ABSOLUTE ROTARY ENCODER CAN-BUS

Transcription

1 Main Features - Compact and heavy-duty industrial model - Interface: CAN according to CAL - Housing: 8 mm - Shaft: 6 or 0 mm - Resolution: Max. 2 Bit =,,2 steps over,096 revolutions - Code: Binary - EMC: EN , EN , CE Programmable Parameters - Direction of rotation (complement) - Resolution per revolution - Total resolution - Preset value - Cams - Two limit switches - Baud-rate and CAN-identifier - Transmission mode: Polled mode, cyclic mode, sync mode, or cos mode Mechanical Structure - Flange and housing of Aluminum - Shaft of stainless steel - Precision ball bearings with sealing or cover rings - Code disc made of unbreakable and durable plastic - Electrical Features - Temperature insensitive IR-opto-receiver-array - Only one IR-transmitter-diode per opto-array - Highly integrated circuit in SMD-technology - Polarity inversion protection - Over-voltage-peak protection Page 2 Info E8.06 Version: 02/0

2 Technical Data Electrical Data Supply voltage 0-0 V DC (absolute limits) Power consumption Max.. Watt EMC EN 008-2, EN Bus connection CAN transceiver according to ISO/DIS 898 Galvanically isolated by opto-couplers Transmission rate 20 kbaud... MBaud (programmable) Accuracy of division ± ½ LSB Step frequency LSB Max. 00 khz (valid code) Electrical lifetime > 0 h Node number Programmable by 2 turn-switches in connection cap Identifier Standard bit identifier, passive to 29 bit identifier Mechanical Data Housing Aluminum Lifetime > 0 h at,000 rpm Inertia of rotor 0 gcm 2 RPM Max. 6,000 (continuously) Shock (IEC ) 200 m/s 2 (2 ms) Vibration (IEC ) 00 m/s 2 (0 Hz...,000 Hz) Weight, single-turn 00 g Weight, multi-turn 00 g Shaft loading Axial 20 N, radial 0 N Friction torque Ncm Flange Synchro (Y) Clamp (F), synchro (Z) Shaft diameter 6 mm 0 mm Shaft length 0 mm 20 mm Environmental Conditions Operating temperature C Storage temperature C Humidity 98 % (without liquid state) Protection class (EN 6029) Casing side IP 6 Shaft side IP 6* * up to 0. bar Version: 02/0 Info E8.06 Page

3 Interface Installation The rotary encoder is connected by three cables. The power supply is achieved with a two-wire connection cable through one PG 9. Each one of the twisted-pair and shielded bus lines are guided in and out through two PG 9 on the right side (as seen on clamps) R T ON There is a resistor provided in the connection cap, which must be used as a line termination on the last device. Resistor: 2 Last Device 2 Device X + - G L H G L H Bd x x 2 The setting of the node number is achieved by 2 turn-switches in the connection cap. Possible addresses lie between 0 and 96 whereby every address can only be used once. Inside the encoder the defined address is increased by one. 2 LEDs on the backside of the connection cap show the operating status of the encoder. Clamp Description Ground + 2 V Supply voltage - 0 V Supply voltage CG CAN Ground CL CAN Low CH CAN High CG CAN Ground CL CAN Low CH CAN High Page Info E8.06 Version: 02/0

4 Programmable Encoder - Parameter Operating Parameters Resolution per Revolution Total Resolution Preset Value Limit Switch, Min. and Max. Cam As operating parameters the code sequence (complement) can be programmed. This parameter determines the counting direction, in which the output code increases or decreases. The parameter resolution per revolution is used to program the desired number of steps per revolution. Each value between and,096 can be programmed. This parameter is used to program the desired number of measuring units over the total measuring range. This value may not exceed the total resolution of the absolute rotary encoder. If the encoder is used in a continuous measuring application, certain rules for the setting of this parameter must be followed. These rules are outlined in the manual. The preset value is the desired position value, which should be reached at a certain physical position of the axis. The position value is set to the desired process value by the parameter pre-set. Two position values can be programmed as limit switches. By reaching these values one bit of the 2 bit process value is set to high. One free programmable cam can be set in the total measaring range. The same functionality is realised like a mechanical cam unit. Programmable CAN Transmission Modes Polled Mode Cyclic Mode Sync Mode By a remote-transmission-request telegram the connected host calls for the current process value. The absolute rotary encoder reads the current position value, calculates eventually set-parameters and sends back the obtained process value by the same identifier. The absolute rotary encoder transmits cyclically - without being called by the host - the current process value. The cycle time can be programmed in milliseconds for values between ms and 66 ms. After receiving a sync telegram by the host, the absolute rotary encoder answers with the current process value. If more than one node number (encoder) shall answer after receiving a sync telegram, the answer telegrams of the nodes will be received by the host in order of their node numbers. The programming of an offset-time is not necessary. If a node should not answer after each sync telegram on the CAN network, the parameter sync counter can be programmed to skip a certain number of sync telegrams before answering again. Version: 02/0 Info E8.06 Page

5 Mechanical Drawings Synchro Flange (Y,Z) The only difference between the Y- and Z-Flange is the shaft size (refer to the table besides). d [mm] l [mm] Y-Flange 6 f6 0 Z-Flange 0 h8 20 Single-Turn=8, Multi-Turn=09 0 Mx8 x20 ø8 f ø0 d Ø Ø60 Ø2 l ~2 Clamp Flange (F) 0 Single-Turn=8, Multi-Turn=09 Mx8 0 0 x20 Ø8 Ø2 f Ø6 Ø0 h8 8 Ø Ø60 Ø8 ~2 Page 6 Info E8.06 Version: 02/0

6 Connection cap with pin round connector, Micro style Ø60 2 Version: 02/0 Info E8.06 Page

7 Models/Ordering Description Description Type Key Absolute rotary encoder AWC B B Diameter in mm Steps per revolution No. Of revolutions Flange Clamp Flange (Shaft = 0 mm ) F Synchro Flange (Shaft = 6 mm ) Y Synchro Flange (Shaft = 0 mm ) Z Code Binary B Version Interface Options CAN non programmable C programmable without connection cap *) C Without 0 Shaft sealing (not possible for Z-Flange) W Stainless steel configuration (flange, housing, cap) Connection PG-exits, radial at connection cap *2) PG Cable-exit (only for interface C) 00R *) Configuration of baudrate and node number via SDO-objects is only available with cable-exit. *2) The connection cap has to be ordered separately! Zubehör und Dokumentation B C2 Q Description Type Connection cap*2) T-coupling-functionality with integrated address setting is necessary to use the encoder Standard AH 8B-CA-PG Stainless steel configuration AH 8B-CA-PG-VA Connection with pin round connector, Micro style AH 8B-CA-BW Shaft coupling Drilling: 0 mm GS 0 Drilling:: 6 mm GS 06 Clamp disc pcs. / AWC SP Clamp ring 2 pcs. / AWC SP H User Manual*) Installation and configuration manual, German UMD-CA User Manual*) Installation and configuration manual, English UME-CA EDS-File*) Disc containing EDS-file for coniguration. DK-CA *) These can be downloaded free of charge from our Homepage We do not assume responsibility for technical inaccuracies or omissions. Specifications are subject to change without notice. Page 8 Info E8.06 Version: 02/0