approx kg [0. oz] with fixed connection approx. 0.5 kg [8. oz] Protection acc. to EN 6059 housing side shaft side IP67 IP65, opt. IP67 Working temperature range -0 C C [-0 F F] ) Material shaft/hollow shaft stainless steel flange aluminum housing zinc die-cast cable PVC (PUR for Ex /) Shock resistance acc. to EN Vibration resistance acc. to EN Electrical characteristics Power supply Power consumption (no load) Reverse polarity protection of the power supply U approval CE compliant acc. to 500 m/s, 6 ms 00 m/s, Hz V C max. 00 ma yes file no. E68 EMC guideline 0/0/EU RoHS guideline 0/65/EU Interface characteristics Resolution singleturn Number of revolutions (multiturn) Total resolution Code Incremental track characteristics Output driver Permissible load / channel SET button (zero or defined value, option) Protection against accidental activation. Button can only be operated with a ball-pen or pencil. RS (TT-compatible) max. +/- 0 ma Signal level HIGH typ..8 V OW typ.. V Short circuit proof outputs yes ) Resolution (6 bit), scalable default: 89 ( bit) max. 096 ( bit) scalable only via the total resolution (8 bit), scalable default:.55. (5 bit) binary Interface CAN high-speed acc. to ISO 898, Basic- and Full-CAN CAN specification.0 B Protocol CANopen profile S06 V. with manufacturer-specific add-ons or CANlift profile S7 V. Baud rate kbit/s can be set via IP switches, software configurable Node address... 7 can be set via rotary switches, software configurable Termination switchable can be set via IP switches, software configurable 08 ppr iagnostic E (yellow) E is ON with the following fault conditions Sensor error (internal code or E error) too low voltage, over-temperature ) Cable version: -0 C C [- F F]. ) Short circuit to 0 V or to output, only one channel at a time, power supply correctly applied. 0 Fritz Kübler GmbH, subject to errors and changes. /08

4 General information about CANopen / CANopenift The CANopen encoders support the latest CANopen communication profile according to S0 V.0. In addition, device specific profiles such as encoder profile S06 V. and S7 V. (for lift applications) are available The following operating modes may be selected: Polled Mode, Cyclic Mode, Sync Mode. Moreover, scale factors, preset values, limit switch values and many other additional parameters can be programmed via the CAN bus. When switching the device on, all parameters are loaded from an EEPROM, where they were saved previously to protect them against power-failure. The following output values may be combined in a freely variable way as PO (PO mapping): position, speed, acceleration as well as the status of the working area. As competitively priced alternatives, encoders are also available with a connector or a cable connection, where the device address and baud rate can be changed and configured by means of the software. The models with bus terminal cover and integrated T-coupler allow for extremely simple installation: the bus and power supply can be easily connected via M connectors. The device address can be set via rotary hex switches. Furthermore, another IP switch allows for the setting of the baud rate and switching on a termination resistor. Three Es located on the back indicate the operating or fault status of the CAN bus, as well as the status of an internal diagnostic. Universal Scaling Function At the end of the physical resolution of an encoder, when scaling is active, an error appears if the division of the physical limit (GP_U) by the programmed total resolution (TMR) does not produce an integer. The Universal Scaling Function remedies this problem. CANopen communication profile S0 V.0 Among others, the following functionality is integrated. Class C functionality. NMT slave. Heartbeat protocol. High resolution sync protocol. Identity object. Error behavior object. Variable PO mapping. Self-start programmable (power on to operational). Sending PO s. Node address, baud rate and CANbus. Programmable termination. CANopen Encoder Profile S06 V. The following parameters can be programmed: Event mode. Units for speed selectable (steps/sec or min - ). Factor for speed calculation (e.g. circumference of measuring wheel). Integration time for the speed value from.... working areas with upper and lower limits and the corresponding output states. Variable PO mapping for position, speed, work area status. Extended failure management for position sensing with integrated temperature control. User interface with visual display of bus and failure status - E s. Optional - CAMs programmable. Customer-specific memory - 6 Bytes. CANopen ift Profile S7 V. Among others, the following functionality is integrated: Car position unit. virtual devices. virtual device delivers the position in absolute measuring steps (steps). virtual device delivers the position as an absolute travel information in mm. ift number programmable. Independent setting of the node address in relation with the CAN identifier. Factor for speed calculation (e.g. measuring wheel periphery). Integration time for speed value of... work areas with upper and lower limits and the corresponding output states. Variable PO mapping for position, speed, acceleration, work area status. Extended failure management for position sensing with integrated temperature control. User interface with visual display of bus and failure status - E s. Watchdog controlled device. All profiles stated here: Key-features The object 600h Preset is assigned to an integrated key, accessible from the outside. Fritz Kübler GmbH, subject to errors and changes. /08

5 Terminal assignment Interface Type of connection Cable gland (bus terminal cover with terminal box) Bus OUT, 5 Signal: CAN_GN CAN_ CAN_H 0 V +V 0 V +V CAN_ CAN_H CAN_GN Abbreviation: CG C CH 0 V +V 0 V +V C CH CG Interface Type of connection Cable (isolate unused cores individually before initial start-up), 5 A, B Core color: WH BN YE GN GY Interface Type of connection x M connector, 5-pin ( x M connector with interface 5), 5, F 5 Bus OUT Signal: 0 V +V CAN_ CAN_H) CAN_GN Pin: 5 Pin: 5 Incremental track Signal: A B 0 V Pin: Interface Type of connection x M connector, 5-pin, 5 E Pin: 5 5 Interface Type of connection x M connector, -pin, 5 J Bus OUT Pin: 0 7 Pin: 0 7 x Interface Type of connection x M connector, -pin, 5 I Pin: Interface Type of connection Sub- connector, 9-pin, 5 K Pin: Fritz Kübler GmbH, subject to errors and changes. /08

6 imensions shaft version, with removable bus terminal cover Clamping flange, ø 58 [.8] Flange type and (drawing with x M connector) 50 [.97] x M, 6 [0.] deep x M, 8 [0.] deep 58 [.8] 5 [.] 6 [.] 0 [.57] 60 [.6] 8 [.89] 0 Fit 6 [0.] h7 0 [0.9] 0 [0.9] f7 0 [0.79] / h7 7/8 /8 h7 7/8 0 [0.9],5 [0.57] [0.] 0 [.8] [0.] 76 [.0] 77, [.0] x0 Synchro flange, ø 58 [.8] Flange type and (drawing with cable) x M, 6 [0.] deep,5 [0,57],5 [0,57] 5,5 [.0] 5,5 [.0] 50 [,97] 58 [,8] 50 [,97] 58 [,8] 0 [,57] 60 [,6] 0 [,57] 60 [,6] Fit 6 [0.] h7 0 [0.9] 0 [0.9] f7 0 [0.79] / h7 7/8 /8 h7 7/8 [0,] [0,] [0,6] 86 [,9] 87, [,] 9 [0.75] [0,] [0,] [0,6] 86 [,9] 87, [,] 9 [0.75] [,65] x 0 [,65] x 0 Square flange, 6.5 [.5] Flange type 5 and 7 (drawing with cable) 57 [,],75 h7 [,5] 0 [,57] 60 [,6] Fit 6 [0.] h7 0 [0.9] 0 [0.9] f7 0 [0.79] / h7 7/8 /8 h7 7/8 7, [0,8] 7,5 [0,] 0 [,8] 78,5 [,] 79,5 [,],5 [0,57] 5,5 [0,] 5, [,06] 6,5 [,5] Fritz Kübler GmbH, subject to errors and changes. /08

7 imensions shaft version, with fixed connection Synchro flange, ø 58 [.8] Flange type and (drawing with M connector) 60,6,9 x M, 6 [0.] deep 58 [,8] 50 [,97] [0,] [0,],5 0,5 [,65] x 0 [0,6] Fit 6 [0.] h7 0 [0.9] 0 [0.9] f7 0 [0.79] / h7 7/8 /8 h7 7/8 69,5,7 70,7,78 Synchro flange, ø 58 [.8] Flange type and (drawing with Sub- connector),5 0,56,7,6 x M, 6 [0.] deep x /0 UNC;.0 [0.] deep 58 [,8] 50 [,97] 5 0,98 [0,] [0,] [,65] x 0 [0,6] Fit 6 [0.] h7 0 [0.9] 0 [0.9] f7 0 [0.79] / h7 7/8 /8 h7 7/8 69,5,7 70,7,78 Square flange, 6.5 [.5] Flange type 5 and 7 (drawing with x M connector),5 0,5 60,6,9,75,5, 8 5,5 0, Fit 6 [0.] h7 0 [0.9] 0 [0.9] f7 0 [0.79] / h7 7/8 /8 h7 7/8 7, 0,8 7,5 0, 6, 6,,9 5,,06 6,5,5 Fritz Kübler GmbH, subject to errors and changes. /08

8 imensions shaft version, with fixed connection Clamping flange, ø 58 [.8] Flange type and (drawing with x M connector) 57,5 [.] x M, 6 [0.] deep x M, 8 [0.] deep 58 [.8] 5 [.] 6 [.] 8 [.89] 0 0 [0.9] [0.] [0.] 59,5 [.] 70,5 [.78], [0.5] x 0 Fit 6 [0.] h7 0 [0.9] 0 [0.9] f7 0 [0.79] / h7 7/8 /8 h7 7/8 Synchro flange, ø 58 [.8] Flange type and (drawing with x M connector) 58,5, x M, 8 [0.] deep 58 [,8] 50 [,97], 8 Fit 6 [0.] h7 0 [0.9] 0 [0.9] f7 0 [0.79] / h7 7/8 /8 h7 7/8 [0,] [0,] [0,6] 69,5,7 70,7,78,5 0,5 [,65] x 0 Clamping flange, ø 58 [.8] Flange type and (drawing with cable) x M, 6 [0.] deep 59,7 [,5] 0 x M, 8 [0.] deep 58 [.8] 5 [.] 6 [.] 8 [,89] 0 [0.9] [0.] [0.] 59,5 [.] 60,7 [.8], [0,5] x 0 Fit 6 [0.] h7 0 [0.9] 0 [0.9] f7 0 [0.79] / h7 7/8 /8 h7 7/8 Fritz Kübler GmbH, subject to errors and changes. /08 5

9 max. [.] max., imensions hollow shaft version (blind hollow shaft), with removable bus terminal cover Flange with spring element, long Flange type and (drawing with x M connector) Slot spring element recommendation: cylindrical pin IN 7, ø [0.6] x M, 5.5 [0.] deep Recommended torque for the,5 [0.57] 0 [.58] 60 [.6] H7 x0, [0.09] 9,5,95 [0.55],99-0,0 [0.6] 6,7 [.] 0,9 [.6] Fit 0 [0.9] H7 0 [.8] [0.7] H7 0 [.8] [0.55] H7 0 [.8] 5 [0.59] H7 0 [.8] /8 H7 0 [.8] / H7 0 [.8] = insertion depth max. blind hollow shaft [0.6] 8, [.] 9, [.6] 9 [0.75] [.65] Flange with stator coupling, ø 6 [.8] Flange type 5 and 6 Pitch circle diameter for fixing screws 6 [.8] (drawing with cable),5 0,57 57, Recommended torque for the 0,57, ,68 6,8 H7 0,8 0,0 Fit 0 [0.9] H7 0 [.8] [0.7] H7 0 [.8] [0.55] H7 0 [.8] 5 [0.59] H7 0 [.8] /8 H7 0 [.8] / H7 0 [.8] = insertion depth max. blind hollow shaft 0,6 8, 9,6 9 0,75, 0, 5 0 0,79 Flange with stator coupling, ø 65 [.56] Flange type and Pitch circle diameter for fixing screws 65 [.56] (drawing with x M connector),5 0,57,5 0,57 x0 9,5 [.95], [0.7] Recommended torque for the max. [.] max. [.] 0,57 60 [.6] 0,57 60 [.6] H7 Fit 0 [0.9] H7 0 [.8] [0.7] H7 0 [.8] [0.55] H7 0 [.8] 5 [0.59] H7 0 [.8] /8 H7 0 [.8] / H7 0 [.8] = insertion depth max. blind hollow shaft 9 0,75,5 [0.09],5 [0.09] 9, [.7] 9, [.7] 95,5 [.76] 95,5 [.76] 9 0,75 65 [.56] 6 Fritz Kübler GmbH, subject to errors and changes. /08

10 imensions hollow shaft version (blind hollow shaft), with fixed connection Flange with spring element, long Flange type and (drawing with M connector), [0.09] 60,6,9 [0.55],99-0,0 [0.6] Slot spring element recommendation: cylindrical pin IN 7, ø [0.6] x M, 5.5 [0.] deep Recommended torque for the 58,8 max. [.] H7 6,7 [.] 0,9 [.6] Fit 0 [0.9] H7 0 [.8] [0.7] H7 0 [.8] [0.55] H7 0 [.8] 5 [0.59] H7 0 [.8] /8 H7 0 [.8] / H7 0 [.8] = insertion depth max. blind hollow shaft [0.6] 66,5,6 7,,88 7,,9 x0 [.65] Flange with spring element, long Flange type and (drawing with Sub- connector) Slot spring element recommendation: cylindrical pin IN 7, ø [0.6] x M, 5.5 [0.] deep x /0 UNC;.0 [0.] deep Recommended torque for the,8 58 max. [.],5 0,56 0,98 5 H7 x0, [0.09],7,6 [0.55],99-0,0 [0.6] 6,7 [.] 0,9 [.6] [0.6] [.65] Fit 0 [0.9] H7 0 [.8] [0.7] H7 0 [.8] [0.55] H7 0 [.8] 5 [0.59] H7 0 [.8] /8 H7 0 [.8] / H7 0 [.8] = insertion depth max. blind hollow shaft 66,5,6 7,,88 7,,9 Flange with stator coupling, ø 65 [.56] Flange type and Pitch circle diameter for fixing screws 65 [.56] (drawing with x M connector),5 0,5 0, 0,7 Recommended torque for the 8, H7 65,56,8 7 Fit 0 [0.9] H7 0 [.8] [0.7] H7 0 [.8] [0.55] H7 0 [.8] 5 [0.59] H7 0 [.8] /8 H7 0 [.8] / H7 0 [.8],5 0, 77,7,06 78,9, 60,6,9 = insertion depth max. blind hollow shaft Fritz Kübler GmbH, subject to errors and changes. /08 7

11 imensions hollow shaft version (blind hollow shaft), with fixed connection Flange with stator coupling, ø 6 [.8] Flange type 5 and 6 Pitch circle diameter for fixing screws 6 [.8] (drawing with M connector),,5 0,5 Recommended torque for the max. 58,8 68,68 6,8 H7 0,8 0,0 0,6 66,5,6 7,5,9, 0, 5 0 0,79 Fit 0 [0.9] H7 0 [.8] [0.7] H7 0 [.8] [0.55] H7 0 [.8] 5 [0.59] H7 0 [.8] /8 H7 0 [.8] / H7 0 [.8] 75,67,98 = insertion depth max. blind hollow shaft Flange with spring element, long Flange type and (drawing with x M connector) Slot spring element recommendation: cylindrical pin IN 7, ø [0.6] x M, 5.5 [0.] deep Recommended torque for the 58,8 max. [.],5 0,5 8, H7 x0, [0.09] 58,5, [0.55],99-0,0 [0.6] 6,7 [.] 0,9 [.6] [0.6] [.65] Fit 0 [0.9] H7 0 [.8] [0.7] H7 0 [.8] [0.55] H7 0 [.8] 5 [0.59] H7 0 [.8] /8 H7 0 [.8] / H7 0 [.8] 66,5,6 7,,88 7,,9 = insertion depth max. blind hollow shaft Flange with stator coupling, ø 65 [.56] Flange type and Pitch circle diameter for fixing screws 65 [.56] (drawing with cable),5 0,5 0 59,,, 0,7 Recommended torque for the 58,8 H7 Fit 0 [0.9] H7 0 [.8] [0.7] H7 0 [.8] [0.55] H7 0 [.8] 5 [0.59] H7 0 [.8] /8 H7 0 [.8] / H7 0 [.8],5 0, 77,7,06 78,9, 65,56 7,8 = insertion depth max. blind hollow shaft 8 Fritz Kübler GmbH, subject to errors and changes. /08